Merge branch 'MK3' into MK3_Translations

Firmware/Configuration.h

@@ -16,8 +16,8 @@ extern uint16_t nPrinterType;
 extern PGM_P sPrinterName;
 
 // Firmware version
-#define FW_VERSION "3.7.2"
-#define FW_COMMIT_NR   2363
+#define FW_VERSION "3.8.0-RC2"
+#define FW_COMMIT_NR   2639
 // FW_VERSION_UNKNOWN means this is an unofficial build.
 // The firmware should only be checked into github with this symbol.
 #define FW_DEV_VERSION FW_VERSION_UNKNOWN

Firmware/Marlin_main.cpp

@@ -524,24 +524,6 @@ bool fans_check_enabled = true;
 
 #ifdef TMC2130
 
-extern int8_t CrashDetectMenu;
-
-void crashdet_enable()
-{
-	tmc2130_sg_stop_on_crash = true;
-	eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF); 
-	CrashDetectMenu = 1;
-
-}
-
-void crashdet_disable()
-{
-	tmc2130_sg_stop_on_crash = false;
-	tmc2130_sg_crash = 0;
-	eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00); 
-	CrashDetectMenu = 0;
-}
-
 void crashdet_stop_and_save_print()
 {
 	stop_and_save_print_to_ram(10, -default_retraction); //XY - no change, Z 10mm up, E -1mm retract
@@ -631,7 +613,7 @@ void crashdet_detected(uint8_t mask)
 void crashdet_recover()
 {
 	crashdet_restore_print_and_continue();
-	tmc2130_sg_stop_on_crash = true;
+	if (lcd_crash_detect_enabled()) tmc2130_sg_stop_on_crash = true;
 }
 
 void crashdet_cancel()
@@ -1262,15 +1244,15 @@ void setup()
 	uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
 	if (silentMode == 0xff) silentMode = 0;
 	tmc2130_mode = TMC2130_MODE_NORMAL;
-	uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
-	if (crashdet && !farm_mode)
+
+	if (lcd_crash_detect_enabled() && !farm_mode)
 	{
-		crashdet_enable();
+		lcd_crash_detect_enable();
 	    puts_P(_N("CrashDetect ENABLED!"));
 	}
 	else
 	{
-		crashdet_disable();
+	    lcd_crash_detect_disable();
 	    puts_P(_N("CrashDetect DISABLED"));
 	}
 
@@ -2025,14 +2007,14 @@ static void do_blocking_move_to(float x, float y, float z) {
     feedrate = homing_feedrate[Z_AXIS];
 
     current_position[Z_AXIS] = z;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
+    plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
     st_synchronize();
 
     feedrate = XY_TRAVEL_SPEED;
 
     current_position[X_AXIS] = x;
     current_position[Y_AXIS] = y;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
+    plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
     st_synchronize();
 
     feedrate = oldFeedRate;
@@ -2362,77 +2344,77 @@ void ramming() {
 
 		max_feedrate[E_AXIS] = 50;
 		//current_position[E_AXIS] -= 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
+		//plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
 		//current_position[E_AXIS] += 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
+		//plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
 		current_position[E_AXIS] += 5.4;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
 		current_position[E_AXIS] += 3.2;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 		current_position[E_AXIS] += 3;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
 		st_synchronize();
 		max_feedrate[E_AXIS] = 80;
 		current_position[E_AXIS] -= 82;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(9500 / 60, active_extruder);
 		max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
 		current_position[E_AXIS] -= 20;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(1200 / 60, active_extruder);
 		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(400 / 60, active_extruder);
 		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] -= 10;
 		st_synchronize();
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] += 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] -= 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(800 / 60, active_extruder);
 		current_position[E_AXIS] += 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(800 / 60, active_extruder);
 		current_position[E_AXIS] -= 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(800 / 60, active_extruder);
 		st_synchronize();
 	}
 	else {
 		//ABS
 		max_feedrate[E_AXIS] = 50;
 		//current_position[E_AXIS] -= 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
+		//plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
 		//current_position[E_AXIS] += 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
+		//plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
 		current_position[E_AXIS] += 3.1;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
 		current_position[E_AXIS] += 3.1;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
 		current_position[E_AXIS] += 4;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 		st_synchronize();
 		//current_position[X_AXIS] += 23; //delay
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
+		//plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
 		//current_position[X_AXIS] -= 23; //delay
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
+		//plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
 		_delay(4700);
 		max_feedrate[E_AXIS] = 80;
 		current_position[E_AXIS] -= 92;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(9900 / 60, active_extruder);
 		max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
 		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(800 / 60, active_extruder);
 		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(400 / 60, active_extruder);
 		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		st_synchronize();
 		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		st_synchronize();
 
 	}
@@ -2491,7 +2473,7 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
 	if (home_all_axes) {
 		current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
 		feedrate = homing_feedrate[Z_AXIS];
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+		plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
 		st_synchronize();
 	}
 #ifdef ENABLE_AUTO_BED_LEVELING
@@ -2809,7 +2791,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 	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);
+	plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
 	st_synchronize();
 
 	// Let the user move the Z axes up to the end stoppers.
@@ -2859,7 +2841,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 			
 		bool endstops_enabled  = enable_endstops(false);
         current_position[Z_AXIS] -= 1; //move 1mm down with disabled endstop
-        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);
+        plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
         st_synchronize();
 
 		// Move the print head close to the bed.
@@ -2870,7 +2852,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 		tmc2130_home_enter(Z_AXIS_MASK);
 #endif //TMC2130
 
-		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);
+		plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
 
 		st_synchronize();
 #ifdef TMC2130
@@ -2910,7 +2892,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 				clean_up_after_endstop_move(l_feedmultiply);
 				// 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);
+				plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
 				st_synchronize();
 //#ifndef NEW_XYZCAL
 				if (result >= 0)
@@ -2930,7 +2912,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 					clean_up_after_endstop_move(l_feedmultiply);
 					// 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);
+					plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
 					st_synchronize();
 					// if (result >= 0) babystep_apply();					
 					#endif //HEATBED_V2
@@ -3040,21 +3022,18 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
 
     //Retract E
     current_position[E_AXIS] += e_shift;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-            current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
+    plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED, active_extruder);
     st_synchronize();
 
     //Lift Z
     current_position[Z_AXIS] += z_shift;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-            current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
+    plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED, active_extruder);
     st_synchronize();
 
     //Move XY to side
     current_position[X_AXIS] = x_position;
     current_position[Y_AXIS] = y_position;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-            current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
+    plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED, active_extruder);
     st_synchronize();
 
     //Beep, manage nozzle heater and wait for user to start unload filament
@@ -3079,8 +3058,7 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
 			lcd_set_cursor(0, 2);
 			lcd_puts_P(_T(MSG_PLEASE_WAIT));
 			current_position[X_AXIS] -= 100;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-				current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
+			plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED, active_extruder);
 			st_synchronize();
 			lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
         }
@@ -3117,8 +3095,7 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
     if (!automatic)
     {
         current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-                current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
+        plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED, active_extruder);
     }
 
     //Move XY back
@@ -3185,12 +3162,12 @@ void gcode_M701()
 
 		lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
 		current_position[E_AXIS] += 40;
-		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
+		plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence
 		st_synchronize();
 
 		marlin_rise_z();
 		current_position[E_AXIS] += 30;
-		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
+		plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence
 		
 		load_filament_final_feed(); //slow sequence
 		st_synchronize();
@@ -3268,6 +3245,56 @@ static void gcode_PRUSA_SN()
         puts_P(_N("Not in farm mode."));
     }
 }
+//! Detection of faulty RAMBo 1.1b boards equipped with bigger capacitors
+//! at the TACH_1 pin, which causes bad detection of print fan speed.
+//! Warning: This function is not to be used by ordinary users, it is here only for automated testing purposes,
+//!   it may even interfere with other functions of the printer! You have been warned!
+//! The test idea is to measure the time necessary to charge the capacitor.
+//! So the algorithm is as follows:
+//! 1. Set TACH_1 pin to INPUT mode and LOW
+//! 2. Wait a few ms
+//! 3. disable interrupts and measure the time until the TACH_1 pin reaches HIGH
+//! Repeat 1.-3. several times
+//! Good RAMBo's times are in the range of approx. 260-320 us
+//! Bad RAMBo's times are approx. 260-1200 us
+//! So basically we are interested in maximum time, the minima are mostly the same.
+//! May be that's why the bad RAMBo's still produce some fan RPM reading, but not corresponding to reality
+static void gcode_PRUSA_BadRAMBoFanTest(){
+    //printf_P(PSTR("Enter fan pin test\n"));
+#if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1 && defined(IR_SENSOR)
+	fan_measuring = false; // prevent EXTINT7 breaking into the measurement
+	unsigned long tach1max = 0;
+	uint8_t tach1cntr = 0;
+	for( /* nothing */; tach1cntr < 100; ++tach1cntr){
+		//printf_P(PSTR("TACH_1: %d\n"), tach1cntr);
+		SET_OUTPUT(TACH_1);
+		WRITE(TACH_1, LOW);
+		_delay(20); // the delay may be lower
+		unsigned long tachMeasure = _micros();
+		cli();
+		SET_INPUT(TACH_1);
+		// just wait brutally in an endless cycle until we reach HIGH
+		// if this becomes a problem it may be improved to non-endless cycle
+		while( READ(TACH_1) == 0 ) ;
+		sei();
+		tachMeasure = _micros() - tachMeasure;
+		if( tach1max < tachMeasure )
+		tach1max = tachMeasure;
+		//printf_P(PSTR("TACH_1: %d: capacitor check time=%lu us\n"), (int)tach1cntr, tachMeasure);
+	}	
+	//printf_P(PSTR("TACH_1: max=%lu us\n"), tach1max);
+	SERIAL_PROTOCOLPGM("RAMBo FAN ");
+	if( tach1max > 500 ){
+		// bad RAMBo
+		SERIAL_PROTOCOLLNPGM("BAD");
+	} else {
+		SERIAL_PROTOCOLLNPGM("OK");
+    }
+	// cleanup after the test function
+	SET_INPUT(TACH_1);
+	WRITE(TACH_1, HIGH);
+#endif
+}
 
