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Marlin_main.cpp
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* 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)
#include "vector_3.h"
#if ENABLED(AUTO_BED_LEVELING_GRID)
#include "qr_solve.h"
#endif
#endif // AUTO_BED_LEVELING_FEATURE
#if ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#endif
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "cardreader.h"
#include "configuration_store.h"
#include "language.h"
#include "pins_arduino.h"
#include "math.h"
#include "buzzer.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
#if ENABLED(BLINKM)
#include "blinkm.h"
#include "Wire.h"
#endif
#if HAS_SERVOS
#include "servo.h"
#endif
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
#include "stepper_dac.h"
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
#include "twibus.h"
#endif
/**
* 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:
* - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
* - http://reprap.org/wiki/G-code
*
* -----------------
* Implemented Codes
* -----------------
*
* "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.
* 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
* M113 - Get or set the timeout interval for Host Keepalive "busy" messages
* 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
* M410 - Quickstop. Abort all the planned moves
* 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> ]
* M907 - Set digital trimpot motor current using axis codes.
* M908 - Control digital trimpot directly.
* M909 - DAC_STEPPER_CURRENT: Print digipot/DAC current value
* M910 - DAC_STEPPER_CURRENT: Commit digipot/DAC value to external EEPROM via I2C
* M350 - Set microstepping mode.
* M351 - Toggle MS1 MS2 pins directly.
*
* ************ SCARA Specific - This can change to suit future G-code regulations
* M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
* M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
* M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
* M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
* M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
* M365 - SCARA calibration: Scaling factor, X, Y, Z axis
* ************* SCARA End ***************
*
* ************ Custom codes - This can change to suit future G-code regulations
* M100 - Watch Free Memory (For Debugging Only)
* M851 - Set Z probe's Z offset (mm above extruder -- The value will always be negative)
* M928 - Start SD logging (M928 filename.g) - ended by M29
* M999 - Restart after being stopped by error
*
* "T" Codes
*
* T0-T3 - Select a tool by index (usually an extruder) [ F<mm/min> ]
*
*/
#if ENABLED(M100_FREE_MEMORY_WATCHER)
void gcode_M100();
#endif
#if ENABLED(SDSUPPORT)
CardReader card;
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
TWIBus i2c;
#endif
bool Running = true;
uint8_t marlin_debug_flags = DEBUG_NONE;
static float feedrate = 1500.0, saved_feedrate;
float current_position[NUM_AXIS] = { 0.0 };
static float destination[NUM_AXIS] = { 0.0 };
bool axis_known_position[3] = { false };
bool axis_homed[3] = { false };
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
static char* current_command, *current_command_args;
static int cmd_queue_index_r = 0;
static int cmd_queue_index_w = 0;
static int commands_in_queue = 0;
static char command_queue[BUFSIZE][MAX_CMD_SIZE];
const float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedrate_multiplier = 100; //100->1 200->2
int saved_feedrate_multiplier;
int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[3] = { 0 };
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[3] = { 0 };
// Software Endstops. Default to configured limits.
float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
#if FAN_COUNT > 0
int fanSpeeds[FAN_COUNT] = { 0 };
#endif
// The active extruder (tool). Set with T<extruder> command.
uint8_t active_extruder = 0;
// Relative Mode. Enable with G91, disable with G90.
static bool relative_mode = false;
bool cancel_heatup = false;
const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:";
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
static int serial_count = 0;
// GCode parameter pointer used by code_seen(), code_value(), etc.
static char* seen_pointer;
// Next Immediate GCode Command pointer. NULL if none.
