merge debug gcodes for bed analysis

Firmware/Configuration.h

@@ -7,8 +7,8 @@
 #define STR(x) STR_HELPER(x)
 
 // Firmware version
-#define FW_VERSION "3.6.0-RC1"
-#define FW_COMMIT_NR   2060
+#define FW_VERSION "3.6.0"
+#define FW_COMMIT_NR   2069
 // 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
@@ -132,7 +132,7 @@
   //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
   //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
   #define PID_INTEGRAL_DRIVE_MAX PID_MAX  //limit for the integral term
-  #define K1 0.95 //smoothing factor within the PID
+  #define PID_K1 0.95 //smoothing factor within the PID
   #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
 
 // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
@@ -446,7 +446,9 @@ your extruder heater takes 2 minutes to hit the target on heating.
 // When enabled Marlin will send a busy status message to the host
 // every couple of seconds when it can't accept commands.
 //
+#ifndef HEATBED_ANALYSIS
 #define HOST_KEEPALIVE_FEATURE    // Disable this if your host doesn't like keepalive messages
+#endif //HEATBED_ANALYSIS
 #define HOST_KEEPALIVE_INTERVAL 2 // Number of seconds between "busy" messages. Set with M113.
 
 //LCD and SD support

Firmware/Marlin.h

@@ -284,6 +284,7 @@ void setPwmFrequency(uint8_t pin, int val);
   #define CRITICAL_SECTION_END    SREG = _sreg;
 #endif //CRITICAL_SECTION_START
 
+extern bool fans_check_enabled;
 extern float homing_feedrate[];
 extern bool axis_relative_modes[];
 extern int feedmultiply;
@@ -296,9 +297,14 @@ extern float min_pos[3];
 extern float max_pos[3];
 extern bool axis_known_position[3];
 extern int fanSpeed;
-extern void homeaxis(int axis, uint8_t cnt = 1, uint8_t* pstep = 0);
 extern int8_t lcd_change_fil_state;
 
+#ifdef TMC2130
+void homeaxis(int axis, uint8_t cnt = 1, uint8_t* pstep = 0);
+#else
+void homeaxis(int axis, uint8_t cnt = 1);
+#endif //TMC2130
+
 
 #ifdef FAN_SOFT_PWM
 extern unsigned char fanSpeedSoftPwm;
@@ -310,9 +316,9 @@ extern float retract_length_swap;
 extern float retract_recover_length_swap;
 #endif
 
-#ifdef HOST_KEEPALIVE_FEATURE
+
 extern uint8_t host_keepalive_interval;
-#endif
+
 
 extern unsigned long starttime;
 extern unsigned long stoptime;
@@ -396,13 +402,12 @@ extern void check_babystep();
 extern void long_pause();
 extern void crashdet_stop_and_save_print();
 
-#ifdef DIS
-
+#ifdef HEATBED_ANALYSIS
 void d_setup();
 float d_ReadData();
 void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
-
-#endif
+void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
+#endif //HEATBED_ANALYSIS
 float temp_comp_interpolation(float temperature);
 void temp_compensation_apply();
 void temp_compensation_start();
@@ -442,7 +447,7 @@ extern void restore_print_from_ram_and_continue(float e_move);
 extern uint16_t print_time_remaining();
 extern uint8_t calc_percent_done();
 
-#ifdef HOST_KEEPALIVE_FEATURE
+
 
 // States for managing Marlin and host communication
 // Marlin sends messages if blocked or busy
@@ -465,7 +470,6 @@ extern void host_keepalive();
 //extern MarlinBusyState busy_state;
 extern int busy_state;
 
-#endif //HOST_KEEPALIVE_FEATURE
 
 #ifdef TMC2130
 
@@ -477,8 +481,6 @@ void force_high_power_mode(bool start_high_power_section);
 #endif //TMC2130
 
 // G-codes
-void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl);
-void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
 
 bool gcode_M45(bool onlyZ, int8_t verbosity_level);
 void gcode_M114();

Firmware/Marlin_main.cpp

@@ -302,16 +302,9 @@ int fanSpeed=0;
 
 bool cancel_heatup = false ;
 
-#ifdef HOST_KEEPALIVE_FEATURE
-  
-  int busy_state = NOT_BUSY;
-  static long prev_busy_signal_ms = -1;
-  uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
-#else
-  #define host_keepalive();
-  #define KEEPALIVE_STATE(n);
-#endif
-
+int busy_state = NOT_BUSY;
+static long prev_busy_signal_ms = -1;
+uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
 
 const char errormagic[] PROGMEM = "Error:";
 const char echomagic[] PROGMEM = "echo:";
@@ -407,6 +400,7 @@ static void get_arc_coordinates();
 static bool setTargetedHotend(int code, uint8_t &extruder);
 static void print_time_remaining_init();
 static void wait_for_heater(long codenum, uint8_t extruder);
+static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
 
 uint16_t gcode_in_progress = 0;
 uint16_t mcode_in_progress = 0;
@@ -511,7 +505,6 @@ void servo_init()
 
 bool fans_check_enabled = true;
 
-
 #ifdef TMC2130
 
 extern int8_t CrashDetectMenu;
@@ -1697,12 +1690,14 @@ void serial_read_stream() {
     }
 }
 
-#ifdef HOST_KEEPALIVE_FEATURE
 /**
 * Output a "busy" message at regular intervals
 * while the machine is not accepting commands.
 */
 void host_keepalive() {
+#ifndef HOST_KEEPALIVE_FEATURE
+  return;
+#endif //HOST_KEEPALIVE_FEATURE
   if (farm_mode) return;
   long ms = _millis();
   if (host_keepalive_interval && busy_state != NOT_BUSY) {
@@ -1727,7 +1722,7 @@ void host_keepalive() {
   }
   prev_busy_signal_ms = ms;
 }
-#endif
+
 
 // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
 // Before loop(), the setup() function is called by the main() routine.
@@ -2127,7 +2122,11 @@ bool calibrate_z_auto()
 }
 #endif //TMC2130
 
+#ifdef TMC2130
 void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
+#else
+void homeaxis(int axis, uint8_t cnt)
+#endif //TMC2130
 {
 	bool endstops_enabled  = enable_endstops(true); //RP: endstops should be allways enabled durring homing
 #define HOMEAXIS_DO(LETTER) \
@@ -2436,11 +2435,12 @@ void force_high_power_mode(bool start_high_power_section) {
 }
 #endif //TMC2130
 
-void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis) {
-	gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
-}
-
-void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl) {
+#ifdef TMC2130
+static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl)
+#else
+static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool without_mbl)
+#endif //TMC2130
+{
 	st_synchronize();
 
 #if 0
@@ -2725,6 +2725,15 @@ void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_
 #endif
 }
 
+static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis)
+{
+#ifdef TMC2130
+    gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
+#else
+    gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, true);
+#endif //TMC2130
+}
+
 void adjust_bed_reset()
 {
 	eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
@@ -3831,8 +3840,12 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
       home_z_value = code_value_long();
       bool without_mbl = code_seen('W');
       // calibrate?
+#ifdef TMC2130
       bool calib = code_seen('C');
       gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
+#else
+      gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, without_mbl);
+#endif //TMC2130
       if ((home_x || home_y || without_mbl || home_z) == false) {
          // Push the commands to the front of the message queue in the reverse order!
          // There shall be always enough space reserved for these commands.
@@ -4296,44 +4309,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 	}
 	break;
 
-#ifdef DIS
-	case 77:
-	{
-		//! G77 X200 Y150 XP100 YP15 XO10 Y015
-		//! for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
-		//! G77 X232 Y218 XP116 YP109 XO-11 YO0
 
