diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 3405dfbffe27164deadb23bcc7584e48bb0f85f6..e22c83cae06ec929fc786b2480aac616fac17b96 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -2,7 +2,7 @@
#define CONFIGURATION_H
// This configurtion file contains the basic settings.
-// Advanced settings can be found in Configuration_adv.h
+// Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
//User specified version info of this build to display in [Pronterface, etc] terminal window during startup.
@@ -78,7 +78,7 @@
// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
// 10 is 100k RS thermistor 198-961 (4.7k pullup)
//
-// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
+// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
// (but gives greater accuracy and more stable PID)
// 51 is 100k thermistor - EPCOS (1k pullup)
// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
@@ -95,7 +95,7 @@
#define TEMP_WINDOW 1 // (degC) Window around target to start the recidency timer x degC early.
// The minimal temperature defines the temperature below which the heater will not be enabled It is used
-// to check that the wiring to the thermistor is not broken.
+// to check that the wiring to the thermistor is not broken.
// Otherwise this would lead to the heater being powered on all the time.
#define HEATER_0_MINTEMP 5
#define HEATER_1_MINTEMP 5
@@ -121,7 +121,7 @@
#define BANG_MAX 256 // limits current to nozzle while in bang-bang mode; 256=full current
#define PID_MAX 256 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 256=full current
#ifdef PIDTEMP
- //#define PID_DEBUG // Sends debug data to the serial port.
+ //#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
@@ -132,15 +132,15 @@
// If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
// Ultimaker
#define DEFAULT_Kp 22.2
- #define DEFAULT_Ki 1.08
- #define DEFAULT_Kd 114
+ #define DEFAULT_Ki 1.08
+ #define DEFAULT_Kd 114
// Makergear
// #define DEFAULT_Kp 7.0
-// #define DEFAULT_Ki 0.1
-// #define DEFAULT_Kd 12
+// #define DEFAULT_Ki 0.1
+// #define DEFAULT_Kd 12
-// Mendel Parts V9 on 12V
+// Mendel Parts V9 on 12V
// #define DEFAULT_Kp 63.0
// #define DEFAULT_Ki 2.25
// #define DEFAULT_Kd 440
@@ -149,11 +149,11 @@
// Bed Temperature Control
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
//
-// uncomment this to enable PID on the bed. It uses the same ferquency PWM as the extruder.
+// uncomment this to enable PID on the bed. It uses the same ferquency PWM as the extruder.
// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
-// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
-// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
+// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
+// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
// shouldn't use bed PID until someone else verifies your hardware works.
// If this is enabled, find your own PID constants below.
//#define PIDTEMPBED
@@ -223,9 +223,9 @@
#endif
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
-const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
-const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
+const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
+const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
+const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
//#define DISABLE_MAX_ENDSTOPS
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
@@ -280,13 +280,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
-// default settings
+// default settings
#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200.0*8/3,760*1.1} // default steps per unit for ultimaker
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
-#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
@@ -307,7 +307,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
// EEPROM
// the microcontroller can store settings in the EEPROM, e.g. max velocity...
// M500 - stores paramters in EEPROM
-// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
+// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
//define this to enable eeprom support
//#define EEPROM_SETTINGS
@@ -353,7 +353,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
#define ULTIPANEL
#define NEWPANEL
-#endif
+#endif
#if defined(REPRAPWORLD_KEYPAD)
#define NEWPANEL
@@ -361,7 +361,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#endif
// Preheat Constants
-#define PLA_PREHEAT_HOTEND_TEMP 180
+#define PLA_PREHEAT_HOTEND_TEMP 180
#define PLA_PREHEAT_HPB_TEMP 70
#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
@@ -381,7 +381,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define LCD_WIDTH 20
#define LCD_HEIGHT 4
#endif
-#else //no panel but just lcd
+#else //no panel but just lcd
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20
@@ -389,7 +389,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#else
#define LCD_WIDTH 16
#define LCD_HEIGHT 2
- #endif
+ #endif
#endif
#endif
@@ -406,6 +406,23 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
// Support for the BariCUDA Paste Extruder.
//#define BARICUDA
+/*********************************************************************\
+*
+* R/C SERVO support
+*
+* Sponsored by TrinityLabs, Reworked by codexmas
+*
+**********************************************************************/
+
+// Number of servos
+//
+// If you select a configuration below, this will receive a default value and does not need to be set manually
+// set it manually if you have more servos than extruders and wish to manually control some
+// leaving it undefined or defining as 0 will disable the servo subsystem
+// If unsure, leave commented / disabled
+//
+// #define NUM_SERVOS 3
+
#include "Configuration_adv.h"
#include "thermistortables.h"
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0a528ea0588c4b2102bd22bb3817a938c1e58630..0ff34605c352a766d8d99168841f36e1644802dc 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3,17 +3,17 @@
/*
Reprap 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/>.