const char* queued_commands_P = NULL;
const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
// Inactivity shutdown
millis_t previous_cmd_ms = 0;
static millis_t max_inactive_time = 0;
static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
// Print Job Timer
Stopwatch print_job_timer = Stopwatch();
static uint8_t target_extruder;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
int xy_travel_speed = XY_TRAVEL_SPEED;
float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA)
float z_endstop_adj = 0;
#endif
// Extruder offsets
#if EXTRUDERS > 1
#ifndef EXTRUDER_OFFSET_X
#define EXTRUDER_OFFSET_X { 0 } // X offsets for each extruder
#endif
#ifndef EXTRUDER_OFFSET_Y
#define EXTRUDER_OFFSET_Y { 0 } // Y offsets for each extruder
#endif
float extruder_offset[][EXTRUDERS] = {
EXTRUDER_OFFSET_X,
EXTRUDER_OFFSET_Y
#if ENABLED(DUAL_X_CARRIAGE)
, { 0 } // Z offsets for each extruder
#endif
};
#endif
#if HAS_SERVO_ENDSTOPS
const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
#endif
#if ENABLED(BARICUDA)
int baricuda_valve_pressure = 0;
int baricuda_e_to_p_pressure = 0;
#endif
#if ENABLED(FWRETRACT)
bool autoretract_enabled = false;
bool retracted[EXTRUDERS] = { false };
bool retracted_swap[EXTRUDERS] = { false };
float retract_length = RETRACT_LENGTH;
float retract_length_swap = RETRACT_LENGTH_SWAP;
float retract_feedrate = RETRACT_FEEDRATE;
float retract_zlift = RETRACT_ZLIFT;
float retract_recover_length = RETRACT_RECOVER_LENGTH;
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
#endif // FWRETRACT
#if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
bool powersupply =
#if ENABLED(PS_DEFAULT_OFF)
false
#else
true
#endif
;
#endif
#if ENABLED(DELTA)
#define TOWER_1 X_AXIS
#define TOWER_2 Y_AXIS
#define TOWER_3 Z_AXIS
float delta[3] = { 0 };
#define SIN_60 0.8660254037844386
#define COS_60 0.5
float endstop_adj[3] = { 0 };
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS;
float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
float delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1);
float delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
float delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2);
float delta_tower3_x = 0; // back middle tower
float delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3);
float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
float delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
float delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
float delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
//float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
int delta_grid_spacing[2] = { 0, 0 };
float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
#endif
#else
static bool home_all_axis = true;
#endif
#if ENABLED(SCARA)
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
static float delta[3] = { 0 };
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
//Variables for Filament Sensor input
float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; //ring buffer to delay measurement store extruder factor after subtracting 100
int filwidth_delay_index1 = 0; //index into ring buffer
int filwidth_delay_index2 = -1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
static bool filament_ran_out = false;
#endif
static bool send_ok[BUFSIZE];
#if HAS_SERVOS
Servo servo[NUM_SERVOS];
#endif
#ifdef CHDK
millis_t chdkHigh = 0;
boolean chdkActive = false;
#endif
#if ENABLED(PID_ADD_EXTRUSION_RATE)
int lpq_len = 20;
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
// States for managing Marlin and host communication
// Marlin sends messages if blocked or busy
enum MarlinBusyState {
NOT_BUSY, // Not in a handler
IN_HANDLER, // Processing a GCode
IN_PROCESS, // Known to be blocking command input (as in G29)
PAUSED_FOR_USER, // Blocking pending any input
PAUSED_FOR_INPUT // Blocking pending text input (concept)
};
static MarlinBusyState busy_state = NOT_BUSY;
static millis_t next_busy_signal_ms = 0;
uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
#define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
#else
#define host_keepalive() ;
#define KEEPALIVE_STATE(n) ;
#endif // HOST_KEEPALIVE_FEATURE
/**
* ***************************************************************************
* ******************************** FUNCTIONS ********************************
* ***************************************************************************
*/
void stop();
void get_available_commands();
void process_next_command();
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void gcode_M114();
#if ENABLED(DEBUG_LEVELING_FEATURE)
void print_xyz(const char* prefix, const float x, const float y, const float z) {
SERIAL_ECHO(prefix);
SERIAL_ECHOPAIR(": (", x);
SERIAL_ECHOPAIR(", ", y);
SERIAL_ECHOPAIR(", ", z);
SERIAL_ECHOLNPGM(")");
}
void print_xyz(const char* prefix, const float xyz[]) {
print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
void print_xyz(const char* prefix, const vector_3 &xyz) {
print_xyz(prefix, xyz.x, xyz.y, xyz.z);
}
#endif
#define DEBUG_POS(PREFIX,VAR) do{ SERIAL_ECHOPGM(PREFIX); print_xyz(" > " STRINGIFY(VAR), VAR); }while(0)
#endif
#if ENABLED(DELTA) || ENABLED(SCARA)
inline void sync_plan_position_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
#endif
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
}
#endif
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
float extrude_min_temp = EXTRUDE_MINTEMP;
#endif
#if ENABLED(HAS_Z_MIN_PROBE)
extern volatile bool z_probe_is_active;
#endif
#if ENABLED(SDSUPPORT)
#include "SdFatUtil.h"
int freeMemory() { return SdFatUtil::FreeRam(); }
#else
extern "C" {
extern unsigned int __bss_end;
extern unsigned int __heap_start;
extern void* __brkval;
int freeMemory() {
int free_memory;
if ((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
}
}
#endif //!SDSUPPORT
/**
* Inject the next "immediate" command, when possible.
* Return true if any immediate commands remain to inject.
