/* -*- c++ -*- */
/**
* @file
*/
/**
* @mainpage Reprap 3D printer firmware based on Sprinter and grbl.
*
* @section intro_sec Introduction
*
* This firmware is a mashup between Sprinter and grbl.
* https://github.com/kliment/Sprinter
* https://github.com/simen/grbl/tree
*
* It has preliminary support for Matthew Roberts advance algorithm
* http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*
* Prusa Research s.r.o. https://www.prusa3d.cz
*
* @section copyright_sec Copyright
*
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see .
*
* @section notes_sec Notes
*
* * Do not create static objects in global functions.
* Otherwise constructor guard against concurrent calls is generated costing
* about 8B RAM and 14B flash.
*
*
*/
#include "Marlin.h"
#ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h"
#ifdef AUTO_BED_LEVELING_GRID
#include "qr_solve.h"
#endif
#endif // ENABLE_AUTO_BED_LEVELING
#ifdef MESH_BED_LEVELING
#include "mesh_bed_leveling.h"
#include "mesh_bed_calibration.h"
#endif
#include "printers.h"
#include "menu.h"
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "motion_control.h"
#include "cardreader.h"
#include "ConfigurationStore.h"
#include "language.h"
#include "pins_arduino.h"
#include "math.h"
#include "util.h"
#include "Timer.h"
#include
#include
#include "Dcodes.h"
#include "AutoDeplete.h"
#ifdef SWSPI
#include "swspi.h"
#endif //SWSPI
#include "spi.h"
#ifdef SWI2C
#include "swi2c.h"
#endif //SWI2C
#ifdef FILAMENT_SENSOR
#include "fsensor.h"
#endif //FILAMENT_SENSOR
#ifdef TMC2130
#include "tmc2130.h"
#endif //TMC2130
#ifdef W25X20CL
#include "w25x20cl.h"
#include "optiboot_w25x20cl.h"
#endif //W25X20CL
#ifdef BLINKM
#include "BlinkM.h"
#include "Wire.h"
#endif
#ifdef ULTRALCD
#include "ultralcd.h"
#endif
#if NUM_SERVOS > 0
#include "Servo.h"
#endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include
#endif
#include "mmu.h"
#define VERSION_STRING "1.0.2"
#include "ultralcd.h"
#include "sound.h"
#include "cmdqueue.h"
#include "io_atmega2560.h"
// Macros for bit masks
#define BIT(b) (1<<(b))
#define TEST(n,b) (((n)&BIT(b))!=0)
#define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
//Macro for print fan speed
#define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
#define PRINTING_TYPE_SD 0
#define PRINTING_TYPE_USB 1
#define PRINTING_TYPE_NONE 2
//filament types
#define FILAMENT_DEFAULT 0
#define FILAMENT_FLEX 1
#define FILAMENT_PVA 2
#define FILAMENT_UNDEFINED 255
//Stepper Movement Variables
//===========================================================================
//=============================imported variables============================
//===========================================================================
//===========================================================================
//=============================public variables=============================
//===========================================================================
#ifdef SDSUPPORT
CardReader card;
#endif
unsigned long PingTime = _millis();
unsigned long NcTime;
int mbl_z_probe_nr = 4; //numer of Z measurements for each point in mesh bed leveling calibration
//used for PINDA temp calibration and pause print
#define DEFAULT_RETRACTION 1
#define DEFAULT_RETRACTION_MM 4 //MM
float default_retraction = DEFAULT_RETRACTION;
float homing_feedrate[] = HOMING_FEEDRATE;
// Currently only the extruder axis may be switched to a relative mode.
// Other axes are always absolute or relative based on the common relative_mode flag.
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedmultiply=100; //100->1 200->2
int extrudemultiply=100; //100->1 200->2
int extruder_multiply[EXTRUDERS] = {100
#if EXTRUDERS > 1
, 100
#if EXTRUDERS > 2
, 100
#endif
#endif
};
int bowden_length[4] = {385, 385, 385, 385};
bool is_usb_printing = false;
bool homing_flag = false;
bool temp_cal_active = false;
unsigned long kicktime = _millis()+100000;
unsigned int usb_printing_counter;
int8_t lcd_change_fil_state = 0;
unsigned long pause_time = 0;
unsigned long start_pause_print = _millis();
unsigned long t_fan_rising_edge = _millis();
LongTimer safetyTimer;
static LongTimer crashDetTimer;
//unsigned long load_filament_time;
bool mesh_bed_leveling_flag = false;
bool mesh_bed_run_from_menu = false;
int8_t FarmMode = 0;
bool prusa_sd_card_upload = false;
unsigned int status_number = 0;
unsigned long total_filament_used;
unsigned int heating_status;
unsigned int heating_status_counter;
bool loading_flag = false;
char snmm_filaments_used = 0;
bool fan_state[2];
int fan_edge_counter[2];
int fan_speed[2];
char dir_names[3][9];
bool sortAlpha = false;
float extruder_multiplier[EXTRUDERS] = {1.0
#if EXTRUDERS > 1
, 1.0
#if EXTRUDERS > 2
, 1.0
#endif
#endif
};
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
//shortcuts for more readable code
#define _x current_position[X_AXIS]
#define _y current_position[Y_AXIS]
#define _z current_position[Z_AXIS]
#define _e current_position[E_AXIS]
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
bool axis_known_position[3] = {false, false, false};
// Extruder offset
#if EXTRUDERS > 1
#define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
#endif
};
#endif
uint8_t active_extruder = 0;
int fanSpeed=0;
#ifdef FWRETRACT
bool retracted[EXTRUDERS]={false
#if EXTRUDERS > 1
, false
#if EXTRUDERS > 2
, false
#endif
#endif
};
bool retracted_swap[EXTRUDERS]={false
#if EXTRUDERS > 1
, false
#if EXTRUDERS > 2
, false
#endif
#endif
};
float retract_length_swap = RETRACT_LENGTH_SWAP;
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
#endif
#ifdef PS_DEFAULT_OFF
bool powersupply = false;
#else
bool powersupply = true;
#endif
bool cancel_heatup = false ;
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:";
bool no_response = false;
uint8_t important_status;
uint8_t saved_filament_type;
// save/restore printing in case that mmu was not responding
bool mmu_print_saved = false;
// storing estimated time to end of print counted by slicer
uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
bool wizard_active = false; //autoload temporarily disabled during wizard
//===========================================================================
//=============================Private Variables=============================
//===========================================================================
#define MSG_BED_LEVELING_FAILED_TIMEOUT 30
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
// For tracing an arc
static float offset[3] = {0.0, 0.0, 0.0};
static float feedrate = 1500.0, next_feedrate, saved_feedrate;
// Determines Absolute or Relative Coordinates.
// Also there is bool axis_relative_modes[] per axis flag.
static bool relative_mode = false;
const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
//static float tt = 0;
//static float bt = 0;
//Inactivity shutdown variables
static unsigned long previous_millis_cmd = 0;
unsigned long max_inactive_time = 0;
static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
unsigned long starttime=0;
unsigned long stoptime=0;
unsigned long _usb_timer = 0;
bool extruder_under_pressure = true;
bool Stopped=false;
#if NUM_SERVOS > 0
Servo servos[NUM_SERVOS];
#endif
bool CooldownNoWait = true;
bool target_direction;
//Insert variables if CHDK is defined
#ifdef CHDK
unsigned long chdkHigh = 0;
boolean chdkActive = false;
#endif
//! @name RAM save/restore printing
//! @{
bool saved_printing = false; //!< Print is paused and saved in RAM
static uint32_t saved_sdpos = 0; //!< SD card position, or line number in case of USB printing
static uint8_t saved_printing_type = PRINTING_TYPE_SD;
static float saved_pos[4] = { 0, 0, 0, 0 };
//! Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
static float saved_feedrate2 = 0;
static uint8_t saved_active_extruder = 0;
static float saved_extruder_temperature = 0.0; //!< Active extruder temperature
static bool saved_extruder_under_pressure = false;
static bool saved_extruder_relative_mode = false;
static int saved_fanSpeed = 0; //!< Print fan speed
//! @}
static int saved_feedmultiply_mm = 100;
//===========================================================================
//=============================Routines======================================
//===========================================================================
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;
void serial_echopair_P(const char *s_P, float v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char *s_P, double v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char *s_P, unsigned long v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
#ifdef SDSUPPORT
#include "SdFatUtil.h"
int freeMemory() { return SdFatUtil::FreeRam(); }
#else
extern "C" {
extern unsigned int __bss_end;
extern unsigned int __heap_start;
extern void *__brkval;
int freeMemory() {
int free_memory;
if ((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
}
}
#endif //!SDSUPPORT
void setup_killpin()
{
#if defined(KILL_PIN) && KILL_PIN > -1
SET_INPUT(KILL_PIN);
WRITE(KILL_PIN,HIGH);
#endif
}
// Set home pin
void setup_homepin(void)
{
#if defined(HOME_PIN) && HOME_PIN > -1
SET_INPUT(HOME_PIN);
WRITE(HOME_PIN,HIGH);
#endif
}
void setup_photpin()
{
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
SET_OUTPUT(PHOTOGRAPH_PIN);
WRITE(PHOTOGRAPH_PIN, LOW);
#endif
}
void setup_powerhold()
{
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN);
#if defined(PS_DEFAULT_OFF)
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#else
WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
#endif
}
void suicide()
{
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, LOW);
#endif
}
void servo_init()
{
#if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
servos[0].attach(SERVO0_PIN);
#endif
#if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
servos[1].attach(SERVO1_PIN);
#endif
#if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
servos[2].attach(SERVO2_PIN);
#endif
#if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
servos[3].attach(SERVO3_PIN);
#endif
#if (NUM_SERVOS >= 5)
#error "TODO: enter initalisation code for more servos"
#endif
}
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
}
void crashdet_restore_print_and_continue()
{
restore_print_from_ram_and_continue(default_retraction); //XYZ = orig, E +1mm unretract
// babystep_apply();
}
void crashdet_stop_and_save_print2()
{
cli();
planner_abort_hard(); //abort printing
cmdqueue_reset(); //empty cmdqueue
card.sdprinting = false;
card.closefile();
// Reset and re-enable the stepper timer just before the global interrupts are enabled.
st_reset_timer();
sei();
}
void crashdet_detected(uint8_t mask)
{
st_synchronize();
static uint8_t crashDet_counter = 0;
bool automatic_recovery_after_crash = true;
if (crashDet_counter++ == 0) {
crashDetTimer.start();
}
else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
crashDetTimer.stop();
crashDet_counter = 0;
}
else if(crashDet_counter == CRASHDET_COUNTER_MAX){
automatic_recovery_after_crash = false;
crashDetTimer.stop();
crashDet_counter = 0;
}
else {
crashDetTimer.start();
}
lcd_update_enable(true);
lcd_clear();
lcd_update(2);
if (mask & X_AXIS_MASK)
{
eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
}
if (mask & Y_AXIS_MASK)
{
eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
}
lcd_update_enable(true);
lcd_update(2);
lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
gcode_G28(true, true, false); //home X and Y
st_synchronize();
if (automatic_recovery_after_crash) {
enquecommand_P(PSTR("CRASH_RECOVER"));
}else{
setTargetHotend(0, active_extruder);
bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
lcd_update_enable(true);
if (yesno)
{
enquecommand_P(PSTR("CRASH_RECOVER"));
}
else
{
enquecommand_P(PSTR("CRASH_CANCEL"));
}
}
}
void crashdet_recover()
{
crashdet_restore_print_and_continue();
tmc2130_sg_stop_on_crash = true;
}
void crashdet_cancel()
{
saved_printing = false;
tmc2130_sg_stop_on_crash = true;
if (saved_printing_type == PRINTING_TYPE_SD) {
lcd_print_stop();
}else if(saved_printing_type == PRINTING_TYPE_USB){
SERIAL_ECHOLNPGM("// action:cancel"); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
SERIAL_PROTOCOLLNRPGM(MSG_OK);
}
}
#endif //TMC2130
void failstats_reset_print()
{
eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
}
#ifdef MESH_BED_LEVELING
enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
#endif
// Factory reset function
// This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
// Level input parameter sets depth of reset
int er_progress = 0;
static void factory_reset(char level)
{
lcd_clear();
switch (level) {
// Level 0: Language reset
case 0:
if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
WRITE(BEEPER, HIGH);
_delay_ms(100);
WRITE(BEEPER, LOW);
lang_reset();
break;
//Level 1: Reset statistics
case 1:
if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
WRITE(BEEPER, HIGH);
_delay_ms(100);
WRITE(BEEPER, LOW);
eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
lcd_menu_statistics();
break;
// Level 2: Prepare for shipping
case 2:
//lcd_puts_P(PSTR("Factory RESET"));
//lcd_puts_at_P(1,2,PSTR("Shipping prep"));
// Force language selection at the next boot up.
lang_reset();
// Force the "Follow calibration flow" message at the next boot up.
calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
farm_no = 0;
farm_mode = false;
eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
#ifdef FILAMENT_SENSOR
fsensor_enable();
fsensor_autoload_set(true);
#endif //FILAMENT_SENSOR
if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
WRITE(BEEPER, HIGH);
_delay_ms(100);
WRITE(BEEPER, LOW);
//_delay_ms(2000);
break;
// Level 3: erase everything, whole EEPROM will be set to 0xFF
case 3:
lcd_puts_P(PSTR("Factory RESET"));
lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
WRITE(BEEPER, HIGH);
_delay_ms(100);
WRITE(BEEPER, LOW);
er_progress = 0;
lcd_puts_at_P(3, 3, PSTR(" "));
lcd_set_cursor(3, 3);
lcd_print(er_progress);
// Erase EEPROM
for (int i = 0; i < 4096; i++) {
eeprom_update_byte((uint8_t*)i, 0xFF);
if (i % 41 == 0) {
er_progress++;
lcd_puts_at_P(3, 3, PSTR(" "));
lcd_set_cursor(3, 3);
lcd_print(er_progress);
lcd_puts_P(PSTR("%"));
}
}
break;
case 4:
bowden_menu();
break;
default:
break;
}
}
extern "C" {
FILE _uartout; //= {0}; Global variable is always zero initialized. No need to explicitly state this.
}
int uart_putchar(char c, FILE *)
{
MYSERIAL.write(c);
return 0;
}
void lcd_splash()
{
// lcd_puts_at_P(0, 1, PSTR(" Original Prusa "));
// lcd_puts_at_P(0, 2, PSTR(" 3D Printers "));
// lcd_puts_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
// fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
lcd_puts_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"));
// lcd_printf_P(_N(ESC_2J "x:%.3f\ny:%.3f\nz:%.3f\ne:%.3f"), _x, _y, _z, _e);
}
void factory_reset()
{
KEEPALIVE_STATE(PAUSED_FOR_USER);
if (!READ(BTN_ENC))
{
_delay_ms(1000);
if (!READ(BTN_ENC))
{
lcd_clear();
lcd_puts_P(PSTR("Factory RESET"));
SET_OUTPUT(BEEPER);
if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
WRITE(BEEPER, HIGH);
while (!READ(BTN_ENC));
WRITE(BEEPER, LOW);
_delay_ms(2000);
char level = reset_menu();
factory_reset(level);
switch (level) {
case 0: _delay_ms(0); break;
case 1: _delay_ms(0); break;
case 2: _delay_ms(0); break;
case 3: _delay_ms(0); break;
}
}
}
KEEPALIVE_STATE(IN_HANDLER);
}
void show_fw_version_warnings() {
if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
switch (FW_DEV_VERSION) {
case(FW_VERSION_ALPHA): lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage.")); break;////MSG_FW_VERSION_ALPHA c=20 r=8
case(FW_VERSION_BETA): lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage.")); break;////MSG_FW_VERSION_BETA c=20 r=8
case(FW_VERSION_DEVEL):
case(FW_VERSION_DEBUG):
lcd_update_enable(false);
lcd_clear();
#if FW_DEV_VERSION == FW_VERSION_DEVEL
lcd_puts_at_P(0, 0, PSTR("Development build !!"));
#else
lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
#endif
lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
lcd_wait_for_click();
break;
// default: lcd_show_fullscreen_message_and_wait_P(_i("WARNING: This is an unofficial, unsupported build. Use at your own risk!")); break;////MSG_FW_VERSION_UNKNOWN c=20 r=8
}
lcd_update_enable(true);
}
uint8_t check_printer_version()
{
uint8_t version_changed = 0;
uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
if (printer_type != PRINTER_TYPE) {
if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
else version_changed |= 0b10;
}
if (motherboard != MOTHERBOARD) {
if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
else version_changed |= 0b01;
}
return version_changed;
}
#ifdef BOOTAPP
#include "bootapp.h" //bootloader support
#endif //BOOTAPP
#if (LANG_MODE != 0) //secondary language support
#ifdef W25X20CL
// language update from external flash
#define LANGBOOT_BLOCKSIZE 0x1000u
#define LANGBOOT_RAMBUFFER 0x0800
void update_sec_lang_from_external_flash()
{
if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
{
uint8_t lang = boot_reserved >> 4;
uint8_t state = boot_reserved & 0xf;
lang_table_header_t header;
uint32_t src_addr;
if (lang_get_header(lang, &header, &src_addr))
{
fputs_P(PSTR(ESC_H(1,3) "Language update."), lcdout);
for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
_delay(100);
boot_reserved = (state + 1) | (lang << 4);
if ((state * LANGBOOT_BLOCKSIZE) < header.size)
{
cli();
uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
if (state == 0)
{
//TODO - check header integrity
}
bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
}
else
{
//TODO - check sec lang data integrity
eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
}
}
}
boot_app_flags &= ~BOOT_APP_FLG_USER0;
}
#ifdef DEBUG_W25X20CL
uint8_t lang_xflash_enum_codes(uint16_t* codes)
{
lang_table_header_t header;
uint8_t count = 0;
uint32_t addr = 0x00000;
while (1)
{
printf_P(_n("LANGTABLE%d:"), count);
w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
if (header.magic != LANG_MAGIC)
{
printf_P(_n("NG!\n"));
break;
}
printf_P(_n("OK\n"));
printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
addr += header.size;
codes[count] = header.code;
count ++;
}
return count;
}
void list_sec_lang_from_external_flash()
{
uint16_t codes[8];
uint8_t count = lang_xflash_enum_codes(codes);
printf_P(_n("XFlash lang count = %hhd\n"), count);
}
#endif //DEBUG_W25X20CL
#endif //W25X20CL
#endif //(LANG_MODE != 0)
// "Setup" function is called by the Arduino framework on startup.
// Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
// are initialized by the main() routine provided by the Arduino framework.
void setup()
{
mmu_init();
ultralcd_init();
#if (LCD_BL_PIN != -1) && defined (LCD_BL_PIN)
analogWrite(LCD_BL_PIN, 255); //set full brightnes
#endif //(LCD_BL_PIN != -1) && defined (LCD_BL_PIN)
spi_init();
lcd_splash();
Sound_Init(); // also guarantee "SET_OUTPUT(BEEPER)"
#ifdef W25X20CL
if (!w25x20cl_init())
kill(_i("External SPI flash W25X20CL not responding."));
// Enter an STK500 compatible Optiboot boot loader waiting for flashing the languages to an external flash memory.