*/
@@ -22,8 +22,8 @@
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
+
+ It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
@@ -40,6 +40,10 @@
#include "language.h"
#include "pins_arduino.h"
+#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
+#include "Servo.h"
+#endif
+
#if DIGIPOTSS_PIN > -1
#include <SPI.h>
#endif
@@ -93,11 +97,11 @@
// 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,
+// 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
-// M114 - Output current position to serial port
+// M114 - Output current position to serial port
// M115 - Capabilities string
// M117 - display message
// M119 - Output Endstop status to serial port
@@ -121,6 +125,7 @@
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M240 - Trigger a camera to take a photograph
+// M280 - set servo position absolute. P: servo index, S: angle or microseconds
// M300 - Play beepsound S<frequency Hz> P<duration ms>
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes
@@ -128,7 +133,7 @@
// M304 - Set bed PID parameters P I and D
// M400 - Finish all moves
// M500 - stores paramters in EEPROM
-// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
+// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts 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)
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
@@ -164,11 +169,11 @@ float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
// Extruder offset, only in XY plane
#if EXTRUDERS > 1
-float extruder_offset[2][EXTRUDERS] = {
+float extruder_offset[2][EXTRUDERS] = {
#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
- EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
+ EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
#endif
-};
+};
#endif
uint8_t active_extruder = 0;
int fanSpeed=0;
@@ -225,6 +230,10 @@ static uint8_t tmp_extruder;
bool Stopped=false;
+#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
+ Servo servos[NUM_SERVOS];
+#endif
+
//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
@@ -296,7 +305,7 @@ void setup_killpin()
WRITE(KILL_PIN,HIGH);
#endif
}
-
+
void setup_photpin()
{
#ifdef PHOTOGRAPH_PIN
@@ -304,7 +313,7 @@ void setup_photpin()
SET_OUTPUT(PHOTOGRAPH_PIN);
WRITE(PHOTOGRAPH_PIN, LOW);
#endif
- #endif
+ #endif
}
void setup_powerhold()
@@ -324,16 +333,35 @@ void setup_powerhold()
void suicide()
{
#ifdef SUICIDE_PIN
- #if (SUICIDE_PIN> -1)
+ #if (SUICIDE_PIN> -1)
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, LOW);
#endif
#endif
}
+void servo_init()
+{
+ #if (NUM_SERVOS >= 1) && defined (SERVO0_PIN) && (SERVO0_PIN > -1)
+ servos[0].attach(SERVO0_PIN);
+ #endif
+ #if (NUM_SERVOS >= 2) && defined (SERVO1_PIN) && (SERVO1_PIN > -1)
+ servos[1].attach(SERVO1_PIN);
+ #endif
+ #if (NUM_SERVOS >= 3) && defined (SERVO2_PIN) && (SERVO2_PIN > -1)
+ servos[2].attach(SERVO2_PIN);
+ #endif
+ #if (NUM_SERVOS >= 4) && defined (SERVO3_PIN) && (SERVO3_PIN > -1)
+ servos[3].attach(SERVO3_PIN);
+ #endif
+ #if (NUM_SERVOS >= 5)
+ #error "TODO: enter initalisation code for more servos"
+ #endif
+}
+
void setup()
{
- setup_killpin();
+ setup_killpin();
setup_powerhold();
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
@@ -370,22 +398,23 @@ void setup()
{
fromsd[i] = false;
}
-
+
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
- Config_RetrieveSettings();
+ Config_RetrieveSettings();
- tp_init(); // Initialize temperature loop
+ tp_init(); // Initialize temperature loop
plan_init(); // Initialize planner;
watchdog_init();
st_init(); // Initialize stepper, this enables interrupts!
setup_photpin();
-
+ servo_init();
+
lcd_init();
-
+
#ifdef CONTROLLERFAN_PIN
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
-
+
#ifdef EXTRUDERFAN_PIN
SET_OUTPUT(EXTRUDERFAN_PIN); //Set pin used for extruder cooling fan
#endif
@@ -439,14 +468,14 @@ void loop()
lcd_update();
}
-void get_command()
-{
+void get_command()
+{
while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
serial_char = MYSERIAL.read();
- if(serial_char == '\n' ||
- serial_char == '\r' ||
- (serial_char == ':' && comment_mode == false) ||
- serial_count >= (MAX_CMD_SIZE - 1) )
+ if(serial_char == '\n' ||
+ serial_char == '\r' ||
+ (serial_char == ':' && comment_mode == false) ||
+ serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count) { //if empty line
comment_mode = false; //for new command
@@ -487,7 +516,7 @@ void get_command()
}
//if no errors, continue parsing
}
- else
+ else
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
@@ -523,7 +552,7 @@ void get_command()
if(card.saving)
break;
#endif //SDSUPPORT
- SERIAL_PROTOCOLLNPGM(MSG_OK);
+ SERIAL_PROTOCOLLNPGM(MSG_OK);
}
else {
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
@@ -553,10 +582,10 @@ void get_command()
while( !card.eof() && buflen < BUFSIZE) {
int16_t n=card.get();
serial_char = (char)n;
- if(serial_char == '\n' ||
- serial_char == '\r' ||
- (serial_char == ':' && comment_mode == false) ||
- serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
+ if(serial_char == '\n' ||
+ serial_char == '\r' ||
+ (serial_char == ':' && comment_mode == false) ||
+ serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
{
if(card.eof()){
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
@@ -572,7 +601,7 @@ void get_command()
lcd_setstatus(time);
card.printingHasFinished();
card.checkautostart(true);
-
+
}
if(!serial_count)
{
@@ -584,7 +613,7 @@ void get_command()
fromsd[bufindw] = true;
buflen += 1;
bufindw = (bufindw + 1)%BUFSIZE;
-// }
+// }
comment_mode = false; //for new command
serial_count = 0; //clear buffer
}
@@ -594,20 +623,20 @@ void get_command()
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
-
+
#endif //SDSUPPORT
}
-float code_value()
-{
- return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
+float code_value()
+{
+ return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
}
-long code_value_long()
-{
- return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
+long code_value_long()
+{
+ return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
}
bool code_seen(char code)
@@ -656,19 +685,19 @@ static void homeaxis(int axis) {
