Remove old mmu.cpp

Firmware/mmu.cpp

@@ -1,1265 +0,0 @@
-//! @file
-
-#include "mmu.h"
-#include "planner.h"
-#include "language.h"
-#include "lcd.h"
-#include "uart2.h"
-#include "temperature.h"
-#include "Configuration_prusa.h"
-#include "cardreader.h"
-#include "cmdqueue.h"
-#include "stepper.h"
-#include "ultralcd.h"
-#include "menu.h"
-#include "sound.h"
-#include "printers.h"
-#include <avr/pgmspace.h>
-#include "AutoDeplete.h"
-#include "fastio.h"
-#include "pins.h"
-#include "Filament_sensor.h"
-//-//
-#include "util.h"
-
-#ifdef TMC2130
-#include "tmc2130.h"
-#endif //TMC2130
-
-#define MMU_TODELAY 100
-#define MMU_TIMEOUT 10
-#define MMU_CMD_TIMEOUT 45000ul //45s timeout for mmu commands (except P0)
-#define MMU_P0_TIMEOUT 3000ul //timeout for P0 command: 3seconds
-#define MMU_MAX_RESEND_ATTEMPTS 2
-
-
-namespace
-{
-    enum class S : uint_least8_t
-    {
-        WaitStealthMode,
-        GetFindaInit,
-        GetBuildNr,
-        GetVersion,
-        Init,
-        Disabled,
-        Idle,
-        GetFinda,
-        WaitCmd, //!< wait for command response
-        Pause,
-        GetDrvError, //!< get power failures count
-		SwitchMode //switch mmu between stealth and normal mode 
-    };
-}
-
-bool mmu_enabled = false;
-bool mmu_ready = false;
-bool mmu_fil_loaded = false; //if true: blocks execution of duplicit T-codes
-
-static S mmu_state = S::Disabled;
-
-MmuCmd mmu_cmd = MmuCmd::None;
-
-//idler ir sensor
-static uint8_t mmu_idl_sens = 0;
-bool ir_sensor_detected = false; 
-static bool mmu_loading_flag = false; //when set to true, we assume that mmu2 unload was finished and loading phase is now performed; printer can send 'A' to mmu2 to abort loading process
-
-uint8_t mmu_extruder = MMU_FILAMENT_UNKNOWN;
-
-//! This variable probably has no meaning and is planed to be removed
-uint8_t tmp_extruder = MMU_FILAMENT_UNKNOWN;
-
-int8_t mmu_finda = -1;
-
-int16_t mmu_version = -1;
-
-int16_t mmu_buildnr = -1;
-
-LongTimer mmu_last_request;
-LongTimer mmu_last_response;
-LongTimer mmu_last_finda_response;
-
-MmuCmd mmu_last_cmd = MmuCmd::None;
-uint16_t mmu_power_failures = 0;
-
-
-#ifdef MMU_DEBUG
-static const auto DEBUG_PUTCHAR = putchar;
-static const auto DEBUG_PUTS_P = puts_P;
-static const auto DEBUG_PRINTF_P = printf_P;
-#else //MMU_DEBUG
-#define DEBUG_PUTCHAR(c)
-#define DEBUG_PUTS_P(str)
-#define DEBUG_PRINTF_P( __fmt, ... )
-#endif //MMU_DEBUG
-
-#if defined(MMU_FINDA_DEBUG) && defined(MMU_DEBUG)
-static const auto FDEBUG_PUTS_P = puts_P;
-static const auto FDEBUG_PRINTF_P = printf_P;
-#else
-#define FDEBUG_PUTS_P(str)
-#define FDEBUG_PRINTF_P( __fmt, ... )
-#endif //defined(MMU_FINDA_DEBUG) && defined(MMU_DEBUG)
-
-
-//clear rx buffer
-void mmu_clr_rx_buf(void)
-{
-	while (fgetc(uart2io) >= 0);
-}
-
-//send command - puts
-int mmu_puts_P(const char* str)
-{
-	mmu_clr_rx_buf();                          //clear rx buffer
-    int r = fputs_P(str, uart2io);             //send command
-	mmu_last_request.start();
-	return r;
-}
-
-//send command - printf
-int mmu_printf_P(const char* format, ...)
