/*
This file is part of Repetier-Firmware.
Repetier-Firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Repetier-Firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Repetier-Firmware. If not, see .
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
*/
#include "Repetier.h"
const int8_t sensitive_pins[] PROGMEM = SENSITIVE_PINS; // Sensitive pin list for M42
int Commands::lowestRAMValue = MAX_RAM;
int Commands::lowestRAMValueSend = MAX_RAM;
void Commands::commandLoop() {
//while(true) {
#ifdef DEBUG_PRINT
debugWaitLoop = 1;
#endif
if(!Printer::isBlockingReceive()) {
GCode::readFromSerial();
GCode *code = GCode::peekCurrentCommand();
//UI_SLOW; // do longer timed user interface action
UI_MEDIUM; // do check encoder
if(code) {
#if SDSUPPORT
if(sd.savetosd) {
if(!(code->hasM() && code->M == 29)) // still writing to file
sd.writeCommand(code);
else
sd.finishWrite();
#if ECHO_ON_EXECUTE
code->echoCommand();
#endif
} else
#endif
Commands::executeGCode(code);
code->popCurrentCommand();
}
} else {
GCode::keepAlive(Paused);
UI_MEDIUM;
}
Printer::defaultLoopActions();
//}
}
void Commands::checkForPeriodicalActions(bool allowNewMoves) {
Printer::handleInterruptEvent();
EVENT_PERIODICAL;
#if defined(DOOR_PIN) && DOOR_PIN > -1
if(Printer::updateDoorOpen()) {
#if defined(SUPPORT_LASER) && SUPPORT_LASER
if(Printer::mode == PRINTER_MODE_LASER) {
LaserDriver::changeIntensity(0);
}
#endif
}
#endif
if(!executePeriodical) return; // gets true every 100ms
executePeriodical = 0;
EVENT_TIMER_100MS;
Extruder::manageTemperatures();
if(--counter500ms == 0) {
if(manageMonitor)
writeMonitor();
counter500ms = 5;
EVENT_TIMER_500MS;
}
// If called from queueDelta etc. it is an error to start a new move since it
// would invalidate old computation resulting in unpredicted behavior.
// lcd controller can start new moves, so we disallow it if called from within
// a move command.
UI_SLOW(allowNewMoves);
}
/** \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 Commands::waitUntilEndOfAllMoves() {
#ifdef DEBUG_PRINT
debugWaitLoop = 8;
#endif
while(PrintLine::hasLines()) {
//GCode::readFromSerial();
checkForPeriodicalActions(false);
GCode::keepAlive(Processing);
UI_MEDIUM;
}
}
void Commands::waitUntilEndOfAllBuffers() {
GCode *code = NULL;
#ifdef DEBUG_PRINT
debugWaitLoop = 9;
#endif
while(PrintLine::hasLines() || (code != NULL)) {
//GCode::readFromSerial();
code = GCode::peekCurrentCommand();
UI_MEDIUM; // do check encoder
if(code) {
#if SDSUPPORT
if(sd.savetosd) {
if(!(code->hasM() && code->M == 29)) // still writing to file
sd.writeCommand(code);
else
sd.finishWrite();
#if ECHO_ON_EXECUTE
code->echoCommand();
#endif
} else
#endif
Commands::executeGCode(code);
code->popCurrentCommand();
}
Commands::checkForPeriodicalActions(false); // only called from memory
UI_MEDIUM;
}
}
void Commands::printCurrentPosition() {
float x, y, z;
Printer::realPosition(x, y, z);
x += Printer::coordinateOffset[X_AXIS];
y += Printer::coordinateOffset[Y_AXIS];
z += Printer::coordinateOffset[Z_AXIS];
Com::printF(Com::tXColon, x * (Printer::unitIsInches ? 0.03937 : 1), 2);
Com::printF(Com::tSpaceYColon, y * (Printer::unitIsInches ? 0.03937 : 1), 2);
Com::printF(Com::tSpaceZColon, z * (Printer::unitIsInches ? 0.03937 : 1), 3);
Com::printFLN(Com::tSpaceEColon, Printer::currentPositionSteps[E_AXIS] * Printer::invAxisStepsPerMM[E_AXIS] * (Printer::unitIsInches ? 0.03937 : 1), 4);
#ifdef DEBUG_POS
Com::printF(PSTR("OffX:"), Printer::offsetX); // to debug offset handling
Com::printF(PSTR(" OffY:"), Printer::offsetY);
Com::printF(PSTR(" OffZ:"), Printer::offsetZ);
Com::printF(PSTR(" OffZ2:"), Printer::offsetZ2);
Com::printF(PSTR(" XS:"), Printer::currentPositionSteps[X_AXIS]);
Com::printF(PSTR(" YS:"), Printer::currentPositionSteps[Y_AXIS]);
Com::printFLN(PSTR(" ZS:"), Printer::currentPositionSteps[Z_AXIS]);
#endif
}
void Commands::printTemperatures(bool showRaw) {
int error;
#if NUM_EXTRUDER > 0
float temp = Extruder::current->tempControl.currentTemperatureC;
#if HEATED_BED_SENSOR_TYPE == 0
Com::printF(Com::tTColon, temp);
Com::printF(Com::tSpaceSlash, Extruder::current->tempControl.targetTemperatureC, 0);
#else
Com::printF(Com::tTColon, temp);
Com::printF(Com::tSpaceSlash, Extruder::current->tempControl.targetTemperatureC, 0);
#if HAVE_HEATED_BED
Com::printF(Com::tSpaceBColon, Extruder::getHeatedBedTemperature());
Com::printF(Com::tSpaceSlash, heatedBedController.targetTemperatureC, 0);
if((error = heatedBedController.errorState()) > 0) {
Com::printF(PSTR(" DB:"), error);
}
if(showRaw) {
Com::printF(Com::tSpaceRaw, (int)NUM_EXTRUDER);
Com::printF(Com::tColon, (1023 << (2 - ANALOG_REDUCE_BITS)) - heatedBedController.currentTemperature);
}
Com::printF(Com::tSpaceBAtColon, (pwm_pos[heatedBedController.pwmIndex])); // Show output of auto tune when tuning!
#endif
#endif
Com::printF(Com::tSpaceAtColon, (autotuneIndex == 255 ? pwm_pos[Extruder::current->id] : pwm_pos[autotuneIndex])); // Show output of auto tune when tuning!
#if NUM_EXTRUDER > 1 && MIXING_EXTRUDER == 0
for(uint8_t i = 0; i < NUM_EXTRUDER; i++) {
Com::printF(Com::tSpaceT, (int)i);
Com::printF(Com::tColon, extruder[i].tempControl.currentTemperatureC);
Com::printF(Com::tSpaceSlash, extruder[i].tempControl.targetTemperatureC, 0);
Com::printF(Com::tSpaceAt, (int)i);
Com::printF(Com::tColon, (pwm_pos[extruder[i].tempControl.pwmIndex])); // Show output of auto tune when tuning!
if((error = extruder[i].tempControl.errorState()) > 0) {
Com::printF(PSTR(" D"), (int)i);
Com::printF(Com::tColon, error);
}
if(showRaw) {
Com::printF(Com::tSpaceRaw, (int)i);
Com::printF(Com::tColon, (1023 << (2 - ANALOG_REDUCE_BITS)) - extruder[i].tempControl.currentTemperature);
}
}
#elif NUM_EXTRUDER == 1 || MIXING_EXTRUDER
if((error = extruder[0].tempControl.errorState()) > 0) {
Com::printF(PSTR(" D0:"), error);
}
if(showRaw) {
Com::printF(Com::tSpaceRaw, (int)0);
Com::printF(Com::tColon, (1023 << (2 - ANALOG_REDUCE_BITS)) - extruder[0].tempControl.currentTemperature);
}
#endif
#ifdef FAKE_CHAMBER
Com::printF(PSTR(" C:"), extruder[0].tempControl.currentTemperatureC);
Com::printF(Com::tSpaceSlash, extruder[0].tempControl.targetTemperatureC, 0);
Com::printF(PSTR(" @:"), (pwm_pos[extruder[0].tempControl.pwmIndex]));
#endif
Com::println();
#endif
}
void Commands::changeFeedrateMultiply(int factor) {
if(factor < 25) factor = 25;
if(factor > 500) factor = 500;
Printer::feedrate *= (float)factor / (float)Printer::feedrateMultiply;
Printer::feedrateMultiply = factor;
Com::printFLN(Com::tSpeedMultiply, factor);
}
void Commands::changeFlowrateMultiply(int factor) {
if(factor < 25) factor = 25;
if(factor > 200) factor = 200;
Printer::extrudeMultiply = factor;
if(Extruder::current->diameter <= 0)
Printer::extrusionFactor = 0.01f * static_cast(factor);
else
Printer::extrusionFactor = 0.01f * static_cast(factor) * 4.0f / (Extruder::current->diameter * Extruder::current->diameter * 3.141592654f);
Com::printFLN(Com::tFlowMultiply, factor);
}
#if FEATURE_FAN_CONTROL
uint8_t fanKickstart;
#endif
#if FEATURE_FAN2_CONTROL
uint8_t fan2Kickstart;
#endif
void Commands::setFanSpeed(int speed, bool immediately) {
#if FAN_PIN >- 1 && FEATURE_FAN_CONTROL
if(Printer::fanSpeed == speed)
return;
speed = constrain(speed, 0, 255);
Printer::setMenuMode(MENU_MODE_FAN_RUNNING, speed != 0);
Printer::fanSpeed = speed;
if(PrintLine::linesCount == 0 || immediately) {
if(Printer::mode == PRINTER_MODE_FFF) {
for(fast8_t i = 0; i < PRINTLINE_CACHE_SIZE; i++)
PrintLine::lines[i].secondSpeed = speed; // fill all printline buffers with new fan speed value
}
Printer::setFanSpeedDirectly(speed);
}
Com::printFLN(Com::tFanspeed, speed); // send only new values to break update loops!
