void check_periodical() {
if(!execute_periodical) return;
execute_periodical=0;
manage_temperatures();
if(--counter_250ms==0) {
if(manage_monitor<=1+NUM_EXTRUDER)
write_monitor();
counter_250ms=5;
}
UI_SLOW;
}
void emergencyStop() {
#if defined(KILL_METHOD) && KILL_METHOD==1
resetFunc();
#else
cli(); // Don't allow interrupts to do their work
kill(false);
manage_temperatures();
pwm_pos[0] = pwm_pos[1] = pwm_pos[2] = pwm_pos[3]=0;
#if EXT0_HEATER_PIN>-1
WRITE(EXT0_HEATER_PIN,0);
#endif
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1
WRITE(EXT1_HEATER_PIN,0);
#endif
#if defined(EXT2_HEATER_PIN) && EXT2_HEATER_PIN>-1
WRITE(EXT2_HEATER_PIN,0);
#endif
#if FAN_PIN>-1
WRITE(FAN_PIN,0);
#endif
while(1) {}
#endif
}
/**
\brief Execute the command stored in com.
*/
void process_command(GCode *com)
{
unsigned long codenum; //throw away variable
#ifdef INCLUDE_DEBUG_COMMUNICATION
if(DEBUG_COMMUNICATION) {
if(GCODE_HAS_G(com) || (GCODE_HAS_M(com) && com->M!=111)) {
gcode_command_finished(); // free command cache
previous_millis_cmd = millis();
return;
}
}
#endif
if(GCODE_HAS_G(com))
{
switch(com->G)
{
case 0: // G0 -> G1
case 1: // G1
if(get_coordinates(com)) // For X Y Z E F
queue_move(ALWAYS_CHECK_ENDSTOPS);
break;
case 4: // G4 dwell
codenum = 0;
if(GCODE_HAS_P(com)) codenum = com->P; // milliseconds to wait
if(GCODE_HAS_S(com)) codenum = (long)com->S * 1000; // seconds to wait
codenum += millis(); // keep track of when we started waiting
while(millis() < codenum ) {
gcode_read_serial();
manage_temperatures(false);
}
break;
case 20: // Units to inches
unit_inches = 1;
break;
case 21: // Units to mm
unit_inches = 0;
break;
case 28: {//G28 Home all Axis one at a time
wait_until_end_of_move();
float saved_feedrate = printer_state.feedrate;
for(byte i=0; i < 4; i++) {
printer_state.destinationSteps[i] = printer_state.currentPositionSteps[i];
}
byte home_all_axis = !(GCODE_HAS_X(com) || GCODE_HAS_Y(com) || GCODE_HAS_Z(com));
if(home_all_axis || GCODE_HAS_X(com)) {
if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) {
printer_state.destinationSteps[0] = 1.5 * printer_state.xMaxSteps * X_HOME_DIR;
printer_state.currentPositionSteps[0] = -printer_state.destinationSteps[0];
printer_state.feedrate = homing_feedrate[0];
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[0] = 0;
printer_state.destinationSteps[0] = axis_steps_per_unit[0]*-5 * X_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.destinationSteps[0] = axis_steps_per_unit[0]*10 * X_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[0] = (X_HOME_DIR == -1) ? 0 : printer_state.xMaxSteps;
printer_state.destinationSteps[0] = printer_state.currentPositionSteps[0];
}
}
if(home_all_axis || GCODE_HAS_Y(com)) {
if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) {
printer_state.currentPositionSteps[1] = 0;
printer_state.destinationSteps[1] = 1.5 * printer_state.yMaxSteps * Y_HOME_DIR;
printer_state.currentPositionSteps[1] = -printer_state.destinationSteps[1];
printer_state.feedrate = homing_feedrate[1];
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[1] = 0;
printer_state.destinationSteps[1] = axis_steps_per_unit[1]*-5 * Y_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.destinationSteps[1] = axis_steps_per_unit[1]*10 * Y_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[1] = (Y_HOME_DIR == -1) ? 0 : printer_state.yMaxSteps;
printer_state.destinationSteps[1] = printer_state.currentPositionSteps[1];
}
}
if(home_all_axis || GCODE_HAS_Z(com)) {
if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) {
printer_state.currentPositionSteps[2] = 0;
printer_state.destinationSteps[2] = 1.5 * printer_state.zMaxSteps * Z_HOME_DIR;
printer_state.currentPositionSteps[2] = -printer_state.destinationSteps[2];
printer_state.feedrate = homing_feedrate[2];
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[2] = 0;
printer_state.destinationSteps[2] = axis_steps_per_unit[2]*-2 * Z_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.destinationSteps[2] = axis_steps_per_unit[2]*10 * Z_HOME_DIR;