*/
static bool drain_queued_commands_P() {
if (queued_commands_P != NULL) {
size_t i = 0;
char c, cmd[30];
strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
cmd[sizeof(cmd) - 1] = '\0';
while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
cmd[i] = '\0';
if (enqueue_and_echo_command(cmd)) { // success?
if (c) // newline char?
queued_commands_P += i + 1; // advance to the next command
else
queued_commands_P = NULL; // nul char? no more commands
}
}
return (queued_commands_P != NULL); // return whether any more remain
}
/**
* Record one or many commands to run from program memory.
* Aborts the current queue, if any.
* Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
*/
void enqueue_and_echo_commands_P(const char* pgcode) {
queued_commands_P = pgcode;
drain_queued_commands_P(); // first command executed asap (when possible)
}
/**
* Once a new command is in the ring buffer, call this to commit it
*/
inline void _commit_command(bool say_ok) {
send_ok[cmd_queue_index_w] = say_ok;
cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
commands_in_queue++;
}
/**
* Copy a command directly into the main command buffer, from RAM.
* Returns true if successfully adds the command
*/
inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
strcpy(command_queue[cmd_queue_index_w], cmd);
_commit_command(say_ok);
return true;
}
void enqueue_and_echo_command_now(const char* cmd) {
while (!enqueue_and_echo_command(cmd)) idle();
}
/**
* Enqueue with Serial Echo
*/
bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
if (_enqueuecommand(cmd, say_ok)) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_Enqueueing);
SERIAL_ECHO(cmd);
SERIAL_ECHOLNPGM("\"");
return true;
}
return false;
}
void setup_killpin() {
#if HAS_KILL
SET_INPUT(KILL_PIN);
WRITE(KILL_PIN, HIGH);
#endif
}
void setup_filrunoutpin() {
#if HAS_FILRUNOUT
pinMode(FILRUNOUT_PIN, INPUT);
#if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
WRITE(FILRUNOUT_PIN, HIGH);
#endif
#endif
}
// Set home pin
void setup_homepin(void) {
#if HAS_HOME
SET_INPUT(HOME_PIN);
WRITE(HOME_PIN, HIGH);
#endif
}
void setup_photpin() {
#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
#endif
}
void setup_powerhold() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if HAS_POWER_SWITCH
#if ENABLED(PS_DEFAULT_OFF)
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#else
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
#endif
}
void suicide() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, LOW);
#endif
}
void servo_init() {
#if NUM_SERVOS >= 1 && HAS_SERVO_0
servo[0].attach(SERVO0_PIN);
servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
#endif
#if NUM_SERVOS >= 2 && HAS_SERVO_1
servo[1].attach(SERVO1_PIN);
servo[1].detach();
#endif
#if NUM_SERVOS >= 3 && HAS_SERVO_2
servo[2].attach(SERVO2_PIN);
servo[2].detach();
#endif
#if NUM_SERVOS >= 4 && HAS_SERVO_3
servo[3].attach(SERVO3_PIN);
servo[3].detach();
#endif
#if HAS_SERVO_ENDSTOPS
z_probe_is_active = false;
/**
* Set position of all defined Servo Endstops
*
* ** UNSAFE! - NEEDS UPDATE! **
*
* The servo might be deployed and positioned too low to stow
* when starting up the machine or rebooting the board.
* There's no way to know where the nozzle is positioned until
* homing has been done - no homing with z-probe without init!
*
*/
for (int i = 0; i < 3; i++)
if (servo_endstop_id[i] >= 0)
servo[servo_endstop_id[i]].move(servo_endstop_angle[i][1]);
#endif // HAS_SERVO_ENDSTOPS
}
/**
* Stepper Reset (RigidBoard, et.al.)
*/
#if HAS_STEPPER_RESET
void disableStepperDrivers() {
pinMode(STEPPER_RESET_PIN, OUTPUT);
digitalWrite(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
}
void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); } // set to input, which allows it to be pulled high by pullups
#endif
/**
* Marlin entry-point: Set up before the program loop
* - Set up the kill pin, filament runout, power hold
* - Start the serial port
* - Print startup messages and diagnostics
* - Get EEPROM or default settings
* - Initialize managers for:
* • temperature
* • planner
* • watchdog
* • stepper
* • photo pin
* • servos
* • LCD controller
* • Digipot I2C
* • Z probe sled
* • status LEDs
*/
void setup() {
#ifdef DISABLE_JTAG
// Disable JTAG on AT90USB chips to free up pins for IO
MCUCR = 0x80;
MCUCR = 0x80;
#endif
setup_killpin();
setup_filrunoutpin();
setup_powerhold();
#if HAS_STEPPER_RESET
disableStepperDrivers();
#endif
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR;
if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
MCUSR = 0;
SERIAL_ECHOPGM(MSG_MARLIN);
SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
#ifdef STRING_DISTRIBUTION_DATE
#ifdef STRING_CONFIG_H_AUTHOR
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
SERIAL_ECHOPGM(MSG_AUTHOR);
SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
SERIAL_ECHOPGM("Compiled: ");
SERIAL_ECHOLNPGM(__DATE__);
#endif // STRING_CONFIG_H_AUTHOR
#endif // STRING_DISTRIBUTION_DATE
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_FREE_MEMORY);
SERIAL_ECHO(freeMemory());
SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
// Send "ok" after commands by default
for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
Config_RetrieveSettings();
lcd_init();
tp_init(); // Initialize temperature loop
plan_init(); // Initialize planner;
#if ENABLED(DELTA) || ENABLED(SCARA)
// Vital to init kinematic equivalent for X0 Y0 Z0
sync_plan_position_delta();
#endif
#if ENABLED(USE_WATCHDOG)
watchdog_init();
#endif
st_init(); // Initialize stepper, this enables interrupts!