-{
-	va_list args;
-	va_start(args, format);
-	mmu_clr_rx_buf();                          //clear rx buffer
-	int r = vfprintf_P(uart2io, format, args); //send command
-	va_end(args);
-	mmu_last_request.start();
-	return r;
-}
-
-//check 'ok' response
-int8_t mmu_rx_ok(void)
-{
-	int8_t res = uart2_rx_str_P(PSTR("ok\n"));
-	if (res == 1) mmu_last_response.start();
-	return res;
-}
-
-//check 'start' response
-int8_t mmu_rx_start(void)
-{
-	int8_t res = uart2_rx_str_P(PSTR("start\n"));
-	if (res == 1) mmu_last_response.start();
-	return res;
-}
-
-//initialize mmu2 unit - first part - should be done at begining of startup process
-void mmu_init(void)
-{
-#ifdef MMU_HWRESET
-	WRITE(MMU_RST_PIN, 1);
-	SET_OUTPUT(MMU_RST_PIN);                   //setup reset pin
-#endif //MMU_HWRESET
-	uart2_init();                              //init uart2
-	_delay_ms(10);                             //wait 10ms for sure
-	mmu_reset();                               //reset mmu (HW or SW), do not wait for response
-	mmu_state = S::Init;
-}
-
-//if IR_SENSOR defined, always returns true
-//otherwise check for ir sensor and returns true if idler IR sensor was detected, otherwise returns false
-bool check_for_ir_sensor() 
-{
-#ifdef IR_SENSOR
-	return true;
-#else //IR_SENSOR
-
-	bool detected = false;
-	//if IR_SENSOR_PIN input is low and pat9125sensor is not present we detected idler sensor
-	if ((READ(IR_SENSOR_PIN) == 0)) {
-		detected = true;
-		//printf_P(PSTR("Idler IR sensor detected\n"));
-	}
-	else
-	{
-		//printf_P(PSTR("Idler IR sensor not detected\n"));
-	}
-	return detected;
-#endif //IR_SENSOR
-}
-
-static bool activate_stealth_mode()
-{
-#ifdef MMU_FORCE_STEALTH_MODE
-	return true;
-#else
-	return (eeprom_read_byte((uint8_t*)EEPROM_MMU_STEALTH) == 1);
-#endif
-}
-
-//mmu main loop - state machine processing
-void mmu_loop(void)
-{
-	static uint8_t mmu_attempt_nr = 0;
-//	printf_P(PSTR("MMU loop, state=%d\n"), mmu_state);
-	switch (mmu_state)
-	{
-	case S::Disabled:
-		return;
-	case S::Init:
-		if (mmu_rx_start() > 0)
-		{
-		    DEBUG_PUTS_P(PSTR("MMU => 'start'"));
-		    DEBUG_PUTS_P(PSTR("MMU <= 'S1'"));
-		    mmu_puts_P(PSTR("S1\n")); //send 'read version' request
-			mmu_state = S::GetVersion;
-		}
-		else if (_millis() > 30000) //30sec after reset disable mmu
-		{
-			puts_P(PSTR("MMU not responding - DISABLED"));
-			mmu_state = S::Disabled;
-		}
-		return;
-	case S::GetVersion:
-		if (mmu_rx_ok() > 0)
-		{
-			fscanf_P(uart2io, PSTR("%u"), &mmu_version); //scan version from buffer
-			DEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_version);
-			DEBUG_PUTS_P(PSTR("MMU <= 'S2'"));
-			mmu_puts_P(PSTR("S2\n")); //send 'read buildnr' request
-			mmu_state = S::GetBuildNr;
-		}
-		return;
-	case S::GetBuildNr:
-		if (mmu_rx_ok() > 0)
-		{
-			fscanf_P(uart2io, PSTR("%u"), &mmu_buildnr); //scan buildnr from buffer
-			DEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_buildnr);
-			bool version_valid = mmu_check_version();
-			if (!version_valid) mmu_show_warning();
-			else puts_P(PSTR("MMU version valid"));
-			
-			if (!activate_stealth_mode())
-			{
-				FDEBUG_PUTS_P(PSTR("MMU <= 'P0'"));
-				mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
-				mmu_state = S::GetFindaInit;
-			}
-			else
-			{
-				DEBUG_PUTS_P(PSTR("MMU <= 'M1'"));
-				mmu_puts_P(PSTR("M1\n")); //set mmu mode to stealth
-				mmu_state = S::WaitStealthMode;
-			}
-
-		}
-		return;
-	case S::WaitStealthMode:
-		if (mmu_rx_ok() > 0)
-		{
-			FDEBUG_PUTS_P(PSTR("MMU <= 'P0'"));
-		    mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
-			mmu_state = S::GetFindaInit;
-		}
-		return;
-	case S::GetFindaInit:
-		if (mmu_rx_ok() > 0)
-		{
-			fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer. MUST BE %hhu!!!
-			mmu_last_finda_response.start();
-			FDEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_finda);
-			puts_P(PSTR("MMU - ENABLED"));
-			mmu_enabled = true;
-            //-//
-            // ... PrinterType/Name
-            fSetMmuMode(true);
-			mmu_state = S::Idle;
-		}
-		return;
-	case S::Idle:
-		if (mmu_cmd != MmuCmd::None) //command request ?
-		{
-			if ((mmu_cmd >= MmuCmd::T0) && (mmu_cmd <= MmuCmd::T4))
-			{
-				const uint8_t filament = mmu_cmd - MmuCmd::T0;
-				DEBUG_PRINTF_P(PSTR("MMU <= 'T%d'\n"), filament);
-				mmu_printf_P(PSTR("T%d\n"), filament);
-				mmu_state = S::WaitCmd; // wait for response
-				mmu_fil_loaded = true;
-				mmu_idl_sens = 1;
-			}
-			else if ((mmu_cmd >= MmuCmd::L0) && (mmu_cmd <= MmuCmd::L4))
-			{
-			    const uint8_t filament = mmu_cmd - MmuCmd::L0;
-			    DEBUG_PRINTF_P(PSTR("MMU <= 'L%d'\n"), filament);
-			    mmu_printf_P(PSTR("L%d\n"), filament);
-			    mmu_state = S::WaitCmd; // wait for response
-			}
-			else if (mmu_cmd == MmuCmd::C0)
-			{
-			    DEBUG_PRINTF_P(PSTR("MMU <= 'C0'\n"));
-				mmu_puts_P(PSTR("C0\n")); //send 'continue loading'
-				mmu_state = S::WaitCmd;
-				mmu_idl_sens = 1;
-			}
-			else if (mmu_cmd == MmuCmd::U0)
-			{
-			    DEBUG_PRINTF_P(PSTR("MMU <= 'U0'\n"));
-				mmu_puts_P(PSTR("U0\n")); //send 'unload current filament'
-				mmu_fil_loaded = false;
-				mmu_state = S::WaitCmd;
-			}
-			else if ((mmu_cmd >= MmuCmd::E0) && (mmu_cmd <= MmuCmd::E4))
-			{
-			    const uint8_t filament = mmu_cmd - MmuCmd::E0;
-				DEBUG_PRINTF_P(PSTR("MMU <= 'E%d'\n"), filament);
-				mmu_printf_P(PSTR("E%d\n"), filament); //send eject filament
