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@@ -1034,7 +1034,7 @@ void setup()
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stdout = uartout;
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SERIAL_PROTOCOLLNPGM("start");
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SERIAL_ECHO_START;
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- printf_P(PSTR(" "FW_VERSION_FULL"\n"));
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+ printf_P(PSTR(" " FW_VERSION_FULL "\n"));
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#if 0
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SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
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@@ -1282,7 +1282,7 @@ void setup()
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}
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else
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printf_P(PSTR("Card NG!\n"));
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-#endif DEBUG_SD_SPEED_TEST
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+#endif //DEBUG_SD_SPEED_TEST
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if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
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if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
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@@ -2116,6 +2116,9 @@ void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
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}
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else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
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{
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+#ifdef TMC2130
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+ FORCE_HIGH_POWER_START;
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+#endif
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int axis_home_dir = home_dir(axis);
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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@@ -2124,7 +2127,11 @@ void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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#ifdef TMC2130
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- if ((tmc2130_mode == TMC2130_MODE_NORMAL) && (READ(Z_TMC2130_DIAG) != 0)) return; //Z crash
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+ if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
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+ FORCE_HIGH_POWER_END;
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+ kill(MSG_BED_LEVELING_FAILED_POINT_LOW);
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+ return;
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+ }
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#endif //TMC2130
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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@@ -2136,13 +2143,20 @@ void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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#ifdef TMC2130
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- if ((tmc2130_mode == TMC2130_MODE_NORMAL) && (READ(Z_TMC2130_DIAG) != 0)) return; //Z crash
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+ if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
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+ FORCE_HIGH_POWER_END;
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+ kill(MSG_BED_LEVELING_FAILED_POINT_LOW);
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+ return;
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+ }
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#endif //TMC2130
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axis_is_at_home(axis);
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destination[axis] = current_position[axis];
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feedrate = 0.0;
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endstops_hit_on_purpose();
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axis_known_position[axis] = true;
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+#ifdef TMC2130
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+ FORCE_HIGH_POWER_END;
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+#endif
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}
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enable_endstops(endstops_enabled);
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}
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@@ -2308,990 +2322,997 @@ void force_high_power_mode(bool start_high_power_section) {
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}
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#endif //TMC2130
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-bool gcode_M45(bool onlyZ, int8_t verbosity_level)
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-{
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- bool final_result = false;
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- #ifdef TMC2130
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- FORCE_HIGH_POWER_START;
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- #endif // TMC2130
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- // Only Z calibration?
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- if (!onlyZ)
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- {
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- setTargetBed(0);
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- setTargetHotend(0, 0);
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- setTargetHotend(0, 1);
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- setTargetHotend(0, 2);
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- adjust_bed_reset(); //reset bed level correction
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- }
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+void gcode_G28(bool home_x, bool home_y, bool home_z, bool calib){
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+ st_synchronize();
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- // Disable the default update procedure of the display. We will do a modal dialog.
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- lcd_update_enable(false);
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- // Let the planner use the uncorrected coordinates.
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- mbl.reset();
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- // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
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- // the planner will not perform any adjustments in the XY plane.
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- // Wait for the motors to stop and update the current position with the absolute values.
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- world2machine_revert_to_uncorrected();
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- // Reset the baby step value applied without moving the axes.
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- babystep_reset();
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- // Mark all axes as in a need for homing.
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- memset(axis_known_position, 0, sizeof(axis_known_position));
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+#if 0
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+ SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
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+ SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
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+#endif
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- // Home in the XY plane.
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- //set_destination_to_current();
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- setup_for_endstop_move();
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- lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
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- home_xy();
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+ // Flag for the display update routine and to disable the print cancelation during homing.
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+ homing_flag = true;
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+
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+ // Either all X,Y,Z codes are present, or none of them.
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+ bool home_all_axes = home_x == home_y && home_x == home_z;
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+ if (home_all_axes)
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+ // No X/Y/Z code provided means to home all axes.
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+ home_x = home_y = home_z = true;
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- enable_endstops(false);
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- current_position[X_AXIS] += 5;
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- current_position[Y_AXIS] += 5;
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- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
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- st_synchronize();
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+#ifdef ENABLE_AUTO_BED_LEVELING
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+ plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
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+#endif //ENABLE_AUTO_BED_LEVELING
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+
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+ // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
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+ // the planner will not perform any adjustments in the XY plane.
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+ // Wait for the motors to stop and update the current position with the absolute values.
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+ world2machine_revert_to_uncorrected();
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- // Let the user move the Z axes up to the end stoppers.
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-#ifdef TMC2130
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- if (calibrate_z_auto())
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- {
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-#else //TMC2130
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- if (lcd_calibrate_z_end_stop_manual(onlyZ))
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- {
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-#endif //TMC2130
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- refresh_cmd_timeout();
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- #ifndef STEEL_SHEET
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- if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
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- {
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- lcd_wait_for_cool_down();
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- }
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- #endif //STEEL_SHEET
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- if(!onlyZ)
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- {
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- KEEPALIVE_STATE(PAUSED_FOR_USER);
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- #ifdef STEEL_SHEET
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- bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
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- if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
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- #endif //STEEL_SHEET
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- lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
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- lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
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- KEEPALIVE_STATE(IN_HANDLER);
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- lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
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- lcd_implementation_print_at(0, 2, 1);
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- lcd_printPGM(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
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- }
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- // Move the print head close to the bed.
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- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
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+ // For mesh bed leveling deactivate the matrix temporarily.
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+ // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
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+ // in a single axis only.
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+ // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
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+#ifdef MESH_BED_LEVELING
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+ uint8_t mbl_was_active = mbl.active;
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+ mbl.active = 0;
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+ current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
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+#endif
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- bool endstops_enabled = enable_endstops(true);
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-#ifdef TMC2130
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- tmc2130_home_enter(Z_AXIS_MASK);
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-#endif //TMC2130
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+ // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
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+ // consumed during the first movements following this statement.
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+ if (home_z)
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+ babystep_undo();
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- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
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+ saved_feedrate = feedrate;
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+ saved_feedmultiply = feedmultiply;
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+ feedmultiply = 100;
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+ previous_millis_cmd = millis();
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- st_synchronize();
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-#ifdef TMC2130
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- tmc2130_home_exit();
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-#endif //TMC2130
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- enable_endstops(endstops_enabled);
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+ enable_endstops(true);
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- if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
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- {
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+ memcpy(destination, current_position, sizeof(destination));
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+ feedrate = 0.0;
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- int8_t verbosity_level = 0;
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- if (code_seen('V'))
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- {
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- // Just 'V' without a number counts as V1.
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- char c = strchr_pointer[1];
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- verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
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- }
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+ #if Z_HOME_DIR > 0 // If homing away from BED do Z first
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+ if(home_z)
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+ homeaxis(Z_AXIS);
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+ #endif
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- if (onlyZ)
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- {
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- clean_up_after_endstop_move();
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- // Z only calibration.
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- // Load the machine correction matrix
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- world2machine_initialize();
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- // and correct the current_position to match the transformed coordinate system.
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- world2machine_update_current();
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- //FIXME
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- bool result = sample_mesh_and_store_reference();
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- if (result)
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- {
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- if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
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- // Shipped, the nozzle height has been set already. The user can start printing now.
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- calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
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- final_result = true;
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- // babystep_apply();
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- }
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- }
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- else
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- {
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- // Reset the baby step value and the baby step applied flag.
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- calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
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- eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
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- // Complete XYZ calibration.
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- uint8_t point_too_far_mask = 0;
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- BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
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- clean_up_after_endstop_move();
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- // Print head up.
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- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
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- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
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- st_synchronize();
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-//#ifndef NEW_XYZCAL
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- if (result >= 0)
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- {
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- #ifdef HEATBED_V2
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- sample_z();
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- #else //HEATBED_V2
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- point_too_far_mask = 0;
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- // Second half: The fine adjustment.
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- // Let the planner use the uncorrected coordinates.
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- mbl.reset();
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- world2machine_reset();
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- // Home in the XY plane.
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- setup_for_endstop_move();
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- home_xy();
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- result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
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- clean_up_after_endstop_move();
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- // Print head up.
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- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
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- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
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- st_synchronize();
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- // if (result >= 0) babystep_apply();
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- #endif //HEATBED_V2
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- }
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-//#endif //NEW_XYZCAL
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- lcd_update_enable(true);
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- lcd_update(2);
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+ #ifdef QUICK_HOME
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+ // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
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+ if(home_x && home_y) //first diagonal move
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+ {
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+ current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
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- lcd_bed_calibration_show_result(result, point_too_far_mask);
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- if (result >= 0)
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- {
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- // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
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- calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
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- if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
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- final_result = true;
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- }
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- }
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-#ifdef TMC2130
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- tmc2130_home_exit();
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-#endif
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- }
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- else
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- {
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- lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
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- final_result = false;
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- }
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- }
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- else
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- {
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- // Timeouted.