 #ifdef BACKLASH_X
 extern uint8_t st_backlash_x;
@@ -3625,7 +3652,9 @@ void process_commands()
 		else if (code_seen("PRN")) { // PRUSA PRN
 		  printf_P(_N("%d"), status_number);
 
-        }else if (code_seen("FAN")) { // PRUSA FAN
+        } else if( code_seen("FANPINTST") ){
+            gcode_PRUSA_BadRAMBoFanTest();
+        }else if (code_seen("FAN")) { //! PRUSA FAN
 			printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
 		}else if (code_seen("fn")) { // PRUSA fn
 		  if (farm_mode) {
@@ -4337,15 +4366,15 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			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);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				current_position[Z_AXIS] = 50;
 				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);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				st_synchronize();
 				lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
 				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);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				st_synchronize();
 				gcode_G28(false, false, true);
 
@@ -4353,7 +4382,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			if ((current_temperature_pinda > 35) && (farm_mode == false)) {
 				//waiting for PIDNA probe to cool down in case that we are not in farm mode
 				current_position[Z_AXIS] = 100;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
 					lcd_temp_cal_show_result(false);
 					break;
@@ -4377,12 +4406,12 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			custom_message_state = 1;
 			lcd_setstatuspgm(_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);
+			plan_buffer_line_curposXYZE(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);
+			plan_buffer_line_curposXYZE(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);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			st_synchronize();
 
 			while (current_temperature_pinda < start_temp)
@@ -4394,10 +4423,10 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			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] = 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);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			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);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			st_synchronize();
 
 			bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
@@ -4425,12 +4454,12 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 				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);
+				plan_buffer_line_curposXYZE(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);
+				plan_buffer_line_curposXYZE(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);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				st_synchronize();
 				while (current_temperature_pinda < temp)
 				{
@@ -4438,10 +4467,10 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 					serialecho_temperatures();
 				}
 				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);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				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);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				st_synchronize();
 				find_z_result = find_bed_induction_sensor_point_z(-1.f);
 				if (find_z_result == false) {
@@ -4481,7 +4510,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 		current_position[X_AXIS] = PINDA_PREHEAT_X;
 		current_position[Y_AXIS] = PINDA_PREHEAT_Y;
 		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);
+		plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 		st_synchronize();
 		
 		while (abs(degBed() - PINDA_MIN_T) > 1) {
@@ -4497,11 +4526,11 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 		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;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 
 		current_position[X_AXIS] = BED_X0;
 		current_position[Y_AXIS] = BED_Y0;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 		st_synchronize();
 		
 		find_bed_induction_sensor_point_z(-1.f);
@@ -4518,7 +4547,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			current_position[X_AXIS] = PINDA_PREHEAT_X;
 			current_position[Y_AXIS] = PINDA_PREHEAT_Y;
 			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);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			st_synchronize();
 			while (degBed() < t_c) {
 				delay_keep_alive(1000);
@@ -4529,10 +4558,10 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 				serialecho_temperatures();
 			}
 			current_position[Z_AXIS] = 5;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			current_position[X_AXIS] = BED_X0;
 			current_position[Y_AXIS] = BED_Y0;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			st_synchronize();
 			find_bed_induction_sensor_point_z(-1.f);
 			z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
@@ -4673,7 +4702,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 		// Cycle through all points and probe them
 		// First move up. During this first movement, the babystepping will be reverted.
 		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] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
 		// The move to the first calibration point.
 		current_position[X_AXIS] = BED_X0;
 		current_position[Y_AXIS] = BED_Y0;
@@ -4688,7 +4717,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
 		#endif //SUPPORT_VERBOSITY
 
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder);
+		plan_buffer_line_curposXYZE(homing_feedrate[X_AXIS] / 30, active_extruder);
 		// Wait until the move is finished.
 		st_synchronize();
 
@@ -4740,7 +4769,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
 			else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
 			float init_z_bckp = current_position[Z_AXIS];
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
+			plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 			st_synchronize();
 
 			// Move to XY position of the sensor point.
@@ -4761,7 +4790,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			#endif // SUPPORT_VERBOSITY
 
 			//printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
+			plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
 			st_synchronize();
 
 			// Go down until endstop is hit
@@ -4773,7 +4802,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
 				//printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
 				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], Z_LIFT_FEEDRATE, active_extruder);
+				plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 				st_synchronize();
 
 				if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point  
@@ -4828,7 +4857,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			MYSERIAL.print(current_position[Z_AXIS], 5);
 		}
 		#endif // SUPPORT_VERBOSITY
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
+		plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 		st_synchronize();
 		if (mesh_point != nMeasPoints * nMeasPoints) {
                Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
@@ -4845,14 +4874,14 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
                     // ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
                     bState=enable_z_endstop(false);
                     current_position[Z_AXIS] -= 1;
-                    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);
+                    plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
                     st_synchronize();
                     enable_z_endstop(true);
 #ifdef TMC2130
                     tmc2130_home_enter(Z_AXIS_MASK);
 #endif // TMC2130
                     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);
+                    plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
                     st_synchronize();
 #ifdef TMC2130
                     tmc2130_home_exit();
@@ -4985,7 +5014,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 		//unretract (after PINDA preheat retraction)
 		if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
 			current_position[E_AXIS] += default_retraction;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
+			plan_buffer_line_curposXYZE(400, active_extruder);
 		}
 		KEEPALIVE_STATE(NOT_BUSY);
 		// Restore custom message state
@@ -5310,11 +5339,18 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
       card.pauseSDPrint();
       break;
 
-    //! ### M26 - Set SD index
+    //! ### M26 S\<index\> - Set SD index
+    //! Set position in SD card file to index in bytes.
+    //! This command is expected to be called after M23 and before M24.
+    //! Otherwise effect of this command is undefined.
     // ----------------------------------
     case 26: 
       if(card.cardOK && code_seen('S')) {
-        card.setIndex(code_value_long());
+        long index = code_value_long();
+        card.setIndex(index);
+        // We don't disable interrupt during update of sdpos_atomic
+        // as we expect, that SD card print is not active in this moment
+        sdpos_atomic = index;
       }
       break;
 
@@ -7716,7 +7752,7 @@ Sigma_Exit:
 	  	if (mmu_enabled) 
 		{
 			st_synchronize();
-			mmu_continue_loading(is_usb_printing);
+			mmu_continue_loading(is_usb_printing  || (lcd_commands_type == LcdCommands::Layer1Cal));
 			mmu_extruder = tmp_extruder; //filament change is finished
 			mmu_load_to_nozzle();
 		}
@@ -7760,7 +7796,7 @@ Sigma_Exit:
 #endif //defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
 				  mmu_command(MmuCmd::T0 + tmp_extruder);
 				  manage_response(true, true, MMU_TCODE_MOVE);
-		          mmu_continue_loading(is_usb_printing);
+		          mmu_continue_loading(is_usb_printing  || (lcd_commands_type == LcdCommands::Layer1Cal));
 
 				  mmu_extruder = tmp_extruder; //filament change is finished
 
@@ -8970,7 +9006,7 @@ void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_poi
 	card.openFile(filename_wldsd, false);
 
 	/*destination[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], Z_LIFT_FEEDRATE, active_extruder);
+	//plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 
 	plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
 	for(int8_t i=0; i < NUM_AXIS; i++) {
@@ -9004,7 +9040,7 @@ void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_poi
 		if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
 		float z0 = 0.f;
 		/*destination[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], Z_LIFT_FEEDRATE, active_extruder);
+		//plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 
 		plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
 		for(int8_t i=0; i < NUM_AXIS; i++) {
@@ -9168,7 +9204,7 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
 	card.openFile(filename_wldsd, false);
 
 	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] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
 
 	int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
 	int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
@@ -9193,14 +9229,14 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
 		if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
 		float z0 = 0.f;
 		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], Z_LIFT_FEEDRATE, active_extruder);
+		plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 		st_synchronize();
 
 
 		current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
 		current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
 
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
+		plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
 		st_synchronize();
 
 		if (!find_bed_induction_sensor_point_z(-10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point  
@@ -9314,12 +9350,12 @@ void temp_compensation_start() {
 	if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
 		current_position[E_AXIS] -= default_retraction;
 	}
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
+	plan_buffer_line_curposXYZE(400, active_extruder);
 	
 	current_position[X_AXIS] = PINDA_PREHEAT_X;
 	current_position[Y_AXIS] = PINDA_PREHEAT_Y;
 	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);
+	plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 	st_synchronize();
 	while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
 
@@ -9440,17 +9476,17 @@ void long_pause() //long pause print
 
 	//retract
 	current_position[E_AXIS] -= default_retraction;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
+	plan_buffer_line_curposXYZE(400, active_extruder);
 
 	//lift z
 	current_position[Z_AXIS] += Z_PAUSE_LIFT;
 	if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
+	plan_buffer_line_curposXYZE(15, active_extruder);
 
 	//Move XY to side
 	current_position[X_AXIS] = X_PAUSE_POS;
 	current_position[Y_AXIS] = Y_PAUSE_POS;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+	plan_buffer_line_curposXYZE(50, active_extruder);
 
