void lcd_loading_filament(){
lcd_implementation_clear();
lcd.setCursor(0, 0);
lcd.print(MSG_LOADING_FILAMENT);
lcd.setCursor(0, 2);
lcd.print(MSG_PLEASE_WAIT);
for(int i = 0; i<20; i++){
lcd.setCursor(i, 3);
lcd.print(".");
for(int j = 0;j<10 ; j++){
manage_heater();
manage_inactivity(true);
delay(110);
}
}
}
void loop() {
get_command();
manage_heater();
manage_inactivity(1); //shutdown if not receiving any new commands
}
void TemperatureManager::manageTemperatureControl()
{
#ifdef DOGLCD
updateLUTCache();
#else
manage_heater();
#endif
}
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters.
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
{
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
while(block_buffer_tail == next_buffer_head)
{
manage_heater();
manage_inactivity();
lcd_update();
}
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
long target[4];
target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
#ifdef PREVENT_DANGEROUS_EXTRUDE
if(target[E_AXIS]!=position[E_AXIS])
{
if(degHotend(active_extruder)<extrude_min_temp)
{
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#ifdef PREVENT_LENGTHY_EXTRUDE
if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
{
#ifdef EASY_LOAD
if (!allow_lengthy_extrude_once) {
#endif
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
#ifdef EASY_LOAD
}
allow_lengthy_extrude_once = false;
#endif
}
#endif // PREVENT_LENGTHY_EXTRUDE
}
#endif
// Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
// Mark block as not busy (Not executed by the stepper interrupt)
block->busy = false;
// Number of steps for each axis
#ifndef COREXY
// default non-h-bot planning
block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
#else
// corexy planning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
#endif
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
block->steps_e *= extrudemultiply;
block->steps_e /= 100;
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
// Bail if this is a zero-length block
if (block->step_event_count <= dropsegments)
{
return;
}
block->fan_speed = fanSpeed;
#ifdef BARICUDA
block->valve_pressure = ValvePressure;
block->e_to_p_pressure = EtoPPressure;
#endif
// Compute direction bits for this block
block->direction_bits = 0;
#ifndef COREXY
if (target[X_AXIS] < position[X_AXIS])
{
block->direction_bits |= (1<<X_AXIS);
}
if (target[Y_AXIS] < position[Y_AXIS])
{
block->direction_bits |= (1<<Y_AXIS);
}
#else
if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
{
block->direction_bits |= (1<<X_AXIS);
}
if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
{
block->direction_bits |= (1<<Y_AXIS);
}
#endif
if (target[Z_AXIS] < position[Z_AXIS])
{
block->direction_bits |= (1<<Z_AXIS);
}
if (target[E_AXIS] < position[E_AXIS])
{
block->direction_bits |= (1<<E_AXIS);
}
block->active_extruder = extruder;
//enable active axes
#ifdef COREXY
if((block->steps_x != 0) || (block->steps_y != 0))
{
enable_x();
enable_y();
}
#else
if(block->steps_x != 0) enable_x();
if(block->steps_y != 0) enable_y();
#endif
#ifndef Z_LATE_ENABLE
if(block->steps_z != 0) enable_z();
#endif
// Enable all
if(block->steps_e != 0)
{
enable_e0();
enable_e1();
enable_e2();
}
if (block->steps_e == 0)
{
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
}
else
{
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
}
float delta_mm[4];
#ifndef COREXY
delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
#else
delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
#endif
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
{
block->millimeters = fabs(delta_mm[E_AXIS]);
}
else
{
block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
}
float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
float inverse_second = feed_rate * inverse_millimeters;
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
#ifdef OLD_SLOWDOWN
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
#endif
#ifdef SLOWDOWN
// segment time im micro seconds
unsigned long segment_time = lround(1000000.0/inverse_second);
if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
{
if (segment_time < minsegmenttime)
{ // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
#ifdef XY_FREQUENCY_LIMIT
segment_time = lround(1000000.0/inverse_second);
#endif
}
}
#endif
// END OF SLOW DOWN SECTION
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
// Calculate and limit speed in mm/sec for each axis
float current_speed[4];
float speed_factor = 1.0; //factor <=1 do decrease speed
for(int i=0; i < 4; i++)
{
current_speed[i] = delta_mm[i] * inverse_second;
if(fabs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
}
// Max segement time in us.