#endif
}
void Commands::setFan2Speed(int speed) {
#if FAN2_PIN >- 1 && FEATURE_FAN2_CONTROL
speed = constrain(speed, 0, 255);
Printer::setFan2SpeedDirectly(speed);
Com::printFLN(Com::tFan2speed, speed); // send only new values to break update loops!
#endif
}
void Commands::reportPrinterUsage() {
#if EEPROM_MODE != 0
float dist = Printer::filamentPrinted * 0.001 + HAL::eprGetFloat(EPR_PRINTING_DISTANCE);
Com::printF(Com::tPrintedFilament, dist, 2);
Com::printF(Com::tSpacem);
bool alloff = true;
#if NUM_EXTRUDER > 0
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
if(tempController[i]->targetTemperatureC > 15) alloff = false;
#endif
int32_t seconds = (alloff ? 0 : (HAL::timeInMilliseconds() - Printer::msecondsPrinting) / 1000) + HAL::eprGetInt32(EPR_PRINTING_TIME);
int32_t tmp = seconds / 86400;
seconds -= tmp * 86400;
Com::printF(Com::tPrintingTime, tmp);
tmp = seconds / 3600;
Com::printF(Com::tSpaceDaysSpace, tmp);
seconds -= tmp * 3600;
tmp = seconds / 60;
Com::printF(Com::tSpaceHoursSpace, tmp);
Com::printFLN(Com::tSpaceMin);
#endif
}
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_DIGIPOT
// Digipot methods for controling current and microstepping
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
int digitalPotWrite(int address, uint16_t value) { // From Arduino DigitalPotControl example
if(value > 255)
value = 255;
WRITE(DIGIPOTSS_PIN, LOW); // take the SS pin low to select the chip
HAL::spiSend(address); // send in the address and value via SPI:
HAL::spiSend(value);
WRITE(DIGIPOTSS_PIN, HIGH); // take the SS pin high to de-select the chip:
//delay(10);
}
void setMotorCurrent(uint8_t driver, uint16_t current) {
if(driver > 4) return;
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
digitalPotWrite(digipot_ch[driver], current);
}
void setMotorCurrentPercent( uint8_t channel, float level) {
uint16_t raw_level = ( level * 255 / 100 );
setMotorCurrent(channel, raw_level);
}
#endif
void motorCurrentControlInit() { //Initialize Digipot Motor Current
#if DIGIPOTSS_PIN && DIGIPOTSS_PIN > -1
HAL::spiInit(0); //SPI.begin();
SET_OUTPUT(DIGIPOTSS_PIN);
#ifdef MOTOR_CURRENT_PERCENT
const float digipot_motor_current[] = MOTOR_CURRENT_PERCENT;
for(int i = 0; i <= 4; i++)
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
setMotorCurrentPercent(i, digipot_motor_current[i]);
#else
const uint8_t digipot_motor_current[] = MOTOR_CURRENT;
for(int i = 0; i <= 4; i++)
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
setMotorCurrent(i, digipot_motor_current[i]);
#endif
#endif
}
#endif
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_LTC2600
void setMotorCurrent( uint8_t channel, unsigned short level ) {
if(channel >= LTC2600_NUM_CHANNELS) return;
const uint8_t ltc_channels[] = LTC2600_CHANNELS;
if(channel > LTC2600_NUM_CHANNELS) return;
uint8_t address = ltc_channels[channel];
fast8_t i;
// NOTE: Do not increase the current endlessly. In case the engine reaches its current saturation, the engine and the driver can heat up and loss power.
// When the saturation is reached, more current causes more heating and more power loss.
// In case of engines with lower quality, the saturation current may be reached before the nominal current.
// configure the pins
WRITE( LTC2600_CS_PIN, HIGH );
SET_OUTPUT( LTC2600_CS_PIN );
WRITE( LTC2600_SCK_PIN, LOW );
SET_OUTPUT( LTC2600_SCK_PIN );
WRITE( LTC2600_SDI_PIN, LOW );
SET_OUTPUT( LTC2600_SDI_PIN );
// enable the command interface of the LTC2600
WRITE( LTC2600_CS_PIN, LOW );
// transfer command and address
for( i = 7; i >= 0; i-- ) {
WRITE( LTC2600_SDI_PIN, address & (0x01 << i));
WRITE( LTC2600_SCK_PIN, 1 );
WRITE( LTC2600_SCK_PIN, 0 );
}
// transfer the data word
for( i = 15; i >= 0; i-- ) {
WRITE( LTC2600_SDI_PIN, level & (0x01 << i));
WRITE( LTC2600_SCK_PIN, 1 );
WRITE( LTC2600_SCK_PIN, 0 );
}
// disable the ommand interface of the LTC2600 -
// this carries out the specified command
WRITE( LTC2600_CS_PIN, HIGH );
} // setLTC2600
void setMotorCurrentPercent( uint8_t channel, float level) {
if(level > 100.0f) level = 100.0f;
uint16_t raw_level = static_cast( (long)level * 65535L / 100L );
setMotorCurrent(channel, raw_level);
}
void motorCurrentControlInit() { //Initialize LTC2600 Motor Current
uint8_t i;
#ifdef MOTOR_CURRENT_PERCENT
const float digipot_motor_current[] = MOTOR_CURRENT_PERCENT;
for(int i = 0; i < LTC2600_NUM_CHANNELS; i++)
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
setMotorCurrentPercent(i, digipot_motor_current[i]);
#else
const unsigned int ltc_current[] = MOTOR_CURRENT;
for(i = 0; i < LTC2600_NUM_CHANNELS; i++) {
setMotorCurrent(i, ltc_current[i] );
}
#endif
}
#endif
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_ALLIGATOR
void setMotorCurrent(uint8_t channel, unsigned short value) {
if(channel >= 7) // max channel (X,Y,Z,E0,E1,E2,E3)
return;
if(value > 255)
value = 255;
uint8_t externalDac_buf[2] = {0x10, 0x00};
if(channel > 3)
externalDac_buf[0] |= (7 - channel << 6);
else
externalDac_buf[0] |= (3 - channel << 6);
externalDac_buf[0] |= (value >> 4);
externalDac_buf[1] |= (value << 4);
// All SPI chip-select HIGH
WRITE(DAC0_SYNC, HIGH);
WRITE(DAC1_SYNC, HIGH);
WRITE(SPI_EEPROM1_CS, HIGH);
WRITE(SPI_EEPROM2_CS, HIGH);
WRITE(SPI_FLASH_CS, HIGH);
WRITE(SDSS, HIGH);
if(channel > 3) { // DAC Piggy E1,E2,E3
WRITE(DAC1_SYNC, LOW);
HAL::delayMicroseconds(2);
WRITE(DAC1_SYNC, HIGH);
HAL::delayMicroseconds(2);
WRITE(DAC1_SYNC, LOW);
} else { // DAC onboard X,Y,Z,E0
WRITE(DAC0_SYNC, LOW);
HAL::delayMicroseconds(2);
WRITE(DAC0_SYNC, HIGH);
HAL::delayMicroseconds(2);
WRITE(DAC0_SYNC, LOW);
}
HAL::delayMicroseconds(2);
HAL::spiSend(SPI_CHAN_DAC, externalDac_buf, 2);
}
void setMotorCurrentPercent( uint8_t channel, float level) {
uint16_t raw_level = ( level * 255 / 100 );
setMotorCurrent(channel, raw_level);
}
void motorCurrentControlInit() { //Initialize Motor Current
uint8_t externalDac_buf[2] = {0x20, 0x00};//all off
// All SPI chip-select HIGH
WRITE(DAC0_SYNC, HIGH);
WRITE(DAC1_SYNC, HIGH);
WRITE(SPI_EEPROM1_CS, HIGH);
WRITE(SPI_EEPROM2_CS, HIGH);
WRITE(SPI_FLASH_CS, HIGH);
WRITE(SDSS, HIGH);
// init onboard DAC
WRITE(DAC0_SYNC, LOW);
HAL::delayMicroseconds(2);
WRITE(DAC0_SYNC, HIGH);
HAL::delayMicroseconds(2);
WRITE(DAC0_SYNC, LOW);
HAL::spiSend(SPI_CHAN_DAC, externalDac_buf, 2);
WRITE(DAC0_SYNC, HIGH);
#if NUM_EXTRUDER > 1
// init Piggy DAC
WRITE(DAC1_SYNC, LOW);
HAL::delayMicroseconds(2);
WRITE(DAC1_SYNC, HIGH);
HAL::delayMicroseconds(2);
WRITE(DAC1_SYNC, LOW);
HAL::spiSend(SPI_CHAN_DAC, externalDac_buf, 2);
WRITE(DAC1_SYNC, HIGH);
#endif
#ifdef MOTOR_CURRENT_PERCENT
const float digipot_motor_current[] = MOTOR_CURRENT_PERCENT;
for(int i = 0; i < NUM_EXTRUDER + 3; i++)
