@ -244,11 +244,11 @@ static char *strchr_pointer; ///< A pointer to find chars in the command string
const char * queued_commands_P = NULL ; /* pointer to the current line in the active sequence of commands, or NULL when none */
const int sensitive_pins [ ] = SENSITIVE_PINS ; ///< Sensitive pin list for M42
// Inactivity shutdown
unsigned long previous_millis_cmd = 0 ;
static unsigned long max_inactive_time = 0 ;
static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME * 1000l ;
unsigned long starttime = 0 ; ///< Print job start time
unsigned long stoptime = 0 ; ///< Print job stop time
millis_t previous_cmd_ms = 0 ;
static millis_t max_inactive_time = 0 ;
static millis_t stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME * 1000L ;
millis_t starttime = 0 ; ///< Print job start time
millis_t stoptime = 0 ; ///< Print job stop time
static uint8_t target_extruder ;
bool CooldownNoWait = true ;
bool target_direction ;
@ -425,7 +425,7 @@ static bool drain_queued_commands_P() {
char c ;
while ( ( c = cmd [ i ] ) & & c ! = ' \n ' ) i + + ; // find the end of this gcode command
cmd [ i ] = ' \0 ' ;
if ( enque command( cmd ) ) { // buffer was not full (else we will retry later)
if ( enque ue command( cmd ) ) { // buffer was not full (else we will retry later)
if ( c )
queued_commands_P + = i + 1 ; // move to next command
else
@ -437,7 +437,7 @@ static bool drain_queued_commands_P() {
//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 enque commands_P( const char * pgcode ) {
void enque ue commands_P( const char * pgcode ) {
queued_commands_P = pgcode ;
drain_queued_commands_P ( ) ; // first command executed asap (when possible)
}
@ -446,7 +446,7 @@ void enquecommands_P(const char* pgcode) {
//that is really done in a non-safe way.
//needs overworking someday
//Returns false if it failed to do so
bool enque command( const char * cmd )
bool enque ue command( const char * cmd )
{
if ( * cmd = = ' ; ' )
return false ;
@ -666,33 +666,30 @@ void loop() {
lcd_update ( ) ;
}
void get_command ( )
{
if ( drain_queued_commands_P ( ) ) // priority is given to non-serial commands
return ;
void get_command ( ) {
if ( drain_queued_commands_P ( ) ) return ; // priority is given to non-serial commands
while ( MYSERIAL . available ( ) > 0 & & buflen < BUFSIZE ) {
while ( MYSERIAL . available ( ) > 0 & & buflen < BUFSIZE ) {
serial_char = MYSERIAL . read ( ) ;
if ( serial_char = = ' \n ' | |
serial_char = = ' \r ' | |
serial_count > = ( MAX_CMD_SIZE - 1 ) )
{
if ( serial_char = = ' \n ' | | serial_char = = ' \r ' | |
serial_count > = ( MAX_CMD_SIZE - 1 )
) {
// end of line == end of comment
comment_mode = false ;
if ( ! serial_count ) {
// short cut for empty lines
return ;
}
cmdbuffer [ bufindw ] [ serial_count ] = 0 ; //terminate string
if ( ! serial_count ) return ; // shortcut for empty lines
cmdbuffer [ bufindw ] [ serial_count ] = 0 ; // terminate string
# ifdef SDSUPPORT
fromsd [ bufindw ] = false ;
# endif //!SDSUPPORT
if ( strchr ( cmdbuffer [ bufindw ] , ' N ' ) ! = NULL )
{
fromsd [ bufindw ] = false ;
# endif
if ( strchr ( cmdbuffer [ bufindw ] , ' N ' ) ! = NULL ) {
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' N ' ) ;
gcode_N = ( strtol ( strchr_pointer + 1 , NULL , 10 ) ) ;
if ( gcode_N ! = gcode_LastN + 1 & & ( strstr_P ( cmdbuffer [ bufindw ] , PSTR ( " M110 " ) ) = = NULL ) ) {
if ( gcode_N ! = gcode_LastN + 1 & & strstr_P ( cmdbuffer [ bufindw ] , PSTR ( " M110 " ) ) = = NULL ) {
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_LINE_NO ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
@ -702,14 +699,13 @@ void get_command()
return ;
}
if ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL )
{
if ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL ) {
byte checksum = 0 ;
byte count = 0 ;
while ( cmdbuffer [ bufindw ] [ count ] ! = ' * ' ) checksum = checksum ^ cmdbuffer [ bufindw ] [ count + + ] ;
while ( cmdbuffer [ bufindw ] [ count ] ! = ' * ' ) checksum ^= cmdbuffer [ bufindw ] [ count + + ] ;
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' * ' ) ;
if ( strtol ( strchr_pointer + 1 , NULL , 10 ) ! = checksum ) {
