Merge pull request #465 from PavelSindler/selftest_for_MK25

MK2.5: last changes from MK3 branch ported, selftest: initial version, max endstops not used

Firmware/Configuration.h

@@ -7,8 +7,8 @@
 #define STR(x) STR_HELPER(x)
 
 // Firmware version
-#define FW_VERSION "3.1.1-RC5"
-#define FW_COMMIT_NR   151
+#define FW_VERSION "3.1.2-alpha"
+#define FW_COMMIT_NR   201
 // FW_VERSION_UNKNOWN means this is an unofficial build.
 // The firmware should only be checked into github with this symbol.
 #define FW_DEV_VERSION FW_VERSION_UNKNOWN

Firmware/ConfigurationStore.cpp

@@ -136,10 +136,12 @@ void Config_StoreSettings(uint16_t offset, uint8_t level)
   }
 #endif //LIN_ADVANCE
 
-  /*MYSERIAL.print("Top address used:\n");
+/*  MYSERIAL.print("Top address used:\n");
   MYSERIAL.print(i); 
-  MYSERIAL.print("\n");
-  */
+  MYSERIAL.print("; (0x");
+  MYSERIAL.print(i, HEX);
+  MYSERIAL.println(")");
+*/ 
   char ver2[4]=EEPROM_VERSION;
   i=offset;
   EEPROM_WRITE_VAR(i,ver2); // validate data

Firmware/Configuration_prusa.h

@@ -271,7 +271,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc.
 
 #define X_PROBE_OFFSET_FROM_EXTRUDER 23     // Z probe to nozzle X offset: -left  +right
-#define Y_PROBE_OFFSET_FROM_EXTRUDER 5     // Z probe to nozzle Y offset: -front +behind
+#define Y_PROBE_OFFSET_FROM_EXTRUDER 9     // Z probe to nozzle Y offset: -front +behind
 #define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4  // Z probe to nozzle Z offset: -below (always!)
 #endif
 
@@ -461,6 +461,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define M600_TIMEOUT 600  //seconds
 
+#define TACH0PULLUP
+
 //#define SUPPORT_VERBOSITY
 
 #endif //__CONFIGURATION_PRUSA_H

Firmware/Marlin.h

@@ -379,6 +379,7 @@ float temp_comp_interpolation(float temperature);
 void temp_compensation_apply();
 void temp_compensation_start();
 void show_fw_version_warnings();
+void erase_eeprom_section(uint16_t offset, uint16_t bytes);
 
 #ifdef PINDA_THERMISTOR
 float temp_compensation_pinda_thermistor_offset(float temperature_pinda);
@@ -391,7 +392,10 @@ bool check_commands();
 void uvlo_();
 void recover_print(uint8_t automatic); 
 void setup_uvlo_interrupt();
+
+#if defined(TACH_1) && TACH_1 >-1
 void setup_fan_interrupt();
+#endif
 
 extern void recover_machine_state_after_power_panic();
 extern void restore_print_from_eeprom();

Firmware/Marlin_main.cpp

@@ -935,6 +935,13 @@ void show_fw_version_warnings() {
 	lcd_update_enable(true);
 }
 
+
+
+void erase_eeprom_section(uint16_t offset, uint16_t bytes)
+{
+	for (int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
+}
+
 // "Setup" function is called by the Arduino framework on startup.
 // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code 
 // are initialized by the main() routine provided by the Arduino framework.
@@ -1123,10 +1130,10 @@ void setup()
 	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
 	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
 	if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
-	if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT, 0);
-	if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X, 0);
-	if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y, 0);
-	if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT, 0);
+	if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
+	if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
+	if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
+	if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
 #ifdef SNMM
 	if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
 	  int _z = BOWDEN_LENGTH;
@@ -1172,9 +1179,10 @@ void setup()
 	setup_uvlo_interrupt();
 #endif //UVLO_SUPPORT
 
