/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* 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 .
*
*/
/**
* gcode.cpp - Temporary container for all gcode handlers
* Most will migrate to classes, by feature.
*/
#include "gcode.h"
GcodeSuite gcode;
#include "parser.h"
#include "queue.h"
#include "../module/motion.h"
#if ENABLED(PRINTCOUNTER)
#include "../module/printcounter.h"
#endif
#if ENABLED(DIRECT_MIXING_IN_G1)
#include "../feature/mixing.h"
#endif
#include "../Marlin.h" // for idle() and suspend_auto_report
uint8_t GcodeSuite::target_extruder;
millis_t GcodeSuite::previous_move_ms;
bool GcodeSuite::axis_relative_modes[] = AXIS_RELATIVE_MODES;
#if ENABLED(HOST_KEEPALIVE_FEATURE)
GcodeSuite::MarlinBusyState GcodeSuite::busy_state = NOT_BUSY;
uint8_t GcodeSuite::host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
GcodeSuite::WorkspacePlane GcodeSuite::workspace_plane = PLANE_XY;
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
int8_t GcodeSuite::active_coordinate_system = -1; // machine space
float GcodeSuite::coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
#endif
/**
* Set target_extruder from the T parameter or the active_extruder
*
* Returns TRUE if the target is invalid
*/
bool GcodeSuite::get_target_extruder_from_command() {
if (parser.seenval('T')) {
const int8_t e = parser.value_byte();
if (e >= EXTRUDERS) {
SERIAL_ECHO_START();
SERIAL_CHAR('M');
SERIAL_ECHO(parser.codenum);
SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e);
return true;
}
target_extruder = e;
}
else
target_extruder = active_extruder;
return false;
}
/**
* Set XYZE destination and feedrate from the current GCode command
*
* - Set destination from included axis codes
* - Set to current for missing axis codes
* - Set the feedrate, if included
*/
void GcodeSuite::get_destination_from_command() {
LOOP_XYZE(i) {
if (parser.seen(axis_codes[i])) {
const float v = parser.value_axis_units((AxisEnum)i);
destination[i] = (axis_relative_modes[i] || relative_mode)
? current_position[i] + v
: (i == E_AXIS) ? v : LOGICAL_TO_NATIVE(v, i);
}
else
destination[i] = current_position[i];
}
if (parser.linearval('F') > 0.0)
feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate());
#if ENABLED(PRINTCOUNTER)
if (!DEBUGGING(DRYRUN))
print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
#endif
// Get ABCDHI mixing factors
#if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
gcode_get_mix();
#endif
}
/**
* Dwell waits immediately. It does not synchronize. Use M400 instead of G4
*/
void GcodeSuite::dwell(millis_t time) {
time += millis();
while (PENDING(millis(), time)) idle();
}
//
// Placeholders for non-migrated codes
//
#if ENABLED(M100_FREE_MEMORY_WATCHER)
extern void M100_dump_routine(const char * const title, const char *start, const char *end);
#endif
/**
* Process the parsed command and dispatch it to its handler
*/
void GcodeSuite::process_parsed_command() {
KEEPALIVE_STATE(IN_HANDLER);
// Handle a known G, M, or T
switch (parser.command_letter) {
case 'G': switch (parser.codenum) {
case 0: case 1: G0_G1( // G0: Fast Move, G1: Linear Move
#if IS_SCARA
parser.codenum == 0
#endif
);
break;
#if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
case 2: case 3: G2_G3(parser.codenum == 2); break; // G2: CW ARC, G3: CCW ARC
#endif
case 4: G4(); break; // G4: Dwell
#if ENABLED(BEZIER_CURVE_SUPPORT)
case 5: G5(); break; // G5: Cubic B_spline
#endif
#if ENABLED(FWRETRACT)
case 10: G10(); break; // G10: Retract / Swap Retract
case 11: G11(); break; // G11: Recover / Swap Recover
#endif
#if ENABLED(NOZZLE_CLEAN_FEATURE)
case 12: G12(); break; // G12: Nozzle Clean
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
case 17: G17(); break; // G17: Select Plane XY
case 18: G18(); break; // G18: Select Plane ZX
case 19: G19(); break; // G19: Select Plane YZ
#endif
#if ENABLED(INCH_MODE_SUPPORT)
case 20: G20(); break; // G20: Inch Mode
case 21: G21(); break; // G21: MM Mode
#endif