-				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"));
-				mmu_puts_P(PSTR("R0\n")); //send recover after eject
-				mmu_state = S::WaitCmd;
-			}
-			else if (mmu_cmd == MmuCmd::S3)
-			{
-			    DEBUG_PRINTF_P(PSTR("MMU <= 'S3'\n"));
-				mmu_puts_P(PSTR("S3\n")); //send power failures request
-				mmu_state = S::GetDrvError;
-			}
-			else if (mmu_cmd == MmuCmd::W0)
-			{
-			    DEBUG_PRINTF_P(PSTR("MMU <= 'W0'\n"));
-			    mmu_puts_P(PSTR("W0\n"));
-			    mmu_state = S::Pause;
-			}
-			mmu_last_cmd = mmu_cmd;
-			mmu_cmd = MmuCmd::None;
-		}
-		else if ((eeprom_read_byte((uint8_t*)EEPROM_MMU_STEALTH) != SilentModeMenu_MMU) && mmu_ready) {
-				DEBUG_PRINTF_P(PSTR("MMU <= 'M%d'\n"), SilentModeMenu_MMU);
-				mmu_printf_P(PSTR("M%d\n"), SilentModeMenu_MMU);
-				mmu_state = S::SwitchMode;
-		}
-		else if (mmu_last_response.expired(300)) //request every 300ms
-		{
-#ifndef IR_SENSOR
-			if(check_for_ir_sensor()) ir_sensor_detected = true;
-#endif //IR_SENSOR not defined
-			FDEBUG_PUTS_P(PSTR("MMU <= 'P0'"));
-		    mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
-			mmu_state = S::GetFinda;
-		}
-		return;
-	case S::GetFinda: //response to command P0
-        if (mmu_idl_sens)
-        {
-            if (READ(IR_SENSOR_PIN) == 0 && mmu_loading_flag)
-            {
-#ifdef MMU_DEBUG
-                printf_P(PSTR("MMU <= 'A'\n"));
-#endif //MMU_DEBUG  
-                mmu_puts_P(PSTR("A\n")); //send 'abort' request
-                mmu_idl_sens = 0;
-                //printf_P(PSTR("MMU IDLER_SENSOR = 0 - ABORT\n"));
-            }
-            //else
-                //printf_P(PSTR("MMU IDLER_SENSOR = 1 - WAIT\n"));
-        }
-		if (mmu_rx_ok() > 0)
-		{
-			fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer. MUST BE %hhu!!!
-			mmu_last_finda_response.start();
-			FDEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_finda);
-			//printf_P(PSTR("Eact: %d\n"), int(e_active()));
-			if (!mmu_finda
-#ifdef FILAMENT_SENSOR ///temporary until refactoring
-            && CHECK_FSENSOR && fsensor.isReady()
-#endif //FILAMENT_SENSOR
-            ) {
-				stop_and_save_print_to_ram(0, 0);
-				restore_print_from_ram_and_continue(0);
-				if (mmu_extruder != MMU_FILAMENT_UNKNOWN) // Can't deplete unknown extruder.
-                    ad_markDepleted(mmu_extruder);
-				if (lcd_autoDepleteEnabled() && !ad_allDepleted() && mmu_extruder != MMU_FILAMENT_UNKNOWN) // Can't auto if F=?
-				{
-				    enquecommand_front_P(PSTR("M600 AUTO")); //save print and run M600 command
-				}
-				else
-				{
-				    enquecommand_front_P(PSTR("M600")); //save print and run M600 command
-				}
-			}
-			mmu_state = S::Idle;
-			if (mmu_cmd == MmuCmd::None)
-				mmu_ready = true;
-		}
-		else if (mmu_last_request.expired(MMU_P0_TIMEOUT))
-		{ //resend request after timeout (30s)
-			mmu_state = S::Idle;
-		}
-		return;
-	case S::WaitCmd: //response to mmu commands
-        if (mmu_idl_sens)
-        {
-            if (READ(IR_SENSOR_PIN) == 0 && mmu_loading_flag)
-            {
-                DEBUG_PRINTF_P(PSTR("MMU <= 'A'\n"));
-                mmu_puts_P(PSTR("A\n")); //send 'abort' request
-                mmu_idl_sens = 0;
-                //printf_P(PSTR("MMU IDLER_SENSOR = 0 - ABORT\n"));
-            }
-            //else
-                //printf_P(PSTR("MMU IDLER_SENSOR = 1 - WAIT\n"));
-        }
-		if (mmu_rx_ok() > 0)
-		{
-		    DEBUG_PRINTF_P(PSTR("MMU => 'ok'\n"));
-			mmu_attempt_nr = 0;
-			mmu_last_cmd = MmuCmd::None;
-			mmu_ready = true;
-			mmu_state = S::Idle;
-		}
-		else if (mmu_last_request.expired(MMU_CMD_TIMEOUT))
-		{ //resend request after timeout (5 min)
-			if (mmu_last_cmd != MmuCmd::None)
-			{
-				if (mmu_attempt_nr++ < MMU_MAX_RESEND_ATTEMPTS &&
-				    mmu_last_cmd >= MmuCmd::T0 && mmu_last_cmd <= MmuCmd::T4)
-				{
-				    DEBUG_PRINTF_P(PSTR("MMU retry attempt nr. %d\n"), mmu_attempt_nr - 1);
-					mmu_cmd = mmu_last_cmd;
-				}
-				else {
-					mmu_cmd = MmuCmd::None;
-					mmu_last_cmd = MmuCmd::None; //check
-					mmu_attempt_nr = 0;
-				}
-			}
-			mmu_state = S::Idle;
-		}
-		return;
-	case S::Pause:
-        if (mmu_rx_ok() > 0)
-        {
-            DEBUG_PRINTF_P(PSTR("MMU => 'ok', resume print\n"));
-            mmu_attempt_nr = 0;
-            mmu_last_cmd = MmuCmd::None;
-            mmu_ready = true;
-            mmu_state = S::Idle;
-            lcd_resume_print();
-        }
-        if (mmu_cmd != MmuCmd::None)
-        {
-            mmu_state = S::Idle;
-        }
-	    return;
-	case S::GetDrvError:
-		if (mmu_rx_ok() > 0)
-		{
-			fscanf_P(uart2io, PSTR("%d"), &mmu_power_failures); //scan power failures
-			DEBUG_PRINTF_P(PSTR("MMU => 'ok'\n"));
-			mmu_last_cmd = MmuCmd::None;
-			mmu_ready = true;
-			mmu_state = S::Idle;
-		}
-		else if (mmu_last_request.expired(MMU_CMD_TIMEOUT))
-		{ //timeout 45 s
-			mmu_state = S::Idle;
-		}
-		return;
-	case S::SwitchMode:
-		if (mmu_rx_ok() > 0)
-		{
-			DEBUG_PRINTF_P(PSTR("MMU => 'ok'\n"));
-			eeprom_update_byte((uint8_t*)EEPROM_MMU_STEALTH, SilentModeMenu_MMU);
-			mmu_state = S::Idle;
-		}
-		else if (mmu_last_request.expired(MMU_CMD_TIMEOUT))
-		{ //timeout 45 s
-			mmu_state = S::Idle;
-		}
-		return;		
-	}
-}
-
-void mmu_reset(void)
-{
-#ifdef MMU_HWRESET                             //HW - pulse reset pin
-	WRITE(MMU_RST_PIN, 0);
-	_delay_us(100);