optiboot_w25x20cl_enter();
#endif
#if (LANG_MODE != 0) //secondary language support
#ifdef W25X20CL
if (w25x20cl_init())
update_sec_lang_from_external_flash();
#endif //W25X20CL
#endif //(LANG_MODE != 0)
setup_killpin();
setup_powerhold();
farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
if (farm_mode)
{
no_response = true; //we need confirmation by recieving PRUSA thx
important_status = 8;
prusa_statistics(8);
selectedSerialPort = 1;
#ifdef TMC2130
//increased extruder current (PFW363)
tmc2130_current_h[E_AXIS] = 36;
tmc2130_current_r[E_AXIS] = 36;
#endif //TMC2130
#ifdef FILAMENT_SENSOR
//disabled filament autoload (PFW360)
fsensor_autoload_set(false);
#endif //FILAMENT_SENSOR
}
MYSERIAL.begin(BAUDRATE);
fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
#ifndef W25X20CL
SERIAL_PROTOCOLLNPGM("start");
#endif //W25X20CL
stdout = uartout;
SERIAL_ECHO_START;
printf_P(PSTR(" " FW_VERSION_FULL "\n"));
#ifdef DEBUG_SEC_LANG
lang_table_header_t header;
uint32_t src_addr = 0x00000;
if (lang_get_header(1, &header, &src_addr))
{
//this is comparsion of some printing-methods regarding to flash space usage and code size/readability
#define LT_PRINT_TEST 2
// flash usage
// total p.test
//0 252718 t+c text code
//1 253142 424 170 254
//2 253040 322 164 158
//3 253248 530 135 395
#if (LT_PRINT_TEST==1) //not optimized printf
printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
#elif (LT_PRINT_TEST==2) //optimized printf
printf_P(
_n(
" _src_addr = 0x%08lx\n"
" _lt_magic = 0x%08lx %S\n"
" _lt_size = 0x%04x (%d)\n"
" _lt_count = 0x%04x (%d)\n"
" _lt_chsum = 0x%04x\n"
" _lt_code = 0x%04x (%c%c)\n"
" _lt_resv1 = 0x%08lx\n"
),
src_addr,
header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
header.size, header.size,
header.count, header.count,
header.checksum,
header.code, header.code >> 8, header.code & 0xff,
header.signature
);
#elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
MYSERIAL.print(" _src_addr = 0x");
MYSERIAL.println(src_addr, 16);
MYSERIAL.print(" _lt_magic = 0x");
MYSERIAL.print(header.magic, 16);
MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
MYSERIAL.print(" _lt_size = 0x");
MYSERIAL.print(header.size, 16);
MYSERIAL.print(" (");
MYSERIAL.print(header.size, 10);
MYSERIAL.println(")");
MYSERIAL.print(" _lt_count = 0x");
MYSERIAL.print(header.count, 16);
MYSERIAL.print(" (");
MYSERIAL.print(header.count, 10);
MYSERIAL.println(")");
MYSERIAL.print(" _lt_chsum = 0x");
MYSERIAL.println(header.checksum, 16);
MYSERIAL.print(" _lt_code = 0x");
MYSERIAL.print(header.code, 16);
MYSERIAL.print(" (");
MYSERIAL.print((char)(header.code >> 8), 0);
MYSERIAL.print((char)(header.code & 0xff), 0);
MYSERIAL.println(")");
MYSERIAL.print(" _lt_resv1 = 0x");
MYSERIAL.println(header.signature, 16);
#endif //(LT_PRINT_TEST==)
#undef LT_PRINT_TEST
#if 0
w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
for (uint16_t i = 0; i < 1024; i++)
{
if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
if ((i % 16) == 15) putchar('\n');
}
#endif
uint16_t sum = 0;
for (uint16_t i = 0; i < header.size; i++)
sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
sum -= header.checksum; //subtract checksum
printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
if (sum == header.checksum)
printf_P(_n("Checksum OK\n"), sum);
else
printf_P(_n("Checksum NG\n"), sum);
}
else
printf_P(_n("lang_get_header failed!\n"));
#if 0
for (uint16_t i = 0; i < 1024*10; i++)
{
if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
if ((i % 16) == 15) putchar('\n');
}
#endif
#if 0
SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
for (int i = 0; i < 4096; ++i) {
int b = eeprom_read_byte((unsigned char*)i);
if (b != 255) {
SERIAL_ECHO(i);
SERIAL_ECHO(":");
SERIAL_ECHO(b);
SERIAL_ECHOLN("");
}
}
SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
#endif
#endif //DEBUG_SEC_LANG
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR;
/* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
if (mcu & 1) puts_P(MSG_POWERUP);
if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
MCUSR = 0;
//SERIAL_ECHORPGM(MSG_MARLIN);
//SERIAL_ECHOLNRPGM(VERSION_STRING);
#ifdef STRING_VERSION_CONFIG_H
#ifdef STRING_CONFIG_H_AUTHOR
SERIAL_ECHO_START;
SERIAL_ECHORPGM(_n(" Last Updated: "));////MSG_CONFIGURATION_VER c=0 r=0
SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR c=0 r=0
SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
SERIAL_ECHOPGM("Compiled: ");
SERIAL_ECHOLNPGM(__DATE__);
#endif
#endif
SERIAL_ECHO_START;
SERIAL_ECHORPGM(_n(" Free Memory: "));////MSG_FREE_MEMORY c=0 r=0
SERIAL_ECHO(freeMemory());
SERIAL_ECHORPGM(_n(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES c=0 r=0
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
//lcd_update_enable(false); // why do we need this?? - andre
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
bool previous_settings_retrieved = false;
uint8_t hw_changed = check_printer_version();
if (!(hw_changed & 0b10)) { //if printer version wasn't changed, check for eeprom version and retrieve settings from eeprom in case that version wasn't changed
previous_settings_retrieved = Config_RetrieveSettings();
}
else { //printer version was changed so use default settings
Config_ResetDefault();
}
SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
tp_init(); // Initialize temperature loop
lcd_splash(); // we need to do this again, because tp_init() kills lcd
plan_init(); // Initialize planner;
factory_reset();
lcd_encoder_diff=0;
#ifdef TMC2130
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)
{
crashdet_enable();
puts_P(_N("CrashDetect ENABLED!"));
}
else
{
crashdet_disable();
puts_P(_N("CrashDetect DISABLED"));
}
#ifdef TMC2130_LINEARITY_CORRECTION
#ifdef TMC2130_LINEARITY_CORRECTION_XYZ
tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
#endif //TMC2130_LINEARITY_CORRECTION_XYZ
tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
#endif //TMC2130_LINEARITY_CORRECTION
#ifdef TMC2130_VARIABLE_RESOLUTION
tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
#else //TMC2130_VARIABLE_RESOLUTION
tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
#endif //TMC2130_VARIABLE_RESOLUTION
#endif //TMC2130
st_init(); // Initialize stepper, this enables interrupts!
#ifdef TMC2130
tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
update_mode_profile();
tmc2130_init();
#endif //TMC2130
setup_photpin();
servo_init();
// Reset the machine correction matrix.
// It does not make sense to load the correction matrix until the machine is homed.
world2machine_reset();
#ifdef FILAMENT_SENSOR
fsensor_init();
#endif //FILAMENT_SENSOR
#if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
setup_homepin();
#ifdef TMC2130
if (1) {
// try to run to zero phase before powering the Z motor.
// Move in negative direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
// Round the current micro-micro steps to micro steps.
for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
// Until the phase counter is reset to zero.
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
_delay(2);
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
_delay(2);
}
}
#endif //TMC2130
#if defined(Z_AXIS_ALWAYS_ON)
enable_z();
#endif
farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == static_cast(0xFFFF))) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
if (farm_no == static_cast(0xFFFF)) farm_no = 0;
if (farm_mode)
{
prusa_statistics(8);
}
// Enable Toshiba FlashAir SD card / WiFi enahanced card.
card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
// Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
// where all the EEPROM entries are set to 0x0ff.
// Once a firmware boots up, it forces at least a language selection, which changes
// EEPROM_LANG to number lower than 0x0ff.
// 1) Set a high power mode.
#ifdef TMC2130
eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
tmc2130_mode = TMC2130_MODE_NORMAL;
#endif //TMC2130
eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
}
// Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
// but this times out if a blocking dialog is shown in setup().
card.initsd();
#ifdef DEBUG_SD_SPEED_TEST
if (card.cardOK)
{
uint8_t* buff = (uint8_t*)block_buffer;
uint32_t block = 0;
uint32_t sumr = 0;
uint32_t sumw = 0;
for (int i = 0; i < 1024; i++)
{
uint32_t u = _micros();
bool res = card.card.readBlock(i, buff);
u = _micros() - u;
if (res)
{
printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
sumr += u;
u = _micros();
res = card.card.writeBlock(i, buff);
u = _micros() - u;
if (res)
{
printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
sumw += u;
}
else
{
printf_P(PSTR("writeBlock %4d error\n"), i);
break;
}
}
else
{
printf_P(PSTR("readBlock %4d error\n"), i);
break;
}
}
uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
}
else
printf_P(PSTR("Card NG!\n"));
#endif //DEBUG_SD_SPEED_TEST
if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
if (eeprom_read_word((uint16_t*)EEPROM_MMU_FAIL_TOT) == 0xffff) eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
if (eeprom_read_word((uint16_t*)EEPROM_MMU_LOAD_FAIL_TOT) == 0xffff) eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
if (eeprom_read_byte((uint8_t*)EEPROM_MMU_FAIL) == 0xff) eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
if (eeprom_read_byte((uint8_t*)EEPROM_MMU_LOAD_FAIL) == 0xff) eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
#ifdef SNMM
if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
int _z = BOWDEN_LENGTH;
for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
}
#endif
// In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
// If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
// is being written into the EEPROM, so the update procedure will be triggered only once.
#if (LANG_MODE != 0) //secondary language support
#ifdef DEBUG_W25X20CL
W25X20CL_SPI_ENTER();
uint8_t uid[8]; // 64bit unique id
w25x20cl_rd_uid(uid);
puts_P(_n("W25X20CL UID="));
for (uint8_t i = 0; i < 8; i ++)
printf_P(PSTR("%02hhx"), uid[i]);
putchar('\n');
list_sec_lang_from_external_flash();
#endif //DEBUG_W25X20CL
// lang_reset();
if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
lcd_language();
#ifdef DEBUG_SEC_LANG
uint16_t sec_lang_code = lang_get_code(1);
uint16_t ui = _SEC_LANG_TABLE; //table pointer
printf_P(_n("lang_selected=%d\nlang_table=0x%04x\nSEC_LANG_CODE=0x%04x (%c%c)\n"), lang_selected, ui, sec_lang_code, sec_lang_code >> 8, sec_lang_code & 0xff);
lang_print_sec_lang(uartout);
#endif //DEBUG_SEC_LANG
#endif //(LANG_MODE != 0)
if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
temp_cal_active = false;
} else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
//eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
int16_t z_shift = 0;
for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
temp_cal_active = false;
}
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
}
if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
}
//mbl_mode_init();
mbl_settings_init();
check_babystep(); //checking if Z babystep is in allowed range
#ifdef UVLO_SUPPORT
setup_uvlo_interrupt();
#endif //UVLO_SUPPORT
#if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
setup_fan_interrupt();
#endif //DEBUG_DISABLE_FANCHECK
#ifdef PAT9125
fsensor_setup_interrupt();
#endif //PAT9125
for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
#ifndef DEBUG_DISABLE_STARTMSGS
KEEPALIVE_STATE(PAUSED_FOR_USER);
show_fw_version_warnings();
switch (hw_changed) {
//if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
//if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
case(0b01):
lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
break;
case(0b10):
lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
break;
case(0b11):
lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
break;
default: break; //no change, show no message
}
if (!previous_settings_retrieved) {
lcd_show_fullscreen_message_and_wait_P(_i("Old settings found. Default PID, Esteps etc. will be set.")); //if EEPROM version or printer type was changed, inform user that default setting were loaded////MSG_DEFAULT_SETTINGS_LOADED c=20 r=4
Config_StoreSettings();
}
if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
lcd_wizard(WizState::Run);
}
if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
// Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
// Show the message.
lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
}
else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
// Show the message.
lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
lcd_update_enable(true);
}
else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
//lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
lcd_update_enable(true);
}
else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
// Show the message.
lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_Z_CALIBRATION_FLOW));
}
}
#if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
update_current_firmware_version_to_eeprom();
lcd_selftest();
}
#endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
KEEPALIVE_STATE(IN_PROCESS);
#endif //DEBUG_DISABLE_STARTMSGS
lcd_update_enable(true);
lcd_clear();
lcd_update(2);
// Store the currently running firmware into an eeprom,
// so the next time the firmware gets updated, it will know from which version it has been updated.
update_current_firmware_version_to_eeprom();
#ifdef TMC2130
tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
#endif //TMC2130
#ifdef UVLO_SUPPORT
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != 0) { //previous print was terminated by UVLO
/*
if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
else {
eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
lcd_update_enable(true);
lcd_update(2);
lcd_setstatuspgm(_T(WELCOME_MSG));
}
*/
manage_heater(); // Update temperatures
#ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
printf_P(_N("Power panic detected!\nCurrent bed temp:%d\nSaved bed temp:%d\n"), (int)degBed(), eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED));
#endif
if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
#ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
puts_P(_N("Automatic recovery!"));
#endif
recover_print(1);
}
else{
#ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
puts_P(_N("Normal recovery!"));
#endif
if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
else {
eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
lcd_update_enable(true);
lcd_update(2);
lcd_setstatuspgm(_T(WELCOME_MSG));
}
}
}
#endif //UVLO_SUPPORT
KEEPALIVE_STATE(NOT_BUSY);
#ifdef WATCHDOG
wdt_enable(WDTO_4S);
#endif //WATCHDOG
}
void trace();
#define CHUNK_SIZE 64 // bytes
#define SAFETY_MARGIN 1
char chunk[CHUNK_SIZE+SAFETY_MARGIN];
int chunkHead = 0;
void serial_read_stream() {
setAllTargetHotends(0);
setTargetBed(0);
lcd_clear();
lcd_puts_P(PSTR(" Upload in progress"));
// first wait for how many bytes we will receive
uint32_t bytesToReceive;
// receive the four bytes
char bytesToReceiveBuffer[4];
for (int i=0; i<4; i++) {
int data;
while ((data = MYSERIAL.read()) == -1) {};
bytesToReceiveBuffer[i] = data;
}
// make it a uint32
memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
// we're ready, notify the sender
MYSERIAL.write('+');
// lock in the routine
uint32_t receivedBytes = 0;
while (prusa_sd_card_upload) {
int i;
for (i=0; i 0) && ((_millis()-_usb_timer) > 1000))
{
is_usb_printing = true;
usb_printing_counter--;
_usb_timer = _millis();
}
if (usb_printing_counter == 0)
{
is_usb_printing = false;
}
if (prusa_sd_card_upload)
{
//we read byte-by byte
serial_read_stream();
} else
{
get_command();
#ifdef SDSUPPORT
card.checkautostart(false);
#endif
if(buflen)
{
cmdbuffer_front_already_processed = false;
#ifdef SDSUPPORT
if(card.saving)
{
// Saving a G-code file onto an SD-card is in progress.
// Saving starts with M28, saving until M29 is seen.
if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
card.write_command(CMDBUFFER_CURRENT_STRING);
if(card.logging)
process_commands();
else
SERIAL_PROTOCOLLNRPGM(MSG_OK);
} else {
card.closefile();
SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
}
} else {
process_commands();
}
#else
process_commands();
#endif //SDSUPPORT
if (! cmdbuffer_front_already_processed && buflen)
{
// ptr points to the start of the block currently being processed.
// The first character in the block is the block type.
char *ptr = cmdbuffer + bufindr;
if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
// To support power panic, move the lenght of the command on the SD card to a planner buffer.
union {
struct {
char lo;
char hi;
} lohi;
uint16_t value;
} sdlen;
sdlen.value = 0;
{
// This block locks the interrupts globally for 3.25 us,
// which corresponds to a maximum repeat frequency of 307.69 kHz.
// This blocking is safe in the context of a 10kHz stepper driver interrupt
// or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
cli();
// Reset the command to something, which will be ignored by the power panic routine,
// so this buffer length will not be counted twice.
*ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
// Extract the current buffer length.
sdlen.lohi.lo = *ptr ++;
sdlen.lohi.hi = *ptr;
// and pass it to the planner queue.
planner_add_sd_length(sdlen.value);
sei();
}
}
else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
cli();
*ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
// and one for each command to previous block in the planner queue.
planner_add_sd_length(1);
sei();
}
// Now it is safe to release the already processed command block. If interrupted by the power panic now,
// this block's SD card length will not be counted twice as its command type has been replaced
// by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
cmdqueue_pop_front();
}
host_keepalive();
}
}
//check heater every n milliseconds
manage_heater();
isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
checkHitEndstops();
lcd_update(0);
#ifdef TMC2130
tmc2130_check_overtemp();
if (tmc2130_sg_crash)
{
uint8_t crash = tmc2130_sg_crash;
tmc2130_sg_crash = 0;
// crashdet_stop_and_save_print();
switch (crash)
{
case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
}
}
#endif //TMC2130
mmu_loop();
}
#define DEFINE_PGM_READ_ANY(type, reader) \
static inline type pgm_read_any(const type *p) \
{ return pgm_read_##reader##_near(p); }
DEFINE_PGM_READ_ANY(float, float);
DEFINE_PGM_READ_ANY(signed char, byte);
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[3] = \
{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
static inline type array(int axis) \
{ return pgm_read_any(&array##_P[axis]); } \
type array##_ext(int axis) \
{ return pgm_read_any(&array##_P[axis]); }
XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
static void axis_is_at_home(int axis) {
current_position[axis] = base_home_pos(axis) + cs.add_homing[axis];
min_pos[axis] = base_min_pos(axis) + cs.add_homing[axis];
max_pos[axis] = base_max_pos(axis) + cs.add_homing[axis];
}
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
//! @return original feedmultiply
static int setup_for_endstop_move(bool enable_endstops_now = true) {
saved_feedrate = feedrate;
int l_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = _millis();
enable_endstops(enable_endstops_now);
return l_feedmultiply;
}
//! @param original_feedmultiply feedmultiply to restore
static void clean_up_after_endstop_move(int original_feedmultiply) {
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedmultiply = original_feedmultiply;
previous_millis_cmd = _millis();
}
#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
{
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
planeNormal.debug("planeNormal");
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
//bedLevel.debug("bedLevel");
//plan_bed_level_matrix.debug("bed level before");
//vector_3 uncorrected_position = plan_get_position_mm();
//uncorrected_position.debug("position before");
vector_3 corrected_position = plan_get_position();
// corrected_position.debug("position after");
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
// put the bed at 0 so we don't go below it.
current_position[Z_AXIS] = cs.zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#else // not AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
plan_bed_level_matrix.set_to_identity();
vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
vector_3 corrected_position = plan_get_position();
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
// put the bed at 0 so we don't go below it.
current_position[Z_AXIS] = cs.zprobe_zoffset;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#endif // AUTO_BED_LEVELING_GRID
static void run_z_probe() {
plan_bed_level_matrix.set_to_identity();
feedrate = homing_feedrate[Z_AXIS];
// move down until you find the bed
float zPosition = -10;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
// we have to let the planner know where we are right now as it is not where we said to go.
zPosition = st_get_position_mm(Z_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
// move up the retract distance
zPosition += home_retract_mm(Z_AXIS);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
// move back down slowly to find bed
feedrate = homing_feedrate[Z_AXIS]/4;
zPosition -= home_retract_mm(Z_AXIS) * 2;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
// make sure the planner knows where we are as it may be a bit different than we last said to move to
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
static void do_blocking_move_to(float x, float y, float z) {
float oldFeedRate = feedrate;
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);
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);
st_synchronize();
feedrate = oldFeedRate;
}
static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
}
/// Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before) {
// move to right place
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
run_z_probe();
float measured_z = current_position[Z_AXIS];
SERIAL_PROTOCOLRPGM(_T(MSG_BED));
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL(x);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(measured_z);
SERIAL_PROTOCOLPGM("\n");
return measured_z;
}
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
#ifdef LIN_ADVANCE
/**
* M900: Set and/or Get advance K factor and WH/D ratio
*
* K Set advance K factor
* R Set ratio directly (overrides WH/D)
* W H D Set ratio from WH/D
*/
inline void gcode_M900() {
st_synchronize();
const float newK = code_seen('K') ? code_value_float() : -1;
if (newK >= 0) extruder_advance_k = newK;
float newR = code_seen('R') ? code_value_float() : -1;
if (newR < 0) {
const float newD = code_seen('D') ? code_value_float() : -1,
newW = code_seen('W') ? code_value_float() : -1,
newH = code_seen('H') ? code_value_float() : -1;
if (newD >= 0 && newW >= 0 && newH >= 0)
newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
}
if (newR >= 0) advance_ed_ratio = newR;
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Advance K=");
SERIAL_ECHOLN(extruder_advance_k);
SERIAL_ECHOPGM(" E/D=");
const float ratio = advance_ed_ratio;
if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
}
#endif // LIN_ADVANCE
bool check_commands() {
bool end_command_found = false;
while (buflen)
{
if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
if (!cmdbuffer_front_already_processed)
cmdqueue_pop_front();
cmdbuffer_front_already_processed = false;
}
return end_command_found;
}
#ifdef TMC2130
bool calibrate_z_auto()
{
//lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
lcd_clear();
lcd_puts_at_P(0, 1, _T(MSG_CALIBRATE_Z_AUTO));
bool endstops_enabled = enable_endstops(true);
int axis_up_dir = -home_dir(Z_AXIS);
tmc2130_home_enter(Z_AXIS_MASK);
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
set_destination_to_current();
destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
feedrate = homing_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
// current_position[axis] = 0;
// plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
tmc2130_home_exit();
enable_endstops(false);
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
set_destination_to_current();
destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
feedrate = homing_feedrate[Z_AXIS] / 2;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate / 60, active_extruder);
st_synchronize();
enable_endstops(endstops_enabled);
if (PRINTER_TYPE == PRINTER_MK3) {
current_position[Z_AXIS] = Z_MAX_POS + 2.0;
}
else {
current_position[Z_AXIS] = Z_MAX_POS + 9.0;
}
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
return true;
}
#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) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
{
int axis_home_dir = home_dir(axis);
feedrate = homing_feedrate[axis];
#ifdef TMC2130
tmc2130_home_enter(X_AXIS_MASK << axis);
#endif //TMC2130
// Move away a bit, so that the print head does not touch the end position,
// and the following movement to endstop has a chance to achieve the required velocity
// for the stall guard to work.
