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@ -32,7 +32,6 @@ |
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#include "pins.h" |
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#include "Marlin.h" |
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#include "ultralcd.h" |
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#include "streaming.h" |
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#include "planner.h" |
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#include "stepper.h" |
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#include "temperature.h" |
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@ -40,7 +39,8 @@ |
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#include "cardreader.h" |
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char version_string[] = "1.0.0 Alpha 1"; |
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#define VERSION_STRING "1.0.0 Alpha 1" |
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@ -99,8 +99,9 @@ char version_string[] = "1.0.0 Alpha 1"; |
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// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk |
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// M220 - set speed factor override percentage S:factor in percent |
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// M301 - Set PID parameters P I and D |
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// M400 - Finish all moves |
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// M500 - stores paramters in EEPROM |
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// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). D |
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// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). |
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// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. |
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//Stepper Movement Variables |
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@ -122,13 +123,14 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES; |
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volatile int feedmultiply=100; //100->1 200->2 |
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int saved_feedmultiply; |
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volatile bool feedmultiplychanged=false; |
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float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0}; |
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//=========================================================================== |
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//=============================private variables============================= |
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//=========================================================================== |
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const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; |
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static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0}; |
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static float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0}; |
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static float offset[3] = {0.0, 0.0, 0.0}; |
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static bool home_all_axis = true; |
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static float feedrate = 1500.0, next_feedrate, saved_feedrate; |
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@ -173,6 +175,23 @@ static unsigned long stoptime=0; |
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//=========================================================================== |
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extern "C"{ |
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extern unsigned int __bss_end; |
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extern unsigned int __heap_start; |
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extern void *__brkval; |
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int freeMemory() { |
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int free_memory; |
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if((int)__brkval == 0) |
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free_memory = ((int)&free_memory) - ((int)&__bss_end); |
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else |
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free_memory = ((int)&free_memory) - ((int)__brkval); |
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return free_memory; |
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} |
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} |
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//adds an command to the main command buffer |
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//thats really done in a non-safe way. |
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@ -183,7 +202,10 @@ void enquecommand(const char *cmd) |
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{ |
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//this is dangerous if a mixing of serial and this happsens |
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strcpy(&(cmdbuffer[bufindw][0]),cmd); |
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SERIAL_ECHOLN("enqueing \""<<cmdbuffer[bufindw]<<"\""); |
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SERIAL_ECHO_START; |
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SERIAL_ECHOPGM("enqueing \""); |
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SERIAL_ECHO(cmdbuffer[bufindw]); |
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SERIAL_ECHOLNPGM("\""); |
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bufindw= (bufindw + 1)%BUFSIZE; |
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buflen += 1; |
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} |
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@ -192,8 +214,12 @@ void enquecommand(const char *cmd) |
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void setup() |
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{ |
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Serial.begin(BAUDRATE); |
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SERIAL_ECHOLN("Marlin "<<version_string); |
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Serial.println("start"); |
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SERIAL_ECHO_START; |
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SERIAL_ECHOLNPGM(VERSION_STRING); |
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SERIAL_PROTOCOLLNPGM("start"); |
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SERIAL_ECHO_START; |
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SERIAL_ECHOPGM("Free Memory:"); |
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SERIAL_ECHOLN(freeMemory()); |
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for(int8_t i = 0; i < BUFSIZE; i++) |
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{ |
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fromsd[i] = false; |
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@ -228,12 +254,12 @@ void loop() |
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if(strstr(cmdbuffer[bufindr],"M29") == NULL) |
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{ |
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card.write_command(cmdbuffer[bufindr]); |
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Serial.println("ok"); |
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SERIAL_PROTOCOLLNPGM("ok"); |
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} |
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else |