-#ifndef DEBUG_DISABLE_FANCHECK
+#if !defined(DEBUG_DISABLE_FANCHECK) && defined(TACH_1) && TACH_1 >-1
 	setup_fan_interrupt();
 #endif //DEBUG_DISABLE_FANCHECK
+
 #ifndef DEBUG_DISABLE_FSENSORCHECK
 	fsensor_setup_interrupt();
 #endif //DEBUG_DISABLE_FSENSORCHECK
@@ -1185,8 +1193,10 @@ void setup()
 
   show_fw_version_warnings();
 
-  if (!previous_settings_retrieved) lcd_show_fullscreen_message_and_wait_P(MSG_DEFAULT_SETTINGS_LOADED); //if EEPROM version was changed, inform user that default setting were loaded
-
+  if (!previous_settings_retrieved) {
+	  lcd_show_fullscreen_message_and_wait_P(MSG_DEFAULT_SETTINGS_LOADED); //if EEPROM version was changed, inform user that default setting were loaded
+	  erase_eeprom_section(EEPROM_OFFSET, 156); 							   //erase M500 part of eeprom
+  }
   if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
 	  lcd_wizard(0);
   }
@@ -5761,6 +5771,11 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 			//plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500 / 60, active_extruder);
             
             target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
+            st_synchronize();
+#ifdef TMC2130
+            uint8_t tmc2130_current_r_bckp = tmc2130_current_r[E_AXIS];
+            tmc2130_set_current_r(E_AXIS, TMC2130_UNLOAD_CURRENT_R);
+#endif //TMC2130
             target[E_AXIS] -= 45;
             plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5200 / 60, active_extruder);
             st_synchronize();
@@ -5770,7 +5785,9 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
             target[E_AXIS] -= 20;
             plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
             st_synchronize();
-            
+#ifdef TMC2130            
+            tmc2130_set_current_r(E_AXIS, tmc2130_current_r_bckp);
+#endif //TMC2130
 #endif // SNMM
 
 
@@ -6182,7 +6199,7 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 		lcd_setstatuspgm(MSG_UNLOADING_FILAMENT); 
 
 //		extr_unload2();
-
+		
 		current_position[E_AXIS] -= 45;
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
         st_synchronize();
@@ -7632,6 +7649,8 @@ void uvlo_()
 }
 #endif //UVLO_SUPPORT
 
+#if defined(TACH_1) && TACH_1 >-1
+
 void setup_fan_interrupt() {
 //INT7
 	DDRE &= ~(1 << 7); //input pin
@@ -7662,6 +7681,8 @@ ISR(INT7_vect) {
 	EICRB ^= (1 << 6); //change edge
 }
 
+#endif
+
 #ifdef UVLO_SUPPORT
 void setup_uvlo_interrupt() {
 	DDRE &= ~(1 << 4); //input pin

Firmware/language_all.cpp

@@ -478,8 +478,8 @@ const char * const MSG_DATE_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_DATE_CZ
 };
 
-const char MSG_DEFAULT_SETTINGS_LOADED_EN[] PROGMEM = "Default settings loaded";
-const char MSG_DEFAULT_SETTINGS_LOADED_CZ[] PROGMEM = "Nahrano vychozi nastaveni";
+const char MSG_DEFAULT_SETTINGS_LOADED_EN[] PROGMEM = "Old settings found. Default PID, Esteps etc. will be set.";
+const char MSG_DEFAULT_SETTINGS_LOADED_CZ[] PROGMEM = "Neplatne hodnoty nastaveni. Bude pouzito vychozi PID, Esteps atd.";
 const char * const MSG_DEFAULT_SETTINGS_LOADED_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_DEFAULT_SETTINGS_LOADED_EN,
 	MSG_DEFAULT_SETTINGS_LOADED_CZ