 	// Turn off the print fan
 	fanSpeed = 0;
@@ -9468,7 +9504,7 @@ void serialecho_temperatures() {
 	SERIAL_PROTOCOL_F(degBed(), 1);
 	SERIAL_PROTOCOLLN("");
 }
-extern uint32_t sdpos_atomic;
+
 #ifdef UVLO_SUPPORT
 
 void uvlo_()
@@ -9555,7 +9591,6 @@ void uvlo_()
     st_synchronize();
 
     disable_e0();
-    disable_z();
     // Move Z up to the next 0th full step.
     // Write the file position.
     eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
@@ -9594,8 +9629,6 @@ void uvlo_()
 
     st_synchronize();
     printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
-
-    disable_z();
     
     // Increment power failure counter
 	eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
@@ -9605,7 +9638,7 @@ void uvlo_()
 #if 0
     // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
     current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
+    plan_buffer_line_curposXYZE(500, active_extruder);
     st_synchronize();
 #endif
 wdt_enable(WDTO_500MS);
@@ -9634,7 +9667,6 @@ tmc2130_set_current_r(Z_AXIS, 20);
 z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
 #endif //TMC2130
 planner_abort_hard();
-disable_z();
 
 //save current position only in case, where the printer is moving on Z axis, which is only when EEPROM_UVLO is 1
 //EEPROM_UVLO is 1 after normal uvlo or after recover_print(), when the extruder is moving on Z axis after rehome
@@ -10242,7 +10274,7 @@ static void print_time_remaining_init()
 void load_filament_final_feed()
 {
 	current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EFEED_FINAL, active_extruder);
+	plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FINAL, active_extruder);
 }
 
 //! @brief Wait for user to check the state
@@ -10372,22 +10404,22 @@ void M600_load_filament_movements()
 	do
 	{
 		current_position[E_AXIS] += 0.002;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
+		plan_buffer_line_curposXYZE(500, active_extruder);
 		delay_keep_alive(2);
 	}
 	while (!lcd_clicked());
 	st_synchronize();
 	current_position[E_AXIS] += bowden_length[mmu_extruder];
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000, active_extruder);
+	plan_buffer_line_curposXYZE(3000, active_extruder);
 	current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1400, active_extruder);
+	plan_buffer_line_curposXYZE(1400, active_extruder);
 	current_position[E_AXIS] += 40;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
+	plan_buffer_line_curposXYZE(400, active_extruder);
 	current_position[E_AXIS] += 10;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+	plan_buffer_line_curposXYZE(50, active_extruder);
 #else
 	current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EFEED_FIRST, active_extruder); 
+	plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FIRST, active_extruder); 
 #endif                
 	load_filament_final_feed();
 	lcd_loading_filament();
@@ -10482,34 +10514,20 @@ if(!(bEnableForce_z||eeprom_read_byte((uint8_t*)EEPROM_SILENT)))
 
 void disable_force_z()
 {
-uint16_t z_microsteps=0;
+    uint16_t z_microsteps=0;
 
-if(!bEnableForce_z)
-     return;                                      // motor already disabled (may be ;-p )
-bEnableForce_z=false;
+    if(!bEnableForce_z) return;   // motor already disabled (may be ;-p )
 
-// alignment to full-step
-#ifdef TMC2130
-z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
-#endif // TMC2130
-planner_abort_hard();
-sei();
-plan_buffer_line(
-     current_position[X_AXIS], 
-     current_position[Y_AXIS], 
-     current_position[Z_AXIS]+float((1024-z_microsteps+7)>>4)/cs.axis_steps_per_unit[Z_AXIS], 
-     current_position[E_AXIS],
-     40, active_extruder);
-st_synchronize();
-
-// switching to silent mode
+    bEnableForce_z=false;
+
+    // switching to silent mode
 #ifdef TMC2130
-tmc2130_mode=TMC2130_MODE_SILENT;
-update_mode_profile();
-tmc2130_init(true);
+    tmc2130_mode=TMC2130_MODE_SILENT;
+    update_mode_profile();
+    tmc2130_init(true);
 #endif // TMC2130
 
-axis_known_position[Z_AXIS]=false; 
+    axis_known_position[Z_AXIS]=false;
 }
 
 

Firmware/cmdqueue.cpp

@@ -224,9 +224,13 @@ void cmdqueue_dump_to_serial_single_line(int nr, const char *p)
     SERIAL_ECHOPGM("Entry nr: ");
     SERIAL_ECHO(nr);
     SERIAL_ECHOPGM(", type: ");
-    SERIAL_ECHO(int(*p));
+    int type = *p;
+    SERIAL_ECHO(type);
+    SERIAL_ECHOPGM(", size: ");
+    unsigned int size = *(unsigned int*)(p + 1);
+    SERIAL_ECHO(size);
     SERIAL_ECHOPGM(", cmd: ");
-    SERIAL_ECHO(p+1);  
+    SERIAL_ECHO(p + CMDHDRSIZE);
     SERIAL_ECHOLNPGM("");
 }
 
@@ -247,7 +251,7 @@ void cmdqueue_dump_to_serial()
             for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + bufindw; ++ nr) {
                 cmdqueue_dump_to_serial_single_line(nr, p);
                 // Skip the command.
-                for (++p; *p != 0; ++ p);
+                for (p += CMDHDRSIZE; *p != 0; ++ p);
                 // Skip the gaps.
                 for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
             }
@@ -255,14 +259,14 @@ void cmdqueue_dump_to_serial()
             for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + sizeof(cmdbuffer); ++ nr) {
                 cmdqueue_dump_to_serial_single_line(nr, p);
                 // Skip the command.
-                for (++p; *p != 0; ++ p);
+                for (p += CMDHDRSIZE; *p != 0; ++ p);
                 // Skip the gaps.
                 for (++p; p < cmdbuffer + sizeof(cmdbuffer) && *p == 0; ++ p);
             }
             for (const char *p = cmdbuffer; p < cmdbuffer + bufindw; ++ nr) {
                 cmdqueue_dump_to_serial_single_line(nr, p);
                 // Skip the command.
-                for (++p; *p != 0; ++ p);
+                for (p += CMDHDRSIZE; *p != 0; ++ p);
                 // Skip the gaps.
                 for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
             }

Firmware/cmdqueue.h

@@ -45,6 +45,8 @@ extern bool cmdbuffer_front_already_processed;
 // Debugging information will be sent to serial line.
 //#define CMDBUFFER_DEBUG
 
+extern uint32_t sdpos_atomic;
+
 extern int serial_count;
 extern boolean comment_mode;
 extern char *strchr_pointer;

Firmware/first_lay_cal.cpp

@@ -40,15 +40,26 @@ void lay1cal_preheat()
 
 }
 
-//! @brief Print intro line
+//! @brief Load filament
 //! @param cmd_buffer character buffer needed to format gcodes
 //! @param filament filament to use (applies for MMU only)
-void lay1cal_intro_line(char *cmd_buffer, uint8_t filament)
+void lay1cal_load_filament(char *cmd_buffer, uint8_t filament)
+{
+    if (mmu_enabled)
+    {
+        enquecommand_P(PSTR("M83"));
+        enquecommand_P(PSTR("G1 Y-3.0 F1000.0"));
+        enquecommand_P(PSTR("G1 Z0.4 F1000.0"));
+        sprintf_P(cmd_buffer, PSTR("T%d"), filament);
+        enquecommand(cmd_buffer);
+    }
+
+}
+
+//! @brief Print intro line
+void lay1cal_intro_line()
 {
-    static const char cmd_intro_mmu_0[] PROGMEM = "M83";
-    static const char cmd_intro_mmu_1[] PROGMEM = "G1 Y-3.0 F1000.0";
-    static const char cmd_intro_mmu_2[] PROGMEM = "G1 Z0.4 F1000.0";
-    static const char cmd_intro_mmu_3[] PROGMEM = "G1 X55.0 E32.0 F1073.0"; // call T code before
+    static const char cmd_intro_mmu_3[] PROGMEM = "G1 X55.0 E32.0 F1073.0";
     static const char cmd_intro_mmu_4[] PROGMEM = "G1 X5.0 E32.0 F1800.0";
     static const char cmd_intro_mmu_5[] PROGMEM = "G1 X55.0 E8.0 F2000.0";
     static const char cmd_intro_mmu_6[] PROGMEM = "G1 Z0.3 F1000.0";
@@ -61,10 +72,7 @@ void lay1cal_intro_line(char *cmd_buffer, uint8_t filament)
 
     static const char * const intro_mmu_cmd[] PROGMEM =
     {
-        cmd_intro_mmu_0,
-        cmd_intro_mmu_1,
-        cmd_intro_mmu_2,
-        cmd_intro_mmu_3, // call T code before
+        cmd_intro_mmu_3,
         cmd_intro_mmu_4,
         cmd_intro_mmu_5,
         cmd_intro_mmu_6,
@@ -80,11 +88,6 @@ void lay1cal_intro_line(char *cmd_buffer, uint8_t filament)
     {
         for (uint8_t i = 0; i < (sizeof(intro_mmu_cmd)/sizeof(intro_mmu_cmd[0])); ++i)
         {
-            if (3 == i)
-                {
-                    sprintf_P(cmd_buffer, PSTR("T%d"), filament);
-                    enquecommand(cmd_buffer);
-                }
             enquecommand_P(static_cast<char*>(pgm_read_ptr(&intro_mmu_cmd[i])));
         }
     }

Firmware/first_lay_cal.h

@@ -7,7 +7,8 @@
 #include <stdint.h>
 
 void lay1cal_preheat();
-void lay1cal_intro_line(char *cmd_buffer, uint8_t filament);
+void lay1cal_load_filament(char *cmd_buffer, uint8_t filament);
+void lay1cal_intro_line();
 void lay1cal_before_meander();
 void lay1cal_meander(char *cmd_buffer);
 void lay1cal_square(char *cmd_buffer, uint8_t i);

Firmware/heatbed_pwm.cpp

@@ -19,91 +19,162 @@
 // So the automaton runs atop of inner 8 (or 16) cycles.
 // The finite automaton is running in the ISR(TIMER0_OVF_vect)
 