#ifdef XY_FREQUENCY_LIMIT
#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
// Check and limit the xy direction change frequency
unsigned char direction_change = block->direction_bits ^ old_direction_bits;
old_direction_bits = block->direction_bits;
segment_time = lround((float)segment_time / speed_factor);
if((direction_change & (1<<X_AXIS)) == 0)
{
x_segment_time[0] += segment_time;
}
else
{
x_segment_time[2] = x_segment_time[1];
x_segment_time[1] = x_segment_time[0];
x_segment_time[0] = segment_time;
}
if((direction_change & (1<<Y_AXIS)) == 0)
{
y_segment_time[0] += segment_time;
}
else
{
y_segment_time[2] = y_segment_time[1];
y_segment_time[1] = y_segment_time[0];
y_segment_time[0] = segment_time;
}
long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
if(min_xy_segment_time < MAX_FREQ_TIME)
speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
#endif
// Correct the speed
if( speed_factor < 1.0)
{
for(unsigned char i=0; i < 4; i++)
{
current_speed[i] *= speed_factor;
}
block->nominal_speed *= speed_factor;
block->nominal_rate *= speed_factor;
}
// Compute and limit the acceleration rate for the trapezoid generator.
float steps_per_mm = block->step_event_count/block->millimeters;
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
{
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else
{
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
// Limit acceleration per axis
if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
}
block->acceleration = block->acceleration_st / steps_per_mm;
block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
#if 0 // Use old jerk for now
// Compute path unit vector
double unit_vec[3];
unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
// Let a circle be tangent to both previous and current path line segments, where the junction
// deviation is defined as the distance from the junction to the closest edge of the circle,
// colinear with the circle center. The circular segment joining the two paths represents the
// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
// path width or max_jerk in the previous grbl version. This approach does not actually deviate
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
// nonlinearities of both the junction angle and junction velocity.
double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
// Skip and use default max junction speed for 0 degree acute junction.
if (cos_theta < 0.95) {
vmax_junction = min(previous_nominal_speed,block->nominal_speed);
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
if (cos_theta > -0.95) {
// Compute maximum junction velocity based on maximum acceleration and junction deviation
double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
vmax_junction = min(vmax_junction,
sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
}
}
}
#endif
// Start with a safe speed
float vmax_junction = max_xy_jerk/2;
float vmax_junction_factor = 1.0;
if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
vmax_junction = min(vmax_junction, max_z_jerk/2);
if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
vmax_junction = min(vmax_junction, max_e_jerk/2);
vmax_junction = min(vmax_junction, block->nominal_speed);
float safe_speed = vmax_junction;
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
// if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->nominal_speed;
// }
if (jerk > max_xy_jerk) {
vmax_junction_factor = (max_xy_jerk/jerk);
}
if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
}
if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
}
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
}
block->max_entry_speed = vmax_junction;
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
// If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
// the current block and next block junction speeds are guaranteed to always be at their maximum
// junction speeds in deceleration and acceleration, respectively. This is due to how the current
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