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
set_destination_to_current();
// destination[axis] = 11.f;
destination[axis] = -3.f * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
// Move away from the possible collision with opposite endstop with the collision detection disabled.
endstops_hit_on_purpose();
enable_endstops(false);
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 1. * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
// Now continue to move up to the left end stop with the collision detection enabled.
enable_endstops(true);
destination[axis] = 1.1 * axis_home_dir * max_length(axis);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
for (uint8_t i = 0; i < cnt; i++)
{
// Move away from the collision to a known distance from the left end stop with the collision detection disabled.
endstops_hit_on_purpose();
enable_endstops(false);
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = -10.f * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
endstops_hit_on_purpose();
// Now move left up to the collision, this time with a repeatable velocity.
enable_endstops(true);
destination[axis] = 11.f * axis_home_dir;
#ifdef TMC2130
feedrate = homing_feedrate[axis];
#else //TMC2130
feedrate = homing_feedrate[axis] / 2;
#endif //TMC2130
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
#ifdef TMC2130
uint16_t mscnt = tmc2130_rd_MSCNT(axis);
if (pstep) pstep[i] = mscnt >> 4;
printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
#endif //TMC2130
}
endstops_hit_on_purpose();
enable_endstops(false);
#ifdef TMC2130
uint8_t orig = tmc2130_home_origin[axis];
uint8_t back = tmc2130_home_bsteps[axis];
if (tmc2130_home_enabled && (orig <= 63))
{
tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
if (back > 0)
tmc2130_do_steps(axis, back, -axis_home_dir, 1000);
}
else
tmc2130_do_steps(axis, 8, -axis_home_dir, 1000);
tmc2130_home_exit();
#endif //TMC2130
axis_is_at_home(axis);
axis_known_position[axis] = true;
// Move from minimum
#ifdef TMC2130
float dist = - axis_home_dir * 0.01f * tmc2130_home_fsteps[axis];
#else //TMC2130
float dist = - axis_home_dir * 0.01f * 64;
#endif //TMC2130
current_position[axis] -= dist;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
current_position[axis] += dist;
destination[axis] = current_position[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
st_synchronize();
feedrate = 0.0;
}
else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
{
#ifdef TMC2130
FORCE_HIGH_POWER_START;
#endif
int axis_home_dir = home_dir(axis);
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
#ifdef TMC2130
if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
FORCE_HIGH_POWER_END;
kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
return;
}
#endif //TMC2130
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = -home_retract_mm(axis) * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
feedrate = homing_feedrate[axis]/2 ;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
#ifdef TMC2130
if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
FORCE_HIGH_POWER_END;
kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
return;
}
#endif //TMC2130
axis_is_at_home(axis);
destination[axis] = current_position[axis];
feedrate = 0.0;
endstops_hit_on_purpose();
axis_known_position[axis] = true;
#ifdef TMC2130
FORCE_HIGH_POWER_END;
#endif
}
enable_endstops(endstops_enabled);
}
/**/
void home_xy()
{
set_destination_to_current();
homeaxis(X_AXIS);
homeaxis(Y_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
endstops_hit_on_purpose();
}
void refresh_cmd_timeout(void)
{
previous_millis_cmd = _millis();
}
#ifdef FWRETRACT
void retract(bool retracting, bool swapretract = false) {
if(retracting && !retracted[active_extruder]) {
destination[X_AXIS]=current_position[X_AXIS];
destination[Y_AXIS]=current_position[Y_AXIS];
destination[Z_AXIS]=current_position[Z_AXIS];
destination[E_AXIS]=current_position[E_AXIS];
current_position[E_AXIS]+=(swapretract?retract_length_swap:cs.retract_length)*float(extrudemultiply)*0.01f;
plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate;
feedrate=cs.retract_feedrate*60;
retracted[active_extruder]=true;
prepare_move();
current_position[Z_AXIS]-=cs.retract_zlift;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
prepare_move();
feedrate = oldFeedrate;
} else if(!retracting && retracted[active_extruder]) {
destination[X_AXIS]=current_position[X_AXIS];
destination[Y_AXIS]=current_position[Y_AXIS];
destination[Z_AXIS]=current_position[Z_AXIS];
destination[E_AXIS]=current_position[E_AXIS];
current_position[Z_AXIS]+=cs.retract_zlift;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f;
plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate;
feedrate=cs.retract_recover_feedrate*60;
retracted[active_extruder]=false;
prepare_move();
feedrate = oldFeedrate;
}
} //retract
#endif //FWRETRACT
void trace() {
//if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
_tone(BEEPER, 440);
_delay(25);
_noTone(BEEPER);
_delay(20);
}
/*
void ramming() {
// float tmp[4] = DEFAULT_MAX_FEEDRATE;
if (current_temperature[0] < 230) {
//PLA
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);
//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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
//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);
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);
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);
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);
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
//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
_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);
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);
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);
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);
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);
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);
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);
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);
st_synchronize();
}
}
*/
#ifdef TMC2130
void force_high_power_mode(bool start_high_power_section) {
uint8_t silent;
silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
if (silent == 1) {
//we are in silent mode, set to normal mode to enable crash detection
// Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
st_synchronize();
cli();
tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
update_mode_profile();
tmc2130_init();
// We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
// Be safe than sorry, reset the stepper timer before re-enabling interrupts.
st_reset_timer();
sei();
}
}
#endif //TMC2130
#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
SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
#endif
// Flag for the display update routine and to disable the print cancelation during homing.
homing_flag = true;
// Which axes should be homed?
bool home_x = home_x_axis;
bool home_y = home_y_axis;
bool home_z = home_z_axis;
// Either all X,Y,Z codes are present, or none of them.
bool home_all_axes = home_x == home_y && home_x == home_z;
if (home_all_axes)
// No X/Y/Z code provided means to home all axes.
home_x = home_y = home_z = true;
//if we are homing all axes, first move z higher to protect heatbed/steel sheet
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);
st_synchronize();
}
#ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif //ENABLE_AUTO_BED_LEVELING
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
// the planner will not perform any adjustments in the XY plane.
// Wait for the motors to stop and update the current position with the absolute values.
world2machine_revert_to_uncorrected();
// For mesh bed leveling deactivate the matrix temporarily.
// It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
// in a single axis only.
// In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
#ifdef MESH_BED_LEVELING
uint8_t mbl_was_active = mbl.active;
mbl.active = 0;
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
#endif
// Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
// consumed during the first movements following this statement.
if (home_z)
babystep_undo();
saved_feedrate = feedrate;
int l_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = _millis();
enable_endstops(true);
memcpy(destination, current_position, sizeof(destination));
feedrate = 0.0;
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if(home_z)
homeaxis(Z_AXIS);
#endif
#ifdef QUICK_HOME
// In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
if(home_x && home_y) //first diagonal move
{
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
int x_axis_home_dir = home_dir(X_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
feedrate = homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS] max_length(Y_AXIS)) {
feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
} else {
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
}
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
axis_is_at_home(X_AXIS);
axis_is_at_home(Y_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
feedrate = 0.0;
st_synchronize();
endstops_hit_on_purpose();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
current_position[Z_AXIS] = destination[Z_AXIS];
}
#endif /* QUICK_HOME */
#ifdef TMC2130
if(home_x)
{
if (!calib)
homeaxis(X_AXIS);
else
tmc2130_home_calibrate(X_AXIS);
}
if(home_y)
{
if (!calib)
homeaxis(Y_AXIS);
else
tmc2130_home_calibrate(Y_AXIS);
}
#else //TMC2130
if(home_x) homeaxis(X_AXIS);
if(home_y) homeaxis(Y_AXIS);
#endif //TMC2130
if(home_x_axis && home_x_value != 0)
current_position[X_AXIS]=home_x_value+cs.add_homing[X_AXIS];
if(home_y_axis && home_y_value != 0)
current_position[Y_AXIS]=home_y_value+cs.add_homing[Y_AXIS];
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
#ifndef Z_SAFE_HOMING
if(home_z) {
#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
#endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
#if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
{
homeaxis(X_AXIS);
homeaxis(Y_AXIS);
}
// 1st mesh bed leveling measurement point, corrected.
world2machine_initialize();
world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
world2machine_reset();
if (destination[Y_AXIS] < Y_MIN_POS)
destination[Y_AXIS] = Y_MIN_POS;
destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
feedrate = homing_feedrate[Z_AXIS]/10;
current_position[Z_AXIS] = 0;
enable_endstops(false);
#ifdef DEBUG_BUILD
SERIAL_ECHOLNPGM("plan_set_position()");
MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef DEBUG_BUILD
SERIAL_ECHOLNPGM("plan_buffer_line()");
MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
#endif
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
enable_endstops(true);
endstops_hit_on_purpose();
homeaxis(Z_AXIS);
#else // MESH_BED_LEVELING
homeaxis(Z_AXIS);
#endif // MESH_BED_LEVELING
}
#else // defined(Z_SAFE_HOMING): Z Safe mode activated.
if(home_all_axes) {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED/60;
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
homeaxis(Z_AXIS);
}
// Let's see if X and Y are homed and probe is inside bed area.
if(home_z) {
if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
homeaxis(Z_AXIS);
} else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
} else {
LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
}
}
#endif // Z_SAFE_HOMING
#endif // Z_HOME_DIR < 0
if(home_z_axis && home_z_value != 0)
current_position[Z_AXIS]=home_z_value+cs.add_homing[Z_AXIS];
#ifdef ENABLE_AUTO_BED_LEVELING
if(home_z)
current_position[Z_AXIS] += cs.zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
#endif
// Set the planner and stepper routine positions.
// At this point the mesh bed leveling and world2machine corrections are disabled and current_position
// contains the machine coordinates.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedmultiply = l_feedmultiply;
previous_millis_cmd = _millis();
endstops_hit_on_purpose();
#ifndef MESH_BED_LEVELING
// If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
// Offer the user to load the baby step value, which has been adjusted at the previous print session.
if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
lcd_adjust_z();
#endif
// Load the machine correction matrix
world2machine_initialize();
// and correct the current_position XY axes to match the transformed coordinate system.
world2machine_update_current();
#if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
{
if (! home_z && mbl_was_active) {
// Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
mbl.active = true;
// and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
}
}
else
{
st_synchronize();
homing_flag = false;
}
#endif
if (farm_mode) { prusa_statistics(20); };
homing_flag = false;
#if 0
SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
#endif
}
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);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT, 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT, 0);
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR, 0);
}
//! @brief Calibrate XYZ
//! @param onlyZ if true, calibrate only Z axis
//! @param verbosity_level
//! @retval true Succeeded
//! @retval false Failed
bool gcode_M45(bool onlyZ, int8_t verbosity_level)
{
bool final_result = false;
#ifdef TMC2130
FORCE_HIGH_POWER_START;
#endif // TMC2130
// Only Z calibration?
if (!onlyZ)
{
setTargetBed(0);
setAllTargetHotends(0);
adjust_bed_reset(); //reset bed level correction
}
// Disable the default update procedure of the display. We will do a modal dialog.
lcd_update_enable(false);
// Let the planner use the uncorrected coordinates.
mbl.reset();
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
// the planner will not perform any adjustments in the XY plane.
// Wait for the motors to stop and update the current position with the absolute values.
world2machine_revert_to_uncorrected();
// Reset the baby step value applied without moving the axes.
babystep_reset();
// Mark all axes as in a need for homing.
memset(axis_known_position, 0, sizeof(axis_known_position));
// Home in the XY plane.
//set_destination_to_current();
int l_feedmultiply = setup_for_endstop_move();
lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
home_xy();
enable_endstops(false);
current_position[X_AXIS] += 5;
current_position[Y_AXIS] += 5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
st_synchronize();
// Let the user move the Z axes up to the end stoppers.
#ifdef TMC2130
if (calibrate_z_auto())
{
#else //TMC2130
if (lcd_calibrate_z_end_stop_manual(onlyZ))
{
#endif //TMC2130
lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
if(onlyZ){
lcd_display_message_fullscreen_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1));
lcd_set_cursor(0, 3);
lcd_print(1);
lcd_puts_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2));
}else{
//lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
lcd_set_cursor(0, 2);
lcd_print(1);
lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
}
refresh_cmd_timeout();
#ifndef STEEL_SHEET
if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
{
lcd_wait_for_cool_down();
}
#endif //STEEL_SHEET
if(!onlyZ)
{
KEEPALIVE_STATE(PAUSED_FOR_USER);
#ifdef STEEL_SHEET
bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
#endif //STEEL_SHEET
lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
KEEPALIVE_STATE(IN_HANDLER);
lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
lcd_set_cursor(0, 2);
lcd_print(1);
lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
}
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);
st_synchronize();
// Move the print head close to the bed.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
enable_endstops(true);
#ifdef TMC2130
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);
st_synchronize();
#ifdef TMC2130
tmc2130_home_exit();
#endif //TMC2130
enable_endstops(endstops_enabled);
if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
{
if (onlyZ)
{
clean_up_after_endstop_move(l_feedmultiply);
// Z only calibration.
// Load the machine correction matrix
world2machine_initialize();
// and correct the current_position to match the transformed coordinate system.
world2machine_update_current();
//FIXME
bool result = sample_mesh_and_store_reference();
if (result)
{
if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
// Shipped, the nozzle height has been set already. The user can start printing now.
calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
final_result = true;
// babystep_apply();
}
}
else
{
// Reset the baby step value and the baby step applied flag.
calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
// Complete XYZ calibration.
uint8_t point_too_far_mask = 0;
BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
clean_up_after_endstop_move(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);
st_synchronize();
//#ifndef NEW_XYZCAL
if (result >= 0)
{
#ifdef HEATBED_V2
sample_z();
#else //HEATBED_V2
point_too_far_mask = 0;
// Second half: The fine adjustment.
// Let the planner use the uncorrected coordinates.
mbl.reset();
world2machine_reset();
// Home in the XY plane.
int l_feedmultiply = setup_for_endstop_move();
home_xy();
result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
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);
st_synchronize();
// if (result >= 0) babystep_apply();
#endif //HEATBED_V2
}
//#endif //NEW_XYZCAL
lcd_update_enable(true);
lcd_update(2);
lcd_bed_calibration_show_result(result, point_too_far_mask);
if (result >= 0)
{
// Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
final_result = true;
}
}
#ifdef TMC2130
tmc2130_home_exit();
#endif
}
else
{
lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
final_result = false;
}
}
else
{
// Timeouted.
}
lcd_update_enable(true);
#ifdef TMC2130
FORCE_HIGH_POWER_END;
#endif // TMC2130
return final_result;
}
void gcode_M114()
{
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / cs.axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / cs.axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / cs.axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / cs.axis_steps_per_unit[E_AXIS]);
SERIAL_PROTOCOLLN("");
}
static void gcode_M600(bool automatic, float x_position, float y_position, float z_shift, float e_shift, float /*e_shift_late*/)
{
st_synchronize();
float lastpos[4];
if (farm_mode)
{
prusa_statistics(22);
}
//First backup current position and settings
int feedmultiplyBckp = feedmultiply;
float HotendTempBckp = degTargetHotend(active_extruder);
int fanSpeedBckp = fanSpeed;
lastpos[X_AXIS] = current_position[X_AXIS];
lastpos[Y_AXIS] = current_position[Y_AXIS];
lastpos[Z_AXIS] = current_position[Z_AXIS];
lastpos[E_AXIS] = current_position[E_AXIS];
//Retract 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);
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);
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);
st_synchronize();
//Beep, manage nozzle heater and wait for user to start unload filament
if(!mmu_enabled) M600_wait_for_user(HotendTempBckp);
lcd_change_fil_state = 0;
// Unload filament
if (mmu_enabled) extr_unload(); //unload just current filament for multimaterial printers (used also in M702)
else unload_filament(); //unload filament for single material (used also in M702)
//finish moves
st_synchronize();
if (!mmu_enabled)
{
KEEPALIVE_STATE(PAUSED_FOR_USER);
lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"),
false, true); ////MSG_UNLOAD_SUCCESSFUL c=20 r=2
if (lcd_change_fil_state == 0)
{
lcd_clear();
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);
st_synchronize();
lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
}
}
if (mmu_enabled)
{
if (!automatic) {
if (saved_printing) mmu_eject_filament(mmu_extruder, false); //if M600 was invoked by filament senzor (FINDA) eject filament so user can easily remove it
mmu_M600_wait_and_beep();
if (saved_printing) {
lcd_clear();
lcd_set_cursor(0, 2);
lcd_puts_P(_T(MSG_PLEASE_WAIT));
mmu_command(MmuCmd::R0);
manage_response(false, false);
}
}
mmu_M600_load_filament(automatic);
}
else
M600_load_filament();
if (!automatic) M600_check_state();
lcd_update_enable(true);
//Not let's go back to print
fanSpeed = fanSpeedBckp;
//Feed a little of filament to stabilize pressure
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);
}
//Move XY back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
FILAMENTCHANGE_XYFEED, active_extruder);
st_synchronize();
//Move Z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS],
FILAMENTCHANGE_ZFEED, active_extruder);
st_synchronize();
//Set E position to original
plan_set_e_position(lastpos[E_AXIS]);
memcpy(current_position, lastpos, sizeof(lastpos));
memcpy(destination, current_position, sizeof(current_position));
//Recover feed rate
feedmultiply = feedmultiplyBckp;
char cmd[9];
sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
enquecommand(cmd);
#ifdef IR_SENSOR
//this will set fsensor_watch_autoload to correct value and prevent possible M701 gcode enqueuing when M600 is finished
fsensor_check_autoload();
#endif //IR_SENSOR
lcd_setstatuspgm(_T(WELCOME_MSG));
custom_message_type = CUSTOM_MSG_TYPE_STATUS;
}
void gcode_M701()
{
printf_P(PSTR("gcode_M701 begin\n"));
if (mmu_enabled)
{
extr_adj(tmp_extruder);//loads current extruder
mmu_extruder = tmp_extruder;
}
else
{
enable_z();
custom_message_type = CUSTOM_MSG_TYPE_F_LOAD;
#ifdef FSENSOR_QUALITY
fsensor_oq_meassure_start(40);
#endif //FSENSOR_QUALITY
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
st_synchronize();
if (current_position[Z_AXIS] < 20) current_position[Z_AXIS] += 30;
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
load_filament_final_feed(); //slow sequence
st_synchronize();
if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) _tone(BEEPER, 500);
delay_keep_alive(50);
_noTone(BEEPER);
if (!farm_mode && loading_flag) {
lcd_load_filament_color_check();
}
lcd_update_enable(true);
lcd_update(2);
lcd_setstatuspgm(_T(WELCOME_MSG));
disable_z();
loading_flag = false;
custom_message_type = CUSTOM_MSG_TYPE_STATUS;
#ifdef FSENSOR_QUALITY
fsensor_oq_meassure_stop();
if (!fsensor_oq_result())
{
bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
lcd_update_enable(true);
lcd_update(2);
if (disable)
fsensor_disable();
}
#endif //FSENSOR_QUALITY
}
}
/**
* @brief Get serial number from 32U2 processor
*
* Typical format of S/N is:CZPX0917X003XC13518
*
* Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
*
* Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
* reply is transmitted to serial port 1 character by character.
* Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
* it is interrupted, so less, or no characters are retransmitted, only newline character is send
* in any case.
*/
static void gcode_PRUSA_SN()
{
if (farm_mode) {
selectedSerialPort = 0;
putchar(';');
putchar('S');
int numbersRead = 0;
ShortTimer timeout;
timeout.start();
while (numbersRead < 19) {
while (MSerial.available() > 0) {
uint8_t serial_char = MSerial.read();
selectedSerialPort = 1;
putchar(serial_char);
numbersRead++;
selectedSerialPort = 0;
}
if (timeout.expired(100u)) break;
}
selectedSerialPort = 1;
putchar('\n');
#if 0
for (int b = 0; b < 3; b++) {
_tone(BEEPER, 110);
_delay(50);
_noTone(BEEPER);
_delay(50);
}
#endif
} else {
puts_P(_N("Not in farm mode."));
}
}
#ifdef BACKLASH_X
extern uint8_t st_backlash_x;
#endif //BACKLASH_X
#ifdef BACKLASH_Y
extern uint8_t st_backlash_y;
#endif //BACKLASH_Y
//! @brief Parse and process commands
//!
//! look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
//! http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
//!
//! Implemented Codes
//! -------------------
//!
//!@n PRUSA CODES
//!@n P F - Returns FW versions
//!@n P R - Returns revision of printer
//!
//!@n G0 -> G1
//!@n G1 - Coordinated Movement X Y Z E
//!@n G2 - CW ARC
//!@n G3 - CCW ARC
//!@n G4 - Dwell S or P
//!@n G10 - retract filament according to settings of M207
//!@n G11 - retract recover filament according to settings of M208
//!@n G28 - Home all Axis
//!@n G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
//!@n G30 - Single Z Probe, probes bed at current XY location.
//!@n G31 - Dock sled (Z_PROBE_SLED only)
//!@n G32 - Undock sled (Z_PROBE_SLED only)
//!@n G80 - Automatic mesh bed leveling
//!@n G81 - Print bed profile
//!@n G90 - Use Absolute Coordinates
//!@n G91 - Use Relative Coordinates
//!@n G92 - Set current position to coordinates given
//!
//!@n M Codes
//!@n M0 - Unconditional stop - Wait for user to press a button on the LCD
//!@n M1 - Same as M0
//!@n M17 - Enable/Power all stepper motors
//!@n M18 - Disable all stepper motors; same as M84
//!@n M20 - List SD card
//!@n M21 - Init SD card
//!@n M22 - Release SD card
//!@n M23 - Select SD file (M23 filename.g)
//!@n M24 - Start/resume SD print
//!@n M25 - Pause SD print
//!@n M26 - Set SD position in bytes (M26 S12345)
//!@n M27 - Report SD print status
//!@n M28 - Start SD write (M28 filename.g)
//!@n M29 - Stop SD write
//!@n M30 - Delete file from SD (M30 filename.g)
//!@n M31 - Output time since last M109 or SD card start to serial
//!@n M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
//! syntax "M32 /path/filename#", or "M32 S !filename#"
//! Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
//! The '#' is necessary when calling from within sd files, as it stops buffer prereading
//!@n M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
//!@n M73 - Show percent done and print time remaining
//!@n M80 - Turn on Power Supply
//!@n M81 - Turn off Power Supply
//!@n M82 - Set E codes absolute (default)
//!@n M83 - Set E codes relative while in Absolute Coordinates (G90) mode
//!@n M84 - Disable steppers until next move,
//! or use S to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
//!@n M85 - Set inactivity shutdown timer with parameter S. To disable set zero (default)
//!@n M86 - Set safety timer expiration time with parameter S; M86 S0 will disable safety timer
//!@n M92 - Set axis_steps_per_unit - same syntax as G92
//!@n M104 - Set extruder target temp
//!@n M105 - Read current temp
//!@n M106 - Fan on
//!@n M107 - Fan off
//!@n M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
//! Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
//! IF AUTOTEMP is enabled, S B F. Exit autotemp by any M109 without F
//!@n M112 - Emergency stop
//!@n M113 - Get or set the timeout interval for Host Keepalive "busy" messages
//!@n M114 - Output current position to serial port
//!@n M115 - Capabilities string
//!@n M117 - display message
//!@n M119 - Output Endstop status to serial port
//!@n M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
//!@n M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
//!@n M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
//!@n M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
//!@n M140 - Set bed target temp
//!@n M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
//!@n M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
//! Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
//!@n M200 D- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
//!@n M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
//!@n M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
//!@n M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
//!@n M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
//!@n M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
//!@n M206 - set additional homing offset
//!@n M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
//!@n M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
//!@n M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
//!@n M218 - set hotend offset (in mm): T X Y
//!@n M220 S- set speed factor override percentage
//!@n M221 S- set extrude factor override percentage
//!@n M226 P S- Wait until the specified pin reaches the state required
//!@n M240 - Trigger a camera to take a photograph
//!@n M250 - Set LCD contrast C (value 0..63)
//!@n M280 - set servo position absolute. P: servo index, S: angle or microseconds
//!@n M300 - Play beep sound S P
//!@n M301 - Set PID parameters P I and D
//!@n M302 - Allow cold extrudes, or set the minimum extrude S.
//!@n M303 - PID relay autotune S sets the target temperature. (default target temperature = 150C)
//!@n M304 - Set bed PID parameters P I and D
//!@n M400 - Finish all moves
//!@n M401 - Lower z-probe if present
//!@n M402 - Raise z-probe if present
//!@n M404 - N Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
//!@n M405 - Turn on Filament Sensor extrusion control. Optional D to set delay in centimeters between sensor and extruder
//!@n M406 - Turn off Filament Sensor extrusion control
//!@n M407 - Displays measured filament diameter
//!@n M500 - stores parameters in EEPROM
//!@n M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
//!@n M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
//!@n M503 - print the current settings (from memory not from EEPROM)
//!@n M509 - force language selection on next restart
//!@n M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
//!@n M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
//!@n M605 - Set dual x-carriage movement mode: S [ X R ]
//!@n M860 - Wait for PINDA thermistor to reach target temperature.