queue_move(true);
wait_until_end_of_move();
printer_state.currentPositionSteps[2] = (Z_HOME_DIR == -1) ? 0 : printer_state.zMaxSteps;
printer_state.destinationSteps[2] = printer_state.currentPositionSteps[2];
}
}
printer_state.feedrate = saved_feedrate;
}
break;
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
if(GCODE_HAS_X(com)) printer_state.currentPositionSteps[0] = com->X*axis_steps_per_unit[0]*(unit_inches?25.4:1.0)-printer_state.offsetX;
if(GCODE_HAS_Y(com)) printer_state.currentPositionSteps[1] = com->Y*axis_steps_per_unit[1]*(unit_inches?25.4:1.0)-printer_state.offsetY;
if(GCODE_HAS_Z(com)) printer_state.currentPositionSteps[2] = com->Z*axis_steps_per_unit[2]*(unit_inches?25.4:1.0);
if(GCODE_HAS_E(com)) {
printer_state.currentPositionSteps[3] = com->E*axis_steps_per_unit[3]*(unit_inches?25.4:1.0);
}
break;
}
previous_millis_cmd = millis();
}
else if(GCODE_HAS_M(com)) { // Process M Code
switch( com->M ) {
#ifdef SDSUPPORT
case 20: // M20 - list SD card
out.println_P(PSTR("Begin file list"));
root.ls();
out.println_P(PSTR("End file list"));
break;
case 21: // M21 - init SD card
sdmode = false;
initsd();
break;
case 22: //M22 - release SD card
sdmode = false;
sdactive = false;
break;
case 23: //M23 - Select file
if(sdactive) {
sdmode = false;
file.close();
if (file.open(&root, com->text, O_READ)) {
out.print_P(PSTR("File opened:"));
out.print(com->text);
out.print_P(PSTR(" Size:"));
out.println(file.fileSize());
sdpos = 0;
filesize = file.fileSize();
out.println_P(PSTR("File selected"));
}
else {
out.println_P(PSTR("file.open failed"));
}
}
break;
case 24: //M24 - Start SD print
if(sdactive) {
sdmode = true;
}
break;
case 25: //M25 - Pause SD print
if(sdmode) {
sdmode = false;
}
break;
case 26: //M26 - Set SD index
if(sdactive && GCODE_HAS_S(com)) {
sdpos = com->S;
file.seekSet(sdpos);
}
break;
case 27: //M27 - Get SD status
if(sdactive) {
out.print_P(PSTR("SD printing byte "));
out.print(sdpos);
out.print("/");
out.println(filesize);
} else {
out.println_P(PSTR("Not SD printing"));
}
break;
case 28: //M28 - Start SD write
if(sdactive) {
char* npos = 0;
file.close();
sdmode = false;
if (!file.open(&root,com->text, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) {
out.print_P(PSTR("open failed, File: "));
out.print(com->text);
out.print_P(PSTR("."));
} else {
savetosd = true;
out.print_P(PSTR("Writing to file: "));
out.println(com->text);
}
}
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//savetosd = false;
break;
case 30: // M30 filename - Delete file
if(sdactive) {
sdmode = false;
file.close();
if(SdFile::remove(&root, com->text)) {
out.println_P(PSTR("File deleted"));
} else {
out.println_P(PSTR("Deletion failed"));
}
}
break;
#endif
case 104: // M104
if(DEBUG_DRYRUN) break;
wait_until_end_of_move();
if (GCODE_HAS_S(com)) extruder_set_temperature(com->S);
break;
case 140: // M140 set bed temp
if(DEBUG_DRYRUN) break;
if (GCODE_HAS_S(com)) heated_bed_set_temperature(com->S);
break;
case 105: // M105 get temperature. Always returns the current temperature, doesn't wait until move stopped
print_temperatures();
break;
case 109: // M109 - Wait for extruder heater to reach target.
{
if(DEBUG_DRYRUN) break;
wait_until_end_of_move();
if (GCODE_HAS_S(com)) extruder_set_temperature(com->S);
if(current_extruder->currentTemperatureC >= current_extruder->targetTemperature) break;
codenum = millis();
long waituntil = 0;
while(waituntil==0 || (waituntil!=0 && waituntil>millis())) {
if( (millis() - codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up.
print_temperatures();
codenum = millis();
}
manage_temperatures(false);
gcode_read_serial();
if(waituntil==0 && current_extruder->currentTemperatureC >= current_extruder->targetTemperatureC)
waituntil = millis()+1000*(long)current_extruder->watchPeriod; // now wait for temp. to stabalize
}
}
break;
case 190: // M190 - Wait bed for heater to reach target.