if ( strtol ( strchr_pointer + 1 , NULL , 10 ) ! = checksum ) {
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_CHECKSUM_MISMATCH ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
@ -719,8 +715,7 @@ void get_command()
}
//if no errors, continue parsing
}
else
{
else {
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_NO_CHECKSUM ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
@ -732,10 +727,8 @@ void get_command()
gcode_LastN = gcode_N ;
//if no errors, continue parsing
}
else // if we don't receive 'N' but still see '*'
{
if ( ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL ) )
{
else { // if we don't receive 'N' but still see '*'
if ( ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL ) ) {
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
@ -743,111 +736,99 @@ void get_command()
return ;
}
}
if ( ( strchr ( cmdbuffer [ bufindw ] , ' G ' ) ! = NULL ) ) {
if ( strchr ( cmdbuffer [ bufindw ] , ' G ' ) ! = NULL ) {
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' G ' ) ;
switch ( strtol ( strchr_pointer + 1 , NULL , 10 ) ) {
case 0 :
case 1 :
case 2 :
case 3 :
if ( IsStopped ( ) ) {
SERIAL_ERRORLNPGM ( MSG_ERR_STOPPED ) ;
LCD_MESSAGEPGM ( MSG_STOPPED ) ;
}
break ;
default :
break ;
switch ( strtol ( strchr_pointer + 1 , NULL , 10 ) ) {
case 0 :
case 1 :
case 2 :
case 3 :
if ( IsStopped ( ) ) {
SERIAL_ERRORLNPGM ( MSG_ERR_STOPPED ) ;
LCD_MESSAGEPGM ( MSG_STOPPED ) ;
}
break ;
default :
break ;
}
}
//If command was e-stop process now
if ( strcmp ( cmdbuffer [ bufindw ] , " M112 " ) = = 0 )
kill ( ) ;
// If command was e-stop process now
if ( strcmp ( cmdbuffer [ bufindw ] , " M112 " ) = = 0 ) kill ( ) ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
buflen + = 1 ;
serial_count = 0 ; //clear buffer
}
else if ( serial_char = = ' \\ ' ) { //Handle escapes
if ( MYSERIAL . available ( ) > 0 & & buflen < BUFSIZE ) {
// if we have one more character, copy it over
serial_char = MYSERIAL . read ( ) ;
cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
//otherwise do nothing
else if ( serial_char = = ' \\ ' ) { // Handle escapes
if ( MYSERIAL . available ( ) > 0 & & buflen < BUFSIZE ) {
// if we have one more character, copy it over
serial_char = MYSERIAL . read ( ) ;
cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
// otherwise do nothing
}
else { // its not a newline, carriage return or escape char
if ( serial_char = = ' ; ' ) comment_mode = true ;
if ( ! comment_mode ) cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
if ( serial_char = = ' ; ' ) comment_mode = true ;
if ( ! comment_mode ) cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
}
# ifdef SDSUPPORT
if ( ! card . sdprinting | | serial_count ! = 0 ) {
return ;
}
//'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
// if it occurs, stop_buffering is triggered and the buffer is ran dry.
// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
static bool stop_buffering = false ;
if ( buflen = = 0 ) stop_buffering = false ;
while ( ! card . eof ( ) & & buflen < BUFSIZE & & ! stop_buffering ) {
int16_t n = card . get ( ) ;
serial_char = ( char ) n ;
if ( serial_char = = ' \n ' | |
serial_char = = ' \r ' | |
( serial_char = = ' # ' & & comment_mode = = false ) | |
( serial_char = = ' : ' & & comment_mode = = false ) | |
serial_count > = ( MAX_CMD_SIZE - 1 ) | | n = = - 1 )
{
if ( card . eof ( ) ) {
SERIAL_PROTOCOLLNPGM ( MSG_FILE_PRINTED ) ;
stoptime = millis ( ) ;
char time [ 30 ] ;
unsigned long t = ( stoptime - starttime ) / 1000 ;
int hours , minutes ;
minutes = ( t / 60 ) % 60 ;
hours = t / 60 / 60 ;
sprintf_P ( time , PSTR ( " %i " MSG_END_HOUR " %i " MSG_END_MINUTE ) , hours , minutes ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLN ( time ) ;
lcd_setstatus ( time , true ) ;
card . printingHasFinished ( ) ;
card . checkautostart ( true ) ;
# ifdef SDSUPPORT
}
if ( serial_char = = ' # ' )
stop_buffering = true ;
if ( ! card . sdprinting | | serial_count ) return ;
// '#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
// if it occurs, stop_buffering is triggered and the buffer is ran dry.
// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
static bool stop_buffering = false ;
if ( buflen = = 0 ) stop_buffering = false ;
while ( ! card . eof ( ) & & buflen < BUFSIZE & & ! stop_buffering ) {
int16_t n = card . get ( ) ;
serial_char = ( char ) n ;
if ( serial_char = = ' \n ' | | serial_char = = ' \r ' | |
( ( serial_char = = ' # ' | | serial_char = = ' : ' ) & & ! comment_mode ) | |
serial_count > = ( MAX_CMD_SIZE - 1 ) | | n = = - 1
) {
if ( card . eof ( ) ) {
SERIAL_PROTOCOLLNPGM ( MSG_FILE_PRINTED ) ;
stoptime = millis ( ) ;
char time [ 30 ] ;
millis_t t = ( stoptime - starttime ) / 1000 ;
int hours = t / 60 / 60 , minutes = ( t / 60 ) % 60 ;
sprintf_P ( time , PSTR ( " %i " MSG_END_HOUR " %i " MSG_END_MINUTE ) , hours , minutes ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLN ( time ) ;
lcd_setstatus ( time , true ) ;
card . printingHasFinished ( ) ;
card . checkautostart ( true ) ;
}
if ( serial_char = = ' # ' ) stop_buffering = true ;
if ( ! serial_count )
{
comment_mode = false ; //for new command
return ; //if empty line
}
cmdbuffer [ bufindw ] [ serial_count ] = 0 ; //terminate string
// if(!comment_mode){
if ( ! serial_count ) {
comment_mode = false ; //for new command
return ; //if empty line
}
cmdbuffer [ bufindw ] [ serial_count ] = 0 ; //terminate string
// if (!comment_mode) {
fromsd [ bufindw ] = true ;
buflen + = 1 ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
// }
comment_mode = false ; //for new command
serial_count = 0 ; //clear buffer
}
else
{
if ( serial_char = = ' ; ' ) comment_mode = true ;
if ( ! comment_mode ) cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
// }
comment_mode = false ; //for new command
serial_count = 0 ; //clear buffer
}
else {
if ( serial_char = = ' ; ' ) comment_mode = true ;
if ( ! comment_mode ) cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
}
}
# endif //SDSUPPORT
# endif // SDSUPPORT
}
float code_has_value ( ) {
@ -923,7 +904,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
static float inactive_extruder_x_pos = X2_MAX_POS ; // used in mode 0 & 1
static bool active_extruder_parked = false ; // used in mode 1 & 2
static float raised_parked_position [ NUM_AXIS ] ; // used in mode 1
static unsigned long delayed_move_time = 0 ; // used in mode 1
static millis_t delayed_move_time = 0 ; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET ; // used in mode 2
static float duplicate_extruder_temp_offset = 0 ; // used in mode 2
bool extruder_duplication_enabled = false ; // used in mode 2
@ -1111,7 +1092,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
// move down slowly until you find the bed
feedrate = homing_feedrate [ Z_AXIS ] / 4 ;
destination [ Z_AXIS ] = - 10 ;
prepare_move_raw ( ) ;
prepare_move_raw ( ) ; // this will also set_current_to_destination
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ; // clear endstop hit flags
@ -1157,7 +1138,8 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
}
/**
*
* Plan a move to ( X , Y , Z ) and set the current_position
* The final current_position may not be the one that was requested
*/
static void do_blocking_move_to ( float x , float y , float z ) {
float oldFeedRate = feedrate ;
@ -1169,7 +1151,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
destination [ X_AXIS ] = x ;
destination [ Y_AXIS ] = y ;
destination [ Z_AXIS ] = z ;
prepare_move_raw ( ) ;
prepare_move_raw ( ) ; // this will also set_current_to_destination
st_synchronize ( ) ;
# else
@ -1233,17 +1215,17 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
destination [ X_AXIS ] = Z_PROBE_ALLEN_KEY_DEPLOY_X ;
destination [ Y_AXIS ] = Z_PROBE_ALLEN_KEY_DEPLOY_Y ;
destination [ Z_AXIS ] = Z_PROBE_ALLEN_KEY_DEPLOY_Z ;
prepare_move_raw ( ) ;
prepare_move_raw ( ) ; // this will also set_current_to_destination
// Home X to touch the belt
feedrate = homing_feedrate [ X_AXIS ] / 10 ;
destination [ X_AXIS ] = 0 ;
prepare_move_raw ( ) ;
prepare_move_raw ( ) ; // this will also set_current_to_destination
// Home Y for safety
feedrate = homing_feedrate [ X_AXIS ] / 2 ;
destination [ Y_AXIS ] = 0 ;
prepare_move_raw ( ) ;
