/** * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . * */ #pragma once /** * gcode.h - Temporary container for all gcode handlers */ /** * ----------------- * G-Codes in Marlin * ----------------- * * Helpful G-code references: * - https://marlinfw.org/meta/gcode * - https://reprap.org/wiki/G-code * - https://linuxcnc.org/docs/html/gcode.html * * Help to document Marlin's G-codes online: * - https://github.com/MarlinFirmware/MarlinDocumentation * * ----------------- * * "G" Codes * * G0 -> G1 * G1 - Coordinated Movement X Y Z E * G2 - CW ARC * G3 - CCW ARC * G4 - Dwell S or P * G5 - Cubic B-spline with XYZE destination and IJPQ offsets * G10 - Retract filament according to settings of M207 (Requires FWRETRACT) * G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT) * G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE) * G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES) * G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES) * G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES) * G20 - Set input units to inches (Requires INCH_MODE_SUPPORT) * G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT) * G26 - Mesh Validation Pattern (Requires G26_MESH_VALIDATION) * G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE) * G28 - Home one or more axes * G29 - Start or continue the bed leveling probe procedure (Requires bed leveling) * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location) * G31 - Dock sled (Z_PROBE_SLED only) * G32 - Undock sled (Z_PROBE_SLED only) * G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION) * G34 - Z Stepper automatic alignment using probe: I T A (Requires Z_STEPPER_AUTO_ALIGN) * G35 - Read bed corners to help adjust bed screws: T (Requires ASSISTED_TRAMMING) * G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET) * G42 - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL) * G60 - Save current position. (Requires SAVED_POSITIONS) * G61 - Apply/restore saved coordinates. (Requires SAVED_POSITIONS) * G76 - Calibrate first layer temperature offsets. (Requires PROBE_TEMP_COMPENSATION) * G80 - Cancel current motion mode (Requires GCODE_MOTION_MODES) * 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 -> M0 * M3 - Turn ON Laser | Spindle (clockwise), set Power | Speed. (Requires SPINDLE_FEATURE or LASER_FEATURE) * M4 - Turn ON Laser | Spindle (counter-clockwise), set Power | Speed. (Requires SPINDLE_FEATURE or LASER_FEATURE) * M5 - Turn OFF Laser | Spindle. (Requires SPINDLE_FEATURE or LASER_FEATURE) * M7 - Turn mist coolant ON. (Requires COOLANT_CONTROL) * M8 - Turn flood coolant ON. (Requires COOLANT_CONTROL) * M9 - Turn coolant OFF. (Requires COOLANT_CONTROL) * M10 - Turn Vacuum or Blower motor ON (Requires AIR_EVACUATION) * M11 - Turn Vacuum or Blower motor OFF (Requires AIR_EVACUATION) * M12 - Set up closed loop control system. (Requires EXTERNAL_CLOSED_LOOP_CONTROLLER) * M16 - Expected printer check. (Requires EXPECTED_PRINTER_CHECK) * M17 - Enable/Power all stepper motors * M18 - Disable all stepper motors; same as M84 * M20 - List SD card. (Requires SDSUPPORT) * M21 - Init SD card. (Requires SDSUPPORT) * M22 - Release SD card. (Requires SDSUPPORT) * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT) * M24 - Start/resume SD print. (Requires SDSUPPORT) * M25 - Pause SD print. (Requires SDSUPPORT) * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT) * M27 - Report SD print status. (Requires SDSUPPORT) * OR, with 'S' set the SD status auto-report interval. (Requires AUTO_REPORT_SD_STATUS) * OR, with 'C' get the current filename. * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT) * M29 - Stop SD write. (Requires SDSUPPORT) * M30 - Delete file from SD: "M30 /path/file.gco" * M31 - Report time since last M109 or SD card start to serial. * M32 - Select file and start SD print: "M32 [S] !