if(DEBUG_DRYRUN) break;
wait_until_end_of_move();
#if HEATED_BED_SENSOR_TYPE!=0
if (GCODE_HAS_S(com)) heated_bed_set_temperature(com->S);
codenum = millis();
while(current_bed_raw < target_bed_raw) {
if( (millis()-codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up.
print_temperatures();
codenum = millis();
}
manage_temperatures(false);
}
#endif
break;
case 106: //M106 Fan On
wait_until_end_of_move();
if (GCODE_HAS_S(com)) {
digitalWrite(FAN_PIN, HIGH);
analogWrite(FAN_PIN, constrain(com->S,0,255) );
}
else
digitalWrite(FAN_PIN, HIGH);
break;
case 107: //M107 Fan Off
wait_until_end_of_move();
analogWrite(FAN_PIN, 0);
digitalWrite(FAN_PIN, LOW);
break;
case 80: // M81 - ATX Power On
wait_until_end_of_move();
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,OUTPUT); //GND
break;
case 81: // M81 - ATX Power Off
wait_until_end_of_move();
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:
if(GCODE_HAS_S(com)) {
stepper_inactive_time = com->S * 1000;
}
else {
wait_until_end_of_move();
kill(true);
}
break;
case 85: // M85
if(GCODE_HAS_S(com))
max_inactive_time = (long)com->S * 1000;
else
max_inactive_time = 0;
break;
case 92: // M92
if(GCODE_HAS_X(com)) axis_steps_per_unit[0] = com->X;
if(GCODE_HAS_Y(com)) axis_steps_per_unit[1] = com->Y;
if(GCODE_HAS_Z(com)) axis_steps_per_unit[2] = com->Z;
if(GCODE_HAS_E(com)) current_extruder->stepsPerMM = com->E;
update_ramps_parameter();
break;
case 111:
if(GCODE_HAS_S(com)) debug_level = com->S;
if(DEBUG_DRYRUN) { // simulate movements without printing
extruder_set_temperature(0);
#if HEATED_BED_TYPE!=0
target_bed_raw = 0;
#endif
}
break;
case 115: // M115
out.println_P(PSTR("FIRMWARE_NAME:Repetier FIRMWARE_URL:https://github.com/repetier/Repetier-Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 REPETIER_PROTOCOL:1"));
break;
case 114: // M114
out.print_float_P(PSTR("X:"),printer_state.currentPositionSteps[0]*inv_axis_steps_per_unit[0]*(unit_inches?0.03937:1));
out.print_float_P(PSTR(" Y:"),printer_state.currentPositionSteps[1]*inv_axis_steps_per_unit[1]*(unit_inches?0.03937:1));
out.print_float_P(PSTR(" Z:"),printer_state.currentPositionSteps[2]*inv_axis_steps_per_unit[2]*(unit_inches?0.03937:1));
out.println_float_P(PSTR(" E:"),printer_state.currentPositionSteps[3]*inv_axis_steps_per_unit[3]*(unit_inches?0.03937:1));
break;
case 119: // M119
wait_until_end_of_move();
#if (X_MIN_PIN > -1)
out.print_P(PSTR("x_min:"));
out.print_P((digitalRead(X_MIN_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
#if (X_MAX_PIN > -1)
out.print_P(PSTR("x_max:"));
out.print_P((digitalRead(X_MAX_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
#if (Y_MIN_PIN > -1)
out.print_P(PSTR("y_min:"));
out.print_P((digitalRead(Y_MIN_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
#if (Y_MAX_PIN > -1)
out.print_P(PSTR("y_max:"));
out.print_P((digitalRead(Y_MAX_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
#if (Z_MIN_PIN > -1)
out.print_P(PSTR("z_min:"));
out.print_P((digitalRead(Z_MIN_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
#if (Z_MAX_PIN > -1)
out.print_P(PSTR("z_max:"));
out.print_P((digitalRead(Z_MAX_PIN)^ENDSTOPS_INVERTING)?PSTR("H "):PSTR("L "));
#endif
out.println();
break;
#ifdef RAMP_ACCELERATION
case 201: // M201
if(GCODE_HAS_X(com)) axis_steps_per_sqr_second[0] = com->X * axis_steps_per_unit[0];
if(GCODE_HAS_Y(com)) axis_steps_per_sqr_second[1] = com->Y * axis_steps_per_unit[1];
if(GCODE_HAS_Z(com)) axis_steps_per_sqr_second[2] = com->Z * axis_steps_per_unit[2];