-	WRITE(MMU_RST_PIN, 1);
-#else                                          //SW - send X0 command
-    mmu_puts_P(PSTR("X0\n"));
-#endif
-}
-
-int8_t mmu_set_filament_type(uint8_t extruder, uint8_t filament)
-{
-	printf_P(PSTR("MMU <= 'F%d %d'\n"), extruder, filament);
-	mmu_printf_P(PSTR("F%d %d\n"), extruder, filament);
-	unsigned char timeout = MMU_TIMEOUT;       //10x100ms
-	while ((mmu_rx_ok() <= 0) && (--timeout))
-		delay_keep_alive(MMU_TODELAY);
-	return timeout?1:0;
-}
-
-//! @brief Enqueue MMUv2 command
-//!
-//! Call manage_response() after enqueuing to process command.
-//! If T command is enqueued, it disables current for extruder motor if TMC2130 driver present.
-//! If T or L command is enqueued, it marks filament loaded in AutoDeplete module.
-void mmu_command(MmuCmd cmd)
-{
-	if ((cmd >= MmuCmd::T0) && (cmd <= MmuCmd::T4))
-	{
-		//disable extruder motor
-#ifdef TMC2130
-		tmc2130_set_pwr(E_AXIS, 0);
-#endif //TMC2130
-		//printf_P(PSTR("E-axis disabled\n"));
-		ad_markLoaded(cmd - MmuCmd::T0);
-	}
-    if ((cmd >= MmuCmd::L0) && (cmd <= MmuCmd::L4))
-    {
-        ad_markLoaded(cmd - MmuCmd::L0);
-    }
-
-	mmu_cmd = cmd;
-	mmu_ready = false;
-}
-
-//! @brief Rotate extruder idler to catch filament
-//! @par synchronize
-//!  * true blocking call
-//!  * false non-blocking call
-void mmu_load_step(bool synchronize)
-{
-		current_position[E_AXIS] = current_position[E_AXIS] + MMU_LOAD_FEEDRATE * 0.1;
-		plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
-		if (synchronize) st_synchronize();
-}
-
-//! @brief Is nozzle hot enough to move extruder wheels and do we have idler sensor?
-//!
-//! Do load steps only if temperature is higher then min. temp for safe extrusion and
-//! idler sensor present.
-//! Otherwise "cold extrusion prevented" would be send to serial line periodically
-//! and watchdog reset will be triggered by lack of keep_alive processing.
-//!
-//! @retval true temperature is high enough to move extruder
-//! @retval false temperature is not high enough to move extruder, turned
-//!         off E-stepper to prevent over-heating and allow filament pull-out if necessary
-bool can_extrude()
-{
-    if ((degHotend(active_extruder) < EXTRUDE_MINTEMP) || !ir_sensor_detected)
-    {
-        disable_e0();
-        delay_keep_alive(100);
-        return false;
-    }
-    return true;
-}
-
-static void get_response_print_info(uint8_t move) {
-	printf_P(PSTR("mmu_get_response - begin move: "), move);
-	switch (move) {
-		case MMU_LOAD_MOVE: puts_P(PSTR("load")); break;
-		case MMU_UNLOAD_MOVE: puts_P(PSTR("unload")); break;
-		case MMU_TCODE_MOVE: puts_P(PSTR("T-code")); break;
-		case MMU_NO_MOVE: puts_P(PSTR("no move")); break;
-		default: puts_P(PSTR("error: unknown move")); break;
-	}
-}
-
-bool mmu_get_response(uint8_t move)
-{
-
-	get_response_print_info(move);
-	KEEPALIVE_STATE(IN_PROCESS);
-	while (mmu_cmd != MmuCmd::None)
-	{
-		delay_keep_alive(100);
-	}
-
-	while (!mmu_ready)
-	{
-		if ((mmu_state != S::WaitCmd) && (mmu_last_cmd == MmuCmd::None))
-			break;
-
-		switch (move) {
-			case MMU_LOAD_MOVE:
-			    mmu_loading_flag = true;
-				if (can_extrude()) mmu_load_step();
-				//don't rely on "ok" signal from mmu unit; if filament detected by idler sensor during loading stop loading movements to prevent infinite loading
-				if (READ(IR_SENSOR_PIN) == 0) move = MMU_NO_MOVE;
-				break;
-			case MMU_UNLOAD_MOVE:
-				if (READ(IR_SENSOR_PIN) == 0) //filament is still detected by idler sensor, printer helps with unlading 
-				{
-				    if (can_extrude())
-				    {
-                        puts_P(PSTR("Unload 1"));
-                        current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
-                        plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
-                        st_synchronize();
-				    }
-				}
-				else //filament was unloaded from idler, no additional movements needed 
-				{ 
-					puts_P(PSTR("Unloading finished 1"));
-					disable_e0(); //turn off E-stepper to prevent overheating and alow filament pull-out if necessary
-					move = MMU_NO_MOVE;
-				}
-				break;
-			case MMU_TCODE_MOVE: //first do unload and then continue with infinite loading movements
-				if (READ(IR_SENSOR_PIN) == 0) //filament detected by idler sensor, we must unload first 
-				{
-                    if (can_extrude())
-                    {
-                        puts_P(PSTR("Unload 2"));
-                        current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
-                        plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
-                        st_synchronize();
-                    }
-				}
-				else //delay to allow mmu unit to pull out filament from bondtech gears and then start with infinite loading 
-				{ 
-					puts_P(PSTR("Unloading finished 2"));
-					disable_e0(); //turn off E-stepper to prevent overheating and alow filament pull-out if necessary
-					delay_keep_alive(MMU_LOAD_TIME_MS);
-					move = MMU_LOAD_MOVE;
-					get_response_print_info(move);
-				}
-				break;
-			case MMU_NO_MOVE:
-			default: 
-				delay_keep_alive(100);
-				break;
-		}
-	}
-	printf_P(PSTR("mmu_get_response() returning: %d\n"), mmu_ready);
-	bool ret = mmu_ready;
-	mmu_ready = false;
-//	printf_P(PSTR("mmu_get_response - end %d\n"), ret?1:0);
-	return ret;
-}
-
-//! @brief Wait for active extruder to reach temperature set
-//!