#if ENABLED(G26_MESH_VALIDATION)
case 26: G26(); break; // G26: Mesh Validation Pattern generation
#endif
#if ENABLED(NOZZLE_PARK_FEATURE)
case 27: G27(); break; // G27: Nozzle Park
#endif
case 28: G28(false); break; // G28: Home all axes, one at a time
#if HAS_LEVELING
case 29: G29(); break; // G29: Bed leveling calibration
#endif
#if HAS_BED_PROBE
case 30: G30(); break; // G30: Single Z probe
#if ENABLED(Z_PROBE_SLED)
case 31: G31(); break; // G31: dock the sled
case 32: G32(); break; // G32: undock the sled
#endif
#endif
#if ENABLED(DELTA_AUTO_CALIBRATION)
case 33: G33(); break; // G33: Delta Auto-Calibration
#endif
#if ENABLED(G38_PROBE_TARGET)
case 38: // G38.2 & G38.3
if (parser.subcode == 2 || parser.subcode == 3)
G38(parser.subcode == 2);
break;
#endif
case 90: relative_mode = false; break; // G90: Relative Mode
case 91: relative_mode = true; break; // G91: Absolute Mode
case 92: G92(); break; // G92: Set current axis position(s)
#if HAS_MESH
case 42: G42(); break; // G42: Coordinated move to a mesh point
#endif
#if ENABLED(DEBUG_GCODE_PARSER)
case 800: parser.debug(); break; // G800: GCode Parser Test for G
#endif
}
break;
case 'M': switch (parser.codenum) {
#if HAS_RESUME_CONTINUE
case 0: // M0: Unconditional stop - Wait for user button press on LCD
case 1: M0_M1(); break; // M1: Conditional stop - Wait for user button press on LCD
#endif
#if ENABLED(SPINDLE_LASER_ENABLE)
case 3: M3_M4(true ); break; // M3: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CW
case 4: M3_M4(false); break; // M4: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CCW
case 5: M5(); break; // M5 - turn spindle/laser off
#endif
case 17: M17(); break; // M17: Enable all stepper motors
#if ENABLED(SDSUPPORT)
case 20: M20(); break; // M20: list SD card
case 21: M21(); break; // M21: init SD card
case 22: M22(); break; // M22: release SD card
case 23: M23(); break; // M23: Select file
case 24: M24(); break; // M24: Start SD print
case 25: M25(); break; // M25: Pause SD print
case 26: M26(); break; // M26: Set SD index
case 27: M27(); break; // M27: Get SD status
case 28: M28(); break; // M28: Start SD write
case 29: M29(); break; // M29: Stop SD write
case 30: M30(); break; // M30 Delete File
case 32: M32(); break; // M32: Select file and start SD print
#if ENABLED(LONG_FILENAME_HOST_SUPPORT)
case 33: M33(); break; // M33: Get the long full path to a file or folder
#endif
#if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
case 34: M34(); break; // M34: Set SD card sorting options
#endif
case 928: M928(); break; // M928: Start SD write
#endif // SDSUPPORT
case 31: M31(); break; // M31: Report time since the start of SD print or last M109
case 42: M42(); break; // M42: Change pin state
#if ENABLED(PINS_DEBUGGING)
case 43: M43(); break; // M43: Read pin state
#endif
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
case 48: M48(); break; // M48: Z probe repeatability test
#endif
#if ENABLED(G26_MESH_VALIDATION)
case 49: M49(); break; // M49: Turn on or off G26 debug flag for verbose output
#endif
#if ENABLED(ULTRA_LCD) && ENABLED(LCD_SET_PROGRESS_MANUALLY)
case 73: M73(); break; // M73: Set progress percentage (for display on LCD)
#endif
case 75: M75(); break; // M75: Start print timer
case 76: M76(); break; // M76: Pause print timer
case 77: M77(); break; // M77: Stop print timer
#if ENABLED(PRINTCOUNTER)
case 78: M78(); break; // M78: Show print statistics
#endif
#if ENABLED(M100_FREE_MEMORY_WATCHER)
case 100: M100(); break; // M100: Free Memory Report
#endif
case 104: M104(); break; // M104: Set hot end temperature
case 109: M109(); break; // M109: Wait for hotend temperature to reach target
case 110: M110(); break; // M110: Set Current Line Number
case 111: M111(); break; // M111: Set debug level
#if DISABLED(EMERGENCY_PARSER)
case 108: M108(); break; // M108: Cancel Waiting
case 112: M112(); break; // M112: Emergency Stop
case 410: M410(); break; // M410: Quickstop - Abort all the planned moves.