/path/file.gco#". (Requires SDSUPPORT) * Use P to run other files as sub-programs: "M32 P !filename#" * The '#' is necessary when calling from within sd files, as it stops buffer prereading * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT) * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA) * M42 - Change pin status via gcode: M42 P S. LED pin assumed if P is omitted. (Requires DIRECT_PIN_CONTROL) * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins * M48 - Measure Z Probe repeatability: M48 P X Y V E L S. (Requires Z_MIN_PROBE_REPEATABILITY_TEST) * M72 - Cloud print filename; * M73 - Set the progress percentage. (Requires LCD_SET_PROGRESS_MANUALLY) * M75 - Start the print job timer. * M76 - Pause the print job timer. * M77 - Stop the print job timer. * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER) * M79 - Cloud print statistics.S0:cloud connect; S1:cloud print start; S2:cloud print pause; S3:cloud print resume; S4:cloud print stop; S5:cloud print complete * M80 - Turn on Power Supply. (Requires PSU_CONTROL) * M81 - Turn off Power Supply. (Requires PSU_CONTROL) * M82 - Set E codes absolute (default). * M83 - Set E codes relative while in Absolute (G90) mode. * M84 - Disable steppers until next move, or use S to specify an idle * duration after which steppers should turn off. S0 disables the timeout. * M85 - Set inactivity shutdown timer with parameter S. To disable set zero (default) * M92 - Set planner.settings.axis_steps_per_mm for one or more axes. * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER) * M104 - Set extruder target temp. * M105 - Report current temperatures. * M106 - Set print fan speed. * M107 - Print fan off. * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER) * M109 - S Wait for extruder current temp to reach target temp. ** Wait only when heating! ** * R Wait for extruder current temp to reach target temp. ** Wait for heating or cooling. ** * If AUTOTEMP is enabled, S B F. Exit autotemp by any M109 without F * M110 - Set the current line number. (Used by host printing) * M111 - Set debug flags: "M111 S". See flag bits defined in enum.h. * M112 - Full Shutdown. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE) * M114 - Report current position. * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT) * M117 - Display a message on the controller screen. (Requires an LCD) * M118 - Display a message in the host console. * M119 - Report endstops status. * M120 - Enable endstops detection. * M121 - Disable endstops detection. * M122 - Debug stepper (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470) * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE) * M126 - Solenoid Air Valve Open. (Requires BARICUDA) * M127 - Solenoid Air Valve Closed. (Requires BARICUDA) * M128 - EtoP Open. (Requires BARICUDA) * M129 - EtoP Closed. (Requires BARICUDA) * M140 - Set bed target temp. S * M141 - Set heated chamber target temp. S (Requires a chamber heater) * M143 - Set cooler target temp. S (Requires a laser cooling device) * M145 - Set heatup values for materials on the LCD. H B F for S (0=PLA, 1=ABS) * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT) * M150 - Set Status LED Color as R U B W P. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, NEOPIXEL_LED, PCA9533, or PCA9632). * M154 - Auto-report position with interval of S. (Requires AUTO_REPORT_POSITION) * M155 - Auto-report temperatures with interval of S. (Requires AUTO_REPORT_TEMPERATURES) * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER) * M164 - Commit the mix and save to a virtual tool (current, or as specified by 'S'). (Requires MIXING_EXTRUDER) * M165 - Set the mix for the mixing extruder (and current virtual tool) with parameters ABCDHI. (Requires MIXING_EXTRUDER and DIRECT_MIXING_IN_G1) * M166 - Set the Gradient Mix for the mixing extruder. (Requires GRADIENT_MIX) * M190 - S Wait for bed current temp to reach target temp. ** Wait only when heating! ** * R Wait for bed current temp to reach target temp. ** Wait for heating or cooling. ** * M193 - R Wait for cooler temp to reach target temp. ** Wait for cooling. ** * M200 - Set filament diameter, D, setting E axis units to cubic. (Use S0 to revert to linear units.) * M201 - Set max acceleration in units/s^2 for