-//! This function is blocking and showing lcd_wait_for_heater() screen
-//! which is constantly updated with nozzle temperature.
-void mmu_wait_for_heater_blocking()
-{
-    while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5)
-    {
-        delay_keep_alive(1000);
-        lcd_wait_for_heater();
-    }
-}
-
-void manage_response(bool move_axes, bool turn_off_nozzle, uint8_t move)
-{
-	bool response = false;
-	mmu_print_saved = false;
-	bool lcd_update_was_enabled = false;
-	float hotend_temp_bckp = degTargetHotend(active_extruder);
-	float z_position_bckp = current_position[Z_AXIS];
-	float x_position_bckp = current_position[X_AXIS];
-	float y_position_bckp = current_position[Y_AXIS];	
-	uint8_t screen = 0; //used for showing multiscreen messages
-	mmu_loading_flag = false;
-	while(!response)
-	{
-		  response = mmu_get_response(move); //wait for "ok" from mmu
-		  if (!response) { //no "ok" was received in reserved time frame, user will fix the issue on mmu unit
-			  if (!mmu_print_saved) { //first occurence, we are saving current position, park print head in certain position and disable nozzle heater
-				  
-				  uint8_t mmu_fail = eeprom_read_byte((uint8_t*)EEPROM_MMU_FAIL);
-				  uint16_t mmu_fail_tot = eeprom_read_word((uint16_t*)EEPROM_MMU_FAIL_TOT);
-				  if(mmu_fail < 255) eeprom_update_byte((uint8_t*)EEPROM_MMU_FAIL, mmu_fail + 1);
-				  if(mmu_fail_tot < 65535) eeprom_update_word((uint16_t*)EEPROM_MMU_FAIL_TOT, mmu_fail_tot + 1);
-
-				  if (lcd_update_enabled) {
-					  lcd_update_was_enabled = true;
-					  lcd_update_enable(false);
-				  }
-				  st_synchronize();
-				  mmu_print_saved = true;
-				  puts_P(PSTR("MMU not responding"));
-				  KEEPALIVE_STATE(PAUSED_FOR_USER);
-				  hotend_temp_bckp = degTargetHotend(active_extruder);
-				  if (move_axes) {
-					  z_position_bckp = current_position[Z_AXIS];
-					  x_position_bckp = current_position[X_AXIS];
-					  y_position_bckp = current_position[Y_AXIS];
-				  
-					  //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_curposXYZE(15);
-					  st_synchronize();
-					  					  
-					  //Move XY to side
-					  current_position[X_AXIS] = X_PAUSE_POS;
-					  current_position[Y_AXIS] = Y_PAUSE_POS;
-					  plan_buffer_line_curposXYZE(50);
-					  st_synchronize();
-				  }
-				  if (turn_off_nozzle) {
-					  //set nozzle target temperature to 0
-					  setAllTargetHotends(0);
-				  }
-				  disable_e0(); //turn off E-stepper to prevent overheating and alow filament pull-out if necessary
-			  }
-
-			  //first three lines are used for printing multiscreen message; last line contains measured and target nozzle temperature
-			  if (screen == 0) { //screen 0
-				  lcd_display_message_fullscreen_P(_i("MMU needs user attention."));////MSG_MMU_USER_ATTENTION c=20 r=3
-				  screen++;
-			  }
-			  else {  //screen 1
-				  if((degTargetHotend(active_extruder) == 0) && turn_off_nozzle) lcd_display_message_fullscreen_P(_i("Press the knob to resume nozzle temperature."));////MSG_RESUME_NOZZLE_TEMP c=20 r=4
-				  else lcd_display_message_fullscreen_P(_i("Fix the issue and then press button on MMU unit."));////MSG_MMU_FIX_ISSUE c=20 r=4
-				  screen=0;
-			  }
-
-			  //5 seconds delay
-			  for (uint8_t i = 0; i < 5; i++) {
-				  if (lcd_clicked()) {
-					  setTargetHotend(hotend_temp_bckp, active_extruder);
-					 /// mmu_cmd = mmu_last_cmd;
-					  break;
-				  }		  
-
-				  //Print the hotend temperature (9 chars total) and fill rest of the line with space
-				  lcd_set_cursor(0, 4); //line 4
-				  int chars = lcd_printf_P(_N("%c%3d/%d%c"), LCD_STR_THERMOMETER[0],(int)(degHotend(active_extruder) + 0.5), (int)(degTargetHotend(active_extruder) + 0.5), LCD_STR_DEGREE[0]);
-				  lcd_space(9 - chars);
-				  delay_keep_alive(1000);
-			  }
-		  }
-		  else if (mmu_print_saved) {
-			  puts_P(PSTR("MMU starts responding"));
-			  KEEPALIVE_STATE(IN_HANDLER);
-			  mmu_loading_flag = false;
-			  if (turn_off_nozzle) 
-			  {
-				lcd_clear();
-				setTargetHotend(hotend_temp_bckp, active_extruder);
-				if (((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5)) {
-					lcd_display_message_fullscreen_P(_i("MMU OK. Resuming temperature...")); ////MSG_MMU_OK_RESUMING_TEMPERATURE c=20 r=4
-					delay_keep_alive(3000);
-				}
-				mmu_wait_for_heater_blocking();
-			  }			  
-			  if (move_axes) {
-				  lcd_clear();
-				  lcd_display_message_fullscreen_P(_i("MMU OK. Resuming position...")); ////MSG_MMU_OK_RESUMING_POSITION c=20 r=4
-				  current_position[X_AXIS] = x_position_bckp;