//!@n M861 - Set / Read PINDA temperature compensation offsets
//!@n M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
//!@n M907 - Set digital trimpot motor current using axis codes.
//!@n M908 - Control digital trimpot directly.
//!@n M350 - Set microstepping mode.
//!@n M351 - Toggle MS1 MS2 pins directly.
//!
//!@n M928 - Start SD logging (M928 filename.g) - ended by M29
//!@n M999 - Restart after being stopped by error
void process_commands()
{
if (!buflen) return; //empty command
#ifdef FILAMENT_RUNOUT_SUPPORT
SET_INPUT(FR_SENS);
#endif
#ifdef CMDBUFFER_DEBUG
SERIAL_ECHOPGM("Processing a GCODE command: ");
SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("In cmdqueue: ");
SERIAL_ECHO(buflen);
SERIAL_ECHOLNPGM("");
#endif /* CMDBUFFER_DEBUG */
unsigned long codenum; //throw away variable
char *starpos = NULL;
#ifdef ENABLE_AUTO_BED_LEVELING
float x_tmp, y_tmp, z_tmp, real_z;
#endif
// PRUSA GCODES
KEEPALIVE_STATE(IN_HANDLER);
#ifdef SNMM
float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
int8_t SilentMode;
#endif
if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
starpos = (strchr(strchr_pointer + 5, '*'));
if (starpos != NULL)
*(starpos) = '\0';
lcd_setstatus(strchr_pointer + 5);
}
#ifdef TMC2130
else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
{
if(code_seen("CRASH_DETECTED")) //! CRASH_DETECTED
{
uint8_t mask = 0;
if (code_seen('X')) mask |= X_AXIS_MASK;
if (code_seen('Y')) mask |= Y_AXIS_MASK;
crashdet_detected(mask);
}
else if(code_seen("CRASH_RECOVER")) //! CRASH_RECOVER
crashdet_recover();
else if(code_seen("CRASH_CANCEL")) //! CRASH_CANCEL
crashdet_cancel();
}
else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
{
if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0) //! TMC_SET_WAVE_
{
uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
axis = (axis == 'E')?3:(axis - 'X');
if (axis < 4)
{
uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
tmc2130_set_wave(axis, 247, fac);
}
}
else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0) //! TMC_SET_STEP_
{
uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
axis = (axis == 'E')?3:(axis - 'X');
if (axis < 4)
{
uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
uint16_t res = tmc2130_get_res(axis);
tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
}
}
else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0) //! TMC_SET_CHOP_
{
uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
axis = (axis == 'E')?3:(axis - 'X');
if (axis < 4)
{
uint8_t chop0 = tmc2130_chopper_config[axis].toff;
uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
uint8_t chop2 = tmc2130_chopper_config[axis].hend;
uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
char* str_end = 0;
if (CMDBUFFER_CURRENT_STRING[14])
{
chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
if (str_end && *str_end)
{
chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
if (str_end && *str_end)
{
chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
if (str_end && *str_end)
chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
}
}
}
tmc2130_chopper_config[axis].toff = chop0;
tmc2130_chopper_config[axis].hstr = chop1 & 7;
tmc2130_chopper_config[axis].hend = chop2 & 15;
tmc2130_chopper_config[axis].tbl = chop3 & 3;
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
//printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
}
}
}
#ifdef BACKLASH_X
else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
{
uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
st_backlash_x = bl;
printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
}
#endif //BACKLASH_X
#ifdef BACKLASH_Y
else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
{
uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
st_backlash_y = bl;
printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
}
#endif //BACKLASH_Y
#endif //TMC2130
#ifdef FILAMENT_SENSOR
else if (code_seen("FSENSOR_RECOVER")) { //! FSENSOR_RECOVER
fsensor_restore_print_and_continue();
}
#endif //FILAMENT_SENSOR
else if(code_seen("PRUSA")){
if (code_seen("Ping")) { //! PRUSA Ping
if (farm_mode) {
PingTime = _millis();
//MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
}
}
else if (code_seen("PRN")) { //! PRUSA PRN
printf_P(_N("%d"), status_number);
}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) {
printf_P(_N("%d"), farm_no);
}
else {
puts_P(_N("Not in farm mode."));
}
}
else if (code_seen("thx")) //! PRUSA thx
{
no_response = false;
}
else if (code_seen("uvlo")) //! PRUSA uvlo
{
eeprom_update_byte((uint8_t*)EEPROM_UVLO,0);
enquecommand_P(PSTR("M24"));
}
else if (code_seen("MMURES")) //! PRUSA MMURES
{
mmu_reset();
}
else if (code_seen("RESET")) { //! PRUSA RESET
// careful!
if (farm_mode) {
#ifdef WATCHDOG
boot_app_magic = BOOT_APP_MAGIC;
boot_app_flags = BOOT_APP_FLG_RUN;
wdt_enable(WDTO_15MS);
cli();
while(1);
#else //WATCHDOG
asm volatile("jmp 0x3E000");
#endif //WATCHDOG
}
else {
MYSERIAL.println("Not in farm mode.");
}
}else if (code_seen("fv")) { //! PRUSA fv
// get file version
#ifdef SDSUPPORT
card.openFile(strchr_pointer + 3,true);
while (true) {
uint16_t readByte = card.get();
MYSERIAL.write(readByte);
if (readByte=='\n') {
break;
}
}
card.closefile();
#endif // SDSUPPORT
} else if (code_seen("M28")) { //! PRUSA M28
trace();
prusa_sd_card_upload = true;
card.openFile(strchr_pointer+4,false);
} else if (code_seen("SN")) { //! PRUSA SN
gcode_PRUSA_SN();
} else if(code_seen("Fir")){ //! PRUSA Fir
SERIAL_PROTOCOLLN(FW_VERSION_FULL);
} else if(code_seen("Rev")){ //! PRUSA Rev
SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
} else if(code_seen("Lang")) { //! PRUSA Lang
lang_reset();
} else if(code_seen("Lz")) { //! PRUSA Lz
EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
} else if(code_seen("Beat")) { //! PRUSA Beat
// Kick farm link timer
kicktime = _millis();
} else if(code_seen("FR")) { //! PRUSA FR
// Factory full reset
factory_reset(0);
}
//else if (code_seen('Cal')) {
// lcd_calibration();
// }
}
else if (code_seen('^')) {
// nothing, this is a version line
} else if(code_seen('G'))
{
gcode_in_progress = (int)code_value();
// printf_P(_N("BEGIN G-CODE=%u\n"), gcode_in_progress);
switch (gcode_in_progress)
{
case 0: // G0 -> G1
case 1: // G1
if(Stopped == false) {
#ifdef FILAMENT_RUNOUT_SUPPORT
if(READ(FR_SENS)){
int feedmultiplyBckp=feedmultiply;
float target[4];
float lastpos[4];
target[X_AXIS]=current_position[X_AXIS];
target[Y_AXIS]=current_position[Y_AXIS];
target[Z_AXIS]=current_position[Z_AXIS];
target[E_AXIS]=current_position[E_AXIS];
lastpos[X_AXIS]=current_position[X_AXIS];
lastpos[Y_AXIS]=current_position[Y_AXIS];
lastpos[Z_AXIS]=current_position[Z_AXIS];
lastpos[E_AXIS]=current_position[E_AXIS];
//retract by E
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
target[X_AXIS]= FILAMENTCHANGE_XPOS ;
target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
//finish moves
st_synchronize();
//disable extruder steppers so filament can be removed
disable_e0();
disable_e1();
disable_e2();
_delay(100);
//LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
uint8_t cnt=0;
int counterBeep = 0;
lcd_wait_interact();
while(!lcd_clicked()){
cnt++;
manage_heater();
manage_inactivity(true);
//lcd_update(0);
if(cnt==0)
{
#if BEEPER > 0
if (counterBeep== 500){
counterBeep = 0;
}
SET_OUTPUT(BEEPER);
if (counterBeep== 0){
if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
WRITE(BEEPER,HIGH);
}
if (counterBeep== 20){
WRITE(BEEPER,LOW);
}
counterBeep++;
#else
#endif
}
}
WRITE(BEEPER,LOW);
target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
lcd_change_fil_state = 0;
lcd_loading_filament();
while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
lcd_change_fil_state = 0;
lcd_alright();
switch(lcd_change_fil_state){
case 2:
target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
lcd_loading_filament();
break;
case 3:
target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
lcd_loading_color();
break;
default:
lcd_change_success();
break;
}
}
target[E_AXIS]+= 5;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
//current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
//plan_set_e_position(current_position[E_AXIS]);
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
plan_set_e_position(lastpos[E_AXIS]);
feedmultiply=feedmultiplyBckp;
char cmd[9];
sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
enquecommand(cmd);
}
#endif
get_coordinates(); // For X Y Z E F
if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
}
#ifdef FWRETRACT
if(cs.autoretract_enabled)
if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
float echange=destination[E_AXIS]-current_position[E_AXIS];
if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
plan_set_e_position(current_position[E_AXIS]); //AND from the planner
retract(!retracted[active_extruder]);
return;
}
}
#endif //FWRETRACT
prepare_move();
//ClearToSend();
}
break;
case 2: // G2 - CW ARC
if(Stopped == false) {
get_arc_coordinates();
prepare_arc_move(true);
}
break;
case 3: // G3 - CCW ARC
if(Stopped == false) {
get_arc_coordinates();
prepare_arc_move(false);
}
break;
case 4: // G4 dwell
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
if(codenum != 0) LCD_MESSAGERPGM(_n("Sleep..."));////MSG_DWELL c=0 r=0
st_synchronize();
codenum += _millis(); // keep track of when we started waiting
previous_millis_cmd = _millis();
while(_millis() < codenum) {
manage_heater();
manage_inactivity();
lcd_update(0);
}
break;
#ifdef FWRETRACT
case 10: // G10 retract
#if EXTRUDERS > 1
retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
retract(true,retracted_swap[active_extruder]);
#else
retract(true);
#endif
break;
case 11: // G11 retract_recover
#if EXTRUDERS > 1
retract(false,retracted_swap[active_extruder]);
#else
retract(false);
#endif
break;
#endif //FWRETRACT
case 28: //G28 Home all Axis one at a time
{
long home_x_value = 0;
long home_y_value = 0;
long home_z_value = 0;
// Which axes should be homed?
bool home_x = code_seen(axis_codes[X_AXIS]);
home_x_value = code_value_long();
bool home_y = code_seen(axis_codes[Y_AXIS]);
home_y_value = code_value_long();
bool home_z = code_seen(axis_codes[Z_AXIS]);
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.
goto case_G80;
}
break;
}
#ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
{
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature! Z_MIN_PIN must point to a valid hardware pin."
#endif
// Prevent user from running a G29 without first homing in X and Y
if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
{
LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
break; // abort G29, since we don't know where we are
}
st_synchronize();
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position durring G29");
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
int l_feedmultiply = setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
#ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
// solve the plane equation ax + by + d = z
// A is the matrix with rows [x y 1] for all the probed points
// B is the vector of the Z positions
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
// "A" matrix of the linear system of equations
double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
// "B" vector of Z points
double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
int probePointCounter = 0;
bool zig = true;
for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
{
int xProbe, xInc;
if (zig)
{
xProbe = LEFT_PROBE_BED_POSITION;
//xEnd = RIGHT_PROBE_BED_POSITION;
xInc = xGridSpacing;
zig = false;
} else // zag
{
xProbe = RIGHT_PROBE_BED_POSITION;
//xEnd = LEFT_PROBE_BED_POSITION;
xInc = -xGridSpacing;
zig = true;
}
for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
{
float z_before;
if (probePointCounter == 0)
{
// raise before probing
z_before = Z_RAISE_BEFORE_PROBING;
} else
{
// raise extruder
z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
}
float measured_z = probe_pt(xProbe, yProbe, z_before);
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
probePointCounter++;
xProbe += xInc;
}
}
clean_up_after_endstop_move(l_feedmultiply);
// solve lsq problem
double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL(plane_equation_coefficients[1]);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
set_bed_level_equation_lsq(plane_equation_coefficients);
free(plane_equation_coefficients);
#else // AUTO_BED_LEVELING_GRID not defined
// Probe at 3 arbitrary points
// probe 1
float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
// probe 2
float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
// probe 3
float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
clean_up_after_endstop_move(l_feedmultiply);
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
#endif // AUTO_BED_LEVELING_GRID
st_synchronize();
// The following code correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
real_z = float(st_get_position(Z_AXIS))/cs.axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
z_tmp = current_position[Z_AXIS];
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
break;
#ifndef Z_PROBE_SLED
case 30: // G30 Single Z Probe
{
st_synchronize();
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
int l_feedmultiply = setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
run_z_probe();
SERIAL_PROTOCOLPGM(_T(MSG_BED));
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM("\n");
clean_up_after_endstop_move(l_feedmultiply);
}
break;
#else
case 31: // dock the sled
dock_sled(true);
break;
case 32: // undock the sled
dock_sled(false);
break;
#endif // Z_PROBE_SLED
#endif // ENABLE_AUTO_BED_LEVELING
#ifdef MESH_BED_LEVELING
case 30: // G30 Single Z Probe
{
st_synchronize();
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
int l_feedmultiply = setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
find_bed_induction_sensor_point_z(-10.f, 3);
printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
clean_up_after_endstop_move(l_feedmultiply);
}
break;
case 75:
{
for (int i = 40; i <= 110; i++)
printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
}
break;
case 76: //! G76 - PINDA probe temperature calibration
{
#ifdef PINDA_THERMISTOR
if (true)
{
if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
//we need to know accurate position of first calibration point
//if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
break;
}
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
{
// We don't know where we are! HOME!
// Push the commands to the front of the message queue in the reverse order!
// There shall be always enough space reserved for these commands.
repeatcommand_front(); // repeat G76 with all its parameters
enquecommand_front_P((PSTR("G28 W0")));
break;
}
lcd_show_fullscreen_message_and_wait_P(_i("Stable ambient temperature 21-26C is needed a rigid stand is required."));////MSG_TEMP_CAL_WARNING c=20 r=4
bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
if (result)
{
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
current_position[Z_AXIS] = 50;
current_position[Y_AXIS] = 180;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
gcode_G28(false, false, true);
}
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);
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;
}
}
lcd_update_enable(true);
KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
SERIAL_ECHOLNPGM("PINDA probe calibration start");
float zero_z;
int z_shift = 0; //unit: steps
float start_temp = 5 * (int)(current_temperature_pinda / 5);
if (start_temp < 35) start_temp = 35;
if (start_temp < current_temperature_pinda) start_temp += 5;
printf_P(_N("start temperature: %.1f\n"), start_temp);
// setTargetHotend(200, 0);
setTargetBed(70 + (start_temp - 30));
custom_message_type = CUSTOM_MSG_TYPE_TEMCAL;
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);
current_position[X_AXIS] = PINDA_PREHEAT_X;
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
current_position[Z_AXIS] = PINDA_PREHEAT_Z;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
while (current_temperature_pinda < start_temp)
{
delay_keep_alive(1000);
serialecho_temperatures();
}
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);
current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
if (find_z_result == false) {
lcd_temp_cal_show_result(find_z_result);
break;
}
zero_z = current_position[Z_AXIS];
printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
int i = -1; for (; i < 5; i++)
{
float temp = (40 + i * 5);
printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
if (start_temp <= temp) break;
}
for (i++; i < 5; i++)
{
float temp = (40 + i * 5);
printf_P(_N("\nStep: %d/6\n"), i + 2);
custom_message_state = i + 2;
setTargetBed(50 + 10 * (temp - 30) / 5);
// setTargetHotend(255, 0);
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
current_position[X_AXIS] = PINDA_PREHEAT_X;
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
current_position[Z_AXIS] = PINDA_PREHEAT_Z;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
while (current_temperature_pinda < temp)
{
delay_keep_alive(1000);
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);
current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
st_synchronize();
find_z_result = find_bed_induction_sensor_point_z(-1.f);
if (find_z_result == false) {
lcd_temp_cal_show_result(find_z_result);
break;
}
z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
}
lcd_temp_cal_show_result(true);
break;
}
#endif //PINDA_THERMISTOR
setTargetBed(PINDA_MIN_T);
float zero_z;
int z_shift = 0; //unit: steps
int t_c; // temperature
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
// We don't know where we are! HOME!
// Push the commands to the front of the message queue in the reverse order!
// There shall be always enough space reserved for these commands.
repeatcommand_front(); // repeat G76 with all its parameters
enquecommand_front_P((PSTR("G28 W0")));
break;
}
puts_P(_N("PINDA probe calibration start"));
custom_message_type = CUSTOM_MSG_TYPE_TEMCAL;
custom_message_state = 1;
lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
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);
st_synchronize();
while (abs(degBed() - PINDA_MIN_T) > 1) {
delay_keep_alive(1000);
serialecho_temperatures();
}
//enquecommand_P(PSTR("M190 S50"));
for (int i = 0; i < PINDA_HEAT_T; i++) {
delay_keep_alive(1000);
serialecho_temperatures();
}
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);
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);
st_synchronize();
find_bed_induction_sensor_point_z(-1.f);
zero_z = current_position[Z_AXIS];
printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
for (int i = 0; i<5; i++) {
printf_P(_N("\nStep: %d/6\n"), i + 2);
custom_message_state = i + 2;
t_c = 60 + i * 10;
setTargetBed(t_c);
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);
st_synchronize();
while (degBed() < t_c) {
delay_keep_alive(1000);
serialecho_temperatures();
}
for (int i = 0; i < PINDA_HEAT_T; i++) {
delay_keep_alive(1000);
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);
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);
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]);
printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
}
custom_message_type = CUSTOM_MSG_TYPE_STATUS;
eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
puts_P(_N("Temperature calibration done."));
disable_x();
disable_y();
disable_z();
disable_e0();
disable_e1();
disable_e2();
setTargetBed(0); //set bed target temperature back to 0
lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
temp_cal_active = true;
eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
lcd_update_enable(true);
lcd_update(2);
}
break;
/**
* G80: Mesh-based Z probe, probes a grid and produces a
* mesh to compensate for variable bed height
*
* The S0 report the points as below
* @code{.unparsed}
* +----> X-axis
* |
* |
* v Y-axis
* @endcode
*/
case 80:
#ifdef MK1BP
break;
#endif //MK1BP
case_G80:
{
mesh_bed_leveling_flag = true;
static bool run = false;
#ifdef SUPPORT_VERBOSITY
int8_t verbosity_level = 0;
if (code_seen('V')) {
// Just 'V' without a number counts as V1.
char c = strchr_pointer[1];
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
}
#endif //SUPPORT_VERBOSITY
// Firstly check if we know where we are
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
// We don't know where we are! HOME!
// Push the commands to the front of the message queue in the reverse order!
// There shall be always enough space reserved for these commands.
if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
repeatcommand_front(); // repeat G80 with all its parameters
enquecommand_front_P((PSTR("G28 W0")));
}
else {
mesh_bed_leveling_flag = false;
}
break;
}
uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS;
if (code_seen('N')) {
nMeasPoints = code_value_uint8();
if (nMeasPoints != 7) {
nMeasPoints = 3;
}
}
else {
nMeasPoints = eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
}
uint8_t nProbeRetry = 3;
if (code_seen('R')) {
nProbeRetry = code_value_uint8();
if (nProbeRetry > 10) {
nProbeRetry = 10;
}
}
else {
nProbeRetry = eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR) - 1;
}
bool magnet_elimination = (eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION) > 0);
bool temp_comp_start = true;
#ifdef PINDA_THERMISTOR
temp_comp_start = false;
#endif //PINDA_THERMISTOR
if (temp_comp_start)
if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
temp_compensation_start();
run = true;
repeatcommand_front(); // repeat G80 with all its parameters
enquecommand_front_P((PSTR("G28 W0")));
}
else {
mesh_bed_leveling_flag = false;
}
break;
}
run = false;
if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
mesh_bed_leveling_flag = false;
break;
}
// Save custom message state, set a new custom message state to display: Calibrating point 9.
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 = (nMeasPoints * nMeasPoints) + 10;
lcd_update(1);
mbl.reset(); //reset mesh bed leveling
// Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
// consumed during the first movements following this statement.
babystep_undo();
// 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);
// The move to the first calibration point.
current_position[X_AXIS] = BED_X0;
current_position[Y_AXIS] = BED_Y0;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1)
{
bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
}
#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);
// Wait until the move is finished.
st_synchronize();
uint8_t mesh_point = 0; //index number of calibration point
int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
bool has_z = (nMeasPoints == 3) && is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point)
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
}
#endif // SUPPORT_VERBOSITY
int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
const char *kill_message = NULL;
while (mesh_point != nMeasPoints * nMeasPoints) {
// Get coords of a measuring point.
uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / nMeasPoints;
/*if (!mbl_point_measurement_valid(ix, iy, nMeasPoints, true)) {
printf_P(PSTR("Skipping point [%d;%d] \n"), ix, iy);
custom_message_state--;
mesh_point++;
continue; //skip
}*/
if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
float z0 = 0.f;
if (has_z && (mesh_point > 0)) {
uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
z0 = mbl.z_values[0][0] + *reinterpret_cast(&z_offset_u) * 0.01;
//#if 0
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("Bed leveling, point: ");
MYSERIAL.print(mesh_point);
SERIAL_ECHOPGM(", calibration z: ");
MYSERIAL.print(z0, 5);
SERIAL_ECHOLNPGM("");
}
#endif // SUPPORT_VERBOSITY
//#endif
}
// Move Z up to MESH_HOME_Z_SEARCH.
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.
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
st_synchronize();
// Move to XY position of the sensor point.
current_position[X_AXIS] = BED_X(ix, nMeasPoints);
current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
SERIAL_PROTOCOL(mesh_point);
clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
}
#endif // SUPPORT_VERBOSITY
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
st_synchronize();
// Go down until endstop is hit
const float Z_CALIBRATION_THRESHOLD = 1.f;
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
kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW);
break;
}
if (MESH_HOME_Z_SEARCH - 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.