+// 2019-08-14 update: the original algorithm worked very well, however there were 2 regressions:
+// 1. 62kHz ISR requires considerable amount of processing power, 
+//    USB transfer speed dropped by 20%, which was most notable when doing short G-code segments.
+// 2. Some users reported TLed PSU started clicking when running at 120V/60Hz. 
+//    This looks like the original algorithm didn't maintain base PWM 30Hz, but only 15Hz
+// To address both issues, there is an improved approach based on the idea of leveraging
+// different CLK prescalers in some automaton states - i.e. when holding LOW or HIGH on the output pin,
+// we don't have to clock 62kHz, but we can increase the CLK prescaler for these states to 8 (or even 64).
+// That shall result in the ISR not being called that much resulting in regained performance
+// Theoretically this is relatively easy, however one must be very carefull handling the AVR's timer
+// control registers correctly, especially setting them in a correct order.
+// Some registers are double buffered, some changes are applied in next cycles etc.
+// The biggest problem was with the CLK prescaler itself - this circuit is shared among almost all timers,
+// we don't want to reset the prescaler counted value when transiting among automaton states.
+// Resetting the prescaler would make the PWM more precise, right now there are temporal segments
+// of variable period ranging from 0 to 7 62kHz ticks - that's logical, the timer must "sync"
+// to the new slower CLK after setting the slower prescaler value.
+// In our application, this isn't any significant problem and may be ignored.
+// Doing changes in timer's registers non-correctly results in artefacts on the output pin
+// - it can toggle unnoticed, which will result in bed clicking again.
+// That's why there are special transition states ZERO_TO_RISE and ONE_TO_FALL, which enable the
+// counter change its operation atomically and without artefacts on the output pin.
+// The resulting signal on the output pin was checked with an osciloscope. 
+// If there are any change requirements in the future, the signal must be checked with an osciloscope again,
+// ad-hoc changes may completely screw things up!
+
 ///! Definition off finite automaton states
 enum class States : uint8_t {
-  ZERO = 0,
-  RISE = 1,
-  ONE = 2,
-  FALL = 3
-};
-
-///! State table for the inner part of the finite automaton
-///! Basically it specifies what shall happen if the outer automaton is requesting setting the heat pin to 0 (OFF) or 1 (ON)
-///! ZERO: steady 0 (OFF), no change for the whole period
-///! RISE: 8 (16) fast PWM cycles with increasing duty up to steady ON
-///! ONE:  steady 1 (ON), no change for the whole period 
-///! FALL: 8 (16) fast PWM cycles with decreasing duty down to steady OFF
-///! @@TODO move it into progmem
-static States stateTable[4*2] = {
-// off             on
-States::ZERO,      States::RISE, // ZERO
-States::FALL,      States::ONE,  // RISE
-States::FALL,      States::ONE,  // ONE
-States::ZERO,      States::RISE  // FALL
+	ZERO_START = 0,///< entry point of the automaton - reads the soft_pwm_bed value for the next whole PWM cycle
+	ZERO,          ///< steady 0 (OFF), no change for the whole period
+	ZERO_TO_RISE,  ///< metastate allowing the timer change its state atomically without artefacts on the output pin
+	RISE,          ///< 16 fast PWM cycles with increasing duty up to steady ON
+	RISE_TO_ONE,   ///< metastate allowing the timer change its state atomically without artefacts on the output pin
+	ONE,           ///< steady 1 (ON), no change for the whole period 
+	ONE_TO_FALL,   ///< metastate allowing the timer change its state atomically without artefacts on the output pin
+	FALL,          ///< 16 fast PWM cycles with decreasing duty down to steady OFF
+	FALL_TO_ZERO   ///< metastate allowing the timer change its state atomically without artefacts on the output pin
 };
 
 ///! Inner states of the finite automaton
-static States state = States::ZERO;
+static States state = States::ZERO_START;
 
-///! Inner and outer PWM counters
-static uint8_t outer = 0;
-static uint8_t inner = 0;
+///! Fast PWM counter is used in the RISE and FALL states (62.5kHz)
+static uint8_t slowCounter = 0;
+///! Slow PWM counter is used in the ZERO and ONE states (62.5kHz/8 or 64)
+static uint8_t fastCounter = 0;
+///! PWM counter for the whole cycle - a cache for soft_pwm_bed
 static uint8_t pwm = 0;
 
-///! the slow PWM duty for the next 30Hz cycle
+///! The slow PWM duty for the next 30Hz cycle
 ///! Set in the whole firmware at various places
 extern unsigned char soft_pwm_bed;
 
-/// Fine tuning of automaton cycles
-#if 1
-static const uint8_t innerMax = 16;
-static const uint8_t innerShift = 4;
-#else
-static const uint8_t innerMax = 8;
-static const uint8_t innerShift = 5;
-#endif
+/// fastMax - how many fast PWM steps to do in RISE and FALL states
+/// 16 is a good compromise between silenced bed ("smooth" edges)
+/// and not burning the switching MOSFET
+static const uint8_t fastMax = 16;
+
+/// Scaler 16->256 for fast PWM
+static const uint8_t fastShift = 4;
+
+/// Increment slow PWM counter by slowInc every ZERO or ONE state
+/// This allows for fine-tuning the basic PWM switching frequency
+/// A possible further optimization - use a 64 prescaler (instead of 8)
+/// increment slowCounter by 1
+/// but use less bits of soft PWM - something like soft_pwm_bed >> 2
+/// that may further reduce the CPU cycles required by the bed heating automaton
+/// Due to the nature of bed heating the reduced PID precision may not be a major issue, however doing 8x less ISR(timer0_ovf) may significantly improve the performance 
+static const uint8_t slowInc = 1;
 
 ISR(TIMER0_OVF_vect)          // timer compare interrupt service routine
 {
-  if( inner ){
-    switch(state){
-    case States::ZERO:
-      OCR0B = 255;
-	  // Commenting the following code saves 6B, but it is left here for reference
-	  // It is not necessary to set it all over again, because we can only get into the ZERO state from the FALL state (which sets this register)
-//       TCCR0A |= (1 << COM0B1) | (1 << COM0B0);
-      break;
-    case States::RISE:
-      OCR0B = (innerMax - inner) << innerShift;
-//       TCCR0A |= (1 << COM0B1); // this bit is always 1
-      TCCR0A &= ~(1 << COM0B0);
-      break;  
-    case States::ONE:
-      OCR0B = 255;
-	  // again - may be skipped, because we get into the ONE state only from RISE (which sets this register)
-//       TCCR0A |= (1 << COM0B1);
-       TCCR0A &= ~(1 << COM0B0);
-      break;
-    case States::FALL:
-      OCR0B = (innerMax - inner) << innerShift; // this is the same as in RISE, because now we are setting the zero part of duty due to inverting mode
-      // must switch to inverting mode already here, because it takes a whole PWM cycle and it would make a "1" at the end of this pwm cycle
-	  TCCR0A |= /*(1 << COM0B1) |*/ (1 << COM0B0); 
-      break;
-    }
-    --inner;
-  } else {
-    if( ! outer ){ // at the end of 30Hz PWM period
-      // synchro is not needed (almost), soft_pwm_bed is just 1 byte, 1-byte write instruction is atomic
-      pwm = soft_pwm_bed << 1;
-    }
-	if( pwm > outer || pwm >= 254 ){
-      // soft_pwm_bed has a range of 0-127, that why a <<1 is done here. That also means that we may get only up to 254 which we want to be full-time 1 (ON)
-      state = stateTable[ uint8_t(state) * 2 + 1 ];
-    } else {
-      // switch OFF
-      state = stateTable[ uint8_t(state) * 2 + 0 ];
+	switch(state){
+	case States::ZERO_START:
+		pwm = soft_pwm_bed << 1;// expecting soft_pwm_bed to be 7bit!
+		if( pwm != 0 ){
+			state = States::ZERO;     // do nothing, let it tick once again after the 30Hz period
+		}
+		break;
+	case States::ZERO: // end of state ZERO - we'll either stay in ZERO or change to RISE
+		// In any case update our cache of pwm value for the next whole cycle from soft_pwm_bed
+		slowCounter += slowInc; // this does software timer_clk/256 or less (depends on slowInc)
+		if( slowCounter > pwm ){
+			return;
+		} // otherwise moving towards RISE
+		state = States::ZERO_TO_RISE; // and finalize the change in a transitional state RISE0
+		break;
+	// even though it may look like the ZERO state may be glued together with the ZERO_TO_RISE, don't do it
+	// the timer must tick once more in order to get rid of occasional output pin toggles.
+	case States::ZERO_TO_RISE:  // special state for handling transition between prescalers and switching inverted->non-inverted fast-PWM without toggling the output pin.
+		// It must be done in consequent steps, otherwise the pin will get flipped up and down during one PWM cycle.
+		// Also beware of the correct sequence of the following timer control registers initialization - it really matters!
+		state = States::RISE;     // prepare for standard RISE cycles
+		fastCounter = fastMax - 1;// we'll do 16-1 cycles of RISE
+		TCNT0 = 255;              // force overflow on the next clock cycle
+		TCCR0B = (1 << CS00);     // change prescaler to 1, i.e. 62.5kHz
+		TCCR0A &= ~(1 << COM0B0); // Clear OC0B on Compare Match, set OC0B at BOTTOM (non-inverting mode)
+		break;
+	case States::RISE:
+		OCR0B = (fastMax - fastCounter) << fastShift;
+		if( fastCounter ){
+			--fastCounter;
+		} else { // end of RISE cycles, changing into state ONE
+			state = States::RISE_TO_ONE;
+			OCR0B = 255;          // full duty
+			TCNT0 = 254;          // make the timer overflow in the next cycle
+			// @@TODO these constants are still subject to investigation
+		}
+		break;
+	case States::RISE_TO_ONE:
+		state = States::ONE;
+		OCR0B = 255;              // full duty
+		TCNT0 = 255;              // make the timer overflow in the next cycle
+		TCCR0B = (1 << CS01);     // change prescaler to 8, i.e. 7.8kHz
+		break;
+	case States::ONE:             // state ONE - we'll either stay in ONE or change to FALL
+		OCR0B = 255;
+		slowCounter += slowInc;   // this does software timer_clk/256 or less
+		if( slowCounter < pwm ){
+			return;
+		}
+		if( (soft_pwm_bed << 1) >= (255 - slowInc - 1) ){  //@@TODO simplify & explain
+			// if slowInc==2, soft_pwm == 251 will be the first to do short drops to zero. 252 will keep full heating
+			return;           // want full duty for the next ONE cycle again - so keep on heating and just wait for the next timer ovf
+		}
+		// otherwise moving towards FALL
+		// @@TODO it looks like ONE_TO_FALL isn't necessary, there are no artefacts at all
+		state = States::ONE;//_TO_FALL;
+//		TCCR0B = (1 << CS00);      // change prescaler to 1, i.e. 62.5kHz
+//		break;
+//	case States::ONE_TO_FALL:
+//		OCR0B = 255;              // zero duty
+		state=States::FALL;
+		fastCounter = fastMax - 1;// we'll do 16-1 cycles of RISE
+		TCNT0 = 255;              // force overflow on the next clock cycle
+		TCCR0B = (1 << CS00);     // change prescaler to 1, i.e. 62.5kHz
+		// must switch to inverting mode already here, because it takes a whole PWM cycle and it would make a "1" at the end of this pwm cycle
+		// COM0B1 remains set both in inverting and non-inverting mode
+		TCCR0A |= (1 << COM0B0);  // inverting mode
+		break;
+	case States::FALL:
+		OCR0B = (fastMax - fastCounter) << fastShift; // this is the same as in RISE, because now we are setting the zero part of duty due to inverting mode
+		//TCCR0A |= (1 << COM0B0); // already set in ONE_TO_FALL
+		if( fastCounter ){
+			--fastCounter;
+		} else {   // end of FALL cycles, changing into state ZERO
+			state = States::FALL_TO_ZERO;
+			TCNT0 = 128; //@@TODO again - need to wait long enough to propagate the timer state changes
+			OCR0B = 255;
+		}
+		break;
+	case States::FALL_TO_ZERO:
+		state = States::ZERO_START; // go to read new soft_pwm_bed value for the next cycle
+		TCNT0 = 128;
+		OCR0B = 255;
+		TCCR0B = (1 << CS01); // change prescaler to 8, i.e. 7.8kHz
+		break;		
     }
-    ++outer;
-    inner = innerMax;
-  }
 }