// the reverse and forward planners, the corresponding block junction speed will always be at the
// the maximum junction speed and may always be ignored for any speed reduction checks.
if (block->nominal_speed <= v_allowable) {
block->nominal_length_flag = true;
}
else {
block->nominal_length_flag = false;
}
block->recalculate_flag = true; // Always calculate trapezoid for new block
// Update previous path unit_vector and nominal speed
memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
previous_nominal_speed = block->nominal_speed;
#ifdef ADVANCE
// Calculate advance rate
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
block->advance_rate = 0;
block->advance = 0;
}
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
block->advance = advance;
if(acc_dist == 0) {
block->advance_rate = 0;
}
else {
block->advance_rate = advance / (float)acc_dist;
}
}
/*
SERIAL_ECHO_START;
SERIAL_ECHOPGM("advance :");
SERIAL_ECHO(block->advance/256.0);
SERIAL_ECHOPGM("advance rate :");
SERIAL_ECHOLN(block->advance_rate/256.0);
*/
#endif // ADVANCE
calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
safe_speed/block->nominal_speed);
// Move buffer head
block_buffer_head = next_buffer_head;
// Update position
memcpy(position, target, sizeof(target)); // position[] = target[]
planner_recalculate();
st_wake_up();
}
void lcd_adjust_z(){
int enc_dif = 0;
int cursor_pos = 1;
int fsm = 0;
lcd_implementation_clear();
lcd.setCursor(0, 0);
lcd.print(MSG_ADJUSTZ);
lcd.setCursor(1, 1);
lcd.print(MSG_YES);
lcd.setCursor(1, 2);
lcd.print(MSG_NO);
lcd.setCursor(0, 1);
lcd.print(">");
enc_dif = encoderDiff;
while(fsm == 0){
manage_heater();
manage_inactivity(true);
if( abs((enc_dif - encoderDiff))>4 ){
if ( (abs(enc_dif-encoderDiff)) > 1 ){
if (enc_dif > encoderDiff ){
cursor_pos --;
}
if (enc_dif < encoderDiff ){
cursor_pos ++;
}
if(cursor_pos >2){
cursor_pos = 2;
}
if(cursor_pos <1){
cursor_pos = 1;
}
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, cursor_pos);
lcd.print(">");
enc_dif = encoderDiff;
delay(100);
}
}
if(lcd_clicked()){
fsm = cursor_pos;
if(fsm == 1){
EEPROM_read_B(4093,&babystepMem[0]);
EEPROM_read_B(4091,&babystepMem[1]);
EEPROM_read_B(4089,&babystepMem[2]);
babystepsTodo[Z_AXIS] = babystepMem[2];
}else{
babystepMem[0] = 0;
babystepMem[1] = 0;
babystepMem[2] = 0;
EEPROM_save_B(4093,&babystepMem[0]);
EEPROM_save_B(4091,&babystepMem[1]);
EEPROM_save_B(4089,&babystepMem[2]);
}
delay(500);
}
};
lcd_implementation_clear();
lcd_return_to_status();
}
void lcd_alright(){
int enc_dif = 0;
int cursor_pos = 1;
lcd_implementation_clear();
lcd.setCursor(0, 0);
lcd.print(MSG_CORRECTLY);
lcd.setCursor(1, 1);
lcd.print(MSG_YES);
lcd.setCursor(1, 2);
lcd.print(MSG_NOT_LOADED);
lcd.setCursor(1, 3);
lcd.print(MSG_NOT_COLOR);
lcd.setCursor(0, 1);
lcd.print(">");
enc_dif = encoderDiff;
while(lcd_change_fil_state == 0){
manage_heater();
manage_inactivity(true);
if( abs((enc_dif - encoderDiff))>4 ){
if ( (abs(enc_dif-encoderDiff)) > 1 ){
if (enc_dif > encoderDiff ){
cursor_pos --;
}
if (enc_dif < encoderDiff ){
cursor_pos ++;
}
if(cursor_pos >3){
cursor_pos = 3;
}
if(cursor_pos <1){
cursor_pos = 1;
}
lcd.setCursor(0, 1);
lcd.print(" ");
lcd.setCursor(0, 2);
lcd.print(" ");
lcd.setCursor(0, 3);
lcd.print(" ");
lcd.setCursor(0, cursor_pos);
lcd.print(">");
enc_dif = encoderDiff;
delay(100);
}
}
if(lcd_clicked()){
lcd_change_fil_state = cursor_pos;
delay(500);
}
};
lcd_implementation_clear();
lcd_return_to_status();
}
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
#endif //ENABLE_AUTO_BED_LEVELING
{
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
while(block_buffer_tail == next_buffer_head) {
manage_heater();
manage_inactivity();
lcd_update();
}
#ifdef MESH_BED_LEVELING
if (mbl.active) z += mbl.get_z(x, y);
#endif
#ifdef ENABLE_AUTO_BED_LEVELING
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
long target[NUM_AXIS];
target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);
target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