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- }
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- lcd_update_enable(true);
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-#ifdef TMC2130
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- FORCE_HIGH_POWER_END;
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-#endif // TMC2130
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- return final_result;
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-}
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+ int x_axis_home_dir = home_dir(X_AXIS);
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-void gcode_M114()
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-{
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- SERIAL_PROTOCOLPGM("X:");
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- SERIAL_PROTOCOL(current_position[X_AXIS]);
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- SERIAL_PROTOCOLPGM(" Y:");
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- SERIAL_PROTOCOL(current_position[Y_AXIS]);
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- SERIAL_PROTOCOLPGM(" Z:");
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- SERIAL_PROTOCOL(current_position[Z_AXIS]);
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- SERIAL_PROTOCOLPGM(" E:");
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- SERIAL_PROTOCOL(current_position[E_AXIS]);
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+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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+ destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
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+ feedrate = homing_feedrate[X_AXIS];
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+ if(homing_feedrate[Y_AXIS]<feedrate)
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+ feedrate = homing_feedrate[Y_AXIS];
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+ if (max_length(X_AXIS) > max_length(Y_AXIS)) {
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+ feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
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+ } else {
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+ feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
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+ }
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+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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+ st_synchronize();
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- SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
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- SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
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- SERIAL_PROTOCOLPGM(" Y:");
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- SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
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- SERIAL_PROTOCOLPGM(" Z:");
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- SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
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- SERIAL_PROTOCOLPGM(" E:");
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- SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
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+ axis_is_at_home(X_AXIS);
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+ axis_is_at_home(Y_AXIS);
|
|
|
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
+ destination[X_AXIS] = current_position[X_AXIS];
|
|
|
+ destination[Y_AXIS] = current_position[Y_AXIS];
|
|
|
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
|
+ feedrate = 0.0;
|
|
|
+ st_synchronize();
|
|
|
+ endstops_hit_on_purpose();
|
|
|
|
|
|
- SERIAL_PROTOCOLLN("");
|
|
|
-}
|
|
|
+ current_position[X_AXIS] = destination[X_AXIS];
|
|
|
+ current_position[Y_AXIS] = destination[Y_AXIS];
|
|
|
+ current_position[Z_AXIS] = destination[Z_AXIS];
|
|
|
+ }
|
|
|
+ #endif /* QUICK_HOME */
|
|
|
|
|
|
-void gcode_M701()
|
|
|
-{
|
|
|
-#ifdef SNMM
|
|
|
- extr_adj(snmm_extruder);//loads current extruder
|
|
|
-#else
|
|
|
- enable_z();
|
|
|
- custom_message = true;
|
|
|
- custom_message_type = 2;
|
|
|
+#ifdef TMC2130
|
|
|
+ if(home_x)
|
|
|
+ {
|
|
|
+ if (!calib)
|
|
|
+ homeaxis(X_AXIS);
|
|
|
+ else
|
|
|
+ tmc2130_home_calibrate(X_AXIS);
|
|
|
+ }
|
|
|
|
|
|
- lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
|
|
|
- current_position[E_AXIS] += 70;
|
|
|
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
|
|
|
+ if(home_y)
|
|
|
+ {
|
|
|
+ if (!calib)
|
|
|
+ homeaxis(Y_AXIS);
|
|
|
+ else
|
|
|
+ tmc2130_home_calibrate(Y_AXIS);
|
|
|
+ }
|
|
|
+#endif //TMC2130
|
|
|
|
|
|
- current_position[E_AXIS] += 25;
|
|
|
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
|
|
|
- st_synchronize();
|
|
|
|
|
|
- tone(BEEPER, 500);
|
|
|
- delay_keep_alive(50);
|
|
|
- noTone(BEEPER);
|
|
|
+ if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
|
|
|
+ current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
|
|
|
|
|
|
- if (!farm_mode && loading_flag) {
|
|
|
- bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
|
|
|
+ if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
|
|
|
+ current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
|
|
|
|
|
|
- while (!clean) {
|
|
|
- lcd_update_enable(true);
|
|
|
- lcd_update(2);
|
|
|
- current_position[E_AXIS] += 25;
|
|
|
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
|
|
|
- st_synchronize();
|
|
|
- clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
|
|
|
+ #if Z_HOME_DIR < 0 // If homing towards BED do Z last
|
|
|
+ #ifndef Z_SAFE_HOMING
|
|
|
+ if(home_z) {
|
|
|
+ #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
|
|
|
+ destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
|
+ feedrate = max_feedrate[Z_AXIS];
|
|
|
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
|
+ st_synchronize();
|
|
|
+ #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
|
|
|
+ #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
|
|
|
+ if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
|
|
|
+ {
|
|
|
+ homeaxis(X_AXIS);
|
|
|
+ homeaxis(Y_AXIS);
|
|
|
+ }
|
|
|
+ // 1st mesh bed leveling measurement point, corrected.
|
|
|
+ world2machine_initialize();
|
|
|
+ world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
|
|
|
+ world2machine_reset();
|
|
|
+ if (destination[Y_AXIS] < Y_MIN_POS)
|
|
|
+ destination[Y_AXIS] = Y_MIN_POS;
|
|
|
+ destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
|
|
|
+ feedrate = homing_feedrate[Z_AXIS]/10;
|
|
|
+ current_position[Z_AXIS] = 0;
|
|
|
+ enable_endstops(false);
|
|
|
+#ifdef DEBUG_BUILD
|
|
|
+ SERIAL_ECHOLNPGM("plan_set_position()");
|
|
|
+ MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
|
|
|
+ MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
|
|
|
+#endif
|
|
|
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
+#ifdef DEBUG_BUILD
|
|
|
+ SERIAL_ECHOLNPGM("plan_buffer_line()");
|
|
|
+ MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
|
|
|
+ MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
|
|
|
+ MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
|
|
|
+#endif
|
|
|
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
|
+ st_synchronize();
|
|
|
+ current_position[X_AXIS] = destination[X_AXIS];
|
|
|
+ current_position[Y_AXIS] = destination[Y_AXIS];
|
|
|
+ enable_endstops(true);
|
|
|
+ endstops_hit_on_purpose();
|
|
|
+ homeaxis(Z_AXIS);
|
|
|
+ #else // MESH_BED_LEVELING
|
|
|
+ homeaxis(Z_AXIS);
|
|
|
+ #endif // MESH_BED_LEVELING
|
|
|
+ }
|
|
|
+ #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
|
|
|
+ if(home_all_axes) {
|
|
|
+ destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
|
|
|
+ destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
|
|
|
+ destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
|
+ feedrate = XY_TRAVEL_SPEED/60;
|
|
|
+ current_position[Z_AXIS] = 0;
|
|
|
|
|
|
- }
|
|
|
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
|
+ st_synchronize();
|
|
|
+ current_position[X_AXIS] = destination[X_AXIS];
|
|
|
+ current_position[Y_AXIS] = destination[Y_AXIS];
|
|
|
|
|
|
- }
|
|
|
- lcd_update_enable(true);
|
|
|
- lcd_update(2);
|
|
|
- lcd_setstatuspgm(_T(WELCOME_MSG));
|
|
|
- disable_z();
|
|
|
- loading_flag = false;
|
|
|
- custom_message = false;
|
|
|
- custom_message_type = 0;
|
|
|
-#endif
|
|
|
+ homeaxis(Z_AXIS);
|
|
|
+ }
|
|
|
+ // Let's see if X and Y are homed and probe is inside bed area.
|
|
|
+ if(home_z) {
|
|
|
+ if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
|
|
|
+ && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
|
|
|
+ && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
|
|
|
+ && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
|
|
|
+ && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
|
|
|
|
|
|
-}
|
|
|
-/**
|
|
|
- * @brief Get serial number from 32U2 processor
|
|
|
- *
|
|
|
- * Typical format of S/N is:CZPX0917X003XC13518
|
|
|
- *
|
|
|
- * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
|
|
|
- *
|
|
|
- * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
|
|
|
- * reply is transmitted to serial port 1 character by character.
|
|
|
- * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
|
|
|
- * it is interrupted, so less, or no characters are retransmitted, only newline character is send
|
|
|
- * in any case.
|
|
|
- */
|
|
|
-static void gcode_PRUSA_SN()
|
|
|
-{
|
|
|
- if (farm_mode) {
|
|
|
- selectedSerialPort = 0;
|
|
|
- MSerial.write(";S");
|
|
|
- int numbersRead = 0;
|
|
|
- Timer timeout;
|
|
|
- timeout.start();
|
|
|
+ current_position[Z_AXIS] = 0;
|
|
|
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
+ destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
|
+ feedrate = max_feedrate[Z_AXIS];
|
|
|
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
|
+ st_synchronize();
|
|
|
|
|
|
- while (numbersRead < 19) {
|
|
|
- while (MSerial.available() > 0) {
|
|
|
- uint8_t serial_char = MSerial.read();
|
|
|
- selectedSerialPort = 1;
|
|
|
- MSerial.write(serial_char);
|
|
|
- numbersRead++;
|
|
|
- selectedSerialPort = 0;
|
|
|
+ homeaxis(Z_AXIS);
|
|
|
+ } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
|
|
|
+ LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
|
|
|
+ SERIAL_ECHO_START;
|
|
|
+ SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
|
|
|
+ } else {
|
|
|
+ LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
|
|
|
+ SERIAL_ECHO_START;
|
|
|
+ SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
|
|
|
}
|
|
|
- if (timeout.expired(100)) break;
|
|
|
- }
|
|
|
- selectedSerialPort = 1;
|
|
|
- MSerial.write('\n');
|
|
|
-#if 0
|
|
|
- for (int b = 0; b < 3; b++) {
|
|
|
- tone(BEEPER, 110);
|
|
|
- delay(50);
|
|
|
- noTone(BEEPER);
|
|
|
- delay(50);
|
|
|
- }
|
|
|
-#endif
|
|
|
- } else {
|
|
|
- MYSERIAL.println("Not in farm mode.");
|
|
|
- }
|
|
|
-}
|
|
|
+ }
|
|
|
+ #endif // Z_SAFE_HOMING
|
|
|
+ #endif // Z_HOME_DIR < 0
|
|
|
|
|
|
-void process_commands()
|
|
|
-{
|
|
|
- if (!buflen) return; //empty command
|
|
|
- #ifdef FILAMENT_RUNOUT_SUPPORT
|
|
|
- SET_INPUT(FR_SENS);
|
|
|
- #endif
|
|
|
+ if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
|
|
|
+ current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
|
|
|
+ #ifdef ENABLE_AUTO_BED_LEVELING
|
|
|
+ if(home_z)
|
|
|
+ current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
|
|
|
+ #endif
|
|
|
+
|
|
|
+ // Set the planner and stepper routine positions.