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{ |
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card.closefile(); |
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Serial.println("Done saving file."); |
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SERIAL_PROTOCOLLNPGM("Done saving file."); |
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} |
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} |
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else |
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@ -249,6 +275,7 @@ void loop() |
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//check heater every n milliseconds |
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manage_heater(); |
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manage_inactivity(1); |
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checkHitEndstops(); |
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LCD_STATUS; |
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} |
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@ -268,8 +295,9 @@ inline void get_command() |
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strchr_pointer = strchr(cmdbuffer[bufindw], 'N'); |
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gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10)); |
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if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) { |
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Serial.print("Serial Error: Line Number is not Last Line Number+1, Last Line:"); |
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Serial.println(gcode_LastN); |
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SERIAL_ERROR_START; |
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SERIAL_ERRORPGM("Line Number is not Last Line Number+1, Last Line:"); |
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SERIAL_ERRORLN(gcode_LastN); |
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//Serial.println(gcode_N); |
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FlushSerialRequestResend(); |
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serial_count = 0; |
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@ -284,8 +312,9 @@ inline void get_command() |
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strchr_pointer = strchr(cmdbuffer[bufindw], '*'); |
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if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) { |
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Serial.print("Error: checksum mismatch, Last Line:"); |
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Serial.println(gcode_LastN); |
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SERIAL_ERROR_START; |
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SERIAL_ERRORPGM("checksum mismatch, Last Line:"); |
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SERIAL_ERRORLN(gcode_LastN); |
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FlushSerialRequestResend(); |
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serial_count = 0; |
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return; |
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@ -294,8 +323,9 @@ inline void get_command() |
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} |
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else |
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{ |
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Serial.print("Error: No Checksum with line number, Last Line:"); |
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Serial.println(gcode_LastN); |
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SERIAL_ERROR_START; |
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SERIAL_ERRORPGM("No Checksum with line number, Last Line:"); |
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SERIAL_ERRORLN(gcode_LastN); |
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FlushSerialRequestResend(); |
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serial_count = 0; |
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return; |
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@ -308,8 +338,9 @@ inline void get_command() |
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{ |
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if((strstr(cmdbuffer[bufindw], "*") != NULL)) |
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{ |
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Serial.print("Error: No Line Number with checksum, Last Line:"); |
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Serial.println(gcode_LastN); |
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SERIAL_ERROR_START; |
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SERIAL_ERRORPGM("No Line Number with checksum, Last Line:"); |
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SERIAL_ERRORLN(gcode_LastN); |
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serial_count = 0; |
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return; |
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} |
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@ -325,7 +356,7 @@ inline void get_command() |
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if(card.saving) |
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break; |
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#endif //SDSUPPORT |
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Serial.println("ok"); |
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SERIAL_PROTOCOLLNPGM("ok"); |
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break; |
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default: |
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break; |
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@ -350,22 +381,23 @@ inline void get_command() |
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return; |
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} |
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while( !card.eof() && buflen < BUFSIZE) { |
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serial_char = card.get(); |
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if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1)) |
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int16_t n=card.get(); |
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serial_char = (char)n; |
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if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1)||n==-1) |
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{ |
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if(card.eof()){ |
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card.sdprinting = false; |
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Serial.println("echo: Done printing file"); |
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SERIAL_PROTOCOLLNPGM("Done printing file"); |
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stoptime=millis(); |
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char time[30]; |
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unsigned long t=(stoptime-starttime)/1000; |
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int sec,min; |
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min=t/60; |
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sec=t%60; |
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sprintf(time,"echo: %i min, %i sec",min,sec); |
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Serial.println(time); |
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sprintf(time,"%i min, %i sec",min,sec); |
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SERIAL_ECHO_START; |
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SERIAL_ECHOLN(time); |