-				  current_position[Y_AXIS] = y_position_bckp;
-				  plan_buffer_line_curposXYZE(50);
-				  st_synchronize();
-				  current_position[Z_AXIS] = z_position_bckp;
-				  plan_buffer_line_curposXYZE(15);
-				  st_synchronize();
-			  }
-			  else {
-				  lcd_clear();
-				  lcd_display_message_fullscreen_P(_i("MMU OK. Resuming...")); ////MSG_MMU_OK_RESUMING c=20 r=4
-				  delay_keep_alive(1000); //delay just for showing MMU OK message for a while in case that there are no xyz movements
-			  }
-		  }
-	}
-	if (lcd_update_was_enabled) lcd_update_enable(true);
-#ifdef TMC2130
-			//enable extruder motor (disabled in mmu_command, start of T-code processing)
-			tmc2130_set_pwr(E_AXIS, 1);
-			//printf_P(PSTR("E-axis enabled\n"));
-#endif //TMC2130
-}
-
-//! @brief load filament to nozzle of multimaterial printer
-//!
-//! This function is used only only after T? (user select filament) and M600 (change filament).
-//! It is not used after T0 .. T4 command (select filament), in such case, gcode is responsible for loading
-//! filament to nozzle.
-//!
-void mmu_load_to_nozzle()
-{
-	st_synchronize();
-	
-	const bool saved_e_relative_mode = axis_relative_modes & E_AXIS_MASK;
-	if (!saved_e_relative_mode) axis_relative_modes |= E_AXIS_MASK;
-	if (ir_sensor_detected)
-	{
-		current_position[E_AXIS] += 3.0f;
-	}
-	else
-	{
-		current_position[E_AXIS] += 7.2f;
-	}
-    float feedrate = 562;
-	plan_buffer_line_curposXYZE(feedrate / 60);
-    st_synchronize();
-	current_position[E_AXIS] += 14.4f;
-	feedrate = 871;
-	plan_buffer_line_curposXYZE(feedrate / 60);
-    st_synchronize();
-	current_position[E_AXIS] += 36.0f;
-	feedrate = 1393;
-	plan_buffer_line_curposXYZE(feedrate / 60);
-    st_synchronize();
-	current_position[E_AXIS] += 14.4f;
-	feedrate = 871;
-	plan_buffer_line_curposXYZE(feedrate / 60);
-    st_synchronize();
-	if (!saved_e_relative_mode) axis_relative_modes &= ~E_AXIS_MASK;
-}
-
-void mmu_M600_wait_and_beep() {
-		//Beep and wait for user to remove old filament and prepare new filament for load
-
-		KEEPALIVE_STATE(PAUSED_FOR_USER);
-
-		int counterBeep = 0;
-		lcd_display_message_fullscreen_P(_i("Remove old filament and press the knob to start loading new filament.")); ////MSG_REMOVE_OLD_FILAMENT c=20 r=5
-		bool bFirst=true;
-
-		while (!lcd_clicked()){
-			manage_heater();
-			manage_inactivity(true);
-
-			#if BEEPER > 0
-			if (counterBeep == 500) {
-				counterBeep = 0;
-			}
-			SET_OUTPUT(BEEPER);
-			if (counterBeep == 0) {
-				if((eSoundMode==e_SOUND_MODE_BLIND)|| (eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
-				{
-					bFirst=false;
-					WRITE(BEEPER, HIGH);
-				}
-			}
-			if (counterBeep == 20) {
-				WRITE(BEEPER, LOW);
-			}
-				
-			counterBeep++;
-			#endif //BEEPER > 0
-
-			delay_keep_alive(4);
-		}
-		WRITE(BEEPER, LOW);
-}
-
-//! @brief load filament for mmu v2
-//! @par nozzle_temp nozzle temperature to load filament
-void mmu_M600_load_filament(bool automatic, float nozzle_temp)
-{ 
-    tmp_extruder = mmu_extruder;
-    if (automatic) {
-        tmp_extruder = ad_getAlternative(tmp_extruder);
-    }
-    lcd_update_enable(false);
-    lcd_clear();
-    lcd_puts_at_P(0, 1, _T(MSG_LOADING_FILAMENT));
-    lcd_print(' ');
-    lcd_print(tmp_extruder + 1);
-
-    //printf_P(PSTR("T code: %d \n"), tmp_extruder);
-    //mmu_printf_P(PSTR("T%d\n"), tmp_extruder);
-    setTargetHotend(nozzle_temp,active_extruder);
-    mmu_wait_for_heater_blocking();
-
-    mmu_command(MmuCmd::T0 + tmp_extruder);
-
-    manage_response(false, true, MMU_LOAD_MOVE);
-    mmu_continue_loading(usb_timer.running() || (lcd_commands_type == LcdCommands::Layer1Cal));
-    mmu_extruder = tmp_extruder; //filament change is finished
-
-    mmu_load_to_nozzle();
-    load_filament_final_feed();
-    st_synchronize();
-}
-
-void extr_adj(uint8_t extruder) //loading filament into the MMU unit
-{
-    MmuCmd cmd = MmuCmd::L0 + extruder;
-    if (extruder > (MmuCmd::L4 - MmuCmd::L0))
-    {
-        printf_P(PSTR("Filament out of range %d \n"),extruder);
-        return;
-    }
-    mmu_command(cmd);
-	
-	//show which filament is currently loaded
-	
-	lcd_update_enable(false);
-	lcd_clear();
-	lcd_puts_at_P(0, 1, _T(MSG_LOADING_FILAMENT));
-	//if(strlen(_T(MSG_LOADING_FILAMENT))>18) lcd.setCursor(0, 1);
-	//else lcd.print(" ");
-	lcd_print(' ');
-	lcd_print(extruder + 1);
-
-	// get response
-	manage_response(false, false);
-
-	lcd_update_enable(true);
-	
-	
-	//lcd_return_to_status();
-}
-
-struct E_step
-{
-    float extrude;   //!< extrude distance in mm