setMotorCurrentPercent(i, digipot_motor_current[i]);
#else
const uint8_t digipot_motor_current[] = MOTOR_CURRENT;
for(uint8_t i = 0; i < NUM_EXTRUDER + 3; i++)
setMotorCurrent(i, digipot_motor_current[i]);
#endif
}
#endif
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_TMC2130
TMC2130Stepper* tmcDriverByIndex(uint8_t index) {
switch(index) {
#if TMC2130_ON_X
case 0: // X Axis
return Printer::tmc_driver_x;
break;
#endif
#if TMC2130_ON_Y
case 1: // Y Axis
return Printer::tmc_driver_y;
break;
#endif
#if TMC2130_ON_Z
case 2: // Z Axis
return Printer::tmc_driver_z;
break;
#endif
#if TMC2130_ON_EXT0
case 3: // E0 Axis
return Printer::tmc_driver_e0;
break;
#endif
#if TMC2130_ON_EXT1
case 4: // E1 Axis
return Printer::tmc_driver_e1;
break;
#endif
#if TMC2130_ON_EXT2
case 5: // E2 Axis
return Printer::tmc_driver_e2;
break;
#endif
default:
return NULL;
break;
}
}
void setMotorCurrent( uint8_t driver, uint16_t level ) {
TMC2130Stepper* tmc_driver = tmcDriverByIndex(driver);
if(tmc_driver) {
#if MOTHERBOARD == 310
tmc_driver->rms_current(level, 0.5, 0.22);
#else
tmc_driver->rms_current(level);
#endif
}
}
void setMotorCurrentPercent( uint8_t channel, float level ) {
const uint16_t tmc_motor_current[] = MOTOR_CURRENT;
uint16_t raw_level = ( level * tmc_motor_current[channel] / 100 );
setMotorCurrent(channel, raw_level);
}
void motorCurrentControlInit() {
const uint16_t tmc_motor_current[] = MOTOR_CURRENT;
for(uint8_t i = 0; i < (sizeof(tmc_motor_current) / sizeof(uint16_t)); i++) {
setMotorCurrent(i, tmc_motor_current[i]);
}
}
void motorCurrentReadings() {
Com::printF(Com::tTrinamicMotorCurrent);
#if TMC2130_ON_X
Com::printF(Com::tSpaceXColon, (uint32_t)(Printer::tmc_driver_x->rms_current()));
#endif
#if TMC2130_ON_Y
Com::printF(Com::tSpaceYColon, (uint32_t)(Printer::tmc_driver_y->rms_current()));
#endif
#if TMC2130_ON_Z
Com::printF(Com::tSpaceZColon, (uint32_t)(Printer::tmc_driver_z->rms_current()));
#endif
#if TMC2130_ON_EXT0
Com::printF(Com::tSpaceEColon, (uint32_t)(Printer::tmc_driver_e0->rms_current()));
#endif
#if TMC2130_ON_EXT1
Com::printF(PSTR(" E1:"), (uint32_t)(Printer::tmc_driver_e1->rms_current()));
#endif
#if TMC2130_ON_EXT2
Com::printF(PSTR(" E2:"), (uint32_t)(Printer::tmc_driver_e2->rms_current()));
#endif
Com::printFLN(Com::tSpace);
}
#endif // CURRENT_CONTROL_TMC2130
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_MCP4728
uint8_t _intVref[] = {MCP4728_VREF, MCP4728_VREF, MCP4728_VREF, MCP4728_VREF};
uint8_t _gain[] = {MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN};
uint8_t _powerDown[] = {0, 0, 0, 0};
int16_t dac_motor_current[] = {0, 0, 0, 0};
uint8_t _intVrefEp[] = {MCP4728_VREF, MCP4728_VREF, MCP4728_VREF, MCP4728_VREF};
uint8_t _gainEp[] = {MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN};
uint8_t _powerDownEp[] = {0, 0, 0, 0};
int16_t _valuesEp[] = {0, 0, 0, 0};
uint8_t dac_stepper_channel[] = MCP4728_STEPPER_ORDER;
int dacSimpleCommand(uint8_t simple_command) {
HAL::i2cStartWait(MCP4728_GENERALCALL_ADDRESS + I2C_WRITE);
HAL::i2cWrite(simple_command);
HAL::i2cStop();
}
void dacReadStatus() {
HAL::delayMilliseconds(500);
HAL::i2cStartWait(MCP4728_I2C_ADDRESS | I2C_READ);
for (int i = 0; i < 8; i++) { // 2 sets of 4 Channels (1 EEPROM, 1 Runtime)
uint8_t deviceID = HAL::i2cReadAck();
uint8_t hiByte = HAL::i2cReadAck();
uint8_t loByte = ((i < 7) ? HAL::i2cReadAck() : HAL::i2cReadNak());
uint8_t isEEPROM = (deviceID & 0B00001000) >> 3;
uint8_t channel = (deviceID & 0B00110000) >> 4;
if (isEEPROM == 1) {
_intVrefEp[channel] = (hiByte & 0B10000000) >> 7;
_gainEp[channel] = (hiByte & 0B00010000) >> 4;
_powerDownEp[channel] = (hiByte & 0B01100000) >> 5;
_valuesEp[channel] = word((hiByte & 0B00001111), loByte);
} else {
_intVref[channel] = (hiByte & 0B10000000) >> 7;
_gain[channel] = (hiByte & 0B00010000) >> 4;
_powerDown[channel] = (hiByte & 0B01100000) >> 5;
dac_motor_current[channel] = word((hiByte & 0B00001111), loByte);
}
}
HAL::i2cStop();
}
void dacAnalogUpdate(bool saveEEPROM = false) {
uint8_t dac_write_cmd = MCP4728_CMD_SEQ_WRITE;
HAL::i2cStartWait(MCP4728_I2C_ADDRESS + I2C_WRITE);
if (saveEEPROM) HAL::i2cWrite(dac_write_cmd);
for (int i = 0; i < MCP4728_NUM_CHANNELS; i++) {
uint16_t level = dac_motor_current[i];
uint8_t highbyte = ( _intVref[i] << 7 | _gain[i] << 4 | (uint8_t)((level) >> 8) );
uint8_t lowbyte = ( (uint8_t) ((level) & 0xff) );
dac_write_cmd = MCP4728_CMD_MULTI_WRITE | (i << 1);
if (!saveEEPROM) HAL::i2cWrite(dac_write_cmd);
HAL::i2cWrite(highbyte);
HAL::i2cWrite(lowbyte);
}
HAL::i2cStop();
// Instruct the MCP4728 to reflect our updated value(s) on its DAC Outputs
dacSimpleCommand((uint8_t)MCP4728_CMD_GC_UPDATE); // MCP4728 General Command Software Update (Update all DAC Outputs to reflect settings)
// if (saveEEPROM) dacReadStatus(); // Not necessary, just a read-back sanity check.
}
void dacCommitEeprom() {
dacAnalogUpdate(true);
dacReadStatus(); // Refresh EEPROM Values with values actually stored in EEPROM. .
}
void dacPrintSet(int dacChannelSettings[], const char* dacChannelPrefixes[]) {
for (int i = 0; i < MCP4728_NUM_CHANNELS; i++) {
uint8_t dac_channel = dac_stepper_channel[i]; // DAC Channel is a mapped lookup.
Com::printF(dacChannelPrefixes[i], ((float)dacChannelSettings[dac_channel] * 100 / MCP4728_VOUT_MAX));
Com::printF(Com::tSpaceRaw);
Com::printFLN(Com::tColon, dacChannelSettings[dac_channel]);
}
}
void dacPrintValues() {
const char* dacChannelPrefixes[] = {Com::tSpaceXColon, Com::tSpaceYColon, Com::tSpaceZColon, Com::tSpaceEColon};
Com::printFLN(Com::tMCPEpromSettings);
dacPrintSet(_valuesEp, dacChannelPrefixes); // Once for the EEPROM set
Com::printFLN(Com::tMCPCurrentSettings);
dacPrintSet(dac_motor_current, dacChannelPrefixes); // And another for the RUNTIME set
}
void setMotorCurrent( uint8_t xyz_channel, uint16_t level ) {
if (xyz_channel >= MCP4728_NUM_CHANNELS) return;
uint8_t stepper_channel = dac_stepper_channel[xyz_channel];
dac_motor_current[stepper_channel] = level < MCP4728_VOUT_MAX ? level : MCP4728_VOUT_MAX;
dacAnalogUpdate();
}
void setMotorCurrentPercent( uint8_t channel, float level) {
uint16_t raw_level = ( level * MCP4728_VOUT_MAX / 100 );
setMotorCurrent(channel, raw_level);
}
void motorCurrentControlInit() { //Initialize MCP4728 Motor Current
HAL::i2cInit(400000); // Initialize the i2c bus.
dacSimpleCommand((uint8_t)MCP4728_CMD_GC_RESET); // MCP4728 General Command Reset
dacReadStatus(); // Load Values from EEPROM.
for(int i = 0; i < MCP4728_NUM_CHANNELS; i++) {
setMotorCurrent(dac_stepper_channel[i], _valuesEp[i] ); // This is not strictly necessary, but serves as a good sanity check to ensure we're all on the same page.