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LCD_MESSAGE(time); |
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card.checkautostart(true); |
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} |
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@ -386,6 +418,7 @@ inline void get_command() |
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if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; |
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} |
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} |
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#endif //SDSUPPORT |
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} |
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@ -417,20 +450,25 @@ inline bool code_seen(char code) |
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destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \ |
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feedrate = homing_feedrate[LETTER##_AXIS]; \ |
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prepare_move(); \ |
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st_synchronize();\ |
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\ |
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current_position[LETTER##_AXIS] = 0;\ |
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\ |
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destination[LETTER##_AXIS] = -5 * LETTER##_HOME_DIR;\ |
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prepare_move(); \ |
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st_synchronize();\ |
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\ |
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destination[LETTER##_AXIS] = 10 * LETTER##_HOME_DIR;\ |
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feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \ |
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prepare_move(); \ |
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st_synchronize();\ |
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\ |
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current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\ |
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\ |
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destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\ |
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feedrate = 0.0;\ |
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st_synchronize();\ |
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endstops_hit_on_purpose();\ |
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} |
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inline void process_commands() |
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@ -461,6 +499,7 @@ inline void process_commands() |
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previous_millis_cmd = millis(); |
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return; |
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case 4: // G4 dwell |
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LCD_MESSAGEPGM("DWELL..."); |
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codenum = 0; |
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if(code_seen('P')) codenum = code_value(); // milliseconds to wait |
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if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait |
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@ -495,6 +534,7 @@ inline void process_commands() |
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feedrate = saved_feedrate; |
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feedmultiply = saved_feedmultiply; |
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previous_millis_cmd = millis(); |
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endstops_hit_on_purpose(); |
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break; |
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case 90: // G90 |
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relative_mode = false; |
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@ -521,13 +561,14 @@ inline void process_commands() |
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#ifdef SDSUPPORT |
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case 20: // M20 - list SD card |
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Serial.println("Begin file list"); |
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SERIAL_PROTOCOLLNPGM("Begin file list"); |
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card.ls(); |
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Serial.println("End file list"); |
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SERIAL_PROTOCOLLNPGM("End file list"); |
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break; |
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case 21: // M21 - init SD card |
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card.initsd(); |
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break; |
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case 22: //M22 - release SD card |
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card.release(); |
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@ -579,8 +620,9 @@ inline void process_commands() |
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int sec,min; |
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min=t/60; |
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sec=t%60; |
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sprintf(time,"echo: time needed %i min, %i sec",min,sec); |
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Serial.println(time); |
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sprintf(time,"%i min, %i sec",min,sec); |
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SERIAL_ECHO_START; |
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SERIAL_ECHOLN(time); |
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LCD_MESSAGE(time); |
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} |
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break; |
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@ -617,37 +659,30 @@ inline void process_commands() |
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if (code_seen('S')) setTargetBed(code_value()); |
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break; |
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case 105: // M105 |
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//SERIAL_ECHOLN(freeMemory()); |
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#if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595) |
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tt = degHotend0(); |
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#endif |
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#if TEMP_1_PIN > -1 |
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bt = degBed(); |
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#endif |
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#if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595) |
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Serial.print("ok T:"); |
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Serial.print(tt); |
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SERIAL_PROTOCOLPGM("ok T:"); |
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SERIAL_PROTOCOL( degHotend0()); |
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#if TEMP_1_PIN > -1 |
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#ifdef PIDTEMP |
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Serial.print(" B:"); |
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#if TEMP_1_PIN > -1 |
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Serial.println(bt); |