float dx = target[X_AXIS] - position[X_AXIS],
dy = target[Y_AXIS] - position[Y_AXIS],
dz = target[Z_AXIS] - position[Z_AXIS],
de = target[E_AXIS] - position[E_AXIS];
#ifdef PREVENT_DANGEROUS_EXTRUDE
if (de) {
if (degHotend(active_extruder) < extrude_min_temp) {
position[E_AXIS] = target[E_AXIS]; //behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#ifdef PREVENT_LENGTHY_EXTRUDE
if (labs(de) > axis_steps_per_unit[E_AXIS] * EXTRUDE_MAXLENGTH) {
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
#endif
}
#endif
// Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
// Mark block as not busy (Not executed by the stepper interrupt)
block->busy = false;
// Number of steps for each axis
#ifdef COREXY
// corexy planning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
block->steps[A_AXIS] = labs(dx + dy);
block->steps[B_AXIS] = labs(dx - dy);
#else
// default non-h-bot planning
block->steps[X_AXIS] = labs(dx);
block->steps[Y_AXIS] = labs(dy);
#endif
block->steps[Z_AXIS] = labs(dz);
block->steps[E_AXIS] = labs(de);
block->steps[E_AXIS] *= volumetric_multiplier[active_extruder];
block->steps[E_AXIS] *= extruder_multiply[active_extruder];
block->steps[E_AXIS] /= 100;
block->step_event_count = max(block->steps[X_AXIS], max(block->steps[Y_AXIS], max(block->steps[Z_AXIS], block->steps[E_AXIS])));
// Bail if this is a zero-length block
if (block->step_event_count <= dropsegments) return;
block->fan_speed = fanSpeed;
#ifdef BARICUDA
block->valve_pressure = ValvePressure;
block->e_to_p_pressure = EtoPPressure;
#endif
// Compute direction bits for this block
uint8_t db = 0;
#ifdef COREXY
if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) db |= BIT(Y_HEAD); // ...and Y
if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
#else
if (dx < 0) db |= BIT(X_AXIS);
if (dy < 0) db |= BIT(Y_AXIS);
#endif
if (dz < 0) db |= BIT(Z_AXIS);
if (de < 0) db |= BIT(E_AXIS);
block->direction_bits = db;
block->active_extruder = extruder;
//enable active axes
#ifdef COREXY
if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
enable_x();
enable_y();
}
#else
if (block->steps[X_AXIS]) enable_x();
if (block->steps[Y_AXIS]) enable_y();
#endif
#ifndef Z_LATE_ENABLE
if (block->steps[Z_AXIS]) enable_z();
#endif
// Enable extruder(s)
if (block->steps[E_AXIS]) {
if (DISABLE_INACTIVE_EXTRUDER) { //enable only selected extruder
for (int i=0; i<EXTRUDERS; i++)
if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
switch(extruder) {
case 0:
enable_e0();
g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE * 2;
#if EXTRUDERS > 1
if (g_uc_extruder_last_move[1] == 0) disable_e1();
#if EXTRUDERS > 2
if (g_uc_extruder_last_move[2] == 0) disable_e2();
#if EXTRUDERS > 3
if (g_uc_extruder_last_move[3] == 0) disable_e3();
#endif
#endif
#endif
break;
#if EXTRUDERS > 1
case 1:
enable_e1();
g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
if (g_uc_extruder_last_move[0] == 0) disable_e0();
#if EXTRUDERS > 2
if (g_uc_extruder_last_move[2] == 0) disable_e2();
#if EXTRUDERS > 3
if (g_uc_extruder_last_move[3] == 0) disable_e3();
#endif
#endif
break;
#if EXTRUDERS > 2
case 2:
enable_e2();
g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
if (g_uc_extruder_last_move[0] == 0) disable_e0();
if (g_uc_extruder_last_move[1] == 0) disable_e1();
#if EXTRUDERS > 3
if (g_uc_extruder_last_move[3] == 0) disable_e3();
#endif
break;
#if EXTRUDERS > 3
case 3:
enable_e3();
g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
if (g_uc_extruder_last_move[0] == 0) disable_e0();
if (g_uc_extruder_last_move[1] == 0) disable_e1();
if (g_uc_extruder_last_move[2] == 0) disable_e2();
break;
#endif // EXTRUDERS > 3
#endif // EXTRUDERS > 2
#endif // EXTRUDERS > 1
}
}
else { // enable all
enable_e0();
enable_e1();
enable_e2();
enable_e3();
}
}
if (block->steps[E_AXIS]) {
if (feed_rate < minimumfeedrate) feed_rate = minimumfeedrate;
}
else if (feed_rate < mintravelfeedrate) feed_rate = mintravelfeedrate;
/**
* This part of the code calculates the total length of the movement.