Firmware/mesh_bed_calibration.cpp

@@ -919,7 +919,7 @@ static inline void go_xy(float x, float y, float fr)
 
 static inline void go_to_current(float fr)
 {
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr, active_extruder);
+    plan_buffer_line_curposXYZE(fr, active_extruder);
     st_synchronize();
 }
 
@@ -2769,7 +2769,7 @@ bool sample_z() {
 	//make space
 	current_position[Z_AXIS] += 150;
 	go_to_current(homing_feedrate[Z_AXIS] / 60);
-	//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate, active_extruder););
+	//plan_buffer_line_curposXYZE(feedrate, active_extruder););
 
 	lcd_show_fullscreen_message_and_wait_P(_T(MSG_PLACE_STEEL_SHEET));
 

Firmware/mmu.cpp

@@ -537,7 +537,7 @@ void mmu_command(MmuCmd cmd)
 void mmu_load_step(bool synchronize)
 {
 		current_position[E_AXIS] = current_position[E_AXIS] + MMU_LOAD_FEEDRATE * 0.1;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+		plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
 		if (synchronize) st_synchronize();
 }
 
@@ -602,7 +602,7 @@ bool mmu_get_response(uint8_t move)
 				    {
                         printf_P(PSTR("Unload 1\n"));
                         current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
-                        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+                        plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
                         st_synchronize();
 				    }
 				}
@@ -620,7 +620,7 @@ bool mmu_get_response(uint8_t move)
                     {
                         printf_P(PSTR("Unload 2\n"));
                         current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
-                        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+                        plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
                         st_synchronize();
                     }
 				}
@@ -698,13 +698,13 @@ void manage_response(bool move_axes, bool turn_off_nozzle, uint8_t move)
 					  //lift z
 					  current_position[Z_AXIS] += Z_PAUSE_LIFT;
 					  if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
-					  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
+					  plan_buffer_line_curposXYZE(15, active_extruder);
 					  st_synchronize();
 					  					  
 					  //Move XY to side
 					  current_position[X_AXIS] = X_PAUSE_POS;
 					  current_position[Y_AXIS] = Y_PAUSE_POS;
-					  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+					  plan_buffer_line_curposXYZE(50, active_extruder);
 					  st_synchronize();
 				  }
 				  if (turn_off_nozzle) {
@@ -762,10 +762,10 @@ void manage_response(bool move_axes, bool turn_off_nozzle, uint8_t move)
 				  lcd_display_message_fullscreen_P(_i("MMU OK. Resuming position..."));
 				  current_position[X_AXIS] = x_position_bckp;
 				  current_position[Y_AXIS] = y_position_bckp;
-				  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+				  plan_buffer_line_curposXYZE(50, active_extruder);
 				  st_synchronize();
 				  current_position[Z_AXIS] = z_position_bckp;
-				  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
+				  plan_buffer_line_curposXYZE(15, active_extruder);
 				  st_synchronize();
 			  }
 			  else {
@@ -804,19 +804,19 @@ void mmu_load_to_nozzle()
 		current_position[E_AXIS] += 7.2f;
 	}
     float feedrate = 562;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+	plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
     st_synchronize();
 	current_position[E_AXIS] += 14.4f;
 	feedrate = 871;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+	plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
     st_synchronize();
 	current_position[E_AXIS] += 36.0f;
 	feedrate = 1393;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+	plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
     st_synchronize();
 	current_position[E_AXIS] += 14.4f;
 	feedrate = 871;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+	plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
     st_synchronize();
 	if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = false;
 }
@@ -889,7 +889,7 @@ void mmu_M600_load_filament(bool automatic, float nozzle_temp)
     mmu_command(MmuCmd::T0 + tmp_extruder);
 
     manage_response(false, true, MMU_LOAD_MOVE);
-    mmu_continue_loading(is_usb_printing);
+    mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
     mmu_extruder = tmp_extruder; //filament change is finished
 
     mmu_load_to_nozzle();
@@ -903,7 +903,7 @@ void extr_mov(float shift, float feed_rate)
 { //move extruder no matter what the current heater temperature is
 	set_extrude_min_temp(.0);
 	current_position[E_AXIS] += shift;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feed_rate, active_extruder);
+	plan_buffer_line_curposXYZE(feed_rate, active_extruder);
 	set_extrude_min_temp(EXTRUDE_MINTEMP);
 }
 #endif //SNMM
@@ -1069,8 +1069,7 @@ void mmu_filament_ramming()
     for(uint8_t i = 0; i < (sizeof(ramming_sequence)/sizeof(E_step));++i)
     {
         current_position[E_AXIS] += pgm_read_float(&(ramming_sequence[i].extrude));
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-                current_position[E_AXIS], pgm_read_float(&(ramming_sequence[i].feed_rate)), active_extruder);
+        plan_buffer_line_curposXYZE(pgm_read_float(&(ramming_sequence[i].feed_rate)), active_extruder);
         st_synchronize();
     }
 }
@@ -1140,39 +1139,39 @@ void extr_unload()
 		lcd_set_cursor(0, 2); lcd_puts_P(_T(MSG_PLEASE_WAIT));
 		if (current_position[Z_AXIS] < 15) {
 			current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, active_extruder);
+			plan_buffer_line_curposXYZE(25, active_extruder);
 		}
 		
 		current_position[E_AXIS] += 10; //extrusion
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 10, active_extruder);
+		plan_buffer_line_curposXYZE(10, active_extruder);
 		st_current_set(2, E_MOTOR_HIGH_CURRENT);
 		if (current_temperature[0] < 230) { //PLA & all other filaments
 			current_position[E_AXIS] += 5.4;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
 			current_position[E_AXIS] += 3.2;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			current_position[E_AXIS] += 3;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
 		}
 		else { //ABS
 			current_position[E_AXIS] += 3.1;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
 			current_position[E_AXIS] += 3.1;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
 			current_position[E_AXIS] += 4;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			/*current_position[X_AXIS] += 23; //delay
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay
+			plan_buffer_line_curposXYZE(600 / 60, active_extruder); //delay
 			current_position[X_AXIS] -= 23; //delay
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay*/
+			plan_buffer_line_curposXYZE(600 / 60, active_extruder); //delay*/
 			delay_keep_alive(4700);
 		}
 	
 		max_feedrate[E_AXIS] = 80;
 		current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
+		plan_buffer_line_curposXYZE(500, active_extruder);
 		current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
+		plan_buffer_line_curposXYZE(500, active_extruder);
 		st_synchronize();
 		//st_current_init();
 		if (SilentMode != SILENT_MODE_OFF) st_current_set(2, tmp_motor[2]); //set back to normal operation currents
@@ -1465,11 +1464,9 @@ bFilamentAction=false;                            // NOT in "mmu_fil_eject_menu(
 static bool can_load()
 {
     current_position[E_AXIS] += 60;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-            current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+    plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
     current_position[E_AXIS] -= 52;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-            current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+    plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
     st_synchronize();
 
     uint_least8_t filament_detected_count = 0;
@@ -1479,8 +1476,7 @@ static bool can_load()
     for(uint_least8_t i = 0; i < steps; ++i)
     {
         current_position[E_AXIS] -= e_increment;
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-                current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+        plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
         st_synchronize();
         if(0 == PIN_GET(IR_SENSOR_PIN))
         {
@@ -1601,13 +1597,13 @@ void mmu_continue_loading(bool blocking)
             //lift z
             current_position[Z_AXIS] += Z_PAUSE_LIFT;
             if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
-            plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
+            plan_buffer_line_curposXYZE(15, active_extruder);
             st_synchronize();
 