print moves: "M201 X Y Z E" * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X Y Z E" ** UNUSED IN MARLIN! ** * M203 - Set maximum feedrate: "M203 X Y Z E" in units/sec. * M204 - Set default acceleration in units/sec^2: P R T * M205 - Set advanced settings. Current units apply: S T minimum speeds B X, Y, Z, E * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) * M207 - Set Retract Length: S, Feedrate: F, and Z lift: Z. (Requires FWRETRACT) * M208 - Set Recover (unretract) Additional (!) Length: S and Feedrate: F. (Requires FWRETRACT) * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT_AUTORETRACT) Every normal extrude-only move will be classified as retract depending on the direction. * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS) * M217 - Set filament swap parameters: "M217 S P R". (Requires SINGLENOZZLE) * M218 - Set/get a tool offset: "M218 T X Y". (Requires 2 or more extruders) * M220 - Set Feedrate Percentage: "M220 S" (i.e., "FR" on the LCD) * Use "M220 B" to back up the Feedrate Percentage and "M220 R" to restore it. (Requires an MMU_MODEL version 2 or 2S) * M221 - Set Flow Percentage: "M221 S" * M226 - Wait until a pin is in a given state: "M226 P S" (Requires DIRECT_PIN_CONTROL) * M240 - Trigger a camera to take a photograph. (Requires PHOTO_GCODE) * M250 - Set LCD contrast: "M250 C" (0-63). (Requires LCD support) * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS) * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS) * M280 - Set servo position absolute: "M280 P S". (Requires servos) * M281 - Set servo min|max position: "M281 P L U". (Requires EDITABLE_SERVO_ANGLES) * M290 - Babystepping (Requires BABYSTEPPING) * M300 - Play beep sound S P * M301 - Set PID parameters P I and D. (Requires PIDTEMP) * M302 - Allow cold extrudes, or set the minimum extrude S. (Requires PREVENT_COLD_EXTRUSION) * M303 - PID relay autotune S sets the target temperature. Default 150C. (Requires PIDTEMP) * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED) * M305 - Set user thermistor parameters R T and P. (Requires TEMP_SENSOR_x 1000) * M309 - Set chamber PID parameters P I and D. (Requires PIDTEMPCHAMBER) * M350 - Set microstepping mode. (Requires digital microstepping pins.) * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.) * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN) * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID) * M381 - Disable all solenoids. (Requires EXT_SOLENOID) * M400 - Finish all moves. * M401 - Deploy and activate Z probe. (Requires a probe) * M402 - Deactivate and stow Z probe. (Requires a probe) * M403 - Set filament type for PRUSA MMU2 * M404 - Display or set the Nominal Filament Width: "W". (Requires FILAMENT_WIDTH_SENSOR) * M405 - Enable Filament Sensor flow control. "M405 D". (Requires FILAMENT_WIDTH_SENSOR) * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR) * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR) * M410 - Quickstop. Abort all planned moves. * M412 - Enable / Disable Filament Runout Detection. (Requires FILAMENT_RUNOUT_SENSOR) * M413 - Enable / Disable Power-Loss Recovery. (Requires POWER_LOSS_RECOVERY) * M414 - Set language by index. (Requires LCD_LANGUAGE_2...) * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL) * M421 - Set a single Z coordinate in the Mesh Leveling grid. X Y Z (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, or AUTO_BED_LEVELING_UBL) * M422 - Set Z Stepper automatic alignment position using probe. X Y A (Requires Z_STEPPER_AUTO_ALIGN) * M425 - Enable/Disable and tune backlash correction. (Requires BACKLASH_COMPENSATION and BACKLASH_GCODE) * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) * M430 - Read the system current, voltage, and power (Requires POWER_MONITOR_CURRENT, POWER_MONITOR_VOLTAGE, or POWER_MONITOR_FIXED_VOLTAGE) * M486 - Identify and cancel objects. (Requires CANCEL_OBJECTS) * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS) * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS) * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! ** * M503 - Print the current settings (in memory): "M503 S". S0 specifies compact output. * M504 - Validate EEPROM contents. (Requires EEPROM_SETTINGS) * M510 - Lock Printer * M511 - Unlock Printer * M512 - Set/Change/Remove Password * M524 - Abort the current SD print job started with M24. (Requires SDSUPPORT) * M540 - Enable/disable SD card abort on endstop hit: "M540 S". (Requires SD_ABORT_ON_ENDSTOP_HIT) * M552 - Get or set IP address. Enable/disable network interface. (Requires enabled Ethernet port) * M553 - Get or set IP netmask. (Requires enabled Ethernet port) * M554 - Get or set IP gateway. (Requires enabled Ethernet port) * M569 - Enable stealthChop on an axis. (Requires at least one _DRIVER_TYPE to be TMC2130/2160/2208/2209/5130/5160) * M600 - Pause for filament change: "M600 X Y Z E L". (Requires ADVANCED_PAUSE_FEATURE) * M603 - Configure filament change: "M603 T U L". (Requires ADVANCED_PAUSE_FEATURE) * M605 - Set Dual X-Carriage movement mode: "M605 S [X] [R]". (Requires DUAL_X_CARRIAGE) * M665 - Set delta configurations: "M665 H L R S B X Y Z (Requires DELTA) * M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS) * M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN) * M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES) * M702 - Unload filament (Requires FILAMENT_LOAD_UNLOAD_GCODES) * M808 - Set or Goto a Repeat Marker (Requires GCODE_REPEAT_MARKERS) * M810-M819 - Define/execute a G-code macro (Requires GCODE_MACROS) * M851 - Set Z probe's XYZ offsets in current units. (Negative values: X=left, Y=front, Z=below) * M852 - Set skew factors: "M852 [I] [J] [K]". (Requires SKEW_CORRECTION_GCODE, and SKEW_CORRECTION_FOR_Z for IJ) * M860 - Report the position of position encoder modules. * M861 - Report the status of position encoder modules. * M862 - Perform an axis continuity test for position encoder modules. * M863 - Perform steps-per-mm calibration for position encoder modules. * M864 - Change position encoder module I2C address. * M865 - Check position encoder module firmware version. * M866 - Report or reset position encoder module error count. * M867 - Enable/disable or toggle error correction for position encoder modules. * M868 - Report or set position encoder module error correction threshold. * M869 - Report position encoder module error. * M871 - Print/reset/clear first layer temperature offset values. (Requires PROBE_TEMP_COMPENSATION) * M192 - Wait for probe temp (Requires PROBE_TEMP_COMPENSATION) * M876 - Handle Prompt Response. (Requires HOST_PROMPT_SUPPORT and not EMERGENCY_PARSER) * M900 - Get or Set Linear Advance K-factor. (Requires LIN_ADVANCE) * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470) * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots) * M908 - Control digital trimpot directly. (Requires HAS_MOTOR_CURRENT_DAC or DIGIPOTSS_PIN) * M909 - Print digipot/DAC current value. (Requires HAS_MOTOR_CURRENT_DAC) * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires HAS_MOTOR_CURRENT_DAC) * M911 - Report stepper driver overtemperature pre-warn condition. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660) * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660) * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD) * M914 - Set StallGuard sensitivity. (Requires SENSORLESS_HOMING or SENSORLESS_PROBING) * M916 - L6470 tuning: Increase KVAL_HOLD until thermal warning. (Requires at least one _DRIVER_TYPE L6470) * M917 - L6470 tuning: Find minimum current thresholds. (Requires at least one _DRIVER_TYPE L6470) * M918 - L6470 tuning: Increase speed until max or error. (Requires at least one _DRIVER_TYPE L6470) * M930 - Wi-Fi ON/OFF status. * M936 - OTA update firmware. * M951 - Set Magnetic Parking Extruder parameters. (Requires MAGNETIC_PARKING_EXTRUDER) * M7219 - Control Max7219 Matrix LEDs. (Requires MAX7219_GCODE) * * 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) * * ************ Custom codes - This can change to suit future G-code regulations * G425 - Calibrate using a conductive object. (Requires