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Merge branch 'MK3' into MK3_NEW_SD_COMPILATION

Alex Voinea 4 anni fa
parent
commit
0e25eaee8f

+ 0 - 1
Firmware/Configuration_adv.h

@@ -152,7 +152,6 @@
 #define Z_HOME_RETRACT_MM 2
 //#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
 
-#define AXIS_RELATIVE_MODES {0, 0, 0, 0}
 #define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step). Toshiba steppers are 4x slower, but Prusa3D does not use those.
 //By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
 #define INVERT_X_STEP_PIN 0

+ 98 - 4
Firmware/Dcodes.cpp

@@ -1,5 +1,6 @@
 #include "Dcodes.h"
 //#include "Marlin.h"
+#include "Configuration.h"
 #include "language.h"
 #include "cmdqueue.h"
 #include <stdio.h>
@@ -97,7 +98,7 @@ void print_mem(uint32_t address, uint16_t count, uint8_t type, uint8_t countperl
 	}
 }
 
-#ifdef DEBUG_DCODE3
+#if defined DEBUG_DCODE3 || defined DEBUG_DCODES
 #define EEPROM_SIZE 0x1000
     /*!
     ### D3 - Read/Write EEPROM <a href="https://reprap.org/wiki/G-code#D3:_Read.2FWrite_EEPROM">D3: Read/Write EEPROM</a>
@@ -185,7 +186,6 @@ void dcode_3()
 #define BOOT_APP_FLG_COPY  0x02
 #define BOOT_APP_FLG_FLASH 0x04
 
-extern uint8_t fsensor_log;
 extern float current_temperature_pinda;
 extern float axis_steps_per_unit[NUM_AXIS];
 
@@ -360,7 +360,7 @@ void dcode_4()
 }
 #endif //DEBUG_DCODES
 
-#ifdef DEBUG_DCODE5
+#if defined DEBUG_DCODE5 || defined DEBUG_DCODES
 
     /*!
     ### D5 - Read/Write FLASH <a href="https://reprap.org/wiki/G-code#D5:_Read.2FWrite_FLASH">D5: Read/Write Flash</a>
@@ -372,7 +372,7 @@ void dcode_4()
     #### Parameters
     - `A` - Address (x00000-x3ffff)
     - `C` - Count (1-8192)
-    - `X` - Data
+    - `X` - Data (hex)
     - `E` - Erase
  	
 	#### Notes
@@ -635,6 +635,98 @@ void dcode_12()
 
 }
 
+#ifdef HEATBED_ANALYSIS
+    /*!
+    ### D80 - Bed check <a href="https://reprap.org/wiki/G-code#D80:_Bed_check">D80: Bed check</a>
+    This command will log data to SD card file "mesh.txt".
+    #### Usage
+    
+        D80 [ E | F | G | H | I | J ]
+    
+    #### Parameters
+    - `E` - Dimension X (default 40)
+    - `F` - Dimention Y (default 40)
+    - `G` - Points X (default 40)
+    - `H` - Points Y (default 40)
+    - `I` - Offset X (default 74)
+    - `J` - Offset Y (default 34)
+  */
+void dcode_80()
+{
+	float dimension_x = 40;
+	float dimension_y = 40;
+	int points_x = 40;
+	int points_y = 40;
+	float offset_x = 74;
+	float offset_y = 33;
+
+	if (code_seen('E')) dimension_x = code_value();
+	if (code_seen('F')) dimension_y = code_value();
+	if (code_seen('G')) {points_x = code_value(); }
+	if (code_seen('H')) {points_y = code_value(); }
+	if (code_seen('I')) {offset_x = code_value(); }
+	if (code_seen('J')) {offset_y = code_value(); }
+	printf_P(PSTR("DIM X: %f\n"), dimension_x);
+	printf_P(PSTR("DIM Y: %f\n"), dimension_y);
+	printf_P(PSTR("POINTS X: %d\n"), points_x);
+	printf_P(PSTR("POINTS Y: %d\n"), points_y);
+	printf_P(PSTR("OFFSET X: %f\n"), offset_x);
+	printf_P(PSTR("OFFSET Y: %f\n"), offset_y);
+		bed_check(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
+}
+
+
+    /*!
+    ### D81 - Bed analysis <a href="https://reprap.org/wiki/G-code#D81:_Bed_analysis">D80: Bed analysis</a>
+    This command will log data to SD card file "wldsd.txt".
+    #### Usage
+    
+        D81 [ E | F | G | H | I | J ]
+    
+    #### Parameters
+    - `E` - Dimension X (default 40)
+    - `F` - Dimention Y (default 40)
+    - `G` - Points X (default 40)
+    - `H` - Points Y (default 40)
+    - `I` - Offset X (default 74)
+    - `J` - Offset Y (default 34)
+  */
+void dcode_81()
+{
+	float dimension_x = 40;
+	float dimension_y = 40;
+	int points_x = 40;
+	int points_y = 40;
+	float offset_x = 74;
+	float offset_y = 33;
+
+	if (code_seen('E')) dimension_x = code_value();
+	if (code_seen('F')) dimension_y = code_value();
+	if (code_seen("G")) { strchr_pointer+=1; points_x = code_value(); }
+	if (code_seen("H")) { strchr_pointer+=1; points_y = code_value(); }
+	if (code_seen("I")) { strchr_pointer+=1; offset_x = code_value(); }
+	if (code_seen("J")) { strchr_pointer+=1; offset_y = code_value(); }
+	
+	bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
+	
+}
+
+#endif //HEATBED_ANALYSIS
+
+    /*!
+    ### D106 - Print measured fan speed for different pwm values <a href="https://reprap.org/wiki/G-code#D106:_Print_measured_fan_speed_for_different_pwm_values">D106: Print measured fan speed for different pwm values</a>
+    */
+void dcode_106()
+{
+	for (int i = 255; i > 0; i = i - 5) {
+		fanSpeed = i;
+		//delay_keep_alive(2000);
+		for (int j = 0; j < 100; j++) {
+			delay_keep_alive(100);
+			}
+			printf_P(_N("%d: %d\n"), i, fan_speed[1]);
+	}
+}
 
 #ifdef TMC2130
 #include "planner.h"
@@ -843,11 +935,13 @@ void dcode_9125()
 		pat9125_y = (int)code_value();
 		LOG("pat9125_y=%d\n", pat9125_y);
 	}
+#ifdef DEBUG_FSENSOR_LOG
 	if (code_seen('L'))
 	{
 		fsensor_log = (int)code_value();
 		LOG("fsensor_log=%d\n", fsensor_log);
 	}
+#endif //DEBUG_FSENSOR_LOG
 }
 #endif //PAT9125
 

+ 18 - 4
Firmware/Dcodes.h

@@ -2,26 +2,40 @@
 #define DCODES_H
 
 extern void dcode__1(); //D-1 - Endless loop (to simulate deadlock)
-
 extern void dcode_0(); //D0 - Reset
 extern void dcode_1(); //D1 - Clear EEPROM
 extern void dcode_2(); //D2 - Read/Write RAM
+
+#if defined DEBUG_DCODE3 || defined DEBUG_DCODES
 extern void dcode_3(); //D3 - Read/Write EEPROM
+#endif //DEBUG_DCODE3
+
 extern void dcode_4(); //D4 - Read/Write PIN
+
+#if defined DEBUG_DCODE5 || defined DEBUG_DCODES
 extern void dcode_5(); //D5 - Read/Write FLASH
+#endif //DEBUG_DCODE5
+
 extern void dcode_6(); //D6 - Read/Write external FLASH
 extern void dcode_7(); //D7 - Read/Write Bootloader
 extern void dcode_8(); //D8 - Read/Write PINDA
 extern void dcode_9(); //D9 - Read/Write ADC (Write=enable simulated, Read=disable simulated)
-
 extern void dcode_10(); //D10 - XYZ calibration = OK
+extern void dcode_12(); //D12 - Log time. Writes the current time in the log file.
+
+#ifdef HEATBED_ANALYSIS
+extern void dcode_80(); //D80 - Bed check. This command will log data to SD card file "mesh.txt".
+extern void dcode_81(); //D81 - Bed analysis. This command will log data to SD card file "wldsd.txt".
+#endif //HEATBED_ANALYSIS
+
+	extern void dcode_106(); //D106 - Print measured fan speed for different pwm values
 
 #ifdef TMC2130
-extern void dcode_2130(); //D2130 - TMC2130
+	extern void dcode_2130(); //D2130 - TMC2130
 #endif //TMC2130
 
 #ifdef PAT9125
-extern void dcode_9125(); //D9125 - PAT9125
+	extern void dcode_9125(); //D9125 - PAT9125
 #endif //PAT9125
 
 

+ 1 - 1
Firmware/Marlin.h

@@ -294,7 +294,7 @@ void setPwmFrequency(uint8_t pin, int val);
 
 extern bool fans_check_enabled;
 extern float homing_feedrate[];
-extern bool axis_relative_modes[];
+extern uint8_t axis_relative_modes;
 extern float feedrate;
 extern int feedmultiply;
 extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders

+ 77 - 86
Firmware/Marlin_main.cpp

@@ -46,6 +46,7 @@
 //-//
 #include "Configuration.h"
 #include "Marlin.h"
+#include "config.h"
   
 #ifdef ENABLE_AUTO_BED_LEVELING
 #include "vector_3.h"
@@ -178,9 +179,13 @@ float default_retraction = DEFAULT_RETRACTION;
 
 
 float homing_feedrate[] = HOMING_FEEDRATE;
-// Currently only the extruder axis may be switched to a relative mode.
-// Other axes are always absolute or relative based on the common relative_mode flag.
-bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
+
+//Although this flag and many others like this could be represented with a struct/bitfield for each axis (more readable and efficient code), the implementation
+//would not be standard across all platforms. That being said, the code will continue to use bitmasks for independent axis.
+//Moreover, according to C/C++ standard, the ordering of bits is platform/compiler dependent and the compiler is allowed to align the bits arbitrarily,
+//thus bit operations like shifting and masking may stop working and will be very hard to fix.
+uint8_t axis_relative_modes = 0;
+
 int feedmultiply=100; //100->1 200->2
 int extrudemultiply=100; //100->1 200->2
 int extruder_multiply[EXTRUDERS] = {100
@@ -710,6 +715,12 @@ static void factory_reset(char level)
 
             eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
             eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
+
+			eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
+			eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
+			eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
+			eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
+
             eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
             eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
             eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
@@ -1891,10 +1902,6 @@ static void axis_is_at_home(int axis) {
   max_pos[axis] =          base_max_pos(axis) + cs.add_homing[axis];
 }
 
-
-inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
-inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
-
 //! @return original feedmultiply
 static int setup_for_endstop_move(bool enable_endstops_now = true) {
     saved_feedrate = feedrate;
@@ -2189,6 +2196,21 @@ bool calibrate_z_auto()
 }
 #endif //TMC2130
 