             //Move XY to side
             current_position[X_AXIS] = X_PAUSE_POS;
             current_position[Y_AXIS] = Y_PAUSE_POS;
-            plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+            plan_buffer_line_curposXYZE(50, active_extruder);
             st_synchronize();
 
             mmu_command(MmuCmd::U0);

Firmware/planner.cpp

@@ -651,11 +651,15 @@ void planner_abort_hard()
     waiting_inside_plan_buffer_line_print_aborted = true;
 }
 
+void plan_buffer_line_curposXYZE(float feed_rate, uint8_t extruder) { 
+	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feed_rate, extruder );
+}
+
 float junction_deviation = 0.1;
 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
+void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder)
 {
     // Calculate the buffer head after we push this byte
   int next_buffer_head = next_block_index(block_buffer_head);

Firmware/planner.h

@@ -140,7 +140,14 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
 // Get the position applying the bed level matrix if enabled
 vector_3 plan_get_position();
 #else
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
+
+/// Extracting common call of 
+/// plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], ...
+/// saves almost 5KB.
+/// The performance penalty is negligible, since these planned lines are usually maintenance moves with the extruder.
+void plan_buffer_line_curposXYZE(float feed_rate, uint8_t extruder);
+
+void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder);
 //void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
 #endif // ENABLE_AUTO_BED_LEVELING
 

Firmware/timer02.c

@@ -26,7 +26,7 @@ void timer0_init(void)
 	OCR0B = 255;
 	// Set fast PWM mode and inverting mode.
 	TCCR0A = (1 << WGM01) | (1 << WGM00) | (1 << COM0B1) | (1 << COM0B0);  
-	TCCR0B = (1 << CS00);    // no clock prescaling
+	TCCR0B = (1 << CS01);    // CLK/8 prescaling
 	TIMSK0 |= (1 << TOIE0);  // enable timer overflow interrupt
 	
 	// Everything, that used to be on timer0 was moved to timer2 (delay, beeping, millis etc.)

Firmware/ultralcd.cpp

@@ -58,17 +58,9 @@ uint8_t SilentModeMenu_MMU = 1; //activate mmu unit stealth mode
 
 int8_t FSensorStateMenu = 1;
 
-int8_t CrashDetectMenu = 1;
-
-
 extern bool fsensor_enable();
 extern void fsensor_disable();
 
-#ifdef TMC2130
-extern void crashdet_enable();
-extern void crashdet_disable();
-#endif //TMC2130
-
 
 #ifdef SDCARD_SORT_ALPHA
 bool presort_flag = false;
@@ -120,14 +112,7 @@ static void lcd_tune_menu();
 //static void lcd_move_menu();
 static void lcd_settings_menu();
 static void lcd_calibration_menu();
-#ifdef LINEARITY_CORRECTION
-static void lcd_settings_menu_back();
-#endif //LINEARITY_CORRECTION
 static void lcd_control_temperature_menu();
-static void lcd_control_temperature_preheat_pla_settings_menu();
-static void lcd_control_temperature_preheat_abs_settings_menu();
-static void lcd_control_motion_menu();
-static void lcd_control_volumetric_menu();
 static void lcd_settings_linearity_correction_menu_save();
 static void prusa_stat_printerstatus(int _status);
 static void prusa_stat_farm_number();
@@ -1361,42 +1346,46 @@ void lcd_commands()
 
 		if(lcd_commands_step>1) lcd_timeoutToStatus.start(); //if user dont confirm live adjust Z value by pressing the knob, we are saving last value by timeout to status screen
 
-        if (!blocks_queued() && cmd_buffer_empty())
+        if (!blocks_queued() && cmd_buffer_empty() && !saved_printing)
         {
             switch(lcd_commands_step)
             {
             case 0:
-                lcd_commands_step = 10;
+                lcd_commands_step = 11;
                 break;
             case 20:
                 filament = 0;
-                lcd_commands_step = 10;
+                lcd_commands_step = 11;
                 break;
             case 21:
                 filament = 1;
-                lcd_commands_step = 10;
+                lcd_commands_step = 11;
                 break;
             case 22:
                 filament = 2;
-                lcd_commands_step = 10;
+                lcd_commands_step = 11;
                 break;
             case 23:
                 filament = 3;
-                lcd_commands_step = 10;
+                lcd_commands_step = 11;
                 break;
             case 24:
                 filament = 4;
+                lcd_commands_step = 11;
+                break;
+            case 11:
+                lay1cal_preheat();
                 lcd_commands_step = 10;
                 break;
             case 10:
-                lay1cal_preheat();
+                lay1cal_load_filament(cmd1, filament);
                 lcd_commands_step = 9;
                 break;
             case 9:
                 lcd_clear();
                 menu_depth = 0;
                 menu_submenu(lcd_babystep_z);
-                lay1cal_intro_line(cmd1, filament);
+                lay1cal_intro_line();
                 lcd_commands_step = 8;
                 break;
             case 8:
@@ -1676,7 +1665,7 @@ static void lcd_move_menu_axis();
 
 /* Menu implementation */
 
-void lcd_preheat_farm()
+static void lcd_preheat_farm()
 {
   setTargetHotend0(FARM_PREHEAT_HOTEND_TEMP);
   setTargetBed(FARM_PREHEAT_HPB_TEMP);
@@ -1685,7 +1674,7 @@ void lcd_preheat_farm()
   setWatch(); // heater sanity check timer
 }
 
-void lcd_preheat_farm_nozzle()
+static void lcd_preheat_farm_nozzle()
 {
 	setTargetHotend0(FARM_PREHEAT_HOTEND_TEMP);
 	setTargetBed(0);
@@ -1694,68 +1683,78 @@ void lcd_preheat_farm_nozzle()
 	setWatch(); // heater sanity check timer
 }
 
-void lcd_preheat_pla()
+static void lcd_preheat_pla()
 {
   setTargetHotend0(PLA_PREHEAT_HOTEND_TEMP);
   if (!wizard_active) setTargetBed(PLA_PREHEAT_HPB_TEMP);
-  fanSpeed = 0;
+  fanSpeed = PLA_PREHEAT_FAN_SPEED;
+  lcd_return_to_status();
+  setWatch(); // heater sanity check timer
+  if (wizard_active) lcd_wizard(WizState::Unload);
+}
+
+static void lcd_preheat_asa()
+{
+  setTargetHotend0(ASA_PREHEAT_HOTEND_TEMP);
+  if (!wizard_active) setTargetBed(ASA_PREHEAT_HPB_TEMP);
+  fanSpeed = ASA_PREHEAT_FAN_SPEED;
   lcd_return_to_status();
   setWatch(); // heater sanity check timer
   if (wizard_active) lcd_wizard(WizState::Unload);
 }
 
-void lcd_preheat_abs()
+static void lcd_preheat_abs()
 {
   setTargetHotend0(ABS_PREHEAT_HOTEND_TEMP);
   if (!wizard_active) setTargetBed(ABS_PREHEAT_HPB_TEMP);
-  fanSpeed = 0;
+  fanSpeed = ABS_PREHEAT_FAN_SPEED;
   lcd_return_to_status();
   setWatch(); // heater sanity check timer
   if (wizard_active) lcd_wizard(WizState::Unload);
 }
 
-void lcd_preheat_pp()
+static void lcd_preheat_pp()
 {
   setTargetHotend0(PP_PREHEAT_HOTEND_TEMP);
   if (!wizard_active) setTargetBed(PP_PREHEAT_HPB_TEMP);
-  fanSpeed = 0;
+  fanSpeed = PP_PREHEAT_FAN_SPEED;
   lcd_return_to_status();
   setWatch(); // heater sanity check timer
   if (wizard_active) lcd_wizard(WizState::Unload);
 }
 
-void lcd_preheat_pet()
+static void lcd_preheat_pet()
 {
   setTargetHotend0(PET_PREHEAT_HOTEND_TEMP);
   if (!wizard_active) setTargetBed(PET_PREHEAT_HPB_TEMP);
-  fanSpeed = 0;
+  fanSpeed = PET_PREHEAT_FAN_SPEED;
   lcd_return_to_status();
   setWatch(); // heater sanity check timer
   if (wizard_active) lcd_wizard(WizState::Unload);
 }
 
-void lcd_preheat_hips()
+static void lcd_preheat_hips()
 {
   setTargetHotend0(HIPS_PREHEAT_HOTEND_TEMP);
   if (!wizard_active) setTargetBed(HIPS_PREHEAT_HPB_TEMP);
-  fanSpeed = 0;
+  fanSpeed = HIPS_PREHEAT_FAN_SPEED;
   lcd_return_to_status();
   setWatch(); // heater sanity check timer
   if (wizard_active) lcd_wizard(WizState::Unload);
 }
 
-void lcd_preheat_flex()
+static void lcd_preheat_flex()
 {
   setTargetHotend0(FLEX_PREHEAT_HOTEND_TEMP);
   if (!wizard_active) setTargetBed(FLEX_PREHEAT_HPB_TEMP);
-  fanSpeed = 0;
+  fanSpeed = FLEX_PREHEAT_FAN_SPEED;
   lcd_return_to_status();
   setWatch(); // heater sanity check timer
   if (wizard_active) lcd_wizard(WizState::Unload);
 }
 