|
|
|
+ // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
|
|
|
+ // contains the machine coordinates.
|
|
|
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
|
|
-#ifdef CMDBUFFER_DEBUG
|
|
|
- SERIAL_ECHOPGM("Processing a GCODE command: ");
|
|
|
- SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
|
|
|
- SERIAL_ECHOLNPGM("");
|
|
|
- SERIAL_ECHOPGM("In cmdqueue: ");
|
|
|
- SERIAL_ECHO(buflen);
|
|
|
- SERIAL_ECHOLNPGM("");
|
|
|
-#endif /* CMDBUFFER_DEBUG */
|
|
|
-
|
|
|
- unsigned long codenum; //throw away variable
|
|
|
- char *starpos = NULL;
|
|
|
-#ifdef ENABLE_AUTO_BED_LEVELING
|
|
|
- float x_tmp, y_tmp, z_tmp, real_z;
|
|
|
+ #ifdef ENDSTOPS_ONLY_FOR_HOMING
|
|
|
+ enable_endstops(false);
|
|
|
+ #endif
|
|
|
+
|
|
|
+ feedrate = saved_feedrate;
|
|
|
+ feedmultiply = saved_feedmultiply;
|
|
|
+ previous_millis_cmd = millis();
|
|
|
+ endstops_hit_on_purpose();
|
|
|
+#ifndef MESH_BED_LEVELING
|
|
|
+ // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
|
|
|
+ // Offer the user to load the baby step value, which has been adjusted at the previous print session.
|
|
|
+ if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
|
|
|
+ lcd_adjust_z();
|
|
|
#endif
|
|
|
|
|
|
- // PRUSA GCODES
|
|
|
- KEEPALIVE_STATE(IN_HANDLER);
|
|
|
+ // Load the machine correction matrix
|
|
|
+ world2machine_initialize();
|
|
|
+ // and correct the current_position XY axes to match the transformed coordinate system.
|
|
|
+ world2machine_update_current();
|
|
|
|
|
|
-#ifdef SNMM
|
|
|
- float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
|
|
|
- float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
|
|
|
- int8_t SilentMode;
|
|
|
-#endif
|
|
|
-
|
|
|
- if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
|
|
|
- starpos = (strchr(strchr_pointer + 5, '*'));
|
|
|
- if (starpos != NULL)
|
|
|
- *(starpos) = '\0';
|
|
|
- lcd_setstatus(strchr_pointer + 5);
|
|
|
- }
|
|
|
-
|
|
|
-#ifdef TMC2130
|
|
|
- else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
|
|
|
- {
|
|
|
- if(code_seen("CRASH_DETECTED"))
|
|
|
- {
|
|
|
- uint8_t mask = 0;
|
|
|
- if (code_seen("X")) mask |= X_AXIS_MASK;
|
|
|
- if (code_seen("Y")) mask |= Y_AXIS_MASK;
|
|
|
- crashdet_detected(mask);
|
|
|
- }
|
|
|
- else if(code_seen("CRASH_RECOVER"))
|
|
|
- crashdet_recover();
|
|
|
- else if(code_seen("CRASH_CANCEL"))
|
|
|
- crashdet_cancel();
|
|
|
- }
|
|
|
- else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
|
|
|
- {
|
|
|
- if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_E"), 10) == 0)
|
|
|
+#if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
|
|
|
+ if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
|
|
|
{
|
|
|
- uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
|
|
|
- tmc2130_set_wave(E_AXIS, 247, fac);
|
|
|
+ if (! home_z && mbl_was_active) {
|
|
|
+ // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
|
|
|
+ mbl.active = true;
|
|
|
+ // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
|
|
|
+ current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
|
|
|
+ }
|
|
|
}
|
|
|
- else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_E"), 10) == 0)
|
|
|
+ else
|
|
|
{
|
|
|
- uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
|
|
|
- uint16_t res = tmc2130_get_res(E_AXIS);
|
|
|
- tmc2130_goto_step(E_AXIS, step & (4*res - 1), 2, 1000, res);
|
|
|
- }
|
|
|
- }
|
|
|
-#endif //TMC2130
|
|
|
-
|
|
|
- else if(code_seen("PRUSA")){
|
|
|
- if (code_seen("Ping")) { //PRUSA Ping
|
|
|
- if (farm_mode) {
|
|
|
- PingTime = millis();
|
|
|
- //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
|
|
|
- }
|
|
|
- }
|
|
|
- else if (code_seen("PRN")) {
|
|
|
- MYSERIAL.println(status_number);
|
|
|
+ st_synchronize();
|
|
|
+ homing_flag = false;
|
|
|
+ // Push the commands to the front of the message queue in the reverse order!
|
|
|
+ // There shall be always enough space reserved for these commands.
|
|
|
+ enquecommand_front_P((PSTR("G80")));
|
|
|
+ //goto case_G80;
|
|
|
+ }
|
|
|
+#endif
|
|
|
|
|
|
- }else if (code_seen("FAN")) {
|
|
|
- MYSERIAL.print("E0:");
|
|
|
- MYSERIAL.print(60*fan_speed[0]);
|
|
|
- MYSERIAL.println(" RPM");
|
|
|
- MYSERIAL.print("PRN0:");
|
|
|
- MYSERIAL.print(60*fan_speed[1]);
|
|
|
- MYSERIAL.println(" RPM");
|
|
|
-
|
|
|
- }else if (code_seen("fn")) {
|
|
|
- if (farm_mode) {
|
|
|
- MYSERIAL.println(farm_no);
|
|
|
- }
|
|
|
- else {
|
|
|
- MYSERIAL.println("Not in farm mode.");
|
|
|
- }
|
|
|
-
|
|
|
- }
|
|
|
- else if (code_seen("thx")) {
|
|
|
- no_response = false;
|
|
|
- }else if (code_seen("fv")) {
|
|
|
- // get file version
|
|
|
- #ifdef SDSUPPORT
|
|
|
- card.openFile(strchr_pointer + 3,true);
|
|
|
- while (true) {
|
|
|
- uint16_t readByte = card.get();
|
|
|
- MYSERIAL.write(readByte);
|
|
|
- if (readByte=='\n') {
|
|
|
- break;
|
|
|
- }
|
|
|
- }
|
|
|
- card.closefile();
|
|
|
+ if (farm_mode) { prusa_statistics(20); };
|
|
|
|
|
|
- #endif // SDSUPPORT
|
|
|
+ homing_flag = false;
|
|
|
+#if 0
|
|
|
+ SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
|
|
|
+ SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
|
|
|
+ SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
|
|
|
+#endif
|
|
|
+}
|
|
|
|
|
|
- } else if (code_seen("M28")) {
|
|
|
- trace();
|
|
|
- prusa_sd_card_upload = true;
|
|
|
- card.openFile(strchr_pointer+4,false);
|
|
|
- } else if (code_seen("SN")) {
|
|
|
- gcode_PRUSA_SN();
|
|
|
- } else if(code_seen("Fir")){
|
|
|
|
|
|
- SERIAL_PROTOCOLLN(FW_VERSION);
|
|
|
+bool gcode_M45(bool onlyZ, int8_t verbosity_level)
|
|
|
+{
|
|
|
+ bool final_result = false;
|
|
|
+ #ifdef TMC2130
|
|
|
+ FORCE_HIGH_POWER_START;
|
|
|
+ #endif // TMC2130
|
|
|
+ // Only Z calibration?
|
|
|
+ if (!onlyZ)
|
|
|
+ {
|
|
|
+ setTargetBed(0);
|
|
|
+ setTargetHotend(0, 0);
|
|
|
+ setTargetHotend(0, 1);
|
|
|
+ setTargetHotend(0, 2);
|
|
|
+ adjust_bed_reset(); //reset bed level correction
|
|
|
+ }
|
|
|
|
|
|
- } else if(code_seen("Rev")){
|
|
|
+ // Disable the default update procedure of the display. We will do a modal dialog.
|
|
|
+ lcd_update_enable(false);
|
|
|
+ // Let the planner use the uncorrected coordinates.
|
|
|
+ mbl.reset();
|
|
|
+ // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
|
|
|
+ // the planner will not perform any adjustments in the XY plane.
|
|
|
+ // Wait for the motors to stop and update the current position with the absolute values.
|
|
|
+ world2machine_revert_to_uncorrected();
|
|
|
+ // Reset the baby step value applied without moving the axes.
|
|
|
+ babystep_reset();
|
|
|
+ // Mark all axes as in a need for homing.
|
|
|
+ memset(axis_known_position, 0, sizeof(axis_known_position));
|
|
|
|
|
|
- SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
|
|
|
+ // Home in the XY plane.
