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main.cpp
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main.cpp
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// Endstops disabled (set to NC in pins.h)
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
// ported to mbed by R. Bohne (rene.bohne@gmail.com)
#include "mbed.h"
#include "pins.h"
#include "configuration.h"
#include "ThermistorTable.h"
#define DEBUGGING false
#define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000))
#define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000))
#define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*feedrate/60000000))
#define E_TIME_FOR_MOVE ((float)e_steps_to_take / (e_steps_per_unit*feedrate/60000000))
DigitalOut led1(LED1);//x
DigitalOut led2(LED2);//y
DigitalOut led3(LED3);//z
DigitalOut led4(LED4);//e
DigitalOut p_fan(FAN_PIN);
DigitalOut p_X_enable(X_ENABLE_PIN);
DigitalOut p_X_dir(X_DIR_PIN);
DigitalOut p_X_step(X_STEP_PIN);
DigitalIn p_X_min(X_MIN_PIN);
DigitalIn p_X_max(X_MAX_PIN);
DigitalOut p_Y_enable(Y_ENABLE_PIN);
DigitalOut p_Y_dir(Y_DIR_PIN);
DigitalOut p_Y_step(Y_STEP_PIN);
DigitalIn p_Y_min(Y_MIN_PIN);
DigitalIn p_Y_max(Y_MAX_PIN);
DigitalOut p_Z_enable(Z_ENABLE_PIN);
DigitalOut p_Z_dir(Z_DIR_PIN);
DigitalOut p_Z_step(Z_STEP_PIN);
DigitalIn p_Z_min(Z_MIN_PIN);
DigitalIn p_Z_max(Z_MAX_PIN);
DigitalOut p_E_enable(E_ENABLE_PIN);
DigitalOut p_E_dir(E_DIR_PIN);
DigitalOut p_E_step(E_STEP_PIN);
DigitalOut p_heater0(HEATER_0_PIN);
DigitalOut p_heater1(HEATER_1_PIN);//heated-build-platform
AnalogIn p_temp0(TEMP_0_PIN);
AnalogIn p_temp1(TEMP_1_PIN);//heated-build-platform thermistor
Serial pc(USBTX, USBRX);
Timer timer;
int millis() {
return timer.read_ms();
}
int micros() {
return timer.read_us();
}
int max(int a, int b) {
if (a>b) {
return a;
}
return b;
}
// Takes temperature value as input and returns corresponding analog value from RepRap thermistor temp table.
// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
float temp2analog(int celsius) {
if (USE_THERMISTOR){
int raw = 0;
int i;
for (i=1; i<NUMTEMPS; i++) {
if (temptable[i][1] < celsius) {
raw = temptable[i-1][0];
break;
}
}
// Overflow: Set to last value in the table (25 deg. Celsius)
if (i == NUMTEMPS) raw = temptable[i-1][0];
return raw;
}
}
// calculated by hand
float analog2temp(int raw) {
if (USE_THERMISTOR) {
int celsius = 0;
int i;
for (i=1; i<NUMTEMPS; i++) {
if (temptable[i][0] > raw) {
celsius = temptable[i-1][1];
break;
}
}
// Overflow: Set to last value in the table (25 deg. Celsius)
if (i == NUMTEMPS) celsius = temptable[i-1][1];
return celsius;
}
}
// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
//Implemented Codes
//-------------------
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G4 - Dwell S<seconds> or P<milliseconds>
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
//RepRap M Codes
// M104 - Set target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Wait for current temp to reach target temp.
//Custom M Codes
// 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
// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M86 - If Endstop is Not Activated then Abort Print. Specify X and/or Y
// M92 - Set axis_steps_per_unit - same syntax as G92
// M93 - Read previous_micros
//Stepper Movement Variables
bool direction_x, direction_y, direction_z, direction_e;
int previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater;
int x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take;
float destination_x =0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0;
float current_x = 0.0, current_y = 0.0, current_z = 0.0, current_e = 0.0;
float x_interval, y_interval, z_interval, e_interval; // for speed delay
float feedrate = 1500, next_feedrate;
float time_for_move;
int gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
int x_steps_remaining;
int y_steps_remaining;
int z_steps_remaining;
int e_steps_remaining;
// comm variables
#define MAX_CMD_SIZE 256
char cmdbuffer[MAX_CMD_SIZE];
char serial_char;
int serial_count = 0;
bool comment_mode = false;
char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
//manage heater variables
int target_raw = 0;
int current_raw;
//for heated-build-platform
int target_raw1 = 0;
int current_raw1;
//Inactivity shutdown variables
int previous_millis_cmd=0;
int max_inactive_time = 0;
//timer.read_us overflows every 30 seconds, so we want to reset everything...