prepare_move_raw ( ) ; // this will also set_current_to_destination
st_synchronize ( ) ;
@ -1275,7 +1257,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
if ( servo_endstops [ Z_AXIS ] > = 0 ) {
# if Z_RAISE_AFTER_PROBING > 0
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] + Z_RAISE_AFTER_PROBING ) ;
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] + Z_RAISE_AFTER_PROBING ) ; // this also updates current_position
st_synchronize ( ) ;
# endif
@ -1296,29 +1278,29 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
// Move up for safety
feedrate = homing_feedrate [ X_AXIS ] ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] + Z_RAISE_AFTER_PROBING ;
prepare_move_raw ( ) ;
prepare_move_raw ( ) ; // this will also set_current_to_destination
// Move to the start position to initiate retraction
destination [ X_AXIS ] = Z_PROBE_ALLEN_KEY_STOW_X ;
destination [ Y_AXIS ] = Z_PROBE_ALLEN_KEY_STOW_Y ;
destination [ Z_AXIS ] = Z_PROBE_ALLEN_KEY_STOW_Z ;
prepare_move_raw ( ) ;
prepare_move_raw ( ) ; // this will also set_current_to_destination
// Move the nozzle down to push the probe into retracted position
feedrate = homing_feedrate [ Z_AXIS ] / 10 ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] - Z_PROBE_ALLEN_KEY_STOW_DEPTH ;
prepare_move_raw ( ) ;
prepare_move_raw ( ) ; // this will also set_current_to_destination
// Move up for safety
feedrate = homing_feedrate [ Z_AXIS ] / 2 ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] + Z_PROBE_ALLEN_KEY_STOW_DEPTH * 2 ;
prepare_move_raw ( ) ;
prepare_move_raw ( ) ; // this will also set_current_to_destination
// Home XY for safety
feedrate = homing_feedrate [ X_AXIS ] / 2 ;
destination [ X_AXIS ] = 0 ;
destination [ Y_AXIS ] = 0 ;
prepare_move_raw ( ) ;
prepare_move_raw ( ) ; // this will also set_current_to_destination
st_synchronize ( ) ;
@ -1352,8 +1334,8 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
// Probe bed height at position (x,y), returns the measured z value
static float probe_pt ( float x , float y , float z_before , ProbeAction retract_action = ProbeDeployAndStow , int verbose_level = 1 ) {
// move to right place
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , z_before ) ;
do_blocking_move_to ( x - X_PROBE_OFFSET_FROM_EXTRUDER , y - Y_PROBE_OFFSET_FROM_EXTRUDER , current_position [ Z_AXIS ] ) ;
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , z_before ) ; // this also updates current_position
do_blocking_move_to ( x - X_PROBE_OFFSET_FROM_EXTRUDER , y - Y_PROBE_OFFSET_FROM_EXTRUDER , current_position [ Z_AXIS ] ) ; // this also updates current_position
# if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
if ( retract_action & ProbeDeploy ) deploy_z_probe ( ) ;
@ -1364,7 +1346,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
# if Z_RAISE_BETWEEN_PROBINGS > 0
if ( retract_action = = ProbeStay ) {
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS ) ;
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS ) ; // this also updates current_position
st_synchronize ( ) ;
}
# endif
@ -1643,12 +1625,12 @@ static void homeaxis(AxisEnum axis) {
}
if ( dock ) {
do_blocking_move_to ( X_MAX_POS + SLED_DOCKING_OFFSET + offset , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] ) ;
do_blocking_move_to ( X_MAX_POS + SLED_DOCKING_OFFSET + offset , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] ) ; // this also updates current_position
digitalWrite ( SERVO0_PIN , LOW ) ; // turn off magnet
} else {
float z_loc = current_position [ Z_AXIS ] ;
if ( z_loc < Z_RAISE_BEFORE_PROBING + 5 ) z_loc = Z_RAISE_BEFORE_PROBING ;
do_blocking_move_to ( X_MAX_POS + SLED_DOCKING_OFFSET + offset , Y_PROBE_OFFSET_FROM_EXTRUDER , z_loc ) ;
do_blocking_move_to ( X_MAX_POS + SLED_DOCKING_OFFSET + offset , Y_PROBE_OFFSET_FROM_EXTRUDER , z_loc ) ; // this also updates current_position
digitalWrite ( SERVO0_PIN , HIGH ) ; // turn on magnet
}
}
@ -1700,7 +1682,7 @@ inline void gcode_G2_G3(bool clockwise) {
* G4 : Dwell S < seconds > or P < milliseconds >
*/
inline void gcode_G4 ( ) {
unsigned long codenum = 0 ;
millis_t codenum = 0 ;
LCD_MESSAGEPGM ( MSG_DWELL ) ;
