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/**
* Marlin Firmware
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
* About Marlin
*
* This firmware is a mashup between Sprinter and grbl.
* - https://github.com/kliment/Sprinter
* - https://github.com/simen/grbl/tree
*
* It has preliminary support for Matthew Roberts advance algorithm
* - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
#include "Marlin.h"
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(AUTO_BED_LEVELING_GRID)
#include "qr_solve.h"
#endif
#endif // AUTO_BED_LEVELING_FEATURE
#if ENABLED(MESH_BED_LEVELING)
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "cardreader.h"
#include "watchdog.h"
#include "language.h"
#include "pins_arduino.h"
#if ENABLED(BLINKM)
#include "servo.h"
/**
* Look here for descriptions of G-codes:
* - http://linuxcnc.org/handbook/gcode/g-code.html
* - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
*
* Help us document these G-codes online:
* - http://www.marlinfirmware.org/index.php/G-Code
*
* -----------------
*
* "G" Codes
*
* G0 -> G1
* G1 - Coordinated Movement X Y Z E
* G2 - CW ARC
* G3 - CCW ARC
* G4 - Dwell S<seconds> or P<milliseconds>
* G10 - retract filament according to settings of M207
* G11 - retract recover filament according to settings of M208
* G28 - Home one or more axes
* G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
* G30 - Single Z probe, probes bed at current XY location.
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
* G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only)
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
* G92 - Set current position to coordinates given
*
* "M" Codes
*
* M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
* M1 - Same as M0
* M17 - Enable/Power all stepper motors
* M18 - Disable all stepper motors; same as M84
* M20 - List SD card
* M21 - Init SD card
* M22 - Release SD card
* M23 - Select SD file (M23 filename.g)
* M24 - Start/resume SD print
* M25 - Pause SD print
* M26 - Set SD position in bytes (M26 S12345)
* M27 - Report SD print status
* M28 - Start SD write (M28 filename.g)
* M29 - Stop SD write
* M30 - Delete file from SD (M30 filename.g)
* M31 - Output time since last M109 or SD card start to serial
* M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
* syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
* Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
* The '#' is necessary when calling from within sd files, as it stops buffer prereading
* M33 - Get the longname version of a path
* M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
* M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
* M80 - Turn on Power Supply
* M81 - Turn off Power Supply
* M82 - Set E codes absolute (default)
* M83 - Set E codes relative while in Absolute Coordinates (G90) mode
* M84 - Disable steppers until next move,
* or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
* M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
* M92 - Set axis_steps_per_unit - same syntax as G92
* M104 - Set extruder target temp
* M105 - Read current temp
* M106 - Fan on
* M107 - Fan off
* M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
* Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
* IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
* M110 - Set the current line number
* M111 - Set debug flags with S<mask>. See flag bits defined in Marlin.h.
* M112 - Emergency stop
* M114 - Output current position to serial port
* M115 - Capabilities string
* M117 - Display a message on the controller screen
* M119 - Output Endstop status to serial port
* M120 - Enable endstop detection
* M121 - Disable endstop detection
* M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
* M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
* M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
* M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
* M140 - Set bed target temp
* M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
* M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
* M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
* M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D<millimeters>-
* M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
* M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
* M206 - Set additional homing offset
* M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
* M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
* M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
* M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
* M220 - Set speed factor override percentage: S<factor in percent>
* M221 - Set extrude factor override percentage: S<factor in percent>
* M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
* M240 - Trigger a camera to take a photograph
* M250 - Set LCD contrast C<contrast value> (value 0..63)
* M280 - Set servo position absolute. P: servo index, S: angle or microseconds
* M300 - Play beep sound S<frequency Hz> P<duration ms>
* M301 - Set PID parameters P I and D
* M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
* M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
* M304 - Set bed PID parameters P I and D
* M380 - Activate solenoid on active extruder
* M381 - Disable all solenoids
* M400 - Finish all moves
* M401 - Lower Z probe if present
* M402 - Raise Z probe if present
* M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
* M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
* M406 - Turn off Filament Sensor extrusion control
* M407 - Display measured filament diameter
* M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
* M421 - Set a single Z coordinate in the Mesh Leveling grid. X<mm> Y<mm> Z<mm>
* M428 - Set the home_offset logically based on the current_position
* M500 - Store parameters in EEPROM
* M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
* M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
* M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
* M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
* M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
* M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
* M666 - Set delta endstop adjustment
* M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
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