|
|
|
+ //set_destination_to_current();
|
|
|
+ setup_for_endstop_move();
|
|
|
+ lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
|
|
|
+ home_xy();
|
|
|
|
|
|
- } else if(code_seen("Lang")) {
|
|
|
- lcd_force_language_selection();
|
|
|
- } else if(code_seen("Lz")) {
|
|
|
- EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
|
|
|
-
|
|
|
- } else if (code_seen("SERIAL LOW")) {
|
|
|
- MYSERIAL.println("SERIAL LOW");
|
|
|
- MYSERIAL.begin(BAUDRATE);
|
|
|
- return;
|
|
|
- } else if (code_seen("SERIAL HIGH")) {
|
|
|
- MYSERIAL.println("SERIAL HIGH");
|
|
|
- MYSERIAL.begin(1152000);
|
|
|
- return;
|
|
|
- } else if(code_seen("Beat")) {
|
|
|
- // Kick farm link timer
|
|
|
- kicktime = millis();
|
|
|
+ enable_endstops(false);
|
|
|
+ current_position[X_AXIS] += 5;
|
|
|
+ current_position[Y_AXIS] += 5;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
|
|
|
+ st_synchronize();
|
|
|
|
|
|
- } else if(code_seen("FR")) {
|
|
|
- // Factory full reset
|
|
|
- factory_reset(0,true);
|
|
|
- }
|
|
|
- //else if (code_seen('Cal')) {
|
|
|
- // lcd_calibration();
|
|
|
- // }
|
|
|
+ // Let the user move the Z axes up to the end stoppers.
|
|
|
+#ifdef TMC2130
|
|
|
+ if (calibrate_z_auto())
|
|
|
+ {
|
|
|
+#else //TMC2130
|
|
|
+ if (lcd_calibrate_z_end_stop_manual(onlyZ))
|
|
|
+ {
|
|
|
+#endif //TMC2130
|
|
|
+ refresh_cmd_timeout();
|
|
|
+ #ifndef STEEL_SHEET
|
|
|
+ if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
|
|
|
+ {
|
|
|
+ lcd_wait_for_cool_down();
|
|
|
+ }
|
|
|
+ #endif //STEEL_SHEET
|
|
|
+ if(!onlyZ)
|
|
|
+ {
|
|
|
+ KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
+ #ifdef STEEL_SHEET
|
|
|
+ bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
|
|
|
+ if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
|
|
|
+ #endif //STEEL_SHEET
|
|
|
+ lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
|
|
|
+ lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
|
|
|
+ KEEPALIVE_STATE(IN_HANDLER);
|
|
|
+ lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
|
|
|
+ lcd_implementation_print_at(0, 2, 1);
|
|
|
+ lcd_printPGM(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
|
|
|
+ }
|
|
|
+ // Move the print head close to the bed.
|
|
|
+ current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
|
|
|
|
- }
|
|
|
- else if (code_seen('^')) {
|
|
|
- // nothing, this is a version line
|
|
|
- } else if(code_seen('G'))
|
|
|
- {
|
|
|
- switch((int)code_value())
|
|
|
- {
|
|
|
- case 0: // G0 -> G1
|
|
|
- case 1: // G1
|
|
|
- if(Stopped == false) {
|
|
|
+ bool endstops_enabled = enable_endstops(true);
|
|
|
+#ifdef TMC2130
|
|
|
+ tmc2130_home_enter(Z_AXIS_MASK);
|
|
|
+#endif //TMC2130
|
|
|
|
|
|
- #ifdef FILAMENT_RUNOUT_SUPPORT
|
|
|
-
|
|
|
- if(READ(FR_SENS)){
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
|
|
|
|
|
|
- feedmultiplyBckp=feedmultiply;
|
|
|
- float target[4];
|
|
|
- float lastpos[4];
|
|
|
- target[X_AXIS]=current_position[X_AXIS];
|
|
|
- target[Y_AXIS]=current_position[Y_AXIS];
|
|
|
- target[Z_AXIS]=current_position[Z_AXIS];
|
|
|
- target[E_AXIS]=current_position[E_AXIS];
|
|
|
- lastpos[X_AXIS]=current_position[X_AXIS];
|
|
|
- lastpos[Y_AXIS]=current_position[Y_AXIS];
|
|
|
- lastpos[Z_AXIS]=current_position[Z_AXIS];
|
|
|
- lastpos[E_AXIS]=current_position[E_AXIS];
|
|
|
- //retract by E
|
|
|
-
|
|
|
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
|
|
|
-
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
|
|
|
+ st_synchronize();
|
|
|
+#ifdef TMC2130
|
|
|
+ tmc2130_home_exit();
|
|
|
+#endif //TMC2130
|
|
|
+ enable_endstops(endstops_enabled);
|
|
|
|
|
|
+ if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
|
|
|
+ {
|
|
|
|
|
|
- target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
|
|
|
+ int8_t verbosity_level = 0;
|
|
|
+ if (code_seen('V'))
|
|
|
+ {
|
|
|
+ // Just 'V' without a number counts as V1.
|
|
|
+ char c = strchr_pointer[1];
|
|
|
+ verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
|
|
|
+ }
|
|
|
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
|
|
|
-
|
|
|
- target[X_AXIS]= FILAMENTCHANGE_XPOS ;
|
|
|
-
|
|
|
- target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
|
|
|
-
|
|
|
-
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
|
|
|
-
|
|
|
- target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
|
|
|
-
|
|
|
+ if (onlyZ)
|
|
|
+ {
|
|
|
+ clean_up_after_endstop_move();
|
|
|
+ // Z only calibration.
|
|
|
+ // Load the machine correction matrix
|
|
|
+ world2machine_initialize();
|
|
|
+ // and correct the current_position to match the transformed coordinate system.
|
|
|
+ world2machine_update_current();
|
|
|
+ //FIXME
|
|
|
+ bool result = sample_mesh_and_store_reference();
|
|
|
+ if (result)
|
|
|
+ {
|
|
|
+ if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
|
|
|
+ // Shipped, the nozzle height has been set already. The user can start printing now.
|
|
|
+ calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
|
|
|
+ final_result = true;
|
|
|
+ // babystep_apply();
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ // Reset the baby step value and the baby step applied flag.
|
|
|
+ calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
|
|
|
+ eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
|
|
|
+ // Complete XYZ calibration.
|
|
|
+ uint8_t point_too_far_mask = 0;
|
|
|
+ BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
|
|
|
+ clean_up_after_endstop_move();
|
|
|
+ // Print head up.
|
|
|
+ current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
|
|
|
+ st_synchronize();
|
|
|
+//#ifndef NEW_XYZCAL
|
|
|
+ if (result >= 0)
|
|
|
+ {
|
|
|
+ #ifdef HEATBED_V2
|
|
|
+ sample_z();
|
|
|
+ #else //HEATBED_V2
|
|
|
+ point_too_far_mask = 0;
|
|
|
+ // Second half: The fine adjustment.
|
|
|
+ // Let the planner use the uncorrected coordinates.
|
|
|
+ mbl.reset();
|
|
|
+ world2machine_reset();
|
|
|
+ // Home in the XY plane.
|
|
|
+ setup_for_endstop_move();
|
|
|
+ home_xy();
|
|
|
+ result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
|
|
|
+ clean_up_after_endstop_move();
|
|
|
+ // Print head up.
|
|
|
+ current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
|
|
|
+ st_synchronize();
|
|
|
+ // if (result >= 0) babystep_apply();
|
|
|
+ #endif //HEATBED_V2
|
|
|
+ }
|
|
|
+//#endif //NEW_XYZCAL
|
|
|
+ lcd_update_enable(true);
|
|
|
+ lcd_update(2);
|
|
|
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
|
|
|
+ lcd_bed_calibration_show_result(result, point_too_far_mask);
|
|
|
+ if (result >= 0)
|
|
|
+ {
|
|
|
+ // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
|
|
|
+ calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
|
|
|
+ if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
|
|
|
+ final_result = true;
|
|
|
+ }
|
|
|
+ }
|
|
|
+#ifdef TMC2130
|
|
|
+ tmc2130_home_exit();
|
|
|
+#endif
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
|
|
|
+ final_result = false;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ // Timeouted.