feedrate = homing_feedrate[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
-
+
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = -home_retract_mm(axis) * home_dir(axis);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
-
+
destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
- feedrate = homing_feedrate[axis]/2 ;
+ feedrate = homing_feedrate[axis]/2 ;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
-
- axis_is_at_home(axis);
+
+ axis_is_at_home(axis);
destination[axis] = current_position[axis];
feedrate = 0.0;
endstops_hit_on_purpose();
@@ -711,7 +740,7 @@ void process_commands()
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
-
+
st_synchronize();
codenum += millis(); // keep track of when we started waiting
previous_millis_cmd = millis();
@@ -721,30 +750,30 @@ void process_commands()
lcd_update();
}
break;
- #ifdef FWRETRACT
+ #ifdef FWRETRACT
case 10: // G10 retract
- if(!retracted)
+ if(!retracted)
{
destination[X_AXIS]=current_position[X_AXIS];
destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
+ destination[Z_AXIS]=current_position[Z_AXIS];
current_position[Z_AXIS]+=-retract_zlift;
- destination[E_AXIS]=current_position[E_AXIS]-retract_length;
+ destination[E_AXIS]=current_position[E_AXIS]-retract_length;
feedrate=retract_feedrate;
retracted=true;
prepare_move();
}
-
+
break;
case 11: // G10 retract_recover
- if(!retracted)
+ if(!retracted)
{
destination[X_AXIS]=current_position[X_AXIS];
destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
-
+ destination[Z_AXIS]=current_position[Z_AXIS];
+
current_position[Z_AXIS]+=retract_zlift;
- current_position[E_AXIS]+=-retract_recover_length;
+ current_position[E_AXIS]+=-retract_recover_length;
feedrate=retract_recover_feedrate;
retracted=false;
prepare_move();
@@ -756,34 +785,34 @@ void process_commands()
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = millis();
-
+
enable_endstops(true);
-
+
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i];
}
feedrate = 0.0;
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
-
+
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z);
}
#endif
-
+
#ifdef QUICK_HOME
if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
{
- current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
+ current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
- feedrate = homing_feedrate[X_AXIS];
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
+ feedrate = homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS]<feedrate)
- feedrate =homing_feedrate[Y_AXIS];
+ feedrate =homing_feedrate[Y_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
-
+
axis_is_at_home(X_AXIS);
axis_is_at_home(Y_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
@@ -795,8 +824,8 @@ void process_commands()
endstops_hit_on_purpose();
}
#endif
-
- if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
+
+ if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{
HOMEAXIS(X);
}
@@ -804,14 +833,14 @@ void process_commands()
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
HOMEAXIS(Y);
}
-
+
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z);
}
#endif
-
- if(code_seen(axis_codes[X_AXIS]))
+
+ if(code_seen(axis_codes[X_AXIS]))
{
if(code_value_long() != 0) {
current_position[X_AXIS]=code_value()+add_homeing[0];
@@ -830,11 +859,11 @@ void process_commands()
}
}
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-
+
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
-
+
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
@@ -850,13 +879,13 @@ void process_commands()
if(!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) {
+ if(code_seen(axis_codes[i])) {
if(i == E_AXIS) {
- current_position[i] = code_value();
+ current_position[i] = code_value();
plan_set_e_position(current_position[E_AXIS]);
}
else {
- current_position[i] = code_value()+add_homeing[i];
+ current_position[i] = code_value()+add_homeing[i];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
}
@@ -867,7 +896,7 @@ void process_commands()
else if(code_seen('M'))
{
- switch( (int)code_value() )
+ switch( (int)code_value() )
{
#ifdef ULTIPANEL
case 0: // M0 - Unconditional stop - Wait for user button press on LCD
@@ -877,7 +906,7 @@ void process_commands()
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
-
+
st_synchronize();
previous_millis_cmd = millis();
if (codenum > 0){
@@ -900,12 +929,12 @@ void process_commands()
#endif
case 17:
LCD_MESSAGEPGM(MSG_NO_MOVE);
- enable_x();
- enable_y();
- enable_z();
- enable_e0();
- enable_e1();
- enable_e2();
+ enable_x();
+ enable_y();
+ enable_z();
+ enable_e0();
+ enable_e1();
+ enable_e2();
break;
#ifdef SDSUPPORT
@@ -915,9 +944,9 @@ void process_commands()
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
break;
case 21: // M21 - init SD card
-
+
card.initsd();
-
+
break;
case 22: //M22 - release SD card
card.release();
@@ -957,7 +986,7 @@ void process_commands()
//processed in write to file routine above
//card,saving = false;
break;
- case 30: //M30 <filename> Delete File
+ case 30: //M30 <filename> Delete File
if (card.cardOK){
card.closefile();
starpos = (strchr(strchr_pointer + 4,'*'));
@@ -978,7 +1007,7 @@ void process_commands()
}
card.openLogFile(strchr_pointer+5);
break;
-
+
#endif //SDSUPPORT
case 31: //M31 take time since the start of the SD print or an M109 command
@@ -1035,11 +1064,11 @@ void process_commands()
}
#if (TEMP_0_PIN > -1)
SERIAL_PROTOCOLPGM("ok T:");
- SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
+ SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
+ SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
#if TEMP_BED_PIN > -1
- SERIAL_PROTOCOLPGM(" B:");
+ SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetBed(),1);
@@ -1050,20 +1079,20 @@ void process_commands()
#endif
SERIAL_PROTOCOLPGM(" @:");
- SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
+ SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
SERIAL_PROTOCOLPGM(" B@:");
- SERIAL_PROTOCOL(getHeaterPower(-1));
+ SERIAL_PROTOCOL(getHeaterPower(-1));
SERIAL_PROTOCOLLN("");
return;
break;
- case 109:
+ case 109:
{// M109 - Wait for extruder heater to reach target.