Firmware/language_cz.h

@@ -375,7 +375,7 @@
 #define MSG_CHECK_IDLER						"Prosim otevrete idler a manualne odstrante filament."
 #define MSG_FILE_INCOMPLETE					"Soubor nekompletni. Pokracovat?"
 #define MSG_FILE_CNT						"Nektere soubory nebudou setrideny. Maximalni pocet souboru pro setrideni je 100."
-#define MSG_DEFAULT_SETTINGS_LOADED			"Nahrano vychozi nastaveni"
+#define MSG_DEFAULT_SETTINGS_LOADED			"Neplatne hodnoty nastaveni. Bude pouzito vychozi PID, Esteps atd."
 #define MSG_SORT_TIME						"Trideni     [Cas]"
 #define MSG_SORT_ALPHA						"Trideni [Abeceda]"
 #define MSG_SORT_NONE						"Trideni   [Zadne]"

Firmware/language_en.h

@@ -392,7 +392,7 @@
 #define(length=20, lines=4) MSG_PULL_OUT_FILAMENT				"Please pull out filament immediately"
 #define(length=20, lines=2) MSG_FILE_INCOMPLETE					"File incomplete. Continue anyway?"
 
-#define(length=20, lines=4) MSG_DEFAULT_SETTINGS_LOADED			"Default settings loaded"
+#define(length=20, lines=4) MSG_DEFAULT_SETTINGS_LOADED			"Old settings found. Default PID, Esteps etc. will be set."
 #define(length=17, lines=1) MSG_SORT_TIME						"Sort:      [Time]"
 #define(length=17, lines=1) MSG_SORT_ALPHA						"Sort:  [Alphabet]"
 #define(length=17, lines=1) MSG_SORT_NONE						"Sort:      [None]"

Firmware/pins_Rambo_1_3.h

@@ -26,7 +26,7 @@
 #define X_STEP_PIN             37
 #define X_DIR_PIN              48
 #define X_MIN_PIN              12
-#define X_MAX_PIN              30
+#define X_MAX_PIN              -1
 #define X_ENABLE_PIN           29
 #define X_MS1_PIN              40
 #define X_MS2_PIN              41
@@ -34,7 +34,7 @@
 #define Y_STEP_PIN             36
 #define Y_DIR_PIN              49
 #define Y_MIN_PIN              11
-#define Y_MAX_PIN              24
+#define Y_MAX_PIN              -1
 #define Y_ENABLE_PIN           28
 #define Y_MS1_PIN              69
 #define Y_MS2_PIN              39
@@ -85,6 +85,7 @@
 #define PS_ON_PIN           -1
 #define KILL_PIN            -1  // 80 with Smart Controller LCD
 #define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
+#define TACH_0				30	// noctua extruder fan
 
 #ifdef ULTRA_LCD
 
@@ -134,3 +135,4 @@
 #define LOGIC_ANALYZER_CH5_ENABLE do { cbi(UCSR2B, TXEN2); cbi(UCSR2B, RXEN2); cbi(UCSR2B, RXCIE2); SET_OUTPUT(LOGIC_ANALYZER_CH5); } while (0)
 #define LOGIC_ANALYZER_CH6_ENABLE do { cbi(UCSR2B, TXEN2); cbi(UCSR2B, RXEN2); cbi(UCSR2B, RXCIE2); SET_OUTPUT(LOGIC_ANALYZER_CH6); } while (0)
 #define LOGIC_ANALYZER_CH7_ENABLE SET_OUTPUT(LOGIC_ANALYZER_CH7)
+

Firmware/stepper.cpp

@@ -1056,6 +1056,13 @@ void st_init()
     #endif
   #endif
 
+  #if defined(TACH_0) && TACH_0 > -1
+	SET_INPUT(TACH_0);
+    #ifdef TACH0PULLUP
+	  WRITE(TACH_0, HIGH);
+    #endif
+  #endif
+
 
   //Initialize Step Pins
 #if defined(X_STEP_PIN) && (X_STEP_PIN > -1)