|
|
|
+ }
|
|
|
+ lcd_update_enable(true);
|
|
|
+#ifdef TMC2130
|
|
|
+ FORCE_HIGH_POWER_END;
|
|
|
+#endif // TMC2130
|
|
|
+ return final_result;
|
|
|
+}
|
|
|
|
|
|
- //finish moves
|
|
|
- st_synchronize();
|
|
|
- //disable extruder steppers so filament can be removed
|
|
|
- disable_e0();
|
|
|
- disable_e1();
|
|
|
- disable_e2();
|
|
|
- delay(100);
|
|
|
-
|
|
|
- //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
|
|
|
- uint8_t cnt=0;
|
|
|
- int counterBeep = 0;
|
|
|
- lcd_wait_interact();
|
|
|
- while(!lcd_clicked()){
|
|
|
- cnt++;
|
|
|
- manage_heater();
|
|
|
- manage_inactivity(true);
|
|
|
- //lcd_update();
|
|
|
- if(cnt==0)
|
|
|
- {
|
|
|
- #if BEEPER > 0
|
|
|
-
|
|
|
- if (counterBeep== 500){
|
|
|
- counterBeep = 0;
|
|
|
-
|
|
|
- }
|
|
|
-
|
|
|
-
|
|
|
- SET_OUTPUT(BEEPER);
|
|
|
- if (counterBeep== 0){
|
|
|
- WRITE(BEEPER,HIGH);
|
|
|
- }
|
|
|
-
|
|
|
- if (counterBeep== 20){
|
|
|
- WRITE(BEEPER,LOW);
|
|
|
- }
|
|
|
-
|
|
|
-
|
|
|
-
|
|
|
-
|
|
|
- counterBeep++;
|
|
|
- #else
|
|
|
- #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
|
|
|
- lcd_buzz(1000/6,100);
|
|
|
- #else
|
|
|
- lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
|
|
|
- #endif
|
|
|
- #endif
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- WRITE(BEEPER,LOW);
|
|
|
-
|
|
|
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
|
|
|
-
|
|
|
-
|
|
|
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
-
|
|
|
-
|
|
|
-
|
|
|
-
|
|
|
-
|
|
|
- lcd_change_fil_state = 0;
|
|
|
- lcd_loading_filament();
|
|
|
- while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
|
|
|
-
|
|
|
- lcd_change_fil_state = 0;
|
|
|
- lcd_alright();
|
|
|
- switch(lcd_change_fil_state){
|
|
|
-
|
|
|
- case 2:
|
|
|
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
|
|
|
-
|
|
|
-
|
|
|
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
-
|
|
|
-
|
|
|
- lcd_loading_filament();
|
|
|
- break;
|
|
|
- case 3:
|
|
|
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
- lcd_loading_color();
|
|
|
- break;
|
|
|
-
|
|
|
- default:
|
|
|
- lcd_change_success();
|
|
|
- break;
|
|
|
- }
|
|
|
-
|
|
|
- }
|
|
|
-
|
|
|
+void gcode_M114()
|
|
|
+{
|
|
|
+ SERIAL_PROTOCOLPGM("X:");
|
|
|
+ SERIAL_PROTOCOL(current_position[X_AXIS]);
|
|
|
+ SERIAL_PROTOCOLPGM(" Y:");
|
|
|
+ SERIAL_PROTOCOL(current_position[Y_AXIS]);
|
|
|
+ SERIAL_PROTOCOLPGM(" Z:");
|
|
|
+ SERIAL_PROTOCOL(current_position[Z_AXIS]);
|
|
|
+ SERIAL_PROTOCOLPGM(" E:");
|
|
|
+ SERIAL_PROTOCOL(current_position[E_AXIS]);
|
|
|
|
|
|
-
|
|
|
- target[E_AXIS]+= 5;
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
-
|
|
|
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
|
|
|
-
|
|
|
+ SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
|
|
|
+ SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
|
|
|
+ SERIAL_PROTOCOLPGM(" Y:");
|
|
|
+ SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
|
|
|
+ SERIAL_PROTOCOLPGM(" Z:");
|
|
|
+ SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
|
|
|
+ SERIAL_PROTOCOLPGM(" E:");
|
|
|
+ SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
|
|
|
|
|
|
- //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
|
|
|
- //plan_set_e_position(current_position[E_AXIS]);
|
|
|
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
|
|
|
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
|
|
|
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
|
|
|
-
|
|
|
-
|
|
|
- target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
|
|
|
-
|
|
|
-
|
|
|
-
|
|
|
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
|
|
|
-
|
|
|
-
|
|
|
- plan_set_e_position(lastpos[E_AXIS]);
|
|
|
-
|
|
|
- feedmultiply=feedmultiplyBckp;
|
|
|
-
|
|
|
-
|
|
|
-
|
|
|
- char cmd[9];
|
|
|
+ SERIAL_PROTOCOLLN("");
|
|
|
+}
|
|
|
|
|
|
- sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
|
|
|
- enquecommand(cmd);
|
|
|
+void gcode_M701()
|
|
|
+{
|
|
|
+#ifdef SNMM
|
|
|
+ extr_adj(snmm_extruder);//loads current extruder
|
|
|
+#else
|
|
|
+ enable_z();
|
|
|
+ custom_message = true;
|
|
|
+ custom_message_type = 2;
|
|
|
|
|
|
- }
|
|
|
+ lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
|
|
|
+ current_position[E_AXIS] += 70;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
|
|
|
|
|
|
+ current_position[E_AXIS] += 25;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
|
|
|
+ st_synchronize();
|
|
|
|
|
|
+ tone(BEEPER, 500);
|
|
|
+ delay_keep_alive(50);
|
|
|
+ noTone(BEEPER);
|
|
|
|
|
|
- #endif
|
|
|
+ if (!farm_mode && loading_flag) {
|
|
|
+ bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
|
|
|
|
|
|
+ while (!clean) {
|
|
|
+ lcd_update_enable(true);
|
|
|
+ lcd_update(2);
|
|
|
+ current_position[E_AXIS] += 25;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
|
|
|
+ st_synchronize();
|
|
|
+ clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
|
|
|
|
|
|
- get_coordinates(); // For X Y Z E F
|
|
|
- if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
|
|
|
- total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
|
|
|
}
|
|
|
- #ifdef FWRETRACT
|
|
|
- if(autoretract_enabled)
|
|
|
- if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
|
|
|
- float echange=destination[E_AXIS]-current_position[E_AXIS];
|
|
|
|
|
|
- if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
|
|
|
- current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
|
|
|
- plan_set_e_position(current_position[E_AXIS]); //AND from the planner
|
|
|
- retract(!retracted);
|
|
|
- return;
|
|
|
- }
|
|
|
+ }
|
|
|
+ lcd_update_enable(true);
|
|
|
+ lcd_update(2);
|
|
|
+ lcd_setstatuspgm(_T(WELCOME_MSG));
|
|
|
+ disable_z();
|
|
|
+ loading_flag = false;
|
|
|
+ custom_message = false;
|
|
|
+ custom_message_type = 0;
|
|
|
+#endif
|
|
|
|
|
|
+}
|
|
|
+/**
|
|
|
+ * @brief Get serial number from 32U2 processor
|
|
|
+ *
|
|
|
+ * Typical format of S/N is:CZPX0917X003XC13518
|
|
|
+ *
|
|
|
+ * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
|
|
|
+ *
|
|
|
+ * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
|
|
|
+ * reply is transmitted to serial port 1 character by character.
|
|
|
+ * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
|
|
|
+ * it is interrupted, so less, or no characters are retransmitted, only newline character is send
|
|
|
+ * in any case.
|
|
|
+ */
|
|
|
+static void gcode_PRUSA_SN()
|
|
|
+{
|
|
|
+ if (farm_mode) {
|
|
|
+ selectedSerialPort = 0;
|
|
|
+ MSerial.write(";S");
|
|
|
+ int numbersRead = 0;
|
|
|
+ Timer timeout;
|
|
|
+ timeout.start();
|
|
|
|
|
|
+ while (numbersRead < 19) {
|
|
|
+ while (MSerial.available() > 0) {
|
|
|
+ uint8_t serial_char = MSerial.read();
|
|
|
+ selectedSerialPort = 1;
|
|
|
+ MSerial.write(serial_char);
|
|
|
+ numbersRead++;
|
|
|
+ selectedSerialPort = 0;
|
|
|
}
|
|
|
- #endif //FWRETRACT
|
|
|
- prepare_move();
|
|
|
- //ClearToSend();
|
|
|
- }
|
|
|
- break;
|
|
|
- case 2: // G2 - CW ARC
|
|
|
- if(Stopped == false) {
|
|
|
- get_arc_coordinates();
|
|
|
- prepare_arc_move(true);
|
|
|
- }
|
|
|
- break;
|
|
|
- case 3: // G3 - CCW ARC
|
|
|
- if(Stopped == false) {
|
|
|
- get_arc_coordinates();
|
|
|
- prepare_arc_move(false);
|
|
|
- }
|
|
|
- break;
|
|
|
- case 4: // G4 dwell
|
|
|
- codenum = 0;
|
|
|
- if(code_seen('P')) codenum = code_value(); // milliseconds to wait
|
|
|
- if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
|
|
|
- if(codenum != 0) LCD_MESSAGERPGM(_i("Sleep..."));////MSG_DWELL c=0 r=0
|
|
|
- st_synchronize();
|
|
|
- codenum += millis(); // keep track of when we started waiting
|
|
|
- previous_millis_cmd = millis();
|
|
|
- while(millis() < codenum) {
|
|
|
- manage_heater();
|
|
|
- manage_inactivity();
|
|
|
- lcd_update();
|
|
|
- }
|
|
|
- break;
|
|
|
- #ifdef FWRETRACT
|
|
|
- case 10: // G10 retract
|
|
|
- #if EXTRUDERS > 1
|
|
|
- retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
|
|
|
- retract(true,retracted_swap[active_extruder]);
|
|
|
- #else
|
|
|
- retract(true);
|
|
|
- #endif
|
|
|
- break;
|
|
|
- case 11: // G11 retract_recover
|
|
|
- #if EXTRUDERS > 1
|
|
|
- retract(false,retracted_swap[active_extruder]);
|
|
|
- #else
|
|
|
- retract(false);
|
|
|
- #endif
|
|
|
- break;
|
|
|
- #endif //FWRETRACT
|
|
|
- case 28: //G28 Home all Axis one at a time
|
|
|
- {
|
|
|
- st_synchronize();
|
|
|
-
|
|
|
+ if (timeout.expired(100)) break;
|
|
|
+ }
|
|
|
+ selectedSerialPort = 1;
|
|
|
+ MSerial.write('\n');
|
|
|
#if 0
|
|
|
- SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
|
|
|
- SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
|
|
|
+ for (int b = 0; b < 3; b++) {
|
|
|
+ tone(BEEPER, 110);
|
|
|
+ delay(50);
|
|
|
+ noTone(BEEPER);
|
|
|
+ delay(50);
|
|
|
+ }
|
|
|
#endif
|
|
|
+ } else {
|
|
|
+ MYSERIAL.println("Not in farm mode.");
|
|
|
+ }
|
|
|
+}
|
|
|
|
|
|
- // Flag for the display update routine and to disable the print cancelation during homing.
|
|
|
- homing_flag = true;
|
|
|
-
|
|
|
- // Which axes should be homed?
|
|
|
- bool home_x = code_seen(axis_codes[X_AXIS]);
|
|
|
- bool home_y = code_seen(axis_codes[Y_AXIS]);
|
|
|
- bool home_z = code_seen(axis_codes[Z_AXIS]);
|
|
|
- // calibrate?