void reset_timers() {
previous_micros = 0;
previous_micros_x = 0;
previous_micros_y = 0;
previous_micros_z = 0;
previous_micros_e = 0;
timer.stop();
timer.reset();
timer.start();
}
void check_x_min_endstop() {
if (X_MIN_PIN != NC) {
if (!direction_x) {
if (p_X_min.read() != ENDSTOPS_INVERTING) {
x_steps_remaining=0;
}
}
}
}
void check_y_min_endstop() {
if (Y_MIN_PIN != NC) {
if (!direction_y) {
if (p_Y_min.read() != ENDSTOPS_INVERTING) {
y_steps_remaining=0;
}
}
}
}
void check_z_min_endstop() {
if (Z_MIN_PIN != NC) {
if (!direction_z) {
if (p_Z_min.read() != ENDSTOPS_INVERTING) {
z_steps_remaining=0;
}
}
}
}
//manages heaters for hot-end and heated-build-platform
void manage_heater() {
if (TEMP_0_PIN != NC) {
current_raw = 0;
for(int i=0;i<3;i++)
{
int _raw = p_temp0.read_u16();
if((current_raw == 65535) && (_raw==65535))
{
//do nothing
}
else if((current_raw == 65535) && (_raw<65535))
{
current_raw = _raw;
}
else
{
long l = current_raw + _raw;
l = l/2;
current_raw = (int) l;
}
}
//pc.printf("currentRaw: %d \t targetRaw: %d\n", current_raw, target_raw);
if(current_raw == 65535)
{
pc.printf("thermistor0 disconnected!!!\n");
p_heater0 = 0;
}
else
{
if((target_raw >0) && (current_raw > target_raw))
{
p_heater0 = 1;
//pc.printf("currentRaw: %d \t targetRaw: %d\n", current_raw, target_raw);
}
else
{
p_heater0 = 0;
}
}
}
//thermistor for heated-build-platform
if (TEMP_1_PIN != NC) {
current_raw1 = 0;
for(int i=0;i<3;i++)
{
int _raw1 = p_temp1.read_u16();
if((current_raw1 == 65535) && (_raw1==65535))
{
//do nothing
}
else if((current_raw1 == 65535) && (_raw1<65535))
{
current_raw1 = _raw1;
}
else
{
long l = current_raw1 + _raw1;
l = l/2;
current_raw1 = (int) l;
}
}
//pc.printf("currentRaw1: %d \t targetRaw1: %d\n", current_raw1, target_raw1);
if(current_raw1 == 65535)
{
pc.printf("thermistor1 disconnected!!!\n");
p_heater1 = 0;
}
else
{
if((target_raw1 >0) && (current_raw1 > target_raw1))
{
p_heater1 = 1;
//pc.printf("currentRaw: %d \t targetRaw: %d\n", current_raw, target_raw);
}
else
{
p_heater1 = 0;
}
}
}
/*
if (TEMP_0_PIN != NC) {
current_raw = (p_temp0.read_u16() >> 6) ;
if (USE_THERMISTOR) {// If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target,
current_raw = 0xFFFF - current_raw; // this switches it up so that the reading appears lower than target for the control logic.