* For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
* But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
* and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
* So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
*/
#ifdef COREXY
float delta_mm[6];
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
#else
float delta_mm[4];
delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
#endif
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[active_extruder] * extruder_multiply[active_extruder] / 100.0;
if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
block->millimeters = fabs(delta_mm[E_AXIS]);
}
else {
block->millimeters = sqrt(
#ifdef COREXY
square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD])
#else
square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS])
#endif
+ square(delta_mm[Z_AXIS])
);
}
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
float inverse_second = feed_rate * inverse_millimeters;
int moves_queued = movesplanned();
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
#if defined(OLD_SLOWDOWN) || defined(SLOWDOWN)
bool mq = moves_queued > 1 && moves_queued < BLOCK_BUFFER_SIZE / 2;
#ifdef OLD_SLOWDOWN
if (mq) feed_rate *= 2.0 * moves_queued / BLOCK_BUFFER_SIZE;
#endif
#ifdef SLOWDOWN
// segment time im micro seconds
unsigned long segment_time = lround(1000000.0/inverse_second);
if (mq) {
if (segment_time < minsegmenttime) {
// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
inverse_second = 1000000.0 / (segment_time + lround(2 * (minsegmenttime - segment_time) / moves_queued));
#ifdef XY_FREQUENCY_LIMIT
segment_time = lround(1000000.0 / inverse_second);
#endif
}
}
#endif
#endif
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
#ifdef FILAMENT_SENSOR
//FMM update ring buffer used for delay with filament measurements
if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && delay_index2 > -1) { //only for extruder with filament sensor and if ring buffer is initialized
const int MMD = MAX_MEASUREMENT_DELAY + 1, MMD10 = MMD * 10;
delay_dist += delta_mm[E_AXIS]; // increment counter with next move in e axis
while (delay_dist >= MMD10) delay_dist -= MMD10; // loop around the buffer
while (delay_dist < 0) delay_dist += MMD10;
delay_index1 = delay_dist / 10.0; // calculate index
delay_index1 = constrain(delay_index1, 0, MAX_MEASUREMENT_DELAY); // (already constrained above)
if (delay_index1 != delay_index2) { // moved index
meas_sample = widthFil_to_size_ratio() - 100; // Subtract 100 to reduce magnitude - to store in a signed char
while (delay_index1 != delay_index2) {
// Increment and loop around buffer
if (++delay_index2 >= MMD) delay_index2 -= MMD;
delay_index2 = constrain(delay_index2, 0, MAX_MEASUREMENT_DELAY);
measurement_delay[delay_index2] = meas_sample;
}
}
}
#endif
// Calculate and limit speed in mm/sec for each axis
float current_speed[NUM_AXIS];
float speed_factor = 1.0; //factor <=1 do decrease speed
for (int i = 0; i < NUM_AXIS; i++) {
current_speed[i] = delta_mm[i] * inverse_second;
float cs = fabs(current_speed[i]), mf = max_feedrate[i];
if (cs > mf) speed_factor = min(speed_factor, mf / cs);
}
// Max segement time in us.
#ifdef XY_FREQUENCY_LIMIT
#define MAX_FREQ_TIME (1000000.0 / XY_FREQUENCY_LIMIT)
// Check and limit the xy direction change frequency
unsigned char direction_change = block->direction_bits ^ old_direction_bits;
old_direction_bits = block->direction_bits;
segment_time = lround((float)segment_time / speed_factor);
long xs0 = axis_segment_time[X_AXIS][0],
xs1 = axis_segment_time[X_AXIS][1],
xs2 = axis_segment_time[X_AXIS][2],
ys0 = axis_segment_time[Y_AXIS][0],
ys1 = axis_segment_time[Y_AXIS][1],
ys2 = axis_segment_time[Y_AXIS][2];
if ((direction_change & BIT(X_AXIS)) != 0) {
xs2 = axis_segment_time[X_AXIS][2] = xs1;
xs1 = axis_segment_time[X_AXIS][1] = xs0;
xs0 = 0;
}
xs0 = axis_segment_time[X_AXIS][0] = xs0 + segment_time;
if ((direction_change & BIT(Y_AXIS)) != 0) {
ys2 = axis_segment_time[Y_AXIS][2] = axis_segment_time[Y_AXIS][1];
ys1 = axis_segment_time[Y_AXIS][1] = axis_segment_time[Y_AXIS][0];
ys0 = 0;
}
ys0 = axis_segment_time[Y_AXIS][0] = ys0 + segment_time;
long max_x_segment_time = max(xs0, max(xs1, xs2)),
max_y_segment_time = max(ys0, max(ys1, ys2)),
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
if (min_xy_segment_time < MAX_FREQ_TIME) {
float low_sf = speed_factor * min_xy_segment_time / MAX_FREQ_TIME;
speed_factor = min(speed_factor, low_sf);
}
#endif // XY_FREQUENCY_LIMIT
// Correct the speed
if (speed_factor < 1.0) {
for (unsigned char i = 0; i < NUM_AXIS; i++) current_speed[i] *= speed_factor;
block->nominal_speed *= speed_factor;
block->nominal_rate *= speed_factor;
}
// Compute and limit the acceleration rate for the trapezoid generator.