Firmware/temperature.cpp

@@ -454,7 +454,7 @@ void setExtruderAutoFanState(int pin, bool state)
   analogWrite(pin, newFanSpeed);
 }
 
-#if (defined(TACH_0))
+#if (defined(TACH_0) && TACH_0 >-1) || (defined(TACH_1) && TACH_1 > -1)
 
 void countFanSpeed()
 {
@@ -475,12 +475,14 @@ void checkFanSpeed()
 {
 	fans_check_enabled = (eeprom_read_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED) > 0);
 	static unsigned char fan_speed_errors[2] = { 0,0 };
-
+#if defined(TACH_0) && TACH_0 >-1
 	if (fan_speed[0] == 0 && (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)) fan_speed_errors[0]++;
 	else fan_speed_errors[0] = 0;
-
+#endif
+#if defined(TACH_1) && TACH_1 >-1
 	if ((fan_speed[1] == 0)&& (fanSpeed > MIN_PRINT_FAN_SPEED)) fan_speed_errors[1]++;
 	else fan_speed_errors[1] = 0;
+#endif
 
 	if ((fan_speed_errors[0] > 5) && fans_check_enabled) fanSpeedError(0); //extruder fan
 	if ((fan_speed_errors[1] > 15) && fans_check_enabled) fanSpeedError(1); //print fan
@@ -528,7 +530,7 @@ void fanSpeedError(unsigned char _fan) {
 		break;
 	}
 }
-#endif //(defined(TACH_0))
+#endif //(defined(TACH_0) && TACH_0 >-1) || (defined(TACH_1) && TACH_1 > -1)
 
 
 void checkExtruderAutoFans()
@@ -711,10 +713,10 @@ void manage_heater()
       (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1)
   if(millis() - extruder_autofan_last_check > 1000)  // only need to check fan state very infrequently
   {
-#if (defined(TACH_0))
+#if (defined(TACH_0) && TACH_0 >-1) || (defined(TACH_1) && TACH_1 > -1)
 	countFanSpeed();
 	checkFanSpeed();
-#endif //(defined(TACH_0))
+#endif //(defined(TACH_0) && TACH_0 >-1) || (defined(TACH_1) && TACH_1 > -1)
     checkExtruderAutoFans();
     extruder_autofan_last_check = millis();
   }  
@@ -1913,7 +1915,7 @@ ISR(TIMER0_COMPB_vect)
   }
 #endif //BABYSTEPPING
 
-#if (defined(TACH_0))
+#if (defined(TACH_0) && TACH_0 > -1)
   check_fans();
 #endif //(defined(TACH_0))
 
@@ -1990,8 +1992,8 @@ void check_min_temp()
 	check_min_temp_heater0();
 	check_min_temp_bed();
 }
-
-#if (defined(TACH_0))
+ 
+#if (defined(TACH_0) && TACH_0 > -1)
 void check_fans() {
 	if (READ(TACH_0) != fan_state[0]) {
 		fan_edge_counter[0] ++;

Firmware/temperature.h

@@ -227,7 +227,7 @@ void setExtruderAutoFanState(int pin, bool state);
 void checkExtruderAutoFans();
 
 
-#if (defined(TACH_0))
+#if (defined(TACH_0) && TACH_0 > -1)
 
 void countFanSpeed();
 void checkFanSpeed();

Firmware/ultralcd.cpp

@@ -1483,6 +1483,7 @@ static void lcd_menu_extruder_info()
     
     // Display Nozzle fan RPM
     
+#if (defined(TACH_1))
     lcd.setCursor(0, 1);
     lcd_printPGM(MSG_INFO_PRINT_FAN);
     
@@ -1491,7 +1492,7 @@ static void lcd_menu_extruder_info()
     lcd.setCursor(12, 1);
     lcd.print(itostr4(fan_speed_RPM[1]));
     lcd.print(" RPM");
-
+#endif
     