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);
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
kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW);
break;
}
if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
kill_message = _i("Bed leveling failed. Sensor disconnected or cable broken. Waiting for reset.");////MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED c=20 r=4
break;
}
}
if (has_z && fabs(z0 - current_position[Z_AXIS]) > Z_CALIBRATION_THRESHOLD) { //if we have data from z calibration, max. allowed difference is 1mm for each point
kill_message = _i("Bed leveling failed. Sensor triggered too high. Waiting for reset.");////MSG_BED_LEVELING_FAILED_POINT_HIGH c=20 r=4
break;
}
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 10) {
SERIAL_ECHOPGM("X: ");
MYSERIAL.print(current_position[X_AXIS], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("Y: ");
MYSERIAL.print(current_position[Y_AXIS], 5);
SERIAL_PROTOCOLPGM("\n");
}
#endif // SUPPORT_VERBOSITY
float offset_z = 0;
#ifdef PINDA_THERMISTOR
offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
#endif //PINDA_THERMISTOR
// #ifdef SUPPORT_VERBOSITY
/* if (verbosity_level >= 1)
{
SERIAL_ECHOPGM("mesh bed leveling: ");
MYSERIAL.print(current_position[Z_AXIS], 5);
SERIAL_ECHOPGM(" offset: ");
MYSERIAL.print(offset_z, 5);
SERIAL_ECHOLNPGM("");
}*/
// #endif // SUPPORT_VERBOSITY
mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
custom_message_state--;
mesh_point++;
lcd_update(1);
}
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) {
SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
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);
st_synchronize();
if (mesh_point != nMeasPoints * nMeasPoints) {
Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
bool bState;
do { // repeat until Z-leveling o.k.
lcd_display_message_fullscreen_P(_i("Some problem encountered, Z-leveling enforced ..."));
#ifdef TMC2130
lcd_wait_for_click_delay(MSG_BED_LEVELING_FAILED_TIMEOUT);
calibrate_z_auto(); // Z-leveling (X-assembly stay up!!!)
#else // TMC2130
lcd_wait_for_click_delay(0); // ~ no timeout
lcd_calibrate_z_end_stop_manual(true); // Z-leveling (X-assembly stay up!!!)
#endif // TMC2130
// ~ 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);
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);
st_synchronize();
#ifdef TMC2130
tmc2130_home_exit();
#endif // TMC2130
enable_z_endstop(bState);
} while (st_get_position_mm(Z_AXIS) > MESH_HOME_Z_SEARCH); // i.e. Z-leveling not o.k.
// plan_set_z_position(MESH_HOME_Z_SEARCH); // is not necessary ('do-while' loop always ends at the expected Z-position)
custom_message_type=CUSTOM_MSG_TYPE_STATUS; // display / status-line recovery
lcd_update_enable(true); // display / status-line recovery
gcode_G28(true, true, true); // X & Y & Z-homing (must be after individual Z-homing (problem with spool-holder)!)
repeatcommand_front(); // re-run (i.e. of "G80")
break;
}
clean_up_after_endstop_move(l_feedmultiply);
// SERIAL_ECHOLNPGM("clean up finished ");
bool apply_temp_comp = true;
#ifdef PINDA_THERMISTOR
apply_temp_comp = false;
#endif
if (apply_temp_comp)
if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
// SERIAL_ECHOLNPGM("babystep applied");
bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
}
#endif // SUPPORT_VERBOSITY
for (uint8_t i = 0; i < 4; ++i) {
unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
long correction = 0;
if (code_seen(codes[i]))
correction = code_value_long();
else if (eeprom_bed_correction_valid) {
unsigned char *addr = (i < 2) ?
((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
correction = eeprom_read_int8(addr);
}
if (correction == 0)
continue;
if (labs(correction) > BED_ADJUSTMENT_UM_MAX) {
SERIAL_ERROR_START;
SERIAL_ECHOPGM("Excessive bed leveling correction: ");
SERIAL_ECHO(correction);
SERIAL_ECHOLNPGM(" microns");
}
else {
float offset = float(correction) * 0.001f;
switch (i) {
case 0:
for (uint8_t row = 0; row < nMeasPoints; ++row) {
for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
}
}
break;
case 1:
for (uint8_t row = 0; row < nMeasPoints; ++row) {
for (uint8_t col = 1; col < nMeasPoints; ++col) {
mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
}
}
break;
case 2:
for (uint8_t col = 0; col < nMeasPoints; ++col) {
for (uint8_t row = 0; row < nMeasPoints; ++row) {
mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
}
}
break;
case 3:
for (uint8_t col = 0; col < nMeasPoints; ++col) {
for (uint8_t row = 1; row < nMeasPoints; ++row) {
mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
}
}
break;
}
}
}
// SERIAL_ECHOLNPGM("Bed leveling correction finished");
if (nMeasPoints == 3) {
mbl.upsample_3x3(); //interpolation from 3x3 to 7x7 points using largrangian polynomials while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
}
if (nMeasPoints == 7 && magnet_elimination) {
mbl_interpolation(nMeasPoints);
}
// SERIAL_ECHOLNPGM("Upsample finished");
mbl.active = 1; //activate mesh bed leveling
// SERIAL_ECHOLNPGM("Mesh bed leveling activated");
go_home_with_z_lift();
// SERIAL_ECHOLNPGM("Go home finished");
//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);
}
KEEPALIVE_STATE(NOT_BUSY);
// Restore custom message state
lcd_setstatuspgm(_T(WELCOME_MSG));
custom_message_type = custom_message_type_old;
custom_message_state = custom_message_state_old;
mesh_bed_leveling_flag = false;
mesh_bed_run_from_menu = false;
lcd_update(2);
}
break;
/**
* G81: Print mesh bed leveling status and bed profile if activated
*/
case 81:
if (mbl.active) {
SERIAL_PROTOCOLPGM("Num X,Y: ");
SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
SERIAL_PROTOCOLPGM("\nZ search height: ");
SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
}
SERIAL_PROTOCOLPGM("\n");
}
}
else
SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
break;
#if 0
/**
* G82: Single Z probe at current location
*
* WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
*
*/
case 82:
SERIAL_PROTOCOLLNPGM("Finding bed ");
int l_feedmultiply = setup_for_endstop_move();
find_bed_induction_sensor_point_z();
clean_up_after_endstop_move(l_feedmultiply);
SERIAL_PROTOCOLPGM("Bed found at: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
SERIAL_PROTOCOLPGM("\n");
break;
/**
* G83: Prusa3D specific: Babystep in Z and store to EEPROM
*/
case 83:
{
int babystepz = code_seen('S') ? code_value() : 0;
int BabyPosition = code_seen('P') ? code_value() : 0;
if (babystepz != 0) {
//FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
// Is the axis indexed starting with zero or one?
if (BabyPosition > 4) {
SERIAL_PROTOCOLLNPGM("Index out of bounds");
}else{
// Save it to the eeprom
babystepLoadZ = babystepz;
EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
// adjust the Z
babystepsTodoZadd(babystepLoadZ);
}
}
}
break;
/**
* G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
*/
case 84:
babystepsTodoZsubtract(babystepLoadZ);
// babystepLoadZ = 0;
break;
/**
* G85: Prusa3D specific: Pick best babystep
*/
case 85:
lcd_pick_babystep();
break;
#endif
/**
* G86: Prusa3D specific: Disable babystep correction after home.
* This G-code will be performed at the start of a calibration script.
*/
case 86:
calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
break;
/**
* G87: Prusa3D specific: Enable babystep correction after home
* This G-code will be performed at the end of a calibration script.
*/
case 87:
calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
break;
/**
* G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
*/
case 88:
break;
#endif // ENABLE_MESH_BED_LEVELING
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
if(!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) {
if(i == E_AXIS) {
current_position[i] = code_value();
plan_set_e_position(current_position[E_AXIS]);
}
else {
current_position[i] = code_value()+cs.add_homing[i];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
}
}
break;
case 98: //! G98 (activate farm mode)
farm_mode = 1;
PingTime = _millis();
eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
SilentModeMenu = SILENT_MODE_OFF;
eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
break;
case 99: //! G99 (deactivate farm mode)
farm_mode = 0;
lcd_printer_connected();
eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
lcd_update(2);
break;
default:
printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
}
// printf_P(_N("END G-CODE=%u\n"), gcode_in_progress);
gcode_in_progress = 0;
} // end if(code_seen('G'))
else if(code_seen('M'))
{
int index;
for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
/*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
} else
{
mcode_in_progress = (int)code_value();
// printf_P(_N("BEGIN M-CODE=%u\n"), mcode_in_progress);
switch(mcode_in_progress)
{
case 0: // M0 - Unconditional stop - Wait for user button press on LCD
case 1: // M1 - Conditional stop - Wait for user button press on LCD
{
char *src = strchr_pointer + 2;
codenum = 0;
bool hasP = false, hasS = false;
if (code_seen('P')) {
codenum = code_value(); // milliseconds to wait
hasP = codenum > 0;
}
if (code_seen('S')) {
codenum = code_value() * 1000; // seconds to wait
hasS = codenum > 0;
}
starpos = strchr(src, '*');
if (starpos != NULL) *(starpos) = '\0';
while (*src == ' ') ++src;
if (!hasP && !hasS && *src != '\0') {
lcd_setstatus(src);
} else {
LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT c=0 r=0
}
lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
st_synchronize();
previous_millis_cmd = _millis();
if (codenum > 0){
codenum += _millis(); // keep track of when we started waiting
KEEPALIVE_STATE(PAUSED_FOR_USER);
while(_millis() < codenum && !lcd_clicked()){
manage_heater();
manage_inactivity(true);
lcd_update(0);
}
KEEPALIVE_STATE(IN_HANDLER);
lcd_ignore_click(false);
}else{
KEEPALIVE_STATE(PAUSED_FOR_USER);
while(!lcd_clicked()){
manage_heater();
manage_inactivity(true);
lcd_update(0);
}
KEEPALIVE_STATE(IN_HANDLER);
}
if (IS_SD_PRINTING)
LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
else
LCD_MESSAGERPGM(_T(WELCOME_MSG));
}
break;
case 17:
LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE c=0 r=0
enable_x();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
break;
#ifdef SDSUPPORT
case 20: // M20 - list SD card
SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST c=0 r=0
card.ls();
SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST c=0 r=0
break;
case 21: // M21 - init SD card
card.initsd();
break;
case 22: //M22 - release SD card
card.release();
break;
case 23: //M23 - Select file
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos!=NULL)
*(starpos)='\0';
card.openFile(strchr_pointer + 4,true);
break;
case 24: //M24 - Start SD print
if (!card.paused)
failstats_reset_print();
card.startFileprint();
starttime=_millis();
break;
case 25: //M25 - Pause SD print
card.pauseSDPrint();
break;
case 26: //M26 - Set SD index
if(card.cardOK && code_seen('S')) {
card.setIndex(code_value_long());
}
break;
case 27: //M27 - Get SD status
card.getStatus();
break;
case 28: //M28 - Start SD write
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos != NULL){
char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos) = '\0';
}
card.openFile(strchr_pointer+4,false);
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//card,saving = false;
break;
case 30: //M30 Delete File
if (card.cardOK){
card.closefile();
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos != NULL){
char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos) = '\0';
}
card.removeFile(strchr_pointer + 4);
}
break;
case 32: //M32 - Select file and start SD print
{
if(card.sdprinting) {
st_synchronize();
}
starpos = (strchr(strchr_pointer + 4,'*'));
char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
if(namestartpos==NULL)
{
namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
}
else
namestartpos++; //to skip the '!'
if(starpos!=NULL)
*(starpos)='\0';
bool call_procedure=(code_seen('P'));
if(strchr_pointer>namestartpos)
call_procedure=false; //false alert, 'P' found within filename
if( card.cardOK )
{
card.openFile(namestartpos,true,!call_procedure);
if(code_seen('S'))
if(strchr_pointer= 0 && pin_status <= 255)
pin_number = code_value();
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
{
if (sensitive_pins[i] == pin_number)
{
pin_number = -1;
break;
}
}
#if defined(FAN_PIN) && FAN_PIN > -1
if (pin_number == FAN_PIN)
fanSpeed = pin_status;
#endif
if (pin_number > -1)
{
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
}
}
break;
case 44: //! M44: Prusa3D: Reset the bed skew and offset calibration.
// Reset the baby step value and the baby step applied flag.
calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
// Reset the skew and offset in both RAM and EEPROM.
reset_bed_offset_and_skew();
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
// the planner will not perform any adjustments in the XY plane.
// Wait for the motors to stop and update the current position with the absolute values.
world2machine_revert_to_uncorrected();
break;
case 45: //! M45: Prusa3D: bed skew and offset with manual Z up
{
int8_t verbosity_level = 0;
bool only_Z = code_seen('Z');
#ifdef SUPPORT_VERBOSITY
if (code_seen('V'))
{
// Just 'V' without a number counts as V1.
char c = strchr_pointer[1];
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
}
#endif //SUPPORT_VERBOSITY
gcode_M45(only_Z, verbosity_level);
}
break;
/*
case 46:
{
// M46: Prusa3D: Show the assigned IP address.
uint8_t ip[4];
bool hasIP = card.ToshibaFlashAir_GetIP(ip);
if (hasIP) {
SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
SERIAL_ECHO(int(ip[0]));
SERIAL_ECHOPGM(".");
SERIAL_ECHO(int(ip[1]));
SERIAL_ECHOPGM(".");
SERIAL_ECHO(int(ip[2]));
SERIAL_ECHOPGM(".");
SERIAL_ECHO(int(ip[3]));
SERIAL_ECHOLNPGM("");
} else {
SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
}
break;
}
*/
case 47:
//! M47: Prusa3D: Show end stops dialog on the display.
KEEPALIVE_STATE(PAUSED_FOR_USER);
lcd_diag_show_end_stops();
KEEPALIVE_STATE(IN_HANDLER);
break;
#if 0
case 48: //! M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
{
// Disable the default update procedure of the display. We will do a modal dialog.
lcd_update_enable(false);
// Let the planner use the uncorrected coordinates.
mbl.reset();
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
// the planner will not perform any adjustments in the XY plane.
// Wait for the motors to stop and update the current position with the absolute values.
world2machine_revert_to_uncorrected();
// Move the print head close to the bed.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
st_synchronize();
// Home in the XY plane.
set_destination_to_current();
int l_feedmultiply = setup_for_endstop_move();
home_xy();
int8_t verbosity_level = 0;
if (code_seen('V')) {
// Just 'V' without a number counts as V1.
char c = strchr_pointer[1];
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
}
bool success = scan_bed_induction_points(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);
st_synchronize();
lcd_update_enable(true);
break;
}
#endif
#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef Z_PROBE_REPEATABILITY_TEST
//! M48 Z-Probe repeatability measurement function.
//!
//! Usage: M48
//!
//! This function assumes the bed has been homed. Specificaly, that a G28 command
//! as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
//! Any information generated by a prior G29 Bed leveling command will be lost and need to be
//! regenerated.
//!
//! The number of samples will default to 10 if not specified. You can use upper or lower case
//! letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
//! N for its communication protocol and will get horribly confused if you send it a capital N.
//!
case 48: // M48 Z-Probe repeatability
{
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
#endif
double sum=0.0;
double mean=0.0;
double sigma=0.0;
double sample_set[50];
int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
double X_current, Y_current, Z_current;
double X_probe_location, Y_probe_location, Z_start_location, ext_position;
if (code_seen('V') || code_seen('v')) {
verbose_level = code_value();
if (verbose_level<0 || verbose_level>4 ) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
goto Sigma_Exit;
}
}
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
}
if (code_seen('n')) {
n_samples = code_value();
if (n_samples<4 || n_samples>50 ) {
SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
goto Sigma_Exit;
}
}
X_current = X_probe_location = st_get_position_mm(X_AXIS);
Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
ext_position = st_get_position_mm(E_AXIS);
if (code_seen('X') || code_seen('x') ) {
X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
if (X_probe_locationX_MAX_POS ) {
SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
goto Sigma_Exit;
}
}
if (code_seen('Y') || code_seen('y') ) {
Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
if (Y_probe_locationY_MAX_POS ) {
SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
goto Sigma_Exit;
}
}
if (code_seen('L') || code_seen('l') ) {
n_legs = code_value();
if ( n_legs==1 )
n_legs = 2;
if ( n_legs<0 || n_legs>15 ) {
SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
goto Sigma_Exit;
}
}
//
// Do all the preliminary setup work. First raise the probe.
//
st_synchronize();
plan_bed_level_matrix.set_to_identity();
plan_buffer_line( X_current, Y_current, Z_start_location,
ext_position,
homing_feedrate[Z_AXIS]/60,
active_extruder);
st_synchronize();
//
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
//
if (verbose_level > 2)
SERIAL_PROTOCOL("Positioning probe for the test.\n");
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60,
active_extruder);
st_synchronize();
current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
//
// OK, do the inital probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
int l_feedmultiply = setup_for_endstop_move();
run_z_probe();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60,
active_extruder);
st_synchronize();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
for( n=0; nX_MAX_POS)
X_current = X_MAX_POS;
if ( Y_currentY_MAX_POS)
Y_current = Y_MAX_POS;
if (verbose_level>3 ) {
SERIAL_ECHOPAIR("x: ", X_current);
SERIAL_ECHOPAIR("y: ", Y_current);
SERIAL_PROTOCOLLNPGM("");
}
do_blocking_move_to( X_current, Y_current, Z_current );
}
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
}
int l_feedmultiply = setup_for_endstop_move();
run_z_probe();
sample_set[n] = current_position[Z_AXIS];
//
// Get the current mean for the data points we have so far
//
sum=0.0;
for( j=0; j<=n; j++) {
sum = sum + sample_set[j];
}
mean = sum / (double (n+1));
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
sum=0.0;
for( j=0; j<=n; j++) {
sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
}
sigma = sqrt( sum / (double (n+1)) );
if (verbose_level > 1) {
SERIAL_PROTOCOL(n+1);
SERIAL_PROTOCOL(" of ");
SERIAL_PROTOCOL(n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
}
if (verbose_level > 2) {
SERIAL_PROTOCOL(" mean: ");
SERIAL_PROTOCOL_F(mean,6);
SERIAL_PROTOCOL(" sigma: ");
SERIAL_PROTOCOL_F(sigma,6);
}
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("\n");
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
st_synchronize();
}
_delay(1000);
clean_up_after_endstop_move(l_feedmultiply);
// enable_endstops(true);
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM("\n");
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOLPGM("\n\n");
Sigma_Exit:
break;
}
#endif // Z_PROBE_REPEATABILITY_TEST
#endif // ENABLE_AUTO_BED_LEVELING
case 73: //M73 show percent done and time remaining
if(code_seen('P')) print_percent_done_normal = code_value();
if(code_seen('R')) print_time_remaining_normal = code_value();
if(code_seen('Q')) print_percent_done_silent = code_value();
if(code_seen('S')) print_time_remaining_silent = code_value();
{
const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
}
break;
case 104: // M104
{
uint8_t extruder;
if(setTargetedHotend(104,extruder)){
break;
}
if (code_seen('S'))
{
setTargetHotendSafe(code_value(), extruder);
}
setWatch();
break;
}
case 112: // M112 -Emergency Stop
kill(_n(""), 3);
break;
case 140: // M140 set bed temp
if (code_seen('S')) setTargetBed(code_value());
break;
case 105 : // M105
{
uint8_t extruder;
if(setTargetedHotend(105, extruder)){
break;
}
#if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
SERIAL_PROTOCOLPGM("ok T:");
SERIAL_PROTOCOL_F(degHotend(extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(extruder),1);
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetBed(),1);
#endif //TEMP_BED_PIN
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
}
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS c=0 r=0
#endif
SERIAL_PROTOCOLPGM(" @:");
#ifdef EXTRUDER_WATTS
SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
SERIAL_PROTOCOLPGM("W");
#else
SERIAL_PROTOCOL(getHeaterPower(extruder));
#endif
SERIAL_PROTOCOLPGM(" B@:");
#ifdef BED_WATTS
SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
SERIAL_PROTOCOLPGM("W");
#else
SERIAL_PROTOCOL(getHeaterPower(-1));
#endif
#ifdef PINDA_THERMISTOR
SERIAL_PROTOCOLPGM(" P:");
SERIAL_PROTOCOL_F(current_temperature_pinda,1);
#endif //PINDA_THERMISTOR
#ifdef AMBIENT_THERMISTOR
SERIAL_PROTOCOLPGM(" A:");
SERIAL_PROTOCOL_F(current_temperature_ambient,1);
#endif //AMBIENT_THERMISTOR
#ifdef SHOW_TEMP_ADC_VALUES
{float raw = 0.0;
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" ADC B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM("C->");
raw = rawBedTemp();
SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
SERIAL_PROTOCOLPGM(" Rb->");
SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
SERIAL_PROTOCOLPGM(" Rxb->");
SERIAL_PROTOCOL_F(raw, 5);
#endif
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM("C->");
raw = rawHotendTemp(cur_extruder);
SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
SERIAL_PROTOCOLPGM(" Rt");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM("->");
SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
SERIAL_PROTOCOLPGM(" Rx");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM("->");
SERIAL_PROTOCOL_F(raw, 5);
}}
#endif
SERIAL_PROTOCOLLN("");
KEEPALIVE_STATE(NOT_BUSY);
return;
break;
}
case 109:
{// M109 - Wait for extruder heater to reach target.
uint8_t extruder;
if(setTargetedHotend(109, extruder)){
break;
}
LCD_MESSAGERPGM(_T(MSG_HEATING));
heating_status = 1;
if (farm_mode) { prusa_statistics(1); };
#ifdef AUTOTEMP
autotemp_enabled=false;
#endif
if (code_seen('S')) {
setTargetHotendSafe(code_value(), extruder);
CooldownNoWait = true;
} else if (code_seen('R')) {
setTargetHotendSafe(code_value(), extruder);
CooldownNoWait = false;
}
#ifdef AUTOTEMP
if (code_seen('S')) autotemp_min=code_value();
if (code_seen('B')) autotemp_max=code_value();
if (code_seen('F'))
{
autotemp_factor=code_value();
autotemp_enabled=true;
}
#endif
setWatch();
codenum = _millis();
/* See if we are heating up or cooling down */
target_direction = isHeatingHotend(extruder); // true if heating, false if cooling
KEEPALIVE_STATE(NOT_BUSY);
cancel_heatup = false;
wait_for_heater(codenum, extruder); //loops until target temperature is reached
LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
KEEPALIVE_STATE(IN_HANDLER);
heating_status = 2;
if (farm_mode) { prusa_statistics(2); };
//starttime=_millis();
previous_millis_cmd = _millis();
}
break;
case 190: // M190 - Wait for bed heater to reach target.