@ -1709,7 +1691,7 @@ inline void gcode_G4() {
st_synchronize ( ) ;
refresh_cmd_timeout ( ) ;
codenum + = previous_ millis_ cmd; // keep track of when we started waiting
codenum + = previous_ cmd_ms ; // keep track of when we started waiting
while ( millis ( ) < codenum ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
@ -2096,7 +2078,7 @@ inline void gcode_G28() {
case MeshStart :
mbl . reset ( ) ;
probe_point = 0 ;
enque commands_P( PSTR ( " G28 \n G29 S2 " ) ) ;
enque ue commands_P( PSTR ( " G28 \n G29 S2 " ) ) ;
break ;
case MeshNext :
@ -2135,7 +2117,7 @@ inline void gcode_G28() {
SERIAL_PROTOCOLLNPGM ( " Mesh probing done. " ) ;
probe_point = - 1 ;
mbl . active = 1 ;
enque commands_P( PSTR ( " G28 " ) ) ;
enque ue commands_P( PSTR ( " G28 " ) ) ;
}
break ;
@ -2517,7 +2499,7 @@ inline void gcode_G28() {
# endif
# ifdef Z_PROBE_END_SCRIPT
enque commands_P( PSTR ( Z_PROBE_END_SCRIPT ) ) ;
enque ue commands_P( PSTR ( Z_PROBE_END_SCRIPT ) ) ;
st_synchronize ( ) ;
# endif
}
@ -2579,7 +2561,7 @@ inline void gcode_G92() {
inline void gcode_M0_M1 ( ) {
char * src = strchr_pointer + 2 ;
unsigned long codenum = 0 ;
millis_t codenum = 0 ;
bool hasP = false , hasS = false ;
if ( code_seen ( ' P ' ) ) {
codenum = code_value_short ( ) ; // milliseconds to wait
@ -2605,7 +2587,7 @@ inline void gcode_G92() {
st_synchronize ( ) ;
refresh_cmd_timeout ( ) ;
if ( codenum > 0 ) {
codenum + = previous_ millis_ cmd; // keep track of when we started waiting
codenum + = previous_ cmd_ms ; // keep track of when we started waiting
while ( millis ( ) < codenum & & ! lcd_clicked ( ) ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
@ -2747,7 +2729,7 @@ inline void gcode_M17() {
*/
inline void gcode_M31 ( ) {
stoptime = millis ( ) ;
unsigned long t = ( stoptime - starttime ) / 1000 ;
millis_t t = ( stoptime - starttime ) / 1000 ;
int min = t / 60 , sec = t % 60 ;
char time [ 30 ] ;
sprintf_P ( time , PSTR ( " %i min, %i sec " ) , min , sec ) ;
@ -2980,11 +2962,11 @@ inline void gcode_M42() {
if ( deploy_probe_for_each_reading ) stow_z_probe ( ) ;
for ( uint8_t n = 0 ; n < n_samples ; n + + ) {
do_blocking_move_to ( X_probe_location , Y_probe_location , Z_start_location ) ; // Make sure we are at the probe loca tion
// Make sure we are at the probe location
do_blocking_move_to ( X_probe_location , Y_probe_location , Z_start_location ) ; // this also updates current_posi tion
if ( n_legs ) {
unsigned long ms = millis ( ) ;
millis_t ms = millis ( ) ;
double radius = ms % ( X_MAX_LENGTH / 4 ) , // limit how far out to go
theta = RADIANS ( ms % 360L ) ;
float dir = ( ms & 0x0001 ) ? 1 : - 1 ; // clockwise or counter clockwise
@ -3011,11 +2993,12 @@ inline void gcode_M42() {
SERIAL_EOL ;
}
do_blocking_move_to ( X_current , Y_current , Z_current ) ;
do_blocking_move_to ( X_current , Y_current , Z_current ) ; // this also updates current_position
} // n_legs loop
do_blocking_move_to ( X_probe_location , Y_probe_location , Z_start_location ) ; // Go back to the probe location
// Go back to the probe location
do_blocking_move_to ( X_probe_location , Y_probe_location , Z_start_location ) ; // this also updates current_position
} // n_legs
@ -3221,7 +3204,7 @@ inline void gcode_M109() {
setWatch ( ) ;
unsigned long timetemp = millis ( ) ;
millis_t temp_ms = millis ( ) ;
/* See if we are heating up or cooling down */
target_direction = isHeatingHotend ( target_extruder ) ; // true if heating, false if cooling
@ -3229,26 +3212,26 @@ inline void gcode_M109() {
cancel_heatup = false ;
# ifdef TEMP_RESIDENCY_TIME
long residency Start = - 1 ;
long residency _start_ms = - 1 ;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn ' t passed since we reached it */
while ( ( ! cancel_heatup ) & & ( ( residency Start = = - 1 ) | |
( residency Start > = 0 & & ( ( ( unsigned int ) ( millis ( ) - residency Start ) ) < ( TEMP_RESIDENCY_TIME * 1000UL ) ) ) ) )
while ( ( ! cancel_heatup ) & & ( ( residency _start_ms = = - 1 ) | |
( residency _start_ms > = 0 & & ( ( ( unsigned int ) ( millis ( ) - residency _start_ms ) ) < ( TEMP_RESIDENCY_TIME * 1000UL ) ) ) ) )