CALIBRATION_GCODE) * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT) * M993 - Backup SPI Flash to SD * M994 - Load a Backup from SD to SPI Flash * M995 - Touch screen calibration for TFT display * M997 - Perform in-application firmware update * M999 - Restart after being stopped by error * M8015 - One key to obtain the Z offset value * D... - Custom Development G-code. Add hooks to 'gcode_D.cpp' for developers to test features. (Requires MARLIN_DEV_MODE) * * "T" Codes * * T0-T3 - Select an extruder (tool) by index: "T F" */ #include "../inc/MarlinConfig.h" #include "parser.h" #if ENABLED(I2C_POSITION_ENCODERS) #include "../feature/encoder_i2c.h" #endif #if IS_SCARA || defined(G0_FEEDRATE) #define HAS_FAST_MOVES 1 #endif #if ENABLED(USE_AUTOZ_TOOL) #include "../module/PressLeveled.h" #endif #if ENABLED(USE_AUTOZ_TOOL_2) #include "../module/AutoOffset.h" #endif enum AxisRelative : uint8_t { REL_X, REL_Y, REL_Z, REL_E, E_MODE_ABS, E_MODE_REL }; extern const char G28_STR[]; class GcodeSuite { public: static uint8_t axis_relative; static inline bool axis_is_relative(const AxisEnum a) { if (a == E_AXIS) { if (TEST(axis_relative, E_MODE_REL)) return true; if (TEST(axis_relative, E_MODE_ABS)) return false; } return TEST(axis_relative, a); } static inline void set_relative_mode(const bool rel) { axis_relative = rel ? _BV(REL_X) | _BV(REL_Y) | _BV(REL_Z) | _BV(REL_E) : 0; } static inline void set_e_relative() { CBI(axis_relative, E_MODE_ABS); SBI(axis_relative, E_MODE_REL); } static inline void set_e_absolute() { CBI(axis_relative, E_MODE_REL); SBI(axis_relative, E_MODE_ABS); } #if ENABLED(CNC_WORKSPACE_PLANES) /** * Workspace planes only apply to G2/G3 moves * (and "canned cycles" - not a current feature) */ enum WorkspacePlane : char { PLANE_XY, PLANE_ZX, PLANE_YZ }; static WorkspacePlane workspace_plane; #endif #define MAX_COORDINATE_SYSTEMS 9 #if ENABLED(CNC_COORDINATE_SYSTEMS) static int8_t active_coordinate_system; static xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS]; static bool select_coordinate_system(const int8_t _new); #endif static millis_t previous_move_ms, max_inactive_time, stepper_inactive_time; FORCE_INLINE static void reset_stepper_timeout(const millis_t ms=millis()) { previous_move_ms = ms; } FORCE_INLINE static bool stepper_max_timed_out(const millis_t ms=millis()) { return max_inactive_time && ELAPSED(ms, previous_move_ms + max_inactive_time); } FORCE_INLINE static bool stepper_inactive_timeout(const millis_t ms=millis()) { return ELAPSED(ms, previous_move_ms + stepper_inactive_time); } static int8_t get_target_extruder_from_command(); static int8_t get_target_e_stepper_from_command(); static void get_destination_from_command(); static void process_parsed_command(const bool no_ok=false); static void process_next_command(); // Execute G-code in-place, preserving current G-code parameters static void process_subcommands_now_P(PGM_P pgcode); static void process_subcommands_now(char * gcode); static inline void home_all_axes(const bool keep_leveling=false) { process_subcommands_now_P(keep_leveling ? G28_STR : TERN(G28_L0_ENSURES_LEVELING_OFF, PSTR("G28L0"), G28_STR)); } #if EITHER(HAS_AUTO_REPORTING, HOST_KEEPALIVE_FEATURE) static bool autoreport_paused; static inline bool set_autoreport_paused(const bool p) { const bool was = autoreport_paused; autoreport_paused = p; return was; } #else static constexpr bool autoreport_paused = false; static inline bool set_autoreport_paused(const bool) { return false; } #endif #if ENABLED(HOST_KEEPALIVE_FEATURE) /** * States for managing Marlin and host communication * Marlin sends messages if blocked or busy */ enum MarlinBusyState : char { NOT_BUSY, // Not in a handler IN_HANDLER, // Processing a GCode IN_PROCESS, // Known to be blocking command input (as in G29) PAUSED_FOR_USER, // Blocking pending any input PAUSED_FOR_INPUT // Blocking pending text input (concept) }; static MarlinBusyState busy_state; static uint8_t host_keepalive_interval; static void host_keepalive(); #define KEEPALIVE_STATE(N) REMEMBER(_KA_, gcode.busy_state, gcode.N) #else #define KEEPALIVE_STATE(N) NOOP #endif static void dwell(millis_t time); private: friend class MarlinSettings; #if ENABLED(MARLIN_DEV_MODE) static void D(const int16_t dcode); #endif static void G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move=false)); #if ENABLED(ARC_SUPPORT) static void G2_G3(const bool clockwise); #endif static void G4(); #if ENABLED(BEZIER_CURVE_SUPPORT) static void G5(); #endif #if ENABLED(DIRECT_STEPPING) static void G6(); #endif #if ENABLED(FWRETRACT) static void G10(); static void G11(); #endif #if ENABLED(NOZZLE_CLEAN_FEATURE) static void G12(); #endif #if ENABLED(CNC_WORKSPACE_PLANES) static void G17(); static void G18(); static void G19(); #endif #if ENABLED(INCH_MODE_SUPPORT) static void G20(); static void G21(); #endif #if ENABLED(G26_MESH_VALIDATION) static void G26(); #endif #if ENABLED(NOZZLE_PARK_FEATURE) static void G27(); #endif static void G28(); #if HAS_LEVELING #if ENABLED(G29_RETRY_AND_RECOVER) static void event_probe_failure(); static void event_probe_recover(); static void G29_with_retry(); #define G29_TYPE bool #else #define G29_TYPE void #endif static G29_TYPE G29(); #endif #if HAS_BED_PROBE static void G30(); #if ENABLED(Z_PROBE_SLED) static void G31(); static void G32(); #endif #endif #if ENABLED(DELTA_AUTO_CALIBRATION) static void G33(); #endif #if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION) static void G34(); #endif #if ENABLED(Z_STEPPER_AUTO_ALIGN) static void M422(); #endif #if ENABLED(ASSISTED_TRAMMING) static void G35(); #endif #if ENABLED(G38_PROBE_TARGET) static void G38(const int8_t subcode); #endif #if ENABLED(HAS_MESH) static void G42(); #endif #if ENABLED(CNC_COORDINATE_SYSTEMS) static void G53(); static void G54(); static void G55(); static void G56(); static void G57(); static void G58(); static void G59(); #endif #if ENABLED(PROBE_TEMP_COMPENSATION) static void G76(); #endif #if SAVED_POSITIONS static void G60(); static void G61(); #endif #if ENABLED(GCODE_MOTION_MODES) static void G80(); #endif static void G92(); #if ENABLED(CALIBRATION_GCODE) static void G425(); #endif #if ENABLED(HAS_RESUME_CONTINUE) static void M0_M1(); #endif #if HAS_CUTTER static void M3_M4(const bool is_M4); static void M5(); #if ENABLED(AIR_EVACUATION) static void M10(); static void M11(); #endif #endif #if ENABLED(COOLANT_CONTROL) #if ENABLED(COOLANT_MIST) static void M7(); #endif #if ENABLED(COOLANT_FLOOD) static void M8(); #endif static void M9(); #endif #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) static void M12(); #endif #if ENABLED(EXPECTED_PRINTER_CHECK) static void M16(); #endif static void M17(); static void M18_M84(); #if ENABLED(SDSUPPORT) static void M20(); static void M21(); static void M22(); static void M23(); static void M24(); static void M25(); static void M26(); static void M27(); static void M28(); static void M29(); static void M30(); #endif static void M31(); #if ENABLED(SDSUPPORT) #if ENABLED(HAS_MEDIA_SUBCALLS) static void M32(); #endif #if ENABLED(LONG_FILENAME_HOST_SUPPORT) static void M33(); #endif #if BOTH(SDCARD_SORT_ALPHA, SDSORT_GCODE) static void M34(); #endif #endif #if ENABLED(DIRECT_PIN_CONTROL) static void M42(); #endif #if ENABLED(PINS_DEBUGGING) static void M43(); #endif #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST) static void M48(); #endif static void M72(); #if ENABLED(LCD_SET_PROGRESS_MANUALLY) static void M73(); #endif static void M75(); static void M76(); static void M77(); #if ENABLED(PRINTCOUNTER) static void M78(); #endif static void M79(); #if ENABLED(PSU_CONTROL) static void M80(); #endif static void M81(); #if HAS_EXTRUDERS static void M82(); static void M83(); #endif static void M85(); static void M92(); #if ENABLED(M100_FREE_MEMORY_WATCHER) static void M100(); #endif #if HAS_EXTRUDERS static void M104_M109(const bool isM109); // Because the power is limited to 200W, it must be heated separately and wait for extruder target temp #if ENABLED(USE_SWITCH_POWER_200W) FORCE_INLINE static void M104() { M104_M109(true); } #else FORCE_INLINE