-		float dimension_x = 40;
-		float dimension_y = 40;
-		int points_x = 40;
-		int points_y = 40;
-		float offset_x = 74;
-		float offset_y = 33;
-
-		if (code_seen('X')) dimension_x = code_value();
-		if (code_seen('Y')) dimension_y = code_value();
-		if (code_seen("XP")) { strchr_pointer+=1; points_x = code_value(); }
-		if (code_seen("YP")) { strchr_pointer+=1; points_y = code_value(); }
-		if (code_seen("XO")) { strchr_pointer+=1; offset_x = code_value(); }
-		if (code_seen("YO")) { strchr_pointer+=1; offset_y = code_value(); }
-		
-		bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
-		
-	} break;
-	
-#endif
-
-	case 79: {
-		for (int i = 255; i > 0; i = i - 5) {
-			fanSpeed = i;
-			//delay_keep_alive(2000);
-			for (int j = 0; j < 100; j++) {
-				delay_keep_alive(100);
-
-			}
-			printf_P(_N("%d: %d\n"), i, fan_speed[1]);
-		}
-	}break;
 
 	/**
 	* G80: Mesh-based Z probe, probes a grid and produces a
@@ -5814,7 +5790,6 @@ Sigma_Exit:
       if (code_seen('N'))
 	    gcode_LastN = code_value_long();
     break;
-#ifdef HOST_KEEPALIVE_FEATURE
 	case 113: // M113 - Get or set Host Keepalive interval
 		if (code_seen('S')) {
 			host_keepalive_interval = (uint8_t)code_value_short();
@@ -5826,7 +5801,6 @@ Sigma_Exit:
 			SERIAL_PROTOCOLLN("");
 		}
 		break;
-#endif
     case 115: // M115
       if (code_seen('V')) {
           // Report the Prusa version number.
@@ -7160,7 +7134,66 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 		dcode_9(); break;
 	case 10: //! D10 - XYZ calibration = OK
 		dcode_10(); break;
-    
+#endif //DEBUG_DCODES
+#ifdef HEATBED_ANALYSIS
+	case 80:
+	{
+		float dimension_x = 40;
+		float dimension_y = 40;
+		int points_x = 40;
+		int points_y = 40;
+		float offset_x = 74;
+		float offset_y = 33;
+
+		if (code_seen('E')) dimension_x = code_value();
+		if (code_seen('F')) dimension_y = code_value();
+		if (code_seen('G')) {points_x = code_value(); }
+		if (code_seen('H')) {points_y = code_value(); }
+		if (code_seen('I')) {offset_x = code_value(); }
+		if (code_seen('J')) {offset_y = code_value(); }
+		printf_P(PSTR("DIM X: %f\n"), dimension_x);
+		printf_P(PSTR("DIM Y: %f\n"), dimension_y);
+		printf_P(PSTR("POINTS X: %d\n"), points_x);
+		printf_P(PSTR("POINTS Y: %d\n"), points_y);
+		printf_P(PSTR("OFFSET X: %f\n"), offset_x);
+		printf_P(PSTR("OFFSET Y: %f\n"), offset_y);
+ 		bed_check(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
+	}break;
+
+	case 81:
+	{
+		float dimension_x = 40;
+		float dimension_y = 40;
+		int points_x = 40;
+		int points_y = 40;
+		float offset_x = 74;
+		float offset_y = 33;
+
+		if (code_seen('E')) dimension_x = code_value();
+		if (code_seen('F')) dimension_y = code_value();
+		if (code_seen("G")) { strchr_pointer+=1; points_x = code_value(); }
+		if (code_seen("H")) { strchr_pointer+=1; points_y = code_value(); }
+		if (code_seen("I")) { strchr_pointer+=1; offset_x = code_value(); }
+		if (code_seen("J")) { strchr_pointer+=1; offset_y = code_value(); }
+		
+		bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
+		
+	} break;
+	
+#endif //HEATBED_ANALYSIS
+#ifdef DEBUG_DCODES
+	case 106: //D106 print measured fan speed for different pwm values
+	{
+		for (int i = 255; i > 0; i = i - 5) {
+			fanSpeed = i;
+			//delay_keep_alive(2000);
+			for (int j = 0; j < 100; j++) {
+				delay_keep_alive(100);
+
+			}
+			printf_P(_N("%d: %d\n"), i, fan_speed[1]);
+		}
+	}break;
 
 #ifdef TMC2130
 	case 2130: //! D2130 - TMC2130
@@ -7521,7 +7554,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
 	if (mmu_enabled == false)
 	{
 //-//		if (mcode_in_progress != 600) //M600 not in progress
-          if ((mcode_in_progress != 600) && (eFilamentAction != e_FILAMENT_ACTION_autoLoad)) //M600 not in progress, preHeat @ autoLoad menu not active
+          if ((mcode_in_progress != 600) && (eFilamentAction != e_FILAMENT_ACTION_autoLoad) && (menu_menu!=lcd_menu_extruder_info)) //M600 not in progress, preHeat @ autoLoad menu not active, Support::ExtruderInfo menu not active
 		{
 			if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL) && !wizard_active)
 			{
@@ -7956,7 +7989,7 @@ void check_babystep()
 		lcd_update_enable(true);		
 	}	
 }
-#ifdef DIS
+#ifdef HEATBED_ANALYSIS
 void d_setup()
 {	
 	pinMode(D_DATACLOCK, INPUT_PULLUP);
@@ -8006,6 +8039,199 @@ float d_ReadData()
 