float steps_per_mm = block->step_event_count / block->millimeters;
long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
if (bsx == 0 && bsy == 0 && bsz == 0) {
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else if (bse == 0) {
block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else {
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
// Limit acceleration per axis
unsigned long acc_st = block->acceleration_st,
xsteps = axis_steps_per_sqr_second[X_AXIS],
ysteps = axis_steps_per_sqr_second[Y_AXIS],
zsteps = axis_steps_per_sqr_second[Z_AXIS],
esteps = axis_steps_per_sqr_second[E_AXIS];
if ((float)acc_st * bsx / block->step_event_count > xsteps) acc_st = xsteps;
if ((float)acc_st * bsy / block->step_event_count > ysteps) acc_st = ysteps;
if ((float)acc_st * bsz / block->step_event_count > zsteps) acc_st = zsteps;
if ((float)acc_st * bse / block->step_event_count > esteps) acc_st = esteps;
block->acceleration_st = acc_st;
block->acceleration = acc_st / steps_per_mm;
block->acceleration_rate = (long)(acc_st * 16777216.0 / (F_CPU / 8.0));
#if 0 // Use old jerk for now
// Compute path unit vector
double unit_vec[3];
unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
// Let a circle be tangent to both previous and current path line segments, where the junction
// deviation is defined as the distance from the junction to the closest edge of the circle,
// colinear with the circle center. The circular segment joining the two paths represents the
// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
// path width or max_jerk in the previous grbl version. This approach does not actually deviate
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
// nonlinearities of both the junction angle and junction velocity.
double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
// Skip and use default max junction speed for 0 degree acute junction.
if (cos_theta < 0.95) {
vmax_junction = min(previous_nominal_speed,block->nominal_speed);
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
if (cos_theta > -0.95) {
// Compute maximum junction velocity based on maximum acceleration and junction deviation
double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
vmax_junction = min(vmax_junction,
sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
}
}
}
#endif
// Start with a safe speed
float vmax_junction = max_xy_jerk / 2;
float vmax_junction_factor = 1.0;
float mz2 = max_z_jerk / 2, me2 = max_e_jerk / 2;
float csz = current_speed[Z_AXIS], cse = current_speed[E_AXIS];
if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
if (fabs(cse) > me2) vmax_junction = min(vmax_junction, me2);
vmax_junction = min(vmax_junction, block->nominal_speed);
float safe_speed = vmax_junction;
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
float dx = current_speed[X_AXIS] - previous_speed[X_AXIS],
dy = current_speed[Y_AXIS] - previous_speed[Y_AXIS],
dz = fabs(csz - previous_speed[Z_AXIS]),
de = fabs(cse - previous_speed[E_AXIS]),
jerk = sqrt(dx * dx + dy * dy);
// if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->nominal_speed;
// }
if (jerk > max_xy_jerk) vmax_junction_factor = max_xy_jerk / jerk;
if (dz > max_z_jerk) vmax_junction_factor = min(vmax_junction_factor, max_z_jerk / dz);
if (de > max_e_jerk) vmax_junction_factor = min(vmax_junction_factor, max_e_jerk / de);
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
}
block->max_entry_speed = vmax_junction;
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
double v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
// If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
// the current block and next block junction speeds are guaranteed to always be at their maximum
// junction speeds in deceleration and acceleration, respectively. This is due to how the current
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
// the reverse and forward planners, the corresponding block junction speed will always be at the
// the maximum junction speed and may always be ignored for any speed reduction checks.
block->nominal_length_flag = (block->nominal_speed <= v_allowable);
block->recalculate_flag = true; // Always calculate trapezoid for new block
// Update previous path unit_vector and nominal speed
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
previous_nominal_speed = block->nominal_speed;
#ifdef ADVANCE
// Calculate advance rate
if (!bse || (!bsx && !bsy && !bsz)) {
block->advance_rate = 0;
block->advance = 0;
}
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * (cse * cse * EXTRUSION_AREA * EXTRUSION_AREA) * 256;
block->advance = advance;
block->advance_rate = acc_dist ? advance / (float)acc_dist : 0;
}
/*
SERIAL_ECHO_START;
SERIAL_ECHOPGM("advance :");
SERIAL_ECHO(block->advance/256.0);
SERIAL_ECHOPGM("advance rate :");
SERIAL_ECHOLN(block->advance_rate/256.0);
*/
#endif // ADVANCE
calculate_trapezoid_for_block(block, block->entry_speed / block->nominal_speed, safe_speed / block->nominal_speed);
// Move buffer head
block_buffer_head = next_buffer_head;
// Update position
for (int i = 0; i < NUM_AXIS; i++) position[i] = target[i];
planner_recalculate();
st_wake_up();
} // plan_buffer_line()
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 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;
}