|
|
|
- bool calib = code_seen('C');
|
|
|
- // Either all X,Y,Z codes are present, or none of them.
|
|
|
- bool home_all_axes = home_x == home_y && home_x == home_z;
|
|
|
- if (home_all_axes)
|
|
|
- // No X/Y/Z code provided means to home all axes.
|
|
|
- home_x = home_y = home_z = true;
|
|
|
+void process_commands()
|
|
|
+{
|
|
|
+ if (!buflen) return; //empty command
|
|
|
+ #ifdef FILAMENT_RUNOUT_SUPPORT
|
|
|
+ SET_INPUT(FR_SENS);
|
|
|
+ #endif
|
|
|
|
|
|
+#ifdef CMDBUFFER_DEBUG
|
|
|
+ SERIAL_ECHOPGM("Processing a GCODE command: ");
|
|
|
+ SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
|
|
|
+ SERIAL_ECHOLNPGM("");
|
|
|
+ SERIAL_ECHOPGM("In cmdqueue: ");
|
|
|
+ SERIAL_ECHO(buflen);
|
|
|
+ SERIAL_ECHOLNPGM("");
|
|
|
+#endif /* CMDBUFFER_DEBUG */
|
|
|
+
|
|
|
+ unsigned long codenum; //throw away variable
|
|
|
+ char *starpos = NULL;
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
|
- plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
|
|
|
-#endif //ENABLE_AUTO_BED_LEVELING
|
|
|
+ float x_tmp, y_tmp, z_tmp, real_z;
|
|
|
+#endif
|
|
|
+
|
|
|
+ // PRUSA GCODES
|
|
|
+ KEEPALIVE_STATE(IN_HANDLER);
|
|
|
+
|
|
|
+#ifdef SNMM
|
|
|
+ float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
|
|
|
+ float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
|
|
|
+ int8_t SilentMode;
|
|
|
+#endif
|
|
|
+
|
|
|
+ if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
|
|
|
+ starpos = (strchr(strchr_pointer + 5, '*'));
|
|
|
+ if (starpos != NULL)
|
|
|
+ *(starpos) = '\0';
|
|
|
+ lcd_setstatus(strchr_pointer + 5);
|
|
|
+ }
|
|
|
+
|
|
|
+#ifdef TMC2130
|
|
|
+ else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
|
|
|
+ {
|
|
|
+ if(code_seen("CRASH_DETECTED"))
|
|
|
+ {
|
|
|
+ uint8_t mask = 0;
|
|
|
+ if (code_seen("X")) mask |= X_AXIS_MASK;
|
|
|
+ if (code_seen("Y")) mask |= Y_AXIS_MASK;
|
|
|
+ crashdet_detected(mask);
|
|
|
+ }
|
|
|
+ else if(code_seen("CRASH_RECOVER"))
|
|
|
+ crashdet_recover();
|
|
|
+ else if(code_seen("CRASH_CANCEL"))
|
|
|
+ crashdet_cancel();
|
|
|
+ }
|
|
|
+ else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
|
|
|
+ {
|
|
|
+ if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_E"), 10) == 0)
|
|
|
+ {
|
|
|
+ uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
|
|
|
+ tmc2130_set_wave(E_AXIS, 247, fac);
|
|
|
+ }
|
|
|
+ else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_E"), 10) == 0)
|
|
|
+ {
|
|
|
+ uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
|
|
|
+ uint16_t res = tmc2130_get_res(E_AXIS);
|
|
|
+ tmc2130_goto_step(E_AXIS, step & (4*res - 1), 2, 1000, res);
|
|
|
+ }
|
|
|
+ }
|
|
|
+#endif //TMC2130
|
|
|
+
|
|
|
+ else if(code_seen("PRUSA")){
|
|
|
+ if (code_seen("Ping")) { //PRUSA Ping
|
|
|
+ if (farm_mode) {
|
|
|
+ PingTime = millis();
|
|
|
+ //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else if (code_seen("PRN")) {
|
|
|
+ MYSERIAL.println(status_number);
|
|
|
+
|
|
|
+ }else if (code_seen("FAN")) {
|
|
|
+ MYSERIAL.print("E0:");
|
|
|
+ MYSERIAL.print(60*fan_speed[0]);
|
|
|
+ MYSERIAL.println(" RPM");
|
|
|
+ MYSERIAL.print("PRN0:");
|
|
|
+ MYSERIAL.print(60*fan_speed[1]);
|
|
|
+ MYSERIAL.println(" RPM");
|
|
|
|
|
|
- // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
|
|
|
- // the planner will not perform any adjustments in the XY plane.
|
|
|
- // Wait for the motors to stop and update the current position with the absolute values.
|
|
|
- world2machine_revert_to_uncorrected();
|
|
|
+ }else if (code_seen("fn")) {
|
|
|
+ if (farm_mode) {
|
|
|
+ MYSERIAL.println(farm_no);
|
|
|
+ }
|
|
|
+ else {
|
|
|
+ MYSERIAL.println("Not in farm mode.");
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+ else if (code_seen("thx")) {
|
|
|
+ no_response = false;
|
|
|
+ }else if (code_seen("fv")) {
|
|
|
+ // get file version
|
|
|
+ #ifdef SDSUPPORT
|
|
|
+ card.openFile(strchr_pointer + 3,true);
|
|
|
+ while (true) {
|
|
|
+ uint16_t readByte = card.get();
|
|
|
+ MYSERIAL.write(readByte);
|
|
|
+ if (readByte=='\n') {
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ card.closefile();
|
|
|
|
|
|
- // For mesh bed leveling deactivate the matrix temporarily.
|
|
|
- // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
|
|
|
- // in a single axis only.
|
|
|
- // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
|
|
|
-#ifdef MESH_BED_LEVELING
|
|
|
- uint8_t mbl_was_active = mbl.active;
|
|
|
- mbl.active = 0;
|
|
|
- current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
|
|
|
-#endif
|
|
|
+ #endif // SDSUPPORT
|
|
|
|
|
|
- // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
|
|
|
- // consumed during the first movements following this statement.
|
|
|
- if (home_z)
|
|
|
- babystep_undo();
|
|
|
+ } else if (code_seen("M28")) {
|
|
|
+ trace();
|
|
|
+ prusa_sd_card_upload = true;
|
|
|
+ card.openFile(strchr_pointer+4,false);
|
|
|
+ } else if (code_seen("SN")) {
|
|
|
+ gcode_PRUSA_SN();
|
|
|
+ } else if(code_seen("Fir")){
|
|
|
|
|
|
- saved_feedrate = feedrate;
|
|
|
- saved_feedmultiply = feedmultiply;
|
|
|
- feedmultiply = 100;
|
|
|
- previous_millis_cmd = millis();
|
|
|
+ SERIAL_PROTOCOLLN(FW_VERSION);
|
|
|
|
|
|
- enable_endstops(true);
|
|
|
+ } else if(code_seen("Rev")){
|
|
|
|
|
|
- memcpy(destination, current_position, sizeof(destination));
|
|
|
- feedrate = 0.0;
|
|
|
+ SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
|
|
|
|
|
|
- #if Z_HOME_DIR > 0 // If homing away from BED do Z first
|
|
|
- if(home_z)
|
|
|
- homeaxis(Z_AXIS);
|
|
|
- #endif
|
|
|
+ } else if(code_seen("Lang")) {
|
|
|
+ lcd_force_language_selection();
|
|
|
+ } else if(code_seen("Lz")) {
|
|
|
+ EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
|
|
|
+
|
|
|
+ } else if (code_seen("SERIAL LOW")) {
|
|
|
+ MYSERIAL.println("SERIAL LOW");
|
|
|
+ MYSERIAL.begin(BAUDRATE);
|
|
|
+ return;
|
|
|
+ } else if (code_seen("SERIAL HIGH")) {
|
|
|
+ MYSERIAL.println("SERIAL HIGH");
|
|
|
+ MYSERIAL.begin(1152000);
|
|
|
+ return;
|
|
|
+ } else if(code_seen("Beat")) {
|
|
|
+ // Kick farm link timer
|
|
|
+ kicktime = millis();
|
|
|
|
|
|
- #ifdef QUICK_HOME
|
|
|
- // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
|
|
|
- if(home_x && home_y) //first diagonal move
|
|
|
- {
|
|
|
- current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
|
|
|
+ } else if(code_seen("FR")) {
|
|
|
+ // Factory full reset
|
|
|
+ factory_reset(0,true);
|
|
|
+ }
|
|
|
+ //else if (code_seen('Cal')) {
|
|
|
+ // lcd_calibration();
|
|
|
+ // }
|
|
|
|
|
|
- int x_axis_home_dir = home_dir(X_AXIS);
|
|
|
+ }
|
|
|
+ else if (code_seen('^')) {
|
|
|
+ // nothing, this is a version line
|
|
|
+ } else if(code_seen('G'))
|
|
|
+ {
|
|
|
+ switch((int)code_value())
|
|
|
+ {
|
|
|
+ case 0: // G0 -> G1
|
|
|
+ case 1: // G1
|
|
|
+ if(Stopped == false) {
|
|
|
|
|
|
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
- destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
|
|
|
- feedrate = homing_feedrate[X_AXIS];
|
|
|
- if(homing_feedrate[Y_AXIS]<feedrate)
|
|
|
- feedrate = homing_feedrate[Y_AXIS];
|
|
|
- if (max_length(X_AXIS) > max_length(Y_AXIS)) {
|
|
|
- feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
|
|
|
- } else {
|
|
|
- feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
|
|
|
- }
|
|
|
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
|
- st_synchronize();
|
|
|
+ #ifdef FILAMENT_RUNOUT_SUPPORT
|
|
|
+
|
|
|
+ if(READ(FR_SENS)){
|
|
|
|
|
|
- axis_is_at_home(X_AXIS);
|
|
|
- axis_is_at_home(Y_AXIS);
|
|
|
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
- destination[X_AXIS] = current_position[X_AXIS];
|
|
|
- destination[Y_AXIS] = current_position[Y_AXIS];
|
|
|
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
|
- feedrate = 0.0;
|
|
|
- st_synchronize();
|
|
|
- endstops_hit_on_purpose();
|
|
|
+ feedmultiplyBckp=feedmultiply;
|
|
|
+ float target[4];
|
|
|
+ float lastpos[4];
|
|
|
+ target[X_AXIS]=current_position[X_AXIS];
|
|
|
+ target[Y_AXIS]=current_position[Y_AXIS];
|
|
|
+ target[Z_AXIS]=current_position[Z_AXIS];
|
|
|
+ target[E_AXIS]=current_position[E_AXIS];
|
|
|
+ lastpos[X_AXIS]=current_position[X_AXIS];
|
|
|
+ lastpos[Y_AXIS]=current_position[Y_AXIS];
|
|
|
+ lastpos[Z_AXIS]=current_position[Z_AXIS];
|
|
|
+ lastpos[E_AXIS]=current_position[E_AXIS];
|
|
|
+ //retract by E
|
|
|
+
|
|
|