static void M104() { M104_M109(false); } //200w电源改成了额350w电源不需要限制加热 20230515 #endif FORCE_INLINE static void M109() { M104_M109(true); } #endif static void M105(); #if HAS_FAN static void M106(); static void M107(); #endif #if DISABLED(EMERGENCY_PARSER) static void M108(); static void M112(); static void M410(); #if ENABLED(HOST_PROMPT_SUPPORT) static void M876(); #endif #endif static void M110(); static void M111(); #if ENABLED(HOST_KEEPALIVE_FEATURE) static void M113(); #endif static void M114(); static void M115(); #if HAS_STATUS_MESSAGE static void M117(); #endif static void M118(); static void M119(); static void M120(); static void M121(); #if ENABLED(PARK_HEAD_ON_PAUSE) static void M125(); #endif #if ENABLED(BARICUDA) #if HAS_HEATER_1 static void M126(); static void M127(); #endif #if HAS_HEATER_2 static void M128(); static void M129(); #endif #endif #if HAS_HEATED_BED static void M140_M190(const bool isM190); // Because the power is limited to 200W, it must be heated separately and wait for hotbed target temp #if ENABLED(USE_SWITCH_POWER_200W) FORCE_INLINE static void M140() { M140_M190(true); } #else FORCE_INLINE static void M140() { M140_M190(false); } #endif FORCE_INLINE static void M190() { M140_M190(true); } #endif #if HAS_HEATED_CHAMBER static void M141(); static void M191(); #endif #if HAS_COOLER static void M143(); static void M193(); #endif #if PREHEAT_COUNT static void M145(); #endif #if ENABLED(TEMPERATURE_UNITS_SUPPORT) static void M149(); #endif #if ENABLED(HAS_COLOR_LEDS) static void M150(); #endif #if ENABLED(AUTO_REPORT_POSITION) static void M154(); #endif #if BOTH(AUTO_REPORT_TEMPERATURES, HAS_TEMP_SENSOR) static void M155(); #endif #if ENABLED(MIXING_EXTRUDER) static void M163(); static void M164(); #if ENABLED(DIRECT_MIXING_IN_G1) static void M165(); #endif #if ENABLED(GRADIENT_MIX) static void M166(); #endif #endif static void M200(); static void M201(); #if 0 static void M202(); // Not used for Sprinter/grbl gen6 #endif static void M203(); static void M204(); static void M205(); #if ENABLED(HAS_M206_COMMAND) static void M206(); #endif #if ENABLED(FWRETRACT) static void M207(); static void M208(); #if ENABLED(FWRETRACT_AUTORETRACT) static void M209(); #endif #endif static void M211(); #if ENABLED(HAS_MULTI_EXTRUDER) static void M217(); #endif #if ENABLED(HAS_HOTEND_OFFSET) static void M218(); #endif static void M220(); #if HAS_EXTRUDERS static void M221(); #endif #if ENABLED(DIRECT_PIN_CONTROL) static void M226(); #endif #if ENABLED(PHOTO_GCODE) static void M240(); #endif #if ENABLED(HAS_LCD_CONTRAST) static void M250(); #endif #if ENABLED(EXPERIMENTAL_I2CBUS) static void M260(); static void M261(); #endif #if HAS_SERVOS static void M280(); #if ENABLED(EDITABLE_SERVO_ANGLES) static void M281(); #endif #endif #if ENABLED(BABYSTEPPING) static void M290(); #endif #if ENABLED(HAS_BUZZER) static void M300(); #endif #if ENABLED(PIDTEMP) static void M301(); #endif #if ENABLED(PREVENT_COLD_EXTRUSION) static void M302(); #endif #if ENABLED(HAS_PID_HEATING) static void M303(); #endif #if ENABLED(PIDTEMPBED) static void M304(); #endif #if ENABLED(HAS_USER_THERMISTORS) static void M305(); #endif #if ENABLED(PIDTEMPCHAMBER) static void M309(); #endif #if HAS_MICROSTEPS static void M350(); static void M351(); #endif #if ENABLED(CASE_LIGHT_ENABLE) static void M355(); #endif #if ENABLED(REPETIER_GCODE_M360) static void M360(); #endif #if ENABLED(MORGAN_SCARA) static bool M360(); static bool M361(); static bool M362(); static bool M363(); static bool M364(); #endif #if EITHER(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL) static void M380(); static void M381(); #endif static void M400(); #if HAS_BED_PROBE static void M401(); static void M402(); #endif #if ENABLED(HAS_PRUSA_MMU2) static void M403(); #endif #if ENABLED(FILAMENT_WIDTH_SENSOR) static void M404(); static void M405(); static void M406(); static void M407(); #endif #if ENABLED(HAS_FILAMENT_SENSOR) static void M412(); #endif #if ENABLED(HAS_MULTI_LANGUAGE) static void M414(); #endif #if HAS_LEVELING static