void check_axes_activity() {
unsigned char x_active = 0;
unsigned char y_active = 0;
unsigned char z_active = 0;
unsigned char e_active = 0;
block_t *block;
if(block_buffer_tail != block_buffer_head) {
char block_index = block_buffer_tail;
while(block_index != block_buffer_head) {
block = &block_buffer[block_index];
if(block->steps_x != 0) x_active++;
if(block->steps_y != 0) y_active++;
if(block->steps_z != 0) z_active++;
if(block->steps_e != 0) e_active++;
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
}
}
if((DISABLE_X) && (x_active == 0)) disable_x();
if((DISABLE_Y) && (y_active == 0)) disable_y();
if((DISABLE_Z) && (z_active == 0)) disable_z();
if((DISABLE_E) && (e_active == 0)) disable_e();
}
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 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;
}