-    float feed_rate; //!< feed rate in mm/s
-};
-static const E_step ramming_sequence[] PROGMEM =
-{
-    {1.0,   1000.0/60},
-    {1.0,   1500.0/60},
-    {2.0,   2000.0/60},
-    {1.5,   3000.0/60},
-    {2.5,   4000.0/60},
-    {-15.0, 5000.0/60},
-    {-14.0, 1200.0/60},
-    {-6.0,  600.0/60},
-    {10.0,  700.0/60},
-    {-10.0, 400.0/60},
-    {-50.0, 2000.0/60},
-};
-
-//! @brief Unload sequence to optimize shape of the tip of the unloaded filament
-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_curposXYZE(pgm_read_float(&(ramming_sequence[i].feed_rate)));
-        st_synchronize();
-    }
-}
-
-
-//! @brief show which filament is currently unloaded
-void extr_unload_view()
-{
-    lcd_clear();
-    lcd_puts_at_P(0, 1, _T(MSG_UNLOADING_FILAMENT));
-    lcd_print(' ');
-    if (mmu_extruder == MMU_FILAMENT_UNKNOWN) lcd_print(' ');
-    else lcd_print(mmu_extruder + 1);
-}
-
-void extr_unload()
-{ //unload just current filament for multimaterial printers
-	if (degHotend0() > EXTRUDE_MINTEMP)
-	{
-		st_synchronize();
-
-        menu_submenu(extr_unload_view);
-
-		mmu_filament_ramming();
-
-		mmu_command(MmuCmd::U0);
-		// get response
-		manage_response(false, true, MMU_UNLOAD_MOVE);
-
-        menu_back();
-	}
-	else
-	{
-		show_preheat_nozzle_warning();
-	}
-}
-
-void load_all()
-{
-	enquecommand_P(PSTR("M701 E0"));
-	enquecommand_P(PSTR("M701 E1"));
-	enquecommand_P(PSTR("M701 E2"));
-	enquecommand_P(PSTR("M701 E3"));
-	enquecommand_P(PSTR("M701 E4"));
-}
-
-bool mmu_check_version()
-{
-	return (mmu_buildnr >= MMU_REQUIRED_FW_BUILDNR);
-}
-
-void mmu_show_warning()
-{
-	printf_P(PSTR("MMU2 firmware version invalid. Required version: build number %d or higher."), MMU_REQUIRED_FW_BUILDNR);
-	kill(_i("Please update firmware in your MMU2. Waiting for reset.")); ////MSG_UPDATE_MMU2_FW c=20 r=4
-}
-
-void lcd_mmu_load_to_nozzle(uint8_t filament_nr)
-{
-    menu_back();
-    bFilamentAction = false;                            // NOT in "mmu_load_to_nozzle_menu()"
-    if (degHotend0() > EXTRUDE_MINTEMP)
-    {
-        tmp_extruder = filament_nr;
-        lcd_update_enable(false);
-        lcd_clear();
-        lcd_puts_at_P(0, 1, _T(MSG_LOADING_FILAMENT));
-        lcd_print(' ');
-        lcd_print(tmp_extruder + 1);
-        mmu_command(MmuCmd::T0 + tmp_extruder);
-        manage_response(true, true, MMU_TCODE_MOVE);
-        mmu_continue_loading(false);
-        mmu_extruder = tmp_extruder; //filament change is finished
-        raise_z_above(MIN_Z_FOR_LOAD, false);
-        mmu_load_to_nozzle();
-        load_filament_final_feed();
-        st_synchronize();
-        custom_message_type = CustomMsg::FilamentLoading;
-        lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
-        lcd_return_to_status();
-        lcd_update_enable(true);
-        lcd_load_filament_color_check();
-        lcd_setstatuspgm(MSG_WELCOME);
-        custom_message_type = CustomMsg::Status;
-    }
-    else
-    {
-        show_preheat_nozzle_warning();
-    }
-}
-
-#ifdef MMU_HAS_CUTTER
-void mmu_cut_filament(uint8_t filament_nr)
-{
-    menu_back();
-    bFilamentAction=false;                            // NOT in "mmu_load_to_nozzle_menu()"
-    if (degHotend0() > EXTRUDE_MINTEMP)
-    {
-        LcdUpdateDisabler disableLcdUpdate;
-        lcd_clear();
-        lcd_puts_at_P(0, 1, _i("Cutting filament")); ////MSG_MMU_CUTTING_FIL c=18
-        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();
-    }
-}
-#endif //MMU_HAS_CUTTER
-
-void mmu_eject_filament(uint8_t filament, bool recover)
-{
-//-//
-bFilamentAction=false;                            // NOT in "mmu_fil_eject_menu()"
-	if (filament < 5) 
-	{
-
-		if (degHotend0() > EXTRUDE_MINTEMP)
-		{
-			st_synchronize();
-
-			{
-			    LcdUpdateDisabler disableLcdUpdate;
-                lcd_clear();
-                lcd_puts_at_P(0, 1, _i("Ejecting filament")); ////MSG_EJECTING_FILAMENT c=20
-                mmu_filament_ramming();
-                mmu_command(MmuCmd::E0 + filament);
-                manage_response(false, false, MMU_UNLOAD_MOVE);
-                if (recover)
-                {
-                    lcd_show_fullscreen_message_and_wait_P(_i("Please remove filament and then press the knob.")); ////MSG_EJECT_REMOVE c=20 r=4
-                    mmu_command(MmuCmd::R0);
-                    manage_response(false, false);
-                }
-
-            }
-		}
-		else
-		{
-			show_preheat_nozzle_warning();
-		}
-	}
-	else
-	{
-		puts_P(PSTR("Filament nr out of range!"));
-	}
-}
-
-//! @brief Fits filament tip into heatbreak?