 }
 
+void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
+	int t1 = 0;
+	int t_delay = 0;
+	int digit[13];
+	int m;
+	char str[3];
+	//String mergeOutput;
+	char mergeOutput[15];
+	float output;
+
+	int mesh_point = 0; //index number of calibration point
+	float bed_zero_ref_x = (-22.f + X_PROBE_OFFSET_FROM_EXTRUDER); //shift between zero point on bed and target and between probe and nozzle
+	float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
+
+	float mesh_home_z_search = 4;
+	float measure_z_heigth = 0.2f;
+	float row[x_points_num];
+	int ix = 0;
+	int iy = 0;
+
+	const char* filename_wldsd = "mesh.txt";
+	char data_wldsd[x_points_num * 7 + 1]; //6 chars(" -A.BCD")for each measurement + null 
+	char numb_wldsd[8]; // (" -A.BCD" + null)
+#ifdef MICROMETER_LOGGING
+	d_setup();
+#endif //MICROMETER_LOGGING
+
+	int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
+	int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
+
+	unsigned int custom_message_type_old = custom_message_type;
+	unsigned int custom_message_state_old = custom_message_state;
+	custom_message_type = CUSTOM_MSG_TYPE_MESHBL;
+	custom_message_state = (x_points_num * y_points_num) + 10;
+	lcd_update(1);
+
+	//mbl.reset();
+	babystep_undo();
+
+	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(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++) {
+		current_position[i] = destination[i];
+	}
+	st_synchronize();
+	*/
+		destination[Z_AXIS] = measure_z_heigth;
+		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++) {
+			current_position[i] = destination[i];
+		}
+		st_synchronize();
+	/*int l_feedmultiply = */setup_for_endstop_move(false);
+
+	SERIAL_PROTOCOLPGM("Num X,Y: ");
+	SERIAL_PROTOCOL(x_points_num);
+	SERIAL_PROTOCOLPGM(",");
+	SERIAL_PROTOCOL(y_points_num);
+	SERIAL_PROTOCOLPGM("\nZ search height: ");
+	SERIAL_PROTOCOL(mesh_home_z_search);
+	SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
+	SERIAL_PROTOCOL(x_dimension);
+	SERIAL_PROTOCOLPGM(",");
+	SERIAL_PROTOCOL(y_dimension);
+	SERIAL_PROTOCOLLNPGM("\nMeasured points:");
+
+	while (mesh_point != x_points_num * y_points_num) {
+		ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
+		iy = mesh_point / x_points_num;
+		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(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++) {
+			current_position[i] = destination[i];
+		}
+		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;
+
+		destination[X_AXIS] = ix * (x_dimension / (x_points_num - 1)) + shift_x;
+		destination[Y_AXIS] = iy * (y_dimension / (y_points_num - 1)) + shift_y;
+
+		mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], XY_AXIS_FEEDRATE/6, active_extruder);
+		for(int8_t i=0; i < NUM_AXIS; i++) {
+			current_position[i] = destination[i];
+		}
+		st_synchronize();
+
+	//	printf_P(PSTR("X = %f; Y= %f \n"), current_position[X_AXIS], current_position[Y_AXIS]);
+
+		delay_keep_alive(1000);
+#ifdef MICROMETER_LOGGING
+
+		//memset(numb_wldsd, 0, sizeof(numb_wldsd));
+		//dtostrf(d_ReadData(), 8, 5, numb_wldsd);
+		//strcat(data_wldsd, numb_wldsd);
+
+
+		
+		//MYSERIAL.println(data_wldsd);
+		//delay(1000);
+		//delay(3000);
+		//t1 = millis();
+		
+		//while (digitalRead(D_DATACLOCK) == LOW) {}
+		//while (digitalRead(D_DATACLOCK) == HIGH) {}
+		memset(digit, 0, sizeof(digit));
+		//cli();
+		digitalWrite(D_REQUIRE, LOW);	
+		
+		for (int i = 0; i<13; i++)
+		{
+			//t1 = millis();
+			for (int j = 0; j < 4; j++)
+			{
+				while (digitalRead(D_DATACLOCK) == LOW) {}				
+				while (digitalRead(D_DATACLOCK) == HIGH) {}
+				//printf_P(PSTR("Done %d\n"), j);
+				bitWrite(digit[i], j, digitalRead(D_DATA));
+			}
+			//t_delay = (millis() - t1);
+			//SERIAL_PROTOCOLPGM(" ");
+			//SERIAL_PROTOCOL_F(t_delay, 5);
+			//SERIAL_PROTOCOLPGM(" ");
+
+		}
+		//sei();
+		digitalWrite(D_REQUIRE, HIGH);
+		mergeOutput[0] = '\0';
+		output = 0;
+		for (int r = 5; r <= 10; r++) //Merge digits
+		{			
+			sprintf(str, "%d", digit[r]);
+			strcat(mergeOutput, str);
+		}
+		
+		output = atof(mergeOutput);
+
+		if (digit[4] == 8) //Handle sign
+		{
+			output *= -1;
+		}
+
+		for (int i = digit[11]; i > 0; i--) //Handle floating point
+		{
+			output *= 0.1;
+		}
+		
+
+		//output = d_ReadData();
+
+		//row[ix] = current_position[Z_AXIS];
+
+
+		
+		//row[ix] = d_ReadData();
+		
+		row[ix] = output;
+
+		if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
+			memset(data_wldsd, 0, sizeof(data_wldsd));
+			for (int i = 0; i < x_points_num; i++) {
+				SERIAL_PROTOCOLPGM(" ");
+				SERIAL_PROTOCOL_F(row[i], 5);
+				memset(numb_wldsd, 0, sizeof(numb_wldsd));
+				dtostrf(row[i], 7, 3, numb_wldsd);
+				strcat(data_wldsd, numb_wldsd);
+			}
+			card.write_command(data_wldsd);
+			SERIAL_PROTOCOLPGM("\n");
+
+		}
+
+		custom_message_state--;
+		mesh_point++;
+		lcd_update(1);
+
+	}
+	#endif //MICROMETER_LOGGING
+	card.closefile();
+	//clean_up_after_endstop_move(l_feedmultiply);
+
+}
+
 void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
 	int t1 = 0;
 	int t_delay = 0;
@@ -8189,7 +8415,7 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
 	card.closefile();
 	clean_up_after_endstop_move(l_feedmultiply);
 }
-#endif
+#endif //HEATBED_ANALYSIS
 
 void temp_compensation_start() {
 	

Firmware/eeprom.h

@@ -153,10 +153,9 @@
 
 #define EEPROM_MMU_LOAD_FAIL_TOT (EEPROM_MMU_FAIL - 2) //uint16_t
 #define EEPROM_MMU_LOAD_FAIL (EEPROM_MMU_LOAD_FAIL_TOT - 1) //uint8_t
-
-#define EEPROM_UVLO_MESH_BED_LEVELING_FULL     (EEPROM_MMU_LOAD_FAIL - 12*12*2) //allow 12 calibration points for future expansion
+#define EEPROM_MMU_CUTTER_ENABLED (EEPROM_MMU_LOAD_FAIL - 1)
+#define EEPROM_UVLO_MESH_BED_LEVELING_FULL     (EEPROM_MMU_CUTTER_ENABLED - 12*12*2) //allow 12 calibration points for future expansion
 #define EEPROM_MBL_TYPE	(EEPROM_UVLO_MESH_BED_LEVELING_FULL-1) //uint8_t for mesh bed leveling precision
-
 // !!!!!
 // !!!!! this is end of EEPROM section ... all updates MUST BE inserted before this mark !!!!!
 // !!!!!

Firmware/language.c

@@ -77,7 +77,7 @@ uint8_t lang_select(uint8_t lang)
 			if (lang_check(table))
 				if (pgm_read_dword(((uint32_t*)(table + 12))) == pgm_read_dword(((uint32_t*)(_PRI_LANG_SIGNATURE)))) //signature valid
 				{
-					lang_table = table; // set table pointer
+					lang_table = (lang_table_t*)table; // set table pointer
 					lang_selected = lang; // set language id
 				}
 		}
@@ -157,7 +157,7 @@ uint8_t lang_get_header(uint8_t lang, lang_table_header_t* header, uint32_t* off
 	if (lang == LANG_ID_SEC)
 	{
 		uint16_t ui = _SEC_LANG_TABLE; //table pointer
-		memcpy_P(header, ui, sizeof(lang_table_header_t)); //read table header from progmem
+		memcpy_P(header, (lang_table_header_t*)ui, sizeof(lang_table_header_t)); //read table header from progmem
 		if (offset) *offset = ui;
 		return (header->magic == LANG_MAGIC)?1:0; //return 1 if magic valid
 	}

Firmware/menu.cpp

@@ -122,7 +122,7 @@ void menu_back_if_clicked_fb(void)
 
 void menu_submenu(menu_func_t submenu)
 {
-	if (menu_depth <= MENU_DEPTH_MAX)
+	if (menu_depth < MENU_DEPTH_MAX)
 	{
 		menu_stack[menu_depth].menu = menu_menu;
 		menu_stack[menu_depth++].position = lcd_encoder;
@@ -132,7 +132,7 @@ void menu_submenu(menu_func_t submenu)
 
 static void menu_submenu_no_reset(menu_func_t submenu)
 {
-	if (menu_depth <= MENU_DEPTH_MAX)
+	if (menu_depth < MENU_DEPTH_MAX)
 	{
 		menu_stack[menu_depth].menu = menu_menu;
 		menu_stack[menu_depth++].position = lcd_encoder;

