// ------------------------------------------------------- // This is the one function called by the timer interrupt. // It calls a few other functions, though. // ------------------------------------------------------- /// Take a step or go to the next move. void queue_step() { // do our next step DDA* current_movebuffer = &movebuffer[mb_tail]; if (current_movebuffer->live) { if (current_movebuffer->waitfor_temp) { setTimer(HEATER_WAIT_TIMEOUT); if (temp_achieved()) { current_movebuffer->live = current_movebuffer->waitfor_temp = 0; serial_writestr_P(PSTR("Temp achieved\n")); } #if STEP_INTERRUPT_INTERRUPTIBLE sei(); #endif } else { // NOTE: dda_step makes this interrupt interruptible after steps have been sent but before new speed is calculated. dda_step(current_movebuffer); } } // fall directly into dda_start instead of waiting for another step // the dda dies not directly after its last step, but when the timer fires and there's no steps to do if (current_movebuffer->live == 0) next_move(); }
// ------------------------------------------------------- // This is the one function called by the timer interrupt. // It calls a few other functions, though. // ------------------------------------------------------- void queue_step() { // do our next step if (movebuffer[mb_tail].live) { if (movebuffer[mb_tail].waitfor_temp) { if (temp_achieved(EXTRUDER_0)) { movebuffer[mb_tail].live = movebuffer[mb_tail].waitfor_temp = 0; serial_writestr("Temp achieved\r\n"); } } else { // NOTE: dda_step makes this interrupt interruptible after steps have been sent but before new speed is calculated. dda_step(&(movebuffer[mb_tail])); } } // fall directly into dda_start instead of waiting for another step // the dda dies not directly after its last step, but when the timer fires and there's no steps to do if (movebuffer[mb_tail].live == 0) next_move(); }
// ------------------------------------------------------- // This is the one function called by the timer interrupt. // It calls a few other functions, though. // ------------------------------------------------------- void queue_step() { // do our next step if (movebuffer[mb_tail].live) { if (movebuffer[mb_tail].waitfor_temp) { setTimer(movebuffer[mb_tail].c >> 8); if (temp_achieved()) { movebuffer[mb_tail].live = movebuffer[mb_tail].waitfor_temp = 0; serial_writestr_P(PSTR("Temp achieved\n")); } #if STEP_INTERRUPT_INTERRUPTIBLE sei(); #endif } else {
void queue_step(){ DDA *current_movebuffer = &movebuffer[mb_tail]; if(current_movebuffer->live){ if(current_movebuffer->waitfor_temp){ setTimer(HEATER_WAIT_TIMEOUT); if(temp_achieved()){ current_movebuffer->live = current_movebuffer->waitfor_temp = 0; serial_writestr_P(PSTR("Temp achieved\n")); }//end if temp achieved }//endif waitfortemp else{ dda_step(current_movebuffer); } }//end if current_movebuffer->live if(current_movebuffer->live == 0) next_move(); }//queue_step()
void check_temp_achieved() { DDA* current_movebuffer = &movebuffer[mb_tail]; if (current_movebuffer->live) { if (current_movebuffer->waitfor_temp) { // setTimer(HEATER_WAIT_TIMEOUT); reset_idle(); if (temp_achieved()) { current_movebuffer->live = current_movebuffer->waitfor_temp = 0; serial_writestr_P(PSTR("Temp achieved\n")); debug_led_set_pattern(0,0); } /*#if STEP_INTERRUPT_INTERRUPTIBLE sei(); #endif*/ } } }
// ------------------------------------------------------- // This is the one function called by the timer interrupt. // It calls a few other functions, though. // ------------------------------------------------------- /// Take a step or go to the next move. void queue_step() { // do our next step DDA* current_movebuffer = &movebuffer[mb_tail]; if (current_movebuffer->live) { if (current_movebuffer->waitfor_temp) { setTimer(HEATER_WAIT_TIMEOUT); if (temp_achieved()) { current_movebuffer->live = current_movebuffer->waitfor_temp = 0; serial_writestr_P(PSTR("Temp achieved\n")); } } else { // NOTE: dda_step makes this interrupt interruptible for some time, // see STEP_INTERRUPT_INTERRUPTIBLE. dda_step(current_movebuffer); } } // Start the next move if this one is done. if (current_movebuffer->live == 0) next_move(); }