}
}
#endif
#if defined(DRV_TMC2130)
void microstepMode(uint8_t driver, uint16_t stepping_mode) {
TMC2130Stepper* tmc_driver;
if(tmc_driver = tmcDriverByIndex(driver))
tmc_driver->microsteps(stepping_mode);
}
void microstepInit() {
const uint16_t microstep_modes[] = MICROSTEP_MODES;
for(uint8_t i = 0; i < (sizeof(microstep_modes) / sizeof(uint16_t)); i++) {
microstepMode(i, microstep_modes[i]);
}
}
void microstepReadings() {
Com::printF(Com::tTrinamicMicrostepMode);
#if TMC2130_ON_X
Com::printF(Com::tSpaceXColon, (uint32_t)(Printer::tmc_driver_x->microsteps()));
#endif
#if TMC2130_ON_Y
Com::printF(Com::tSpaceYColon, (uint32_t)(Printer::tmc_driver_y->microsteps()));
#endif
#if TMC2130_ON_Z
Com::printF(Com::tSpaceZColon, (uint32_t)(Printer::tmc_driver_z->microsteps()));
#endif
#if TMC2130_ON_EXT0
Com::printF(Com::tSpaceEColon, (uint32_t)(Printer::tmc_driver_e0->microsteps()));
#endif
#if TMC2130_ON_EXT1
Com::printF(PSTR(" E1:"), (uint32_t)(Printer::tmc_driver_e1->microsteps()));
#endif
#if TMC2130_ON_EXT2
Com::printF(PSTR(" E1:"), (uint32_t)(Printer::tmc_driver_e2->microsteps()));
#endif
Com::printFLN(Com::tSpace);
}
#else
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
void microstepMS(uint8_t driver, int8_t ms1, int8_t ms2) {
if(ms1 > -1) switch(driver) {
case 0:
#if X_MS1_PIN > -1
WRITE( X_MS1_PIN, ms1);
#endif
break;
case 1:
#if Y_MS1_PIN > -1
WRITE( Y_MS1_PIN, ms1);
#endif
break;
case 2:
#if Z_MS1_PIN > -1
WRITE( Z_MS1_PIN, ms1);
#endif
break;
case 3:
#if E0_MS1_PIN > -1
WRITE(E0_MS1_PIN, ms1);
#endif
break;
case 4:
#if E1_MS1_PIN > -1
WRITE(E1_MS1_PIN, ms1);
#endif
break;
}
if(ms2 > -1) switch(driver) {
case 0:
#if X_MS2_PIN > -1
WRITE( X_MS2_PIN, ms2);
#endif
break;
case 1:
#if Y_MS2_PIN > -1
WRITE( Y_MS2_PIN, ms2);
#endif
break;
case 2:
#if Z_MS2_PIN > -1
WRITE( Z_MS2_PIN, ms2);
#endif
break;
case 3:
#if E0_MS2_PIN > -1
WRITE(E0_MS2_PIN, ms2);
#endif
break;
case 4:
#if E1_MS2_PIN > -1
WRITE(E1_MS2_PIN, ms2);
#endif
break;
}
}
void microstepMode(uint8_t driver, uint8_t stepping_mode) {
switch(stepping_mode) {
case 1:
microstepMS(driver, MICROSTEP1);
break;
case 2:
microstepMS(driver, MICROSTEP2);
break;
case 4:
microstepMS(driver, MICROSTEP4);
break;
case 8:
microstepMS(driver, MICROSTEP8);
break;
case 16:
microstepMS(driver, MICROSTEP16);
break;
case 32:
microstepMS(driver, MICROSTEP32);
break;
}
}
void microstepReadings() {
Com::printFLN(Com::tMS1MS2Pins);
#if X_MS1_PIN > -1 && X_MS2_PIN > -1
Com::printF(Com::tXColon, READ(X_MS1_PIN));
Com::printFLN(Com::tComma, READ(X_MS2_PIN));
#elif X_MS1_PIN > -1
Com::printFLN(Com::tXColon, READ(X_MS1_PIN));
#endif
#if Y_MS1_PIN > -1 && Y_MS2_PIN > -1
Com::printF(Com::tYColon, READ(Y_MS1_PIN));
Com::printFLN(Com::tComma, READ(Y_MS2_PIN));
#elif Y_MS1_PIN > -1
Com::printFLN(Com::tYColon, READ(Y_MS1_PIN));
#endif
#if Z_MS1_PIN > -1 && Z_MS2_PIN > -1
Com::printF(Com::tZColon, READ(Z_MS1_PIN));
Com::printFLN(Com::tComma, READ(Z_MS2_PIN));
#elif Z_MS1_PIN > -1
Com::printFLN(Com::tZColon, READ(Z_MS1_PIN));
#endif
#if E0_MS1_PIN > -1 && E0_MS2_PIN > -1
Com::printF(Com::tE0Colon, READ(E0_MS1_PIN));
Com::printFLN(Com::tComma, READ(E0_MS2_PIN));
#elif E0_MS1_PIN > -1
Com::printFLN(Com::tE0Colon, READ(E0_MS1_PIN));
#endif
#if E1_MS1_PIN > -1 && E1_MS2_PIN > -1
Com::printF(Com::tE1Colon, READ(E1_MS1_PIN));
Com::printFLN(Com::tComma, READ(E1_MS2_PIN));
#elif E1_MS1_PIN > -1
Com::printFLN(Com::tE1Colon, READ(E1_MS1_PIN));
#endif
}
#endif
void microstepInit() {
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
const uint8_t microstep_modes[] = MICROSTEP_MODES;
#if X_MS1_PIN > -1
SET_OUTPUT(X_MS1_PIN);
#endif
#if Y_MS1_PIN > -1
SET_OUTPUT(Y_MS1_PIN);
#endif
#if Z_MS1_PIN > -1
SET_OUTPUT(Z_MS1_PIN);
#endif
#if E0_MS1_PIN > -1
SET_OUTPUT(E0_MS1_PIN);
#endif
#if E1_MS1_PIN > -1
SET_OUTPUT(E1_MS1_PIN);
#endif
#if X_MS2_PIN > -1
SET_OUTPUT(X_MS2_PIN);
#endif
#if Y_MS2_PIN > -1
SET_OUTPUT(Y_MS2_PIN);
#endif
#if Z_MS2_PIN > -1
SET_OUTPUT(Z_MS2_PIN);
#endif
#if E0_MS2_PIN > -1
SET_OUTPUT(E0_MS2_PIN);
#endif
#if E1_MS2_PIN > -1
SET_OUTPUT(E1_MS2_PIN);
#endif
for(int i = 0; i <= 4; i++) microstepMode(i, microstep_modes[i]);
#endif
}
#endif
/**
\brief Execute the Arc command stored in com.
*/
#if ARC_SUPPORT
void Commands::processArc(GCode *com) {
float position[Z_AXIS_ARRAY];
Printer::realPosition(position[X_AXIS], position[Y_AXIS], position[Z_AXIS]);
if(!Printer::setDestinationStepsFromGCode(com)) return; // For X Y Z E F
float offset[2] = {Printer::convertToMM(com->hasI() ? com->I : 0), Printer::convertToMM(com->hasJ() ? com->J : 0)};
float target[E_AXIS_ARRAY] = {Printer::realXPosition(), Printer::realYPosition(), Printer::realZPosition(), Printer::destinationSteps[E_AXIS]*Printer::invAxisStepsPerMM[E_AXIS]};
float r;
if (com->hasR()) {
/*
We need to calculate the center of the circle that has the designated radius and passes
through both the current position and the target position. This method calculates the following
set of equations where [x,y] is the vector from current to target position, d == magnitude of
that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the
length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point
[i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.
d^2 == x^2 + y^2
h^2 == r^2 - (d/2)^2
i == x/2 - y/d*h
j == y/2 + x/d*h
O <- [i,j]
- |
r - |
- |
- | h
- |
[0,0] -> C -----------------+--------------- T <- [x,y]
| <------ d/2 ---->|
C - Current position
T - Target position
O - center of circle that pass through both C and T
d - distance from C to T
r - designated radius
h - distance from center of CT to O
Expanding the equations:
d -> sqrt(x^2 + y^2)
h -> sqrt(4 * r^2 - x^2 - y^2)/2
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
Which can be written:
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
Which we for size and speed reasons optimize to:
h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
i = (x - (y * h_x2_div_d))/2
j = (y + (x * h_x2_div_d))/2
*/
r = Printer::convertToMM(com->R);
// Calculate the change in position along each selected axis
double x = target[X_AXIS] - position[X_AXIS];
double y = target[Y_AXIS] - position[Y_AXIS];
double h_x2_div_d = -sqrt(4 * r * r - x * x - y * y) / hypot(x, y); // == -(h * 2 / d)
// If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any
// real CNC, and thus - for practical reasons - we will terminate promptly:
if(isnan(h_x2_div_d)) {
Com::printErrorFLN(Com::tInvalidArc);
return;
}
// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
if (com->G == 3) {
h_x2_div_d = -h_x2_div_d;
}
/* The counter clockwise circle lies to the left of the target direction. When offset is positive,
the left hand circle will be generated - when it is negative the right hand circle is generated.