     // Display X and Y difference from Filament sensor
     
@@ -3707,7 +3708,7 @@ void lcd_wizard(int state) {
 			case CALIBRATION_STATUS_CALIBRATED: end = true; eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 0); break;
 			default: state = 2; break; //if calibration status is unknown, run wizard from the beginning
 			}
-			break;
+			break; 
 		case 2: //selftest
 			lcd_show_fullscreen_message_and_wait_P(MSG_WIZARD_SELFTEST);
 			wizard_event = lcd_selftest();
@@ -5629,14 +5630,21 @@ static bool lcd_selftest()
 	if (_result)
 	{
 		_progress = lcd_selftest_screen(0, _progress, 3, true, 2000);
+#if (defined(TACH_1)) 		
 		_result = lcd_selftest_fan_dialog(1);
+#else //defined(TACH_1)
+		_result = lcd_selftest_manual_fan_check(1, false);
+#endif //defined(TACH_1)
 	}
 
 	if (_result)
 	{
 		_progress = lcd_selftest_screen(1, _progress, 3, true, 2000);
-		//_progress = lcd_selftest_screen(2, _progress, 3, true, 2000);
-		_result = true;// lcd_selfcheck_endstops();
+#ifndef TMC2130
+		_result = lcd_selfcheck_endstops();
+#else
+		_result = true;
+#endif
 	}
 	
 	if (_result)
@@ -5885,13 +5893,11 @@ static bool lcd_selfcheck_axis_sg(char axis) {
 		return true;
 }
 #endif //TMC2130
-	
-
 
+#ifndef TMC2130
 
 static bool lcd_selfcheck_axis(int _axis, int _travel)
 {
-	
 	bool _stepdone = false;
 	bool _stepresult = false;
 	int _progress = 0;
@@ -5899,41 +5905,39 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 	int _err_endstop = 0;
 	int _lcd_refresh = 0;
 	_travel = _travel + (_travel / 10);
-	do {
 
+	do {
 		current_position[_axis] = current_position[_axis] - 1;
 
-
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
-		
-		if (/*x_min_endstop || y_min_endstop || */(READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING == 1))
+
+		if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
+			((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) ||
+			((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1))
 		{
 			if (_axis == 0)
 			{
-				_stepresult = (x_min_endstop) ? true : false;
-				_err_endstop = (y_min_endstop) ? 1 : 2;
-				
+				_stepresult = ((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ? true : false;
+				_err_endstop = ((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) ? 1 : 2;
+
 			}
 			if (_axis == 1)
 			{
-				_stepresult = (y_min_endstop) ? true : false;
-				_err_endstop = (x_min_endstop) ? 0 : 2;
-				
+				_stepresult = ((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) ? true : false;
+				_err_endstop = ((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ? 0 : 2;
+
 			}
 			if (_axis == 2)
 			{
-				_stepresult = (READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING == 1) ? true : false;
-				_err_endstop = (x_min_endstop) ? 0 : 1;
+				_stepresult = ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1) ? true : false;
+				_err_endstop = ((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ? 0 : 1;
 				/*disable_x();
 				disable_y();
 				disable_z();*/
 			}
 			_stepdone = true;
 		}
-#ifdef TMC2130
-		tmc2130_home_exit();
-#endif
 
 		if (_lcd_refresh < 6)
 		{
@@ -5941,7 +5945,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 		}
 		else
 		{
-			_progress = lcd_selftest_screen(4 + _axis, _progress, 3, false, 0);
+			_progress = lcd_selftest_screen(2 + _axis, _progress, 3, false, 0);
 			_lcd_refresh = 0;
 		}
 
@@ -5950,7 +5954,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 
 		//delay(100);
 		(_travel_done <= _travel) ? _travel_done++ : _stepdone = true;
-		
+
 	} while (!_stepdone);
 