# else
while ( target_direction ? ( isHeatingHotend ( target_extruder ) ) : ( isCoolingHotend ( target_extruder ) & & ( CooldownNoWait = = false ) ) )
# endif //TEMP_RESIDENCY_TIME
{ // while loop
if ( millis ( ) > t imet emp + 1000UL ) { //Print temp & remaining time every 1s while waiting
if ( millis ( ) > t emp_ms + 1000UL ) { //Print temp & remaining time every 1s while waiting
SERIAL_PROTOCOLPGM ( " T: " ) ;
SERIAL_PROTOCOL_F ( degHotend ( target_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " E: " ) ;
SERIAL_PROTOCOL ( ( int ) target_extruder ) ;
# ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM ( " W: " ) ;
if ( residency Start > - 1 ) {
t imet emp = ( ( TEMP_RESIDENCY_TIME * 1000UL ) - ( millis ( ) - residency Start ) ) / 1000UL ;
SERIAL_PROTOCOLLN ( time temp ) ;
if ( residency _start_ms > - 1 ) {
t emp_ms = ( ( TEMP_RESIDENCY_TIME * 1000UL ) - ( millis ( ) - residency _start_ms ) ) / 1000UL ;
SERIAL_PROTOCOLLN ( temp_ms ) ;
}
else {
SERIAL_PROTOCOLLNPGM ( " ? " ) ;
@ -3256,7 +3239,7 @@ inline void gcode_M109() {
# else
SERIAL_EOL ;
# endif
t imet emp = millis ( ) ;
t emp_ms = millis ( ) ;
}
manage_heater ( ) ;
manage_inactivity ( ) ;
@ -3264,18 +3247,18 @@ inline void gcode_M109() {
# ifdef TEMP_RESIDENCY_TIME
// start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
// or when current temp falls outside the hysteresis after target temp was reached
if ( ( residency Start = = - 1 & & target_direction & & ( degHotend ( target_extruder ) > = ( degTargetHotend ( target_extruder ) - TEMP_WINDOW ) ) ) | |
( residency Start = = - 1 & & ! target_direction & & ( degHotend ( target_extruder ) < = ( degTargetHotend ( target_extruder ) + TEMP_WINDOW ) ) ) | |
( residency Start > - 1 & & labs ( degHotend ( target_extruder ) - degTargetHotend ( target_extruder ) ) > TEMP_HYSTERESIS ) )
if ( ( residency _start_ms = = - 1 & & target_direction & & ( degHotend ( target_extruder ) > = ( degTargetHotend ( target_extruder ) - TEMP_WINDOW ) ) ) | |
( residency _start_ms = = - 1 & & ! target_direction & & ( degHotend ( target_extruder ) < = ( degTargetHotend ( target_extruder ) + TEMP_WINDOW ) ) ) | |
( residency _start_ms > - 1 & & labs ( degHotend ( target_extruder ) - degTargetHotend ( target_extruder ) ) > TEMP_HYSTERESIS ) )
{
residency Start = millis ( ) ;
residency _start_ms = millis ( ) ;
}
# endif //TEMP_RESIDENCY_TIME
}
LCD_MESSAGEPGM ( MSG_HEATING_COMPLETE ) ;
refresh_cmd_timeout ( ) ;
starttime = previous_ millis_ cmd;
starttime = previous_ cmd_ms ;
}
# if HAS_TEMP_BED
@ -3290,15 +3273,15 @@ inline void gcode_M109() {
if ( CooldownNoWait | | code_seen ( ' R ' ) )
setTargetBed ( code_value ( ) ) ;
unsigned long timetemp = millis ( ) ;
millis_t temp_ms = millis ( ) ;
cancel_heatup = false ;
target_direction = isHeatingBed ( ) ; // true if heating, false if cooling
while ( ( target_direction ) & & ( ! cancel_heatup ) ? ( isHeatingBed ( ) ) : ( isCoolingBed ( ) & & ( CooldownNoWait = = false ) ) ) {
unsigned long ms = millis ( ) ;
if ( ms > t imet emp + 1000UL ) { //Print Temp Reading every 1 second while heating up.
t imet emp = ms ;
millis_t ms = millis ( ) ;
if ( ms > t emp_ms + 1000UL ) { //Print Temp Reading every 1 second while heating up.
t emp_ms = ms ;
float tt = degHotend ( active_extruder ) ;
SERIAL_PROTOCOLPGM ( " T: " ) ;
SERIAL_PROTOCOL ( tt ) ;
@ -3974,14 +3957,14 @@ inline void gcode_M226() {
# endif // NUM_SERVOS > 0
# if defined(LARGE_FLASH) && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER) )
# if BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)
/**
* M300 : Play beep sound S < frequency Hz > P < duration ms >
*/
inline void gcode_M300 ( ) {
int beepS = code_seen ( ' S ' ) ? code_value ( ) : 110 ;
int beepP = code_seen ( ' P ' ) ? code_value ( ) : 1000 ;
u int16_ t beepS = code_seen ( ' S ' ) ? code_value _short ( ) : 110 ;
u int32_ t beepP = code_seen ( ' P ' ) ? code_value _long ( ) : 1000 ;
if ( beepS > 0 ) {
# if BEEPER > 0
tone ( BEEPER , beepS ) ;
@ -3998,7 +3981,7 @@ inline void gcode_M226() {
}
}