+#ifdef TMC2130
+static void check_Z_crash(void)
+{
+	if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
+		FORCE_HIGH_POWER_END;
+		current_position[Z_AXIS] = 0;
+		plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+		current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
+		plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS], active_extruder);
+		st_synchronize();
+		kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
+	}
+}
+#endif //TMC2130
+
 #ifdef TMC2130
 void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
 #else
@@ -2305,11 +2327,7 @@ void homeaxis(int axis, uint8_t cnt)
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
         st_synchronize();
 #ifdef TMC2130
-		if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
-			FORCE_HIGH_POWER_END;
-			kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
-			return; 
-		}
+        check_Z_crash();
 #endif //TMC2130
         current_position[axis] = 0;
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
@@ -2321,11 +2339,7 @@ void homeaxis(int axis, uint8_t cnt)
         plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
         st_synchronize();
 #ifdef TMC2130
-		if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
-			FORCE_HIGH_POWER_END;
-			kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
-			return; 
-		}
+        check_Z_crash();
 #endif //TMC2130
         axis_is_at_home(axis);
         destination[axis] = current_position[axis];
@@ -5374,21 +5388,19 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 
     /*!
 	### G90 - Switch off relative mode <a href="https://reprap.org/wiki/G-code#G90:_Set_to_Absolute_Positioning">G90: Set to Absolute Positioning</a>
-	All coordinates from now on are absolute relative to the origin of the machine. E axis is also switched to absolute mode.
+	All coordinates from now on are absolute relative to the origin of the machine. E axis is left intact.
     */
     case 90: {
-        for(uint8_t i = 0; i != NUM_AXIS; ++i)
-            axis_relative_modes[i] = false;
+		axis_relative_modes &= ~(X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK);
     }
     break;
 
     /*!
 	### G91 - Switch on relative mode <a href="https://reprap.org/wiki/G-code#G91:_Set_to_Relative_Positioning">G91: Set to Relative Positioning</a>
-    All coordinates from now on are relative to the last position. E axis is also switched to relative mode.
+    All coordinates from now on are relative to the last position. E axis is left intact.
 	*/
     case 91: {
-        for(uint8_t i = 0; i != NUM_AXIS; ++i)
-            axis_relative_modes[i] = true;
+		axis_relative_modes |= X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK;
     }
     break;
 
@@ -6565,7 +6577,7 @@ Sigma_Exit:
 	Makes the extruder interpret extrusion as absolute positions.
     */
     case 82:
-      axis_relative_modes[E_AXIS] = false;
+      axis_relative_modes &= ~E_AXIS_MASK;
       break;
 
     /*!
@@ -6573,7 +6585,7 @@ Sigma_Exit:
 	Makes the extruder interpret extrusion values as relative positions.
     */
     case 83:
-      axis_relative_modes[E_AXIS] = true;
+      axis_relative_modes |= E_AXIS_MASK;
       break;
 
     /*!
@@ -7104,7 +7116,6 @@ Sigma_Exit:
       {
           float e = code_value();
 #ifndef LA_NOCOMPAT
-
           e = la10c_jerk(e);
 #endif
           cs.max_jerk[E_AXIS] = e;
@@ -8825,7 +8836,7 @@ Sigma_Exit:
 	case 2:
 		dcode_2(); break;
 #endif //DEBUG_DCODES
-#ifdef DEBUG_DCODE3
+#if defined DEBUG_DCODE3 || defined DEBUG_DCODES
 
     /*!
     ### D3 - Read/Write EEPROM <a href="https://reprap.org/wiki/G-code#D3:_Read.2FWrite_EEPROM">D3: Read/Write EEPROM</a>
@@ -8866,7 +8877,7 @@ Sigma_Exit:
 	case 4:
 		dcode_4(); break;
 #endif //DEBUG_DCODES
-#ifdef DEBUG_DCODE5
+#if defined DEBUG_DCODE5 || defined DEBUG_DCODES
 
     /*!
     ### D5 - Read/Write FLASH <a href="https://reprap.org/wiki/G-code#D5:_Read.2FWrite_FLASH">D5: Read/Write Flash</a>
@@ -8878,7 +8889,7 @@ Sigma_Exit:
     #### Parameters
     - `A` - Address (x00000-x3ffff)
     - `C` - Count (1-8192)
-    - `X` - Data
+    - `X` - Data (hex)
     - `E` - Erase
  	
 	#### Notes
@@ -8889,7 +8900,6 @@ Sigma_Exit:
    */
 	case 5:
 		dcode_5(); break;
-		break;
 #endif //DEBUG_DCODE5
 #ifdef DEBUG_DCODES
 
@@ -8972,28 +8982,7 @@ Sigma_Exit:
     - `J` - Offset Y (default 34)
   */
 	case 80:
-	{
-		float dimension_x = 40;
-		float dimension_y = 40;
-		int points_x = 40;
-		int points_y = 40;
-		float offset_x = 74;
-		float offset_y = 33;
-
-		if (code_seen('E')) dimension_x = code_value();
-		if (code_seen('F')) dimension_y = code_value();
-		if (code_seen('G')) {points_x = code_value(); }
-		if (code_seen('H')) {points_y = code_value(); }
-		if (code_seen('I')) {offset_x = code_value(); }
-		if (code_seen('J')) {offset_y = code_value(); }
-		printf_P(PSTR("DIM X: %f\n"), dimension_x);
-		printf_P(PSTR("DIM Y: %f\n"), dimension_y);
-		printf_P(PSTR("POINTS X: %d\n"), points_x);
-		printf_P(PSTR("POINTS Y: %d\n"), points_y);
-		printf_P(PSTR("OFFSET X: %f\n"), offset_x);
-		printf_P(PSTR("OFFSET Y: %f\n"), offset_y);
- 		bed_check(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
-	}break;
+		dcode_80(); break;
 
     /*!
     ### D81 - Bed analysis <a href="https://reprap.org/wiki/G-code#D81:_Bed_analysis">D80: Bed analysis</a>
@@ -9011,24 +9000,7 @@ Sigma_Exit:
     - `J` - Offset Y (default 34)
   */
 	case 81:
-	{
-		float dimension_x = 40;
-		float dimension_y = 40;
-		int points_x = 40;
-		int points_y = 40;
-		float offset_x = 74;
-		float offset_y = 33;
-
-		if (code_seen('E')) dimension_x = code_value();
-		if (code_seen('F')) dimension_y = code_value();
-		if (code_seen("G")) { strchr_pointer+=1; points_x = code_value(); }
-		if (code_seen("H")) { strchr_pointer+=1; points_y = code_value(); }
-		if (code_seen("I")) { strchr_pointer+=1; offset_x = code_value(); }
-		if (code_seen("J")) { strchr_pointer+=1; offset_y = code_value(); }
-		
-		bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
-		
-	} break;
+		dcode_81(); break;
 	
 #endif //HEATBED_ANALYSIS
 #ifdef DEBUG_DCODES
@@ -9037,17 +9009,7 @@ Sigma_Exit:
     ### D106 - Print measured fan speed for different pwm values <a href="https://reprap.org/wiki/G-code#D106:_Print_measured_fan_speed_for_different_pwm_values">D106: Print measured fan speed for different pwm values</a>
     */
 	case 106:
-	{
-		for (int i = 255; i > 0; i = i - 5) {
-			fanSpeed = i;
-			//delay_keep_alive(2000);
-			for (int j = 0; j < 100; j++) {
-				delay_keep_alive(100);
-
-			}
-			printf_P(_N("%d: %d\n"), i, fan_speed[1]);
-		}
-	}break;
+		dcode_106(); break;
 
 #ifdef TMC2130
     /*!
@@ -9214,7 +9176,7 @@ void get_coordinates()
   for(int8_t i=0; i < NUM_AXIS; i++) {
     if(code_seen(axis_codes[i]))
     {
-      bool relative = axis_relative_modes[i];
+      bool relative = axis_relative_modes & (1 << i);
       destination[i] = (float)code_value();
       if (i == E_AXIS) {
         float emult = extruder_multiplier[active_extruder];
@@ -9484,10 +9446,15 @@ static void handleSafetyTimer()
 }
 #endif //SAFETYTIMER
 
+#define FS_CHECK_COUNT 15
 void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
 {
-bool bInhibitFlag;
 #ifdef FILAMENT_SENSOR
+bool bInhibitFlag;
+#ifdef IR_SENSOR_ANALOG
+static uint8_t nFSCheckCount=0;
+#endif // IR_SENSOR_ANALOG
+
 	if (mmu_enabled == false)
 	{
 //-//		if (mcode_in_progress != 600) //M600 not in progress
@@ -9496,11 +9463,35 @@ bool bInhibitFlag;
 #endif // PAT9125
 #ifdef IR_SENSOR
           bInhibitFlag=(menu_menu==lcd_menu_show_sensors_state); // Support::SensorInfo menu active
+#ifdef IR_SENSOR_ANALOG
+          bInhibitFlag=bInhibitFlag||bMenuFSDetect; // Settings::HWsetup::FSdetect menu active
+#endif // IR_SENSOR_ANALOG
 #endif // IR_SENSOR
           if ((mcode_in_progress != 600) && (eFilamentAction != FilamentAction::AutoLoad) && (!bInhibitFlag)) //M600 not in progress, preHeat @ autoLoad menu not active, Support::ExtruderInfo/SensorInfo menu not active
 		{
 			if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LcdCommands::Layer1Cal) && ! eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE))
 			{
+#ifdef IR_SENSOR_ANALOG
+                    bool bTemp=current_voltage_raw_IR>IRsensor_Hmin_TRESHOLD;
+                    bTemp=bTemp&&current_voltage_raw_IR<IRsensor_Hopen_TRESHOLD;
+                    bTemp=bTemp&&(!CHECK_ALL_HEATERS);
+                    bTemp=bTemp&&(menu_menu==lcd_status_screen);
+                    bTemp=bTemp&&((oFsensorPCB==ClFsensorPCB::_Old)||(oFsensorPCB==ClFsensorPCB::_Undef));
+                    bTemp=bTemp&&fsensor_enabled;
+                    if(bTemp)
+                    {
+                         nFSCheckCount++;
+                         if(nFSCheckCount>FS_CHECK_COUNT)
+                         {
+                              nFSCheckCount=0;    // not necessary
+                              oFsensorPCB=ClFsensorPCB::_Rev03b;
+                              eeprom_update_byte((uint8_t*)EEPROM_FSENSOR_PCB,(uint8_t)oFsensorPCB);
+                              printf_IRSensorAnalogBoardChange(true);
+                              lcd_setstatuspgm(_i("FS rev. 03b or newer"));
+                         }
+                    }
+                    else nFSCheckCount=0;
+#endif // IR_SENSOR_ANALOG
 				if (fsensor_check_autoload())
 				{
 #ifdef PAT9125
@@ -10613,7 +10604,7 @@ void uvlo_()
 
     // Store the print E position before we lose track
 	eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), current_position[E_AXIS]);
-	eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
+	eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, (axis_relative_modes & E_AXIS_MASK)?0:1);
 
     // Clean the input command queue, inhibit serial processing using saved_printing
     cmdqueue_reset();
@@ -11202,7 +11193,7 @@ void stop_and_save_print_to_ram(float z_move, float e_move)
     saved_feedmultiply2 = feedmultiply; //save feedmultiply
 	saved_active_extruder = active_extruder; //save active_extruder
 	saved_extruder_temperature = degTargetHotend(active_extruder);
-	saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
+	saved_extruder_relative_mode = axis_relative_modes & E_AXIS_MASK;
 	saved_fanSpeed = fanSpeed;
 	cmdqueue_reset(); //empty cmdqueue
 	card.sdprinting = false;
@@ -11284,7 +11275,7 @@ void restore_print_from_ram_and_continue(float e_move)
 		wait_for_heater(_millis(), saved_active_extruder);
 		heating_status = 2;
 	}
-	axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
+	axis_relative_modes ^= (-saved_extruder_relative_mode ^ axis_relative_modes) & E_AXIS_MASK;
 	float e = saved_pos[E_AXIS] - e_move;
 	plan_set_e_position(e);
   

+ 5 - 3
Firmware/config.h

@@ -5,10 +5,12 @@
 #include "Configuration_prusa.h"
 #include "pins.h"
 
-#define IR_SENSOR_ANALOG (defined(VOLT_IR_PIN) && defined(IR_SENSOR))
+#if (defined(VOLT_IR_PIN) && defined(IR_SENSOR))
+# define IR_SENSOR_ANALOG
+#endif
 