+ target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
|
|
|
+
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
|
|
|
|
|
|
- current_position[X_AXIS] = destination[X_AXIS];
|
|
|
- current_position[Y_AXIS] = destination[Y_AXIS];
|
|
|
- current_position[Z_AXIS] = destination[Z_AXIS];
|
|
|
- }
|
|
|
- #endif /* QUICK_HOME */
|
|
|
|
|
|
-#ifdef TMC2130
|
|
|
- if(home_x)
|
|
|
- {
|
|
|
- if (!calib)
|
|
|
- homeaxis(X_AXIS);
|
|
|
- else
|
|
|
- tmc2130_home_calibrate(X_AXIS);
|
|
|
- }
|
|
|
+ target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
|
|
|
|
|
|
- if(home_y)
|
|
|
- {
|
|
|
- if (!calib)
|
|
|
- homeaxis(Y_AXIS);
|
|
|
- else
|
|
|
- tmc2130_home_calibrate(Y_AXIS);
|
|
|
- }
|
|
|
-#endif //TMC2130
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
|
|
|
|
|
|
+ target[X_AXIS]= FILAMENTCHANGE_XPOS ;
|
|
|
+
|
|
|
+ target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
|
|
|
+
|
|
|
+
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
|
|
|
|
|
|
- if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
|
|
|
- current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
|
|
|
+ target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
|
|
|
+
|
|
|
|
|
|
- if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
|
|
|
- current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
|
|
|
|
|
|
- #if Z_HOME_DIR < 0 // If homing towards BED do Z last
|
|
|
- #ifndef Z_SAFE_HOMING
|
|
|
- if(home_z) {
|
|
|
- #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
|
|
|
- destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
|
- feedrate = max_feedrate[Z_AXIS];
|
|
|
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
|
- st_synchronize();
|
|
|
- #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
|
|
|
- #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
|
|
|
- if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
|
|
|
- {
|
|
|
- homeaxis(X_AXIS);
|
|
|
- homeaxis(Y_AXIS);
|
|
|
- }
|
|
|
- // 1st mesh bed leveling measurement point, corrected.
|
|
|
- world2machine_initialize();
|
|
|
- world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
|
|
|
- world2machine_reset();
|
|
|
- if (destination[Y_AXIS] < Y_MIN_POS)
|
|
|
- destination[Y_AXIS] = Y_MIN_POS;
|
|
|
- destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
|
|
|
- feedrate = homing_feedrate[Z_AXIS]/10;
|
|
|
- current_position[Z_AXIS] = 0;
|
|
|
- enable_endstops(false);
|
|
|
-#ifdef DEBUG_BUILD
|
|
|
- SERIAL_ECHOLNPGM("plan_set_position()");
|
|
|
- MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
|
|
|
- MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
|
|
|
-#endif
|
|
|
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
-#ifdef DEBUG_BUILD
|
|
|
- SERIAL_ECHOLNPGM("plan_buffer_line()");
|
|
|
- MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
|
|
|
- MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
|
|
|
- MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
|
|
|
-#endif
|
|
|
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
|
- st_synchronize();
|
|
|
- current_position[X_AXIS] = destination[X_AXIS];
|
|
|
- current_position[Y_AXIS] = destination[Y_AXIS];
|
|
|
- enable_endstops(true);
|
|
|
- endstops_hit_on_purpose();
|
|
|
- homeaxis(Z_AXIS);
|
|
|
- #else // MESH_BED_LEVELING
|
|
|
- homeaxis(Z_AXIS);
|
|
|
- #endif // MESH_BED_LEVELING
|
|
|
- }
|
|
|
- #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
|
|
|
- if(home_all_axes) {
|
|
|
- destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
|
|
|
- destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
|
|
|
- destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
|
- feedrate = XY_TRAVEL_SPEED/60;
|
|
|
- current_position[Z_AXIS] = 0;
|
|
|
+ //finish moves
|
|
|
+ st_synchronize();
|
|
|
+ //disable extruder steppers so filament can be removed
|
|
|
+ disable_e0();
|
|
|
+ disable_e1();
|
|
|
+ disable_e2();
|
|
|
+ delay(100);
|
|
|
+
|
|
|
+ //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
|
|
|
+ uint8_t cnt=0;
|
|
|
+ int counterBeep = 0;
|
|
|
+ lcd_wait_interact();
|
|
|
+ while(!lcd_clicked()){
|
|
|
+ cnt++;
|
|
|
+ manage_heater();
|
|
|
+ manage_inactivity(true);
|
|
|
+ //lcd_update();
|
|
|
+ if(cnt==0)
|
|
|
+ {
|
|
|
+ #if BEEPER > 0
|
|
|
+
|
|
|
+ if (counterBeep== 500){
|
|
|
+ counterBeep = 0;
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+ SET_OUTPUT(BEEPER);
|
|
|
+ if (counterBeep== 0){
|
|
|
+ WRITE(BEEPER,HIGH);
|
|
|
+ }
|
|
|
+
|
|
|
+ if (counterBeep== 20){
|
|
|
+ WRITE(BEEPER,LOW);
|
|
|
+ }
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+ counterBeep++;
|
|
|
+ #else
|
|
|
+ #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
|
|
|
+ lcd_buzz(1000/6,100);
|
|
|
+ #else
|
|
|
+ lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
|
|
|
+ #endif
|
|
|
+ #endif
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ WRITE(BEEPER,LOW);
|
|
|
+
|
|
|
+ target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
|
|
|
+
|
|
|
+
|
|
|
+ target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+ lcd_change_fil_state = 0;
|
|
|
+ lcd_loading_filament();
|
|
|
+ while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
|
|
|
+
|
|
|
+ lcd_change_fil_state = 0;
|
|
|
+ lcd_alright();
|
|
|
+ switch(lcd_change_fil_state){
|
|
|
+
|
|
|
+ case 2:
|
|
|
+ target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
|
|
|
+
|
|
|
+
|
|
|
+ target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
+
|
|
|
+
|
|
|
+ lcd_loading_filament();
|
|
|
+ break;
|
|
|
+ case 3:
|
|
|
+ target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
+ lcd_loading_color();
|
|
|
+ break;
|
|
|
+
|
|
|
+ default:
|
|
|
+ lcd_change_success();
|
|
|
+ break;
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
|
|
|
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
|
- st_synchronize();
|
|
|
- current_position[X_AXIS] = destination[X_AXIS];
|
|
|
- current_position[Y_AXIS] = destination[Y_AXIS];
|
|
|
+
|
|
|
+ target[E_AXIS]+= 5;
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
+
|
|
|
+ target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
|
|
|
+
|
|
|
|
|
|
- homeaxis(Z_AXIS);
|
|
|
- }
|
|
|
- // Let's see if X and Y are homed and probe is inside bed area.
|
|
|
- if(home_z) {
|
|
|
- if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
|
|
|
- && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
|
|
|
- && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
|
|
|
- && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
|
|
|
- && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
|
|
|
+ //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
|
|
|
+ //plan_set_e_position(current_position[E_AXIS]);
|
|
|
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
|
|
|
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
|
|
|
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
|
|
|
+
|
|
|
+
|
|
|
+ target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
|
|
|
+
|
|
|
+
|
|
|
+ plan_set_e_position(lastpos[E_AXIS]);
|
|
|
+
|
|
|
+ feedmultiply=feedmultiplyBckp;
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+ char cmd[9];
|
|
|
|
|
|
- current_position[Z_AXIS] = 0;
|
|
|
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
- destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
|
- feedrate = max_feedrate[Z_AXIS];
|
|
|
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
|
- st_synchronize();
|
|
|
+ sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
|
|
|
+ enquecommand(cmd);
|
|
|
|
|
|
- homeaxis(Z_AXIS);
|
|
|
- } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
|
|
|
- LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
|
|
|
- SERIAL_ECHO_START;
|
|
|
- SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
|
|
|
- } else {
|
|
|
- LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
|
|
|
- SERIAL_ECHO_START;
|
|
|
- SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
|
|
|
}
|
|
|
- }
|
|
|
- #endif // Z_SAFE_HOMING
|
|
|
- #endif // Z_HOME_DIR < 0
|
|
|
|
|
|
- if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
|
|
|
- current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
|
|
|
- #ifdef ENABLE_AUTO_BED_LEVELING
|
|
|
- if(home_z)
|
|
|
- current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
|
|
|
- #endif
|
|
|
-
|
|
|
- // Set the planner and stepper routine positions.