 
-void lcd_cooldown()
+static void lcd_cooldown()
 {
   setAllTargetHotends(0);
   setTargetBed(0);
@@ -2037,6 +2036,7 @@ static void lcd_preheat_menu()
   } else {
 	  MENU_ITEM_FUNCTION_P(PSTR("PLA  -  " STRINGIFY(PLA_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(PLA_PREHEAT_HPB_TEMP)), lcd_preheat_pla);
 	  MENU_ITEM_FUNCTION_P(PSTR("PET  -  " STRINGIFY(PET_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(PET_PREHEAT_HPB_TEMP)), lcd_preheat_pet);
+	  MENU_ITEM_FUNCTION_P(PSTR("ASA  -  " STRINGIFY(ASA_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(ASA_PREHEAT_HPB_TEMP)), lcd_preheat_asa);
 	  MENU_ITEM_FUNCTION_P(PSTR("ABS  -  " STRINGIFY(ABS_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(ABS_PREHEAT_HPB_TEMP)), lcd_preheat_abs);
 	  MENU_ITEM_FUNCTION_P(PSTR("HIPS -  " STRINGIFY(HIPS_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(HIPS_PREHEAT_HPB_TEMP)), lcd_preheat_hips);
 	  MENU_ITEM_FUNCTION_P(PSTR("PP   -  " STRINGIFY(PP_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(PP_PREHEAT_HPB_TEMP)), lcd_preheat_pp);
@@ -2486,6 +2486,12 @@ bFilamentPreheatState=false;
 mFilamentItem(PET_PREHEAT_HOTEND_TEMP,PET_PREHEAT_HPB_TEMP);
 }
 
+static void mFilamentItem_ASA()
+{
+    bFilamentPreheatState=false;
+    mFilamentItem(ASA_PREHEAT_HOTEND_TEMP,ASA_PREHEAT_HPB_TEMP);
+}
+
 static void mFilamentItem_ABS()
 {
 bFilamentPreheatState=false;
@@ -2520,15 +2526,16 @@ if(eFilamentAction==FilamentAction::AutoLoad)
 
 void mFilamentMenu()
 {
-MENU_BEGIN();
-MENU_ITEM_FUNCTION_P(_T(MSG_MAIN),mFilamentBack);
-MENU_ITEM_SUBMENU_P(PSTR("PLA  -  " STRINGIFY(PLA_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(PLA_PREHEAT_HPB_TEMP)),mFilamentItem_PLA);
-MENU_ITEM_SUBMENU_P(PSTR("PET  -  " STRINGIFY(PET_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(PET_PREHEAT_HPB_TEMP)),mFilamentItem_PET);
-MENU_ITEM_SUBMENU_P(PSTR("ABS  -  " STRINGIFY(ABS_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(ABS_PREHEAT_HPB_TEMP)),mFilamentItem_ABS);
-MENU_ITEM_SUBMENU_P(PSTR("HIPS -  " STRINGIFY(HIPS_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(HIPS_PREHEAT_HPB_TEMP)),mFilamentItem_HIPS);
-MENU_ITEM_SUBMENU_P(PSTR("PP   -  " STRINGIFY(PP_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(PP_PREHEAT_HPB_TEMP)),mFilamentItem_PP);
-MENU_ITEM_SUBMENU_P(PSTR("FLEX -  " STRINGIFY(FLEX_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(FLEX_PREHEAT_HPB_TEMP)),mFilamentItem_FLEX);
-MENU_END();
+    MENU_BEGIN();
+    MENU_ITEM_FUNCTION_P(_T(MSG_MAIN),mFilamentBack);
+    MENU_ITEM_SUBMENU_P(PSTR("PLA  -  " STRINGIFY(PLA_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(PLA_PREHEAT_HPB_TEMP)),mFilamentItem_PLA);
+    MENU_ITEM_SUBMENU_P(PSTR("PET  -  " STRINGIFY(PET_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(PET_PREHEAT_HPB_TEMP)),mFilamentItem_PET);
+    MENU_ITEM_SUBMENU_P(PSTR("ASA  -  " STRINGIFY(ASA_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(ASA_PREHEAT_HPB_TEMP)),mFilamentItem_ASA);
+    MENU_ITEM_SUBMENU_P(PSTR("ABS  -  " STRINGIFY(ABS_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(ABS_PREHEAT_HPB_TEMP)),mFilamentItem_ABS);
+    MENU_ITEM_SUBMENU_P(PSTR("HIPS -  " STRINGIFY(HIPS_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(HIPS_PREHEAT_HPB_TEMP)),mFilamentItem_HIPS);
+    MENU_ITEM_SUBMENU_P(PSTR("PP   -  " STRINGIFY(PP_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(PP_PREHEAT_HPB_TEMP)),mFilamentItem_PP);
+    MENU_ITEM_SUBMENU_P(PSTR("FLEX -  " STRINGIFY(FLEX_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(FLEX_PREHEAT_HPB_TEMP)),mFilamentItem_FLEX);
+    MENU_END();
 }
 
 void mFilamentItemForce()
@@ -2896,7 +2903,7 @@ static void _lcd_move(const char *name, int axis, int min, int max)
 			if (max_software_endstops && current_position[axis] > max) current_position[axis] = max;
 			lcd_encoder = 0;
 			world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis] / 60, active_extruder);
+			plan_buffer_line_curposXYZE(manual_feedrate[axis] / 60, active_extruder);
 			lcd_draw_update = 1;
 		}
 	}
@@ -2921,7 +2928,7 @@ static void lcd_move_e()
 			{
 				current_position[E_AXIS] += float((int)lcd_encoder) * move_menu_scale;
 				lcd_encoder = 0;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[E_AXIS] / 60, active_extruder);
+				plan_buffer_line_curposXYZE(manual_feedrate[E_AXIS] / 60, active_extruder);
 				lcd_draw_update = 1;
 			}
 		}
@@ -3420,7 +3427,7 @@ bool lcd_calibrate_z_end_stop_manual(bool only_z)
                     // Only move up, whatever direction the user rotates the encoder.
                     current_position[Z_AXIS] += fabs(lcd_encoder);
                     lcd_encoder = 0;
-                    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[Z_AXIS] / 60, active_extruder);
+                    plan_buffer_line_curposXYZE(manual_feedrate[Z_AXIS] / 60, active_extruder);
                 }
             }
             if (lcd_clicked()) {
@@ -4440,24 +4447,25 @@ static void lcd_silent_mode_set() {
 #endif //TMC2130
   st_current_init();
 #ifdef TMC2130
-  if (CrashDetectMenu && (SilentModeMenu != SILENT_MODE_NORMAL))
+  if (lcd_crash_detect_enabled() && (SilentModeMenu != SILENT_MODE_NORMAL))
 	  menu_submenu(lcd_crash_mode_info2);
   lcd_encoder_diff=0;                             // reset 'encoder buffer'
 #endif //TMC2130
 }
 
 #ifdef TMC2130
-static void lcd_crash_mode_set()
+static void crash_mode_switch()
 {
-	CrashDetectMenu = !CrashDetectMenu; //set also from crashdet_enable() and crashdet_disable()
-    if (CrashDetectMenu==0) {
-        crashdet_disable();
-    }else{
-        crashdet_enable();
+    if (lcd_crash_detect_enabled())
+    {
+        lcd_crash_detect_disable();
+    }
+    else
+    {
+        lcd_crash_detect_enable();
     }
 	if (IS_SD_PRINTING || is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal)) menu_goto(lcd_tune_menu, 9, true, true);
 	else menu_goto(lcd_settings_menu, 9, true, true);
-    
 }
 #endif //TMC2130
  
@@ -4613,7 +4621,7 @@ void lcd_calibrate_pinda() {
 		
 		lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_PLEASE_WAIT));
 		current_position[E_AXIS] += e_shift_calibration;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate, active_extruder);
+		plan_buffer_line_curposXYZE(feedrate, active_extruder);
 		st_synchronize();
 
 		lcd_display_message_fullscreen_P(msg_e_cal_knob);
@@ -4636,7 +4644,7 @@ void lcd_calibrate_pinda() {
 				if (!planner_queue_full()) {
 					current_position[E_AXIS] += float(abs((int)lcd_encoder)) * 0.01; //0.05
 					lcd_encoder = 0;
-					plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate, active_extruder);
+					plan_buffer_line_curposXYZE(feedrate, active_extruder);
 					