Firmware/mmu.cpp

@@ -181,6 +181,17 @@ bool check_for_ir_sensor()
 #endif //IR_SENSOR
 }
 
+static bool activate_stealth_mode()
+{
+#if defined (MMU_FORCE_STEALTH_MODE)
+	return true;
+#elif defined (SILENT_MODE_STEALTH)
+	return (eeprom_read_byte((uint8_t*)EEPROM_SILENT) == SILENT_MODE_STEALTH);
+#else
+	return false;
+#endif
+}
+
 //mmu main loop - state machine processing
 void mmu_loop(void)
 {
@@ -222,8 +233,8 @@ void mmu_loop(void)
 			bool version_valid = mmu_check_version();
 			if (!version_valid) mmu_show_warning();
 			else puts_P(PSTR("MMU version valid"));
-
-			if ((PRINTER_TYPE == PRINTER_MK3) || (PRINTER_TYPE == PRINTER_MK3_SNMM))
+			
+			if (!activate_stealth_mode())
 			{
 				FDEBUG_PUTS_P(PSTR("MMU <= 'P0'"));
 				mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
@@ -297,6 +308,14 @@ void mmu_loop(void)
 				mmu_fil_loaded = false;
 				mmu_state = S::WaitCmd;
 			}
+			else if ((mmu_cmd >= MmuCmd::K0) && (mmu_cmd <= MmuCmd::K4))
+            {
+                const uint8_t filament = mmu_cmd - MmuCmd::K0;
+                DEBUG_PRINTF_P(PSTR("MMU <= 'K%d'\n"), filament);
+                mmu_printf_P(PSTR("K%d\n"), filament); //send eject filament
+                mmu_fil_loaded = false;
+                mmu_state = S::WaitCmd;
+            }
 			else if (mmu_cmd == MmuCmd::R0)
 			{
 			    DEBUG_PRINTF_P(PSTR("MMU <= 'R0'\n"));
@@ -1044,14 +1063,14 @@ else	{
 	}
 }
 
-//-//
+//! @brief show which filament is currently unloaded
 void extr_unload_view()
 {
-lcd_clear();
-lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_UNLOADING_FILAMENT));
-lcd_print(" ");
-if (mmu_extruder == MMU_FILAMENT_UNKNOWN) lcd_print(" ");
-else lcd_print(mmu_extruder + 1);
+    lcd_clear();
+    lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_UNLOADING_FILAMENT));
+    lcd_print(" ");
+    if (mmu_extruder == MMU_FILAMENT_UNKNOWN) lcd_print(" ");
+    else lcd_print(mmu_extruder + 1);
 }
 
 void extr_unload()
@@ -1066,17 +1085,8 @@ void extr_unload()
 	{
 #ifndef SNMM
 		st_synchronize();
-		
-		//show which filament is currently unloaded
-//-//		lcd_update_enable(false);
-menu_submenu(extr_unload_view);
-/*
-		lcd_clear();
-		lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_UNLOADING_FILAMENT));
-		lcd_print(" ");
-		if (mmu_extruder == MMU_FILAMENT_UNKNOWN) lcd_print(" ");
-		else lcd_print(mmu_extruder + 1);
-*/
+
+        menu_submenu(extr_unload_view);
 
 		mmu_filament_ramming();
 
@@ -1084,8 +1094,7 @@ menu_submenu(extr_unload_view);
 		// get response
 		manage_response(false, true, MMU_UNLOAD_MOVE);
 
-//-//		lcd_update_enable(true);
-menu_back();
+        menu_back();
 #else //SNMM
 
 		lcd_clear();
@@ -1143,7 +1152,6 @@ menu_back();
 	{
 		show_preheat_nozzle_warning();
 	}
-	//lcd_return_to_status();
 }
 
 //wrapper functions for loading filament
@@ -1197,76 +1205,6 @@ void extr_adj_4()
 #endif
 }
 
-void mmu_load_to_nozzle_0() 
-{
-//-//
-     menu_back();
-	lcd_mmu_load_to_nozzle(0);
-}
-
-void mmu_load_to_nozzle_1() 
-{
-//-//
-     menu_back();
-	lcd_mmu_load_to_nozzle(1);
-}
-
-void mmu_load_to_nozzle_2() 
-{
-//-//
-     menu_back();
-	lcd_mmu_load_to_nozzle(2);
-}
-
-void mmu_load_to_nozzle_3() 
-{
-//-//
-     menu_back();
-	lcd_mmu_load_to_nozzle(3);
-}
-
-void mmu_load_to_nozzle_4() 
-{
-//-//
-     menu_back();
-	lcd_mmu_load_to_nozzle(4);
-}
-
-void mmu_eject_fil_0()
-{
-//-//
-     menu_back();
-	mmu_eject_filament(0, true);
-}
-
-void mmu_eject_fil_1()
-{
-//-//
-     menu_back();
-	mmu_eject_filament(1, true);
-}
-
-void mmu_eject_fil_2()
-{
-//-//
-     menu_back();
-	mmu_eject_filament(2, true);
-}
-
-void mmu_eject_fil_3()
-{
-//-//
-     menu_back();
-	mmu_eject_filament(3, true);
-}
-
-void mmu_eject_fil_4()
-{
-//-//
-     menu_back();
-	mmu_eject_filament(4, true);
-}
-
 void load_all()
 {
 #ifndef SNMM
@@ -1421,6 +1359,26 @@ bFilamentAction=false;                            // NOT in "mmu_load_to_nozzle_
   }
 }
 
+void mmu_cut_filament(uint8_t filament_nr)
+{
+bFilamentAction=false;                            // NOT in "mmu_load_to_nozzle_menu()"
+  if (degHotend0() > EXTRUDE_MINTEMP)
+  {
+    LcdUpdateDisabler disableLcdUpdate;
+    lcd_clear();
+    lcd_set_cursor(0, 1); lcd_puts_P(_i("Cutting filament")); //// c=18 r=1
+    lcd_print(" ");
+    lcd_print(filament_nr + 1);
+    mmu_filament_ramming();
+    mmu_command(MmuCmd::K0 + filament_nr);
+    manage_response(false, false, MMU_UNLOAD_MOVE);
+  }
+  else
+  {
+      show_preheat_nozzle_warning();
+  }
+}
+
 void mmu_eject_filament(uint8_t filament, bool recover)
 {
 //-//
@@ -1436,9 +1394,7 @@ bFilamentAction=false;                            // NOT in "mmu_fil_eject_menu(
 			    LcdUpdateDisabler disableLcdUpdate;
                 lcd_clear();
                 lcd_set_cursor(0, 1); lcd_puts_P(_i("Ejecting filament"));
-                current_position[E_AXIS] -= 80;
-                plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
-                st_synchronize();
+                mmu_filament_ramming();
                 mmu_command(MmuCmd::E0 + filament);
                 manage_response(false, false, MMU_UNLOAD_MOVE);
                 if (recover)
@@ -1461,15 +1417,26 @@ bFilamentAction=false;                            // NOT in "mmu_fil_eject_menu(
 	}
 }
 