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
case 113: M113(); break; // M113: Set Host Keepalive interval
#endif
#if HAS_HEATER_BED && HAS_TEMP_BED
case 140: M140(); break; // M140: Set bed temperature
case 190: M190(); break; // M190: Wait for bed temperature to reach target
#endif
case 105: M105(); KEEPALIVE_STATE(NOT_BUSY); return; // M105: Report Temperatures (and say "ok")
#if ENABLED(AUTO_REPORT_TEMPERATURES) && HAS_TEMP_SENSOR
case 155: M155(); break; // M155: Set temperature auto-report interval
#endif
#if FAN_COUNT > 0
case 106: M106(); break; // M106: Fan On
case 107: M107(); break; // M107: Fan Off
#endif
#if ENABLED(PARK_HEAD_ON_PAUSE)
case 125: M125(); break; // M125: Store current position and move to filament change position
#endif
#if ENABLED(BARICUDA)
// PWM for HEATER_1_PIN
#if HAS_HEATER_1
case 126: M126(); break; // M126: valve open
case 127: M127(); break; // M127: valve closed
#endif
// PWM for HEATER_2_PIN
#if HAS_HEATER_2
case 128: M128(); break; // M128: valve open
case 129: M129(); break; // M129: valve closed
#endif
#endif // BARICUDA
#if HAS_POWER_SWITCH
case 80: M80(); break; // M80: Turn on Power Supply
#endif
case 81: M81(); break; // M81: Turn off Power, including Power Supply, if possible
case 82: M82(); break; // M82: Set E axis normal mode (same as other axes)
case 83: M83(); break; // M83: Set E axis relative mode
case 18: case 84: M18_M84(); break; // M18/M84: Disable Steppers / Set Timeout
case 85: M85(); break; // M85: Set inactivity stepper shutdown timeout
case 92: M92(); break; // M92: Set the steps-per-unit for one or more axes
case 114: M114(); break; // M114: Report current position
case 115: M115(); break; // M115: Report capabilities
case 117: M117(); break; // M117: Set LCD message text, if possible
case 118: M118(); break; // M118: Display a message in the host console
case 119: M119(); break; // M119: Report endstop states
case 120: M120(); break; // M120: Enable endstops
case 121: M121(); break; // M121: Disable endstops
#if ENABLED(ULTIPANEL)
case 145: M145(); break; // M145: Set material heatup parameters
#endif
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
case 149: M149(); break; // M149: Set temperature units
#endif
#if HAS_COLOR_LEDS
case 150: M150(); break; // M150: Set Status LED Color
#endif
#if ENABLED(MIXING_EXTRUDER)
case 163: M163(); break; // M163: Set a component weight for mixing extruder
#if MIXING_VIRTUAL_TOOLS > 1
case 164: M164(); break; // M164: Save current mix as a virtual extruder
#endif
#if ENABLED(DIRECT_MIXING_IN_G1)
case 165: M165(); break; // M165: Set multiple mix weights
#endif
#endif
#if DISABLED(NO_VOLUMETRICS)
case 200: M200(); break; // M200: Set filament diameter, E to cubic units
#endif
case 201: M201(); break; // M201: Set max acceleration for print moves (units/s^2)
#if 0
case 202: M202(); break; // M202: Not used for Sprinter/grbl gen6
#endif
case 203: M203(); break; // M203: Set max feedrate (units/sec)
case 204: M204(); break; // M204: Set acceleration
case 205: M205(); break; // M205: Set advanced settings
#if HAS_M206_COMMAND
case 206: M206(); break; // M206: Set home offsets
#endif
#if ENABLED(DELTA)
case 665: M665(); break; // M665: Set delta configurations
#endif
#if ENABLED(DELTA) || ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
case 666: M666(); break; // M666: Set delta or dual endstop adjustment
#endif
#if ENABLED(FWRETRACT)
case 207: M207(); break; // M207: Set Retract Length, Feedrate, and Z lift
case 208: M208(); break; // M208: Set Recover (unretract) Additional Length and Feedrate
case 209:
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) M209(); // M209: Turn Automatic Retract Detection on/off
break;
#endif
case 211: M211(); break; // M211: Enable, Disable, and/or Report software endstops