if(GCODE_HAS_E(com)) axis_steps_per_sqr_second[3] = com->E * axis_steps_per_unit[3];
break;
case 202: // M202
if(GCODE_HAS_X(com)) axis_travel_steps_per_sqr_second[0] = com->X * axis_steps_per_unit[0];
if(GCODE_HAS_Y(com)) axis_travel_steps_per_sqr_second[1] = com->Y * axis_steps_per_unit[1];
if(GCODE_HAS_Z(com)) axis_travel_steps_per_sqr_second[2] = com->Z * axis_steps_per_unit[2];
if(GCODE_HAS_E(com)) axis_travel_steps_per_sqr_second[3] = com->E * axis_steps_per_unit[3];
break;
#endif
case 203: // M203 Temperature monitor
if(GCODE_HAS_S(com)) manage_monitor = com->S;
if(manage_monitor==100) manage_monitor=NUM_EXTRUDER; // Set 100 to heated bed
break;
case 205: // M205 Show EEPROM settings
epr_output_settings();
break;
case 206: // M206 T[type] P[pos] [Sint(long] [Xfloat] Set eeprom value
#if EEPROM_MODE!=0
epr_update(com);
#else
out.println_P(PSTR("Error: No EEPROM support compiled."));
#endif
break;
case 222: //M222 F_CPU / S
if(GCODE_HAS_S(com))
out.println_long_P(PSTR("F_CPU/x="),CPUDivU2(com->S));
break;
case 223:
if(GCODE_HAS_S(com)) {
extruder_enable();
printer_state.extruderStepsNeeded+=(int)com->S;
out.println_int_P(PSTR("Added to:"),printer_state.extruderStepsNeeded);
}
break;
#ifdef USE_ADVANCE
case 232:
out.print_int_P(PSTR("Max advance="),maxadv);
if(maxadv>0)
out.println_float_P(PSTR(", speed="),maxadvspeed);
else
out.println();
maxadv=0;
maxadvspeed=0;
break;
#endif
#if USE_OPS==1
case 231: // M231 S<OPS_MODE> X<Min_Distance> Y<Retract> Z<Backslash> F<ReatrctMove>
if(GCODE_HAS_S(com) && com->S>=0 && com->S<3)
printer_state.opsMode = com->S;
if(GCODE_HAS_X(com) && com->X>=0)
printer_state.opsMinDistance = com->X;
if(GCODE_HAS_Y(com) && com->Y>=0)
printer_state.opsRetractDistance = com->Y;
if(GCODE_HAS_Z(com) && com->Z>=-printer_state.opsRetractDistance)
printer_state.opsRetractBackslash = com->Z;
if(GCODE_HAS_F(com) && com->F>=0 && com->F<=100)
printer_state.opsMoveAfter = com->F;
extruder_select(current_extruder->id);
if(printer_state.opsMode==0) {
out.println_P(PSTR("OPS disabled"));
} else {
if(printer_state.opsMode==1)
out.print_P(PSTR("OPS classic mode:"));
else
out.print_P(PSTR("OPS fast mode:"));
out.print_float_P(PSTR("min distance = "),printer_state.opsMinDistance);
out.print_float_P(PSTR(", retract = "),printer_state.opsRetractDistance);
out.print_float_P(PSTR(", backslash = "),printer_state.opsRetractDistance);
if(printer_state.opsMode==2)
out.print_float_P(PSTR(", move after = "),printer_state.opsMoveAfter);
out.println();
}
#ifdef DEBUG_OPS
out.println_int_P(PSTR("Timer diff"),printer_state.timer0Interval);
out.println_int_P(PSTR("Ret. steps:"),printer_state.opsRetractSteps);
out.println_int_P(PSTR("PushBack Steps:"),printer_state.opsPushbackSteps);
out.println_int_P(PSTR("Move after steps:"),printer_state.opsMoveAfterSteps);
#endif
break;
#endif
}
} else if(GCODE_HAS_T(com)) { // Process T code
wait_until_end_of_move();
extruder_select(com->T);
} else {
if(DEBUG_ERRORS) {
out.print_P(PSTR("Unknown command:"));
gcode_print_command(com);
out.println();
}
}
#ifdef ECHO_ON_EXECUTE
if(DEBUG_ECHO) {
out.print_P(PSTR("Echo:"));
gcode_print_command(com);
out.println();
}
#endif
gcode_command_finished(); // free command cache
}
/** \brief Waits until movement cache is empty.
Some commands expect no movement, before they can execute. This function
waits, until the steppers are stopped. In the meanwhile it buffers incoming
commands and manages temperatures.
*/
void wait_until_end_of_move() {
while(lines_count) {
gcode_read_serial();
manage_temperatures(false);
}
}