+//! @brief load more
+//!
+//! Try to feed more filament from MMU if it is not detected by filament sensor.
+//! Move filament back and forth to nozzle in order to detect jam.
+//! If PTFE tube is jammed, this cause filament to be unloaded and no longer
+//! detected by pulley IR sensor in next step.
 static void load_more()
 {
     for (uint8_t i = 0; i < MMU_IDLER_SENSOR_ATTEMPTS_NR; i++)
     {
-        if (PIN_GET(IR_SENSOR_PIN) == 0) return;
+        if (PIN_GET(IR_SENSOR_PIN) == 0) break;
         DEBUG_PRINTF_P(PSTR("Additional load attempt nr. %d\n"), i);
         mmu_command(MmuCmd::C0);
         manage_response(true, true, MMU_LOAD_MOVE);
     }
+    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);
+    current_position[E_AXIS] -= 58;
+    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+    st_synchronize();
 }
 
 void mmu_continue_loading() 
@@ -1484,6 +1451,12 @@ void mmu_continue_loading()
 			if(mmu_load_fail < 255) eeprom_update_byte((uint8_t*)EEPROM_MMU_LOAD_FAIL, mmu_load_fail + 1);
 			if(mmu_load_fail_tot < 65535) eeprom_update_word((uint16_t*)EEPROM_MMU_LOAD_FAIL_TOT, mmu_load_fail_tot + 1);
 
+			if (1 == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
+			{
+			    mmu_command(MmuCmd::K0 + tmp_extruder);
+			    manage_response(true, true, MMU_UNLOAD_MOVE);
+			}
+
             mmu_command(MmuCmd::T0 + tmp_extruder);
             manage_response(true, true, MMU_TCODE_MOVE);
             load_more();

Firmware/mmu.h

@@ -52,6 +52,11 @@ enum class MmuCmd : uint_least8_t
     E2,
     E3,
     E4,
+    K0,
+    K1,
+    K2,
+    K3,
+    K4,
     R0,
     S3,
     W0,
@@ -108,11 +113,6 @@ extern void extr_adj_1();
 extern void extr_adj_2();
 extern void extr_adj_3();
 extern void extr_adj_4();
-extern void mmu_load_to_nozzle_0();
-extern void mmu_load_to_nozzle_1();
-extern void mmu_load_to_nozzle_2();
-extern void mmu_load_to_nozzle_3();
-extern void mmu_load_to_nozzle_4();
 extern void load_all();
 extern void extr_change_0();
 extern void extr_change_1();
@@ -132,11 +132,7 @@ extern bool mmu_check_version();
 extern void mmu_show_warning();
 extern void lcd_mmu_load_to_nozzle(uint8_t filament_nr);
 extern void mmu_eject_filament(uint8_t filament, bool recover);
-extern void mmu_eject_fil_0();
-extern void mmu_eject_fil_1();
-extern void mmu_eject_fil_2();
-extern void mmu_eject_fil_3();
-extern void mmu_eject_fil_4();
+extern void mmu_cut_filament(uint8_t filament_nr);
 extern void mmu_continue_loading();
 extern void mmu_filament_ramming();
 extern void mmu_wait_for_heater_blocking();

Firmware/pins.h

@@ -3,20 +3,6 @@
 
 #include "boards.h"
 
-#if !MB(5DPRINT)
-#define X_MS1_PIN -1
-#define X_MS2_PIN -1
-#define Y_MS1_PIN -1
-#define Y_MS2_PIN -1
-#define Z_MS1_PIN -1
-#define Z_MS2_PIN -1
-#define E0_MS1_PIN -1
-#define E0_MS2_PIN -1
-#define E1_MS1_PIN -1
-#define E1_MS2_PIN -1
-#define DIGIPOTSS_PIN -1
-#endif
-
 #define LARGE_FLASH true
 
 /*****************************************************************

Firmware/pins_Rambo_1_3.h

@@ -14,6 +14,12 @@
 #define SWI2C_SDA      20 //SDA on P3
 #define SWI2C_SCL      21 //SCL on P3
 
+#ifdef MICROMETER_LOGGING
+#define D_DATACLOCK		24	//Y_MAX (green)
+#define D_DATA			30	//X_MAX (blue)
+#define D_REQUIRE		23	//Z_MAX (white)
+#endif //MICROMETER_LOGGING
+
 
 
 #define X_STEP_PIN             37

Firmware/stepper.cpp

@@ -92,10 +92,15 @@ bool abort_on_endstop_hit = false;
   int motor_current_setting_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
 #endif
 
-static bool old_x_min_endstop=false;
+#if ( (defined(X_MAX_PIN) && (X_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMAXLIMIT)
 static bool old_x_max_endstop=false;
-static bool old_y_min_endstop=false;
+#endif
+#if ( (defined(Y_MAX_PIN) && (Y_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMAXLIMIT)
 static bool old_y_max_endstop=false;
+#endif
+
+static bool old_x_min_endstop=false;
+static bool old_y_min_endstop=false;
 static bool old_z_min_endstop=false;
 static bool old_z_max_endstop=false;
 

Firmware/temperature.cpp

@@ -484,8 +484,6 @@ void countFanSpeed()
 	fan_edge_counter[1] = 0;
 }
 
-extern bool fans_check_enabled;
-
 void checkFanSpeed()
 {
 	uint8_t max_print_fan_errors = 0;
@@ -663,9 +661,9 @@ void manage_heater()
           iState_sum[e] += pid_error[e];
           iState_sum[e] = constrain(iState_sum[e], iState_sum_min[e], iState_sum_max[e]);
           iTerm[e] = cs.Ki * iState_sum[e];
-          // K1 defined in Configuration.h in the PID settings
-          #define K2 (1.0-K1)
-          dTerm[e] = (cs.Kd * (pid_input - dState_last[e]))*K2 + (K1 * dTerm[e]); // e.g. digital filtration of derivative term changes
+          // PID_K1 defined in Configuration.h in the PID settings
+          #define K2 (1.0-PID_K1)
+          dTerm[e] = (cs.Kd * (pid_input - dState_last[e]))*K2 + (PID_K1 * dTerm[e]); // e.g. digital filtration of derivative term changes
           pid_output = pTerm[e] + iTerm[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used)
           if (pid_output > PID_MAX) {
             if (pid_error[e] > 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration
@@ -812,9 +810,9 @@ void manage_heater()
 		  temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
 		  iTerm_bed = cs.bedKi * temp_iState_bed;
 
-		  //K1 defined in Configuration.h in the PID settings
-		  #define K2 (1.0-K1)
-		  dTerm_bed= (cs.bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
+		  //PID_K1 defined in Configuration.h in the PID settings
+		  #define K2 (1.0-PID_K1)
+		  dTerm_bed= (cs.bedKd * (pid_input - temp_dState_bed))*K2 + (PID_K1 * dTerm_bed);
 		  temp_dState_bed = pid_input;
 
 		  pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
@@ -890,9 +888,7 @@ void manage_heater()
 	  }
   #endif
   
-#ifdef HOST_KEEPALIVE_FEATURE
   host_keepalive();
-#endif
 }
 
 #define PGM_RD_W(x)   (short)pgm_read_word(&x)

Firmware/timer02.c

@@ -157,12 +157,12 @@ void delay2(unsigned long ms)
 	}
 }
 
-void tone2(uint8_t _pin, unsigned int frequency/*, unsigned long duration*/)
+void tone2(__attribute__((unused)) uint8_t _pin, __attribute__((unused)) unsigned int frequency/*, unsigned long duration*/)
 {
 	PIN_SET(BEEPER);
 }
 
-void noTone2(uint8_t _pin)
+void noTone2(__attribute__((unused)) uint8_t _pin)
 {
 	PIN_CLR(BEEPER);
 }

Firmware/ultralcd.cpp

@@ -41,8 +41,6 @@
 #include "static_assert.h"
 #include "io_atmega2560.h"
 
