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Prusa MINI Firmware overview
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Go to the source code of this file.
Classes | |
| class | GcodeSuite |
Macros | |
| #define | MAX_COORDINATE_SYSTEMS 9 |
| #define | KEEPALIVE_STATE(N) NOOP |
| #define | G29_TYPE void |
Enumerations | |
| enum | AxisRelative : uint8_t { REL_X, REL_Y, REL_Z, REL_E, E_MODE_ABS, E_MODE_REL } |
Variables | |
| GcodeSuite | gcode |
| #define MAX_COORDINATE_SYSTEMS 9 |
| #define KEEPALIVE_STATE | ( | N | ) | NOOP |
| #define G29_TYPE void |
| enum AxisRelative : uint8_t |
Marlin 3D Printer Firmware Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
Based on Sprinter and grbl. Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/. gcode.h - Temporary container for all gcode handlers
Helpful G-code references:
Help to document Marlin's G-codes online:
"G" Codes
G0 -> G1 G1 - Coordinated Movement X Y Z E G2 - CW ARC G3 - CCW ARC G4 - Dwell S<seconds> or P<milliseconds> 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<iterations> T<accuracy> A<amplification> (Requires Z_STEPPER_AUTO_ALIGN) 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) 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) 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<seconds>' 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<bytepos>] !/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<pin> S<value>. LED pin assumed if P is omitted. 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<points> X<pos> Y<pos> V<level> E<engage> L<legs> S<chizoid>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST) 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) 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<seconds> to specify an idle duration after which steppers should turn off. S0 disables the timeout. M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default) M86 - Set Safety Timer expiration time (S<seconds>). Set to zero to disable the timer. 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<temp> Wait for extruder current temp to reach target temp. ** Wait only when heating! ** R<temp> Wait for extruder current temp to reach target temp. ** Wait for heating or cooling. ** If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F M110 - Set the current line number. (Used by host printing) M111 - Set debug flags: "M111 S<flagbits>". 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<temp> M141 - Set heated chamber target temp. S<temp> (Requires a chamber heater) M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS) M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT) M150 - Set Status LED Color as R<red> U<green> B<blue> P<bright>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, NEOPIXEL_LED, PCA9533, or PCA9632). M155 - Auto-report temperatures with interval of S<seconds>. (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<temp> Wait for bed current temp to reach target temp. ** Wait only when heating! ** R<temp> Wait for bed current temp to reach target temp. ** Wait for heating or cooling. ** M200 - Set filament diameter, D<diameter>, 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<accel> Y<accel> Z<accel> E<accel>" M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! ** M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec. M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel> M205 - Set advanced settings. Current units apply: S<print> T<travel> minimum speeds B<minimum segment time> X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk> M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT) M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (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<length> P<feedrate> R<feedrate>". (Requires SINGLENOZZLE) M218 - Set/get a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders) M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD) M221 - Set Flow Percentage: "M221 S<percent>" M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>" M240 - Trigger a camera to take a photograph. (Requires PHOTO_GCODE) M250 - Set LCD contrast: "M250 C<contrast>" (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<index> S<angle|µs>". (Requires servos) M281 - Set servo min|max position: "M281 P<index> L<min> U<max>". (Requires EDITABLE_SERVO_ANGLES) M290 - Babystepping (Requires BABYSTEPPING) M300 - Play beep sound S<frequency Hz> P<duration ms> M301 - Set PID parameters P I and D. (Requires PIDTEMP) M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION) M303 - PID relay autotune S<temperature> 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) 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<diameter>". (Requires FILAMENT_WIDTH_SENSOR) M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (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) 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<units> Y<units> Z<units> (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, or AUTO_BED_LEVELING_UBL) M422 - Set Z Stepper automatic alignment position using probe. X<units> Y<units> A<axis> (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) 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<verbose>". S0 specifies compact output. M504 - Validate EEPROM contents. (Requires EEPROM_SETTINGS) M524 - Abort the current SD print job started with M24. (Requires SDSUPPORT) M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires SD_ABORT_ON_ENDSTOP_HIT) 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<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE) M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE) M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE) M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA) M666 - Set/get offsets for delta (Requires DELTA) or dual endstops (Requires [XYZ]_DUAL_ENDSTOPS). M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES) M702 - Unload filament (Requires FILAMENT_LOAD_UNLOAD_GCODES) 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<xy>] [J<xz>] [K<yz>]". (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. 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 DAC_STEPPER_CURRENT or DIGIPOTSS_PIN) M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT) M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT) 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) 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) M997 - Perform in-application firmware update M999 - Restart after being stopped by error
"T" Codes
T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
| Enumerator | |
|---|---|
| REL_X | |
| REL_Y | |
| REL_Z | |
| REL_E | |
| E_MODE_ABS | |
| E_MODE_REL | |
| GcodeSuite gcode |
Marlin 3D Printer Firmware Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
Based on Sprinter and grbl. Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/. gcode.cpp - Temporary container for all gcode handlers Most will migrate to classes, by feature.
1.8.16 