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
heating_status = 3;
if (farm_mode) { prusa_statistics(1); };
if (code_seen('S'))
{
setTargetBed(code_value());
CooldownNoWait = true;
}
else if (code_seen('R'))
{
setTargetBed(code_value());
CooldownNoWait = false;
}
codenum = _millis();
cancel_heatup = false;
target_direction = isHeatingBed(); // true if heating, false if cooling
KEEPALIVE_STATE(NOT_BUSY);
while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
{
if(( _millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
if (!farm_mode) {
float tt = degHotend(active_extruder);
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(), 1);
SERIAL_PROTOCOLLN("");
}
codenum = _millis();
}
manage_heater();
manage_inactivity();
lcd_update(0);
}
LCD_MESSAGERPGM(_T(MSG_BED_DONE));
KEEPALIVE_STATE(IN_HANDLER);
heating_status = 4;
previous_millis_cmd = _millis();
#endif
break;
#if defined(FAN_PIN) && FAN_PIN > -1
case 106: //!M106 Sxxx Fan On S 0 .. 255
if (code_seen('S')){
fanSpeed=constrain(code_value(),0,255);
}
else {
fanSpeed=255;
}
break;
case 107: //M107 Fan Off
fanSpeed = 0;
break;
#endif //FAN_PIN
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
case 80: // M80 - Turn on Power Supply
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, PS_ON_AWAKE);
// If you have a switch on suicide pin, this is useful
// if you want to start another print with suicide feature after
// a print without suicide...
#if defined SUICIDE_PIN && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif
powersupply = true;
LCD_MESSAGERPGM(_T(WELCOME_MSG));
lcd_update(0);
break;
#endif
case 81: // M81 - Turn off Power Supply
disable_heater();
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
finishAndDisableSteppers();
fanSpeed = 0;
_delay(1000); // Wait a little before to switch off
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize();
suicide();
#elif defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN);
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
powersupply = false;
LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
lcd_update(0);
break;
case 82:
axis_relative_modes[3] = false;
break;
case 83:
axis_relative_modes[3] = true;
break;
case 18: //compatibility
case 84: // M84
if(code_seen('S')){
stepper_inactive_time = code_value() * 1000;
}
else
{
bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
if(all_axis)
{
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
finishAndDisableSteppers();
}
else
{
st_synchronize();
if (code_seen('X')) disable_x();
if (code_seen('Y')) disable_y();
if (code_seen('Z')) disable_z();
#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if (code_seen('E')) {
disable_e0();
disable_e1();
disable_e2();
}
#endif
}
}
//in the end of print set estimated time to end of print and extruders used during print to default values for next print
print_time_remaining_init();
snmm_filaments_used = 0;
break;
case 85: // M85
if(code_seen('S')) {
max_inactive_time = code_value() * 1000;
}
break;
#ifdef SAFETYTIMER
case 86: // M86 - set safety timer expiration time in seconds; M86 S0 will disable safety timer
//when safety timer expires heatbed and nozzle target temperatures are set to zero
if (code_seen('S')) {
safetytimer_inactive_time = code_value() * 1000;
safetyTimer.start();
}
break;
#endif
case 92: // M92
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i]))
{
if(i == 3) { // E
float value = code_value();
if(value < 20.0) {
float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
cs.max_jerk[E_AXIS] *= factor;
max_feedrate[i] *= factor;
axis_steps_per_sqr_second[i] *= factor;
}
cs.axis_steps_per_unit[i] = value;
}
else {
cs.axis_steps_per_unit[i] = code_value();
}
}
}
break;
case 110: //! M110 N - reset line pos
if (code_seen('N'))
gcode_LastN = code_value_long();
break;
case 113: // M113 - Get or set Host Keepalive interval
if (code_seen('S')) {
host_keepalive_interval = (uint8_t)code_value_short();
// NOMORE(host_keepalive_interval, 60);
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
SERIAL_PROTOCOLLN("");
}
break;
case 115: // M115
if (code_seen('V')) {
// Report the Prusa version number.
SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
} else if (code_seen('U')) {
// Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
// pause the print and ask the user to upgrade the firmware.
show_upgrade_dialog_if_version_newer(++ strchr_pointer);
} else {
SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
SERIAL_ECHORPGM(FW_VERSION_STR_P());
SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
SERIAL_ECHOPGM(PROTOCOL_VERSION);
SERIAL_ECHOPGM(" MACHINE_TYPE:");
SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
SERIAL_ECHOPGM(" UUID:");
SERIAL_ECHOLNPGM(MACHINE_UUID);
}
break;
/* case 117: // M117 display message
starpos = (strchr(strchr_pointer + 5,'*'));
if(starpos!=NULL)
*(starpos)='\0';
lcd_setstatus(strchr_pointer + 5);
break;*/
case 114: // M114
gcode_M114();
break;
case 120: //! M120 - Disable endstops
enable_endstops(false) ;
break;
case 121: //! M121 - Enable endstops
enable_endstops(true) ;
break;
case 119: // M119
SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT c=0 r=0
SERIAL_PROTOCOLLN("");
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN c=0 r=0
if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
}else{
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
}
SERIAL_PROTOCOLLN("");
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX c=0 r=0
if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
}else{
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
}
SERIAL_PROTOCOLLN("");
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN c=0 r=0
if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
}else{
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
}
SERIAL_PROTOCOLLN("");
#endif
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX c=0 r=0
if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
}else{
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
}
SERIAL_PROTOCOLLN("");
#endif
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
}else{
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
}
SERIAL_PROTOCOLLN("");
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
}else{
SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
}
SERIAL_PROTOCOLLN("");
#endif
break;
//TODO: update for all axis, use for loop
#ifdef BLINKM
case 150: // M150
{
byte red;
byte grn;
byte blu;
if(code_seen('R')) red = code_value();
if(code_seen('U')) grn = code_value();
if(code_seen('B')) blu = code_value();
SendColors(red,grn,blu);
}
break;
#endif //BLINKM
case 200: // M200 D set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
{
uint8_t extruder = active_extruder;
if(code_seen('T')) {
extruder = code_value();
if(extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO(_n("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER c=0 r=0
break;
}
}
if(code_seen('D')) {
float diameter = (float)code_value();
if (diameter == 0.0) {
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
cs.volumetric_enabled = false;
} else {
cs.filament_size[extruder] = (float)code_value();
// make sure all extruders have some sane value for the filament size
cs.filament_size[0] = (cs.filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[0]);
#if EXTRUDERS > 1
cs.filament_size[1] = (cs.filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[1]);
#if EXTRUDERS > 2
cs.filament_size[2] = (cs.filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[2]);
#endif
#endif
cs.volumetric_enabled = true;
}
} else {
//reserved for setting filament diameter via UFID or filament measuring device
break;
}
calculate_extruder_multipliers();
}
break;
case 201: // M201
for (int8_t i = 0; i < NUM_AXIS; i++)
{
if (code_seen(axis_codes[i]))
{
unsigned long val = code_value();
#ifdef TMC2130
unsigned long val_silent = val;
if ((i == X_AXIS) || (i == Y_AXIS))
{
if (val > NORMAL_MAX_ACCEL_XY)
val = NORMAL_MAX_ACCEL_XY;
if (val_silent > SILENT_MAX_ACCEL_XY)
val_silent = SILENT_MAX_ACCEL_XY;
}
cs.max_acceleration_units_per_sq_second_normal[i] = val;
cs.max_acceleration_units_per_sq_second_silent[i] = val_silent;
#else //TMC2130
max_acceleration_units_per_sq_second[i] = val;
#endif //TMC2130
}
}
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
reset_acceleration_rates();
break;
#if 0 // Not used for Sprinter/grbl gen6
case 202: // M202
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * cs.axis_steps_per_unit[i];
}
break;
#endif
case 203: // M203 max feedrate mm/sec
for (int8_t i = 0; i < NUM_AXIS; i++)
{
if (code_seen(axis_codes[i]))
{
float val = code_value();
#ifdef TMC2130
float val_silent = val;
if ((i == X_AXIS) || (i == Y_AXIS))
{
if (val > NORMAL_MAX_FEEDRATE_XY)
val = NORMAL_MAX_FEEDRATE_XY;
if (val_silent > SILENT_MAX_FEEDRATE_XY)
val_silent = SILENT_MAX_FEEDRATE_XY;
}
cs.max_feedrate_normal[i] = val;
cs.max_feedrate_silent[i] = val_silent;
#else //TMC2130
max_feedrate[i] = val;
#endif //TMC2130
}
}
break;
case 204:
//! M204 acclereration settings.
//!@n Supporting old format: M204 S[normal moves] T[filmanent only moves]
//!@n and new format: M204 P[printing moves] R[filmanent only moves] T[travel moves] (as of now T is ignored)
{
if(code_seen('S')) {
// Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
// and it is also generated by Slic3r to control acceleration per extrusion type
// (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
cs.acceleration = code_value();
// Interpret the T value as retract acceleration in the old Marlin format.
if(code_seen('T'))
cs.retract_acceleration = code_value();
} else {
// New acceleration format, compatible with the upstream Marlin.
if(code_seen('P'))
cs.acceleration = code_value();
if(code_seen('R'))
cs.retract_acceleration = code_value();
if(code_seen('T')) {
// Interpret the T value as the travel acceleration in the new Marlin format.
//FIXME Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
// travel_acceleration = code_value();
}
}
}
break;
case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
{
if(code_seen('S')) cs.minimumfeedrate = code_value();
if(code_seen('T')) cs.mintravelfeedrate = code_value();
if(code_seen('B')) cs.minsegmenttime = code_value() ;
if(code_seen('X')) cs.max_jerk[X_AXIS] = cs.max_jerk[Y_AXIS] = code_value();
if(code_seen('Y')) cs.max_jerk[Y_AXIS] = code_value();
if(code_seen('Z')) cs.max_jerk[Z_AXIS] = code_value();
if(code_seen('E')) cs.max_jerk[E_AXIS] = code_value();
if (cs.max_jerk[X_AXIS] > DEFAULT_XJERK) cs.max_jerk[X_AXIS] = DEFAULT_XJERK;
if (cs.max_jerk[Y_AXIS] > DEFAULT_YJERK) cs.max_jerk[Y_AXIS] = DEFAULT_YJERK;
}
break;
case 206: // M206 additional homing offset
for(int8_t i=0; i < 3; i++)
{
if(code_seen(axis_codes[i])) cs.add_homing[i] = code_value();
}
break;
#ifdef FWRETRACT
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
{
if(code_seen('S'))
{
cs.retract_length = code_value() ;
}
if(code_seen('F'))
{
cs.retract_feedrate = code_value()/60 ;
}
if(code_seen('Z'))
{
cs.retract_zlift = code_value() ;
}
}break;
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
{
if(code_seen('S'))
{
cs.retract_recover_length = code_value() ;
}
if(code_seen('F'))
{
cs.retract_recover_feedrate = code_value()/60 ;
}
}break;
case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
{
if(code_seen('S'))
{
int t= code_value() ;
switch(t)
{
case 0:
{
cs.autoretract_enabled=false;
retracted[0]=false;
#if EXTRUDERS > 1
retracted[1]=false;
#endif
#if EXTRUDERS > 2
retracted[2]=false;
#endif
}break;
case 1:
{
cs.autoretract_enabled=true;
retracted[0]=false;
#if EXTRUDERS > 1
retracted[1]=false;
#endif
#if EXTRUDERS > 2
retracted[2]=false;
#endif
}break;
default:
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
SERIAL_ECHOLNPGM("\"(1)");
}
}
}break;
#endif // FWRETRACT
#if EXTRUDERS > 1
case 218: // M218 - set hotend offset (in mm), T X Y
{
uint8_t extruder;
if(setTargetedHotend(218, extruder)){
break;
}
if(code_seen('X'))
{
extruder_offset[X_AXIS][extruder] = code_value();
}
if(code_seen('Y'))
{
extruder_offset[Y_AXIS][extruder] = code_value();
}
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
for(extruder = 0; extruder < EXTRUDERS; extruder++)
{
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][extruder]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][extruder]);
}
SERIAL_ECHOLN("");
}break;
#endif
case 220: // M220 S- set speed factor override percentage
{
if (code_seen('B')) //backup current speed factor
{
saved_feedmultiply_mm = feedmultiply;
}
if(code_seen('S'))
{
feedmultiply = code_value() ;
}
if (code_seen('R')) { //restore previous feedmultiply
feedmultiply = saved_feedmultiply_mm;
}
}
break;
case 221: // M221 S- set extrude factor override percentage
{
if(code_seen('S'))
{
int tmp_code = code_value();
if (code_seen('T'))
{
uint8_t extruder;
if(setTargetedHotend(221, extruder)){
break;
}
extruder_multiply[extruder] = tmp_code;
}
else
{
extrudemultiply = tmp_code ;
}
}
calculate_extruder_multipliers();
}
break;
case 226: // M226 P S- Wait until the specified pin reaches the state required
{
if(code_seen('P')){
int pin_number = code_value(); // pin number
int pin_state = -1; // required pin state - default is inverted
if(code_seen('S')) pin_state = code_value(); // required pin state
if(pin_state >= -1 && pin_state <= 1){
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
{
if (sensitive_pins[i] == pin_number)
{
pin_number = -1;
break;
}
}
if (pin_number > -1)
{
int target = LOW;
st_synchronize();
pinMode(pin_number, INPUT);
switch(pin_state){
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
case -1:
target = !digitalRead(pin_number);
break;
}
while(digitalRead(pin_number) != target){
manage_heater();
manage_inactivity();
lcd_update(0);
}
}
}
}
}
break;
#if NUM_SERVOS > 0
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
{
int servo_index = -1;
int servo_position = 0;
if (code_seen('P'))
servo_index = code_value();
if (code_seen('S')) {
servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos[servo_index].attach(0);
#endif
servos[servo_index].write(servo_position);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
_delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_index].detach();
#endif
}
else {
SERIAL_ECHO_START;
SERIAL_ECHO("Servo ");
SERIAL_ECHO(servo_index);
SERIAL_ECHOLN(" out of range");
}
}
else if (servo_index >= 0) {
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" Servo ");
SERIAL_PROTOCOL(servo_index);
SERIAL_PROTOCOL(": ");
SERIAL_PROTOCOL(servos[servo_index].read());
SERIAL_PROTOCOLLN("");
}
}
break;
#endif // NUM_SERVOS > 0
#if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
case 300: // M300
{
int beepS = code_seen('S') ? code_value() : 110;
int beepP = code_seen('P') ? code_value() : 1000;
if (beepS > 0)
{
#if BEEPER > 0
if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
_tone(BEEPER, beepS);
_delay(beepP);
_noTone(BEEPER);
#endif
}
else
{
_delay(beepP);
}
}
break;
#endif // M300
#ifdef PIDTEMP
case 301: // M301
{
if(code_seen('P')) cs.Kp = code_value();
if(code_seen('I')) cs.Ki = scalePID_i(code_value());
if(code_seen('D')) cs.Kd = scalePID_d(code_value());
#ifdef PID_ADD_EXTRUSION_RATE
if(code_seen('C')) Kc = code_value();
#endif
updatePID();
SERIAL_PROTOCOLRPGM(MSG_OK);
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(cs.Kp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(cs.Ki));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(cs.Kd));
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL(" c:");
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_PROTOCOL(Kc);
#endif
SERIAL_PROTOCOLLN("");
}
break;
#endif //PIDTEMP
#ifdef PIDTEMPBED
case 304: // M304
{
if(code_seen('P')) cs.bedKp = code_value();
if(code_seen('I')) cs.bedKi = scalePID_i(code_value());
if(code_seen('D')) cs.bedKd = scalePID_d(code_value());
updatePID();
SERIAL_PROTOCOLRPGM(MSG_OK);
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(cs.bedKp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(cs.bedKi));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(cs.bedKd));
SERIAL_PROTOCOLLN("");
}
break;
#endif //PIDTEMP
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
{
#ifdef CHDK
SET_OUTPUT(CHDK);
WRITE(CHDK, HIGH);
chdkHigh = _millis();
chdkActive = true;
#else
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
const uint8_t NUM_PULSES=16;
const float PULSE_LENGTH=0.01524;
for(int i=0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
_delay(7.33);
for(int i=0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
#endif
#endif //chdk end if
}
break;
#ifdef PREVENT_DANGEROUS_EXTRUDE
case 302: // allow cold extrudes, or set the minimum extrude temperature
{
float temp = .0;
if (code_seen('S')) temp=code_value();
set_extrude_min_temp(temp);
}
break;
#endif
case 303: // M303 PID autotune
{
float temp = 150.0;
int e=0;
int c=5;
if (code_seen('E')) e=code_value();
if (e<0)
temp=70;
if (code_seen('S')) temp=code_value();
if (code_seen('C')) c=code_value();
PID_autotune(temp, e, c);
}
break;
case 400: // M400 finish all moves
{
st_synchronize();
}
break;
case 403: //! M403 set filament type (material) for particular extruder and send this information to mmu
{
//! currently three different materials are needed (default, flex and PVA)
//! add storing this information for different load/unload profiles etc. in the future
//!firmware does not wait for "ok" from mmu
if (mmu_enabled)
{
uint8_t extruder = 255;
uint8_t filament = FILAMENT_UNDEFINED;
if(code_seen('E')) extruder = code_value();
if(code_seen('F')) filament = code_value();
mmu_set_filament_type(extruder, filament);
}
}
break;
case 500: // M500 Store settings in EEPROM
{
Config_StoreSettings();
}
break;
case 501: // M501 Read settings from EEPROM
{
Config_RetrieveSettings();
}
break;
case 502: // M502 Revert to default settings
{
Config_ResetDefault();
}
break;
case 503: // M503 print settings currently in memory
{
Config_PrintSettings();
}
break;
case 509: //M509 Force language selection
{
lang_reset();
SERIAL_ECHO_START;
SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
}
break;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540:
{
if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
}
break;
#endif
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
{
float value;
if (code_seen('Z'))
{
value = code_value();
if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
{
cs.zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
SERIAL_PROTOCOLLN("");
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
SERIAL_ECHORPGM(MSG_Z_MIN);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_ECHORPGM(MSG_Z_MAX);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
SERIAL_PROTOCOLLN("");
}
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
SERIAL_ECHO(-cs.zprobe_zoffset);
SERIAL_PROTOCOLLN("");
}
break;
}
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
#ifdef FILAMENTCHANGEENABLE
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
{
st_synchronize();
float x_position = current_position[X_AXIS];
float y_position = current_position[Y_AXIS];
float z_shift = 0;
float e_shift_init = 0;
float e_shift_late = 0;
bool automatic = false;
//Retract extruder
if(code_seen('E'))
{
e_shift_init = code_value();
}
else
{
#ifdef FILAMENTCHANGE_FIRSTRETRACT
e_shift_init = FILAMENTCHANGE_FIRSTRETRACT ;
#endif
}
//currently don't work as we are using the same unload sequence as in M702, needs re-work
if (code_seen('L'))
{
e_shift_late = code_value();
}
else
{
#ifdef FILAMENTCHANGE_FINALRETRACT
e_shift_late = FILAMENTCHANGE_FINALRETRACT;
#endif
}
//Lift Z
if(code_seen('Z'))
{
z_shift = code_value();
}
else
{
#ifdef FILAMENTCHANGE_ZADD
z_shift= FILAMENTCHANGE_ZADD ;
if(current_position[Z_AXIS] < 25) z_shift+= 25 ;
#endif
}
//Move XY to side
if(code_seen('X'))
{
x_position = code_value();
}
else
{
#ifdef FILAMENTCHANGE_XPOS
x_position = FILAMENTCHANGE_XPOS;
#endif
}
if(code_seen('Y'))
{
y_position = code_value();
}
else
{
#ifdef FILAMENTCHANGE_YPOS
y_position = FILAMENTCHANGE_YPOS ;
#endif
}
if (mmu_enabled && code_seen("AUTO"))
automatic = true;
gcode_M600(automatic, x_position, y_position, z_shift, e_shift_init, e_shift_late);
}
break;
#endif //FILAMENTCHANGEENABLE
case 601: //! M601 - Pause print
{
cmdqueue_pop_front(); //trick because we want skip this command (M601) after restore
lcd_pause_print();
}
break;
case 602: { //! M602 - Resume print
lcd_resume_print();
}
break;
#ifdef PINDA_THERMISTOR
case 860: // M860 - Wait for PINDA thermistor to reach target temperature.
{
int set_target_pinda = 0;
if (code_seen('S')) {
set_target_pinda = code_value();
}
else {
break;
}
LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
SERIAL_PROTOCOL(set_target_pinda);
SERIAL_PROTOCOLLN("");
codenum = _millis();
cancel_heatup = false;
bool is_pinda_cooling = false;
if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
is_pinda_cooling = true;
}
while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
if ((_millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
{
SERIAL_PROTOCOLPGM("P:");
SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
SERIAL_PROTOCOLPGM("/");
SERIAL_PROTOCOL(set_target_pinda);
SERIAL_PROTOCOLLN("");
codenum = _millis();
}
manage_heater();
manage_inactivity();
lcd_update(0);
}
LCD_MESSAGERPGM(MSG_OK);
break;
}
case 861: // M861 - Set/Read PINDA temperature compensation offsets
if (code_seen('?')) { // ? - Print out current EEPROM offset values
uint8_t cal_status = calibration_status_pinda();
int16_t usteps = 0;
cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
SERIAL_PROTOCOLLN("index, temp, ustep, um");
for (uint8_t i = 0; i < 6; i++)
{
if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
SERIAL_PROTOCOLPGM(", ");
SERIAL_PROTOCOL(35 + (i * 5));
SERIAL_PROTOCOLPGM(", ");
SERIAL_PROTOCOL(usteps);
SERIAL_PROTOCOLPGM(", ");
SERIAL_PROTOCOL(mm * 1000);
SERIAL_PROTOCOLLN("");
}
}
else if (code_seen('!')) { // ! - Set factory default values
eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
int16_t z_shift = 8; //40C - 20um - 8usteps
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
z_shift = 24; //45C - 60um - 24usteps
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
z_shift = 48; //50C - 120um - 48usteps
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
z_shift = 80; //55C - 200um - 80usteps
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
z_shift = 120; //60C - 300um - 120usteps
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
SERIAL_PROTOCOLLN("factory restored");
}
else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
int16_t z_shift = 0;
for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
SERIAL_PROTOCOLLN("zerorized");
}
else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
int16_t usteps = code_value();
if (code_seen('I')) {
uint8_t index = code_value();
if (index < 5) {
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
SERIAL_PROTOCOLLN("OK");
SERIAL_PROTOCOLLN("index, temp, ustep, um");
for (uint8_t i = 0; i < 6; i++)
{
usteps = 0;
if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
SERIAL_PROTOCOLPGM(", ");
SERIAL_PROTOCOL(35 + (i * 5));
SERIAL_PROTOCOLPGM(", ");
SERIAL_PROTOCOL(usteps);
SERIAL_PROTOCOLPGM(", ");
SERIAL_PROTOCOL(mm * 1000);
SERIAL_PROTOCOLLN("");
}
}
}
}
else {
SERIAL_PROTOCOLPGM("no valid command");
}
break;
#endif //PINDA_THERMISTOR
#ifdef LIN_ADVANCE
case 900: // M900: Set LIN_ADVANCE options.
gcode_M900();
break;
#endif
case 907: // M907 Set digital trimpot motor current using axis codes.