 //ADC configuration
-#if !IR_SENSOR_ANALOG
+#ifndef IR_SENSOR_ANALOG
 #define ADC_CHAN_MSK      0b0000001001011111 //used AD channels bit mask (0,1,2,3,4,6,9)
 #define ADC_DIDR_MSK      0b0000001001011111 //AD channels DIDR mask (1 ~ disabled digital input)
 #define ADC_CHAN_CNT      7         //number of used channels)
@@ -56,7 +58,7 @@
 #define W25X20CL_SPSR          SPI_SPSR(W25X20CL_SPI_RATE)
 
 //LANG - Multi-language support
-//define LANG_MODE              0 // primary language only
+//#define LANG_MODE              0 // primary language only
 #define LANG_MODE              1 // sec. language support
 
 #define LANG_SIZE_RESERVED     0x3000 // reserved space for secondary language (12288 bytes)

+ 5 - 5
Firmware/eeprom.h

@@ -72,7 +72,7 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
   
   To convert hex to dec 		https://www.rapidtables.com/convert/number/hex-to-decimal.html
   
-  Version: 1.0
+  Version: 1.0.1
   
   ---------------------------------------------------------------------------------
   
@@ -225,10 +225,10 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
 | ^					| ^			| ^										| fa 00h 250	| ^						| PRINTER_MK2.5										| ???			| ^
 | ^					| ^			| ^										| 1a 4fh 20250	| ^						| PRINTER_MK2.5 with MMU2							| ???			| ^
 | ^					| ^			| ^										| fc 00h 252	| ^						| PRINTER_MK2.5S									| ???			| ^
-| ^					| ^			| ^										| 1c 4fh 20250	| ^						| PRINTER_MK2.5S with MMU2S							| ???			| ^
-| ^					| ^			| ^										| 0c 12h 300	| ^						| PRINTER_MK3										| ???			| ^
+| ^					| ^			| ^										| 1c 4fh 20252	| ^						| PRINTER_MK2.5S with MMU2S							| ???			| ^
+| ^					| ^			| ^										| 2c 01h 300	| ^						| PRINTER_MK3										| ???			| ^
 | ^					| ^			| ^										| 4c 4fh 20300	| ^						| PRINTER_MK3 with MMU2								| ???			| ^
-| ^					| ^			| ^										| 0e 12h 302	| ^						| PRINTER_MK3S										| ???			| ^
+| ^					| ^			| ^										| 2e 01h 302	| ^						| PRINTER_MK3S										| ???			| ^
 | ^					| ^			| ^										| 4e 4fh 20302	| ^						| PRINTER_MK3S with MMU2S							| ???			| ^
 | 0x0EEC 3820		| uint16	| EEPROM_BOARD_TYPE						| ???			| ff ffh 65535			| Board Type										| ???			| D3 Ax0eec C2
 | ^					| ^			| ^										| c8 00h 200	| ^						| BOARD_RAMBO_MINI_1_0								| ???			| ^
@@ -355,7 +355,7 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
 | 0x0D32 3378		| uint8		| EEPROM_BACKLIGHT_MODE					| 02h 2			| ffh 255				| LCD backlight mode: __Auto__						| LCD menu		| D3 Ax0d32 C1
 | ^					| ^			| ^										| 01h 1			| ^						| LCD backlight mode: __Bright__					| ^				| ^
 | ^					| ^			| ^										| 00h 0			| ^						| LCD backlight mode: __Dim__						| ^				| ^
-| 0x0D30 3376		| uint16	| EEPROM_BACKLIGHT_TIMEOUT				| 01 00 - ff ff | ff ffh 65535			| LCD backlight timeout: __10__ seconds				| LCD menu		| D3 Ax0d30 C2
+| 0x0D30 3376		| uint16	| EEPROM_BACKLIGHT_TIMEOUT				| 01 00 - ff ff | 0a 00h 65535			| LCD backlight timeout: __10__ seconds				| LCD menu		| D3 Ax0d30 C2
 | 0x0D2C 3372		| float		| EEPROM_UVLO_LA_K						| ???			| ff ff ff ffh			| Power panic saved Linear Advanced K value			| ???			| D3 Ax0d2c C4
 
   

+ 10 - 8
Firmware/fsensor.cpp

@@ -69,8 +69,10 @@ unsigned long fsensor_softfail_last = 0;
 uint8_t fsensor_softfail_ccnt = 0;
 #endif
 
+#ifdef DEBUG_FSENSOR_LOG
 //! log flag: 0=log disabled, 1=log enabled
 uint8_t fsensor_log = 1;
+#endif //DEBUG_FSENSOR_LOG
 
 
 //! @name filament autoload variables
@@ -119,7 +121,7 @@ int16_t fsensor_oq_yd_max;
 uint16_t fsensor_oq_sh_sum;
 //! @}
 
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
 ClFsensorPCB oFsensorPCB;
 ClFsensorActionNA oFsensorActionNA;
 bool bIRsensorStateFlag=false;
@@ -188,7 +190,7 @@ void fsensor_init(void)
 		fsensor_not_responding = true;
 	}
 #endif //PAT9125
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
      bIRsensorStateFlag=false;
      oFsensorPCB=(ClFsensorPCB)eeprom_read_byte((uint8_t*)EEPROM_FSENSOR_PCB);
      oFsensorActionNA=(ClFsensorActionNA)eeprom_read_byte((uint8_t*)EEPROM_FSENSOR_ACTION_NA);
@@ -198,7 +200,7 @@ void fsensor_init(void)
 	else
 		fsensor_disable(false);                 // (in this case) EEPROM update is not necessary
 	printf_P(PSTR("FSensor %S"), (fsensor_enabled?PSTR("ENABLED"):PSTR("DISABLED")));
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
      printf_P(PSTR(" (sensor board revision: %S)\n"),(oFsensorPCB==ClFsensorPCB::_Rev03b)?PSTR("03b or newer"):PSTR("03 or older"));
 #else //IR_SENSOR_ANALOG
      printf_P(PSTR("\n"));
@@ -231,7 +233,7 @@ bool fsensor_enable(bool bUpdateEEPROM)
 		FSensorStateMenu = 1;
 	}
 #else // PAT9125
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
      if(!fsensor_IR_check())
           {
           bUpdateEEPROM=true;
@@ -244,7 +246,7 @@ bool fsensor_enable(bool bUpdateEEPROM)
      fsensor_enabled=true;
      fsensor_not_responding=false;
      FSensorStateMenu=1;
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
           }
 #endif //IR_SENSOR_ANALOG
      if(bUpdateEEPROM)
@@ -660,7 +662,7 @@ void fsensor_update(void)
         {
                if(digitalRead(IR_SENSOR_PIN))
                {                                  // IR_SENSOR_PIN ~ H
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
                     if(!bIRsensorStateFlag)
                     {
                          bIRsensorStateFlag=true;
@@ -703,7 +705,7 @@ void fsensor_update(void)
 #endif //IR_SENSOR_ANALOG
                                   fsensor_checkpoint_print();
                                   fsensor_enque_M600();
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
                               }
                          }
                     }
@@ -717,7 +719,7 @@ void fsensor_update(void)
 #endif //PAT9125
 }
 
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
 bool fsensor_IR_check()
 {
 uint16_t volt_IR_int;

+ 4 - 1
Firmware/fsensor.h

@@ -72,6 +72,9 @@ extern bool fsensor_oq_result(void);
 //! @{
 extern void fsensor_st_block_chunk(int cnt);
 
+// debugging
+extern uint8_t fsensor_log;
+
 // There's really nothing to do in block_begin: the stepper ISR likely has
 // called us already at the end of the last block, making this integration
 // redundant. LA1.5 might not always do that during a coasting move, so attempt
@@ -81,7 +84,7 @@ extern void fsensor_st_block_chunk(int cnt);
 #endif //PAT9125
 
 
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
 #define IR_SENSOR_STEADY 10                       // [ms]
 