if(setTargetedHotend(109)){
break;
}
- LCD_MESSAGEPGM(MSG_HEATING);
+ LCD_MESSAGEPGM(MSG_HEATING);
#ifdef AUTOTEMP
autotemp_enabled=false;
#endif
@@ -1071,15 +1100,15 @@ void process_commands()
#ifdef AUTOTEMP
if (code_seen('S')) autotemp_min=code_value();
if (code_seen('B')) autotemp_max=code_value();
- if (code_seen('F'))
+ if (code_seen('F'))
{
autotemp_factor=code_value();
autotemp_enabled=true;
}
#endif
-
+
setWatch();
- codenum = millis();
+ codenum = millis();
/* See if we are heating up or cooling down */
bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
@@ -1087,7 +1116,7 @@ void process_commands()
#ifdef TEMP_RESIDENCY_TIME
long residencyStart;
residencyStart = -1;
- /* continue to loop until we have reached the target temp
+ /* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
while((residencyStart == -1) ||
(residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
@@ -1097,9 +1126,9 @@ void process_commands()
if( (millis() - codenum) > 1000UL )
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
+ SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)tmp_extruder);
+ SERIAL_PROTOCOL((int)tmp_extruder);
#ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM(" W:");
if(residencyStart > -1)
@@ -1107,7 +1136,7 @@ void process_commands()
codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
SERIAL_PROTOCOLLN( codenum );
}
- else
+ else
{
SERIAL_PROTOCOLLN( "?" );
}
@@ -1124,7 +1153,7 @@ void process_commands()
or when current temp falls outside the hysteresis after target temp was reached */
if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
(residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
- (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
+ (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
{
residencyStart = millis();
}
@@ -1139,8 +1168,8 @@ void process_commands()
#if TEMP_BED_PIN > -1
LCD_MESSAGEPGM(MSG_BED_HEATING);
if (code_seen('S')) setTargetBed(code_value());
- codenum = millis();
- while(isHeatingBed())
+ codenum = millis();
+ while(isHeatingBed())
{
if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
@@ -1148,11 +1177,11 @@ void process_commands()
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)active_extruder);
+ SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(),1);
- SERIAL_PROTOCOLLN("");
- codenum = millis();
+ SERIAL_PROTOCOL_F(degBed(),1);
+ SERIAL_PROTOCOLLN("");
+ codenum = millis();
}
manage_heater();
manage_inactivity();
@@ -1169,7 +1198,7 @@ void process_commands()
fanSpeed=constrain(code_value(),0,255);
}
else {
- fanSpeed=255;
+ fanSpeed=255;
}
break;
case 107: //M107 Fan Off
@@ -1184,7 +1213,7 @@ void process_commands()
ValvePressure=constrain(code_value(),0,255);
}
else {
- ValvePressure=255;
+ ValvePressure=255;
}
break;
case 127: //M127 valve closed
@@ -1199,7 +1228,7 @@ void process_commands()
EtoPPressure=constrain(code_value(),0,255);
}
else {
- EtoPPressure=255;
+ EtoPPressure=255;
}
break;
case 129: //M129 valve closed
@@ -1214,18 +1243,18 @@ void process_commands()
WRITE(PS_ON_PIN, PS_ON_AWAKE);
break;
#endif
-
+
case 81: // M81 - ATX Power Off
-
+
#if defined SUICIDE_PIN && SUICIDE_PIN > -1
st_synchronize();
suicide();
#elif (PS_ON_PIN > -1)
- SET_OUTPUT(PS_ON_PIN);
+ SET_OUTPUT(PS_ON_PIN);
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
break;
-
+
case 82:
axis_relative_modes[3] = false;
break;
@@ -1234,11 +1263,11 @@ void process_commands()
break;
case 18: //compatibility
case 84: // M84
- if(code_seen('S')){
- stepper_inactive_time = code_value() * 1000;
+ if(code_seen('S')){
+ stepper_inactive_time = code_value() * 1000;
}
else
- {
+ {
bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
if(all_axis)
{
@@ -1260,18 +1289,18 @@ void process_commands()
disable_e1();
disable_e2();
}
- #endif
+ #endif
}
}
break;
case 85: // M85
code_seen('S');
- max_inactive_time = code_value() * 1000;
+ max_inactive_time = code_value() * 1000;
break;
case 92: // M92
- for(int8_t i=0; i < NUM_AXIS; i++)
+ for(int8_t i=0; i < NUM_AXIS; i++)
{
- if(code_seen(axis_codes[i]))
+ if(code_seen(axis_codes[i]))
{
if(i == 3) { // E
float value = code_value();
@@ -1305,16 +1334,16 @@ void process_commands()
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM("Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
- SERIAL_PROTOCOLPGM("E:");
+ SERIAL_PROTOCOLPGM("E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
-
+
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM("Y:");
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM("Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
-
+
SERIAL_PROTOCOLLN("");
break;
case 120: // M120
@@ -1352,7 +1381,7 @@ void process_commands()
break;
//TODO: update for all axis, use for loop
case 201: // M201
- for(int8_t i=0; i < NUM_AXIS; i++)
+ for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i]))
{
@@ -1391,7 +1420,7 @@ void process_commands()
}
break;
case 206: // M206 additional homeing offset
- for(int8_t i=0; i < 3; i++)
+ for(int8_t i=0; i < 3; i++)
{
if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
}
@@ -1399,47 +1428,47 @@ void process_commands()
#ifdef FWRETRACT
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
{
- if(code_seen('S'))
+ if(code_seen('S'))
{
retract_length = code_value() ;
}
- if(code_seen('F'))
+ if(code_seen('F'))
{
retract_feedrate = code_value() ;
}
- if(code_seen('Z'))
+ if(code_seen('Z'))
{
retract_zlift = code_value() ;
}
}break;
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
{
- if(code_seen('S'))
+ if(code_seen('S'))
{
retract_recover_length = code_value() ;
}
- if(code_seen('F'))
+ if(code_seen('F'))
{
retract_recover_feedrate = code_value() ;
}
}break;
case 209: // 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.