 
@@ -5980,7 +5984,6 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 		}
 	}
 
-
 	return _stepresult;
 }
 
@@ -5988,124 +5991,100 @@ static bool lcd_selfcheck_pulleys(int axis)
 {
 	float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
 	float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
-	float current_position_init, current_position_final;
+	float current_position_init;
 	float move;
 	bool endstop_triggered = false;
-	bool result = true;
 	int i;
 	unsigned long timeout_counter;
 	refresh_cmd_timeout();
 	manage_inactivity(true);
 
 	if (axis == 0) move = 50; //X_AXIS 
-		else move = 50; //Y_AXIS
+	else move = 50; //Y_AXIS
 
-		//current_position_init = current_position[axis];
-		current_position_init = st_get_position_mm(axis);
-		current_position[axis] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
-		for (i = 0; i < 5; i++) {
-			refresh_cmd_timeout();
-			current_position[axis] = current_position[axis] + move;
-			//digipot_current(0, 850); //set motor current higher
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 200, active_extruder);
-			st_synchronize();
-			//if (SilentModeMenu == 1) digipot_current(0, tmp_motor[0]); //set back to normal operation currents
-			//else digipot_current(0, tmp_motor_loud[0]); //set motor current back			
-			current_position[axis] = current_position[axis] - move;
-#ifdef TMC2130
-			tmc2130_home_enter(X_AXIS_MASK << axis);
-#endif
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 50, active_extruder);
-			
-			st_synchronize();
-			if ((x_min_endstop) || (y_min_endstop)) {
+	current_position_init = current_position[axis];
+
+	current_position[axis] += 2;
+	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	for (i = 0; i < 5; i++) {
+		refresh_cmd_timeout();
+		current_position[axis] = current_position[axis] + move;
+		digipot_current(0, 850); //set motor current higher
+		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 200, active_extruder);
+		st_synchronize();
+		if (SilentModeMenu == 1) digipot_current(0, tmp_motor[0]); //set back to normal operation currents
+		else digipot_current(0, tmp_motor_loud[0]); //set motor current back			
+		current_position[axis] = current_position[axis] - move;
+		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 50, active_extruder);
+		st_synchronize();
+		if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
+			((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1)) {
+			lcd_selftest_error(8, (axis == 0) ? "X" : "Y", "");
+			return(false);
+		}
+	}
+	timeout_counter = millis() + 2500;
+	endstop_triggered = false;
+	manage_inactivity(true);
+	while (!endstop_triggered) {
+		if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
+			((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] += 15;
+				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+				st_synchronize();
+				return(true);
+			}
+			else {
 				lcd_selftest_error(8, (axis == 0) ? "X" : "Y", "");
 				return(false);
 			}
-#ifdef TMC2130
-			tmc2130_home_exit();
-#endif
 		}
-		timeout_counter = millis() + 2500;
-		endstop_triggered = false;
-		manage_inactivity(true);
-		while (!endstop_triggered) {
-			if ((x_min_endstop) || (y_min_endstop)) {
-#ifdef TMC2130
-				tmc2130_home_exit();
-#endif
-				endstop_triggered = true;
-				current_position_final = st_get_position_mm(axis);
-
-				SERIAL_ECHOPGM("current_pos_init:");
-				MYSERIAL.println(current_position_init);
-				SERIAL_ECHOPGM("current_pos:");
-				MYSERIAL.println(current_position_final);
+		else {
+			current_position[axis] -= 1;
+			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+			st_synchronize();
+			if (millis() > timeout_counter) {
 				lcd_selftest_error(8, (axis == 0) ? "X" : "Y", "");
-				
-				if (current_position_init - 1 <= current_position_final && current_position_init + 1 >= current_position_final) {
-					current_position[axis] += 15;
-					plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
-					st_synchronize();
-					return(true);
-				}
-				else {
-
-					return(false);
-				}
-			}
-			else {
-#ifdef TMC2130
-				tmc2130_home_exit();
-#endif
-				//current_position[axis] -= 1;
-				current_position[axis] += 50;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
-				current_position[axis] -= 100;
-#ifdef TMC2130
-				tmc2130_home_enter(X_AXIS_MASK << axis);
-#endif
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
-				st_synchronize();
-				
-				if (millis() > timeout_counter) {
-					lcd_selftest_error(8, (axis == 0) ? "X" : "Y", "");
-					return(false);
-				}
+				return(false);
 			}
-		}		
-
-
+		}
+	}
+	return(true);
 }
 
 static bool lcd_selfcheck_endstops()
-{/*
+{
 	bool _result = true;
 