// ------------------------------------------------------- // This is the one function called by the timer interrupt. // It calls a few other functions, though. // ------------------------------------------------------- /// Take a step or go to the next move. void queue_step() { // do our next step DDA* current_movebuffer = &movebuffer[mb_tail]; if (current_movebuffer->live) { if (current_movebuffer->waitfor_temp) { setTimer(HEATER_WAIT_TIMEOUT); if (temp_achieved()) { current_movebuffer->live = current_movebuffer->waitfor_temp = 0; printf("Temp achieved\n"); } } else { // NOTE: dda_step makes this interrupt interruptible for some time, // see STEP_INTERRUPT_INTERRUPTIBLE. dda_step(current_movebuffer); } } // fall directly into dda_start instead of waiting for another step // the dda dies not directly after its last step, but when the timer fires and there's no steps to do if (current_movebuffer->live == 0) next_move(); }
void process_gcode_command() { uint32_t backup_f; // convert relative to absolute if (next_target.option_all_relative) { next_target.target.X += startpoint.X; next_target.target.Y += startpoint.Y; next_target.target.Z += startpoint.Z; } // E relative movement. // Matches Sprinter's behaviour as of March 2012. if (next_target.option_all_relative || next_target.option_e_relative) next_target.target.e_relative = 1; else next_target.target.e_relative = 0; // implement axis limits #ifdef X_MIN if (next_target.target.X < X_MIN * 1000.) next_target.target.X = X_MIN * 1000.; #endif #ifdef X_MAX if (next_target.target.X > X_MAX * 1000.) next_target.target.X = X_MAX * 1000.; #endif #ifdef Y_MIN if (next_target.target.Y < Y_MIN * 1000.) next_target.target.Y = Y_MIN * 1000.; #endif #ifdef Y_MAX if (next_target.target.Y > Y_MAX * 1000.) next_target.target.Y = Y_MAX * 1000.; #endif #ifdef Z_MIN if (next_target.target.Z < Z_MIN * 1000.) next_target.target.Z = Z_MIN * 1000.; #endif #ifdef Z_MAX if (next_target.target.Z > Z_MAX * 1000.) next_target.target.Z = Z_MAX * 1000.; #endif // The GCode documentation was taken from http://reprap.org/wiki/Gcode . if (next_target.seen_T) { //? --- T: Select Tool --- //? //? Example: T1 //? //? Select extruder number 1 to build with. Extruder numbering starts at 0. next_tool = next_target.T; } if (next_target.seen_G) { uint8_t axisSelected = 0; switch (next_target.G) { case 0: //? G0: Rapid Linear Motion //? //? Example: G0 X12 //? //? In this case move rapidly to X = 12 mm. In fact, the RepRap firmware uses exactly the same code for rapid as it uses for controlled moves (see G1 below), as - for the RepRap machine - this is just as efficient as not doing so. (The distinction comes from some old machine tools that used to move faster if the axes were not driven in a straight line. For them G0 allowed any movement in space to get to the destination as fast as possible.) //? backup_f = next_target.target.F; next_target.target.F = MAXIMUM_FEEDRATE_X * 2L; enqueue(&next_target.target); next_target.target.F = backup_f; break; case 1: //? --- G1: Linear Motion at Feed Rate --- //? //? Example: G1 X90.6 Y13.8 E22.4 //? //? Go in a straight line from the current (X, Y) point to the point (90.6, 13.8), extruding material as the move happens from the current extruded length to a length of 22.4 mm. //? enqueue(&next_target.target); break; // G2 - Arc Clockwise // unimplemented // G3 - Arc Counter-clockwise // unimplemented case 4: //? --- G4: Dwell --- //? //? Example: G4 P200 //? //? In this case sit still doing nothing for 200 milliseconds. During delays the state of the machine (for example the temperatures of its extruders) will still be preserved and controlled. //? queue_wait(); // delay if (next_target.seen_P) { for (;next_target.P > 0;next_target.P--) { clock(); delay_ms(1); } } break; case 20: //? --- G20: Set Units to Inches --- //? //? Example: G20 //? //? Units from now on are in inches. //? next_target.option_inches = 1; break; case 21: //? --- G21: Set Units to Millimeters --- //? //? Example: G21 //? //? Units from now on are in millimeters. (This is the RepRap default.) //? next_target.option_inches = 0; break; case 30: //? --- G30: Go home via point --- //? //? Undocumented. enqueue(&next_target.target); // no break here, G30 is move and then go home case 28: //? --- G28: Home --- //? //? Example: G28 //? //? This causes the RepRap machine to move back to its X, Y and Z zero endstops. It does so accelerating, so as to get there fast. But when it arrives it backs off by 1 mm in each direction slowly, then moves back slowly to the stop. This ensures more accurate