 enum class ClFsensorPCB:uint_least8_t

+ 190 - 190
Firmware/heatbed_pwm.cpp

@@ -1,190 +1,190 @@
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include "io_atmega2560.h"
-
-// All this is about silencing the heat bed, as it behaves like a loudspeaker.
-// Basically, we want the PWM heating switched at 30Hz (or so) which is a well ballanced
-// frequency for both power supply units (i.e. both PSUs are reasonably silent).
-// The only trouble is the rising or falling edge of bed heating - that creates an audible click.
-// This audible click may be suppressed by making the rising or falling edge NOT sharp.
-// Of course, making non-sharp edges in digital technology is not easy, but there is a solution.
-// It is possible to do a fast PWM sequence with duty starting from 0 to 255.
-// Doing this at higher frequency than the bed "loudspeaker" can handle makes the click barely audible.
-// Technically:
-// timer0 is set to fast PWM mode at 62.5kHz (timer0 is linked to the bed heating pin) (zero prescaler)
-// To keep the bed switching at 30Hz - we don't want the PWM running at 62kHz all the time 
-// since it would burn the heatbed's MOSFET:
-// 16MHz/256 levels of PWM duty gives us 62.5kHz
-// 62.5kHz/256 gives ~244Hz, that is still too fast - 244/8 gives ~30Hz, that's what we need
-// So the automaton runs atop of inner 8 (or 16) cycles.
-// The finite automaton is running in the ISR(TIMER0_OVF_vect)
-
-// 2019-08-14 update: the original algorithm worked very well, however there were 2 regressions:
-// 1. 62kHz ISR requires considerable amount of processing power, 
-//    USB transfer speed dropped by 20%, which was most notable when doing short G-code segments.
-// 2. Some users reported TLed PSU started clicking when running at 120V/60Hz. 
-//    This looks like the original algorithm didn't maintain base PWM 30Hz, but only 15Hz
-// To address both issues, there is an improved approach based on the idea of leveraging
-// different CLK prescalers in some automaton states - i.e. when holding LOW or HIGH on the output pin,
-// we don't have to clock 62kHz, but we can increase the CLK prescaler for these states to 8 (or even 64).
-// That shall result in the ISR not being called that much resulting in regained performance
-// Theoretically this is relatively easy, however one must be very carefull handling the AVR's timer
-// control registers correctly, especially setting them in a correct order.
-// Some registers are double buffered, some changes are applied in next cycles etc.
-// The biggest problem was with the CLK prescaler itself - this circuit is shared among almost all timers,
-// we don't want to reset the prescaler counted value when transiting among automaton states.
-// Resetting the prescaler would make the PWM more precise, right now there are temporal segments
-// of variable period ranging from 0 to 7 62kHz ticks - that's logical, the timer must "sync"
-// to the new slower CLK after setting the slower prescaler value.
-// In our application, this isn't any significant problem and may be ignored.
-// Doing changes in timer's registers non-correctly results in artefacts on the output pin
-// - it can toggle unnoticed, which will result in bed clicking again.
-// That's why there are special transition states ZERO_TO_RISE and ONE_TO_FALL, which enable the
-// counter change its operation atomically and without artefacts on the output pin.
-// The resulting signal on the output pin was checked with an osciloscope. 
-// If there are any change requirements in the future, the signal must be checked with an osciloscope again,
-// ad-hoc changes may completely screw things up!
-
-// 2020-01-29 update: we are introducing a new option to the automaton that will allow us to force the output state
-// to either full ON or OFF. This is so that interference during the MBL probing is minimal.
-// To accomplish this goal we use bedPWMDisabled. It is only supposed to be used for brief periods of time as to
-// not make the bed temperature too unstable. Also, careful consideration should be used when using this
-// option as leaving this enabled will also keep the bed output in the state it stopped in.
-
-///! Definition off finite automaton states
-enum class States : uint8_t {
-	ZERO_START = 0,///< entry point of the automaton - reads the soft_pwm_bed value for the next whole PWM cycle
-	ZERO,          ///< steady 0 (OFF), no change for the whole period
-	ZERO_TO_RISE,  ///< metastate allowing the timer change its state atomically without artefacts on the output pin
-	RISE,          ///< 16 fast PWM cycles with increasing duty up to steady ON
-	RISE_TO_ONE,   ///< metastate allowing the timer change its state atomically without artefacts on the output pin
-	ONE,           ///< steady 1 (ON), no change for the whole period 
-	ONE_TO_FALL,   ///< metastate allowing the timer change its state atomically without artefacts on the output pin
-	FALL,          ///< 16 fast PWM cycles with decreasing duty down to steady OFF
-	FALL_TO_ZERO   ///< metastate allowing the timer change its state atomically without artefacts on the output pin
-};
-
-///! Inner states of the finite automaton
-static States state = States::ZERO_START;
-
-bool bedPWMDisabled = 0;
-
-///! Fast PWM counter is used in the RISE and FALL states (62.5kHz)
-static uint8_t slowCounter = 0;
-///! Slow PWM counter is used in the ZERO and ONE states (62.5kHz/8 or 64)
-static uint8_t fastCounter = 0;
-///! PWM counter for the whole cycle - a cache for soft_pwm_bed
-static uint8_t pwm = 0;
-
-///! The slow PWM duty for the next 30Hz cycle
-///! Set in the whole firmware at various places
-extern unsigned char soft_pwm_bed;
-
-/// fastMax - how many fast PWM steps to do in RISE and FALL states
-/// 16 is a good compromise between silenced bed ("smooth" edges)
-/// and not burning the switching MOSFET
-static const uint8_t fastMax = 16;
-
-/// Scaler 16->256 for fast PWM
-static const uint8_t fastShift = 4;
-
-/// Increment slow PWM counter by slowInc every ZERO or ONE state
-/// This allows for fine-tuning the basic PWM switching frequency
-/// A possible further optimization - use a 64 prescaler (instead of 8)
-/// increment slowCounter by 1
-/// but use less bits of soft PWM - something like soft_pwm_bed >> 2
-/// that may further reduce the CPU cycles required by the bed heating automaton
-/// Due to the nature of bed heating the reduced PID precision may not be a major issue, however doing 8x less ISR(timer0_ovf) may significantly improve the performance 
-static const uint8_t slowInc = 1;
-
-ISR(TIMER0_OVF_vect)          // timer compare interrupt service routine
-{
-	switch(state){
-	case States::ZERO_START:
-		if (bedPWMDisabled) return; // stay in the OFF state and do not change the output pin
-		pwm = soft_pwm_bed << 1;// expecting soft_pwm_bed to be 7bit!
-		if( pwm != 0 ){
-			state = States::ZERO;     // do nothing, let it tick once again after the 30Hz period
-		}
-		break;
-	case States::ZERO: // end of state ZERO - we'll either stay in ZERO or change to RISE
-		// In any case update our cache of pwm value for the next whole cycle from soft_pwm_bed
-		slowCounter += slowInc; // this does software timer_clk/256 or less (depends on slowInc)
-		if( slowCounter > pwm ){
-			return;
-		} // otherwise moving towards RISE
-		state = States::ZERO_TO_RISE; // and finalize the change in a transitional state RISE0
-		break;
-	// even though it may look like the ZERO state may be glued together with the ZERO_TO_RISE, don't do it
-	// the timer must tick once more in order to get rid of occasional output pin toggles.
-	case States::ZERO_TO_RISE:  // special state for handling transition between prescalers and switching inverted->non-inverted fast-PWM without toggling the output pin.
-		// It must be done in consequent steps, otherwise the pin will get flipped up and down during one PWM cycle.
-		// Also beware of the correct sequence of the following timer control registers initialization - it really matters!
-		state = States::RISE;     // prepare for standard RISE cycles
-		fastCounter = fastMax - 1;// we'll do 16-1 cycles of RISE
-		TCNT0 = 255;              // force overflow on the next clock cycle
-		TCCR0B = (1 << CS00);     // change prescaler to 1, i.e. 62.5kHz
-		TCCR0A &= ~(1 << COM0B0); // Clear OC0B on Compare Match, set OC0B at BOTTOM (non-inverting mode)
-		break;
-	case States::RISE:
-		OCR0B = (fastMax - fastCounter) << fastShift;
-		if( fastCounter ){
-			--fastCounter;
-		} else { // end of RISE cycles, changing into state ONE
-			state = States::RISE_TO_ONE;
-			OCR0B = 255;          // full duty
-			TCNT0 = 254;          // make the timer overflow in the next cycle
-			// @@TODO these constants are still subject to investigation
-		}
-		break;
-	case States::RISE_TO_ONE:
-		state = States::ONE;
-		OCR0B = 255;              // full duty
-		TCNT0 = 255;              // make the timer overflow in the next cycle
-		TCCR0B = (1 << CS01);     // change prescaler to 8, i.e. 7.8kHz
-		break;
-	case States::ONE:             // state ONE - we'll either stay in ONE or change to FALL
-		OCR0B = 255;
-		if (bedPWMDisabled) return; // stay in the ON state and do not change the output pin
-		slowCounter += slowInc;   // this does software timer_clk/256 or less
-		if( slowCounter < pwm ){
-			return;
-		}
-		if( (soft_pwm_bed << 1) >= (255 - slowInc - 1) ){  //@@TODO simplify & explain
-			// if slowInc==2, soft_pwm == 251 will be the first to do short drops to zero. 252 will keep full heating
-			return;           // want full duty for the next ONE cycle again - so keep on heating and just wait for the next timer ovf
-		}
-		// otherwise moving towards FALL
-		// @@TODO it looks like ONE_TO_FALL isn't necessary, there are no artefacts at all
-		state = States::ONE;//_TO_FALL;
-//		TCCR0B = (1 << CS00);      // change prescaler to 1, i.e. 62.5kHz
-//		break;
-//	case States::ONE_TO_FALL:
-//		OCR0B = 255;              // zero duty
-		state=States::FALL;
-		fastCounter = fastMax - 1;// we'll do 16-1 cycles of RISE
-		TCNT0 = 255;              // force overflow on the next clock cycle
-		TCCR0B = (1 << CS00);     // change prescaler to 1, i.e. 62.5kHz
-		// must switch to inverting mode already here, because it takes a whole PWM cycle and it would make a "1" at the end of this pwm cycle
-		// COM0B1 remains set both in inverting and non-inverting mode
-		TCCR0A |= (1 << COM0B0);  // inverting mode
-		break;
-	case States::FALL:
-		OCR0B = (fastMax - fastCounter) << fastShift; // this is the same as in RISE, because now we are setting the zero part of duty due to inverting mode
-		//TCCR0A |= (1 << COM0B0); // already set in ONE_TO_FALL
-		if( fastCounter ){
-			--fastCounter;
-		} else {   // end of FALL cycles, changing into state ZERO
-			state = States::FALL_TO_ZERO;
-			TCNT0 = 128; //@@TODO again - need to wait long enough to propagate the timer state changes
-			OCR0B = 255;
-		}
-		break;
-	case States::FALL_TO_ZERO:
-		state = States::ZERO_START; // go to read new soft_pwm_bed value for the next cycle
-		TCNT0 = 128;
-		OCR0B = 255;
-		TCCR0B = (1 << CS01); // change prescaler to 8, i.e. 7.8kHz
-		break;		
-    }
-}
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include "io_atmega2560.h"
+
+// All this is about silencing the heat bed, as it behaves like a loudspeaker.
+// Basically, we want the PWM heating switched at 30Hz (or so) which is a well ballanced
+// frequency for both power supply units (i.e. both PSUs are reasonably silent).
+// The only trouble is the rising or falling edge of bed heating - that creates an audible click.
+// This audible click may be suppressed by making the rising or falling edge NOT sharp.
+// Of course, making non-sharp edges in digital technology is not easy, but there is a solution.
+// It is possible to do a fast PWM sequence with duty starting from 0 to 255.
+// Doing this at higher frequency than the bed "loudspeaker" can handle makes the click barely audible.
+// Technically:
+// timer0 is set to fast PWM mode at 62.5kHz (timer0 is linked to the bed heating pin) (zero prescaler)
+// To keep the bed switching at 30Hz - we don't want the PWM running at 62kHz all the time 
+// since it would burn the heatbed's MOSFET:
+// 16MHz/256 levels of PWM duty gives us 62.5kHz
+// 62.5kHz/256 gives ~244Hz, that is still too fast - 244/8 gives ~30Hz, that's what we need
+// So the automaton runs atop of inner 8 (or 16) cycles.
+// The finite automaton is running in the ISR(TIMER0_OVF_vect)
+
+// 2019-08-14 update: the original algorithm worked very well, however there were 2 regressions:
+// 1. 62kHz ISR requires considerable amount of processing power, 
+//    USB transfer speed dropped by 20%, which was most notable when doing short G-code segments.
+// 2. Some users reported TLed PSU started clicking when running at 120V/60Hz. 
+//    This looks like the original algorithm didn't maintain base PWM 30Hz, but only 15Hz
+// To address both issues, there is an improved approach based on the idea of leveraging
+// different CLK prescalers in some automaton states - i.e. when holding LOW or HIGH on the output pin,
+// we don't have to clock 62kHz, but we can increase the CLK prescaler for these states to 8 (or even 64).
+// That shall result in the ISR not being called that much resulting in regained performance
+// Theoretically this is relatively easy, however one must be very carefull handling the AVR's timer
+// control registers correctly, especially setting them in a correct order.
+// Some registers are double buffered, some changes are applied in next cycles etc.
+// The biggest problem was with the CLK prescaler itself - this circuit is shared among almost all timers,
+// we don't want to reset the prescaler counted value when transiting among automaton states.
+// Resetting the prescaler would make the PWM more precise, right now there are temporal segments
+// of variable period ranging from 0 to 7 62kHz ticks - that's logical, the timer must "sync"
+// to the new slower CLK after setting the slower prescaler value.
+// In our application, this isn't any significant problem and may be ignored.
+// Doing changes in timer's registers non-correctly results in artefacts on the output pin
+// - it can toggle unnoticed, which will result in bed clicking again.
+// That's why there are special transition states ZERO_TO_RISE and ONE_TO_FALL, which enable the
+// counter change its operation atomically and without artefacts on the output pin.
+// The resulting signal on the output pin was checked with an osciloscope. 
+// If there are any change requirements in the future, the signal must be checked with an osciloscope again,
+// ad-hoc changes may completely screw things up!
+
+// 2020-01-29 update: we are introducing a new option to the automaton that will allow us to force the output state
+// to either full ON or OFF. This is so that interference during the MBL probing is minimal.
+// To accomplish this goal we use bedPWMDisabled. It is only supposed to be used for brief periods of time as to
+// not make the bed temperature too unstable. Also, careful consideration should be used when using this
+// option as leaving this enabled will also keep the bed output in the state it stopped in.
+
+///! Definition off finite automaton states
+enum class States : uint8_t {
+	ZERO_START = 0,///< entry point of the automaton - reads the soft_pwm_bed value for the next whole PWM cycle
+	ZERO,          ///< steady 0 (OFF), no change for the whole period
+	ZERO_TO_RISE,  ///< metastate allowing the timer change its state atomically without artefacts on the output pin
+	RISE,          ///< 16 fast PWM cycles with increasing duty up to steady ON
+	RISE_TO_ONE,   ///< metastate allowing the timer change its state atomically without artefacts on the output pin
+	ONE,           ///< steady 1 (ON), no change for the whole period 
+	ONE_TO_FALL,   ///< metastate allowing the timer change its state atomically without artefacts on the output pin
+	FALL,          ///< 16 fast PWM cycles with decreasing duty down to steady OFF
+	FALL_TO_ZERO   ///< metastate allowing the timer change its state atomically without artefacts on the output pin
+};
+
+///! Inner states of the finite automaton
+static States state = States::ZERO_START;
+
+bool bedPWMDisabled = 0;
+
+///! Fast PWM counter is used in the RISE and FALL states (62.5kHz)
+static uint8_t slowCounter = 0;
+///! Slow PWM counter is used in the ZERO and ONE states (62.5kHz/8 or 64)
+static uint8_t fastCounter = 0;
+///! PWM counter for the whole cycle - a cache for soft_pwm_bed
+static uint8_t pwm = 0;
+
+///! The slow PWM duty for the next 30Hz cycle
+///! Set in the whole firmware at various places
+extern unsigned char soft_pwm_bed;
+
+/// fastMax - how many fast PWM steps to do in RISE and FALL states
+/// 16 is a good compromise between silenced bed ("smooth" edges)
+/// and not burning the switching MOSFET
+static const uint8_t fastMax = 16;
+
+/// Scaler 16->256 for fast PWM
+static const uint8_t fastShift = 4;
+
+/// Increment slow PWM counter by slowInc every ZERO or ONE state
+/// This allows for fine-tuning the basic PWM switching frequency
+/// A possible further optimization - use a 64 prescaler (instead of 8)
+/// increment slowCounter by 1
+/// but use less bits of soft PWM - something like soft_pwm_bed >> 2
+/// that may further reduce the CPU cycles required by the bed heating automaton
+/// Due to the nature of bed heating the reduced PID precision may not be a major issue, however doing 8x less ISR(timer0_ovf) may significantly improve the performance 
+static const uint8_t slowInc = 1;
+
+ISR(TIMER0_OVF_vect)          // timer compare interrupt service routine
+{
+	switch(state){
+	case States::ZERO_START:
+		if (bedPWMDisabled) return; // stay in the OFF state and do not change the output pin
+		pwm = soft_pwm_bed << 1;// expecting soft_pwm_bed to be 7bit!
+		if( pwm != 0 ){
+			state = States::ZERO;     // do nothing, let it tick once again after the 30Hz period
+		}
+		break;
+	case States::ZERO: // end of state ZERO - we'll either stay in ZERO or change to RISE
+		// In any case update our cache of pwm value for the next whole cycle from soft_pwm_bed
+		slowCounter += slowInc; // this does software timer_clk/256 or less (depends on slowInc)
+		if( slowCounter > pwm ){
+			return;
+		} // otherwise moving towards RISE
+		state = States::ZERO_TO_RISE; // and finalize the change in a transitional state RISE0
+		break;
+	// even though it may look like the ZERO state may be glued together with the ZERO_TO_RISE, don't do it
+	// the timer must tick once more in order to get rid of occasional output pin toggles.
+	case States::ZERO_TO_RISE:  // special state for handling transition between prescalers and switching inverted->non-inverted fast-PWM without toggling the output pin.
+		// It must be done in consequent steps, otherwise the pin will get flipped up and down during one PWM cycle.
+		// Also beware of the correct sequence of the following timer control registers initialization - it really matters!
+		state = States::RISE;     // prepare for standard RISE cycles
+		fastCounter = fastMax - 1;// we'll do 16-1 cycles of RISE
+		TCNT0 = 255;              // force overflow on the next clock cycle
+		TCCR0B = (1 << CS00);     // change prescaler to 1, i.e. 62.5kHz
+		TCCR0A &= ~(1 << COM0B0); // Clear OC0B on Compare Match, set OC0B at BOTTOM (non-inverting mode)
+		break;
+	case States::RISE:
+		OCR0B = (fastMax - fastCounter) << fastShift;
+		if( fastCounter ){
+			--fastCounter;
+		} else { // end of RISE cycles, changing into state ONE
+			state = States::RISE_TO_ONE;
+			OCR0B = 255;          // full duty
+			TCNT0 = 254;          // make the timer overflow in the next cycle
+			// @@TODO these constants are still subject to investigation
+		}
+		break;
+	case States::RISE_TO_ONE:
+		state = States::ONE;
+		OCR0B = 255;              // full duty
+		TCNT0 = 255;              // make the timer overflow in the next cycle
+		TCCR0B = (1 << CS01);     // change prescaler to 8, i.e. 7.8kHz
+		break;
+	case States::ONE:             // state ONE - we'll either stay in ONE or change to FALL
+		OCR0B = 255;
+		if (bedPWMDisabled) return; // stay in the ON state and do not change the output pin
+		slowCounter += slowInc;   // this does software timer_clk/256 or less
+		if( slowCounter < pwm ){
+			return;
+		}
+		if( (soft_pwm_bed << 1) >= (255 - slowInc - 1) ){  //@@TODO simplify & explain
+			// if slowInc==2, soft_pwm == 251 will be the first to do short drops to zero. 252 will keep full heating
+			return;           // want full duty for the next ONE cycle again - so keep on heating and just wait for the next timer ovf
+		}
+		// otherwise moving towards FALL
+		// @@TODO it looks like ONE_TO_FALL isn't necessary, there are no artefacts at all
+		state = States::ONE;//_TO_FALL;
+//		TCCR0B = (1 << CS00);      // change prescaler to 1, i.e. 62.5kHz
+//		break;
+//	case States::ONE_TO_FALL:
+//		OCR0B = 255;              // zero duty
+		state=States::FALL;
+		fastCounter = fastMax - 1;// we'll do 16-1 cycles of RISE
+		TCNT0 = 255;              // force overflow on the next clock cycle
+		TCCR0B = (1 << CS00);     // change prescaler to 1, i.e. 62.5kHz
+		// must switch to inverting mode already here, because it takes a whole PWM cycle and it would make a "1" at the end of this pwm cycle
+		// COM0B1 remains set both in inverting and non-inverting mode
+		TCCR0A |= (1 << COM0B0);  // inverting mode
+		break;
+	case States::FALL:
+		OCR0B = (fastMax - fastCounter) << fastShift; // this is the same as in RISE, because now we are setting the zero part of duty due to inverting mode
+		//TCCR0A |= (1 << COM0B0); // already set in ONE_TO_FALL
+		if( fastCounter ){
+			--fastCounter;
+		} else {   // end of FALL cycles, changing into state ZERO
+			state = States::FALL_TO_ZERO;
+			TCNT0 = 128; //@@TODO again - need to wait long enough to propagate the timer state changes
+			OCR0B = 255;
+		}
+		break;
+	case States::FALL_TO_ZERO:
+		state = States::ZERO_START; // go to read new soft_pwm_bed value for the next cycle
+		TCNT0 = 128;
+		OCR0B = 255;
+		TCCR0B = (1 << CS01); // change prescaler to 8, i.e. 7.8kHz
+		break;		
+    }
+}