-	if (x_min_endstop || y_min_endstop || READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING == 1)
+	if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
+		((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) ||
+		((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1))
 	{
-		current_position[0] = (x_min_endstop) ? current_position[0] = current_position[0] + 10 : current_position[0];
-		current_position[1] = (y_min_endstop) ? current_position[1] = current_position[1] + 10 : current_position[1];
-		current_position[2] = (READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING == 1) ? current_position[2] = current_position[2] + 10 : current_position[2];
+		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;
+		if ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1) current_position[2] += 10;
 	}
 	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[0] / 60, active_extruder);
 	delay(500);
 
-	if (x_min_endstop || y_min_endstop || READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING == 1)
+	if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
+		((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) ||
+		((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1))
 	{
 		_result = false;
 		char _error[4] = "";
-		if (x_min_endstop) strcat(_error, "X");
-		if (y_min_endstop) strcat(_error, "Y");
-		if (READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING == 1) strcat(_error, "Z");
+		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");
+		if ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1) strcat(_error, "Z");
 		lcd_selftest_error(3, _error, "");
 	}
 	manage_heater();
 	manage_inactivity(true);
 	return _result;
-	*/
 }
+#endif //not defined TMC2130
 
 static bool lcd_selfcheck_check_heater(bool _isbed)
 {
@@ -6318,7 +6297,7 @@ static bool lcd_selftest_manual_fan_check(int _fan, bool check_opposite)
 	
 	switch (_fan)
 	{
-	case 1:
+	case 0:
 		// extruder cooling fan
 		lcd.setCursor(0, 1); 
 		if(check_opposite == true) lcd_printPGM(MSG_SELFTEST_COOLING_FAN); 
@@ -6326,7 +6305,7 @@ static bool lcd_selftest_manual_fan_check(int _fan, bool check_opposite)
 		SET_OUTPUT(EXTRUDER_0_AUTO_FAN_PIN);
 		WRITE(EXTRUDER_0_AUTO_FAN_PIN, 1);
 		break;
-	case 2:
+	case 1:
 		// object cooling fan
 		lcd.setCursor(0, 1);
 		if (check_opposite == true) lcd_printPGM(MSG_SELFTEST_EXTRUDER_FAN);
@@ -6347,12 +6326,12 @@ static bool lcd_selftest_manual_fan_check(int _fan, bool check_opposite)
 	{
 		switch (_fan)
 		{
-		case 1:
+		case 0:
 			// extruder cooling fan
 			SET_OUTPUT(EXTRUDER_0_AUTO_FAN_PIN);
 			WRITE(EXTRUDER_0_AUTO_FAN_PIN, 1);
 			break;
-		case 2:
+		case 1:
 			// object cooling fan
 			SET_OUTPUT(FAN_PIN);
 			analogWrite(FAN_PIN, 255);
@@ -6437,9 +6416,9 @@ static bool lcd_selftest_fan_dialog(int _fan)
 		else if (fan_speed[1] < 34) { //fan is spinning, but measured RPM are too low for print fan, it must be left extruder fan
 			//check fans manually
 