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#else |
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Serial.println(HeaterPower); |
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#endif |
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#else //not PIDTEMP |
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Serial.println(); |
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#endif //PIDTEMP |
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#else |
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Serial.println(); |
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SERIAL_PROTOCOLPGM(" B:"); |
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SERIAL_PROTOCOL(degBed()); |
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#endif //TEMP_1_PIN |
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#else |
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SERIAL_ERRORLN("No thermistors - no temp"); |
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SERIAL_ERROR_START; |
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SERIAL_ERRORLNPGM("No thermistors - no temp"); |
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#endif |
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#ifdef PIDTEMP |
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SERIAL_PROTOCOLPGM(" @:"); |
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SERIAL_PROTOCOL( HeaterPower); |
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#endif |
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SERIAL_PROTOCOLLN(""); |
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return; |
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break; |
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case 109: |
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{// M109 - Wait for extruder heater to reach target. |
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LCD_MESSAGE("Heating..."); |
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LCD_MESSAGEPGM("Heating..."); |
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if (code_seen('S')) setTargetHotend0(code_value()); |
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setWatch(); |
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@ -668,8 +703,8 @@ inline void process_commands() |
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#endif //TEMP_RESIDENCY_TIME |
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if( (millis() - codenum) > 1000 ) |
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{ //Print Temp Reading every 1 second while heating up/cooling down |
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Serial.print("T:"); |
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Serial.println( degHotend0() ); |
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SERIAL_PROTOCOLPGM("T:"); |
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SERIAL_PROTOCOLLN( degHotend0() ); |
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codenum = millis(); |
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} |
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manage_heater(); |
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@ -685,12 +720,13 @@ inline void process_commands() |
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} |
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#endif //TEMP_RESIDENCY_TIME |
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} |
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LCD_MESSAGE("Heating done."); |
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LCD_MESSAGEPGM("Heating done."); |
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starttime=millis(); |
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} |
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break; |
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case 190: // M190 - Wait bed for heater to reach target. |
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#if TEMP_1_PIN > -1 |
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LCD_MESSAGEPGM("Bed Heating."); |
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if (code_seen('S')) setTargetBed(code_value()); |
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codenum = millis(); |
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while(isHeatingBed()) |
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@ -698,16 +734,17 @@ inline void process_commands() |
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if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. |
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{ |
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float tt=degHotend0(); |
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Serial.print("T:"); |
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Serial.println( tt ); |
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Serial.print("ok T:"); |
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Serial.print( tt ); |
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Serial.print(" B:"); |
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Serial.println( degBed() ); |
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SERIAL_PROTOCOLPGM("T:"); |
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SERIAL_PROTOCOLLN(tt ); |
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SERIAL_PROTOCOLPGM("ok T:"); |
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SERIAL_PROTOCOL(tt ); |
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SERIAL_PROTOCOLPGM(" B:"); |
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SERIAL_PROTOCOLLN(degBed() ); |
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codenum = millis(); |
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} |
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manage_heater(); |
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} |
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LCD_MESSAGEPGM("Bed done."); |
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#endif |
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break; |
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@ -752,6 +789,7 @@ inline void process_commands() |
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else |
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{ |
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st_synchronize(); |
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LCD_MESSAGEPGM("Free move."); |
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disable_x(); |
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disable_y(); |
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disable_z(); |
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@ -770,53 +808,53 @@ inline void process_commands() |
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} |
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break; |
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case 115: // M115 |
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Serial.println("FIRMWARE_NAME:Marlin; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1"); |
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SerialprintPGM("FIRMWARE_NAME:Marlin; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1"); |
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break; |
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case 114: // M114 |
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Serial.print("X:"); |
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Serial.print(current_position[X_AXIS]); |
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Serial.print("Y:"); |
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Serial.print(current_position[Y_AXIS]); |