+ 1 - 1
Firmware/la10compat.cpp

@@ -37,7 +37,7 @@ void la10c_mode_change(LA10C_MODE mode)
 // Approximate a LA10 value to a LA15 equivalent.
 static float la10c_convert(float k)
 {
-    float new_K = k * 0.004 - 0.06;
+    float new_K = k * 0.004 - 0.05;
     return (new_K < 0? 0: new_K);
 }
 

+ 6 - 5
Firmware/mmu.cpp

@@ -383,8 +383,9 @@ void mmu_loop(void)
 			//printf_P(PSTR("Eact: %d\n"), int(e_active()));
 			if (!mmu_finda && CHECK_FSENSOR && fsensor_enabled) {
 				fsensor_checkpoint_print();
-				ad_markDepleted(mmu_extruder);
-				if (lcd_autoDepleteEnabled() && !ad_allDepleted())
+				if (mmu_extruder != MMU_FILAMENT_UNKNOWN) // Can't deplete unknown extruder.
+                    ad_markDepleted(mmu_extruder);
+				if (lcd_autoDepleteEnabled() && !ad_allDepleted() && mmu_extruder != MMU_FILAMENT_UNKNOWN) // Can't auto if F=?
 				{
 				    enquecommand_front_P(PSTR("M600 AUTO")); //save print and run M600 command
 				}
@@ -795,8 +796,8 @@ void mmu_load_to_nozzle()
 {
 	st_synchronize();
 	
-	bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
-	if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = true;
+	const bool saved_e_relative_mode = axis_relative_modes & E_AXIS_MASK;
+	if (!saved_e_relative_mode) axis_relative_modes |= E_AXIS_MASK;
 	if (ir_sensor_detected)
 	{
 		current_position[E_AXIS] += 3.0f;
@@ -820,7 +821,7 @@ void mmu_load_to_nozzle()
 	feedrate = 871;
 	plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
     st_synchronize();
-	if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = false;
+	if (!saved_e_relative_mode) axis_relative_modes &= ~E_AXIS_MASK;
 }
 
 void mmu_M600_wait_and_beep() {

+ 15 - 10
Firmware/planner.cpp

@@ -1061,16 +1061,16 @@ Having the real displacement of the head, we can calculate the total movement le
     /**
      * Use LIN_ADVANCE within this block if all these are true:
      *
-     * block->steps_e           : This is a print move, because we checked for X, Y, Z steps before.
      * extruder_advance_K       : There is an advance factor set.
-     * delta_mm[E_AXIS] > 0     : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
+     * delta_mm[E_AXIS] >= 0    : Extruding or traveling, but _not_ retracting.
      * |delta_mm[Z_AXIS]| < 0.5 : Z is only moved for leveling (_not_ for priming)
      */
-    block->use_advance_lead = block->steps_e.wide
-                              && extruder_advance_K
-                              && delta_mm[E_AXIS] > 0
+    block->use_advance_lead = extruder_advance_K > 0
+                              && delta_mm[E_AXIS] >= 0
                               && abs(delta_mm[Z_AXIS]) < 0.5;
     if (block->use_advance_lead) {
+        // all extrusion moves with LA require a compression which is proportional to the
+        // extrusion_length to distance ratio (e/D)
         e_D_ratio = (e - position_float[E_AXIS]) /
                     sqrt(sq(x - position_float[X_AXIS])
                          + sq(y - position_float[Y_AXIS])
@@ -1082,10 +1082,10 @@ Having the real displacement of the head, we can calculate the total movement le
         // 100mm wide lines using 3mm filament or 35mm wide lines using 1.75mm filament.
         if (e_D_ratio > 3.0)
             block->use_advance_lead = false;
-        else {
-            const uint32_t max_accel_steps_per_s2 = cs.max_jerk[E_AXIS] / (extruder_advance_K * e_D_ratio) * steps_per_mm;
-            if (block->acceleration_st > max_accel_steps_per_s2) {
-                block->acceleration_st = max_accel_steps_per_s2;
+        else if (e_D_ratio > 0) {
+            const float max_accel_per_s2 = cs.max_jerk[E_AXIS] / (extruder_advance_K * e_D_ratio);
+            if (cs.acceleration > max_accel_per_s2) {
+                block->acceleration_st = ceil(max_accel_per_s2 * steps_per_mm);
                 #ifdef LA_DEBUG
                 SERIAL_ECHOLNPGM("LA: Block acceleration limited due to max E-jerk");
                 #endif
@@ -1133,9 +1133,14 @@ Having the real displacement of the head, we can calculate the total movement le
       block->adv_comp = extruder_advance_K * e_D_ratio * cs.axis_steps_per_unit[E_AXIS];
       block->max_adv_steps = block->nominal_speed * block->adv_comp;
 