# endif // LARGE_FLASH && ( BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
# endif // BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER
# ifdef PIDTEMP
@ -4472,24 +4455,10 @@ inline void gcode_M503() {
LCD_ALERTMESSAGEPGM ( MSG_FILAMENTCHANGE ) ;
uint8_t cnt = 0 ;
while ( ! lcd_clicked ( ) ) {
cnt + + ;
if ( + + cnt = = 0 ) lcd_quick_feedback ( ) ; // every 256th frame till the lcd is clicked
manage_heater ( ) ;
manage_inactivity ( true ) ;
lcd_update ( ) ;
if ( cnt = = 0 ) {
# if BEEPER > 0
OUT_WRITE ( BEEPER , HIGH ) ;
delay ( 3 ) ;
WRITE ( BEEPER , LOW ) ;
delay ( 3 ) ;
# else
# if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz ( 1000 / 6 , 100 ) ;
# else
lcd_buzz ( LCD_FEEDBACK_FREQUENCY_DURATION_MS , LCD_FEEDBACK_FREQUENCY_HZ ) ;
# endif
# endif
}
} // while(!lcd_clicked)
//return to normal
@ -5078,11 +5047,11 @@ void process_commands() {
break ;
# endif // NUM_SERVOS > 0
# if defined(LARGE_FLASH) && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER) )
# if BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)
case 300 : // M300 - Play beep tone
gcode_M300 ( ) ;
break ;
# endif // LARGE_FLASH && ( BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
# endif // BEEPER > 0 || ULTRALCD || LCD_USE_I2C_BUZZER
# ifdef PIDTEMP
case 301 : // M301
@ -5289,25 +5258,23 @@ void get_arc_coordinates() {
offset [ 1 ] = code_seen ( ' J ' ) ? code_value ( ) : 0 ;
}
void clamp_to_software_endstops ( float target [ 3 ] )
{
void clamp_to_software_endstops ( float target [ 3 ] ) {
if ( min_software_endstops ) {
if ( target [ X_AXIS ] < min_pos [ X_AXIS ] ) target [ X_AXIS ] = min_pos [ X_AXIS ] ;
if ( target [ Y_AXIS ] < min_pos [ Y_AXIS ] ) target [ Y_AXIS ] = min_pos [ Y_AXIS ] ;
NOLESS ( target [ X_AXIS ] , min_pos [ X_AXIS ] ) ;
NOLESS ( target [ Y_AXIS ] , min_pos [ Y_AXIS ] ) ;
float negative_z_offset = 0 ;
# ifdef ENABLE_AUTO_BED_LEVELING
if ( Z_PROBE_OFFSET_FROM_EXTRUDER < 0 ) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER ;
if ( home_offset [ Z_AXIS ] < 0 ) negative_z_offset = negative_z_offset + home_offset [ Z_AXIS ] ;
if ( Z_PROBE_OFFSET_FROM_EXTRUDER < 0 ) negative_z_offset += Z_PROBE_OFFSET_FROM_EXTRUDER ;
if ( home_offset [ Z_AXIS ] < 0 ) negative_z_offset += home_offset [ Z_AXIS ] ;
# endif
if ( target [ Z_AXIS ] < min_pos [ Z_AXIS ] + negative_z_offset ) target [ Z_AXIS ] = min_pos [ Z_AXIS ] + negative_z_offset ;
NOLESS ( target [ Z_AXIS ] , min_pos [ Z_AXIS ] + negative_z_offset ) ;
}
if ( max_software_endstops ) {
if ( target [ X_AXIS ] > max_pos [ X_AXIS ] ) target [ X_AXIS ] = max_pos [ X_AXIS ] ;
if ( target [ Y_AXIS ] > max_pos [ Y_AXIS ] ) target [ Y_AXIS ] = max_pos [ Y_AXIS ] ;
if ( target [ Z_AXIS ] > max_pos [ Z_AXIS ] ) target [ Z_AXIS ] = max_pos [ Z_AXIS ] ;
NOMORE ( target [ X_AXIS ] , max_pos [ X_AXIS ] ) ;
NOMORE ( target [ Y_AXIS ] , max_pos [ Y_AXIS ] ) ;
NOMORE ( target [ Z_AXIS ] , max_pos [ Z_AXIS ] ) ;
}
}
@ -5522,7 +5489,7 @@ void prepare_move() {
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , destination [ E_AXIS ] , feedrate *feedmultiply / 60 / 100.0 , active_extruder ) ;
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , destination [ E_AXIS ] , feedrate /60 *feedmultiply / 100.0 , active_extruder ) ;
}
# endif // SCARA
@ -5549,7 +5516,7 @@ void prepare_move() {
# ifdef ENABLE_AUTO_BED_LEVELING
adjust_delta ( destination ) ;
# endif
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , destination [ E_AXIS ] , feedrate *feedmultiply / 60 / 100.0 , active_extruder ) ;
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , destination [ E_AXIS ] , feedrate /60 *feedmultiply / 100.0 , active_extruder ) ;
}
# endif // DELTA
@ -5573,7 +5540,7 @@ void prepare_move() {
// (so it can be used as the start of the next non-travel move)
if ( delayed_move_time ! = 0xFFFFFFFFUL ) {
set_current_to_destination ( ) ;
if ( destination [ Z_AXIS ] > raised_parked_position [ Z_AXIS ] ) raised_parked_position [ Z_AXIS ] = destination [ Z_AXIS ] ;
NOLESS ( raised_parked_position [ Z_AXIS ] , destination [ Z_AXIS ] ) ;
delayed_move_time = millis ( ) ;
return ;
}
@ -5621,11 +5588,11 @@ void prepare_arc_move(char isclockwise) {
# if HAS_CONTROLLERFAN
unsigned long lastMotor = 0 ; // Last time a motor was turned on