}
if (current_raw >= target_raw) {
p_heater0 = 0;
} else {
p_heater0 = 1;
}
}
*/
}
void do_x_step() {
if (X_STEP_PIN != NC) {
p_X_step = 1;
wait_us(2);
p_X_step = 0;
//wait_us(2);
previous_micros_x = micros();
}
}
void do_y_step() {
if (Y_STEP_PIN != NC) {
p_Y_step = 1;
wait_us(2);
p_Y_step = 0;
//wait_us(2);
previous_micros_y = micros();
}
}
void do_z_step() {
if (Z_STEP_PIN != NC) {
p_Z_step = 1;
wait_us(2);
p_Z_step = 0;
//wait_us(2);
previous_micros_z = micros();
}
}
void do_e_step() {
if (E_STEP_PIN != NC) {
p_E_step = 1;
wait_us(2);
p_E_step = 0;
//wait_us(2);
previous_micros_e = micros();
}
}
void disable_x() {
if (X_ENABLE_PIN != NC) {
p_X_enable = !X_ENABLE_ON;
}
led1=0;
}
void disable_y() {
if (Y_ENABLE_PIN != NC) {
p_Y_enable = !Y_ENABLE_ON;
}
led2=0;
}
void disable_z() {
if (Z_ENABLE_PIN != NC) {
p_Z_enable = !Z_ENABLE_ON;
}
led3=0;
}
void disable_e() {
if (E_ENABLE_PIN != NC) {
p_E_enable = !E_ENABLE_ON;
}
led4=0;
}
void enable_x() {
if (X_ENABLE_PIN != NC) {
p_X_enable = X_ENABLE_ON;
}
}
void enable_y() {
if (Y_ENABLE_PIN != NC) {
p_Y_enable = Y_ENABLE_ON;
}
}
void enable_z() {
if (Z_ENABLE_PIN != NC) {
p_Z_enable = Z_ENABLE_ON;
}
}
void enable_e() {
if (E_ENABLE_PIN != NC) {
p_E_enable = E_ENABLE_ON;
}
}
void kill(int debug) {
/*
if (HEATER_0_PIN != NC) {
p_heater0 = 0;
}
*/
disable_x();
disable_y();
disable_z();
disable_e();
if (PS_ON_PIN != NC) {
//pinMode(PS_ON_PIN,INPUT);
}
while (1) {
switch (debug) {
case 1:
pc.printf("Inactivity Shutdown, Last Line: ");
break;
case 2:
pc.printf("Linear Move Abort, Last Line: ");
break;
case 3:
pc.printf("Homing X Min Stop Fail, Last Line: ");
break;
case 4:
pc.printf("Homing Y Min Stop Fail, Last Line: ");
break;
}
pc.printf("%s \n",gcode_LastN);
wait(5); // 5 Second delay
}
}
void manage_inactivity(int debug) {
if ( (millis()-previous_millis_cmd) > max_inactive_time ) {
if (max_inactive_time) {
kill(debug);
}
}
}
void linear_move() { // make linear move with preset speeds and destinations, see G0 and G1
//Determine direction of movement
if (destination_x > current_x) {
p_X_dir = !INVERT_X_DIR;
} else {
p_X_dir = INVERT_X_DIR;
}
if (destination_y > current_y) {
p_Y_dir = !INVERT_Y_DIR;
} else {
p_Y_dir = INVERT_Y_DIR;
}
if (destination_z > current_z) {
p_Z_dir = !INVERT_Z_DIR;
} else {
p_Z_dir = INVERT_Z_DIR;
}
if (destination_e > current_e) {
p_E_dir = !INVERT_E_DIR;
} else {
p_E_dir = INVERT_E_DIR;
}
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
if (x_steps_remaining) enable_x();
if (y_steps_remaining) enable_y();
if (z_steps_remaining) enable_z();
if (e_steps_remaining) enable_e();
check_x_min_endstop();
check_y_min_endstop();
check_z_min_endstop();
previous_millis_heater = millis();
while (x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) { // move until no more steps remain
if (x_steps_remaining>0) {
if ((micros()-previous_micros_x) >= x_interval) {
do_x_step();
x_steps_remaining--;
}
check_x_min_endstop();
led1 = 1;
} else {
led1 = 0;
wait_us(2);
}
if (y_steps_remaining>0) {
if ((micros()-previous_micros_y) >= y_interval) {
do_y_step();
y_steps_remaining--;
}
check_y_min_endstop();
led2=1;
} else {
led2=0;
wait_us(2);
}
if (z_steps_remaining>0) {
if ((micros()-previous_micros_z) >= z_interval) {
do_z_step();
z_steps_remaining--;
}
check_z_min_endstop();
led3=1;
} else {
led3=0;
wait_us(2);
}
if (e_steps_remaining>0) {
if ((micros()-previous_micros_e) >= e_interval) {
do_e_step();
e_steps_remaining--;
led4=1;
}
} else {
led4=0;
wait_us(2);
}
if ( (millis() - previous_millis_heater) >= 500 ) {
manage_heater();
previous_millis_heater = millis();
manage_inactivity(2);
}
wait_us(2);
}
led1=0;
led2=0;
led3=0;
led4=0;
if (DISABLE_X) disable_x();
if (DISABLE_Y) disable_y();
if (DISABLE_Z) disable_z();
if (DISABLE_E) disable_e();
// Update current position partly based on direction, we probably can combine this with the direction code above...