+      float advance_speed;
+      if (e_D_ratio > 0)
+          advance_speed = (extruder_advance_K * e_D_ratio * block->acceleration * cs.axis_steps_per_unit[E_AXIS]);
+      else
+          advance_speed = cs.max_jerk[E_AXIS] * cs.axis_steps_per_unit[E_AXIS];
+
       // to save more space we avoid another copy of calc_timer and go through slow division, but we
       // still need to replicate the *exact* same step grouping policy (see below)
-      float advance_speed = (extruder_advance_K * e_D_ratio * block->acceleration * cs.axis_steps_per_unit[E_AXIS]);
       if (advance_speed > MAX_STEP_FREQUENCY) advance_speed = MAX_STEP_FREQUENCY;
       float advance_rate = (F_CPU / 8.0) / advance_speed;
       if (advance_speed > 20000) {

+ 3 - 0
Firmware/planner.h

@@ -173,6 +173,9 @@ void plan_set_e_position(const float &e);
 // Reset the E position to zero at the start of the next segment
 void plan_reset_next_e();
 
+inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
+inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
+
 extern bool e_active();
 
 void check_axes_activity();

+ 49 - 24
Firmware/stepper.cpp

@@ -117,8 +117,8 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
   void advance_isr();
 
   static const uint16_t ADV_NEVER      = 0xFFFF;
-  static const uint8_t  ADV_INIT       = 0b01;
-  static const uint8_t  ADV_DECELERATE = 0b10;
+  static const uint8_t  ADV_INIT       = 0b01; // initialize LA
+  static const uint8_t  ADV_ACC_VARY   = 0b10; // varying acceleration phase
 
   static uint16_t nextMainISR;
   static uint16_t nextAdvanceISR;
@@ -128,13 +128,12 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
   static uint16_t eISR_Err;
 
   static uint16_t current_adv_steps;
-  static uint16_t final_adv_steps;
-  static uint16_t max_adv_steps;
-  static uint32_t LA_decelerate_after;
+  static uint16_t target_adv_steps;
 
-  static int8_t e_steps;
-  static uint8_t e_step_loops;
-  static int8_t LA_phase;
+  static int8_t e_steps;        // scheduled e-steps during each isr loop
+  static uint8_t e_step_loops;  // e-steps to execute at most in each isr loop
+  static uint8_t e_extruding;   // current move is an extrusion move
+  static int8_t LA_phase;       // LA compensation phase
 
   #define _NEXT_ISR(T)    main_Rate = nextMainISR = T
 #else
@@ -349,15 +348,12 @@ FORCE_INLINE void stepper_next_block()
 
 #ifdef LIN_ADVANCE
     if (current_block->use_advance_lead) {
-        LA_decelerate_after = current_block->decelerate_after;
-        final_adv_steps = current_block->final_adv_steps;
-        max_adv_steps = current_block->max_adv_steps;
         e_step_loops = current_block->advance_step_loops;
+        target_adv_steps = current_block->max_adv_steps;
     } else {
-        e_steps = 0;
         e_step_loops = 1;
-        current_adv_steps = 0;
     }
+    e_steps = 0;
     nextAdvanceISR = ADV_NEVER;
     LA_phase = -1;
 #endif
@@ -371,11 +367,17 @@ FORCE_INLINE void stepper_next_block()
       counter_y.lo = counter_x.lo;
       counter_z.lo = counter_x.lo;
       counter_e.lo = counter_x.lo;
+#ifdef LIN_ADVANCE
+      e_extruding = current_block->steps_e.lo != 0;
+#endif
     } else {
       counter_x.wide = -(current_block->step_event_count.wide >> 1);
       counter_y.wide = counter_x.wide;
       counter_z.wide = counter_x.wide;
       counter_e.wide = counter_x.wide;
+#ifdef LIN_ADVANCE
+      e_extruding = current_block->steps_e.wide != 0;
+#endif
     }
     step_events_completed.wide = 0;
     // Set directions.
@@ -811,7 +813,7 @@ FORCE_INLINE void isr() {
 #ifdef LIN_ADVANCE
         if (current_block->use_advance_lead) {
             if (step_events_completed.wide <= (unsigned long int)step_loops)
-                la_state = ADV_INIT;
+                la_state = ADV_INIT | ADV_ACC_VARY;
         }
 #endif
       }
@@ -827,11 +829,13 @@ FORCE_INLINE void isr() {
         uint16_t timer = calc_timer(step_rate, step_loops);
         _NEXT_ISR(timer);
         deceleration_time += timer;
+
 #ifdef LIN_ADVANCE
         if (current_block->use_advance_lead) {
-            la_state = ADV_DECELERATE;
-            if (step_events_completed.wide <= (unsigned long int)current_block->decelerate_after + step_loops)
-                la_state |= ADV_INIT;
+            if (step_events_completed.wide <= (unsigned long int)current_block->decelerate_after + step_loops) {
+                target_adv_steps = current_block->final_adv_steps;
+                la_state = ADV_INIT | ADV_ACC_VARY;
+            }
         }
 #endif
       }
@@ -841,6 +845,17 @@ FORCE_INLINE void isr() {
           // the initial interrupt blocking.
           OCR1A_nominal = calc_timer(uint16_t(current_block->nominal_rate), step_loops);
           step_loops_nominal = step_loops;
+
+#ifdef LIN_ADVANCE
+          if(current_block->use_advance_lead) {
+              if (!nextAdvanceISR) {
+                  // Due to E-jerk, there can be discontinuities in pressure state where an
+                  // acceleration or deceleration can be skipped or joined with the previous block.
+                  // If LA was not previously active, re-check the pressure level
+                  la_state = ADV_INIT;
+              }
+          }
+#endif
         }
         _NEXT_ISR(OCR1A_nominal);
       }
@@ -849,10 +864,23 @@ FORCE_INLINE void isr() {
 
 #ifdef LIN_ADVANCE
     // avoid multiple instances or function calls to advance_spread
-    if (la_state & ADV_INIT) eISR_Err = current_block->advance_rate / 4;
+    if (la_state & ADV_INIT) {
+        if (current_adv_steps == target_adv_steps) {
+            // nothing to be done in this phase
+            la_state = 0;
+        }
+        else {
+            eISR_Err = current_block->advance_rate / 4;
+            if ((la_state & ADV_ACC_VARY) && e_extruding && (current_adv_steps > target_adv_steps)) {
+                // LA could reverse the direction of extrusion in this phase
+                LA_phase = 0;
+            }
+        }
+    }
     if (la_state & ADV_INIT || nextAdvanceISR != ADV_NEVER) {
+        // update timers & phase for the next iteration
         advance_spread(main_Rate);
-        if (la_state & ADV_DECELERATE) {
+        if (LA_phase >= 0) {
             if (step_loops == e_step_loops)
                 LA_phase = (eISR_Rate > main_Rate);
             else {
@@ -898,7 +926,7 @@ FORCE_INLINE void isr() {
 // Timer interrupt for E. e_steps is set in the main routine.
 
 FORCE_INLINE void advance_isr() {
-    if (step_events_completed.wide > LA_decelerate_after && current_adv_steps > final_adv_steps) {
+    if (current_adv_steps > target_adv_steps) {
         // decompression
         e_steps -= e_step_loops;
         if (e_steps) WRITE_NC(E0_DIR_PIN, e_steps < 0? INVERT_E0_DIR: !INVERT_E0_DIR);
@@ -908,7 +936,7 @@ FORCE_INLINE void advance_isr() {
             current_adv_steps = 0;
         nextAdvanceISR = eISR_Rate;
     }
-    else if (step_events_completed.wide < LA_decelerate_after && current_adv_steps < max_adv_steps) {
+    else if (current_adv_steps < target_adv_steps) {
         // compression
         e_steps += e_step_loops;
         if (e_steps) WRITE_NC(E0_DIR_PIN, e_steps < 0? INVERT_E0_DIR: !INVERT_E0_DIR);
@@ -1233,9 +1261,6 @@ void st_init()
   nextMainISR = 0;
   nextAdvanceISR = ADV_NEVER;
   main_Rate = ADV_NEVER;
-  e_steps = 0;
-  e_step_loops = 1;
-  LA_phase = -1;
   current_adv_steps = 0;
 #endif
 

+ 10 - 2
Firmware/temperature.cpp

@@ -73,7 +73,7 @@ int current_voltage_raw_pwr = 0;
 int current_voltage_raw_bed = 0;
 #endif
 
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
 int current_voltage_raw_IR = 0;
 #endif //IR_SENSOR_ANALOG
 
@@ -210,6 +210,14 @@ static void temp_runaway_check(int _heater_id, float _target_temperature, float
 static void temp_runaway_stop(bool isPreheat, bool isBed);
 #endif
 
+// return "false", if all extruder-heaters are 'off' (ie. "true", if any heater is 'on')
+bool checkAllHotends(void)
+{
+    bool result=false;
+    for(int i=0;i<EXTRUDERS;i++) result=(result||(target_temperature[i]!=0));
+    return(result);
+}
+
   void PID_autotune(float temp, int extruder, int ncycles)
   {
   pid_number_of_cycles = ncycles;
@@ -1588,7 +1596,7 @@ void adc_ready(void) //callback from adc when sampling finished
 #ifdef VOLT_BED_PIN
 	current_voltage_raw_bed = adc_values[ADC_PIN_IDX(VOLT_BED_PIN)]; // 6->9
 #endif
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
      current_voltage_raw_IR = adc_values[ADC_PIN_IDX(VOLT_IR_PIN)];
 #endif //IR_SENSOR_ANALOG
 	temp_meas_ready = true;

+ 6 - 1
Firmware/temperature.h

@@ -47,6 +47,8 @@
 void tp_init();  //initialize the heating
 void manage_heater(); //it is critical that this is called periodically.
 
+extern bool checkAllHotends(void);
+
 // low level conversion routines
 // do not use these routines and variables outside of temperature.cpp
 extern int target_temperature[EXTRUDERS];  
@@ -76,7 +78,7 @@ extern int current_voltage_raw_pwr;
 extern int current_voltage_raw_bed;
 #endif
 
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
 extern int current_voltage_raw_IR;
 #endif //IR_SENSOR_ANALOG
 
@@ -222,6 +224,9 @@ FORCE_INLINE bool isCoolingBed() {
 #error Invalid number of extruders
 #endif
 
+// return "false", if all heaters are 'off' (ie. "true", if any heater is 'on')
+#define CHECK_ALL_HEATERS (checkAllHotends()||(target_temperature_bed!=0))
+
 int getHeaterPower(int heater);
 void disable_heater();
 void updatePID();

+ 157 - 107
Firmware/ultralcd.cpp

@@ -64,6 +64,10 @@ uint8_t SilentModeMenu_MMU = 1; //activate mmu unit stealth mode
 
 int8_t FSensorStateMenu = 1;
 
+#ifdef IR_SENSOR_ANALOG
+bool bMenuFSDetect=false;
+#endif //IR_SENSOR_ANALOG
+
 
 #ifdef SDCARD_SORT_ALPHA
 bool presort_flag = false;
@@ -110,7 +114,7 @@ static const char* lcd_display_message_fullscreen_nonBlocking_P(const char *msg,
 // void copy_and_scalePID_d();
 
 /* Different menus */
-static void lcd_status_screen();
+//static void lcd_status_screen();                // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
 #if (LANG_MODE != 0)
 static void lcd_language_menu();
 #endif
@@ -160,10 +164,10 @@ static void reset_crash_det(unsigned char axis);
 static bool lcd_selfcheck_axis_sg(unsigned char axis);
 static bool lcd_selfcheck_axis(int _axis, int _travel);
 #else
-static bool lcd_selfcheck_endstops();
 static bool lcd_selfcheck_axis(int _axis, int _travel);
 static bool lcd_selfcheck_pulleys(int axis);
 #endif //TMC2130
+static bool lcd_selfcheck_endstops();
 
 static bool lcd_selfcheck_check_heater(bool _isbed);
 enum class TestScreen : uint_least8_t
@@ -231,8 +235,9 @@ static FanCheck lcd_selftest_fan_auto(int _fan);
 static bool lcd_selftest_fsensor();
 #endif //PAT9125
 static bool selftest_irsensor();
-#if IR_SENSOR_ANALOG
-static bool lcd_selftest_IRsensor();
+#ifdef IR_SENSOR_ANALOG
+static bool lcd_selftest_IRsensor(bool bStandalone=false);
+static void lcd_detect_IRsensor();
 #endif //IR_SENSOR_ANALOG
 static void lcd_selftest_error(TestError error, const char *_error_1, const char *_error_2);
 static void lcd_colorprint_change();
@@ -792,7 +797,7 @@ void lcdui_print_status_screen(void)
 }
 
