From 09d60e01280f622b75a098182fe3bb41d212fba8 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 13 Apr 2015 17:17:36 -0700 Subject: [PATCH] Naming and code comments --- Marlin/Marlin.h | 6 +- Marlin/Marlin_main.cpp | 613 ++++++++++-------- Marlin/configurator/config/language.h | 2 +- Marlin/dogm_lcd_implementation.h | 6 +- Marlin/language.h | 2 +- Marlin/temperature.cpp | 138 ++-- Marlin/temperature.h | 2 +- Marlin/ultralcd.cpp | 26 +- .../ultralcd_implementation_hitachi_HD44780.h | 6 +- 9 files changed, 435 insertions(+), 366 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index ad4f82bd1..0158a1d71 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -247,7 +247,7 @@ inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); } extern float homing_feedrate[]; extern bool axis_relative_modes[]; -extern int feedmultiply; +extern int feedrate_multiplier; extern bool volumetric_enabled; extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder. @@ -309,8 +309,8 @@ extern int fanSpeed; extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate; #endif -extern millis_t starttime; -extern millis_t stoptime; +extern millis_t print_job_start_ms; +extern millis_t print_job_stop_ms; // Handling multiple extruders pins extern uint8_t active_extruder; diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 1f0269528..236b2be32 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -67,136 +67,149 @@ #include #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 - -//Implemented Codes -//------------------- -// G0 -> G1 -// G1 - Coordinated Movement X Y Z E -// G2 - CW ARC -// G3 - CCW ARC -// G4 - Dwell S or P -// 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 !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 -// 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 [n # 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 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. 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 B F. Exit autotemp by any M109 without F -// M112 - Emergency stop -// M114 - Output current position to serial port -// M115 - Capabilities string -// M117 - display message -// 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 -// 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- -// 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/sec] -// 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 X Y -// M220 - Set speed factor override percentage: S -// M221 - Set extrude factor override percentage: S -// M226 - Wait until the specified pin reaches the state required: P S -// M240 - Trigger a camera to take a photograph -// M250 - Set LCD contrast C (value 0..63) -// M280 - Set servo position absolute. P: servo index, S: angle or microseconds -// M300 - Play beep sound S P -// M301 - Set PID parameters P I and D -// M302 - Allow cold extrudes, or set the minimum extrude S. -// M303 - PID relay autotune S 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 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 to set delay in centimeters between sensor and extruder -// M406 - Turn off Filament Sensor extrusion control -// M407 - Display measured filament diameter -// 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 R S -// M666 - Set delta endstop adjustment -// M605 - Set dual x-carriage movement mode: S [ X R ] -// M907 - Set digital trimpot motor current using axis codes. -// M908 - Control digital trimpot directly. -// 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 *************** - -// M928 - Start SD logging (M928 filename.g) - ended by M29 -// M999 - Restart after being stopped by error +/** + * Look here for descriptions of G-codes: + * - http://linuxcnc.org/handbook/gcode/g-code.html + * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes + * + * Help us document these G-codes online: + * - http://reprap.org/wiki/G-code + * - https://github.com/MarlinFirmware/Marlin/wiki/Marlin-G-Code + */ + +/** + * Implemented Codes + * ------------------- + * + * "G" Codes + * + * G0 -> G1 + * G1 - Coordinated Movement X Y Z E + * G2 - CW ARC + * G3 - CCW ARC + * G4 - Dwell S or P + * 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 !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 + * 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 [n # 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 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. 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 B F. Exit autotemp by any M109 without F + * M112 - Emergency stop + * M114 - Output current position to serial port + * M115 - Capabilities string + * M117 - display message + * 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 + * 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- + * 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/sec] + * 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 X Y + * M220 - Set speed factor override percentage: S + * M221 - Set extrude factor override percentage: S + * M226 - Wait until the specified pin reaches the state required: P S + * M240 - Trigger a camera to take a photograph + * M250 - Set LCD contrast C (value 0..63) + * M280 - Set servo position absolute. P: servo index, S: angle or microseconds + * M300 - Play beep sound S P + * M301 - Set PID parameters P I and D + * M302 - Allow cold extrudes, or set the minimum extrude S. + * M303 - PID relay autotune S 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 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 to set delay in centimeters between sensor and extruder + * M406 - Turn off Filament Sensor extrusion control + * M407 - Display measured filament diameter + * 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 R S + * M666 - Set delta endstop adjustment + * M605 - Set dual x-carriage movement mode: S [ X R ] + * M907 - Set digital trimpot motor current using axis codes. + * M908 - Control digital trimpot directly. + * 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 *************** + * + * M928 - Start SD logging (M928 filename.g) - ended by M29 + * M999 - Restart after being stopped by error + */ #ifdef SDSUPPORT CardReader card; @@ -210,12 +223,16 @@ static float destination[NUM_AXIS] = { 0.0 }; bool axis_known_position[3] = { false }; static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0; -static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE]; + +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]; float homing_feedrate[] = HOMING_FEEDRATE; bool axis_relative_modes[] = AXIS_RELATIVE_MODES; -int feedmultiply = 100; //100->1 200->2 -int saved_feedmultiply; +int feedrate_multiplier = 100; //100->1 200->2 +int saved_feedrate_multiplier; int extruder_multiply[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100, 100, 100, 100); bool volumetric_enabled = false; float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA); @@ -234,9 +251,6 @@ const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; static float offset[3] = { 0 }; static bool relative_mode = false; //Determines Absolute or Relative Coordinates -static int bufindr = 0; -static int bufindw = 0; -static int buflen = 0; static char serial_char; static int serial_count = 0; static boolean comment_mode = false; @@ -247,10 +261,10 @@ const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42 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 +millis_t print_job_start_ms = 0; ///< Print job start time +millis_t print_job_stop_ms = 0; ///< Print job stop time static uint8_t target_extruder; -bool CooldownNoWait = true; +bool no_wait_for_cooling = true; bool target_direction; #ifdef ENABLE_AUTO_BED_LEVELING @@ -357,7 +371,7 @@ bool target_direction; #endif #ifdef FILAMENT_RUNOUT_SENSOR - static bool filrunoutEnqued = false; + static bool filrunoutEnqueued = false; #endif #ifdef SDSUPPORT @@ -410,8 +424,10 @@ void serial_echopair_P(const char *s_P, unsigned long v) { serialprintPGM(s_P); } #endif //!SDSUPPORT -//Injects the next command from the pending sequence of commands, when possible -//Return false if and only if no command was pending +/** + * Inject the next command from the command queue, when possible + * Return false only if no command was pending + */ static bool drain_queued_commands_P() { if (!queued_commands_P) return false; @@ -425,7 +441,7 @@ 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 (enqueuecommand(cmd)) { // buffer was not full (else we will retry later) + if (enqueuecommand(cmd)) { // buffer was not full (else we will retry later) if (c) queued_commands_P += i + 1; // move to next command else @@ -434,45 +450,46 @@ static bool drain_queued_commands_P() { return true; } -//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 +/** + * 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 enqueuecommands_P(const char* pgcode) { - queued_commands_P = pgcode; - drain_queued_commands_P(); // first command executed asap (when possible) + queued_commands_P = pgcode; + drain_queued_commands_P(); // first command executed asap (when possible) } -//adds a single command to the main command buffer, from RAM -//that is really done in a non-safe way. -//needs overworking someday -//Returns false if it failed to do so -bool enqueuecommand(const char *cmd) -{ - if(*cmd==';') - return false; - if(buflen >= BUFSIZE) - return false; - //this is dangerous if a mixing of serial and this happens - strcpy(&(cmdbuffer[bufindw][0]),cmd); +/** + * Copy a command directly into the main command buffer, from RAM. + * + * This is done in a non-safe way and needs a rework someday. + * Returns false if it doesn't add any command + */ +bool enqueuecommand(const char *cmd) { + + if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false; + + // This is dangerous if a mixing of serial and this happens + char *command = command_queue[cmd_queue_index_w]; + strcpy(command, cmd); SERIAL_ECHO_START; - SERIAL_ECHOPGM(MSG_Enqueing); - SERIAL_ECHO(cmdbuffer[bufindw]); + SERIAL_ECHOPGM(MSG_Enqueueing); + SERIAL_ECHO(command); SERIAL_ECHOLNPGM("\""); - bufindw= (bufindw + 1)%BUFSIZE; - buflen += 1; + cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE; + commands_in_queue++; return true; } -void setup_killpin() -{ +void setup_killpin() { #if HAS_KILL SET_INPUT(KILL_PIN); WRITE(KILL_PIN, HIGH); #endif } -void setup_filrunoutpin() -{ +void setup_filrunoutpin() { #if HAS_FILRUNOUT pinMode(FILRUNOUT_PIN, INPUT); #ifdef ENDSTOPPULLUP_FIL_RUNOUT @@ -482,8 +499,7 @@ void setup_filrunoutpin() } // Set home pin -void setup_homepin(void) -{ +void setup_homepin(void) { #if HAS_HOME SET_INPUT(HOME_PIN); WRITE(HOME_PIN, HIGH); @@ -491,15 +507,13 @@ void setup_homepin(void) } -void setup_photpin() -{ +void setup_photpin() { #if HAS_PHOTOGRAPH OUT_WRITE(PHOTOGRAPH_PIN, LOW); #endif } -void setup_powerhold() -{ +void setup_powerhold() { #if HAS_SUICIDE OUT_WRITE(SUICIDE_PIN, HIGH); #endif @@ -512,15 +526,13 @@ void setup_powerhold() #endif } -void suicide() -{ +void suicide() { #if HAS_SUICIDE OUT_WRITE(SUICIDE_PIN, LOW); #endif } -void servo_init() -{ +void servo_init() { #if NUM_SERVOS >= 1 && HAS_SERVO_0 servos[0].attach(SERVO0_PIN); #endif @@ -547,6 +559,24 @@ void servo_init() #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() { setup_killpin(); setup_filrunoutpin(); @@ -587,7 +617,7 @@ void setup() { #ifdef SDSUPPORT for (int8_t i = 0; i < BUFSIZE; i++) fromsd[i] = false; - #endif // !SDSUPPORT + #endif // loads data from EEPROM if available else uses defaults (and resets step acceleration rate) Config_RetrieveSettings(); @@ -628,36 +658,54 @@ void setup() { #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 (buflen < BUFSIZE - 1) get_command(); + if (commands_in_queue < BUFSIZE - 1) get_command(); #ifdef SDSUPPORT card.checkautostart(false); #endif - if (buflen) { + if (commands_in_queue) { + #ifdef SDSUPPORT + if (card.saving) { - if (strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL) { - card.write_command(cmdbuffer[bufindr]); + 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); + } + else { + // Write the string from the read buffer to SD + card.write_command(command); if (card.logging) - process_commands(); + process_commands(); // The card is saving because it's logging else SERIAL_PROTOCOLLNPGM(MSG_OK); } - else { - card.closefile(); - SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED); - } } else process_commands(); + #else + process_commands(); + #endif // SDSUPPORT - buflen--; - bufindr = (bufindr + 1) % BUFSIZE; + + commands_in_queue--; + cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE; } // Check heater every n milliseconds manage_heater(); @@ -666,12 +714,20 @@ void loop() { lcd_update(); } +/** + * Add to the circular command queue the next command from: + * - The command-injection queue (queued_commands_P) + * - The active serial input (usually USB) + * - The SD card file being actively printed + */ 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 && commands_in_queue < BUFSIZE) { + serial_char = MYSERIAL.read(); + if (serial_char == '\n' || serial_char == '\r' || serial_count >= (MAX_CMD_SIZE - 1) ) { @@ -680,16 +736,17 @@ void get_command() { if (!serial_count) return; // shortcut for empty lines - cmdbuffer[bufindw][serial_count] = 0; // terminate string + char *command = command_queue[cmd_queue_index_w]; + command[serial_count] = 0; // terminate string #ifdef SDSUPPORT - fromsd[bufindw] = false; + fromsd[cmd_queue_index_w] = false; #endif - if (strchr(cmdbuffer[bufindw], 'N') != NULL) { - strchr_pointer = strchr(cmdbuffer[bufindw], 'N'); + if (strchr(command, 'N') != NULL) { + strchr_pointer = strchr(command, '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(command, PSTR("M110")) == NULL) { SERIAL_ERROR_START; SERIAL_ERRORPGM(MSG_ERR_LINE_NO); SERIAL_ERRORLN(gcode_LastN); @@ -699,11 +756,11 @@ void get_command() { return; } - if (strchr(cmdbuffer[bufindw], '*') != NULL) { + if (strchr(command, '*') != NULL) { byte checksum = 0; byte count = 0; - while (cmdbuffer[bufindw][count] != '*') checksum ^= cmdbuffer[bufindw][count++]; - strchr_pointer = strchr(cmdbuffer[bufindw], '*'); + while (command[count] != '*') checksum ^= command[count++]; + strchr_pointer = strchr(command, '*'); if (strtol(strchr_pointer + 1, NULL, 10) != checksum) { SERIAL_ERROR_START; @@ -728,7 +785,7 @@ void get_command() { //if no errors, continue parsing } else { // if we don't receive 'N' but still see '*' - if ((strchr(cmdbuffer[bufindw], '*') != NULL)) { + if ((strchr(command, '*') != NULL)) { SERIAL_ERROR_START; SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM); SERIAL_ERRORLN(gcode_LastN); @@ -737,8 +794,8 @@ void get_command() { } } - if (strchr(cmdbuffer[bufindw], 'G') != NULL) { - strchr_pointer = strchr(cmdbuffer[bufindw], 'G'); + if (strchr(command, 'G') != NULL) { + strchr_pointer = strchr(command, 'G'); switch (strtol(strchr_pointer + 1, NULL, 10)) { case 0: case 1: @@ -755,24 +812,24 @@ void get_command() { } // If command was e-stop process now - if (strcmp(cmdbuffer[bufindw], "M112") == 0) kill(); + if (strcmp(command, "M112") == 0) kill(); - bufindw = (bufindw + 1) % BUFSIZE; - buflen += 1; + cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE; + commands_in_queue += 1; serial_count = 0; //clear buffer } else if (serial_char == '\\') { // Handle escapes - if (MYSERIAL.available() > 0 && buflen < BUFSIZE) { + if (MYSERIAL.available() > 0 && commands_in_queue < BUFSIZE) { // if we have one more character, copy it over serial_char = MYSERIAL.read(); - cmdbuffer[bufindw][serial_count++] = serial_char; + command_queue[cmd_queue_index_w][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 (!comment_mode) command_queue[cmd_queue_index_w][serial_count++] = serial_char; } } @@ -785,9 +842,9 @@ void get_command() { // 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; + if (commands_in_queue == 0) stop_buffering = false; - while (!card.eof() && buflen < BUFSIZE && !stop_buffering) { + while (!card.eof() && commands_in_queue < BUFSIZE && !stop_buffering) { int16_t n = card.get(); serial_char = (char)n; if (serial_char == '\n' || serial_char == '\r' || @@ -796,9 +853,9 @@ void get_command() { ) { if (card.eof()) { SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED); - stoptime = millis(); + print_job_stop_ms = millis(); char time[30]; - millis_t t = (stoptime - starttime) / 1000; + millis_t t = (print_job_stop_ms - print_job_start_ms) / 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; @@ -813,18 +870,18 @@ void get_command() { comment_mode = false; //for new command return; //if empty line } - cmdbuffer[bufindw][serial_count] = 0; //terminate string + command_queue[cmd_queue_index_w][serial_count] = 0; //terminate string // if (!comment_mode) { - fromsd[bufindw] = true; - buflen += 1; - bufindw = (bufindw + 1)%BUFSIZE; + fromsd[cmd_queue_index_w] = true; + commands_in_queue += 1; + cmd_queue_index_w = (cmd_queue_index_w + 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; + if (!comment_mode) command_queue[cmd_queue_index_w][serial_count++] = serial_char; } } @@ -854,7 +911,7 @@ long code_value_long() { return strtol(strchr_pointer + 1, NULL, 10); } int16_t code_value_short() { return (int16_t)strtol(strchr_pointer + 1, NULL, 10); } bool code_seen(char code) { - strchr_pointer = strchr(cmdbuffer[bufindr], code); + strchr_pointer = strchr(command_queue[cmd_queue_index_r], code); return (strchr_pointer != NULL); //Return True if a character was found } @@ -1023,7 +1080,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position, void prepare_move_raw() { refresh_cmd_timeout(); calculate_delta(destination); - plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder); + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder); set_current_to_destination(); } #endif @@ -1176,8 +1233,8 @@ inline void set_destination_to_current() { memcpy(destination, current_position, static void setup_for_endstop_move() { saved_feedrate = feedrate; - saved_feedmultiply = feedmultiply; - feedmultiply = 100; + saved_feedrate_multiplier = feedrate_multiplier; + feedrate_multiplier = 100; refresh_cmd_timeout(); enable_endstops(true); } @@ -1187,7 +1244,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position, enable_endstops(false); #endif feedrate = saved_feedrate; - feedmultiply = saved_feedmultiply; + feedrate_multiplier = saved_feedrate_multiplier; refresh_cmd_timeout(); } @@ -1610,12 +1667,12 @@ static void homeaxis(AxisEnum axis) { #define SLED_DOCKING_OFFSET 0 #endif - // - // Method to dock/undock a sled designed by Charles Bell. - // - // dock[in] If true, move to MAX_X and engage the electromagnet - // offset[in] The additional distance to move to adjust docking location - // + /** + * Method to dock/undock a sled designed by Charles Bell. + * + * dock[in] If true, move to MAX_X and engage the electromagnet + * offset[in] The additional distance to move to adjust docking location + */ static void dock_sled(bool dock, int offset=0) { if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) { LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); @@ -1649,9 +1706,10 @@ static void homeaxis(AxisEnum axis) { inline void gcode_G0_G1() { if (IsRunning()) { get_coordinates(); // For X Y Z E F + #ifdef FWRETRACT - if (autoretract_enabled) - if (!(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) { + + if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) { float echange = destination[E_AXIS] - current_position[E_AXIS]; // Is this move an attempt to retract or recover? if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) { @@ -1661,7 +1719,9 @@ inline void gcode_G0_G1() { return; } } + #endif //FWRETRACT + prepare_move(); //ClearToSend(); } @@ -1758,8 +1818,8 @@ inline void gcode_G28() { #endif saved_feedrate = feedrate; - saved_feedmultiply = feedmultiply; - feedmultiply = 100; + saved_feedrate_multiplier = feedrate_multiplier; + feedrate_multiplier = 100; refresh_cmd_timeout(); enable_endstops(true); @@ -2013,7 +2073,7 @@ inline void gcode_G28() { #endif feedrate = saved_feedrate; - feedmultiply = saved_feedmultiply; + feedrate_multiplier = saved_feedrate_multiplier; refresh_cmd_timeout(); endstops_hit_on_purpose(); // clear endstop hit flags } @@ -2659,7 +2719,7 @@ inline void gcode_M17() { */ inline void gcode_M24() { card.startFileprint(); - starttime = millis(); + print_job_start_ms = millis(); } /** @@ -2691,7 +2751,7 @@ inline void gcode_M17() { char* codepos = strchr_pointer + 4; char* starpos = strchr(codepos, '*'); if (starpos) { - char* npos = strchr(cmdbuffer[bufindr], 'N'); + char* npos = strchr(command_queue[cmd_queue_index_r], 'N'); strchr_pointer = strchr(npos, ' ') + 1; *(starpos) = '\0'; } @@ -2714,7 +2774,7 @@ inline void gcode_M17() { card.closefile(); char* starpos = strchr(strchr_pointer + 4, '*'); if (starpos) { - char* npos = strchr(cmdbuffer[bufindr], 'N'); + char* npos = strchr(command_queue[cmd_queue_index_r], 'N'); strchr_pointer = strchr(npos, ' ') + 1; *(starpos) = '\0'; } @@ -2728,8 +2788,8 @@ inline void gcode_M17() { * M31: Get the time since the start of SD Print (or last M109) */ inline void gcode_M31() { - stoptime = millis(); - millis_t t = (stoptime - starttime) / 1000; + print_job_stop_ms = millis(); + millis_t t = (print_job_stop_ms - print_job_start_ms) / 1000; int min = t / 60, sec = t % 60; char time[30]; sprintf_P(time, PSTR("%i min, %i sec"), min, sec); @@ -2769,7 +2829,7 @@ inline void gcode_M31() { card.startFileprint(); if (!call_procedure) - starttime = millis(); //procedure calls count as normal print time. + print_job_start_ms = millis(); //procedure calls count as normal print time. } } @@ -2779,7 +2839,7 @@ inline void gcode_M31() { inline void gcode_M928() { char* starpos = strchr(strchr_pointer + 5, '*'); if (starpos) { - char* npos = strchr(cmdbuffer[bufindr], 'N'); + char* npos = strchr(command_queue[cmd_queue_index_r], 'N'); strchr_pointer = strchr(npos, ' ') + 1; *(starpos) = '\0'; } @@ -3185,8 +3245,8 @@ inline void gcode_M109() { LCD_MESSAGEPGM(MSG_HEATING); - CooldownNoWait = code_seen('S'); - if (CooldownNoWait || code_seen('R')) { + no_wait_for_cooling = code_seen('S'); + if (no_wait_for_cooling || code_seen('R')) { float temp = code_value(); setTargetHotend(temp, target_extruder); #ifdef DUAL_X_CARRIAGE @@ -3218,7 +3278,7 @@ inline void gcode_M109() { 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)) ) + while ( target_direction ? (isHeatingHotend(target_extruder)) : (isCoolingHotend(target_extruder)&&(no_wait_for_cooling==false)) ) #endif //TEMP_RESIDENCY_TIME { // while loop @@ -3258,7 +3318,7 @@ inline void gcode_M109() { LCD_MESSAGEPGM(MSG_HEATING_COMPLETE); refresh_cmd_timeout(); - starttime = previous_cmd_ms; + print_job_start_ms = previous_cmd_ms; } #if HAS_TEMP_BED @@ -3269,8 +3329,8 @@ inline void gcode_M109() { */ inline void gcode_M190() { LCD_MESSAGEPGM(MSG_BED_HEATING); - CooldownNoWait = code_seen('S'); - if (CooldownNoWait || code_seen('R')) + no_wait_for_cooling = code_seen('S'); + if (no_wait_for_cooling || code_seen('R')) setTargetBed(code_value()); millis_t temp_ms = millis(); @@ -3278,7 +3338,7 @@ inline void gcode_M109() { cancel_heatup = false; target_direction = isHeatingBed(); // true if heating, false if cooling - while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) ) { + while ((target_direction && !cancel_heatup) ? isHeatingBed() : isCoolingBed() && !no_wait_for_cooling) { millis_t ms = millis(); if (ms > temp_ms + 1000UL) { //Print Temp Reading every 1 second while heating up. temp_ms = ms; @@ -3371,7 +3431,7 @@ inline void gcode_M140() { * This code should ALWAYS be available for EMERGENCY SHUTDOWN! */ inline void gcode_M81() { - disable_heater(); + disable_all_heaters(); st_synchronize(); disable_e0(); disable_e1(); @@ -3803,7 +3863,7 @@ inline void gcode_M206() { default: SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND); - SERIAL_ECHO(cmdbuffer[bufindr]); + SERIAL_ECHO(command_queue[cmd_queue_index_r]); SERIAL_ECHOLNPGM("\""); return; } @@ -3849,7 +3909,7 @@ inline void gcode_M206() { * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95) */ inline void gcode_M220() { - if (code_seen('S')) feedmultiply = code_value(); + if (code_seen('S')) feedrate_multiplier = code_value(); } /** @@ -4485,7 +4545,7 @@ inline void gcode_M503() { #endif #ifdef FILAMENT_RUNOUT_SENSOR - filrunoutEnqued = false; + filrunoutEnqueued = false; #endif } @@ -4619,6 +4679,9 @@ inline void gcode_M999() { FlushSerialRequestResend(); } +/** + * T0-T3: Switch tool, usually switching extruders + */ inline void gcode_T() { int tmp_extruder = code_value(); if (tmp_extruder >= EXTRUDERS) { @@ -5208,7 +5271,7 @@ void process_commands() { else { SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND); - SERIAL_ECHO(cmdbuffer[bufindr]); + SERIAL_ECHO(command_queue[cmd_queue_index_r]); SERIAL_ECHOLNPGM("\""); } @@ -5216,7 +5279,7 @@ void process_commands() { } void FlushSerialRequestResend() { - //char cmdbuffer[bufindr][100]="Resend:"; + //char command_queue[cmd_queue_index_r][100]="Resend:"; MYSERIAL.flush(); SERIAL_PROTOCOLPGM(MSG_RESEND); SERIAL_PROTOCOLLN(gcode_LastN + 1); @@ -5226,7 +5289,7 @@ void FlushSerialRequestResend() { void ClearToSend() { refresh_cmd_timeout(); #ifdef SDSUPPORT - if (fromsd[bufindr]) return; + if (fromsd[cmd_queue_index_r]) return; #endif SERIAL_PROTOCOLLNPGM(MSG_OK); } @@ -5470,7 +5533,7 @@ void prepare_move() { float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); } if (cartesian_mm < 0.000001) { return; } - float seconds = 6000 * cartesian_mm / feedrate / feedmultiply; + float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier; int steps = max(1, int(scara_segments_per_second * seconds)); //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); @@ -5489,7 +5552,7 @@ 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/60*feedmultiply/100.0, active_extruder); + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder); } #endif // SCARA @@ -5502,7 +5565,7 @@ void prepare_move() { float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]); if (cartesian_mm < 0.000001) return; - float seconds = 6000 * cartesian_mm / feedrate / feedmultiply; + float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier; int steps = max(1, int(delta_segments_per_second * seconds)); // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); @@ -5516,7 +5579,7 @@ 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/60*feedmultiply/100.0, active_extruder); + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder); } #endif // DELTA @@ -5556,16 +5619,16 @@ void prepare_move() { #endif // DUAL_X_CARRIAGE #if !defined(DELTA) && !defined(SCARA) - // Do not use feedmultiply for E or Z only moves + // Do not use feedrate_multiplier for E or Z only moves if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) { line_to_destination(); } else { #ifdef MESH_BED_LEVELING - mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder); + mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder); return; #else - line_to_destination(feedrate * feedmultiply / 100.0); + line_to_destination(feedrate * feedrate_multiplier / 100.0); #endif // MESH_BED_LEVELING } #endif // !(DELTA || SCARA) @@ -5577,7 +5640,7 @@ void prepare_arc_move(char isclockwise) { float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc // Trace the arc - mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder); + mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedrate_multiplier/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 @@ -5762,7 +5825,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { filrunout(); #endif - if (buflen < BUFSIZE - 1) get_command(); + if (commands_in_queue < BUFSIZE - 1) get_command(); millis_t ms = millis(); @@ -5898,7 +5961,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { void kill() { cli(); // Stop interrupts - disable_heater(); + disable_all_heaters(); disable_all_steppers(); @@ -5919,18 +5982,18 @@ void kill() } #ifdef FILAMENT_RUNOUT_SENSOR - void filrunout() - { - if (filrunoutEnqued == false) { - filrunoutEnqued = true; - enqueuecommand("M600"); - } - } + + void filrunout() { + if (!filrunoutEnqueued) { + filrunoutEnqueued = true; + enqueuecommand("M600"); + } + } + #endif -void Stop() -{ - disable_heater(); +void Stop() { + disable_all_heaters(); if (IsRunning()) { Running = false; Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart diff --git a/Marlin/configurator/config/language.h b/Marlin/configurator/config/language.h index 5d1fd6c2f..eb0ef8c0a 100644 --- a/Marlin/configurator/config/language.h +++ b/Marlin/configurator/config/language.h @@ -110,7 +110,7 @@ // Serial Console Messages (do not translate those!) -#define MSG_Enqueing "enqueing \"" +#define MSG_Enqueueing "enqueueing \"" #define MSG_POWERUP "PowerUp" #define MSG_EXTERNAL_RESET " External Reset" #define MSG_BROWNOUT_RESET " Brown out Reset" diff --git a/Marlin/dogm_lcd_implementation.h b/Marlin/dogm_lcd_implementation.h index 546703bfb..3ab18af75 100644 --- a/Marlin/dogm_lcd_implementation.h +++ b/Marlin/dogm_lcd_implementation.h @@ -269,8 +269,8 @@ static void lcd_implementation_status_screen() { } u8g.setPrintPos(80,48); - if (starttime != 0) { - uint16_t time = (millis() - starttime) / 60000; + if (print_job_start_ms != 0) { + uint16_t time = (millis() - print_job_start_ms) / 60000; lcd_print(itostr2(time/60)); lcd_print(':'); lcd_print(itostr2(time%60)); @@ -337,7 +337,7 @@ static void lcd_implementation_status_screen() { lcd_print(LCD_STR_FEEDRATE[0]); lcd_setFont(FONT_STATUSMENU); u8g.setPrintPos(12,49); - lcd_print(itostr3(feedmultiply)); + lcd_print(itostr3(feedrate_multiplier)); lcd_print('%'); // Status line diff --git a/Marlin/language.h b/Marlin/language.h index 179a1b956..ba5f3f700 100644 --- a/Marlin/language.h +++ b/Marlin/language.h @@ -110,7 +110,7 @@ // Serial Console Messages (do not translate those!) -#define MSG_Enqueing "enqueing \"" +#define MSG_Enqueueing "enqueueing \"" #define MSG_POWERUP "PowerUp" #define MSG_EXTERNAL_RESET " External Reset" #define MSG_BROWNOUT_RESET " Brown out Reset" diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 9c9d6c5e0..69a2877e7 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -219,7 +219,7 @@ void PID_autotune(float temp, int extruder, int ncycles) SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START); - disable_heater(); // switch off all heaters. + disable_all_heaters(); // switch off all heaters. if (extruder < 0) soft_pwm_bed = bias = d = MAX_BED_POWER / 2; @@ -458,11 +458,11 @@ inline void _temp_error(int e, const char *msg1, const char *msg2) { } void max_temp_error(uint8_t e) { - disable_heater(); + disable_all_heaters(); _temp_error(e, PSTR(MSG_MAXTEMP_EXTRUDER_OFF), PSTR(MSG_ERR_MAXTEMP)); } void min_temp_error(uint8_t e) { - disable_heater(); + disable_all_heaters(); _temp_error(e, PSTR(MSG_MINTEMP_EXTRUDER_OFF), PSTR(MSG_ERR_MINTEMP)); } void bed_max_temp_error(void) { @@ -579,6 +579,14 @@ float get_pid_output(int e) { } #endif +/** + * Manage heating activities for extruder hot-ends and a heated bed + * - Acquire updated temperature readings + * - Invoke thermal runaway protection + * - Manage extruder auto-fan + * - Apply filament width to the extrusion rate (may move) + * - Update the heated bed PID output value + */ void manage_heater() { if (!temp_meas_ready) return; @@ -623,7 +631,7 @@ void manage_heater() { #ifdef TEMP_SENSOR_1_AS_REDUNDANT if (fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) { - disable_heater(); + disable_all_heaters(); _temp_error(0, PSTR(MSG_EXTRUDER_SWITCHED_OFF), PSTR(MSG_ERR_REDUNDANT_TEMP)); } #endif // TEMP_SENSOR_1_AS_REDUNDANT @@ -636,7 +644,22 @@ void manage_heater() { next_auto_fan_check_ms = ms + 2500; } #endif - + + // Control the extruder rate based on the width sensor + #ifdef FILAMENT_SENSOR + if (filament_sensor) { + meas_shift_index = delay_index1 - meas_delay_cm; + if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1; //loop around buffer if needed + + // Get the delayed info and add 100 to reconstitute to a percent of + // the nominal filament diameter then square it to get an area + meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY); + float vm = pow((measurement_delay[meas_shift_index] + 100.0) / 100.0, 2); + if (vm < 0.01) vm = 0.01; + volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vm; + } + #endif //FILAMENT_SENSOR + #ifndef PIDTEMPBED if (ms < next_bed_check_ms) return; next_bed_check_ms = ms + BED_CHECK_INTERVAL; @@ -653,22 +676,22 @@ void manage_heater() { soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0; - #elif !defined(BED_LIMIT_SWITCHING) - // Check if temperature is within the correct range + #elif defined(BED_LIMIT_SWITCHING) + // Check if temperature is within the correct band if (current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP) { - soft_pwm_bed = current_temperature_bed < target_temperature_bed ? MAX_BED_POWER >> 1 : 0; + if (current_temperature_bed >= target_temperature_bed + BED_HYSTERESIS) + soft_pwm_bed = 0; + else if (current_temperature_bed <= target_temperature_bed - BED_HYSTERESIS) + soft_pwm_bed = MAX_BED_POWER >> 1; } else { soft_pwm_bed = 0; WRITE_HEATER_BED(LOW); } - #else //#ifdef BED_LIMIT_SWITCHING - // Check if temperature is within the correct band + #else // BED_LIMIT_SWITCHING + // Check if temperature is within the correct range if (current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP) { - if (current_temperature_bed >= target_temperature_bed + BED_HYSTERESIS) - soft_pwm_bed = 0; - else if (current_temperature_bed <= target_temperature_bed - BED_HYSTERESIS) - soft_pwm_bed = MAX_BED_POWER >> 1; + soft_pwm_bed = current_temperature_bed < target_temperature_bed ? MAX_BED_POWER >> 1 : 0; } else { soft_pwm_bed = 0; @@ -676,56 +699,36 @@ void manage_heater() { } #endif #endif //TEMP_SENSOR_BED != 0 - - // Control the extruder rate based on the width sensor - #ifdef FILAMENT_SENSOR - if (filament_sensor) { - meas_shift_index = delay_index1 - meas_delay_cm; - if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1; //loop around buffer if needed - - // Get the delayed info and add 100 to reconstitute to a percent of - // the nominal filament diameter then square it to get an area - meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY); - float vm = pow((measurement_delay[meas_shift_index] + 100.0) / 100.0, 2); - if (vm < 0.01) vm = 0.01; - volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vm; - } - #endif //FILAMENT_SENSOR } #define PGM_RD_W(x) (short)pgm_read_word(&x) // Derived from RepRap FiveD extruder::getTemperature() // For hot end temperature measurement. static float analog2temp(int raw, uint8_t e) { -#ifdef TEMP_SENSOR_1_AS_REDUNDANT - if (e > EXTRUDERS) -#else - if (e >= EXTRUDERS) -#endif - { + #ifdef TEMP_SENSOR_1_AS_REDUNDANT + if (e > EXTRUDERS) + #else + if (e >= EXTRUDERS) + #endif + { SERIAL_ERROR_START; SERIAL_ERROR((int)e); SERIAL_ERRORLNPGM(MSG_INVALID_EXTRUDER_NUM); kill(); return 0.0; - } + } + #ifdef HEATER_0_USES_MAX6675 - if (e == 0) - { - return 0.25 * raw; - } + if (e == 0) return 0.25 * raw; #endif - if(heater_ttbl_map[e] != NULL) - { + if (heater_ttbl_map[e] != NULL) { float celsius = 0; uint8_t i; short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]); - for (i=1; i raw) - { + for (i = 1; i < heater_ttbllen_map[e]; i++) { + if (PGM_RD_W((*tt)[i][0]) > raw) { celsius = PGM_RD_W((*tt)[i-1][1]) + (raw - PGM_RD_W((*tt)[i-1][0])) * (float)(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i-1][1])) / @@ -749,10 +752,8 @@ static float analog2tempBed(int raw) { float celsius = 0; byte i; - for (i=1; i raw) - { + for (i = 1; i < BEDTEMPTABLE_LEN; i++) { + if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw) { celsius = PGM_RD_W(BEDTEMPTABLE[i-1][1]) + (raw - PGM_RD_W(BEDTEMPTABLE[i-1][0])) * (float)(PGM_RD_W(BEDTEMPTABLE[i][1]) - PGM_RD_W(BEDTEMPTABLE[i-1][1])) / @@ -816,11 +817,11 @@ static void updateTemperaturesFromRawValues() { #endif - - - -void tp_init() -{ +/** + * Initialize the temperature manager + * The manager is implemented by periodic calls to manage_heater() + */ +void tp_init() { #if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1)) //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector MCUCR=BIT(JTD); @@ -1059,7 +1060,7 @@ void setWatch() { SERIAL_ERRORLNPGM(MSG_THERMAL_RUNAWAY_STOP); if (heater_id < 0) SERIAL_ERRORLNPGM("bed"); else SERIAL_ERRORLN(heater_id); LCD_ALERTMESSAGEPGM(MSG_THERMAL_RUNAWAY); - disable_heater(); + disable_all_heaters(); disable_all_steppers(); for (;;) { manage_heater(); @@ -1070,7 +1071,7 @@ void setWatch() { #endif // HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION -void disable_heater() { +void disable_all_heaters() { for (int i=0; i= OVERSAMPLENR #ifdef BABYSTEPPING - for (uint8_t axis=X_AXIS; axis<=Z_AXIS; axis++) { - int curTodo=babystepsTodo[axis]; //get rid of volatile for performance + for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) { + int curTodo = babystepsTodo[axis]; //get rid of volatile for performance if (curTodo > 0) { babystep(axis,/*fwd*/true); - babystepsTodo[axis]--; //less to do next time + babystepsTodo[axis]--; //fewer to do next time } - else if(curTodo < 0) { + else if (curTodo < 0) { babystep(axis,/*fwd*/false); - babystepsTodo[axis]++; //less to do next time + babystepsTodo[axis]++; //fewer to do next time } } #endif //BABYSTEPPING diff --git a/Marlin/temperature.h b/Marlin/temperature.h index 847c41b00..f9effaa9e 100644 --- a/Marlin/temperature.h +++ b/Marlin/temperature.h @@ -129,7 +129,7 @@ HOTEND_ROUTINES(0); #endif int getHeaterPower(int heater); -void disable_heater(); +void disable_all_heaters(); void setWatch(); void updatePID(); diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index 293f819c9..d0fe358ac 100644 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -152,10 +152,10 @@ static void lcd_status_screen(); * lcd_implementation_drawmenu_function(sel, row, PSTR(MSG_PAUSE_PRINT), lcd_sdcard_pause) * menu_action_function(lcd_sdcard_pause) * - * MENU_ITEM_EDIT(int3, MSG_SPEED, &feedmultiply, 10, 999) - * MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedmultiply, 10, 999) - * lcd_implementation_drawmenu_setting_edit_int3(sel, row, PSTR(MSG_SPEED), PSTR(MSG_SPEED), &feedmultiply, 10, 999) - * menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedmultiply, 10, 999) + * MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_multiplier, 10, 999) + * MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999) + * lcd_implementation_drawmenu_setting_edit_int3(sel, row, PSTR(MSG_SPEED), PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999) + * menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedrate_multiplier, 10, 999) * */ #define MENU_ITEM(type, label, args...) do { \ @@ -328,28 +328,28 @@ static void lcd_status_screen() { #ifdef ULTIPANEL_FEEDMULTIPLY // Dead zone at 100% feedrate - if ((feedmultiply < 100 && (feedmultiply + int(encoderPosition)) > 100) || - (feedmultiply > 100 && (feedmultiply + int(encoderPosition)) < 100)) { + if ((feedrate_multiplier < 100 && (feedrate_multiplier + int(encoderPosition)) > 100) || + (feedrate_multiplier > 100 && (feedrate_multiplier + int(encoderPosition)) < 100)) { encoderPosition = 0; - feedmultiply = 100; + feedrate_multiplier = 100; } - if (feedmultiply == 100) { + if (feedrate_multiplier == 100) { if (int(encoderPosition) > ENCODER_FEEDRATE_DEADZONE) { - feedmultiply += int(encoderPosition) - ENCODER_FEEDRATE_DEADZONE; + feedrate_multiplier += int(encoderPosition) - ENCODER_FEEDRATE_DEADZONE; encoderPosition = 0; } else if (int(encoderPosition) < -ENCODER_FEEDRATE_DEADZONE) { - feedmultiply += int(encoderPosition) + ENCODER_FEEDRATE_DEADZONE; + feedrate_multiplier += int(encoderPosition) + ENCODER_FEEDRATE_DEADZONE; encoderPosition = 0; } } else { - feedmultiply += int(encoderPosition); + feedrate_multiplier += int(encoderPosition); encoderPosition = 0; } #endif // ULTIPANEL_FEEDMULTIPLY - feedmultiply = constrain(feedmultiply, 10, 999); + feedrate_multiplier = constrain(feedrate_multiplier, 10, 999); #endif //ULTIPANEL } @@ -456,7 +456,7 @@ void lcd_set_home_offsets() { static void lcd_tune_menu() { START_MENU(); MENU_ITEM(back, MSG_MAIN, lcd_main_menu); - MENU_ITEM_EDIT(int3, MSG_SPEED, &feedmultiply, 10, 999); + MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_multiplier, 10, 999); #if TEMP_SENSOR_0 != 0 MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP - 15); #endif diff --git a/Marlin/ultralcd_implementation_hitachi_HD44780.h b/Marlin/ultralcd_implementation_hitachi_HD44780.h index 2601575e3..f9ed56a7d 100644 --- a/Marlin/ultralcd_implementation_hitachi_HD44780.h +++ b/Marlin/ultralcd_implementation_hitachi_HD44780.h @@ -550,7 +550,7 @@ static void lcd_implementation_status_screen() { lcd.setCursor(0, 2); lcd.print(LCD_STR_FEEDRATE[0]); - lcd.print(itostr3(feedmultiply)); + lcd.print(itostr3(feedrate_multiplier)); lcd.print('%'); #if LCD_WIDTH > 19 && defined(SDSUPPORT) @@ -567,8 +567,8 @@ static void lcd_implementation_status_screen() { lcd.setCursor(LCD_WIDTH - 6, 2); lcd.print(LCD_STR_CLOCK[0]); - if (starttime != 0) { - uint16_t time = millis()/60000 - starttime/60000; + if (print_job_start_ms != 0) { + uint16_t time = millis()/60000 - print_job_start_ms/60000; lcd.print(itostr2(time/60)); lcd.print(':'); lcd.print(itostr2(time%60));