setup_photpin();
servo_init();
#if HAS_CONTROLLERFAN
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
#if HAS_STEPPER_RESET
enableStepperDrivers();
#endif
#if ENABLED(DIGIPOT_I2C)
digipot_i2c_init();
#endif
#if ENABLED(Z_PROBE_SLED)
pinMode(SLED_PIN, OUTPUT);
digitalWrite(SLED_PIN, LOW); // turn it off
#endif // Z_PROBE_SLED
setup_homepin();
#ifdef STAT_LED_RED
pinMode(STAT_LED_RED, OUTPUT);
digitalWrite(STAT_LED_RED, LOW); // turn it off
#endif
#ifdef STAT_LED_BLUE
pinMode(STAT_LED_BLUE, OUTPUT);
digitalWrite(STAT_LED_BLUE, LOW); // turn it off
#endif
}
/**
* The main Marlin program loop
*
* - Save or log commands to SD
* - Process available commands (if not saving)
* - Call heater manager
* - Call inactivity manager
* - Call endstop manager
* - Call LCD update
*/
void loop() {
if (commands_in_queue < BUFSIZE) get_available_commands();
#if ENABLED(SDSUPPORT)
card.checkautostart(false);
#endif
if (commands_in_queue) {
#if ENABLED(SDSUPPORT)
if (card.saving) {
char* command = command_queue[cmd_queue_index_r];
if (strstr_P(command, PSTR("M29"))) {
// M29 closes the file
card.closefile();
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
ok_to_send();
}
else {
// Write the string from the read buffer to SD
card.write_command(command);
if (card.logging)
process_next_command(); // The card is saving because it's logging
else
ok_to_send();
}
}
else
process_next_command();
#else
process_next_command();
#endif // SDSUPPORT
commands_in_queue--;
cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
}
checkHitEndstops();
idle();
}
void gcode_line_error(const char* err, bool doFlush = true) {
SERIAL_ERROR_START;
serialprintPGM(err);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
if (doFlush) FlushSerialRequestResend();
serial_count = 0;
}
inline void get_serial_commands() {
static char serial_line_buffer[MAX_CMD_SIZE];
static boolean serial_comment_mode = false;
// If the command buffer is empty for too long,
// send "wait" to indicate Marlin is still waiting.
#if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
static millis_t last_command_time = 0;
millis_t ms = millis();
if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
SERIAL_ECHOLNPGM(MSG_WAIT);
last_command_time = ms;
}
#endif
/**
* Loop while serial characters are incoming and the queue is not full
*/
while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
char serial_char = MYSERIAL.read();
/**
* If the character ends the line
*/
if (serial_char == '\n' || serial_char == '\r') {
serial_comment_mode = false; // end of line == end of comment
if (!serial_count) continue; // skip empty lines
serial_line_buffer[serial_count] = 0; // terminate string
serial_count = 0; //reset buffer
char* command = serial_line_buffer;
while (*command == ' ') command++; // skip any leading spaces
char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
char* apos = strchr(command, '*');
if (npos) {
boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
if (M110) {
char* n2pos = strchr(command + 4, 'N');
if (n2pos) npos = n2pos;
}
gcode_N = strtol(npos + 1, NULL, 10);
if (gcode_N != gcode_LastN + 1 && !M110) {
gcode_line_error(PSTR(MSG_ERR_LINE_NO));
return;
}
if (apos) {
byte checksum = 0, count = 0;
while (command[count] != '*') checksum ^= command[count++];
if (strtol(apos + 1, NULL, 10) != checksum) {
gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
return;
}
// if no errors, continue parsing
}
else {
gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
return;
}
gcode_LastN = gcode_N;
// if no errors, continue parsing
}
else if (apos) { // No '*' without 'N'
gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
return;
}