{
#ifdef TMC2130
for (int i = 0; i < NUM_AXIS; i++)
if(code_seen(axis_codes[i]))
{
long cur_mA = code_value_long();
uint8_t val = tmc2130_cur2val(cur_mA);
tmc2130_set_current_h(i, val);
tmc2130_set_current_r(i, val);
//if (i == E_AXIS) printf_P(PSTR("E-axis current=%ldmA\n"), cur_mA);
}
#else //TMC2130
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
for(int i=0;i -1
uint8_t channel,current;
if(code_seen('P')) channel=code_value();
if(code_seen('S')) current=code_value();
digitalPotWrite(channel, current);
#endif
}
break;
#ifdef TMC2130_SERVICE_CODES_M910_M918
case 910: //! M910 - TMC2130 init
{
tmc2130_init();
}
break;
case 911: //! M911 - Set TMC2130 holding currents
{
if (code_seen('X')) tmc2130_set_current_h(0, code_value());
if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
if (code_seen('E')) tmc2130_set_current_h(3, code_value());
}
break;
case 912: //! M912 - Set TMC2130 running currents
{
if (code_seen('X')) tmc2130_set_current_r(0, code_value());
if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
if (code_seen('E')) tmc2130_set_current_r(3, code_value());
}
break;
case 913: //! M913 - Print TMC2130 currents
{
tmc2130_print_currents();
}
break;
case 914: //! M914 - Set normal mode
{
tmc2130_mode = TMC2130_MODE_NORMAL;
update_mode_profile();
tmc2130_init();
}
break;
case 915: //! M915 - Set silent mode
{
tmc2130_mode = TMC2130_MODE_SILENT;
update_mode_profile();
tmc2130_init();
}
break;
case 916: //! M916 - Set sg_thrs
{
if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
}
break;
case 917: //! M917 - Set TMC2130 pwm_ampl
{
if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
}
break;
case 918: //! M918 - Set TMC2130 pwm_grad
{
if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
}
break;
#endif //TMC2130_SERVICE_CODES_M910_M918
case 350: //! M350 - Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
{
#ifdef TMC2130
if(code_seen('E'))
{
uint16_t res_new = code_value();
if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
{
st_synchronize();
uint8_t axis = E_AXIS;
uint16_t res = tmc2130_get_res(axis);
tmc2130_set_res(axis, res_new);
if (res_new > res)
{
uint16_t fac = (res_new / res);
cs.axis_steps_per_unit[axis] *= fac;
position[E_AXIS] *= fac;
}
else
{
uint16_t fac = (res / res_new);
cs.axis_steps_per_unit[axis] /= fac;
position[E_AXIS] /= fac;
}
}
}
#else //TMC2130
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
for(int i=0;i -1
if(code_seen('S')) switch((int)code_value())
{
case 1:
for(int i=0;i - select extruder in case of multi extruder printer
//! select filament in case of MMU_V2
//! if extruder is "?", open menu to let the user select extruder/filament
//!
//! For MMU_V2:
//! @n T Gcode to extrude at least 38.10 mm at feedrate 19.02 mm/s must follow immediately to load to extruder wheels.
//! @n T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
//! @n Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
//! @n Tc Load to nozzle after filament was prepared by Tc and extruder nozzle is already heated.
else if(code_seen('T'))
{
int index;
bool load_to_nozzle = false;
for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
*(strchr_pointer + index) = tolower(*(strchr_pointer + index));
if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '4') && *(strchr_pointer + index) != '?' && *(strchr_pointer + index) != 'x' && *(strchr_pointer + index) != 'c') {
SERIAL_ECHOLNPGM("Invalid T code.");
}
else if (*(strchr_pointer + index) == 'x'){ //load to bondtech gears; if mmu is not present do nothing
if (mmu_enabled)
{
tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) {
printf_P(PSTR("Duplicit T-code ignored.\n"));
return; //dont execute the same T-code twice in a row
}
st_synchronize();
mmu_command(MmuCmd::T0 + tmp_extruder);
manage_response(true, true, MMU_TCODE_MOVE);
}
}
else if (*(strchr_pointer + index) == 'c') { //load to from bondtech gears to nozzle (nozzle should be preheated)
if (mmu_enabled)
{
st_synchronize();
mmu_continue_loading();
mmu_extruder = tmp_extruder; //filament change is finished
mmu_load_to_nozzle();
}
}
else {
if (*(strchr_pointer + index) == '?')
{
if(mmu_enabled)
{
tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
load_to_nozzle = true;
} else
{
tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_EXTRUDER), _T(MSG_EXTRUDER));
}
}
else {
tmp_extruder = code_value();
if (mmu_enabled && lcd_autoDepleteEnabled())
{
tmp_extruder = ad_getAlternative(tmp_extruder);
}
}
st_synchronize();
snmm_filaments_used |= (1 << tmp_extruder); //for stop print
if (mmu_enabled)
{
if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) {
printf_P(PSTR("Duplicit T-code ignored.\n"));
return; //dont execute the same T-code twice in a row
}
mmu_command(MmuCmd::T0 + tmp_extruder);
manage_response(true, true, MMU_TCODE_MOVE);
mmu_continue_loading();
mmu_extruder = tmp_extruder; //filament change is finished
if (load_to_nozzle)// for single material usage with mmu
{
mmu_load_to_nozzle();
}
}
else
{
#ifdef SNMM
#ifdef LIN_ADVANCE
if (mmu_extruder != tmp_extruder)
clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
#endif
mmu_extruder = tmp_extruder;
_delay(100);
disable_e0();
disable_e1();
disable_e2();
pinMode(E_MUX0_PIN, OUTPUT);
pinMode(E_MUX1_PIN, OUTPUT);
_delay(100);
SERIAL_ECHO_START;
SERIAL_ECHO("T:");
SERIAL_ECHOLN((int)tmp_extruder);
switch (tmp_extruder) {
case 1:
WRITE(E_MUX0_PIN, HIGH);
WRITE(E_MUX1_PIN, LOW);
break;
case 2:
WRITE(E_MUX0_PIN, LOW);
WRITE(E_MUX1_PIN, HIGH);
break;
case 3:
WRITE(E_MUX0_PIN, HIGH);
WRITE(E_MUX1_PIN, HIGH);
break;
default:
WRITE(E_MUX0_PIN, LOW);
WRITE(E_MUX1_PIN, LOW);
break;
}
_delay(100);
#else //SNMM
if (tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM("T");
SERIAL_PROTOCOLLN((int)tmp_extruder);
SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER c=0 r=0
}
else {
#if EXTRUDERS > 1
boolean make_move = false;
#endif
if (code_seen('F')) {
#if EXTRUDERS > 1
make_move = true;
#endif
next_feedrate = code_value();
if (next_feedrate > 0.0) {
feedrate = next_feedrate;
}
}
#if EXTRUDERS > 1
if (tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
memcpy(destination, current_position, sizeof(destination));
// Offset extruder (only by XY)
int i;
for (i = 0; i < 2; i++) {
current_position[i] = current_position[i] -
extruder_offset[i][active_extruder] +
extruder_offset[i][tmp_extruder];
}
// Set the new active extruder and position
active_extruder = tmp_extruder;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
// Move to the old position if 'F' was in the parameters
if (make_move && Stopped == false) {
prepare_move();
}
}
#endif
SERIAL_ECHO_START;
SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER c=0 r=0
SERIAL_PROTOCOLLN((int)active_extruder);
}
#endif //SNMM
}
}
} // end if(code_seen('T')) (end of T codes)
else if (code_seen('D')) // D codes (debug)
{
switch((int)code_value())
{
#ifdef DEBUG_DCODES
case -1: //! D-1 - Endless loop
dcode__1(); break;
case 0: //! D0 - Reset
dcode_0(); break;
case 1: //! D1 - Clear EEPROM
dcode_1(); break;
case 2: //! D2 - Read/Write RAM
dcode_2(); break;
#endif //DEBUG_DCODES
#ifdef DEBUG_DCODE3
case 3: //! D3 - Read/Write EEPROM
dcode_3(); break;
#endif //DEBUG_DCODE3
#ifdef DEBUG_DCODES
case 4: //! D4 - Read/Write PIN
dcode_4(); break;
#endif //DEBUG_DCODES
#ifdef DEBUG_DCODE5
case 5: // D5 - Read/Write FLASH
dcode_5(); break;
break;
#endif //DEBUG_DCODE5
#ifdef DEBUG_DCODES
case 6: // D6 - Read/Write external FLASH
dcode_6(); break;
case 7: //! D7 - Read/Write Bootloader
dcode_7(); break;
case 8: //! D8 - Read/Write PINDA
dcode_8(); break;
case 9: //! D9 - Read/Write ADC
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
dcode_2130(); break;
#endif //TMC2130
#ifdef FILAMENT_SENSOR
case 9125: //! D9125 - FILAMENT_SENSOR
dcode_9125(); break;
#endif //FILAMENT_SENSOR
#endif //DEBUG_DCODES
}
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
SERIAL_ECHOLNPGM("\"(2)");
}
KEEPALIVE_STATE(NOT_BUSY);
ClearToSend();
}
void FlushSerialRequestResend()
{
//char cmdbuffer[bufindr][100]="Resend:";
MYSERIAL.flush();
printf_P(_N("%S: %ld\n%S\n"), _n("Resend"), gcode_LastN + 1, MSG_OK);
}
// Confirm the execution of a command, if sent from a serial line.
// Execution of a command from a SD card will not be confirmed.
void ClearToSend()
{
previous_millis_cmd = _millis();
if ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR))
SERIAL_PROTOCOLLNRPGM(MSG_OK);
}
#if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
void update_currents() {
float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
float tmp_motor[3];
//SERIAL_ECHOLNPGM("Currents updated: ");
if (destination[Z_AXIS] < Z_SILENT) {
//SERIAL_ECHOLNPGM("LOW");
for (uint8_t i = 0; i < 3; i++) {
st_current_set(i, current_low[i]);
/*MYSERIAL.print(int(i));
SERIAL_ECHOPGM(": ");
MYSERIAL.println(current_low[i]);*/
}
}
else if (destination[Z_AXIS] > Z_HIGH_POWER) {
//SERIAL_ECHOLNPGM("HIGH");
for (uint8_t i = 0; i < 3; i++) {
st_current_set(i, current_high[i]);
/*MYSERIAL.print(int(i));
SERIAL_ECHOPGM(": ");
MYSERIAL.println(current_high[i]);*/
}
}
else {
for (uint8_t i = 0; i < 3; i++) {
float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
st_current_set(i, tmp_motor[i]);
/*MYSERIAL.print(int(i));
SERIAL_ECHOPGM(": ");
MYSERIAL.println(tmp_motor[i]);*/
}
}
}
#endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
void get_coordinates()
{
bool seen[4]={false,false,false,false};
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i]))
{
bool relative = axis_relative_modes[i] || relative_mode;
destination[i] = (float)code_value();
if (i == E_AXIS) {
float emult = extruder_multiplier[active_extruder];
if (emult != 1.) {
if (! relative) {
destination[i] -= current_position[i];
relative = true;
}
destination[i] *= emult;
}
}
if (relative)
destination[i] += current_position[i];
seen[i]=true;
#if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
#endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
}
else destination[i] = current_position[i]; //Are these else lines really needed?
}
if(code_seen('F')) {
next_feedrate = code_value();
#ifdef MAX_SILENT_FEEDRATE
if (tmc2130_mode == TMC2130_MODE_SILENT)
if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
#endif //MAX_SILENT_FEEDRATE
if(next_feedrate > 0.0) feedrate = next_feedrate;
if (!seen[0] && !seen[1] && !seen[2] && seen[3])
{
// float e_max_speed =
// printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
}
}
}
void get_arc_coordinates()
{
#ifdef SF_ARC_FIX
bool relative_mode_backup = relative_mode;
relative_mode = true;
#endif
get_coordinates();
#ifdef SF_ARC_FIX
relative_mode=relative_mode_backup;
#endif
if(code_seen('I')) {
offset[0] = code_value();
}
else {
offset[0] = 0.0;
}
if(code_seen('J')) {
offset[1] = code_value();
}
else {
offset[1] = 0.0;
}
}
void clamp_to_software_endstops(float target[3])
{
#ifdef DEBUG_DISABLE_SWLIMITS
return;
#endif //DEBUG_DISABLE_SWLIMITS
world2machine_clamp(target[0], target[1]);
// Clamp the Z coordinate.
if (min_software_endstops) {
float negative_z_offset = 0;
#ifdef ENABLE_AUTO_BED_LEVELING
if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
if (cs.add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + cs.add_homing[Z_AXIS];
#endif
if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
}
if (max_software_endstops) {
if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
}
}
#ifdef MESH_BED_LEVELING
void mesh_plan_buffer_line(const float &x, const float &y, const float &z, const float &e, const float &feed_rate, const uint8_t extruder) {
float dx = x - current_position[X_AXIS];
float dy = y - current_position[Y_AXIS];
float dz = z - current_position[Z_AXIS];
int n_segments = 0;
if (mbl.active) {
float len = abs(dx) + abs(dy);
if (len > 0)
// Split to 3cm segments or shorter.
n_segments = int(ceil(len / 30.f));
}
if (n_segments > 1) {
float de = e - current_position[E_AXIS];
for (int i = 1; i < n_segments; ++ i) {
float t = float(i) / float(n_segments);
if (saved_printing || (mbl.active == false)) return;
plan_buffer_line(
current_position[X_AXIS] + t * dx,
current_position[Y_AXIS] + t * dy,
current_position[Z_AXIS] + t * dz,
current_position[E_AXIS] + t * de,
feed_rate, extruder);
}
}
// The rest of the path.
plan_buffer_line(x, y, z, e, feed_rate, extruder);
current_position[X_AXIS] = x;
current_position[Y_AXIS] = y;
current_position[Z_AXIS] = z;
current_position[E_AXIS] = e;
}
#endif // MESH_BED_LEVELING
void prepare_move()
{
clamp_to_software_endstops(destination);
previous_millis_cmd = _millis();
// Do not use feedmultiply for E or Z only moves
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
}
else {
#ifdef MESH_BED_LEVELING
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
#else
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
#endif
}
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
}
void prepare_arc_move(char isclockwise) {
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
// Trace the arc
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
previous_millis_cmd = _millis();
}
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
#if defined(FAN_PIN)
#if CONTROLLERFAN_PIN == FAN_PIN
#error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
#endif
#endif
unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
unsigned long lastMotorCheck = 0;
void controllerFan()
{
if ((_millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
{
lastMotorCheck = _millis();
if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
#if EXTRUDERS > 2
|| !READ(E2_ENABLE_PIN)
#endif
#if EXTRUDER > 1
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|| !READ(X2_ENABLE_PIN)
#endif
|| !READ(E1_ENABLE_PIN)
#endif
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
{
lastMotor = _millis(); //... set time to NOW so the fan will turn on
}
if ((_millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
{
digitalWrite(CONTROLLERFAN_PIN, 0);
analogWrite(CONTROLLERFAN_PIN, 0);
}
else
{
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
}
}
}
#endif
#ifdef TEMP_STAT_LEDS
static bool blue_led = false;
static bool red_led = false;
static uint32_t stat_update = 0;
void handle_status_leds(void) {
float max_temp = 0.0;
if(_millis() > stat_update) {
stat_update += 500; // Update every 0.5s
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
max_temp = max(max_temp, degHotend(cur_extruder));
max_temp = max(max_temp, degTargetHotend(cur_extruder));
}
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
max_temp = max(max_temp, degTargetBed());
max_temp = max(max_temp, degBed());
#endif
if((max_temp > 55.0) && (red_led == false)) {
digitalWrite(STAT_LED_RED, 1);
digitalWrite(STAT_LED_BLUE, 0);
red_led = true;
blue_led = false;
}
if((max_temp < 54.0) && (blue_led == false)) {
digitalWrite(STAT_LED_RED, 0);
digitalWrite(STAT_LED_BLUE, 1);
red_led = false;
blue_led = true;
}
}
}
#endif
#ifdef SAFETYTIMER
/**
* @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
*
* Full screen blocking notification message is shown after heater turning off.
* Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
* damage print.
*
* If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
*/
static void handleSafetyTimer()
{
#if (EXTRUDERS > 1)
#error Implemented only for one extruder.
#endif //(EXTRUDERS > 1)
if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
{
safetyTimer.stop();
}
else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
{
safetyTimer.start();
}
else if (safetyTimer.expired(safetytimer_inactive_time))
{
setTargetBed(0);
setAllTargetHotends(0);
lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
}
}
#endif //SAFETYTIMER
void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
{
#ifdef FILAMENT_SENSOR
if (mmu_enabled == false)
{
//-// if (mcode_in_progress != 600) //M600 not in progress
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)
{
if (fsensor_check_autoload())
{
#ifdef PAT9125
fsensor_autoload_check_stop();
#endif //PAT9125
//-// if (degHotend0() > EXTRUDE_MINTEMP)
if(0)
{
if ((eSoundMode == e_SOUND_MODE_LOUD) || (eSoundMode == e_SOUND_MODE_ONCE))
_tone(BEEPER, 1000);
delay_keep_alive(50);
_noTone(BEEPER);
loading_flag = true;
enquecommand_front_P((PSTR("M701")));
}
else
{
/*
lcd_update_enable(false);
show_preheat_nozzle_warning();
lcd_update_enable(true);
*/
eFilamentAction=e_FILAMENT_ACTION_autoLoad;
bFilamentFirstRun=false;
if(target_temperature[0]>=EXTRUDE_MINTEMP)
{
bFilamentPreheatState=true;
// mFilamentItem(target_temperature[0],target_temperature_bed);
menu_submenu(mFilamentItemForce);
}
else
{
menu_submenu(mFilamentMenu);
lcd_timeoutToStatus.start();
}
}
}
}
else
{
#ifdef PAT9125
fsensor_autoload_check_stop();
#endif //PAT9125
fsensor_update();
}
}
}
#endif //FILAMENT_SENSOR
#ifdef SAFETYTIMER
handleSafetyTimer();
#endif //SAFETYTIMER
#if defined(KILL_PIN) && KILL_PIN > -1
static int killCount = 0; // make the inactivity button a bit less responsive
const int KILL_DELAY = 10000;
#endif
if(buflen < (BUFSIZE-1)){
get_command();
}
if( (_millis() - previous_millis_cmd) > max_inactive_time )
if(max_inactive_time)
kill(_n(""), 4);
if(stepper_inactive_time) {
if( (_millis() - previous_millis_cmd) > stepper_inactive_time )
{
if(blocks_queued() == false && ignore_stepper_queue == false) {
disable_x();
disable_y();
disable_z();
disable_e0();
disable_e1();
disable_e2();
}
}
}
#ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
if (chdkActive && (_millis() - chdkHigh > CHDK_DELAY))
{
chdkActive = false;
WRITE(CHDK, LOW);
}
#endif
#if defined(KILL_PIN) && KILL_PIN > -1
// Check if the kill button was pressed and wait just in case it was an accidental
// key kill key press
// -------------------------------------------------------------------------------
if( 0 == READ(KILL_PIN) )
{
killCount++;
}
else if (killCount > 0)
{
killCount--;
}
// Exceeded threshold and we can confirm that it was not accidental
// KILL the machine
// ----------------------------------------------------------------
if ( killCount >= KILL_DELAY)
{
kill("", 5);
}
#endif
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
controllerFan(); //Check if fan should be turned on to cool stepper drivers down
#endif
#ifdef EXTRUDER_RUNOUT_PREVENT
if( (_millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
{
bool oldstatus=READ(E0_ENABLE_PIN);
enable_e0();
float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS],
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS], active_extruder);
current_position[E_AXIS]=oldepos;
destination[E_AXIS]=oldedes;
plan_set_e_position(oldepos);
previous_millis_cmd=_millis();
st_synchronize();
WRITE(E0_ENABLE_PIN,oldstatus);
}
#endif
#ifdef TEMP_STAT_LEDS
handle_status_leds();
#endif
check_axes_activity();
mmu_loop();
}
void kill(const char *full_screen_message, unsigned char id)
{
printf_P(_N("KILL: %d\n"), id);
//return;
cli(); // Stop interrupts
disable_heater();
disable_x();
// SERIAL_ECHOLNPGM("kill - disable Y");
disable_y();
disable_z();
disable_e0();
disable_e1();
disable_e2();
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
pinMode(PS_ON_PIN,INPUT);
#endif
SERIAL_ERROR_START;
SERIAL_ERRORLNRPGM(_n("Printer halted. kill() called!"));////MSG_ERR_KILLED c=0 r=0
if (full_screen_message != NULL) {
SERIAL_ERRORLNRPGM(full_screen_message);
lcd_display_message_fullscreen_P(full_screen_message);
} else {
LCD_ALERTMESSAGERPGM(_n("KILLED. "));////MSG_KILLED c=0 r=0
}
// FMC small patch to update the LCD before ending
sei(); // enable interrupts
for ( int i=5; i--; lcd_update(0))
{
_delay(200);
}
cli(); // disable interrupts
suicide();
while(1)
{
#ifdef WATCHDOG
wdt_reset();
#endif //WATCHDOG
/* Intentionally left empty */
} // Wait for reset
}
void Stop()
{
disable_heater();
if(Stopped == false) {
Stopped = true;
lcd_print_stop();
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
SERIAL_ERROR_START;
SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
LCD_MESSAGERPGM(_T(MSG_STOPPED));
}
}
bool IsStopped() { return Stopped; };
#ifdef FAST_PWM_FAN
void setPwmFrequency(uint8_t pin, int val)
{
val &= 0x07;
switch(digitalPinToTimer(pin))
{
#if defined(TCCR0A)
case TIMER0A:
case TIMER0B:
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR0B |= val;
break;
#endif
#if defined(TCCR1A)
case TIMER1A:
case TIMER1B:
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
// TCCR1B |= val;
break;
#endif
#if defined(TCCR2)
case TIMER2:
case TIMER2:
TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TCCR2 |= val;
break;
#endif
#if defined(TCCR2A)
case TIMER2A:
case TIMER2B:
TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
TCCR2B |= val;
break;
#endif
#if defined(TCCR3A)
case TIMER3A:
case TIMER3B:
case TIMER3C:
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
TCCR3B |= val;
break;
#endif
#if defined(TCCR4A)
case TIMER4A:
case TIMER4B:
case TIMER4C:
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
TCCR4B |= val;
break;
#endif
#if defined(TCCR5A)
case TIMER5A:
case TIMER5B:
case TIMER5C:
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
TCCR5B |= val;
break;
#endif
}
}
#endif //FAST_PWM_FAN
//! @brief Get and validate extruder number
//!