-extern bool fans_check_enabled;
-
 
 int scrollstuff = 0;
 char longFilenameOLD[LONG_FILENAME_LENGTH];
@@ -133,7 +131,7 @@ static void prusa_stat_farm_number();
 static void prusa_stat_temperatures();
 static void prusa_stat_printinfo();
 static void lcd_farm_no();
-static void lcd_menu_extruder_info();
+void lcd_menu_extruder_info();                    // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
 static void lcd_menu_xyz_y_min();
 static void lcd_menu_xyz_skew();
 static void lcd_menu_xyz_offset();
@@ -144,6 +142,7 @@ static void lcd_menu_show_sensors_state();
 
 static void mmu_fil_eject_menu();
 static void mmu_load_to_nozzle_menu();
+static void mmu_cut_filament_menu();
 
 #if defined(TMC2130) || defined(FILAMENT_SENSOR)
 static void lcd_menu_fails_stats();
@@ -187,7 +186,9 @@ static bool lcd_selftest_manual_fan_check(int _fan, bool check_opposite);
 #ifdef FANCHECK
 static bool lcd_selftest_fan_dialog(int _fan);
 #endif //FANCHECK
+#ifdef PAT9125
 static bool lcd_selftest_fsensor();
+#endif //PAT9125
 static bool selftest_irsensor();
 static void lcd_selftest_error(int _error_no, const char *_error_1, const char *_error_2);
 static void lcd_colorprint_change();
@@ -200,6 +201,7 @@ static void fil_unload_menu();
 #endif // SNMM || SNMM_V2
 static void lcd_disable_farm_mode();
 static void lcd_set_fan_check();
+static void lcd_cutter_enabled();
 static char snmm_stop_print_menu();
 #ifdef SDCARD_SORT_ALPHA
  static void lcd_sort_type_set();
@@ -1899,7 +1901,7 @@ void lcd_cooldown()
 }
 
 
-static void lcd_menu_extruder_info()
+void lcd_menu_extruder_info()                     // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
 {
 //|01234567890123456789|
 //|Nozzle FAN:      RPM|
@@ -2293,6 +2295,18 @@ void lcd_set_fan_check() {
 	eeprom_update_byte((unsigned char *)EEPROM_FAN_CHECK_ENABLED, fans_check_enabled);
 }
 
+void lcd_cutter_enabled()
+{
+    if (1 == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
+    {
+        eeprom_update_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED, 0);
+    }
+    else
+    {
+        eeprom_update_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED, 1);
+    }
+}
+
 void lcd_set_filament_autoload() {
      fsensor_autoload_set(!fsensor_autoload_enabled);
 }
@@ -2330,7 +2344,8 @@ switch(eFilamentAction)
           lcd_puts_P(_i("to unload filament"));   ////MSG_ c=20 r=1
           break;
      case e_FILAMENT_ACTION_mmuEject:
-          lcd_puts_P(_i("to eject filament"));    ////MSG_ c=20 r=1
+     case e_FILAMENT_ACTION_mmuCut:
+     case e_FILAMENT_ACTION_none:
           break;
      }
 if(lcd_clicked())
@@ -2344,38 +2359,23 @@ if(lcd_clicked())
      menu_back(nLevel);
      switch(eFilamentAction)
           {
-          case e_FILAMENT_ACTION_Load:
           case e_FILAMENT_ACTION_autoLoad:
+               eFilamentAction=e_FILAMENT_ACTION_none; // i.e. non-autoLoad
+               // no break
+          case e_FILAMENT_ACTION_Load:
                loading_flag=true;
                enquecommand_P(PSTR("M701"));      // load filament
                break;
           case e_FILAMENT_ACTION_unLoad:
                enquecommand_P(PSTR("M702"));      // unload filament
                break;
-/*
           case e_FILAMENT_ACTION_mmuLoad:
-//./  MYSERIAL.println("mFilamentPrompt - mmuLoad");
-               bFilamentAction=true;
-               menu_submenu(mmu_load_to_nozzle_menu);
-               break;
-*/
-/*
           case e_FILAMENT_ACTION_mmuUnLoad:
-//./  MYSERIAL.println("mFilamentPrompt - mmuUnLoad");
-               bFilamentAction=true;
-               extr_unload();
-               break;
-*/
-/*
           case e_FILAMENT_ACTION_mmuEject:
-  MYSERIAL.println("mFilamentPrompt - mmuEject");
-               bFilamentAction=true;
-//               menu_submenu(mmu_fil_eject_menu);
+          case e_FILAMENT_ACTION_mmuCut:
+          case e_FILAMENT_ACTION_none:
                break;
-*/
           }
-     if(eFilamentAction==e_FILAMENT_ACTION_autoLoad)
-          eFilamentAction=e_FILAMENT_ACTION_none; // i.e. non-autoLoad
      }
 }
 
@@ -2409,6 +2409,9 @@ switch(eFilamentAction)
      case e_FILAMENT_ACTION_mmuEject:
           lcd_puts_P(_i("Preheating to eject"));  ////MSG_ c=20 r=1
           break;
+     case e_FILAMENT_ACTION_mmuCut:
+          lcd_puts_P(_i("Preheating to cut"));  ////MSG_ c=20 r=1
+          break;
      }
 lcd_set_cursor(0,3);
 lcd_puts_P(_i(">Cancel"));                        ////MSG_ c=20 r=1
@@ -2462,6 +2465,14 @@ else {
                     menu_back(nLevel);
                     menu_submenu(mmu_fil_eject_menu);
                     break;
+               case e_FILAMENT_ACTION_mmuCut:
+                    nLevel=1;
+                    if(!bFilamentPreheatState)
+                         nLevel++;
+                    bFilamentAction=true;
+                    menu_back(nLevel);
+                    menu_submenu(mmu_cut_filament_menu);
+                    break;
                }
           if(bBeep)
                Sound_MakeSound(e_SOUND_TYPE_StandardPrompt);
@@ -2524,6 +2535,14 @@ if(current_temperature[0]>(target_temperature[0]*0.95))
                menu_back(nLevel);
                menu_submenu(mmu_fil_eject_menu);
                break;
+          case e_FILAMENT_ACTION_mmuCut:
+               nLevel=bFilamentPreheatState?1:2;
+               bFilamentAction=true;
+               menu_back(nLevel);
+               menu_submenu(mmu_cut_filament_menu);
+               break;
+          case e_FILAMENT_ACTION_none:
+               break;
           }
      if(bFilamentWaitingFlag)
           Sound_MakeSound(e_SOUND_TYPE_StandardPrompt);
@@ -2548,6 +2567,11 @@ else {
           case e_FILAMENT_ACTION_mmuEject:
                lcd_puts_P(_i("Preheating to eject")); ////MSG_ c=20 r=1
                break;
+          case e_FILAMENT_ACTION_mmuCut:
+               lcd_puts_P(_i("Preheating to cut")); ////MSG_ c=20 r=1
+               break;
+          case e_FILAMENT_ACTION_none:
+               break;
           }
      lcd_set_cursor(0,3);
      lcd_puts_P(_i(">Cancel"));                   ////MSG_ c=20 r=1
@@ -3494,7 +3518,6 @@ bool lcd_calibrate_z_end_stop_manual(bool only_z)
 