if (destination_x > current_x) current_x = current_x + x_steps_to_take/x_steps_per_unit;
else current_x = current_x - x_steps_to_take/x_steps_per_unit;
if (destination_y > current_y) current_y = current_y + y_steps_to_take/y_steps_per_unit;
else current_y = current_y - y_steps_to_take/y_steps_per_unit;
if (destination_z > current_z) current_z = current_z + z_steps_to_take/z_steps_per_unit;
else current_z = current_z - z_steps_to_take/z_steps_per_unit;
if (destination_e > current_e) current_e = current_e + e_steps_to_take/e_steps_per_unit;
else current_e = current_e - e_steps_to_take/e_steps_per_unit;
}
void ClearToSend() {
previous_millis_cmd = millis();
pc.printf("ok\n");
}
void FlushSerialRequestResend() {
pc.printf("Resend: %d\n",(gcode_LastN+1));
//char cmdbuffer[100]="Resend:";
//ltoa(gcode_LastN+1, cmdbuffer+7, 10);
//pc.flush();
//pc.printf(cmdbuffer);
ClearToSend();
}
//#define code_num (strtod(&cmdbuffer[strchr_pointer - cmdbuffer + 1], NULL))
//inline void code_search(char code) { strchr_pointer = strchr(cmdbuffer, code); }
float code_value() {
return (strtod(&cmdbuffer[strchr_pointer - cmdbuffer + 1], NULL));
}
long code_value_long() {
return (strtol(&cmdbuffer[strchr_pointer - cmdbuffer + 1], NULL, 10));
}
bool code_seen(char code_string[]) {
return (strstr(cmdbuffer, code_string) != NULL); //Return True if the string was found
}
bool code_seen(char code) {
strchr_pointer = strchr(cmdbuffer, code);
return (strchr_pointer != NULL); //Return True if a character was found
}
void get_coordinates() {
if (code_seen('X')) destination_x = (float)code_value() + relative_mode*current_x;
else destination_x = current_x; //Are these else lines really needed?
if (code_seen('Y')) destination_y = (float)code_value() + relative_mode*current_y;
else destination_y = current_y;
if (code_seen('Z')) destination_z = (float)code_value() + relative_mode*current_z;
else destination_z = current_z;
if (code_seen('E')) destination_e = (float)code_value() + (relative_mode_e || relative_mode)*current_e;
else destination_e = current_e;
if (code_seen('F')) {
next_feedrate = code_value();
if (next_feedrate > 0.0) feedrate = next_feedrate;
}
//Find direction
if (destination_x >= current_x) direction_x=1;
else direction_x=0;
if (destination_y >= current_y) direction_y=1;
else direction_y=0;
if (destination_z >= current_z) direction_z=1;
else direction_z=0;
if (destination_e >= current_e) direction_e=1;
else direction_e=0;
if (min_software_endstops) {
if (destination_x < 0) destination_x = 0.0;
if (destination_y < 0) destination_y = 0.0;
if (destination_z < 0) destination_z = 0.0;
}
if (max_software_endstops) {
if (destination_x > X_MAX_LENGTH) destination_x = X_MAX_LENGTH;
if (destination_y > Y_MAX_LENGTH) destination_y = Y_MAX_LENGTH;
if (destination_z > Z_MAX_LENGTH) destination_z = Z_MAX_LENGTH;
}
if (feedrate > max_feedrate) feedrate = max_feedrate;
}
void process_commands() {
unsigned long codenum; //throw away variable
if (code_seen('N')) {
gcode_N = code_value_long();
if (gcode_N != gcode_LastN+1 && (strstr(cmdbuffer, "M110") == NULL) ) {
gcode_LastN=0;
pc.printf("ok");
//if(gcode_N != gcode_LastN+1 && !code_seen("M110") ) { //Hmm, compile size is different between using this vs the line above even though it should be the same thing. Keeping old method.