 // Main status screen. It's up to the implementation specific part to show what is needed. As this is very display dependent
-static void lcd_status_screen()
+void lcd_status_screen()                          // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
 {
 	if (firstrun == 1) 
 	{
@@ -1769,7 +1774,7 @@ static void lcd_menu_temperatures()
     menu_back_if_clicked();
 }
 
-#if defined (VOLT_BED_PIN) || defined (VOLT_PWR_PIN) || IR_SENSOR_ANALOG
+#if defined (VOLT_BED_PIN) || defined (VOLT_PWR_PIN) || defined(IR_SENSOR_ANALOG)
 #define VOLT_DIV_R1 10000
 #define VOLT_DIV_R2 2370
 #define VOLT_DIV_FAC ((float)VOLT_DIV_R2 / (VOLT_DIV_R2 + VOLT_DIV_R1))
@@ -1781,27 +1786,24 @@ static void lcd_menu_temperatures()
 //! |                    |
 //! | PWR:         00.0V |	c=12 r=1
 //! | Bed:         00.0V |	c=12 r=1
-//! |                    |
+//! | IR :         00.0V |  c=12 r=1 optional
 //! ----------------------
 //! @endcode
 //! @todo Positioning of the messages and values on LCD aren't fixed to their exact place. This causes issues with translations.
 static void lcd_menu_voltages()
 {
-	lcd_timeoutToStatus.stop(); //infinite timeout
-	float volt_pwr = VOLT_DIV_REF * ((float)current_voltage_raw_pwr / (1023 * OVERSAMPLENR)) / VOLT_DIV_FAC;
-	float volt_bed = VOLT_DIV_REF * ((float)current_voltage_raw_bed / (1023 * OVERSAMPLENR)) / VOLT_DIV_FAC;
-	lcd_home();
-#if !IR_SENSOR_ANALOG
-	lcd_printf_P(PSTR("\n"));
-#endif //!IR_SENSOR_ANALOG
-     lcd_printf_P(PSTR(" PWR:      %4.1fV\n" " BED:      %4.1fV"), volt_pwr, volt_bed);
-#if IR_SENSOR_ANALOG
-     float volt_IR = VOLT_DIV_REF * ((float)current_voltage_raw_IR / (1023 * OVERSAMPLENR));
-     lcd_printf_P(PSTR("\n IR :       %3.1fV"),volt_IR);
+    lcd_timeoutToStatus.stop(); //infinite timeout
+    float volt_pwr = VOLT_DIV_REF * ((float)current_voltage_raw_pwr / (1023 * OVERSAMPLENR)) / VOLT_DIV_FAC;
+    float volt_bed = VOLT_DIV_REF * ((float)current_voltage_raw_bed / (1023 * OVERSAMPLENR)) / VOLT_DIV_FAC;
+    lcd_home();
+    lcd_printf_P(PSTR(" PWR:      %4.1fV\n" " BED:      %4.1fV"), volt_pwr, volt_bed);
+#ifdef IR_SENSOR_ANALOG
+    float volt_IR = VOLT_DIV_REF * ((float)current_voltage_raw_IR / (1023 * OVERSAMPLENR));
+    lcd_printf_P(PSTR("\n IR :       %3.1fV"),volt_IR);
 #endif //IR_SENSOR_ANALOG
-     menu_back_if_clicked();
+    menu_back_if_clicked();
 }
-#endif //defined (VOLT_BED_PIN) || defined (VOLT_PWR_PIN) || IR_SENSOR_ANALOG
+#endif //defined (VOLT_BED_PIN) || defined (VOLT_PWR_PIN) || defined(IR_SENSOR_ANALOG)
 
 #ifdef TMC2130
 //! @brief Show Belt Status
@@ -1975,6 +1977,23 @@ static void lcd_support_menu()
   MENU_ITEM_BACK_P(_i("Date:"));////MSG_DATE c=17 r=1
   MENU_ITEM_BACK_P(PSTR(__DATE__));
 
+#ifdef IR_SENSOR_ANALOG
+  MENU_ITEM_BACK_P(STR_SEPARATOR);
+  MENU_ITEM_BACK_P(PSTR("Fil. sensor v.:"));
+  switch(oFsensorPCB)
+       {
+       case ClFsensorPCB::_Old:
+            MENU_ITEM_BACK_P(PSTR(" 03 or older"));
+            break;
+       case ClFsensorPCB::_Rev03b:
+            MENU_ITEM_BACK_P(PSTR(" 03b or newer"));
+            break;
+       case ClFsensorPCB::_Undef:
+       default:
+            MENU_ITEM_BACK_P(PSTR(" state unknown"));
+       }
+#endif // IR_SENSOR_ANALOG
+
 	MENU_ITEM_BACK_P(STR_SEPARATOR);
 	if (mmu_enabled)
 	{
@@ -5445,7 +5464,7 @@ SETTINGS_VERSION;
 MENU_END();
 }
 
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
 static void lcd_fsensor_actionNA_set(void)
 {
 switch(oFsensorActionNA)
@@ -5511,8 +5530,9 @@ void lcd_hw_setup_menu(void)                      // can not be "static"
     SETTINGS_NOZZLE;
     MENU_ITEM_SUBMENU_P(_i("Checks"), lcd_checking_menu);
 
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
     FSENSOR_ACTION_NA;
+    MENU_ITEM_FUNCTION_P(PSTR("Fsensor Detection"), lcd_detect_IRsensor);
 #endif //IR_SENSOR_ANALOG
     MENU_END();
 }
@@ -6931,7 +6951,7 @@ static void lcd_tune_menu()
 	else {
 		MENU_ITEM_TOGGLE_P(_T(MSG_FSENSOR), _T(MSG_ON), lcd_fsensor_state_set);
 	}
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
      FSENSOR_ACTION_NA;
 #endif //IR_SENSOR_ANALOG
 #endif //FILAMENT_SENSOR
@@ -7167,10 +7187,7 @@ void lcd_print_stop()
 
     planner_abort_hard(); //needs to be done since plan_buffer_line resets waiting_inside_plan_buffer_line_print_aborted to false. Also copies current to destination.
     
-    axis_relative_modes[X_AXIS] = false;
-    axis_relative_modes[Y_AXIS] = false;
-    axis_relative_modes[Z_AXIS] = false;
-    axis_relative_modes[E_AXIS] = true;
+    axis_relative_modes = E_AXIS_MASK; //XYZ absolute, E relative
     
     isPrintPaused = false; //clear isPrintPaused flag to allow starting next print after pause->stop scenario.
 }
@@ -7359,73 +7376,95 @@ void lcd_belttest_print(const char* msg, uint16_t X, uint16_t Y)
 }
 void lcd_belttest()
 {
-    int _progress = 0;
     bool _result = true;
+    
+    #ifdef TMC2130 // Belttest requires high power mode. Enable it.
+	    FORCE_HIGH_POWER_START;
+    #endif
+    
     uint16_t   X = eeprom_read_word((uint16_t*)(EEPROM_BELTSTATUS_X));
     uint16_t   Y = eeprom_read_word((uint16_t*)(EEPROM_BELTSTATUS_Y));
     lcd_belttest_print(_i("Checking X..."), X, Y);
 
-    _delay(2000);
     KEEPALIVE_STATE(IN_HANDLER);
-
+    
     _result = lcd_selfcheck_axis_sg(X_AXIS);
     X = eeprom_read_word((uint16_t*)(EEPROM_BELTSTATUS_X));
-    if (!_result){
-        lcd_belttest_print(_i("Error"), X, Y);
-        return;
+    if (_result){
+        lcd_belttest_print(_i("Checking Y..."), X, Y);
+        _result = lcd_selfcheck_axis_sg(Y_AXIS);
+        Y = eeprom_read_word((uint16_t*)(EEPROM_BELTSTATUS_Y));
     }
-
-    lcd_belttest_print(_i("Checking Y..."), X, Y);
-    _result = lcd_selfcheck_axis_sg(Y_AXIS);
-    Y = eeprom_read_word((uint16_t*)(EEPROM_BELTSTATUS_Y));
-
-    if (!_result){
+    
+    if (!_result) {
         lcd_belttest_print(_i("Error"), X, Y);
-        lcd_clear();
-        return;
-    }
-
-
-    lcd_belttest_print(_i("Done"), X, Y);
+    } else {
+        lcd_belttest_print(_i("Done"), X, Y);
+    }   
 
+    #ifdef TMC2130
+	    FORCE_HIGH_POWER_END;
+    #endif
+    
     KEEPALIVE_STATE(NOT_BUSY);
     _delay(3000);
 }
 #endif //TMC2130
 
-#if IR_SENSOR_ANALOG
-static bool lcd_selftest_IRsensor()
+#ifdef IR_SENSOR_ANALOG
+// called also from marlin_main.cpp
+void printf_IRSensorAnalogBoardChange(bool bPCBrev03b){
+    printf_P(PSTR("Filament sensor board change detected: revision %S\n"), bPCBrev03b ? PSTR("03b or newer") : PSTR("03 or older"));
+}
+
+static bool lcd_selftest_IRsensor(bool bStandalone)
 {
-bool bAction;
-bool bPCBrev03b;
-uint16_t volt_IR_int;
-float volt_IR;
+    bool bAction;
+    bool bPCBrev03b;
+    uint16_t volt_IR_int;
+    float volt_IR;
 
-volt_IR_int=current_voltage_raw_IR;
-bPCBrev03b=(volt_IR_int<((int)IRsensor_Hopen_TRESHOLD));
-volt_IR=VOLT_DIV_REF*((float)volt_IR_int/(1023*OVERSAMPLENR));
-printf_P(PSTR("Measured filament sensor high level: %4.2fV\n"),volt_IR);
-if(volt_IR_int<((int)IRsensor_Hmin_TRESHOLD))
-     {
-     lcd_selftest_error(TestError::FsensorLevel,"HIGH","");
-     return(false);
-     }
-lcd_show_fullscreen_message_and_wait_P(_i("Please insert filament (but not load them!) into extruder and then press the knob."));
-volt_IR_int=current_voltage_raw_IR;
-volt_IR=VOLT_DIV_REF*((float)volt_IR_int/(1023*OVERSAMPLENR));
-printf_P(PSTR("Measured filament sensor low level: %4.2fV\n"),volt_IR);
-if(volt_IR_int>((int)IRsensor_Lmax_TRESHOLD))
-     {
-     lcd_selftest_error(TestError::FsensorLevel,"LOW","");
-     return(false);
-     }
-if((bPCBrev03b?1:0)!=(uint8_t)oFsensorPCB)        // safer then "(uint8_t)bPCBrev03b"
-     {
-     printf_P(PSTR("Filament sensor board change detected: revision %S\n"),bPCBrev03b?PSTR("03b or newer"):PSTR("03 or older"));
-     oFsensorPCB=bPCBrev03b?ClFsensorPCB::_Rev03b:ClFsensorPCB::_Old;
-     eeprom_update_byte((uint8_t*)EEPROM_FSENSOR_PCB,(uint8_t)oFsensorPCB);
-     }
-return(true);
+    volt_IR_int=current_voltage_raw_IR;
+    bPCBrev03b=(volt_IR_int<((int)IRsensor_Hopen_TRESHOLD));
+    volt_IR=VOLT_DIV_REF*((float)volt_IR_int/(1023*OVERSAMPLENR));
+    printf_P(PSTR("Measured filament sensor high level: %4.2fV\n"),volt_IR);
+    if(volt_IR_int < ((int)IRsensor_Hmin_TRESHOLD)){
+        if(!bStandalone)
+            lcd_selftest_error(TestError::FsensorLevel,"HIGH","");
+        return(false);
+    }
+    lcd_show_fullscreen_message_and_wait_P(_i("Please insert filament (but not load them!) into extruder and then press the knob."));
+    volt_IR_int=current_voltage_raw_IR;
+    volt_IR=VOLT_DIV_REF*((float)volt_IR_int/(1023*OVERSAMPLENR));
+    printf_P(PSTR("Measured filament sensor low level: %4.2fV\n"),volt_IR);
+    if(volt_IR_int > ((int)IRsensor_Lmax_TRESHOLD)){
+        if(!bStandalone)
+            lcd_selftest_error(TestError::FsensorLevel,"LOW","");
+        return(false);
+    }
+    if((bPCBrev03b?1:0)!=(uint8_t)oFsensorPCB){        // safer then "(uint8_t)bPCBrev03b"
+        printf_IRSensorAnalogBoardChange(bPCBrev03b);
+        oFsensorPCB=bPCBrev03b?ClFsensorPCB::_Rev03b:ClFsensorPCB::_Old;
+        eeprom_update_byte((uint8_t*)EEPROM_FSENSOR_PCB,(uint8_t)oFsensorPCB);
+    }
+    return(true);
+}
+
+static void lcd_detect_IRsensor(){
+    bool bAction;
+
+    bMenuFSDetect = true;                               // inhibits some code inside "manage_inactivity()"
+    bAction = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Is the filament loaded?"), false, false);
+    if(bAction){
+        lcd_show_fullscreen_message_and_wait_P(_i("Please unload the filament first, then repeat this action."));
+        return;
+    }
+    bAction = lcd_selftest_IRsensor(true);
+    if(bAction)
+        lcd_show_fullscreen_message_and_wait_P(_i("Sensor verified, remove the filament now."));
+    else
+        lcd_show_fullscreen_message_and_wait_P(_i("Verification failed, remove the filament and try again."));
+    bMenuFSDetect=false;                              // de-inhibits some code inside "manage_inactivity()"
 }
 #endif //IR_SENSOR_ANALOG
 
@@ -7439,7 +7478,8 @@ bool lcd_selftest()
 	int _progress = 0;
 	bool _result = true;
 	bool _swapped_fan = false;
-#if IR_SENSOR_ANALOG
+//#ifdef IR_SENSOR_ANALOG
+#if (0)
      bool bAction;
      bAction=lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Is the filament unloaded?"),false,true);
      if(!bAction)
@@ -7451,10 +7491,7 @@ bool lcd_selftest()
 	#ifdef TMC2130
 	  FORCE_HIGH_POWER_START;
 	#endif // TMC2130
-     _delay(2000);
-    
-    FORCE_BL_ON_START;
-    
+	FORCE_BL_ON_START;
 	_delay(2000);
 	KEEPALIVE_STATE(IN_HANDLER);
 
@@ -7522,11 +7559,7 @@ bool lcd_selftest()
 	if (_result)
 	{
 		_progress = lcd_selftest_screen(TestScreen::FansOk, _progress, 3, true, 2000);
-#ifndef TMC2130
-		_result = lcd_selfcheck_endstops();
-#else
-		_result = true;
-#endif
+		_result = lcd_selfcheck_endstops(); //With TMC2130, only the Z probe is tested.
 	}
 
 	if (_result)
@@ -7577,21 +7610,31 @@ bool lcd_selftest()
 #ifdef TMC2130
 		tmc2130_home_exit();
 		enable_endstops(false);
-		current_position[X_AXIS] = current_position[X_AXIS] + 14;
-		current_position[Y_AXIS] = current_position[Y_AXIS] + 12;
 #endif
 
 		//homeaxis(X_AXIS);
 		//homeaxis(Y_AXIS);
+        current_position[X_AXIS] += pgm_read_float(bed_ref_points_4);
+		current_position[Y_AXIS] += pgm_read_float(bed_ref_points_4+1);
+#ifdef TMC2130
+		//current_position[X_AXIS] += 0;
+		current_position[Y_AXIS] += 4;
+#endif //TMC2130
 		current_position[Z_AXIS] = current_position[Z_AXIS] + 10;
 		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
+        set_destination_to_current();
 		_progress = lcd_selftest_screen(TestScreen::AxisZ, _progress, 3, true, 1500);
-		_result = lcd_selfcheck_axis(2, Z_MAX_POS);
-		if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) {
-			enquecommand_P(PSTR("G28 W"));
-			enquecommand_P(PSTR("G1 Z15 F1000"));
-		}
+#ifdef TMC2130
+		homeaxis(Z_AXIS); //In case of failure, the code gets stuck in this function.
+#else
+        _result = lcd_selfcheck_axis(Z_AXIS, Z_MAX_POS);
+#endif //TMC2130
+
+		//raise Z to not damage the bed during and hotend testing
+		current_position[Z_AXIS] += 20;
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
+		st_synchronize();
 	}
 
 #ifdef TMC2130
@@ -7648,7 +7691,8 @@ bool lcd_selftest()
 				_progress = lcd_selftest_screen(TestScreen::FsensorOk, _progress, 3, true, 2000); //fil sensor OK
 			}
 #endif //PAT9125
-#if IR_SENSOR_ANALOG
+//#ifdef IR_SENSOR_ANALOG
+#if (0)
 			_progress = lcd_selftest_screen(TestScreen::Fsensor, _progress, 3, true, 2000); //check filament sensor
                _result = lcd_selftest_IRsensor();
 			if (_result)
@@ -7715,9 +7759,7 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
 	enable_endstops(true);
 
 	if (axis == X_AXIS) { //there is collision between cables and PSU cover in X axis if Z coordinate is too low
-		
-		current_position[Z_AXIS] += 17;
-		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
+		raise_z_above(17,true);
 		tmc2130_home_enter(Z_AXIS_MASK);
 		st_synchronize();
 		tmc2130_home_exit();
@@ -7814,7 +7856,7 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
 }
 #endif //TMC2130
 
-//#ifndef TMC2130
+#ifndef TMC2130
 
 static bool lcd_selfcheck_axis(int _axis, int _travel)
 {
@@ -7913,12 +7955,13 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 		{
 			lcd_selftest_error(TestError::Motor, _error_1, _error_2);
 		}
-	}
+	}    
+	current_position[_axis] = 0; //simulate axis home to avoid negative numbers for axis position, especially Z.
+	plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 
 	return _stepresult;
 }
 
-#ifndef TMC2130
 static bool lcd_selfcheck_pulleys(int axis)
 {
 	float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
@@ -7963,9 +8006,6 @@ static bool lcd_selfcheck_pulleys(int axis)
 			((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1)) {
 			endstop_triggered = true;
 			if (current_position_init - 1 <= current_position[axis] && current_position_init + 1 >= current_position[axis]) {
-				current_position[axis] += (axis == X_AXIS) ? 13 : 9;
-				plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
-				st_synchronize();
 				return(true);
 			}
 			else {
@@ -7985,31 +8025,42 @@ static bool lcd_selfcheck_pulleys(int axis)
 	}
 	return(true);
 }
+#endif //not defined TMC2130
 
 
 static bool lcd_selfcheck_endstops()
 {
 	bool _result = true;
 
-	if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
+	if (
+	#ifndef TMC2130
+		((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
 		((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) ||
+	#endif //!TMC2130
 		((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1))
 	{
+	#ifndef TMC2130
 		if ((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) current_position[0] += 10;
 		if ((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) current_position[1] += 10;
+	#endif //!TMC2130
 		if ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1) current_position[2] += 10;
 	}
 	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
-	_delay(500);
+	st_synchronize();
 
-	if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
+	if (
+	#ifndef TMC2130
+		((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
 		((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) ||
+	#endif //!TMC2130
 		((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1))
 	{
 		_result = false;
 		char _error[4] = "";
+	#ifndef TMC2130
 		if ((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) strcat(_error, "X");
 		if ((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) strcat(_error, "Y");
+	#endif //!TMC2130
 		if ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1) strcat(_error, "Z");
 		lcd_selftest_error(TestError::Endstops, _error, "");
 	}
@@ -8017,7 +8068,6 @@ static bool lcd_selfcheck_endstops()
 	manage_inactivity(true);
 	return _result;
 }
-#endif //not defined TMC2130
 
 static bool lcd_selfcheck_check_heater(bool _isbed)
 {

+ 8 - 1
Firmware/ultralcd.h

@@ -55,8 +55,10 @@ extern bool lcd_selftest();
 
 void lcd_menu_statistics(); 
 
+void lcd_status_screen();                         // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
 void lcd_menu_extruder_info();                    // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
 void lcd_menu_show_sensors_state();               // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
+
 #ifdef TMC2130
 bool lcd_crash_detect_enabled();
 void lcd_crash_detect_enable();
@@ -138,6 +140,11 @@ extern uint8_t farm_status;
 #define SILENT_MODE_OFF SILENT_MODE_POWER
 #endif
 
+#ifdef IR_SENSOR_ANALOG
+extern bool bMenuFSDetect;
+void printf_IRSensorAnalogBoardChange(bool bPCBrev03b);
+#endif //IR_SENSOR_ANALOG
+
 extern int8_t SilentModeMenu;
 extern uint8_t SilentModeMenu_MMU;
 
@@ -250,7 +257,7 @@ enum class WizState : uint8_t
 void lcd_wizard(WizState state);
 
 #define VOLT_DIV_REF 5
-#if IR_SENSOR_ANALOG
+#ifdef IR_SENSOR_ANALOG
 #define IRsensor_Hmin_TRESHOLD (3.0*1023*OVERSAMPLENR/VOLT_DIV_REF) // ~3.0V (0.6*Vcc)
 #define IRsensor_Lmax_TRESHOLD (1.5*1023*OVERSAMPLENR/VOLT_DIV_REF) // ~1.5V (0.3*Vcc)
 #define IRsensor_Hopen_TRESHOLD (4.6*1023*OVERSAMPLENR/VOLT_DIV_REF) // ~4.6V (N.C. @ Ru~20-50k, Rd'=56k, Ru'=10k)

+ 1 - 1
README.md

@@ -21,7 +21,7 @@
    - For MK3 --> skip to step 3. 
    - If you have a different printer model, follow step [2.b](#2b) from Windows build
    
-3. Run `sudo ./build.sh`
+3. Run `./build.sh`
    - Output hex file is at `"PrusaFirmware/lang/firmware.hex"` . In the same folder you can hex files for other languages as well.
 
 4. Connect your printer and flash with PrusaSlicer ( Configuration --> Flash printer firmware ) or Slic3r PE.

+ 2 - 2
lang/lang_en_fr.txt

@@ -20,7 +20,7 @@
 
 #MSG_CRASH_DET_STEALTH_FORCE_OFF c=20 r=4
 "WARNING:\x0aCrash detection\x0adisabled in\x0aStealth mode"
-"ATTENTION:\x0aDetection de crash\x0adesactivee en\x0amode feutre"
+"ATTENTION:\x0aDetection de crash\x0adesactivee en\x0amode furtif"
 
 #
 ">Cancel"
@@ -550,7 +550,7 @@
 
 #MSG_SILENT
 "Silent"
-"Feutre"
+"Furtif"
 
 #
 "MMU needs user attention."