unsigned long lastMotorCheck = 0 ; // Last time the state was checked
millis_t lastMotor = 0 ; // Last time a motor was turned on
millis_t lastMotorCheck = 0 ; // Last time the state was checked
void controllerFan ( ) {
uint32 _t ms = millis ( ) ;
millis _t ms = millis ( ) ;
if ( ms > = lastMotorCheck + 2500 ) { // Not a time critical function, so we only check every 2500ms
lastMotorCheck = ms ;
if ( X_ENABLE_READ = = X_ENABLE_ON | | Y_ENABLE_READ = = Y_ENABLE_ON | | Z_ENABLE_READ = = Z_ENABLE_ON | | soft_pwm_bed > 0
@ -5732,36 +5699,28 @@ void calculate_delta(float cartesian[3]){
# endif
# ifdef TEMP_STAT_LEDS
static bool blue_led = false ;
static bool red_led = false ;
static uint32_t stat_update = 0 ;
void handle_status_leds ( void ) {
float max_temp = 0.0 ;
if ( millis ( ) > stat_update ) {
stat_update + = 500 ; // Update every 0.5s
for ( int8_t cur_extruder = 0 ; cur_extruder < EXTRUDERS ; + + cur_extruder ) {
max_temp = max ( max_temp , degHotend ( cur_extruder ) ) ;
max_temp = max ( max_temp , degTargetHotend ( cur_extruder ) ) ;
}
# if HAS_TEMP_BED
max_temp = max ( max_temp , degTargetBed ( ) ) ;
max_temp = max ( max_temp , degBed ( ) ) ;
# endif
if ( ( max_temp > 55.0 ) & & ( red_led = = false ) ) {
digitalWrite ( STAT_LED_RED , 1 ) ;
digitalWrite ( STAT_LED_BLUE , 0 ) ;
red_led = true ;
blue_led = false ;
}
if ( ( max_temp < 54.0 ) & & ( blue_led = = false ) ) {
digitalWrite ( STAT_LED_RED , 0 ) ;
digitalWrite ( STAT_LED_BLUE , 1 ) ;
red_led = false ;
blue_led = true ;
static bool red_led = false ;
static millis_t next_status_led_update_ms = 0 ;
void handle_status_leds ( void ) {
float max_temp = 0.0 ;
if ( millis ( ) > next_status_led_update_ms ) {
next_status_led_update_ms + = 500 ; // Update every 0.5s
for ( int8_t cur_extruder = 0 ; cur_extruder < EXTRUDERS ; + + cur_extruder )
max_temp = max ( max ( max_temp , degHotend ( cur_extruder ) ) , degTargetHotend ( cur_extruder ) ) ;
# if HAS_TEMP_BED
max_temp = max ( max ( max_temp , degTargetBed ( ) ) , degBed ( ) ) ;
# endif
bool new_led = ( max_temp > 55.0 ) ? true : ( max_temp < 54.0 ) ? false : red_led ;
if ( new_led ! = red_led ) {
red_led = new_led ;
digitalWrite ( STAT_LED_RED , new_led ? HIGH : LOW ) ;
digitalWrite ( STAT_LED_BLUE , new_led ? LOW : HIGH ) ;
}
}
}
}
# endif
void enable_all_steppers ( ) {
@ -5805,11 +5764,11 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
if ( buflen < BUFSIZE - 1 ) get_command ( ) ;
unsigned long ms = millis ( ) ;
millis_t ms = millis ( ) ;
if ( max_inactive_time & & ms > previous_ millis_ cmd + max_inactive_time ) kill ( ) ;
if ( max_inactive_time & & ms > previous_ cmd_ms + max_inactive_time ) kill ( ) ;
if ( stepper_inactive_time & & ms > previous_ millis_ cmd + stepper_inactive_time
if ( stepper_inactive_time & & ms > previous_ cmd_ms + stepper_inactive_time
& & ! ignore_stepper_queue & & ! blocks_queued ( ) )
disable_all_steppers ( ) ;
@ -5845,7 +5804,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
const int HOME_DEBOUNCE_DELAY = 750 ;
if ( ! READ ( HOME_PIN ) ) {
if ( ! homeDebounceCount ) {
enque commands_P( PSTR ( " G28 " ) ) ;
enque ue commands_P( PSTR ( " G28 " ) ) ;
LCD_ALERTMESSAGEPGM ( MSG_AUTO_HOME ) ;
}
if ( homeDebounceCount < HOME_DEBOUNCE_DELAY )
@ -5860,7 +5819,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
# endif
# ifdef EXTRUDER_RUNOUT_PREVENT
if ( ms > previous_ millis_ cmd + EXTRUDER_RUNOUT_SECONDS * 1000 )
if ( ms > previous_ cmd_ms + EXTRUDER_RUNOUT_SECONDS * 1000 )
if ( degHotend ( active_extruder ) > EXTRUDER_RUNOUT_MINTEMP ) {
bool oldstatus ;
switch ( active_extruder ) {
@ -5894,7 +5853,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
current_position [ E_AXIS ] = oldepos ;
destination [ E_AXIS ] = oldedes ;
plan_set_e_position ( oldepos ) ;
previous_ millis_ cmd = ms ; // refresh_cmd_timeout()
previous_ cmd_ms = ms ; // refresh_cmd_timeout()
st_synchronize ( ) ;
switch ( active_extruder ) {
case 0 :
@ -5964,7 +5923,7 @@ void kill()
{
if filrunoutEnqued = = false {
filrunoutEnqued = true ;
enque command( " M600 " ) ;
enque ue command( " M600 " ) ;
}
}
# endif