     // Until confirmed by the confirmation dialog.
     for (;;) {
-        unsigned long previous_millis_cmd = _millis();
         const char   *msg                 = only_z ? _i("Calibrating Z. Rotate the knob to move the Z carriage up to the end stoppers. Click when done.") : _i("Calibrating XYZ. Rotate the knob to move the Z carriage up to the end stoppers. Click when done.");////MSG_MOVE_CARRIAGE_TO_THE_TOP c=20 r=8////MSG_MOVE_CARRIAGE_TO_THE_TOP_Z c=20 r=8
         const char   *msg_next            = lcd_display_message_fullscreen_P(msg);
         const bool    multi_screen        = msg_next != NULL;
@@ -3503,13 +3526,10 @@ bool lcd_calibrate_z_end_stop_manual(bool only_z)
         lcd_encoder_diff = 0;
         lcd_encoder = 0;
         for (;;) {
-//          if (_millis() - previous_millis_cmd > LCD_TIMEOUT_TO_STATUS)
-//             goto canceled;
             manage_heater();
             manage_inactivity(true);
             if (abs(lcd_encoder_diff) >= ENCODER_PULSES_PER_STEP) {
                 _delay(50);
-                previous_millis_cmd = _millis();
                 lcd_encoder += abs(lcd_encoder_diff / ENCODER_PULSES_PER_STEP);
                 lcd_encoder_diff = 0;
                 if (! planner_queue_full()) {
@@ -4012,7 +4032,6 @@ static void lcd_print_state(uint8_t state)
 static void lcd_show_sensors_state()
 {
 	//0: N/A; 1: OFF; 2: ON
-	uint8_t chars = 0;
 	uint8_t pinda_state = STATE_NA;
 	uint8_t finda_state = STATE_NA;
 	uint8_t idler_state = STATE_NA;
@@ -4057,7 +4076,25 @@ void prusa_statistics(int _message, uint8_t _fil_nr) {
 	{
 
 	case 0: // default message
-		if (IS_SD_PRINTING)
+		if (busy_state == PAUSED_FOR_USER) 
+		{
+			SERIAL_ECHO("{");
+			prusa_stat_printerstatus(15);
+			prusa_stat_farm_number();
+			prusa_stat_printinfo();
+			SERIAL_ECHOLN("}");
+			status_number = 15;
+		}
+		else if (isPrintPaused || card.paused) 
+		{
+			SERIAL_ECHO("{");
+			prusa_stat_printerstatus(14);
+			prusa_stat_farm_number();
+			prusa_stat_printinfo();
+			SERIAL_ECHOLN("}");
+			status_number = 14;
+		}
+		else if (IS_SD_PRINTING)
 		{
 			SERIAL_ECHO("{");
 			prusa_stat_printerstatus(4);
@@ -4852,7 +4889,7 @@ static void lcd_wizard_unload()
 		} 
 		else
 		{
-			mmu_eject_fil_0();
+		    mmu_eject_filament(0, true);
 		}
 	} 
 	else
@@ -5181,6 +5218,29 @@ do\
 }\
 while(0)\
 
+static bool settingsCutter()
+{
+    if (mmu_enabled)
+    {
+        if (1 == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
+        {
+            if (menu_item_function_P(_i("Cutter       [on]"), lcd_cutter_enabled)) return true;//// c=17 r=1
+        }
+        else
+        {
+            if (menu_item_function_P(_i("Cutter      [off]"), lcd_cutter_enabled)) return true;//// c=17 r=1
+        }
+    }
+    return false;
+}
+
+#define SETTINGS_CUTTER \
+do\
+{\
+    if(settingsCutter()) return;\
+}\
+while(0)\
+
 #ifdef TMC2130
 #define SETTINGS_SILENT_MODE \
 do\
@@ -5326,6 +5386,8 @@ static void lcd_settings_menu()
 
 	SETTINGS_AUTO_DEPLETE;
 
+	SETTINGS_CUTTER;
+
 	if (fans_check_enabled == true)
 		MENU_ITEM_FUNCTION_P(_i("Fans check   [on]"), lcd_set_fan_check);////MSG_FANS_CHECK_ON c=17 r=1
 	else
@@ -5380,10 +5442,9 @@ static void lcd_ustep_linearity_menu_save()
 }
 #endif //TMC2130
 
-
+#ifdef TMC2130
 static void lcd_settings_linearity_correction_menu_save()
 {
-#ifdef TMC2130
     bool changed = false;
     if (tmc2130_wave_fac[X_AXIS] < TMC2130_WAVE_FAC1000_MIN) tmc2130_wave_fac[X_AXIS] = 0;
     if (tmc2130_wave_fac[Y_AXIS] < TMC2130_WAVE_FAC1000_MIN) tmc2130_wave_fac[Y_AXIS] = 0;
@@ -5395,9 +5456,8 @@ static void lcd_settings_linearity_correction_menu_save()
     changed |= (eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC) != tmc2130_wave_fac[E_AXIS]);
     lcd_ustep_linearity_menu_save();
     if (changed) tmc2130_init();
-#endif //TMC2130
 }
-
+#endif //TMC2130
 
 static void lcd_calibration_menu()
 {
@@ -5816,18 +5876,24 @@ static void fil_load_menu()
 	MENU_END();
 }
 
+template <uint8_t filament>
+static void mmu_load_to_nozzle()
+{
+    menu_back();
+    lcd_mmu_load_to_nozzle(filament);
+}
+
 static void mmu_load_to_nozzle_menu()
 {
-//-//if (degHotend0() > EXTRUDE_MINTEMP)
 if(bFilamentAction)
 {
 	MENU_BEGIN();
 	MENU_ITEM_BACK_P(_T(MSG_MAIN));
-	MENU_ITEM_FUNCTION_P(_i("Load filament 1"), mmu_load_to_nozzle_0);
-	MENU_ITEM_FUNCTION_P(_i("Load filament 2"), mmu_load_to_nozzle_1);
-	MENU_ITEM_FUNCTION_P(_i("Load filament 3"), mmu_load_to_nozzle_2);
-	MENU_ITEM_FUNCTION_P(_i("Load filament 4"), mmu_load_to_nozzle_3);
-	MENU_ITEM_FUNCTION_P(_i("Load filament 5"), mmu_load_to_nozzle_4);
+	MENU_ITEM_FUNCTION_P(_i("Load filament 1"), mmu_load_to_nozzle<0>);
+	MENU_ITEM_FUNCTION_P(_i("Load filament 2"), mmu_load_to_nozzle<1>);
+	MENU_ITEM_FUNCTION_P(_i("Load filament 3"), mmu_load_to_nozzle<2>);
+	MENU_ITEM_FUNCTION_P(_i("Load filament 4"), mmu_load_to_nozzle<3>);
+	MENU_ITEM_FUNCTION_P(_i("Load filament 5"), mmu_load_to_nozzle<4>);
 	MENU_END();
 }
 else {
@@ -5842,22 +5908,61 @@ else {
      }
 }
 