//pc.printf("Serial Error: Line Number is not Last Line Number+1, Last Line:");
//pc.printf("%d\n",gcode_LastN);
//FlushSerialRequestResend();
return;
}
if (code_seen('*')) {
int checksum = 0;
int count=0;
while (cmdbuffer[count] != '*') checksum = checksum^cmdbuffer[count++];
if ( (int)code_value() != checksum) {
//pc.printf("Error: checksum mismatch, Last Line:");
//pc.printf("%d\n",gcode_LastN);
//FlushSerialRequestResend();
return;
}
//if no errors, continue parsing
} else {
//pc.printf("Error: No Checksum with line number, Last Line:");
//pc.printf("%d\n",gcode_LastN);
//FlushSerialRequestResend();
return;
}
gcode_LastN = gcode_N;
//if no errors, continue parsing
} else { // if we don't receive 'N' but still see '*'
if (code_seen('*')) {
//pc.printf("Error: No Line Number with checksum, Last Line:");
//pc.printf("%d\n",gcode_LastN);
return;
}
}
//continues parsing only if we don't receive any 'N' or '*' or no errors if we do. :)
if (code_seen('G')) {
switch ((int)code_value()) {
case 0: // G0 -> G1
case 1: // G1
reset_timers();//avoid timer overflow after 30 seconds
get_coordinates(); // For X Y Z E F
x_steps_to_take = abs(destination_x - current_x)*x_steps_per_unit;
y_steps_to_take = abs(destination_y - current_y)*y_steps_per_unit;
z_steps_to_take = abs(destination_z - current_z)*z_steps_per_unit;
e_steps_to_take = abs(destination_e - current_e)*e_steps_per_unit;
//printf(" x_steps_to_take:%d\n", x_steps_to_take);
time_for_move = max(X_TIME_FOR_MOVE,Y_TIME_FOR_MOVE);
time_for_move = max(time_for_move,Z_TIME_FOR_MOVE);
time_for_move = max(time_for_move,E_TIME_FOR_MOVE);
if (x_steps_to_take) x_interval = time_for_move/x_steps_to_take;
if (y_steps_to_take) y_interval = time_for_move/y_steps_to_take;
if (z_steps_to_take) z_interval = time_for_move/z_steps_to_take;
if (e_steps_to_take) e_interval = time_for_move/e_steps_to_take;
x_steps_remaining = x_steps_to_take;
y_steps_remaining = y_steps_to_take;
z_steps_remaining = z_steps_to_take;
e_steps_remaining = e_steps_to_take;
if (DEBUGGING) {
pc.printf("destination_x: %f\n",destination_x);
pc.printf("current_x: %f\n",current_x);
pc.printf("x_steps_to_take: %d\n",x_steps_to_take);
pc.printf("X_TIME_FOR_MOVE: %f\n",X_TIME_FOR_MOVE);
pc.printf("x_interval: %f\n\n",x_interval);
pc.printf("destination_y: %f\n",destination_y);
pc.printf("current_y: %f\n",current_y);
pc.printf("y_steps_to_take: %d\n",y_steps_to_take);
pc.printf("Y_TIME_FOR_MOVE: %f\n",Y_TIME_FOR_MOVE);
pc.printf("y_interval: %f\n\n",y_interval);
pc.printf("destination_z: %f\n",destination_z);
pc.printf("current_z: %f\n",current_z);
pc.printf("z_steps_to_take: %d\n",z_steps_to_take);
pc.printf("Z_TIME_FOR_MOVE: %f\n",Z_TIME_FOR_MOVE);
pc.printf("z_interval: %f\n\n",z_interval);
pc.printf("destination_e: %f\n",destination_e);
pc.printf("current_e: %f\n",current_e);
pc.printf("e_steps_to_take: %d\n",e_steps_to_take);
pc.printf("E_TIME_FOR_MOVE: %f\n",E_TIME_FOR_MOVE);
pc.printf("e_interval: %f\n\n",e_interval);
}
linear_move(); // make the move
ClearToSend();
return;
case 4: // G4 dwell
codenum = 0;
if (code_seen('P')) codenum = code_value(); // milliseconds to wait
if (code_seen('S')) codenum = code_value()*1000; // seconds to wait
previous_millis_heater = millis(); // keep track of when we started waiting
while ((millis() - previous_millis_heater) < codenum ) manage_heater(); //manage heater until time is up
break;