T <-- Target position
^
Clockwise circles with this center | Clockwise circles with this center will have
will have > 180 deg of angular travel | < 180 deg of angular travel, which is a good thing!
\ | /
center of arc when h_x2_div_d is positive -> x <----- | -----> x <- center of arc when h_x2_div_d is negative
|
|
C <-- Current position */
// Negative R is g-code-alias for "I want a circle with more than 180 degrees of travel" (go figure!),
// even though it is advised against ever generating such circles in a single line of g-code. By
// inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
// travel and thus we get the inadvisable long arcs as prescribed.
if (r < 0) {
h_x2_div_d = -h_x2_div_d;
r = -r; // Finished with r. Set to positive for mc_arc
}
// Complete the operation by calculating the actual center of the arc
offset[0] = 0.5 * (x - (y * h_x2_div_d));
offset[1] = 0.5 * (y + (x * h_x2_div_d));
} else { // Offset mode specific computations
r = hypot(offset[0], offset[1]); // Compute arc radius for arc
}
// Set clockwise/counter-clockwise sign for arc computations
uint8_t isclockwise = com->G == 2;
// Trace the arc
PrintLine::arc(position, target, offset, r, isclockwise);
}
#endif
/**
\brief Execute the G command stored in com.
*/
void Commands::processGCode(GCode *com) {
if(EVENT_UNHANDLED_G_CODE(com)) {
previousMillisCmd = HAL::timeInMilliseconds();
return;
}
uint32_t codenum; //throw away variable
switch(com->G) {
case 0: // G0 -> G1
case 1: // G1
#if defined(SUPPORT_LASER) && SUPPORT_LASER
{
// disable laser for G0 moves
bool laserOn = LaserDriver::laserOn;
if(Printer::mode == PRINTER_MODE_LASER) {
if(com->G == 0) {
LaserDriver::laserOn = false;
LaserDriver::firstMove = true; //set G1 flag for Laser
} else {
#if LASER_WARMUP_TIME > 0
uint8_t power = (com->hasX() || com->hasY()) && (LaserDriver::laserOn || com->hasE()) ? LaserDriver::intensity : 0;
if(power > 0 && LaserDriver::firstMove) {
PrintLine::waitForXFreeLines(1, true);
PrintLine::LaserWarmUp(LASER_WARMUP_TIME);
LaserDriver::firstMove = false;
}
#endif
}
}
#endif // defined
if(com->hasS()) Printer::setNoDestinationCheck(com->S != 0);
if(Printer::setDestinationStepsFromGCode(com)) // For X Y Z E F
#if NONLINEAR_SYSTEM
if (!PrintLine::queueNonlinearMove(ALWAYS_CHECK_ENDSTOPS, true, true)) {
Com::printWarningFLN(PSTR("executeGCode / queueDeltaMove returns error"));
}
#else
PrintLine::queueCartesianMove(ALWAYS_CHECK_ENDSTOPS, true);
#endif
#if UI_HAS_KEYS
// ui can only execute motion commands if we are not waiting inside a move for an
// old move to finish. For normal response times, we always leave one free after
// sending a line. Drawback: 1 buffer line less for limited time. Since input cache
// gets filled while waiting, the lost is neglectable.
PrintLine::waitForXFreeLines(1, true);
#endif // UI_HAS_KEYS
#ifdef DEBUG_QUEUE_MOVE
{
InterruptProtectedBlock noInts;
int lc = (int)PrintLine::linesCount;
int lp = (int)PrintLine::linesPos;
int wp = (int)PrintLine::linesWritePos;
int n = (wp - lp);
if(n < 0) n += PRINTLINE_CACHE_SIZE;
noInts.unprotect();
if(n != lc)
Com::printFLN(PSTR("Buffer corrupted"));
}
#endif
#if defined(SUPPORT_LASER) && SUPPORT_LASER
LaserDriver::laserOn = laserOn;
}
#endif // defined
break;
#if ARC_SUPPORT
case 2: // CW Arc
case 3: // CCW Arc MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
#if defined(SUPPORT_LASER) && SUPPORT_LASER
{
bool laserOn = LaserDriver::laserOn;
#if LASER_WARMUP_TIME > 0
if(Printer::mode == PRINTER_MODE_LASER && LaserDriver::firstMove && (LaserDriver::laserOn || com->hasE())) {
PrintLine::waitForXFreeLines(1, true);
PrintLine::LaserWarmUp(LASER_WARMUP_TIME);
LaserDriver::firstMove = false;
}
#endif
#endif // defined
processArc(com);
#if defined(SUPPORT_LASER) && SUPPORT_LASER
LaserDriver::laserOn = laserOn;
}
#endif // defined
break;
#endif
case 4: // G4 dwell
Commands::waitUntilEndOfAllMoves();
codenum = 0;
if(com->hasP()) codenum = com->P; // milliseconds to wait
if(com->hasS()) codenum = com->S * 1000; // seconds to wait
codenum += HAL::timeInMilliseconds(); // keep track of when we started waiting
while((uint32_t)(codenum - HAL::timeInMilliseconds()) < 2000000000 ) {
GCode::keepAlive(Processing);
Commands::checkForPeriodicalActions(true);
}
break;
#if FEATURE_RETRACTION && NUM_EXTRUDER > 0
case 10: // G10 S<1 = long retract, 0 = short retract = default> retracts filament according to stored setting
#if NUM_EXTRUDER > 1
Extruder::current->retract(true, com->hasS() && com->S > 0);
#else
Extruder::current->retract(true, false);
#endif
break;
case 11: // G11 S<1 = long retract, 0 = short retract = default> = Undo retraction according to stored setting
#if NUM_EXTRUDER > 1
Extruder::current->retract(false, com->hasS() && com->S > 0);
#else
Extruder::current->retract(false, false);
#endif
break;
#endif // FEATURE_RETRACTION
case 20: // G20 Units to inches
Printer::unitIsInches = 1;
break;
case 21: // G21 Units to mm
Printer::unitIsInches = 0;
break;
case 28: { //G28 Home all Axis one at a time
uint8_t homeAllAxis = (com->hasNoXYZ() && !com->hasE());
if(com->hasE())
Printer::currentPositionSteps[E_AXIS] = 0;
if(homeAllAxis || !com->hasNoXYZ())
Printer::homeAxis(homeAllAxis || com->hasX(), homeAllAxis || com->hasY(), homeAllAxis || com->hasZ());
}
break;
#if FEATURE_Z_PROBE
case 29: { // G29 3 points, build average or distortion compensation
Printer::prepareForProbing();
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
float actTemp[NUM_EXTRUDER];
for(int i = 0; i < NUM_EXTRUDER; i++)
actTemp[i] = extruder[i].tempControl.targetTemperatureC;
Printer::moveToReal(IGNORE_COORDINATE, IGNORE_COORDINATE, RMath::max(EEPROM::zProbeHeight(), static_cast(ZHOME_HEAT_HEIGHT)), IGNORE_COORDINATE, Printer::homingFeedrate[Z_AXIS]);
Commands::waitUntilEndOfAllMoves();
#if ZHOME_HEAT_ALL
for(int i = 0; i < NUM_EXTRUDER; i++) {
Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast(ZPROBE_MIN_TEMPERATURE)), i, false, false);
}
for(int i = 0; i < NUM_EXTRUDER; i++) {
if(extruder[i].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast(ZPROBE_MIN_TEMPERATURE)), i, false, true);
}
#else
if(extruder[Extruder::current->id].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id], static_cast(ZPROBE_MIN_TEMPERATURE)), Extruder::current->id, false, true);
#endif
#endif
bool ok = true;
Printer::startProbing(true);
bool oldAutolevel = Printer::isAutolevelActive();
Printer::setAutolevelActive(false);
float sum = 0, last, oldFeedrate = Printer::feedrate;
Printer::moveTo(EEPROM::zProbeX1(), EEPROM::zProbeY1(), IGNORE_COORDINATE, IGNORE_COORDINATE, EEPROM::zProbeXYSpeed());
sum = Printer::runZProbe(true, false, Z_PROBE_REPETITIONS, false);
if(sum == ILLEGAL_Z_PROBE) ok = false;
if(ok) {
Printer::moveTo(EEPROM::zProbeX2(), EEPROM::zProbeY2(), IGNORE_COORDINATE, IGNORE_COORDINATE, EEPROM::zProbeXYSpeed());
last = Printer::runZProbe(false, false);
if(last == ILLEGAL_Z_PROBE) ok = false;
sum += last;
}
if(ok) {