void M420(); static void M421(); #endif #if ENABLED(BACKLASH_GCODE) static void M425(); #endif #if ENABLED(HAS_M206_COMMAND) static void M428(); #endif #if ENABLED(HAS_POWER_MONITOR) static void M430(); #endif #if ENABLED(CANCEL_OBJECTS) static void M486(); #endif static void M500(); static void M501(); static void M502(); #if DISABLED(DISABLE_M503) static void M503(); #endif #if ENABLED(EEPROM_SETTINGS) static void M504(); #endif #if ENABLED(PASSWORD_FEATURE) static void M510(); #if ENABLED(PASSWORD_UNLOCK_GCODE) static void M511(); #endif #if ENABLED(PASSWORD_CHANGE_GCODE) static void M512(); #endif #endif #if ENABLED(SDSUPPORT) static void M524(); #endif #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT) static void M540(); #endif #if HAS_ETHERNET static void M552(); static void M553(); static void M554(); #endif #if ENABLED(BAUD_RATE_GCODE) static void M575(); #endif #if HAS_SHAPING static void M593(); static void M593_report(const bool forReplay=true); #endif #if ENABLED(ADVANCED_PAUSE_FEATURE) static void M600(); static void M603(); #endif #if ENABLED(HAS_DUPLICATION_MODE) static void M605(); #endif #if ENABLED(IS_KINEMATIC) static void M665(); #endif #if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS static void M666(); #endif #if ENABLED(DUET_SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD) static void M672(); #endif #if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES) static void M701(); static void M702(); #endif #if ENABLED(GCODE_REPEAT_MARKERS) static void M808(); #endif #if ENABLED(GCODE_MACROS) static void M810_819(); #endif #if ENABLED(HAS_BED_PROBE) static void M851(); #endif #if ENABLED(SKEW_CORRECTION_GCODE) static void M852(); #endif #if ENABLED(I2C_POSITION_ENCODERS) FORCE_INLINE static void M860() { I2CPEM.M860(); } FORCE_INLINE static void M861() { I2CPEM.M861(); } FORCE_INLINE static void M862() { I2CPEM.M862(); } FORCE_INLINE static void M863() { I2CPEM.M863(); } FORCE_INLINE static void M864() { I2CPEM.M864(); } FORCE_INLINE static void M865() { I2CPEM.M865(); } FORCE_INLINE static void M866() { I2CPEM.M866(); } FORCE_INLINE static void M867() { I2CPEM.M867(); } FORCE_INLINE static void M868() { I2CPEM.M868(); } FORCE_INLINE static void M869() { I2CPEM.M869(); } #endif #if ENABLED(PROBE_TEMP_COMPENSATION) static void M192(); static void M871(); #endif #if ENABLED(LIN_ADVANCE) static void M900(); #endif #if HAS_TRINAMIC_CONFIG static void M122(); static void M906(); #if ENABLED(HAS_STEALTHCHOP) static void M569(); #endif #if ENABLED(MONITOR_DRIVER_STATUS) static void M911(); static void M912(); #endif #if ENABLED(HYBRID_THRESHOLD) static void M913(); #endif #if ENABLED(USE_SENSORLESS) static void M914(); #endif #endif #if HAS_L64XX static void M122(); static void M906(); static void M916(); static void M917(); static void M918(); #endif #if ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_I2C, HAS_MOTOR_CURRENT_DAC) static void M907(); #if EITHER(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_DAC) static void M908(); #if ENABLED(HAS_MOTOR_CURRENT_DAC) static void M909(); static void M910(); #endif #endif #endif #if ENABLED(SDSUPPORT) static void M928(); #endif #if ENABLED(HAS_CREALITY_WIFI) static void M930(); static void M936(); #endif #if ENABLED(MAGNETIC_PARKING_EXTRUDER) static void M951(); #endif #if ENABLED(TOUCH_SCREEN_CALIBRATION) static void M995(); #endif #if BOTH(HAS_SPI_FLASH, SDSUPPORT) static void M993(); static void M994(); #endif #if ENABLED(PLATFORM_M997_SUPPORT) static void M997(); #endif static void M999(); #if ENABLED(POWER_LOSS_RECOVERY) static void M413(); static void M1000(); #endif #if ENABLED(SDSUPPORT) static void M1001(); #endif #if ENABLED(DGUS_LCD_UI_MKS) static void M1002(); #endif #if ENABLED(UBL_MESH_WIZARD) static void M1004(); #endif #if ENABLED(MAX7219_GCODE) static void M7219(); #endif #if ENABLED(CONTROLLER_FAN_EDITABLE) static void M710(); #endif #if ANY(USE_AUTOZ_TOOL,USE_AUTOZ_TOOL_2) static void M8015(); #endif static void T(const int8_t tool_index); }; extern GcodeSuite gcode;