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
if (code_seen('X')) current_x = code_value();
if (code_seen('Y')) current_y = code_value();
if (code_seen('Z')) current_z = code_value();
if (code_seen('E')) current_e = code_value();
break;
case 93: // G93
pc.printf("previous_micros:%d\n", previous_micros);
pc.printf("previous_micros_x:%d\n", previous_micros_x);
pc.printf("previous_micros_y:%d\n", previous_micros_y);
pc.printf("previous_micros_z:%d\n", previous_micros_z);
break;
}
}
if (code_seen('M')) {
switch ( (int)code_value() ) {
case 104: // M104 - set hot-end temp
if (code_seen('S'))
{
target_raw = temp2analog(code_value());
//pc.printf("target_raw: %d\n ", target_raw);
}
break;
case 140: // M140 - set heated-printbed temp
if (code_seen('S'))
{
target_raw1 = temp2analog(code_value());
//pc.printf("target_raw1: %d\n ", target_raw);
}
break;
case 105: // M105
pc.printf("ok T:");
if (TEMP_0_PIN != NC) {
pc.printf("%f\n", analog2temp( (p_temp0.read_u16()) ));
} else {
pc.printf("0.0\n");
}
if (!code_seen('N')) return; // If M105 is sent from generated gcode, then it needs a response.
break;
case 109: // M109 - Wait for heater to reach target.
if (code_seen('S')) target_raw = temp2analog(code_value());
previous_millis_heater = millis();
while (current_raw < target_raw) {
if ( (millis()-previous_millis_heater) > 1000 ) { //Print Temp Reading every 1 second while heating up.
pc.printf("ok T:");
if (TEMP_0_PIN != NC) {
pc.printf("%f\n", analog2temp(p_temp0.read_u16()));
} else {
pc.printf("0.0\n");
}
previous_millis_heater = millis();
}
manage_heater();
}
break;
case 106: //M106 Fan On
p_fan = 1;
break;
case 107: //M107 Fan Off
p_fan = 0;
break;
case 80: // M81 - ATX Power On
//if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,OUTPUT); //GND
break;
case 81: // M81 - ATX Power Off
//if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); //Floating
break;
case 82:
relative_mode_e = false;
break;
case 83:
relative_mode_e = true;
break;
case 84:
disable_x();
disable_y();
disable_z();
disable_e();
break;
case 85: // M85
code_seen('S');
max_inactive_time = code_value()*1000;
break;
case 86: // M86 If Endstop is Not Activated then Abort Print
if (code_seen('X')) {
if (X_MIN_PIN != NC) {
if ( p_X_min == ENDSTOPS_INVERTING ) {
kill(3);
}
}
}
if (code_seen('Y')) {
if (Y_MIN_PIN != NC) {
if ( p_Y_min == ENDSTOPS_INVERTING ) {
kill(4);
}
}
}
break;
case 92: // M92
if (code_seen('X')) x_steps_per_unit = code_value();
if (code_seen('Y')) y_steps_per_unit = code_value();
if (code_seen('Z')) z_steps_per_unit = code_value();
if (code_seen('E')) e_steps_per_unit = code_value();
break;
}
}
ClearToSend();
}
void get_command() {
if ( pc.readable() ) {
serial_char = pc.getc();
if (serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) ) {
if (!serial_count) {
return; //empty line
}
cmdbuffer[serial_count] = 0; //terminate string
process_commands();
comment_mode = false; //for new command
serial_count = 0; //clear buffer
//Serial.println("ok");
} else {
if (serial_char == ';') {
comment_mode = true;
}
if (!comment_mode) {
cmdbuffer[serial_count++] = serial_char;
}
}
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void setup() {
pc.baud(BAUDRATE);
pc.printf("start\n");//RepRap
//pc.printf("A:\n");//HYDRA
}
void loop() {
get_command();
manage_heater();
manage_inactivity(1); //shutdown if not receiving any new commands
}
int main() {
timer.start();
setup();
while (1) {
loop();
}
}