Printer::moveTo(EEPROM::zProbeX3(), EEPROM::zProbeY3(), IGNORE_COORDINATE, IGNORE_COORDINATE, EEPROM::zProbeXYSpeed());
last = Printer::runZProbe(false, true);
if(last == ILLEGAL_Z_PROBE) ok = false;
sum += last;
}
if(ok) {
sum *= 0.33333333333333;
Com::printFLN(Com::tZProbeAverage, sum);
if(com->hasS() && com->S) {
#if MAX_HARDWARE_ENDSTOP_Z
#if DRIVE_SYSTEM == DELTA
Printer::updateCurrentPosition();
Printer::zLength += sum - Printer::currentPosition[Z_AXIS];
Printer::updateDerivedParameter();
Printer::homeAxis(true, true, true);
#else
Printer::currentPositionSteps[Z_AXIS] = sum * Printer::axisStepsPerMM[Z_AXIS];
float zup = Printer::runZMaxProbe();
if(zup == ILLEGAL_Z_PROBE) {
ok = false;
} else
Printer::zLength = zup + sum - ENDSTOP_Z_BACK_ON_HOME;
#endif // DELTA
Com::printInfoFLN(Com::tZProbeZReset);
Com::printFLN(Com::tZProbePrinterHeight, Printer::zLength);
#else
Printer::currentPositionSteps[Z_AXIS] = sum * Printer::axisStepsPerMM[Z_AXIS];
Com::printFLN(PSTR("Adjusted z origin"));
#endif // max z endstop
}
Printer::feedrate = oldFeedrate;
Printer::setAutolevelActive(oldAutolevel);
if(ok && com->hasS() && com->S == 2)
EEPROM::storeDataIntoEEPROM();
}
Printer::updateCurrentPosition(true);
printCurrentPosition();
Printer::finishProbing();
Printer::feedrate = oldFeedrate;
if(!ok) {
GCode::fatalError(PSTR("G29 leveling failed!"));
break;
}
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
#if ZHOME_HEAT_ALL
for(int i = 0; i < NUM_EXTRUDER; i++) {
Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast(ZPROBE_MIN_TEMPERATURE)), i, false, false);
}
for(int i = 0; i < NUM_EXTRUDER; i++) {
if(extruder[i].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast(ZPROBE_MIN_TEMPERATURE)), i, false, true);
}
#else
if(extruder[Extruder::current->id].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id], static_cast(ZPROBE_MIN_TEMPERATURE)), Extruder::current->id, false, true);
#endif
#endif
}
break;
case 30: {
// G30 [Pn] [S]
// G30 (the same as G30 P3) single probe set Z0
// G30 S1 Z - measures probe height (P is ignored) assuming we are at real height Z
// G30 H R Make probe define new Z and z offset (R) at trigger point assuming z-probe measured an object of H height.
if (com->hasS()) {
Printer::measureZProbeHeight(com->hasZ() ? com->Z : Printer::currentPosition[Z_AXIS]);
} else {
uint8_t p = (com->hasP() ? (uint8_t)com->P : 3);
float z = Printer::runZProbe(p & 1, p & 2, Z_PROBE_REPETITIONS, true, false);
if(z == ILLEGAL_Z_PROBE) {
GCode::fatalError(PSTR("G30 probing failed!"));
break;
}
if(com->hasR() || com->hasH()) {
float h = Printer::convertToMM(com->hasH() ? com->H : 0);
float o = Printer::convertToMM(com->hasR() ? com->R : h);
#if DISTORTION_CORRECTION
// Undo z distortion correction contained in z
float zCorr = 0;
if(Printer::distortion.isEnabled()) {
zCorr = Printer::distortion.correct(Printer::currentPositionSteps[X_AXIS], Printer::currentPositionSteps[Y_AXIS], Printer::zMinSteps) * Printer::invAxisStepsPerMM[Z_AXIS];
z -= zCorr;
}
#endif
Printer::coordinateOffset[Z_AXIS] = o - h;
Printer::currentPosition[Z_AXIS] = Printer::lastCmdPos[Z_AXIS] = z + h + Printer::zMin;
Printer::updateCurrentPositionSteps();
Printer::setZHomed(true);
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(Printer::currentPositionSteps, Printer::currentNonlinearPositionSteps);
#endif
} else {
Printer::updateCurrentPosition(p & 1);
}
}
}
break;
case 31: // G31 display hall sensor output
Endstops::update();
Endstops::update();
Com::printF(Com::tZProbeState);
Com::printF(Endstops::zProbe() ? Com::tHSpace : Com::tLSpace);
Com::println();
break;
#if FEATURE_AUTOLEVEL
case 32: // G32 Auto-Bed leveling
if(!runBedLeveling(com->hasS() ? com->S : -1)) {
GCode::fatalError(PSTR("G32 leveling failed!"));
}
break;
#endif
#if DISTORTION_CORRECTION
case 33: {
if(com->hasL()) { // G33 L0 - List distortion matrix
Printer::distortion.showMatrix();
} else if(com->hasR()) { // G33 R0 - Reset distortion matrix
Printer::distortion.resetCorrection();
} else if(com->hasX() || com->hasY() || com->hasZ()) { // G33 X Y Z - Set correction for nearest point
if(com->hasX() && com->hasY() && com->hasZ()) {
Printer::distortion.set(com->X, com->Y, com->Z);
} else {
Com::printErrorFLN(PSTR("You need to define X, Y and Z to set a point!"));
}
} else { // G33
Printer::measureDistortion();
}
}
break;
#endif
#endif
case 90: // G90
Printer::relativeCoordinateMode = false;
if(com->internalCommand)
Com::printInfoFLN(PSTR("Absolute positioning"));
break;
case 91: // G91
Printer::relativeCoordinateMode = true;
if(com->internalCommand)
Com::printInfoFLN(PSTR("Relative positioning"));
break;
case 92: { // G92
float xOff = Printer::coordinateOffset[X_AXIS];
float yOff = Printer::coordinateOffset[Y_AXIS];
float zOff = Printer::coordinateOffset[Z_AXIS];
if(com->hasX()) xOff = Printer::convertToMM(com->X) - Printer::currentPosition[X_AXIS];
if(com->hasY()) yOff = Printer::convertToMM(com->Y) - Printer::currentPosition[Y_AXIS];
if(com->hasZ()) zOff = Printer::convertToMM(com->Z) - Printer::currentPosition[Z_AXIS];
Printer::setOrigin(xOff, yOff, zOff);
if(com->hasE()) {
Printer::destinationSteps[E_AXIS] = Printer::currentPositionSteps[E_AXIS] = Printer::convertToMM(com->E) * Printer::axisStepsPerMM[E_AXIS];
}
if(com->hasX() || com->hasY() || com->hasZ()) {
Com::printF(PSTR("X_OFFSET:"), Printer::coordinateOffset[X_AXIS], 3);
Com::printF(PSTR(" Y_OFFSET:"), Printer::coordinateOffset[Y_AXIS], 3);
Com::printFLN(PSTR(" Z_OFFSET:"), Printer::coordinateOffset[Z_AXIS], 3);
}
}
break;
#if DRIVE_SYSTEM == DELTA
case 100: { // G100 Calibrate floor or rod radius
// Using manual control, adjust hot end to contact floor.
// G100 No action. Avoid accidental floor reset.
// G100 [X] [Y] [Z] set floor for argument passed in. Number ignored and may be absent.
// G100 R with X Y or Z flag error, sets only floor or radius, not both.
// G100 R[n] Add n to radius. Adjust to be above floor if necessary
// G100 R[0] set radius based on current z measurement. Moves to (0,0,0)
float currentZmm = Printer::currentPosition[Z_AXIS];
if (currentZmm / Printer::zLength > 0.1) {
Com::printErrorFLN(PSTR("Calibration code is limited to bottom 10% of Z height"));
break;
}
if (com->hasR()) {
if (com->hasX() || com->hasY() || com->hasZ())
Com::printErrorFLN(PSTR("Cannot set radius and floor at same time."));
else if (com->R != 0) {
//add r to radius
if (abs(com->R) <= 10) EEPROM::incrementRodRadius(com->R);
else Com::printErrorFLN(PSTR("Calibration movement is limited to 10mm."));
} else {
// auto set radius. Head must be at 0,0 and touching
// Z offset will be corrected for.
if (Printer::currentPosition[X_AXIS] == 0
&& Printer::currentPosition[Y_AXIS] == 0) {
if(Printer::isLargeMachine()) {
// calculate radius assuming we are at surface
// If Z is greater than 0 it will get calculated out for correct radius
// Use either A or B tower as they anchor x Cartesian axis and always have
// Radius distance to center in simplest set up.