|
|
|
- // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
|
|
|
- // contains the machine coordinates.
|
|
|
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
|
|
- #ifdef ENDSTOPS_ONLY_FOR_HOMING
|
|
|
- enable_endstops(false);
|
|
|
- #endif
|
|
|
|
|
|
- feedrate = saved_feedrate;
|
|
|
- feedmultiply = saved_feedmultiply;
|
|
|
- previous_millis_cmd = millis();
|
|
|
- endstops_hit_on_purpose();
|
|
|
-#ifndef MESH_BED_LEVELING
|
|
|
- // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
|
|
|
- // Offer the user to load the baby step value, which has been adjusted at the previous print session.
|
|
|
- if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
|
|
|
- lcd_adjust_z();
|
|
|
-#endif
|
|
|
+ #endif
|
|
|
|
|
|
- // Load the machine correction matrix
|
|
|
- world2machine_initialize();
|
|
|
- // and correct the current_position XY axes to match the transformed coordinate system.
|
|
|
- world2machine_update_current();
|
|
|
|
|
|
-#if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
|
|
|
- if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
|
|
|
- {
|
|
|
- if (! home_z && mbl_was_active) {
|
|
|
- // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
|
|
|
- mbl.active = true;
|
|
|
- // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
|
|
|
- current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
|
|
|
- }
|
|
|
+ get_coordinates(); // For X Y Z E F
|
|
|
+ if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
|
|
|
+ total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
|
|
|
}
|
|
|
- else
|
|
|
- {
|
|
|
- st_synchronize();
|
|
|
- homing_flag = false;
|
|
|
- // Push the commands to the front of the message queue in the reverse order!
|
|
|
- // There shall be always enough space reserved for these commands.
|
|
|
- // enquecommand_front_P((PSTR("G80")));
|
|
|
- goto case_G80;
|
|
|
- }
|
|
|
-#endif
|
|
|
+ #ifdef FWRETRACT
|
|
|
+ if(autoretract_enabled)
|
|
|
+ if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
|
|
|
+ float echange=destination[E_AXIS]-current_position[E_AXIS];
|
|
|
|
|
|
- if (farm_mode) { prusa_statistics(20); };
|
|
|
+ if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
|
|
|
+ current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
|
|
|
+ plan_set_e_position(current_position[E_AXIS]); //AND from the planner
|
|
|
+ retract(!retracted);
|
|
|
+ return;
|
|
|
+ }
|
|
|
|
|
|
- homing_flag = false;
|
|
|
-#if 0
|
|
|
- SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
|
|
|
- SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
|
|
|
- SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
|
|
|
-#endif
|
|
|
+
|
|
|
+ }
|
|
|
+ #endif //FWRETRACT
|
|
|
+ prepare_move();
|
|
|
+ //ClearToSend();
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ case 2: // G2 - CW ARC
|
|
|
+ if(Stopped == false) {
|
|
|
+ get_arc_coordinates();
|
|
|
+ prepare_arc_move(true);
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ case 3: // G3 - CCW ARC
|
|
|
+ if(Stopped == false) {
|
|
|
+ get_arc_coordinates();
|
|
|
+ prepare_arc_move(false);
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ case 4: // G4 dwell
|
|
|
+ codenum = 0;
|
|
|
+ if(code_seen('P')) codenum = code_value(); // milliseconds to wait
|
|
|
+ if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
|
|
|
+ if(codenum != 0) LCD_MESSAGERPGM(_i("Sleep..."));////MSG_DWELL c=0 r=0
|
|
|
+ st_synchronize();
|
|
|
+ codenum += millis(); // keep track of when we started waiting
|
|
|
+ previous_millis_cmd = millis();
|
|
|
+ while(millis() < codenum) {
|
|
|
+ manage_heater();
|
|
|
+ manage_inactivity();
|
|
|
+ lcd_update();
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ #ifdef FWRETRACT
|
|
|
+ case 10: // G10 retract
|
|
|
+ #if EXTRUDERS > 1
|
|
|
+ retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
|
|
|
+ retract(true,retracted_swap[active_extruder]);
|
|
|
+ #else
|
|
|
+ retract(true);
|
|
|
+ #endif
|
|
|
+ break;
|
|
|
+ case 11: // G11 retract_recover
|
|
|
+ #if EXTRUDERS > 1
|
|
|
+ retract(false,retracted_swap[active_extruder]);
|
|
|
+ #else
|
|
|
+ retract(false);
|
|
|
+ #endif
|
|
|
break;
|
|
|
+ #endif //FWRETRACT
|
|
|
+ case 28: //G28 Home all Axis one at a time
|
|
|
+ {
|
|
|
+ // Which axes should be homed?
|
|
|
+ bool home_x = code_seen(axis_codes[X_AXIS]);
|
|
|
+ bool home_y = code_seen(axis_codes[Y_AXIS]);
|
|
|
+ bool home_z = code_seen(axis_codes[Z_AXIS]);
|
|
|
+ // calibrate?
|
|
|
+ bool calib = code_seen('C');
|
|
|
+
|
|
|
+ gcode_G28(home_x, home_y, home_z, calib);
|
|
|
+
|
|
|
+ break;
|
|
|
}
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
|
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
|
|
|
@@ -3506,6 +3527,14 @@ void process_commands()
|
|
|
#ifdef PINDA_THERMISTOR
|
|
|
if (true)
|
|
|
{
|
|
|
+
|
|
|
+ if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
|
|
|
+ //we need to know accurate position of first calibration point
|
|
|
+ //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
|
|
|
+ lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
|
|
|
+ break;
|
|
|
+ }
|
|
|
+
|
|
|
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
|
|
|
{
|
|
|
// We don't know where we are! HOME!
|
|
|
@@ -3520,20 +3549,19 @@ void process_commands()
|
|
|
|
|
|
if (result)
|
|
|
{
|
|
|
+ current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
current_position[Z_AXIS] = 50;
|
|
|
- current_position[Y_AXIS] += 180;
|
|
|
+ current_position[Y_AXIS] = 180;
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
st_synchronize();
|
|
|
lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
|
|
|
- current_position[Y_AXIS] -= 180;
|
|
|
+ current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
|
|
|
+ current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
st_synchronize();
|
|
|
- feedrate = homing_feedrate[Z_AXIS] / 10;
|
|
|
- enable_endstops(true);
|
|
|
- endstops_hit_on_purpose();
|
|
|
- homeaxis(Z_AXIS);
|
|
|
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
- enable_endstops(false);
|
|
|
+ gcode_G28(false, false, true, false);
|
|
|
+
|
|
|
}
|
|
|
if ((current_temperature_pinda > 35) && (farm_mode == false)) {
|
|
|
//waiting for PIDNA probe to cool down in case that we are not in farm mode
|
|
|
@@ -3563,8 +3591,11 @@ void process_commands()
|
|
|
custom_message_type = 4;
|
|
|
custom_message_state = 1;
|
|
|
custom_message = _T(MSG_TEMP_CALIBRATION);
|
|
|
+ current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
current_position[X_AXIS] = PINDA_PREHEAT_X;
|
|
|
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
current_position[Z_AXIS] = PINDA_PREHEAT_Z;
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
st_synchronize();
|
|
|
@@ -3577,11 +3608,10 @@ void process_commands()
|
|
|
|
|
|
eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
|
|
|
|
|
|
- current_position[Z_AXIS] = 5;
|
|
|
+ current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
-
|
|
|
- current_position[X_AXIS] = pgm_read_float(bed_ref_points);
|
|
|
- current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
|
|
|
+ current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
|
|
|
+ current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
st_synchronize();
|
|
|
|
|
|
@@ -3622,8 +3652,11 @@ void process_commands()
|
|
|
custom_message_state = i + 2;
|
|
|
setTargetBed(50 + 10 * (temp - 30) / 5);
|
|
|
// setTargetHotend(255, 0);
|
|
|
+ current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
current_position[X_AXIS] = PINDA_PREHEAT_X;
|
|
|
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
|
|
|
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
current_position[Z_AXIS] = PINDA_PREHEAT_Z;
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
st_synchronize();
|
|
|
@@ -3632,10 +3665,10 @@ void process_commands()
|
|
|
delay_keep_alive(1000);
|
|
|
serialecho_temperatures();
|
|
|
}
|
|
|
- current_position[Z_AXIS] = 5;
|
|
|
+ current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
- current_position[X_AXIS] = pgm_read_float(bed_ref_points);
|
|
|
- current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
|
|
|
+ current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
|
|
|
+ current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
|
st_synchronize();
|
|
|
find_z_result = find_bed_induction_sensor_point_z(-1.f);
|
|
|
@@ -3840,15 +3873,6 @@ void process_commands()
|
|
|
#endif //MK1BP
|
|
|
case_G80:
|
|
|
{
|
|
|
-#ifdef TMC2130
|
|
|
- //previously enqueued "G28 W0" failed (crash Z)
|
|
|
- if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && !axis_known_position[Z_AXIS] && (READ(Z_TMC2130_DIAG) != 0))
|
|
|
- {
|
|
|
- kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
|
|
|
- break;
|
|
|
- }
|
|
|
-#endif //TMC2130
|
|
|
-
|
|
|
mesh_bed_leveling_flag = true;
|
|
|
int8_t verbosity_level = 0;
|
|
|
static bool run = false;
|
Robert Pelnar