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Serial.print("Z:"); |
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Serial.print(current_position[Z_AXIS]); |
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Serial.print("E:"); |
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Serial.print(current_position[E_AXIS]); |
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SERIAL_PROTOCOLPGM("X:"); |
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SERIAL_PROTOCOL(current_position[X_AXIS]); |
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SERIAL_PROTOCOLPGM("Y:"); |
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SERIAL_PROTOCOL(current_position[Y_AXIS]); |
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SERIAL_PROTOCOLPGM("Z:"); |
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SERIAL_PROTOCOL(current_position[Z_AXIS]); |
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SERIAL_PROTOCOLPGM("E:"); |
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SERIAL_PROTOCOL(current_position[E_AXIS]); |
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#ifdef DEBUG_STEPS |
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Serial.print(" Count X:"); |
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Serial.print(float(count_position[X_AXIS])/axis_steps_per_unit[X_AXIS]); |
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Serial.print("Y:"); |
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Serial.print(float(count_position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]); |
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Serial.print("Z:"); |
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Serial.println(float(count_position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]); |
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SERIAL_PROTOCOLPGM(" Count X:"); |
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SERIAL_PROTOCOL(float(count_position[X_AXIS])/axis_steps_per_unit[X_AXIS]); |
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SERIAL_PROTOCOLPGM("Y:"); |
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SERIAL_PROTOCOL(float(count_position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]); |
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SERIAL_PROTOCOLPGM("Z:"); |
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SERIAL_PROTOCOL(float(count_position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]); |
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#endif |
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Serial.println(""); |
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SERIAL_PROTOCOLLN(""); |
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break; |
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case 119: // M119 |
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#if (X_MIN_PIN > -1) |
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Serial.print("x_min:"); |
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Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); |
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SERIAL_PROTOCOLPGM("x_min:"); |
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SERIAL_PROTOCOL(((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); |
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#endif |
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#if (X_MAX_PIN > -1) |
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Serial.print("x_max:"); |
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Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); |
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SERIAL_PROTOCOLPGM("x_max:"); |
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SERIAL_PROTOCOL(((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); |
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#endif |
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|
#if (Y_MIN_PIN > -1) |
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Serial.print("y_min:"); |
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|
Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); |
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|
SERIAL_PROTOCOLPGM("y_min:"); |
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|
|
SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); |
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|
#endif |
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|
|
#if (Y_MAX_PIN > -1) |
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|
Serial.print("y_max:"); |
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|
|
Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); |
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|
|
SERIAL_PROTOCOLPGM("y_max:"); |
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|
|
SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); |
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|
|
#endif |
|
|
|
#if (Z_MIN_PIN > -1) |
|
|
|
Serial.print("z_min:"); |
|
|
|
Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); |
|
|
|
SERIAL_PROTOCOLPGM("z_min:"); |
|
|
|
SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); |
|
|
|
#endif |
|
|
|
#if (Z_MAX_PIN > -1) |
|
|
|
Serial.print("z_max:"); |
|
|
|
Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); |
|
|
|
SERIAL_PROTOCOLPGM("z_max:"); |
|
|
|
SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ")); |
|
|
|
#endif |
|
|
|
Serial.println(""); |
|
|
|
SERIAL_PROTOCOLLN(""); |
|
|
|
break; |
|
|
|
//TODO: update for all axis, use for loop |
|
|
|
case 201: // M201 |
|
|
|
@ -867,8 +905,28 @@ inline void process_commands() |
|
|
|
if(code_seen('P')) Kp = code_value(); |
|
|
|
if(code_seen('I')) Ki = code_value()*PID_dT; |
|
|
|
if(code_seen('D')) Kd = code_value()/PID_dT; |
|
|
|
#ifdef PID_ADD_EXTRUSION_RATE |
|
|
|
if(code_seen('C')) Kc = code_value(); |
|
|
|
#endif |
|
|
|
SERIAL_PROTOCOL("ok p:"); |
|
|
|
SERIAL_PROTOCOL(Kp); |
|
|
|
SERIAL_PROTOCOL(" i:"); |
|
|
|
SERIAL_PROTOCOL(Ki/PID_dT); |
|
|
|
SERIAL_PROTOCOL(" d:"); |
|
|
|
SERIAL_PROTOCOL(Kd*PID_dT); |
|
|
|
#ifdef PID_ADD_EXTRUSION_RATE |
|
|
|
SERIAL_PROTOCOL(" c:"); |
|
|
|
SERIAL_PROTOCOL(Kc*PID_dT); |
|
|
|
#endif |
|
|
|
SERIAL_PROTOCOLLN(""); |
|
|
|
|
|
|
|
break; |
|
|
|
#endif //PIDTEMP |
|
|
|
case 400: // finish all moves |
|
|
|
{ |
|
|
|
st_synchronize(); |
|
|
|
} |
|
|
|
break; |
|
|
|
case 500: // Store settings in EEPROM |
|
|
|
{ |
|
|
|
StoreSettings(); |
|
|
|
@ -889,9 +947,10 @@ inline void process_commands() |
|
|
|
} |
|
|
|
else |
|
|
|
{ |
|
|
|
Serial.print("echo: Unknown command:\""); |
|
|
|
Serial.print(cmdbuffer[bufindr]); |
|
|
|
Serial.println("\""); |
|
|
|
SERIAL_ECHO_START; |
|
|
|
SERIAL_ECHOPGM("Unknown command:\""); |
|
|
|
SERIAL_ECHO(cmdbuffer[bufindr]); |
|
|
|
SERIAL_ECHOLNPGM("\""); |
|
|
|
} |
|
|
|
|
|
|
|
ClearToSend(); |
|
|
|
@ -901,8 +960,8 @@ void FlushSerialRequestResend() |
|
|
|
{ |
|
|
|
//char cmdbuffer[bufindr][100]="Resend:"; |
|
|
|
Serial.flush(); |
|
|
|
Serial.print("Resend:"); |
|
|
|
Serial.println(gcode_LastN + 1); |
|
|
|
SERIAL_PROTOCOLPGM("Resend:"); |
|
|
|
SERIAL_PROTOCOLLN(gcode_LastN + 1); |
|
|
|
ClearToSend(); |
|
|
|
} |
|
|
|
|
|
|
|
@ -913,7 +972,7 @@ void ClearToSend() |
|
|
|
if(fromsd[bufindr]) |
|
|
|
return; |
|
|
|
#endif //SDSUPPORT |
|
|
|
Serial.println("ok"); |
|
|
|
SERIAL_PROTOCOLLNPGM("ok"); |
|
|
|
} |
|
|
|
|
|
|
|
inline void get_coordinates() |
|
|
|
@ -987,7 +1046,9 @@ void kill() |
|
|
|
disable_e(); |
|
|
|
|
|
|
|
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); |
|
|
|
SERIAL_ERRORLN("Printer halted. kill() called !!"); |
|
|
|
SERIAL_ERROR_START; |
|
|
|
SERIAL_ERRORLNPGM("Printer halted. kill() called !!"); |
|
|
|
LCD_MESSAGEPGM("KILLED. "); |
|
|
|
while(1); // Wait for reset |
|
|
|
} |
|
|
|
|
|
|
|
|
Erik van der Zalm
13 years ago