{
- if(code_seen('S'))
+ if(code_seen('S'))
{
int t= code_value() ;
switch(t)
{
case 0: autoretract_enabled=false;retracted=false;break;
case 1: autoretract_enabled=true;retracted=false;break;
- default:
+ default:
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(cmdbuffer[bufindr]);
SERIAL_ECHOLNPGM("\"");
}
}
-
+
}break;
#endif // FWRETRACT
#if EXTRUDERS > 1
@@ -1448,7 +1477,7 @@ void process_commands()
if(setTargetedHotend(218)){
break;
}
- if(code_seen('X'))
+ if(code_seen('X'))
{
extruder_offset[X_AXIS][tmp_extruder] = code_value();
}
@@ -1458,7 +1487,7 @@ void process_commands()
}
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
- for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
+ for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
{
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
@@ -1470,7 +1499,7 @@ void process_commands()
#endif
case 220: // M220 S<factor in percent>- set speed factor override percentage
{
- if(code_seen('S'))
+ if(code_seen('S'))
{
feedmultiply = code_value() ;
}
@@ -1478,13 +1507,44 @@ void process_commands()
break;
case 221: // M221 S<factor in percent>- set extrude factor override percentage
{
- if(code_seen('S'))
+ if(code_seen('S'))
{
extrudemultiply = code_value() ;
}
}
break;
-
+
+ #if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
+ case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
+ {
+ int servo_index = -1;
+ int servo_position = 0;
+ if (code_seen('P'))
+ servo_index = code_value();
+ if (code_seen('S')) {
+ servo_position = code_value();
+ if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
+ servos[servo_index].write(servo_position);
+ }
+ else {
+ SERIAL_ECHO_START;
+ SERIAL_ECHO("Servo ");
+ SERIAL_ECHO(servo_index);
+ SERIAL_ECHOLN(" out of range");
+ }
+ }
+ else if (servo_index >= 0) {
+ SERIAL_PROTOCOL(MSG_OK);
+ SERIAL_PROTOCOL(" Servo ");
+ SERIAL_PROTOCOL(servo_index);
+ SERIAL_PROTOCOL(": ");
+ SERIAL_PROTOCOL(servos[servo_index].read());
+ SERIAL_PROTOCOLLN("");
+ }
+ }
+ break;
+ #endif // NUM_SERVOS > 0
+
#if defined(LARGE_FLASH) && LARGE_FLASH == true && defined(BEEPER) && BEEPER > -1
case 300: // M300
{
@@ -1509,7 +1569,7 @@ void process_commands()
#ifdef PID_ADD_EXTRUSION_RATE
if(code_seen('C')) Kc = code_value();
#endif
-
+
updatePID();
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" p:");
@@ -1569,7 +1629,7 @@ void process_commands()
#endif
}
break;
-
+
case 302: // allow cold extrudes
{
allow_cold_extrudes(true);
@@ -1634,7 +1694,7 @@ void process_commands()
lastpos[Z_AXIS]=current_position[Z_AXIS];
lastpos[E_AXIS]=current_position[E_AXIS];
//retract by E
- if(code_seen('E'))
+ if(code_seen('E'))
{
target[E_AXIS]+= code_value();
}
@@ -1645,9 +1705,9 @@ void process_commands()
#endif
}
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
-
+
//lift Z
- if(code_seen('Z'))
+ if(code_seen('Z'))
{
target[Z_AXIS]+= code_value();
}
@@ -1658,9 +1718,9 @@ void process_commands()
#endif
}
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
-
+
//move xy
- if(code_seen('X'))
+ if(code_seen('X'))
{
target[X_AXIS]+= code_value();
}
@@ -1670,7 +1730,7 @@ void process_commands()
target[X_AXIS]= FILAMENTCHANGE_XPOS ;
#endif
}
- if(code_seen('Y'))
+ if(code_seen('Y'))
{
target[Y_AXIS]= code_value();
}
@@ -1680,9 +1740,9 @@ void process_commands()
target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
#endif
}
-
+
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
-
+
if(code_seen('L'))
{
target[E_AXIS]+= code_value();
@@ -1693,9 +1753,9 @@ void process_commands()
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
#endif
}
-
+
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
-
+
//finish moves
st_synchronize();
//disable extruder steppers so filament can be removed
@@ -1710,12 +1770,12 @@ void process_commands()
manage_heater();
manage_inactivity();
lcd_update();
-
+
#if BEEPER > -1
if(cnt==0)
{
SET_OUTPUT(BEEPER);
-
+
WRITE(BEEPER,HIGH);
delay(3);
WRITE(BEEPER,LOW);
@@ -1723,9 +1783,9 @@ void process_commands()
}
#endif
}
-
+
//return to normal
- if(code_seen('L'))
+ if(code_seen('L'))
{
target[E_AXIS]+= -code_value();
}
@@ -1743,7 +1803,7 @@ void process_commands()
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
}
break;
- #endif //FILAMENTCHANGEENABLE
+ #endif //FILAMENTCHANGEENABLE
case 907: // M907 Set digital trimpot motor current using axis codes.
{
#if DIGIPOTSS_PIN > -1
@@ -1766,7 +1826,7 @@ void process_commands()
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
{
#if X_MS1_PIN > -1
- if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
+ if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
if(code_seen('B')) microstep_mode(4,code_value());
microstep_readings();
@@ -1800,7 +1860,7 @@ void process_commands()
}
}
- else if(code_seen('T'))
+ else if(code_seen('T'))
{
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
@@ -1825,7 +1885,7 @@ void process_commands()
// Offset extruder (only by XY)
int i;
for(i = 0; i < 2; i++) {
- current_position[i] = current_position[i] -
+ current_position[i] = current_position[i] -
extruder_offset[i][active_extruder] +
extruder_offset[i][tmp_extruder];
}
@@ -1871,14 +1931,14 @@ void ClearToSend()
if(fromsd[bufindr])
return;
#endif //SDSUPPORT
- SERIAL_PROTOCOLLNPGM(MSG_OK);
+ SERIAL_PROTOCOLLNPGM(MSG_OK);
}
void get_coordinates()
{
bool seen[4]={false,false,false,false};
for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i]))
+ if(code_seen(axis_codes[i]))
{
destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
seen[i]=true;
@@ -1896,23 +1956,23 @@ void get_coordinates()
float echange=destination[E_AXIS]-current_position[E_AXIS];
if(echange<-MIN_RETRACT) //retract
{
- if(!retracted)
+ if(!retracted)
{
-
+
destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
//if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
float correctede=-echange-retract_length;