#if HOTENDS > 1
case 218: M218(); break; // M218: Set a tool offset
#endif
case 220: M220(); break; // M220: Set Feedrate Percentage: S ("FR" on your LCD)
case 221: M221(); break; // M221: Set Flow Percentage
case 226: M226(); break; // M226: Wait until a pin reaches a state
#if HAS_SERVOS
case 280: M280(); break; // M280: Set servo position absolute
#endif
#if ENABLED(BABYSTEPPING)
case 290: M290(); break; // M290: Babystepping
#endif
#if HAS_BUZZER
case 300: M300(); break; // M300: Play beep tone
#endif
#if ENABLED(PIDTEMP)
case 301: M301(); break; // M301: Set hotend PID parameters
#endif
#if ENABLED(PIDTEMPBED)
case 304: M304(); break; // M304: Set bed PID parameters
#endif
#if defined(CHDK) || HAS_PHOTOGRAPH
case 240: M240(); break; // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
#endif
#if HAS_LCD_CONTRAST
case 250: M250(); break; // M250: Set LCD contrast
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
case 260: M260(); break; // M260: Send data to an i2c slave
case 261: M261(); break; // M261: Request data from an i2c slave
#endif
#if ENABLED(PREVENT_COLD_EXTRUSION)
case 302: M302(); break; // M302: Allow cold extrudes (set the minimum extrude temperature)
#endif
case 303: M303(); break; // M303: PID autotune
#if ENABLED(MORGAN_SCARA)
case 360: if (M360()) return; break; // M360: SCARA Theta pos1
case 361: if (M361()) return; break; // M361: SCARA Theta pos2
case 362: if (M362()) return; break; // M362: SCARA Psi pos1
case 363: if (M363()) return; break; // M363: SCARA Psi pos2
case 364: if (M364()) return; break; // M364: SCARA Psi pos3 (90 deg to Theta)
#endif
#if ENABLED(EXT_SOLENOID)
case 380: M380(); break; // M380: Activate solenoid on active extruder
case 381: M381(); break; // M381: Disable all solenoids
#endif
case 400: M400(); break; // M400: Finish all moves
#if HAS_BED_PROBE
case 401: M401(); break; // M401: Deploy probe
case 402: M402(); break; // M402: Stow probe
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
case 404: M404(); break; // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
case 405: M405(); break; // M405: Turn on filament sensor for control
case 406: M406(); break; // M406: Turn off filament sensor for control
case 407: M407(); break; // M407: Display measured filament diameter
#endif
#if HAS_LEVELING
case 420: M420(); break; // M420: Enable/Disable Bed Leveling
#endif
#if HAS_MESH
case 421: M421(); break; // M421: Set a Mesh Bed Leveling Z coordinate
#endif
#if HAS_M206_COMMAND
case 428: M428(); break; // M428: Apply current_position to home_offset
#endif
case 500: M500(); break; // M500: Store settings in EEPROM
case 501: M501(); break; // M501: Read settings from EEPROM
case 502: M502(); break; // M502: Revert to default settings
#if DISABLED(DISABLE_M503)
case 503: M503(); break; // M503: print settings currently in memory
#endif
#if ENABLED(EEPROM_SETTINGS)
case 504: M504(); break; // M504: Validate EEPROM contents
#endif
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
case 540: M540(); break; // M540: Set abort on endstop hit for SD printing
#endif
#if HAS_BED_PROBE
case 851: M851(); break; // M851: Set Z Probe Z Offset
#endif
#if ENABLED(SKEW_CORRECTION_GCODE)
case 852: M852(); break; // M852: Set Skew factors
#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE)
case 600: M600(); break; // M600: Pause for Filament Change
case 603: M603(); break; // M603: Configure Filament Change
#endif
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
case 605: M605(); break; // M605: Set Dual X Carriage movement mode
#endif
#if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
case 701: M701(); break; // M701: Load Filament
case 702: M702(); break; // M702: Unload Filament
#endif
#if ENABLED(LIN_ADVANCE)
case 900: M900(); break; // M900: Set advance K factor.