float h = Printer::deltaDiagonalStepsSquaredB.f;
unsigned long bSteps = Printer::currentNonlinearPositionSteps[B_TOWER];
// The correct Rod Radius would put us here at z==0 and B height is
// square root (rod length squared minus rod radius squared)
// Reverse that to get calculated Rod Radius given B height
h -= RMath::sqr((float)bSteps);
h = sqrt(h);
EEPROM::setRodRadius(h * Printer::invAxisStepsPerMM[Z_AXIS]);
} else {
// calculate radius assuming we are at surface
// If Z is greater than 0 it will get calculated out for correct radius
// Use either A or B tower as they anchor x Cartesian axis and always have
// Radius distance to center in simplest set up.
unsigned long h = Printer::deltaDiagonalStepsSquaredB.l;
unsigned long bSteps = Printer::currentNonlinearPositionSteps[B_TOWER];
// The correct Rod Radius would put us here at z==0 and B height is
// square root (rod length squared minus rod radius squared)
// Reverse that to get calculated Rod Radius given B height
h -= RMath::sqr(bSteps);
h = SQRT(h);
EEPROM::setRodRadius(h * Printer::invAxisStepsPerMM[Z_AXIS]);
}
} else
Com::printErrorFLN(PSTR("First move to touch at x,y=0,0 to auto-set radius."));
}
} else {
bool tooBig = false;
if (com->hasX()) {
if (abs(com->X) <= 10)
EEPROM::setTowerXFloor(com->X + currentZmm + Printer::xMin);
else tooBig = true;
}
if (com->hasY()) {
if (abs(com->Y) <= 10)
EEPROM::setTowerYFloor(com->Y + currentZmm + Printer::yMin);
else tooBig = true;
}
if (com->hasZ()) {
if (abs(com->Z) <= 10)
EEPROM::setTowerZFloor(com->Z + currentZmm + Printer::zMin);
else tooBig = true;
}
if (tooBig)
Com::printErrorFLN(PSTR("Calibration movement is limited to 10mm."));
}
// after adjusting zero, physical position is out of sync with memory position
// this could cause jerky movement or push head into print surface.
// moving gets back into safe zero'ed position with respect to newle set floor or Radius.
Printer::moveTo(IGNORE_COORDINATE, IGNORE_COORDINATE, 12.0, IGNORE_COORDINATE, IGNORE_COORDINATE);
break;
}
case 131: { // G131 Remove offset
float cx, cy, cz;
Printer::realPosition(cx, cy, cz);
float oldfeedrate = Printer::feedrate;
Printer::offsetX = 0;
Printer::offsetY = 0;
Printer::moveToReal(cx, cy, cz, IGNORE_COORDINATE, Printer::homingFeedrate[X_AXIS]);
Printer::feedrate = oldfeedrate;
Printer::updateCurrentPosition();
}
break;
case 132: { // G132 Calibrate endstop offsets
// This has the probably unintended side effect of turning off leveling.
Printer::setAutolevelActive(false); // don't let transformations change result!
Printer::coordinateOffset[X_AXIS] = 0;
Printer::coordinateOffset[Y_AXIS] = 0;
Printer::coordinateOffset[Z_AXIS] = 0;
// I think this is coded incorrectly, as it depends on the start position of the
// of the hot end, and so should first move to x,y,z= 0,0,0, but as that may not
// be possible if the printer is not in the homes/zeroed state, the printer
// cannot safely move to 0 z coordinate without crashing into the print surface.
// so other than commenting, I'm not meddling.
// but you will always get different counts from different positions.
Printer::deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
int32_t m = RMath::max(Printer::stepsRemainingAtXHit, RMath::max(Printer::stepsRemainingAtYHit, Printer::stepsRemainingAtZHit));
int32_t offx = m - Printer::stepsRemainingAtXHit;
int32_t offy = m - Printer::stepsRemainingAtYHit;
int32_t offz = m - Printer::stepsRemainingAtZHit;
Com::printFLN(Com::tTower1, offx);
Com::printFLN(Com::tTower2, offy);
Com::printFLN(Com::tTower3, offz);
#if EEPROM_MODE != 0
if(com->hasS() && com->S > 0) {
EEPROM::setDeltaTowerXOffsetSteps(offx);
EEPROM::setDeltaTowerYOffsetSteps(offy);
EEPROM::setDeltaTowerZOffsetSteps(offz);
}
#endif
PrintLine::moveRelativeDistanceInSteps(0, 0, -5 * Printer::axisStepsPerMM[Z_AXIS], 0, Printer::homingFeedrate[Z_AXIS], true, true);
Printer::homeAxis(true, true, true);
}
break;
case 133: { // G133 Measure steps to top
bool oldAuto = Printer::isAutolevelActive();
Printer::setAutolevelActive(false); // don't let transformations change result!
Printer::currentPositionSteps[X_AXIS] = 0;
Printer::currentPositionSteps[Y_AXIS] = 0;
Printer::currentPositionSteps[Z_AXIS] = 0;
Printer::coordinateOffset[X_AXIS] = 0;
Printer::coordinateOffset[Y_AXIS] = 0;
Printer::coordinateOffset[Z_AXIS] = 0;
Printer::currentNonlinearPositionSteps[A_TOWER] = 0;
Printer::currentNonlinearPositionSteps[B_TOWER] = 0;
Printer::currentNonlinearPositionSteps[C_TOWER] = 0;
// similar to comment above, this will get a different answer from any different starting point
// so it is unclear how this is helpful. It must start at a well defined point.
Printer::deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
int32_t offx = HOME_DISTANCE_STEPS - Printer::stepsRemainingAtXHit;
int32_t offy = HOME_DISTANCE_STEPS - Printer::stepsRemainingAtYHit;
int32_t offz = HOME_DISTANCE_STEPS - Printer::stepsRemainingAtZHit;
Com::printFLN(Com::tTower1, offx);
Com::printFLN(Com::tTower2, offy);
Com::printFLN(Com::tTower3, offz);
Printer::setAutolevelActive(oldAuto);
PrintLine::moveRelativeDistanceInSteps(0, 0, Printer::axisStepsPerMM[Z_AXIS] * -ENDSTOP_Z_BACK_MOVE, 0, Printer::homingFeedrate[Z_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR, true, false);
Printer::homeAxis(true, true, true);
}
break;
case 135: // G135
Com::printF(PSTR("CompDelta:"), Printer::currentNonlinearPositionSteps[A_TOWER]);
Com::printF(Com::tComma, Printer::currentNonlinearPositionSteps[B_TOWER]);
Com::printFLN(Com::tComma, Printer::currentNonlinearPositionSteps[C_TOWER]);
#ifdef DEBUG_REAL_POSITION
Com::printF(PSTR("RealDelta:"), Printer::realDeltaPositionSteps[A_TOWER]);
Com::printF(Com::tComma, Printer::realDeltaPositionSteps[B_TOWER]);
Com::printFLN(Com::tComma, Printer::realDeltaPositionSteps[C_TOWER]);
#endif
Printer::updateCurrentPosition();
Com::printF(PSTR("PosFromSteps:"));
printCurrentPosition();
break;
#endif // DRIVE_SYSTEM
#if FEATURE_Z_PROBE && NUM_EXTRUDER > 1
case 134: {
// - G134 Px Sx Zx - Calibrate nozzle height difference (need z probe in nozzle!) Px = reference extruder, Sx = only measure extrude x against reference, Zx = add to measured z distance for Sx for correction.