-			_result = lcd_selftest_manual_fan_check(2, true); //turn on print fan and check that left extruder fan is not spinning
+			_result = lcd_selftest_manual_fan_check(1, true); //turn on print fan and check that left extruder fan is not spinning
 			if (_result) {
-				_result = lcd_selftest_manual_fan_check(2, false); //print fan is stil turned on; check that it is spinning
+				_result = lcd_selftest_manual_fan_check(1, false); //print fan is stil turned on; check that it is spinning
 				if (!_result) _errno = 6; //print fan not spinning
 			}
 			else {
@@ -6463,8 +6442,6 @@ static bool lcd_selftest_fan_dialog(int _fan)
 
 static int lcd_selftest_screen(int _step, int _progress, int _progress_scale, bool _clear, int _delay)
 {
-	//SERIAL_ECHOPGM("Step:");
-	//MYSERIAL.println(_step);
 
 	lcd_next_update_millis = millis() + (LCD_UPDATE_INTERVAL * 10000);
 

Firmware/ultralcd.h

@@ -36,21 +36,24 @@ void lcd_mylang();
 
   static void lcd_selftest_v();
   static bool lcd_selftest();
-  static bool lcd_selfcheck_endstops();
 
 #ifdef TMC2130
   static void reset_crash_det(char axis);
   static bool lcd_selfcheck_axis_sg(char axis);
-#endif //TMC2130
+#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_check_heater(bool _isbed);
   static int  lcd_selftest_screen(int _step, int _progress, int _progress_scale, bool _clear, int _delay);
   static void lcd_selftest_screen_step(int _row, int _col, int _state, const char *_name, const char *_indicator);
+  static bool lcd_selftest_manual_fan_check(int _fan, bool check_opposite);
   static bool lcd_selftest_fan_dialog(int _fan);
   static bool lcd_selftest_fsensor();
   static void lcd_selftest_error(int _error_no, const char *_error_1, const char *_error_2);
-  void lcd_menu_statistics();
-  static bool lcd_selfcheck_pulleys(int axis);
+  void lcd_menu_statistics(); 
 
   extern const char* lcd_display_message_fullscreen_P(const char *msg, uint8_t &nlines);
   inline const char* lcd_display_message_fullscreen_P(const char *msg) 

Firmware/util.cpp

@@ -86,7 +86,7 @@ inline bool parse_version(const char *str, uint16_t version[4])
             version[3] = FIRMWARE_REVISION_ALPHA;
         else if (n == strlen_P(STR_REVISION_BETA) && strncmp_P(p, STR_REVISION_BETA, n) == 0)
             version[3] = FIRMWARE_REVISION_BETA;
-        else if ((n == 2 || n == 3) && p[0] == 'r' && p[1] == 'c') {
+        else if ((n == 2 || n == 3) && (p[0] == 'r' || p[0] == 'R') && (p[1] == 'c' || p[1] == 'C')) {
             if (n == 2)
                 version[3] = FIRMWARE_REVISION_RC;
             else {
@@ -116,12 +116,22 @@ inline bool parse_version(const char *str, uint16_t version[4])
 inline bool strncmp_PP(const char *p1, const char *p2, uint8_t n)
 {
     for (; n > 0; -- n, ++ p1, ++ p2) {
-        if (pgm_read_byte(p1) < pgm_read_byte(p2))
-            return -1;
-        if (pgm_read_byte(p1) > pgm_read_byte(p2))
-            return 1;
-        if (pgm_read_byte(p1) == 0)
-            return 0;
+		if (pgm_read_byte(p1) >= 65 && pgm_read_byte(p1) <= 92) //p1 is upper case (p2 is always lowercase)
+		{
+			if ((pgm_read_byte(p1)+32) < pgm_read_byte(p2))
+				return -1;
+			if ((pgm_read_byte(p1)+32) > pgm_read_byte(p2))
+				return 1;
+		}
+		else if (pgm_read_byte(p1) == 0) {
+			return 0;
+		}
+		else { //p1 is lowercase
+			if (pgm_read_byte(p1) < pgm_read_byte(p2))
+				return -1;
+			if (pgm_read_byte(p1) > pgm_read_byte(p2))
+				return 1;
+		}            
     }
     return 0;
 }