 				}
 			}	
@@ -4756,7 +4764,7 @@ void lcd_language()
 static void wait_preheat()
 {
     current_position[Z_AXIS] = 100; //move in z axis to make space for loading filament
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
+    plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
     delay_keep_alive(2000);
     lcd_display_message_fullscreen_P(_T(MSG_WIZARD_HEATING));
 	lcd_set_custom_characters();
@@ -5171,11 +5179,11 @@ do\
         else MENU_ITEM_FUNCTION_P(_T(MSG_STEALTH_MODE_ON), lcd_silent_mode_set);\
         if (SilentModeMenu == SILENT_MODE_NORMAL)\
         {\
-            if (CrashDetectMenu == 0)\
+            if (lcd_crash_detect_enabled())\
             {\
-                MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_OFF), lcd_crash_mode_set);\
+                MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_ON), crash_mode_switch);\
             }\
-            else MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_ON), lcd_crash_mode_set);\
+            else MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_OFF), crash_mode_switch);\
         }\
         else MENU_ITEM_SUBMENU_P(_T(MSG_CRASHDETECT_NA), lcd_crash_mode_info);\
     }\
@@ -6207,13 +6215,13 @@ void unload_filament()
 	//		extr_unload2();
 
 	current_position[E_AXIS] -= 45;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
+	plan_buffer_line_curposXYZE(5200 / 60, active_extruder);
 	st_synchronize();
 	current_position[E_AXIS] -= 15;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
+	plan_buffer_line_curposXYZE(1000 / 60, active_extruder);
 	st_synchronize();
 	current_position[E_AXIS] -= 20;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
+	plan_buffer_line_curposXYZE(1000 / 60, active_extruder);
 	st_synchronize();
 
 	lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
@@ -6889,8 +6897,8 @@ static void lcd_tune_menu()
 
           if (SilentModeMenu == SILENT_MODE_NORMAL)
           {
-               if (CrashDetectMenu == 0) MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_OFF), lcd_crash_mode_set);
-               else MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_ON), lcd_crash_mode_set);
+               if (lcd_crash_detect_enabled()) MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_ON), crash_mode_switch);
+               else MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_OFF), crash_mode_switch);
           }
           else MENU_ITEM_SUBMENU_P(_T(MSG_CRASHDETECT_NA), lcd_crash_mode_info);
      }
@@ -7294,7 +7302,7 @@ bool lcd_selftest()
 		//homeaxis(X_AXIS);
 		//homeaxis(Y_AXIS);
 		current_position[Z_AXIS] = current_position[Z_AXIS] + 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
 		_progress = lcd_selftest_screen(TestScreen::AxisZ, _progress, 3, true, 1500);
 		_result = lcd_selfcheck_axis(2, Z_MAX_POS);
@@ -7308,7 +7316,7 @@ bool lcd_selftest()
 	if (_result)
 	{
 		current_position[Z_AXIS] = current_position[Z_AXIS] + 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
 		_progress = lcd_selftest_screen(TestScreen::Home, 0, 2, true, 0);
 		bool bres = tmc2130_home_calibrate(X_AXIS);
@@ -7392,7 +7400,7 @@ bool lcd_selftest()
 
 static void reset_crash_det(unsigned char axis) {
 	current_position[axis] += 10;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	st_synchronize();
 	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET)) tmc2130_sg_stop_on_crash = true;
 }
@@ -7416,7 +7424,7 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
 	if (axis == X_AXIS) { //there is collision between cables and PSU cover in X axis if Z coordinate is too low
 		
 		current_position[Z_AXIS] += 17;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		tmc2130_home_enter(Z_AXIS_MASK);
 		st_synchronize();
 		tmc2130_home_exit();
@@ -7425,7 +7433,7 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
 // first axis length measurement begin	
 	
 	current_position[axis] -= (axis_length + margin);
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 
 	
 	st_synchronize();
@@ -7435,11 +7443,11 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
 	current_position_init = st_get_position_mm(axis);
 
 	current_position[axis] += 2 * margin;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	st_synchronize();
 
 	current_position[axis] += axis_length;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 
 	st_synchronize();
 
@@ -7455,11 +7463,11 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
 
 
 	current_position[axis] -= margin;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	st_synchronize();	
 
 	current_position[axis] -= (axis_length + margin);
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		
 	st_synchronize();
 
@@ -7528,13 +7536,13 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 
 	if (_axis == X_AXIS) {
 		current_position[Z_AXIS] += 17;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	}
 
 	do {
 		current_position[_axis] = current_position[_axis] - 1;
 
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
 #ifdef TMC2130
 		if ((READ(Z_MIN_PIN) ^ (bool)Z_MIN_ENDSTOP_INVERTING))
@@ -7588,7 +7596,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 
 
 	//current_position[_axis] = current_position[_axis] + 15;
-	//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	//plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 
 	if (!_stepresult)
 	{
@@ -7636,17 +7644,17 @@ static bool lcd_selfcheck_pulleys(int axis)
 	current_position_init = current_position[axis];
 
 	current_position[axis] += 2;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	for (i = 0; i < 5; i++) {
 		refresh_cmd_timeout();
 		current_position[axis] = current_position[axis] + move;
 		st_current_set(0, 850); //set motor current higher
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 200, active_extruder);
+		plan_buffer_line_curposXYZE(200, active_extruder);
 		st_synchronize();
           if (SilentModeMenu != SILENT_MODE_OFF) st_current_set(0, tmp_motor[0]); //set back to normal operation currents
 		else st_current_set(0, tmp_motor_loud[0]); //set motor current back			
 		current_position[axis] = current_position[axis] - move;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 50, active_extruder);
+		plan_buffer_line_curposXYZE(50, active_extruder);
 		st_synchronize();
 		if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
 			((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1)) {
@@ -7663,7 +7671,7 @@ static bool lcd_selfcheck_pulleys(int axis)
 			endstop_triggered = true;
 			if (current_position_init - 1 <= current_position[axis] && current_position_init + 1 >= current_position[axis]) {
 				current_position[axis] += (axis == X_AXIS) ? 13 : 9;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+				plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 				st_synchronize();
 				return(true);
 			}
@@ -7674,7 +7682,7 @@ static bool lcd_selfcheck_pulleys(int axis)
 		}
 		else {
 			current_position[axis] -= 1;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+			plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 			st_synchronize();
 			if (_millis() > timeout_counter) {
 				lcd_selftest_error(TestError::Pulley, (axis == 0) ? "X" : "Y", "");
@@ -7698,7 +7706,7 @@ static bool lcd_selfcheck_endstops()
 		if ((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) current_position[1] += 10;
 		if ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1) current_position[2] += 10;
 	}
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	_delay(500);
 
 	if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
@@ -8631,3 +8639,27 @@ void menu_lcd_lcdupdate_func(void)
 	lcd_send_status();
 	if (lcd_commands_type == LcdCommands::Layer1Cal) lcd_commands();
 }
+
+#ifdef TMC2130
+//! @brief Is crash detection enabled?
+//!
+//! @retval true crash detection enabled
+//! @retval false crash detection disabled
+bool lcd_crash_detect_enabled()
+{
+    return eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
+}
+
+void lcd_crash_detect_enable()
+{
+    tmc2130_sg_stop_on_crash = true;
+    eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
+}
+
+void lcd_crash_detect_disable()
+{
+    tmc2130_sg_stop_on_crash = false;
+    tmc2130_sg_crash = 0;
+    eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
+}
+#endif

Firmware/ultralcd.h

@@ -53,6 +53,11 @@ void lcd_menu_statistics();
 
 void lcd_menu_extruder_info();                    // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
 void lcd_menu_show_sensors_state();               // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
+#ifdef TMC2130
+bool lcd_crash_detect_enabled();
+void lcd_crash_detect_enable();
+void lcd_crash_detect_disable();
+#endif
 
 extern const char* lcd_display_message_fullscreen_P(const char *msg, uint8_t &nlines);
 extern const char* lcd_display_message_fullscreen_P(const char *msg);

Firmware/variants/1_75mm_MK2-RAMBo10a-E3Dv6full.h

@@ -324,7 +324,11 @@ PREHEAT SETTINGS
 
 #define PLA_PREHEAT_HOTEND_TEMP 215
 #define PLA_PREHEAT_HPB_TEMP 55
-#define PLA_PREHEAT_FAN_SPEED 0  
+#define PLA_PREHEAT_FAN_SPEED 0
+
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+#define ASA_PREHEAT_FAN_SPEED 0
 
 #define ABS_PREHEAT_HOTEND_TEMP 255
 #define ABS_PREHEAT_HPB_TEMP 100

Firmware/variants/1_75mm_MK2-RAMBo13a-E3Dv6full.h

@@ -325,6 +325,10 @@ PREHEAT SETTINGS
 #define PLA_PREHEAT_HPB_TEMP 55
 #define PLA_PREHEAT_FAN_SPEED 0  
 
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+#define ASA_PREHEAT_FAN_SPEED 0
+
 #define ABS_PREHEAT_HOTEND_TEMP 255
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 0 

Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h

@@ -383,6 +383,10 @@
 #define PLA_PREHEAT_HPB_TEMP 60
 #define PLA_PREHEAT_FAN_SPEED 0
 
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+#define ASA_PREHEAT_FAN_SPEED 0
+
 #define ABS_PREHEAT_HOTEND_TEMP 255
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 0

Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h

@@ -384,6 +384,10 @@
 #define PLA_PREHEAT_HPB_TEMP 60
 #define PLA_PREHEAT_FAN_SPEED 0
 
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+#define ASA_PREHEAT_FAN_SPEED 0
+
 #define ABS_PREHEAT_HOTEND_TEMP 255
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 0

Firmware/variants/1_75mm_MK25S-RAMBo10a-E3Dv6full.h

@@ -383,6 +383,10 @@
 #define PLA_PREHEAT_HPB_TEMP 60
 #define PLA_PREHEAT_FAN_SPEED 0
 
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+#define ASA_PREHEAT_FAN_SPEED 0
+
 #define ABS_PREHEAT_HOTEND_TEMP 255
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 0

Firmware/variants/1_75mm_MK25S-RAMBo13a-E3Dv6full.h

@@ -384,6 +384,10 @@
 #define PLA_PREHEAT_HPB_TEMP 60
 #define PLA_PREHEAT_FAN_SPEED 0
 
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+#define ASA_PREHEAT_FAN_SPEED 0
+
 #define ABS_PREHEAT_HOTEND_TEMP 255
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 0

Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h

@@ -493,6 +493,10 @@
 #define PLA_PREHEAT_HPB_TEMP 60
 #define PLA_PREHEAT_FAN_SPEED 0
 
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+#define ASA_PREHEAT_FAN_SPEED 0
+
 #define ABS_PREHEAT_HOTEND_TEMP 255
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 0

Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h

@@ -495,6 +495,10 @@
 #define PLA_PREHEAT_HPB_TEMP 60
 #define PLA_PREHEAT_FAN_SPEED 0
 
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+#define ASA_PREHEAT_FAN_SPEED 0
+
 #define ABS_PREHEAT_HOTEND_TEMP 255
 #define ABS_PREHEAT_HPB_TEMP 100
 #define ABS_PREHEAT_FAN_SPEED 0