//to generate the additional steps, not the destination is changed, but inversely the current position
- current_position[E_AXIS]+=-correctede;
+ current_position[E_AXIS]+=-correctede;
feedrate=retract_feedrate;
retracted=true;
}
-
+
}
- else
+ else
if(echange>MIN_RETRACT) //retract_recover
{
- if(retracted)
+ if(retracted)
{
//current_position[Z_AXIS]+=-retract_zlift;
//if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
@@ -1922,7 +1982,7 @@ void get_coordinates()
retracted=false;
}
}
-
+
}
#endif //FWRETRACT
}
@@ -1940,7 +2000,7 @@ void get_arc_coordinates()
if(code_seen('I')) {
offset[0] = code_value();
- }
+ }
else {
offset[0] = 0.0;
}
@@ -1971,7 +2031,7 @@ void prepare_move()
{
clamp_to_software_endstops(destination);
- previous_millis_cmd = millis();
+ previous_millis_cmd = millis();
// Do not use feedmultiply for E or Z only moves
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
@@ -1989,7 +2049,7 @@ void prepare_arc_move(char isclockwise) {
// Trace the arc
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
-
+
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
@@ -2008,7 +2068,7 @@ void controllerFan()
if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
{
lastMotorCheck = millis();
-
+
if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
#if EXTRUDERS > 2
|| !READ(E2_ENABLE_PIN)
@@ -2016,12 +2076,12 @@ void controllerFan()
#if EXTRUDER > 1
|| !READ(E1_ENABLE_PIN)
#endif
- || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
+ || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
{
lastMotor = millis(); //... set time to NOW so the fan will turn on
}
-
- if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
+
+ if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
{
WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
}
@@ -2041,7 +2101,7 @@ void extruderFan()
if ((millis() - lastExtruderCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
{
lastExtruderCheck = millis();
-
+
if (degHotend(active_extruder) < EXTRUDERFAN_DEC)
{
WRITE(EXTRUDERFAN_PIN, LOW); //... turn the fan off
@@ -2054,13 +2114,13 @@ void extruderFan()
}
#endif
-void manage_inactivity()
-{
- if( (millis() - previous_millis_cmd) > max_inactive_time )
- if(max_inactive_time)
- kill();
+void manage_inactivity()
+{
+ if( (millis() - previous_millis_cmd) > max_inactive_time )
+ if(max_inactive_time)
+ kill();
if(stepper_inactive_time) {
- if( (millis() - previous_millis_cmd) > stepper_inactive_time )
+ if( (millis() - previous_millis_cmd) > stepper_inactive_time )
{
if(blocks_queued() == false) {
disable_x();
@@ -2080,15 +2140,15 @@ void manage_inactivity()
controllerFan(); //Check if fan should be turned on to cool stepper drivers down
#endif
#ifdef EXTRUDER_RUNOUT_PREVENT
- if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
+ if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
{
bool oldstatus=READ(E0_ENABLE_PIN);
enable_e0();
float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS];
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
- current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
+ current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
current_position[E_AXIS]=oldepos;
destination[E_AXIS]=oldedes;
@@ -2112,7 +2172,7 @@ void kill()
disable_e0();
disable_e1();
disable_e2();
-
+
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
@@ -2141,7 +2201,7 @@ void setPwmFrequency(uint8_t pin, int val)
val &= 0x07;
switch(digitalPinToTimer(pin))
{
-
+
#if defined(TCCR0A)
case TIMER0A:
case TIMER0B:
@@ -2183,7 +2243,7 @@ void setPwmFrequency(uint8_t pin, int val)
break;
#endif
- #if defined(TCCR4A)
+ #if defined(TCCR4A)
case TIMER4A:
case TIMER4B:
case TIMER4C:
@@ -2192,7 +2252,7 @@ void setPwmFrequency(uint8_t pin, int val)
break;
#endif
- #if defined(TCCR5A)
+ #if defined(TCCR5A)
case TIMER5A:
case TIMER5B:
case TIMER5C:
diff --git a/Marlin/Servo.h b/Marlin/Servo.h
index a76954a06fd3df86c91b08ff180c73ec162d4dd8..17c99f7974a7e5ac00867f049db252071540e1e9 100644
--- a/Marlin/Servo.h
+++ b/Marlin/Servo.h
@@ -59,28 +59,34 @@
// Say which 16 bit timers can be used and in what order
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define _useTimer5
-#define _useTimer1
+//#define _useTimer1
#define _useTimer3
#define _useTimer4
-typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_ATmega32U4__)
-#define _useTimer1
-typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+//#define _useTimer1
+#define _useTimer3
+//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
#define _useTimer3
-#define _useTimer1
-typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+//#define _useTimer1
+//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
#define _useTimer3
-#define _useTimer1
-typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+//#define _useTimer1
+//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
#else // everything else
-#define _useTimer1
-typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+//#define _useTimer1
+//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+typedef enum { _Nbr_16timers } timer16_Sequence_t ;
#endif
#define Servo_VERSION 2 // software version of this library
diff --git a/Marlin/pins.h b/Marlin/pins.h
index a13c522f712a23f2f02a12848228537ee285fbec..52310f100eb5621e46e93a312165a27d60506f50 100644
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
@@ -248,14 +248,14 @@
#define E0_STEP_PIN 28
#define E0_DIR_PIN 27
#define E0_ENABLE_PIN 24
-
+
#define TEMP_0_PIN 2
#define TEMP_1_PIN -1
#define TEMP_2_PIN -1
#define TEMP_BED_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
-
+
#define HEATER_0_PIN 4
- #define HEATER_1_PIN -1
+ #define HEATER_1_PIN -1
#define HEATER_2_PIN -1
#define HEATER_BED_PIN 3 // (bed)
@@ -272,25 +272,25 @@
//our RS485 pins
//#define TX_ENABLE_PIN 12
//#define RX_ENABLE_PIN 13
-
- #define BEEPER -1
- #define SDCARDDETECT -1