+template <uint8_t filament>
+static void mmu_eject_filament()
+{
+    menu_back();
+    mmu_eject_filament(filament, true);
+}
+
 static void mmu_fil_eject_menu()
 {
-//-//if (degHotend0() > EXTRUDE_MINTEMP)
+    if(bFilamentAction)
+    {
+        MENU_BEGIN();
+        MENU_ITEM_BACK_P(_T(MSG_MAIN));
+        MENU_ITEM_FUNCTION_P(_i("Eject filament 1"), mmu_eject_filament<0>);
+        MENU_ITEM_FUNCTION_P(_i("Eject filament 2"), mmu_eject_filament<1>);
+        MENU_ITEM_FUNCTION_P(_i("Eject filament 3"), mmu_eject_filament<2>);
+        MENU_ITEM_FUNCTION_P(_i("Eject filament 4"), mmu_eject_filament<3>);
+        MENU_ITEM_FUNCTION_P(_i("Eject filament 5"), mmu_eject_filament<4>);
+        MENU_END();
+    }
+    else
+    {
+        eFilamentAction=e_FILAMENT_ACTION_mmuEject;
+        bFilamentFirstRun=false;
+        if(target_temperature[0]>=EXTRUDE_MINTEMP)
+        {
+            bFilamentPreheatState=true;
+            mFilamentItem(target_temperature[0],target_temperature_bed);
+        }
+        else mFilamentMenu();
+    }
+}
+
+template <uint8_t filament>
+static void mmu_cut_filament()
+{
+    menu_back();
+    mmu_cut_filament(filament);
+}
+
+static void mmu_cut_filament_menu()
+{
 if(bFilamentAction)
 {
-	MENU_BEGIN();
-	MENU_ITEM_BACK_P(_T(MSG_MAIN));
-	MENU_ITEM_FUNCTION_P(_i("Eject filament 1"), mmu_eject_fil_0);
-	MENU_ITEM_FUNCTION_P(_i("Eject filament 2"), mmu_eject_fil_1);
-	MENU_ITEM_FUNCTION_P(_i("Eject filament 3"), mmu_eject_fil_2);
-	MENU_ITEM_FUNCTION_P(_i("Eject filament 4"), mmu_eject_fil_3);
-	MENU_ITEM_FUNCTION_P(_i("Eject filament 5"), mmu_eject_fil_4);
-	MENU_END();
+    MENU_BEGIN();
+    MENU_ITEM_BACK_P(_T(MSG_MAIN));
+    MENU_ITEM_FUNCTION_P(_i("Cut filament 1"), mmu_cut_filament<0>);
+    MENU_ITEM_FUNCTION_P(_i("Cut filament 2"), mmu_cut_filament<1>);
+    MENU_ITEM_FUNCTION_P(_i("Cut filament 3"), mmu_cut_filament<2>);
+    MENU_ITEM_FUNCTION_P(_i("Cut filament 4"), mmu_cut_filament<3>);
+    MENU_ITEM_FUNCTION_P(_i("Cut filament 5"), mmu_cut_filament<4>);
+    MENU_END();
 }
 else {
-     eFilamentAction=e_FILAMENT_ACTION_mmuEject;
+     eFilamentAction=e_FILAMENT_ACTION_mmuCut;
      bFilamentFirstRun=false;
      if(target_temperature[0]>=EXTRUDE_MINTEMP)
           {
@@ -6340,6 +6445,7 @@ static void lcd_main_menu()
 //bFilamentFirstRun=true;
           MENU_ITEM_SUBMENU_P(_T(MSG_UNLOAD_FILAMENT), extr_unload_);
 		MENU_ITEM_SUBMENU_P(_i("Eject filament"), mmu_fil_eject_menu);
+        MENU_ITEM_SUBMENU_P(_i("Cut filament"), mmu_cut_filament_menu);
 	}
 	else
 	{
@@ -6479,6 +6585,8 @@ static void lcd_tune_menu()
 
 	SETTINGS_AUTO_DEPLETE;
 
+	SETTINGS_CUTTER;
+
 #ifdef TMC2130
      if(!farm_mode)
      {
@@ -6742,8 +6850,7 @@ bool lcd_selftest()
 		_result = lcd_selftest_manual_fan_check(1, false);
 		if (!_result)
 		{			
-			const char *_err;
-			lcd_selftest_error(6, _err, _err); //print fan not spinning
+			lcd_selftest_error(6, 0, 0); //print fan not spinning
 		}
 
 #endif //defined(TACH_1)
@@ -7429,6 +7536,7 @@ static void lcd_selftest_error(int _error_no, const char *_error_1, const char *
 }
 
 #ifdef FILAMENT_SENSOR
+#ifdef PAT9125
 static bool lcd_selftest_fsensor(void)
 {
 	fsensor_init();
@@ -7438,6 +7546,7 @@ static bool lcd_selftest_fsensor(void)
 	}
 	return (!fsensor_not_responding);
 }
+#endif //PAT9125
 
 //! @brief Self-test of infrared barrier filament sensor mounted on MK3S with MMUv2 printer
 //!

Firmware/ultralcd.h

@@ -45,6 +45,8 @@ extern bool lcd_selftest();
 
 void lcd_menu_statistics(); 
 
+void lcd_menu_extruder_info();                    // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
+
 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);
 
@@ -134,7 +136,16 @@ void extr_unload_used();
 void extr_unload();
 
 typedef enum
-     {e_FILAMENT_ACTION_none,e_FILAMENT_ACTION_Load,e_FILAMENT_ACTION_autoLoad,e_FILAMENT_ACTION_unLoad,e_FILAMENT_ACTION_mmuLoad,e_FILAMENT_ACTION_mmuUnLoad,e_FILAMENT_ACTION_mmuEject} eFILAMENT_ACTION; // 'none' state is used as flag for (filament) autoLoad (i.e. opposite for 'autoLoad' state)
+{
+    e_FILAMENT_ACTION_none, //!< 'none' state is used as flag for (filament) autoLoad (i.e. opposite for 'autoLoad' state)
+    e_FILAMENT_ACTION_Load,
+    e_FILAMENT_ACTION_autoLoad,
+    e_FILAMENT_ACTION_unLoad,
+    e_FILAMENT_ACTION_mmuLoad,
+    e_FILAMENT_ACTION_mmuUnLoad,
+    e_FILAMENT_ACTION_mmuEject,
+    e_FILAMENT_ACTION_mmuCut,
+} eFILAMENT_ACTION;
 extern eFILAMENT_ACTION eFilamentAction;
 extern bool bFilamentFirstRun;
 extern bool bFilamentPreheatState;

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

@@ -498,7 +498,8 @@
 //#define SUPPORT_VERBOSITY
 
 #define MMU_REQUIRED_FW_BUILDNR 132
-//#define MMU_DEBUG //print communication between MMU2 and printer on serial
+#define MMU_FORCE_STEALTH_MODE
+#define MMU_DEBUG //print communication between MMU2 and printer on serial
 
 #define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning
 

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

@@ -499,8 +499,12 @@
 //#define SUPPORT_VERBOSITY
 
 #define MMU_REQUIRED_FW_BUILDNR 132
-//#define MMU_DEBUG //print communication between MMU2 and printer on serial
+#define MMU_FORCE_STEALTH_MODE
+#define MMU_DEBUG //print communication between MMU2 and printer on serial
 
 #define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning
 
+//#define HEATBED_ANALYSIS //for meash bed leveling and heatbed analysis D-codes D80 and D81
+//#define MICROMETER_LOGGING //related to D-codes D80 and D81, currently works on MK2.5 only (MK3 board pin definitions missing)
+
 #endif //__CONFIGURATION_PRUSA_H

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

@@ -498,7 +498,8 @@
 //#define SUPPORT_VERBOSITY
 
 #define MMU_REQUIRED_FW_BUILDNR 132
-//#define MMU_DEBUG //print communication between MMU2 and printer on serial
+#define MMU_FORCE_STEALTH_MODE
+#define MMU_DEBUG //print communication between MMU2 and printer on serial
 
 #define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning
 

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

@@ -499,7 +499,8 @@
 //#define SUPPORT_VERBOSITY
 
 #define MMU_REQUIRED_FW_BUILDNR 132
-//#define MMU_DEBUG //print communication between MMU2 and printer on serial
+#define MMU_FORCE_STEALTH_MODE
+#define MMU_DEBUG //print communication between MMU2 and printer on serial
 
 #define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning