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Merge remote-tracking branch 'upstream/Development' into Development

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Conflicts:
	Marlin/Configuration.h
	Marlin/Marlin_main.cpp
This commit is contained in:
Jérémie FRANCOIS
2015-02-11 06:38:36 +01:00
parent 85e5aa4011 d75cd69de4
commit 9d75a56b56
95 changed files with 8144 additions and 4772 deletions
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281
Marlin/Marlin_main.cpp
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@ -49,20 +49,18 @@
#include "math.h"
#ifdef BLINKM
#include "BlinkM.h"
#include "Wire.h"
#include "BlinkM.h"
#include "Wire.h"
#endif
#if NUM_SERVOS > 0
#include "Servo.h"
#include "Servo.h"
#endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h>
#include <SPI.h>
#endif
#define VERSION_STRING "1.0.0"
// look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
@ -140,17 +138,17 @@
// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
// 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]
// 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<extruder_number> X<offset_on_X> Y<offset_on_Y>
// M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
// 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
// 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>.
@ -163,14 +161,14 @@
// 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 - Displays measured filament diameter
// M500 - stores parameters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
// M503 - print the current settings (from memory not from EEPROM)
// 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
// M666 - set delta endstop adjustment
// M665 - Set delta configurations
// 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.
@ -189,25 +187,16 @@
// M928 - Start SD logging (M928 filename.g) - ended by M29
// M999 - Restart after being stopped by error
//Stepper Movement Variables
//===========================================================================
//=============================imported variables============================
//===========================================================================
//===========================================================================
//=============================public variables=============================
//===========================================================================
#ifdef SDSUPPORT
CardReader card;
CardReader card;
#endif
float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedmultiply=100; //100->1 200->2
int feedmultiply = 100; //100->1 200->2
int saved_feedmultiply;
int extrudemultiply=100; //100->1 200->2
int extruder_multiply[EXTRUDERS] = {100
int extrudemultiply = 100; //100->1 200->2
int extruder_multiply[EXTRUDERS] = { 100
#if EXTRUDERS > 1
, 100
#if EXTRUDERS > 2
@ -242,14 +231,14 @@ float volumetric_multiplier[EXTRUDERS] = {1.0
#endif
};
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homing[3]={0,0,0};
float add_homing[3] = { 0, 0, 0 };
#ifdef DELTA
float endstop_adj[3]={0,0,0};
float endstop_adj[3] = { 0, 0, 0 };
#endif
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
bool axis_known_position[3] = {false, false, false};
bool axis_known_position[3] = { false, false, false };
float zprobe_zoffset;
// Extruder offset
@ -260,25 +249,37 @@ float zprobe_zoffset;
#define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
#endif
float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
#endif
#if defined(EXTRUDER_OFFSET_X)
EXTRUDER_OFFSET_X
#else
0
#endif
,
#if defined(EXTRUDER_OFFSET_Y)
EXTRUDER_OFFSET_Y
#else
0
#endif
};
#endif
uint8_t active_extruder = 0;
int fanSpeed=0;
int fanSpeed = 0;
#ifdef SERVO_ENDSTOPS
int servo_endstops[] = SERVO_ENDSTOPS;
int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
#endif
#ifdef BARICUDA
int ValvePressure=0;
int EtoPPressure=0;
int ValvePressure = 0;
int EtoPPressure = 0;
#endif
#ifdef FWRETRACT
bool autoretract_enabled=false;
bool retracted[EXTRUDERS]={false
bool autoretract_enabled = false;
bool retracted[EXTRUDERS] = { false
#if EXTRUDERS > 1
, false
#if EXTRUDERS > 2
@ -289,7 +290,7 @@ int EtoPPressure=0;
#endif
#endif
};
bool retracted_swap[EXTRUDERS]={false
bool retracted_swap[EXTRUDERS] = { false
#if EXTRUDERS > 1
, false
#if EXTRUDERS > 2
@ -308,38 +309,41 @@ int EtoPPressure=0;
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
#ifdef ULTIPANEL
#ifdef PS_DEFAULT_OFF
bool powersupply = false;
#else
bool powersupply = true;
#endif
bool powersupply =
#ifdef PS_DEFAULT_OFF
false
#else
true
#endif
;
#endif
#ifdef DELTA
float delta[3] = {0.0, 0.0, 0.0};
float delta[3] = { 0, 0, 0 };
#define SIN_60 0.8660254037844386
#define COS_60 0.5
// these are the default values, can be overriden with M665
float delta_radius= DELTA_RADIUS;
float delta_tower1_x= -SIN_60*delta_radius; // front left tower
float delta_tower1_y= -COS_60*delta_radius;
float delta_tower2_x= SIN_60*delta_radius; // front right tower
float delta_tower2_y= -COS_60*delta_radius;
float delta_tower3_x= 0.0; // back middle tower
float delta_tower3_y= delta_radius;
float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
float delta_diagonal_rod_2= sq(delta_diagonal_rod);
float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
float delta_radius = DELTA_RADIUS;
float delta_tower1_x = -SIN_60 * delta_radius; // front left tower
float delta_tower1_y = -COS_60 * delta_radius;
float delta_tower2_x = SIN_60 * delta_radius; // front right tower
float delta_tower2_y = -COS_60 * delta_radius;
float delta_tower3_x = 0; // back middle tower
float delta_tower3_y = delta_radius;
float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
#endif
#ifdef SCARA // Build size scaling
float axis_scaling[3]={1,1,1}; // Build size scaling, default to 1
#ifdef SCARA
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
bool cancel_heatup = false ;
bool cancel_heatup = false;
#ifdef FILAMENT_SENSOR
//Variables for Filament Sensor input
@ -356,17 +360,14 @@ bool cancel_heatup = false ;
const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:";
//===========================================================================
//=============================Private Variables=============================
//===========================================================================
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
static float destination[NUM_AXIS] = { 0, 0, 0, 0 };
#ifndef DELTA
static float delta[3] = {0.0, 0.0, 0.0};
static float delta[3] = { 0, 0, 0 };
#endif
static float offset[3] = {0.0, 0.0, 0.0};
static float offset[3] = { 0, 0, 0 };
static bool home_all_axis = true;
static float feedrate = 1500.0, next_feedrate, saved_feedrate;
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
@ -378,31 +379,28 @@ static bool fromsd[BUFSIZE];
static int bufindr = 0;
static int bufindw = 0;
static int buflen = 0;
//static int i = 0;
static char serial_char;
static int serial_count = 0;
static boolean comment_mode = false;
static char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
static char *strchr_pointer; ///< A pointer to find chars in the command string (X, Y, Z, E, etc.)
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
const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
//static float tt = 0;
//static float bt = 0;
//Inactivity shutdown variables
// Inactivity shutdown
static 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;
unsigned long stoptime=0;
unsigned long starttime = 0; ///< Print job start time
unsigned long stoptime = 0; ///< Print job stop time
static uint8_t tmp_extruder;
bool Stopped=false;
bool Stopped = false;
#if NUM_SERVOS > 0
Servo servos[NUM_SERVOS];
@ -411,10 +409,9 @@ bool Stopped=false;
bool CooldownNoWait = true;
bool target_direction;
//Insert variables if CHDK is defined
#ifdef CHDK
unsigned long chdkHigh = 0;
boolean chdkActive = false;
unsigned long chdkHigh = 0;
boolean chdkActive = false;
#endif
//===========================================================================
@ -614,7 +611,7 @@ void setup()
MCUSR=0;
SERIAL_ECHOPGM(MSG_MARLIN);
SERIAL_ECHOLNPGM(VERSION_STRING);
SERIAL_ECHOLNPGM(STRING_VERSION);
#ifdef STRING_VERSION_CONFIG_H
#ifdef STRING_CONFIG_H_AUTHOR
SERIAL_ECHO_START;
@ -2926,26 +2923,16 @@ Sigma_Exit:
float area = .0;
if(code_seen('D')) {
float diameter = (float)code_value();
if (diameter == 0.0) {
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
volumetric_enabled = false;
} else {
filament_size[tmp_extruder] = (float)code_value();
float diameter = code_value();
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
volumetric_enabled = (diameter != 0.0);
if (volumetric_enabled) {
filament_size[tmp_extruder] = diameter;
// make sure all extruders have some sane value for the filament size
filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
#if EXTRUDERS > 1
filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
#if EXTRUDERS > 2
filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
#if EXTRUDERS > 3
filament_size[3] = (filament_size[3] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[3]);
#endif //EXTRUDERS > 3
#endif //EXTRUDERS > 2
#endif //EXTRUDERS > 1
volumetric_enabled = true;
for (int i=0; i<EXTRUDERS; i++)
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
} else {
//reserved for setting filament diameter via UFID or filament measuring device
@ -3064,33 +3051,11 @@ Sigma_Exit:
int t= code_value() ;
switch(t)
{
case 0:
case 0:
case 1:
{
autoretract_enabled=false;
retracted[0]=false;
#if EXTRUDERS > 1
retracted[1]=false;
#endif
#if EXTRUDERS > 2
retracted[2]=false;
#endif
#if EXTRUDERS > 3
retracted[3]=false;
#endif
}break;
case 1:
{
autoretract_enabled=true;
retracted[0]=false;
#if EXTRUDERS > 1
retracted[1]=false;
#endif
#if EXTRUDERS > 2
retracted[2]=false;
#endif
#if EXTRUDERS > 3
retracted[3]=false;
#endif
autoretract_enabled = (t == 1);
for (int i=0; i<EXTRUDERS; i++) retracted[i] = false;
}break;
default:
SERIAL_ECHO_START;
@ -3613,7 +3578,7 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
break;
case 503: // M503 print settings currently in memory
{
Config_PrintSettings();
Config_PrintSettings(code_seen('S') && code_value == 0);
}
break;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
@ -3663,16 +3628,17 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
#ifdef FILAMENTCHANGEENABLE
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
{
float target[4];
float lastpos[4];
target[X_AXIS]=current_position[X_AXIS];
target[Y_AXIS]=current_position[Y_AXIS];
target[Z_AXIS]=current_position[Z_AXIS];
target[E_AXIS]=current_position[E_AXIS];
lastpos[X_AXIS]=current_position[X_AXIS];
lastpos[Y_AXIS]=current_position[Y_AXIS];
lastpos[Z_AXIS]=current_position[Z_AXIS];
lastpos[E_AXIS]=current_position[E_AXIS];
float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate/60;
for (int i=0; i<NUM_AXIS; i++)
target[i] = lastpos[i] = current_position[i];
#define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
#ifdef DELTA
#define RUNPLAN calculate_delta(target); BASICPLAN
#else
#define RUNPLAN BASICPLAN
#endif
//retract by E
if(code_seen('E'))
{
@ -3684,7 +3650,7 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
#endif
}
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
RUNPLAN;
//lift Z
if(code_seen('Z'))
@ -3697,12 +3663,12 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
#endif
}
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
RUNPLAN;
//move xy
if(code_seen('X'))
{
target[X_AXIS]+= code_value();
target[X_AXIS]= code_value();
}
else
{
@ -3721,7 +3687,7 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
#endif
}
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
RUNPLAN;
if(code_seen('L'))
{
@ -3734,7 +3700,7 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
#endif
}
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
RUNPLAN;
//finish moves
st_synchronize();
@ -3782,10 +3748,18 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
}
current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
plan_set_e_position(current_position[E_AXIS]);
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //should do nothing
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move xy back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
RUNPLAN; //should do nothing
#ifdef DELTA
calculate_delta(lastpos);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xyz back
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#else
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xy back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#endif
}
break;
#endif //FILAMENTCHANGEENABLE
@ -4729,15 +4703,6 @@ float calculate_volumetric_multiplier(float diameter) {
}
void calculate_volumetric_multipliers() {
volumetric_multiplier[0] = calculate_volumetric_multiplier(filament_size[0]);
#if EXTRUDERS > 1
volumetric_multiplier[1] = calculate_volumetric_multiplier(filament_size[1]);
#if EXTRUDERS > 2
volumetric_multiplier[2] = calculate_volumetric_multiplier(filament_size[2]);
#if EXTRUDERS > 3
volumetric_multiplier[3] = calculate_volumetric_multiplier(filament_size[3]);
#endif //EXTRUDERS > 3
#endif //EXTRUDERS > 2
#endif //EXTRUDERS > 1
for (int i=0; i<EXTRUDERS; i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}