-//!
-//! If PTFE tube is jammed, this causes filament to be unloaded and no longer
-//! being detected by the pulley IR sensor.
-//! @retval true Fits
-//! @retval false Doesn't fit
-static bool can_load()
-{
-    current_position[E_AXIS] += 60;
-    plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
-    current_position[E_AXIS] -= 52;
-    plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
-    st_synchronize();
-
-    uint_least8_t filament_detected_count = 0;
-    const float e_increment = 0.2;
-    const uint_least8_t steps = 6.0 / e_increment;
-    DEBUG_PUTS_P(PSTR("MMU can_load:"));
-    for(uint_least8_t i = 0; i < steps; ++i)
-    {
-        current_position[E_AXIS] -= e_increment;
-        plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
-        st_synchronize();
-        if(0 == READ(IR_SENSOR_PIN))
-        {
-            ++filament_detected_count;
-            DEBUG_PUTCHAR('O');
-        }
-        else
-        {
-            DEBUG_PUTCHAR('o');
-        }
-    }
-    if (filament_detected_count > steps - 4)
-    {
-        DEBUG_PUTS_P(PSTR(" succeeded."));
-        return true;
-    }
-    else
-    {
-        DEBUG_PUTS_P(PSTR(" failed."));
-        return false;
-    }
-}
-
-//! @brief load more
-//!
-//! Try to feed more filament from MMU if it is not detected by filament sensor.
-//! @retval true Success, filament detected by IR sensor
-//! @retval false Failed, filament not detected by IR sensor after maximum number of attempts
-static bool load_more()
-{
-    for (uint8_t i = 0; i < MMU_IDLER_SENSOR_ATTEMPTS_NR; i++)
-    {
-        if (READ(IR_SENSOR_PIN) == 0) return true;
-        DEBUG_PRINTF_P(PSTR("Additional load attempt nr. %d\n"), i);
-        mmu_command(MmuCmd::C0);
-        manage_response(true, true, MMU_LOAD_MOVE);
-    }
-    return false;
-}
-
-static void increment_load_fail()
-{
-    uint8_t mmu_load_fail = eeprom_read_byte((uint8_t*)EEPROM_MMU_LOAD_FAIL);
-    uint16_t mmu_load_fail_tot = eeprom_read_word((uint16_t*)EEPROM_MMU_LOAD_FAIL_TOT);
-    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);
-}
-
-//! @brief continue loading filament
-//! @par blocking
-//!  * true blocking - do not return until successful load
-//!  * false non-blocking - pause print and return on load failure
-//!
-//! @startuml
-//! [*] --> [*] : !ir_sensor_detected /\n send MmuCmd::C0
-//! [*] --> LoadMore
-//! LoadMore --> [*] : filament \ndetected
-//! LoadMore --> Retry : !filament detected /\n increment load fail
-//! Retry --> [*] : filament \ndetected
-//! Retry --> Unload : !filament \ndetected
-//! Unload --> [*] : non-blocking
-//! Unload --> Retry : button \nclicked
-//!
-//! Retry : Cut filament if enabled
-//! Retry : repeat last T-code
-//! Unload : unload filament
-//! Unload : pause print
-//! Unload : show error message
-//!
-//! @enduml
-void mmu_continue_loading(bool blocking)
-{
-	if (!ir_sensor_detected)
-	{
-	    mmu_command(MmuCmd::C0);
-	    return;
-	}
-
-    bool success = load_more();
-    if (success) success = can_load();
-
-    enum class Ls : uint_least8_t
-    {
-        Enter,
-        Retry,
-        Unload,
-    };
-    Ls state = Ls::Enter;
-
-    const uint_least8_t max_retry = 3;
-    uint_least8_t retry = 0;
-
-    while (!success)
-    {
-        switch (state)
-        {
-        case Ls::Enter:
-            increment_load_fail();
-            // FALLTHRU
-        case Ls::Retry:
-            ++retry; // overflow not handled, as it is not dangerous.
-            if (retry >= max_retry)
-            {
-                state = Ls::Unload;
-#ifdef MMU_HAS_CUTTER
-                if (1 == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
-                {
-                    mmu_command(MmuCmd::K0 + tmp_extruder);
-                    manage_response(true, true, MMU_UNLOAD_MOVE);
-                }
-#endif //MMU_HAS_CUTTER
-            }
-            mmu_command(MmuCmd::T0 + tmp_extruder);
-            manage_response(true, true, MMU_TCODE_MOVE);
-            success = load_more();
-            if (success) success = can_load();
-
-            break;
-        case Ls::Unload:
-            stop_and_save_print_to_ram(0, 0);
-            long_pause();
-
-            mmu_command(MmuCmd::U0);
-            manage_response(false, true, MMU_UNLOAD_MOVE);
-
-            setAllTargetHotends(0);
-            lcd_setstatuspgm(_i("MMU load failed"));////MSG_MMU_LOAD_FAILED c=20
-
-            if (blocking)
-            {
-                marlin_wait_for_click();
-                st_synchronize();
-                restore_print_from_ram_and_continue(0);
-                state = Ls::Retry;
-            }
-            else
-            {
-                mmu_fil_loaded = false; //so we can retry same T-code again
-                isPrintPaused = true;
-                mmu_command(MmuCmd::W0);
-                return;
-            }
-            break;
-        }
-    }
-}