+
+ #define BEEPER -1
+ #define SDCARDDETECT -1
#define SUICIDE_PIN -1 //has to be defined; otherwise Power_off doesn't work
-
+
#define KILL_PIN -1
- //Pins for 4bit LCD Support
- #define LCD_PINS_RS 18
+ //Pins for 4bit LCD Support
+ #define LCD_PINS_RS 18
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 16
- #define LCD_PINS_D5 15
+ #define LCD_PINS_D5 15
#define LCD_PINS_D6 13
#define LCD_PINS_D7 14
-
+
//buttons are directly attached
#define BTN_EN1 11
#define BTN_EN2 10
#define BTN_ENC 12 //the click
-
+
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
@@ -376,13 +376,18 @@
#else
#define HEATER_1_PIN 9 // EXTRUDER 2 (FAN On Sprinter)
#endif
-#define HEATER_2_PIN -1
+#define HEATER_2_PIN -1
#define TEMP_0_PIN 13 // ANALOG NUMBERING
#define TEMP_1_PIN 15 // ANALOG NUMBERING
#define TEMP_2_PIN -1 // ANALOG NUMBERING
#define HEATER_BED_PIN 8 // BED
#define TEMP_BED_PIN 14 // ANALOG NUMBERING
+#define SERVO0_PIN 11
+#define SERVO1_PIN 6
+#define SERVO2_PIN 5
+#define SERVO3_PIN 4
+
#ifdef ULTRA_LCD
#ifdef NEWPANEL
@@ -396,13 +401,13 @@
#define BLEN_B 1
#define BLEN_C 2
- #define LCD_PINS_RS 16
+ #define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 23
- #define LCD_PINS_D5 25
+ #define LCD_PINS_D5 25
#define LCD_PINS_D6 27
#define LCD_PINS_D7 29
-
+
#ifdef REPRAP_DISCOUNT_SMART_CONTROLLER
#define BEEPER 37
@@ -455,21 +460,21 @@
//#define SHIFT_LD 42
//#define SHIFT_OUT 40
//#define SHIFT_EN 17
-
- #define LCD_PINS_RS 16
+
+ #define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 23
- #define LCD_PINS_D5 25
+ #define LCD_PINS_D5 25
#define LCD_PINS_D6 27
#define LCD_PINS_D7 29
-
+
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
-
+
//bits in the shift register that carry the buttons for:
// left up center down right red
#define BL_LE 7
@@ -481,7 +486,7 @@
#define BLEN_B 1
#define BLEN_A 0
- #endif
+ #endif
#endif //ULTRA_LCD
#else // RAMPS_V_1_1 or RAMPS_V_1_2 as default (MOTHERBOARD == 3)
@@ -526,15 +531,15 @@
#define HEATER_1_PIN -1
#define HEATER_2_PIN -1
#define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN -1
-#define TEMP_2_PIN -1
+#define TEMP_1_PIN -1
+#define TEMP_2_PIN -1
#define TEMP_BED_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#endif// MOTHERBOARD == 33 || MOTHERBOARD == 34
-// SPI for Max6675 Thermocouple
+// SPI for Max6675 Thermocouple
#ifndef SDSUPPORT
-// these pins are defined in the SD library if building with SD support
+// these pins are defined in the SD library if building with SD support
#define MAX_SCK_PIN 52
#define MAX_MISO_PIN 50
#define MAX_MOSI_PIN 51
@@ -586,8 +591,8 @@
#define HEATER_1_PIN -1
#define HEATER_2_PIN -1
#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN -1
-#define TEMP_2_PIN -1
+#define TEMP_1_PIN -1
+#define TEMP_2_PIN -1
#define HEATER_BED_PIN -1
#define TEMP_BED_PIN -1
@@ -650,14 +655,14 @@
#define PS_ON_PIN -1 //changed @ rkoeppl 20110410
#define KILL_PIN -1 //changed @ drakelive 20120830
//our pin for debugging.
-
+
#define DEBUG_PIN 0
-
+
//our RS485 pins
#define TX_ENABLE_PIN 12
#define RX_ENABLE_PIN 13
-
+
#endif
/****************************************************************************************
@@ -673,7 +678,7 @@
#if MOTHERBOARD == 62 || MOTHERBOARD == 63 || MOTHERBOARD == 64
#undef MOTHERBOARD
#define MOTHERBOARD 6
-#define SANGUINOLOLU_V_1_2
+#define SANGUINOLOLU_V_1_2
#endif
#if MOTHERBOARD == 6
#define KNOWN_BOARD 1
@@ -700,7 +705,7 @@
#define LED_PIN -1
-#define FAN_PIN -1
+#define FAN_PIN -1
#if FAN_PIN == 12 || FAN_PIN ==13
#define FAN_SOFT_PWM
#endif
@@ -779,21 +784,21 @@
#define BTN_ENC 16 //the switch
//not connected to a pin
#define SDCARDDETECT -1
-
+
//from the same bit in the RAMPS Newpanel define
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
-
+
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
-
+
#endif //Newpanel
#endif //Ultipanel
-
+
#endif
@@ -823,17 +828,17 @@
#define Y_MAX_PIN 28
#define Y_ENABLE_PIN 29
-#define Z_STEP_PIN 37
+#define Z_STEP_PIN 37
#define Z_DIR_PIN 39
#define Z_MIN_PIN 30
#define Z_MAX_PIN 32
#define Z_ENABLE_PIN 35
-#define HEATER_BED_PIN 4
-#define TEMP_BED_PIN 10
+#define HEATER_BED_PIN 4
+#define TEMP_BED_PIN 10
#define HEATER_0_PIN 2
-#define TEMP_0_PIN 8
+#define TEMP_0_PIN 8
#define HEATER_1_PIN 3
#define TEMP_1_PIN 9
@@ -863,24 +868,24 @@
//arduino pin witch triggers an piezzo beeper
#define BEEPER 18
- #define LCD_PINS_RS 20
+ #define LCD_PINS_RS 20
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 16
- #define LCD_PINS_D5 21
+ #define LCD_PINS_D5 21
#define LCD_PINS_D6 5
#define LCD_PINS_D7 6
-
+
//buttons are directly attached
#define BTN_EN1 40
#define BTN_EN2 42
#define BTN_ENC 19 //the click
-
+
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
-
+
#define SDCARDDETECT 38
-
+
//encoder rotation values
#define encrot0 0
#define encrot1 2
@@ -895,14 +900,14 @@
#define SHIFT_LD 42
#define SHIFT_OUT 40
#define SHIFT_EN 17
-
- #define LCD_PINS_RS 16
+
+ #define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 5
#define LCD_PINS_D4 6
- #define LCD_PINS_D5 21
+ #define LCD_PINS_D5 21
#define LCD_PINS_D6 20
#define LCD_PINS_D7 19
-
+
//encoder rotation values
#ifndef ULTIMAKERCONTROLLER
#define encrot0 0
@@ -929,7 +934,7 @@
#define BLEN_B 1
#define BLEN_A 0
- #endif
+ #endif
#endif //ULTRA_LCD
#endif
@@ -960,17 +965,17 @@
#define Y_MAX_PIN 16
#define Y_ENABLE_PIN 29
-#define Z_STEP_PIN 37
+#define Z_STEP_PIN 37
#define Z_DIR_PIN 39
#define Z_MIN_PIN 19
#define Z_MAX_PIN 18
#define Z_ENABLE_PIN 35
-#define HEATER_BED_PIN -1
-#define TEMP_BED_PIN -1
+#define HEATER_BED_PIN -1
+#define TEMP_BED_PIN -1
#define HEATER_0_PIN 2
-#define TEMP_0_PIN 8
+#define TEMP_0_PIN 8
#define HEATER_1_PIN 1
#define TEMP_1_PIN 1
@@ -994,10 +999,10 @@
#define KILL_PIN -1
#define SUICIDE_PIN -1 //PIN that has to be turned on right after start, to keep power flowing.
-#define LCD_PINS_RS 24
+#define LCD_PINS_RS 24
#define LCD_PINS_ENABLE 22
#define LCD_PINS_D4 36
-#define LCD_PINS_D5 34
+#define LCD_PINS_D5 34
#define LCD_PINS_D6 32
#define LCD_PINS_D7 30
@@ -1019,17 +1024,17 @@
#define X_DIR_PIN 16
#define X_ENABLE_PIN 48
#define X_MIN_PIN 37
-#define X_MAX_PIN 36
+#define X_MAX_PIN 36
#define Y_STEP_PIN 54
-#define Y_DIR_PIN 47
+#define Y_DIR_PIN 47
#define Y_ENABLE_PIN 55
#define Y_MIN_PIN 35
-#define Y_MAX_PIN 34
+#define Y_MAX_PIN 34
-#define Z_STEP_PIN 57
+#define Z_STEP_PIN 57
#define Z_DIR_PIN 56
-#define Z_ENABLE_PIN 62
+#define Z_ENABLE_PIN 62
#define Z_MIN_PIN 33
#define Z_MAX_PIN 32
@@ -1047,7 +1052,7 @@
#define LED_PIN 13
-#define FAN_PIN 7
+#define FAN_PIN 7
//additional FAN1 PIN (e.g. useful for electronics fan or light on/off) on PIN 8
#define PS_ON_PIN 45
@@ -1069,10 +1074,10 @@
#define SDSS 53
#define SDCARDDETECT 49
#define BEEPER 44
-#define LCD_PINS_RS 19
+#define LCD_PINS_RS 19
#define LCD_PINS_ENABLE 42
#define LCD_PINS_D4 18
-#define LCD_PINS_D5 38
+#define LCD_PINS_D5 38
#define LCD_PINS_D6 41
#define LCD_PINS_D7 40
#define BTN_EN1 11
@@ -1256,7 +1261,7 @@
#define LED_PIN -1
-#define FAN_PIN -1
+#define FAN_PIN -1
#define PS_ON_PIN 14
#define KILL_PIN -1
@@ -1295,7 +1300,7 @@
* MISO (D 6) PB6 7| |34 PA6 (AI 6 / D25)
* SCK (D 7) PB7 8| |33 PA7 (AI 7 / D24)
* RST 9| |32 AREF
-* VCC 10| |31 GND
+* VCC 10| |31 GND
* GND 11| |30 AVCC
* XTAL2 12| |29 PC7 (D 23)
* XTAL1 13| |28 PC6 (D 22)
@@ -1352,7 +1357,7 @@
#define KILL_PIN -1
#define HEATER_0_PIN 4
-#define HEATER_1_PIN -1 // 12
+#define HEATER_1_PIN -1 // 12
#define HEATER_2_PIN -1 // 13
#define TEMP_0_PIN 0 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define TEMP_1_PIN -1 // 1
@@ -1414,11 +1419,11 @@
#define KILL_PIN -1
#define HEATER_0_PIN 3 /*DONE PWM on RIGHT connector */
-#define HEATER_1_PIN -1
+#define HEATER_1_PIN -1
#define HEATER_2_PIN -1
-#define HEATER_1_PIN -1
+#define HEATER_1_PIN -1
#define HEATER_2_PIN -1
-#define TEMP_0_PIN 0 // ANALOG INPUT NUMBERING
+#define TEMP_0_PIN 0 // ANALOG INPUT NUMBERING
#define TEMP_1_PIN 1 // ANALOG
#define TEMP_2_PIN -1 // 2
#define HEATER_BED_PIN 4
@@ -1466,7 +1471,7 @@
#define Z_MS2_PIN 67
#define HEATER_BED_PIN 3
-#define TEMP_BED_PIN 2
+#define TEMP_BED_PIN 2
#define HEATER_0_PIN 9
#define TEMP_0_PIN 0
@@ -1559,9 +1564,9 @@
#define HEATER_0_PIN 9 // EXTRUDER 1
#define HEATER_1_PIN 8 // EXTRUDER 2 (FAN On Sprinter)
-#define HEATER_2_PIN -1
+#define HEATER_2_PIN -1
-#if TEMP_SENSOR_0 == -1
+#if TEMP_SENSOR_0 == -1
#define TEMP_0_PIN 8 // ANALOG NUMBERING
#else
#define TEMP_0_PIN 13 // ANALOG NUMBERING
@@ -1580,25 +1585,25 @@
#ifdef NEWPANEL
//arduino pin which triggers an piezzo beeper
-
- #define LCD_PINS_RS 16
+
+ #define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 23
- #define LCD_PINS_D5 25
+ #define LCD_PINS_D5 25
#define LCD_PINS_D6 27
#define LCD_PINS_D7 29
-
+
//buttons are directly attached using AUX-2
#define BTN_EN1 59
#define BTN_EN2 64
#define BTN_ENC 43 //the click
-
+
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
-
+
#define SDCARDDETECT -1 // Ramps does not use this port
-
+
//encoder rotation values
#define encrot0 0
#define encrot1 2
@@ -1614,7 +1619,7 @@
#endif
//List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those!
-#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN,
+#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN,
#if EXTRUDERS > 1
#define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, HEATER_1_PIN,
#else