positioning. //? //? If you add coordinates, then just the axes with coordinates specified will be zeroed. Thus //? //? G28 X0 Y72.3 //? //? will zero the X and Y axes, but not Z. The actual coordinate values are ignored. //? queue_wait(); if (next_target.seen_X) { #if defined X_MIN_PIN home_x_negative(); #elif defined X_MAX_PIN home_x_positive(); #endif axisSelected = 1; } if (next_target.seen_Y) { #if defined Y_MIN_PIN home_y_negative(); #elif defined Y_MAX_PIN home_y_positive(); #endif axisSelected = 1; } if (next_target.seen_Z) { #if defined Z_MAX_PIN home_z_positive(); #elif defined Z_MIN_PIN home_z_negative(); #endif axisSelected = 1; } // there's no point in moving E, as E has no endstops if (!axisSelected) { home(); } break; case 90: //? --- G90: Set to Absolute Positioning --- //? //? Example: G90 //? //? All coordinates from now on are absolute relative to the origin //? of the machine. This is the RepRap default. //? //? If you ever want to switch back and forth between relative and //? absolute movement keep in mind, X, Y and Z follow the machine's //? coordinate system while E doesn't change it's position in the //? coordinate system on relative movements. //? // No wait_queue() needed. next_target.option_all_relative = 0; break; case 91: //? --- G91: Set to Relative Positioning --- //? //? Example: G91 //? //? All coordinates from now on are relative to the last position. //? // No wait_queue() needed. next_target.option_all_relative = 1; break; case 92: //? --- G92: Set Position --- //? //? Example: G92 X10 E90 //? //? Allows programming of absolute zero point, by reseting the current position to the values specified. This would set the machine's X coordinate to 10, and the extrude coordinate to 90. No physical motion will occur. //? queue_wait(); if (next_target.seen_X) { startpoint.X = next_target.target.X; axisSelected = 1; } if (next_target.seen_Y) { startpoint.Y = next_target.target.Y; axisSelected = 1; } if (next_target.seen_Z) { startpoint.Z = next_target.target.Z; axisSelected = 1; } if (next_target.seen_E) { startpoint.E = next_target.target.E; axisSelected = 1; } if (axisSelected == 0) { startpoint.X = next_target.target.X = startpoint.Y = next_target.target.Y = startpoint.Z = next_target.target.Z = startpoint.E = next_target.target.E = 0; } dda_new_startpoint(); break; case 161: //? --- G161: Home negative --- //? //? Find the minimum limit of the specified axes by searching for the limit switch. //? if (next_target.seen_X) home_x_negative(); if (next_target.seen_Y) home_y_negative(); if (next_target.seen_Z) home_z_negative(); break; case 162: //? --- G162: Home positive --- //? //? Find the maximum limit of the specified axes by searching for the limit switch. //? if (next_target.seen_X) home_x_positive(); if (next_target.seen_Y) home_y_positive(); if (next_target.seen_Z) home_z_positive(); break; // unknown gcode: spit an error default: sersendf_P(PSTR("E: Bad G-code %d"), next_target.G); // newline is sent from gcode_parse after we return return; } } else if (next_target.seen_M) { uint8_t i; switch (next_target.M) { case 0: //? --- M0: machine stop --- //? //? Example: M0 //? //? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379 //? Unimplemented, especially the restart after the stop. Fall trough to M2. //? case 2: case 84: // For compatibility with slic3rs default end G-code. //? --- M2: program end --- //? //? Example: M2 //? //? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379 //? queue_wait(); for (i = 0; i < NUM_HEATERS; i++) temp_set(i, 0); power_off(); break; case 112: //? --- M112: Emergency Stop --- //? //? Example: M112 //? //? Any moves in progress are immediately terminated, then RepRap shuts down. All motors and heaters are turned off. //? It can be started again by pressing the reset button on the master microcontroller. See also M0. //? timer_stop(); queue_flush(); power_off(); cli(); for (;;) wd_reset(); break; case 6: //? --- M6: tool change --- //? //? Undocumented. tool = next_tool; break; case 82: //? --- M82 - Set E codes absolute --- //? //? This is the default and overrides G90/G91. //? M82/M83 is not documented in the RepRap wiki, behaviour //? was taken from Sprinter as of March 2012. //? //? While E does relative movements, it doesn't change its //? position in the coordinate system. See also comment on G90. //? // No