#endif
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM || ENABLED(DIGIPOT_I2C) || ENABLED(DAC_STEPPER_CURRENT)
case 907: M907(); break; // M907: Set digital trimpot motor current using axis codes.
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
case 908: M908(); break; // M908: Control digital trimpot directly.
#if ENABLED(DAC_STEPPER_CURRENT)
case 909: M909(); break; // M909: Print digipot/DAC current value
case 910: M910(); break; // M910: Commit digipot/DAC value to external EEPROM
#endif
#endif
#endif
#if HAS_TRINAMIC
#if ENABLED(TMC_DEBUG)
case 122: M122(); break;
#endif
case 906: M906(); break; // M906: Set motor current in milliamps using axis codes X, Y, Z, E
case 911: M911(); break; // M911: Report TMC2130 prewarn triggered flags
case 912: M912(); break; // M912: Clear TMC2130 prewarn triggered flags
#if ENABLED(HYBRID_THRESHOLD)
case 913: M913(); break; // M913: Set HYBRID_THRESHOLD speed.
#endif
#if ENABLED(SENSORLESS_HOMING)
case 914: M914(); break; // M914: Set SENSORLESS_HOMING sensitivity.
#endif
#if ENABLED(TMC_Z_CALIBRATION)
case 915: M915(); break; // M915: TMC Z axis calibration.
#endif
#endif
#if HAS_MICROSTEPS
case 350: M350(); break; // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
case 351: M351(); break; // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
#endif
case 355: M355(); break; // M355: Set case light brightness
#if ENABLED(DEBUG_GCODE_PARSER)
case 800: parser.debug(); break; // M800: GCode Parser Test for M
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
case 860: M860(); break; // M860: Report encoder module position
case 861: M861(); break; // M861: Report encoder module status
case 862: M862(); break; // M862: Perform axis test
case 863: M863(); break; // M863: Calibrate steps/mm
case 864: M864(); break; // M864: Change module address
case 865: M865(); break; // M865: Check module firmware version
case 866: M866(); break; // M866: Report axis error count
case 867: M867(); break; // M867: Toggle error correction
case 868: M868(); break; // M868: Set error correction threshold
case 869: M869(); break; // M869: Report axis error
#endif
case 999: M999(); break; // M999: Restart after being Stopped
}
break;
case 'T': T(parser.codenum); break; // Tn: Tool Change
default: parser.unknown_command_error();
}
KEEPALIVE_STATE(NOT_BUSY);
ok_to_send();
}
/**
* Process a single command and dispatch it to its handler
* This is called from the main loop()
*/
void GcodeSuite::process_next_command() {
char * const current_command = command_queue[cmd_queue_index_r];
if (DEBUGGING(ECHO)) {
SERIAL_ECHO_START();
SERIAL_ECHOLN(current_command);
#if ENABLED(M100_FREE_MEMORY_WATCHER)
SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
#endif
}
reset_stepper_timeout(); // Keep steppers powered
// Parse the next command in the queue
parser.parse(current_command);
process_parsed_command();
}
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**
* Output a "busy" message at regular intervals
* while the machine is not accepting commands.
*/
void GcodeSuite::host_keepalive() {
const millis_t ms = millis();
static millis_t next_busy_signal_ms = 0;
if (!suspend_auto_report && host_keepalive_interval && busy_state != NOT_BUSY) {
if (PENDING(ms, next_busy_signal_ms)) return;
switch (busy_state) {
case IN_HANDLER:
case IN_PROCESS:
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
break;
case PAUSED_FOR_USER:
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
break;
case PAUSED_FOR_INPUT:
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
break;
default:
break;
}
}
next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
}
#endif // HOST_KEEPALIVE_FEATURE