float z = com->hasZ() ? com->Z : 0;
int p = com->hasP() ? com->P : 0;
int s = com->hasS() ? com->S : -1;
int startExtruder = Extruder::current->id;
extruder[p].zOffset = 0;
float mins[NUM_EXTRUDER], maxs[NUM_EXTRUDER], avg[NUM_EXTRUDER];
for(int i = 0; i < NUM_EXTRUDER; i++) { // silence unnecessary compiler warning
avg[i] = 0;
}
bool bigError = false;
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE
float actTemp[NUM_EXTRUDER];
for(int i = 0; i < NUM_EXTRUDER; i++)
actTemp[i] = extruder[i].tempControl.targetTemperatureC;
Printer::moveToReal(IGNORE_COORDINATE, IGNORE_COORDINATE, ZHOME_HEAT_HEIGHT, IGNORE_COORDINATE, Printer::homingFeedrate[Z_AXIS]);
Commands::waitUntilEndOfAllMoves();
#if ZHOME_HEAT_ALL
for(int i = 0; i < NUM_EXTRUDER; i++) {
Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast(ZPROBE_MIN_TEMPERATURE)), i, false, false);
}
for(int i = 0; i < NUM_EXTRUDER; i++) {
if(extruder[i].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast(ZPROBE_MIN_TEMPERATURE)), i, false, true);
}
#else
if(extruder[Extruder::current->id].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id], static_cast(ZPROBE_MIN_TEMPERATURE)), Extruder::current->id, false, true);
#endif
#endif
#ifndef G134_REPETITIONS
#define G134_REPETITIONS 3
#endif
#ifndef G134_PRECISION
#define G134_PRECISION 0.05
#endif
Printer::startProbing(true);
for(int r = 0; r < G134_REPETITIONS && !bigError; r++) {
Extruder::selectExtruderById(p);
float refHeight = Printer::runZProbe(false, false);
if(refHeight == ILLEGAL_Z_PROBE) {
bigError = true;
break;
}
for(int i = 0; i < NUM_EXTRUDER && !bigError; i++) {
if(i == p) continue;
if(s >= 0 && i != s) continue;
extruder[i].zOffset = 0;
Extruder::selectExtruderById(i);
float height = Printer::runZProbe(false, false);
if(height == ILLEGAL_Z_PROBE) {
bigError = true;
break;
}
float off = (height - refHeight + z);
if(r == 0) {
avg[i] = mins[i] = maxs[i] = off;
} else {
avg[i] += off;
if(off < mins[i]) mins[i] = off;
if(off > maxs[i]) maxs[i] = off;
if(maxs[i] - mins[i] > G134_PRECISION) {
Com::printWarningFLN(PSTR("Deviation between measurements were too big, please repeat."));
Com::printFLN(PSTR("Z Offset not computed due to errors"));
bigError = true;
break;
}
}
}
}
if(!bigError) {
for(int i = 0; i < NUM_EXTRUDER; i++) {
if(s >= 0 && i != s) continue;
extruder[i].zOffset = avg[i] * Printer::axisStepsPerMM[Z_AXIS] / G134_REPETITIONS;
}
#if EEPROM_MODE != 0
EEPROM::storeDataIntoEEPROM(0);
#endif
Com::printFLN(PSTR("Z Offset stored"));
} else {
Com::printFLN(PSTR("Z Offset not computed due to errors"));
}
Extruder::selectExtruderById(startExtruder);
Printer::finishProbing();
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE
#if ZHOME_HEAT_ALL
for(int i = 0; i < NUM_EXTRUDER; i++)
Extruder::setTemperatureForExtruder(actTemp[i], i, false, false);
for(int i = 0; i < NUM_EXTRUDER; i++)
Extruder::setTemperatureForExtruder(actTemp[i], i, false, actTemp[i] > MAX_ROOM_TEMPERATURE);
#else
Extruder::setTemperatureForExtruder(actTemp[Extruder::current->id], Extruder::current->id, false, actTemp[Extruder::current->id] > MAX_ROOM_TEMPERATURE);
#endif
#endif
}
break;
#endif
#if defined(NUM_MOTOR_DRIVERS) && NUM_MOTOR_DRIVERS > 0
case 201:
commandG201(*com);
break;
case 202:
commandG202(*com);
break;
case 203:
commandG203(*com);
break;
case 204:
commandG204(*com);
break;
case 205:
commandG205(*com);
break;
#endif // defined
default:
if(Printer::debugErrors()) {
Com::printF(Com::tUnknownCommand);
com->printCommand();
}
}
previousMillisCmd = HAL::timeInMilliseconds();
}
/**
\brief Execute the G command stored in com.
*/
void Commands::processMCode(GCode *com) {
if(EVENT_UNHANDLED_M_CODE(com))
return;
switch( com->M ) {
case 3: // Spindle/laser on
#if defined(SUPPORT_LASER) && SUPPORT_LASER
if(Printer::mode == PRINTER_MODE_LASER) {
if(com->hasS())
LaserDriver::intensity = constrain(com->S, 0, LASER_PWM_MAX);
LaserDriver::laserOn = true;
Com::printFLN(PSTR("LaserOn:"), (int)LaserDriver::intensity);
}
#endif // defined
#if defined(SUPPORT_CNC) && SUPPORT_CNC
if(Printer::mode == PRINTER_MODE_CNC) {
waitUntilEndOfAllMoves();
CNCDriver::spindleOnCW(com->hasS() ? com->S : CNC_RPM_MAX);
}
#endif // defined
break;
case 4: // Spindle CCW
#if defined(SUPPORT_CNC) && SUPPORT_CNC
if(Printer::mode == PRINTER_MODE_CNC) {
waitUntilEndOfAllMoves();
CNCDriver::spindleOnCCW(com->hasS() ? com->S : CNC_RPM_MAX);
}
#endif // defined
break;
case 5: // Spindle/laser off
#if defined(SUPPORT_LASER) && SUPPORT_LASER
if(Printer::mode == PRINTER_MODE_LASER) {
LaserDriver::laserOn = false;
}
#endif // defined
#if defined(SUPPORT_CNC) && SUPPORT_CNC
if(Printer::mode == PRINTER_MODE_CNC) {
waitUntilEndOfAllMoves();
CNCDriver::spindleOff();
}
#endif // defined
break;
#if SDSUPPORT
case 20: // M20 - list SD card
#if JSON_OUTPUT
if (com->hasString() && com->text[1] == '2') { // " S2 P/folder"
if (com->text[3] == 'P') {
sd.lsJSON(com->text + 4);
}
} else sd.ls();
#else
sd.ls();
#endif
break;
case 21: // M21 - init SD card
sd.mount();
break;
case 22: //M22 - release SD card
sd.unmount();
break;
case 23: //M23 - Select file
if(com->hasString()) {
sd.fat.chdir();
sd.selectFile(com->text);
}
break;
case 24: //M24 - Start SD print
sd.startPrint();
break;
case 25: //M25 - Pause SD print
sd.pausePrint();
break;
case 26: //M26 - Set SD index
if(com->hasS())
sd.setIndex(com->S);
break;
case 27: //M27 - Get SD status
sd.printStatus();
break;
case 28: //M28 - Start SD write
if(com->hasString())
sd.startWrite(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(com->hasString()) {
sd.fat.chdir();
sd.deleteFile(com->text);
}
break;
case 32: // M32 directoryname
if(com->hasString()) {
sd.fat.chdir();
sd.makeDirectory(com->text);
}
break;
#endif
#if JSON_OUTPUT && SDSUPPORT
case 36: // M36 JSON File Info
if (com->hasString()) {
sd.JSONFileInfo(com->text);
}
break;
#endif
case 42: //M42 -Change pin status via gcode
if (com->hasP()) {
int pin_number = com->P;
for(uint8_t i = 0; i < (uint8_t)sizeof(sensitive_pins); i++) {
if (pgm_read_byte(&sensitive_pins[i]) == pin_number) {
pin_number = -1;
break;
}
}
if (pin_number > -1) {
if(com->hasS()) {
if(com->S >= 0 && com->S <= 255) {
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, com->S);
analogWrite(pin_number, com->S);
Com::printF(Com::tSetOutputSpace, pin_number);
Com::printFLN(Com::tSpaceToSpace, (int)com->S);
} else
Com::printErrorFLN(PSTR("Illegal S value for M42"));
} else {
pinMode(pin_number, INPUT_PULLUP);
Com::printF(Com::tSpaceToSpace, pin_number);
Com::printFLN(Com::tSpaceIsSpace, digitalRead(pin_number));
}
} else {
Com::printErrorFLN(PSTR("Pin can not be set by M42, is in sensitive pins! "));
}
}
break;
case 80: // M80 - ATX Power On
#if PS_ON_PIN > -1
Commands::waitUntilEndOfAllMoves();
previousMillisCmd = HAL::timeInMilliseconds();
SET_OUTPUT(PS_ON_PIN); //GND
Printer::setPowerOn(true);
WRITE(PS_ON_PIN, (POWER_INVERTING ? HIGH : LOW));
#endif
break;
case 81: // M81 - ATX Power Off
#if PS_ON_PIN > -1
Commands::waitUntilEndOfAllMoves();
SET_OUTPUT(PS_ON_PIN); //GND
Printer::setPowerOn(false);
WRITE(PS_ON_PIN, (POWER_INVERTING ? LOW : HIGH));
#endif
break;
case 82: // M82
Printer::relativeExtruderCoordinateMode = false;
break;
case 83: // M83
Printer::relativeExtruderCoordinateMode = true;
break;
case 18: // M18 is to disable named axis
{
Commands::waitUntilEndOfAllMoves();
bool named = false;
if(com->hasX()) {
named = true;
Printer::disableXStepper();
}
if(com->hasY()) {
named = true;
Printer::disableYStepper();
}
if(com->hasZ()) {
named = true;
Printer::disableZStepper();
}
if(com->hasE()) {
named = true;
Extruder::disableCurrentExtruderMotor();
}
if(!named) {
Printer::disableXStepper();
Printer::disableYStepper();
Printer::disableZStepper();
Extruder::disableAllExtruderMotors();
}
}
break;
case 84: // M84
if(com->hasS()) {
stepperInactiveTime = com->S * 1000;
} else {
Commands::waitUntilEndOfAllMoves();
Printer::kill(true);
}
break;
case 85: // M85
if(com->hasS())
maxInactiveTime = (int32_t)com->S * 1000;
else
maxInactiveTime = 0;
break;
case 92: // M92
if(com->hasX()) Printer::axisStepsPerMM[X_AXIS] = com->X;
if(com->hasY()) Printer::axisStepsPerMM[Y_AXIS] = com->Y;
if(com->hasZ()) Printer::axisStepsPerMM[Z_AXIS] = com->Z;
Printer::updateDerivedParameter();
if(com->hasE()) {
Extruder::current->stepsPerMM = com->E;
Extruder::selectExtruderById(Extruder::current->id);
}
break;
case 99: { // M99 S