wait_queue() needed. next_target.option_e_relative = 0; break; case 83: //? --- M83 - Set E codes relative --- //? //? Counterpart to M82. //? // No wait_queue() needed. next_target.option_e_relative = 1; break; // M3/M101- extruder on case 3: case 101: //? --- M101: extruder on --- //? //? Undocumented. if (temp_achieved() == 0) { enqueue(NULL); } #ifdef DC_EXTRUDER heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM); #elif E_STARTSTOP_STEPS > 0 do { // backup feedrate, move E very quickly then restore feedrate backup_f = startpoint.F; startpoint.F = MAXIMUM_FEEDRATE_E; SpecialMoveE(E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E); startpoint.F = backup_f; } while (0); #endif break; // M102- extruder reverse // M5/M103- extruder off case 5: case 103: //? --- M103: extruder off --- //? //? Undocumented. #ifdef DC_EXTRUDER heater_set(DC_EXTRUDER, 0); #elif E_STARTSTOP_STEPS > 0 do { // backup feedrate, move E very quickly then restore feedrate backup_f = startpoint.F; startpoint.F = MAXIMUM_FEEDRATE_E; SpecialMoveE(-E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E); startpoint.F = backup_f; } while (0); #endif break; case 104: //? --- M104: Set Extruder Temperature (Fast) --- //? //? Example: M104 S190 //? //? Set the temperature of the current extruder to 190<sup>o</sup>C //? and return control to the host immediately (''i.e.'' before that //? temperature has been reached by the extruder). For waiting, see M116. //? //? Teacup supports an optional P parameter as a zero-based temperature //? sensor index to address (e.g. M104 P1 S100 will set the temperature //? of the heater connected to the second temperature sensor rather //? than the extruder temperature). //? if ( ! next_target.seen_S) break; #ifdef HEATER_EXTRUDER if ( ! next_target.seen_P) next_target.P = HEATER_EXTRUDER; // else use the first available device #endif temp_set(next_target.P, next_target.S); break; case 105: //? --- M105: Get Temperature(s) --- //? //? Example: M105 //? //? Request the temperature of the current extruder and the build base //? in degrees Celsius. For example, the line sent to the host in //? response to this command looks like //? //? <tt>ok T:201 B:117</tt> //? //? Teacup supports an optional P parameter as a zero-based temperature //? sensor index to address. //? #ifdef ENFORCE_ORDER queue_wait(); #endif if ( ! next_target.seen_P) next_target.P = TEMP_SENSOR_none; temp_print(next_target.P); break; case 7: case 106: //? --- M106: Set Fan Speed / Set Device Power --- //? //? Example: M106 S120 //? //? Control the cooling fan (if any). //? //? Teacup supports an optional P parameter as a zero-based heater //? index to address. The heater index can differ from the temperature //? sensor index, see config.h. #ifdef ENFORCE_ORDER // wait for all moves to complete queue_wait(); #endif #ifdef HEATER_FAN if ( ! next_target.seen_P) next_target.P = HEATER_FAN; // else use the first available device #endif if ( ! next_target.seen_S) break; heater_set(next_target.P, next_target.S); break; case 110: //? --- M110: Set Current Line Number --- //? //? Example: N123 M110 //? //? Set the current line number to 123. Thus the expected next line after this command will be 124. //? This is a no-op in Teacup. //? break; #ifdef DEBUG case 111: //? --- M111: Set Debug Level --- //? //? Example: M111 S6 //? //? Set the level of debugging information transmitted back to the host to level 6. The level is the OR of three bits: //? //? <Pre> //? #define DEBUG_PID 1 //? #define DEBUG_DDA 2 //? #define DEBUG_POSITION 4 //? </pre> //? //? This command is only available in DEBUG builds of Teacup. if ( ! next_target.seen_S) break; debug_flags = next_target.S; break; #endif case 114: //? --- M114: Get Current Position --- //? //? Example: M114 //? //? This causes the RepRap machine to report its current X, Y, Z and E coordinates to the host. //? //? For example, the machine returns a string such as: //? //? <tt>ok C: X:0.00 Y:0.00 Z:0.00 E:0.00</tt> //? #ifdef ENFORCE_ORDER // wait for all moves to complete queue_wait(); #endif update_current_position(); sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%lu"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F); #ifdef DEBUG if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION)) { sersendf_P(PSTR(",c:%lu}\nEndpoint: X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}"), movebuffer[mb_tail].c, movebuffer[mb_tail].endpoint.X, movebuffer[mb_tail].endpoint.Y, movebuffer[mb_tail].endpoint.Z, movebuffer[mb_tail].endpoint.E, movebuffer[mb_tail].endpoint.F, #ifdef ACCELERATION_REPRAP movebuffer[mb_tail].end_c #else movebuffer[mb_tail].c #endif ); print_queue(); } #endif /* DEBUG */ // newline is sent from gcode_parse after we return break; case 115: //? --- M115: Get Firmware Version and Capabilities --- //? //? Example: M115 //? //? Request the Firmware Version and Capabilities of the current microcontroller //? The details are returned to the host computer as key:value pairs separated by spaces and terminated with a linefeed. //? //? sample data from firmware: //? FIRMWARE_NAME:Teacup FIRMWARE_URL:http://github.com/triffid/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 TEMP_SENSOR_COUNT:1 HEATER_COUNT:1 //? sersendf_P(PSTR("FIRMWARE_NAME:Teacup FIRMWARE_URL:http://github.com/triffid/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:%d TEMP_SENSOR_COUNT:%d HEATER_COUNT:%d"), 1, NUM_TEMP_SENSORS, NUM_HEATERS); // newline is sent from gcode_parse after we return break; case 116: //? --- M116: Wait --- //? //? Example: M116 //? //? Wait for temperatures and other slowly-changing variables to arrive at their set values. enqueue(NULL); break; case 119: //? --- M119: report endstop status --- //? Report the current status of the endstops configured in the //? firmware to the host. power_on(); endstops_on(); delay_ms(10); // allow the signal to stabilize #if defined(X_MIN_PIN) sersendf_P(PSTR("x_min:%d "), x_min()); #endif #if defined(X_MAX_PIN) sersendf_P(PSTR("x_max:%d "), x_max()); #endif #if defined(Y_MIN_PIN) sersendf_P(PSTR("y_min:%d "), y_min()); #endif #if defined(Y_MAX_PIN) sersendf_P(PSTR("y_max:%d "), y_max()); #endif #if defined(Z_MIN_PIN) sersendf_P(PSTR("z_min:%d "), z_min()); #endif #if defined(Z_MAX_PIN) sersendf_P(PSTR("z_max:%d "), z_max()); #endif #if ! (defined(X_MIN_PIN) || defined(X_MAX_PIN) || \ defined(Y_MIN_PIN) || defined(Y_MAX_PIN) || \ defined(Z_MIN_PIN) || defined(Z_MAX_PIN)) sersendf_P(PSTR("no endstops defined")); #endif endstops_off(); break; #ifdef EECONFIG case 130: //? --- M130: heater P factor --- //? Undocumented. #ifdef HEATER_EXTRUDER if ( ! next_target.seen_P) next_target.P = HEATER_EXTRUDER; // else use the first available device #endif if (next_target.seen_S) pid_set_p(next_target.P, next_target.S); break; case 131: //? --- M131: heater I factor --- //? Undocumented. #ifdef HEATER_EXTRUDER if ( ! next_target.seen_P) next_target.P = HEATER_EXTRUDER; #endif if (next_target.seen_S) pid_set_i(next_target.P, next_target.S); break; case 132: //? --- M132: heater D factor --- //? Undocumented. #ifdef HEATER_EXTRUDER if ( ! next_target.seen_P) next_target.P = HEATER_EXTRUDER; #endif if (next_target.seen_S) pid_set_d(next_target.P, next_target.S); break; case 133: //? --- M133: heater I limit --- //? Undocumented. #ifdef HEATER_EXTRUDER if ( ! next_target.seen_P) next_target.P = HEATER_EXTRUDER; #endif if (next_target.seen_S) pid_set_i_limit(next_target.P, next_target.S); break; case 134: //? --- M134: save PID settings to eeprom --- //? Undocumented. heater_save_settings(); break; #endif /* EECONFIG */ #ifdef DEBUG case 136: //? --- M136: PRINT PID settings to host --- //? Undocumented. //? This comand is only available in DEBUG builds. if ( ! next_target.seen_P) next_target.P = HEATER_EXTRUDER; heater_print(next_target.P); break; #endif case 140: //? --- M140: Set heated bed temperature --- //? Undocumented. #ifdef HEATER_BED if ( ! next_target.seen_S) break; temp_set(HEATER_BED, next_target.S); #endif break; #ifdef DEBUG case 240: //? --- M240: echo off --- //? Disable echo. //? This command is only available in DEBUG builds. debug_flags &= ~DEBUG_ECHO; serial_writestr_P(PSTR("Echo off")); // newline is sent from gcode_parse after we return break; case 241: //? --- M241: echo on --- //? Enable echo. //? This command is only available in DEBUG builds. debug_flags |= DEBUG_ECHO; serial_writestr_P(PSTR("Echo on")); // newline is sent from gcode_parse after we return break; #endif /* DEBUG */ // unknown mcode: spit an error default: sersendf_P(PSTR("E: Bad M-code %d"), next_target.M); // newline is sent from gcode_parse after we return } // switch (next_target.M) } // else if (next_target.seen_M) } // process_gcode_command()