//! If it is not specified, active_extruder is returned in parameter extruder.
//! @param [in] code M code number
//! @param [out] extruder
//! @return error
//! @retval true Invalid extruder specified in T code
//! @retval false Valid extruder specified in T code, or not specifiead
bool setTargetedHotend(int code, uint8_t &extruder)
{
extruder = active_extruder;
if(code_seen('T')) {
extruder = code_value();
if(extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
switch(code){
case 104:
SERIAL_ECHORPGM(_n("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER c=0 r=0
break;
case 105:
SERIAL_ECHO(_n("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER c=0 r=0
break;
case 109:
SERIAL_ECHO(_n("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER c=0 r=0
break;
case 218:
SERIAL_ECHO(_n("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER c=0 r=0
break;
case 221:
SERIAL_ECHO(_n("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER c=0 r=0
break;
}
SERIAL_PROTOCOLLN((int)extruder);
return true;
}
}
return false;
}
void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
{
if (eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME) == 255 && eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME + 1) == 255 && eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME + 2) == 255 && eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME + 3) == 255)
{
eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
}
unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
total_filament_used = 0;
}
float calculate_extruder_multiplier(float diameter) {
float out = 1.f;
if (cs.volumetric_enabled && diameter > 0.f) {
float area = M_PI * diameter * diameter * 0.25;
out = 1.f / area;
}
if (extrudemultiply != 100)
out *= float(extrudemultiply) * 0.01f;
return out;
}
void calculate_extruder_multipliers() {
extruder_multiplier[0] = calculate_extruder_multiplier(cs.filament_size[0]);
#if EXTRUDERS > 1
extruder_multiplier[1] = calculate_extruder_multiplier(cs.filament_size[1]);
#if EXTRUDERS > 2
extruder_multiplier[2] = calculate_extruder_multiplier(cs.filament_size[2]);
#endif
#endif
}
void delay_keep_alive(unsigned int ms)
{
for (;;) {
manage_heater();
// Manage inactivity, but don't disable steppers on timeout.
manage_inactivity(true);
lcd_update(0);
if (ms == 0)
break;
else if (ms >= 50) {
_delay(50);
ms -= 50;
} else {
_delay(ms);
ms = 0;
}
}
}
static void wait_for_heater(long codenum, uint8_t extruder) {
#ifdef TEMP_RESIDENCY_TIME
long residencyStart;
residencyStart = -1;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
while ((!cancel_heatup) && ((residencyStart == -1) ||
(residencyStart >= 0 && (((unsigned int)(_millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
#else
while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
#endif //TEMP_RESIDENCY_TIME
if ((_millis() - codenum) > 1000UL)
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
if (!farm_mode) {
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL_F(degHotend(extruder), 1);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)extruder);
#ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM(" W:");
if (residencyStart > -1)
{
codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (_millis() - residencyStart)) / 1000UL;
SERIAL_PROTOCOLLN(codenum);
}
else
{
SERIAL_PROTOCOLLN("?");
}
}
#else
SERIAL_PROTOCOLLN("");
#endif
codenum = _millis();
}
manage_heater();
manage_inactivity(true); //do not disable steppers
lcd_update(0);
#ifdef TEMP_RESIDENCY_TIME
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
or when current temp falls outside the hysteresis after target temp was reached */
if ((residencyStart == -1 && target_direction && (degHotend(extruder) >= (degTargetHotend(extruder) - TEMP_WINDOW))) ||
(residencyStart == -1 && !target_direction && (degHotend(extruder) <= (degTargetHotend(extruder) + TEMP_WINDOW))) ||
(residencyStart > -1 && labs(degHotend(extruder) - degTargetHotend(extruder)) > TEMP_HYSTERESIS))
{
residencyStart = _millis();
}
#endif //TEMP_RESIDENCY_TIME
}
}
void check_babystep()
{
int babystep_z;
EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
babystep_z = 0; //if babystep value is out of min max range, set it to 0
SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
lcd_update_enable(true);
}
}
#ifdef HEATBED_ANALYSIS
void d_setup()
{
pinMode(D_DATACLOCK, INPUT_PULLUP);
pinMode(D_DATA, INPUT_PULLUP);
pinMode(D_REQUIRE, OUTPUT);
digitalWrite(D_REQUIRE, HIGH);
}
float d_ReadData()
{
int digit[13];
String mergeOutput;
float output;
digitalWrite(D_REQUIRE, HIGH);
for (int i = 0; i<13; i++)
{
for (int j = 0; j < 4; j++)
{
while (digitalRead(D_DATACLOCK) == LOW) {}
while (digitalRead(D_DATACLOCK) == HIGH) {}
bitWrite(digit[i], j, digitalRead(D_DATA));
}
}
digitalWrite(D_REQUIRE, LOW);
mergeOutput = "";
output = 0;
for (int r = 5; r <= 10; r++) //Merge digits
{
mergeOutput += digit[r];
}
output = mergeOutput.toFloat();
if (digit[4] == 8) //Handle sign
{
output *= -1;
}
for (int i = digit[11]; i > 0; i--) //Handle floating point
{
output /= 10;
}
return output;
}
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;
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 row[x_points_num];
int ix = 0;
int iy = 0;
const char* filename_wldsd = "wldsd.txt";
char data_wldsd[70];
char numb_wldsd[10];
d_setup();
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
// We don't know where we are! HOME!
// Push the commands to the front of the message queue in the reverse order!
// There shall be always enough space reserved for these commands.
repeatcommand_front(); // repeat G80 with all its parameters
enquecommand_front_P((PSTR("G28 W0")));
enquecommand_front_P((PSTR("G1 Z5")));
return;
}
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);
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);
int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
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;
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);
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);
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
break;
card.closefile();
}
//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) {}
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];
memset(data_wldsd, 0, sizeof(data_wldsd));
for (int i = 0; i <3; i++) {
memset(numb_wldsd, 0, sizeof(numb_wldsd));
dtostrf(current_position[i], 8, 5, numb_wldsd);
strcat(data_wldsd, numb_wldsd);
strcat(data_wldsd, ";");
}
memset(numb_wldsd, 0, sizeof(numb_wldsd));
dtostrf(output, 8, 5, numb_wldsd);
strcat(data_wldsd, numb_wldsd);
//strcat(data_wldsd, ";");
card.write_command(data_wldsd);
//row[ix] = d_ReadData();
row[ix] = output; // current_position[Z_AXIS];
if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
for (int i = 0; i < x_points_num; i++) {
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(row[i], 5);
}
SERIAL_PROTOCOLPGM("\n");
}
custom_message_state--;
mesh_point++;
lcd_update(1);
}
card.closefile();
clean_up_after_endstop_move(l_feedmultiply);
}
#endif //HEATBED_ANALYSIS
void temp_compensation_start() {
custom_message_type = CUSTOM_MSG_TYPE_TEMPRE;
custom_message_state = PINDA_HEAT_T + 1;
lcd_update(2);
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);
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);
st_synchronize();
while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
for (int i = 0; i < PINDA_HEAT_T; i++) {
delay_keep_alive(1000);
custom_message_state = PINDA_HEAT_T - i;
if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
else lcd_update(1);
}
custom_message_type = CUSTOM_MSG_TYPE_STATUS;
custom_message_state = 0;
}
void temp_compensation_apply() {
int i_add;
int z_shift = 0;
float z_shift_mm;
if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
i_add = (target_temperature_bed - 60) / 10;
EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
z_shift_mm = z_shift / cs.axis_steps_per_unit[Z_AXIS];
}else {
//interpolation
z_shift_mm = temp_comp_interpolation(target_temperature_bed) / cs.axis_steps_per_unit[Z_AXIS];
}
printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] - z_shift_mm, current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
st_synchronize();
plan_set_z_position(current_position[Z_AXIS]);
}
else {
//we have no temp compensation data
}
}
float temp_comp_interpolation(float inp_temperature) {
//cubic spline interpolation
int n, i, j;
float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
int shift[10];
int temp_C[10];
n = 6; //number of measured points
shift[0] = 0;
for (i = 0; i < n; i++) {
if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
temp_C[i] = 50 + i * 10; //temperature in C
#ifdef PINDA_THERMISTOR
temp_C[i] = 35 + i * 5; //temperature in C
#else
temp_C[i] = 50 + i * 10; //temperature in C
#endif
x[i] = (float)temp_C[i];
f[i] = (float)shift[i];
}
if (inp_temperature < x[0]) return 0;
for (i = n - 1; i>0; i--) {
F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
h[i - 1] = x[i] - x[i - 1];
}
//*********** formation of h, s , f matrix **************
for (i = 1; i0; i--) {
sum = 0;
for (j = i; j <= n - 2; j++)
sum += m[i][j] * s[j];
s[i] = (m[i][n - 1] - sum) / m[i][i];
}
for (i = 0; i x[i + 1])) {
a = (s[i + 1] - s[i]) / (6 * h[i]);
b = s[i] / 2;
c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
d = f[i];
sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
}
return sum;
}
#ifdef PINDA_THERMISTOR
float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
{
if (!temp_cal_active) return 0;
if (!calibration_status_pinda()) return 0;
return temp_comp_interpolation(temperature_pinda) / cs.axis_steps_per_unit[Z_AXIS];
}
#endif //PINDA_THERMISTOR
void long_pause() //long pause print
{
st_synchronize();
start_pause_print = _millis();
//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);
//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);
//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);
// Turn off the print fan
fanSpeed = 0;
st_synchronize();
}
void serialecho_temperatures() {
float tt = degHotend(active_extruder);
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(), 1);
SERIAL_PROTOCOLLN("");
}
extern uint32_t sdpos_atomic;
#ifdef UVLO_SUPPORT
void uvlo_()
{
unsigned long time_start = _millis();
bool sd_print = card.sdprinting;
// Conserve power as soon as possible.
disable_x();
disable_y();
#ifdef TMC2130
tmc2130_set_current_h(Z_AXIS, 20);
tmc2130_set_current_r(Z_AXIS, 20);
tmc2130_set_current_h(E_AXIS, 20);
tmc2130_set_current_r(E_AXIS, 20);
#endif //TMC2130
// Indicate that the interrupt has been triggered.
// SERIAL_ECHOLNPGM("UVLO");
// Read out the current Z motor microstep counter. This will be later used
// for reaching the zero full step before powering off.
uint16_t z_microsteps = 0;
#ifdef TMC2130
z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
#endif //TMC2130
// Calculate the file position, from which to resume this print.
long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
{
uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
sd_position -= sdlen_planner;
uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
sd_position -= sdlen_cmdqueue;
if (sd_position < 0) sd_position = 0;
}
// Backup the feedrate in mm/min.
int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
// After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
// The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
// are in action.
planner_abort_hard();
// Store the current extruder position.
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
// Clean the input command queue.
cmdqueue_reset();
card.sdprinting = false;
// card.closefile();
// Enable stepper driver interrupt to move Z axis.
// This should be fine as the planner and command queues are empty and the SD card printing is disabled.
//FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
// though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
sei();
plan_buffer_line(
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS] - default_retraction,
95, active_extruder);
st_synchronize();
disable_e0();
plan_buffer_line(
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
current_position[E_AXIS] - default_retraction,
40, active_extruder);
st_synchronize();
disable_e0();
plan_buffer_line(
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
current_position[E_AXIS] - default_retraction,
40, active_extruder);
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);
// Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
// Scale the z value to 1u resolution.
int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast(&v));
}
// Read out the current Z motor microstep counter. This will be later used
// for reaching the zero full step before powering off.
eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
// Store the current position.
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
// Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
#if EXTRUDERS > 1
eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
#if EXTRUDERS > 2
eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
#endif
#endif
eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
// Finaly store the "power outage" flag.
if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
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);
eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
printf_P(_N("UVLO - end %d\n"), _millis() - time_start);
#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);
st_synchronize();
#endif
wdt_enable(WDTO_500MS);
WRITE(BEEPER,HIGH);
while(1)
;
}
void uvlo_tiny()
{
uint16_t z_microsteps=0;
// Conserve power as soon as possible.
disable_x();
disable_y();
disable_e0();
#ifdef TMC2130
tmc2130_set_current_h(Z_AXIS, 20);
tmc2130_set_current_r(Z_AXIS, 20);
#endif //TMC2130
// Read out the current Z motor microstep counter
#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)/axis_steps_per_unit[Z_AXIS],
current_position[Z_AXIS]+UVLO_Z_AXIS_SHIFT+float((1024-z_microsteps+7)>>4)/cs.axis_steps_per_unit[Z_AXIS],
current_position[E_AXIS],
40, active_extruder);
st_synchronize();
disable_z();
// Finaly store the "power outage" flag.
//if(sd_print)
eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS),z_microsteps);
eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
// Increment power failure counter
eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
wdt_enable(WDTO_500MS);
WRITE(BEEPER,HIGH);
while(1)
;
}
#endif //UVLO_SUPPORT
#if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
void setup_fan_interrupt() {
//INT7
DDRE &= ~(1 << 7); //input pin
PORTE &= ~(1 << 7); //no internal pull-up
//start with sensing rising edge
EICRB &= ~(1 << 6);
EICRB |= (1 << 7);
//enable INT7 interrupt
EIMSK |= (1 << 7);
}
// The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
// and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
ISR(INT7_vect) {
//measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
#ifdef FAN_SOFT_PWM
if (!fan_measuring || (fanSpeedSoftPwm < MIN_PRINT_FAN_SPEED)) return;
#else //FAN_SOFT_PWM
if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
#endif //FAN_SOFT_PWM
if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
t_fan_rising_edge = millis_nc();
}
else { //interrupt was triggered by falling edge
if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
}
}
EICRB ^= (1 << 6); //change edge
}
#endif
#ifdef UVLO_SUPPORT
void setup_uvlo_interrupt() {
DDRE &= ~(1 << 4); //input pin
PORTE &= ~(1 << 4); //no internal pull-up
//sensing falling edge
EICRB |= (1 << 0);
EICRB &= ~(1 << 1);
//enable INT4 interrupt
EIMSK |= (1 << 4);
}
ISR(INT4_vect) {
EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
SERIAL_ECHOLNPGM("INT4");
if(IS_SD_PRINTING && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO))) ) uvlo_();
if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
}
void recover_print(uint8_t automatic) {
char cmd[30];
lcd_update_enable(true);
lcd_update(2);
lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers
// Lift the print head, so one may remove the excess priming material.
if(!bTiny&&(current_position[Z_AXIS]<25))
enquecommand_P(PSTR("G1 Z25 F800"));
// Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
enquecommand_P(PSTR("G28 X Y"));
// Set the target bed and nozzle temperatures and wait.
sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
enquecommand(cmd);
sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
enquecommand(cmd);
enquecommand_P(PSTR("M83")); //E axis relative mode
//enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
// If not automatically recoreverd (long power loss), extrude extra filament to stabilize
if(automatic == 0){
enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
}
enquecommand_P(PSTR("G1 E" STRINGIFY(-default_retraction)" F480"));
printf_P(_N("After waiting for temp:\nCurrent pos X_AXIS:%.3f\nCurrent pos Y_AXIS:%.3f\n"), current_position[X_AXIS], current_position[Y_AXIS]);
// Restart the print.
restore_print_from_eeprom();
printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
}
void recover_machine_state_after_power_panic(bool bTiny)
{
char cmd[30];
// 1) Recover the logical cordinates at the time of the power panic.
// The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
// Recover the logical coordinate of the Z axis at the time of the power panic.
// The current position after power panic is moved to the next closest 0th full step.
if(bTiny)
current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z)) +
UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS)) + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
else
current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
sprintf_P(cmd, PSTR("G92 E"));
dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
enquecommand(cmd);
}
memcpy(destination, current_position, sizeof(destination));
SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
print_world_coordinates();
// 2) Initialize the logical to physical coordinate system transformation.
world2machine_initialize();
// 3) Restore the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
mbl.active = false;
for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
// Scale the z value to 10u resolution.
int16_t v;
eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
if (v != 0)
mbl.active = true;
mbl.z_values[iy][ix] = float(v) * 0.001f;
}
// SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
// print_mesh_bed_leveling_table();
// 4) Load the baby stepping value, which is expected to be active at the time of power panic.
// The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
babystep_load();
// 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
// 6) Power up the motors, mark their positions as known.
//FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
axis_known_position[X_AXIS] = true; enable_x();
axis_known_position[Y_AXIS] = true; enable_y();
axis_known_position[Z_AXIS] = true; enable_z();
SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
print_physical_coordinates();
// 7) Recover the target temperatures.
target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
// 8) Recover extruder multipilers
extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
#if EXTRUDERS > 1
extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
#if EXTRUDERS > 2
extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
#endif
#endif
extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
}
void restore_print_from_eeprom() {
int feedrate_rec;
uint8_t fan_speed_rec;
char cmd[30];
char filename[13];
uint8_t depth = 0;
char dir_name[9];
fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
SERIAL_ECHOPGM("Feedrate:");
MYSERIAL.println(feedrate_rec);
depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
MYSERIAL.println(int(depth));
for (int i = 0; i < depth; i++) {
for (int j = 0; j < 8; j++) {
dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
}
dir_name[8] = '\0';
MYSERIAL.println(dir_name);
strcpy(dir_names[i], dir_name);
card.chdir(dir_name);
}
for (int i = 0; i < 8; i++) {
filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
}
filename[8] = '\0';
MYSERIAL.print(filename);
strcat_P(filename, PSTR(".gco"));
sprintf_P(cmd, PSTR("M23 %s"), filename);
enquecommand(cmd);
uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
SERIAL_ECHOPGM("Position read from eeprom:");
MYSERIAL.println(position);
// E axis relative mode.
enquecommand_P(PSTR("M83"));
// Move to the XY print position in logical coordinates, where the print has been killed.
strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
strcat_P(cmd, PSTR(" F2000"));
enquecommand(cmd);
// Move the Z axis down to the print, in logical coordinates.
strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
enquecommand(cmd);
// Unretract.
enquecommand_P(PSTR("G1 E" STRINGIFY(2*default_retraction)" F480"));
// Set the feedrate saved at the power panic.
sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
enquecommand(cmd);
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
{
enquecommand_P(PSTR("M82")); //E axis abslute mode
}
// Set the fan speed saved at the power panic.
strcpy_P(cmd, PSTR("M106 S"));
strcat(cmd, itostr3(int(fan_speed_rec)));
enquecommand(cmd);
// Set a position in the file.
sprintf_P(cmd, PSTR("M26 S%lu"), position);
enquecommand(cmd);
enquecommand_P(PSTR("G4 S0"));
enquecommand_P(PSTR("PRUSA uvlo"));
}
#endif //UVLO_SUPPORT
//! @brief Immediately stop print moves
//!
//! Immediately stop print moves, save current extruder temperature and position to RAM.
//! If printing from sd card, position in file is saved.
//! If printing from USB, line number is saved.
//!
//! @param z_move
//! @param e_move
void stop_and_save_print_to_ram(float z_move, float e_move)
{
if (saved_printing) return;
#if 0
unsigned char nplanner_blocks;
#endif
unsigned char nlines;
uint16_t sdlen_planner;
uint16_t sdlen_cmdqueue;
cli();
if (card.sdprinting) {
#if 0
nplanner_blocks = number_of_blocks();
#endif
saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
saved_sdpos -= sdlen_planner;
sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
saved_sdpos -= sdlen_cmdqueue;
saved_printing_type = PRINTING_TYPE_SD;
}
else if (is_usb_printing) { //reuse saved_sdpos for storing line number
saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
//reuse planner_calc_sd_length function for getting number of lines of commands in planner:
nlines = planner_calc_sd_length(); //number of lines of commands in planner
saved_sdpos -= nlines;
saved_sdpos -= buflen; //number of blocks in cmd buffer
saved_printing_type = PRINTING_TYPE_USB;
}
else {
saved_printing_type = PRINTING_TYPE_NONE;
//not sd printing nor usb printing
}
#if 0
SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
//SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
{
card.setIndex(saved_sdpos);
SERIAL_ECHOLNPGM("Content of planner buffer: ");
for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
MYSERIAL.print(char(card.get()));
SERIAL_ECHOLNPGM("Content of command buffer: ");
for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
MYSERIAL.print(char(card.get()));
SERIAL_ECHOLNPGM("End of command buffer");
}
{
// Print the content of the planner buffer, line by line:
card.setIndex(saved_sdpos);
int8_t iline = 0;
for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
SERIAL_ECHOPGM("Planner line (from file): ");
MYSERIAL.print(int(iline), DEC);
SERIAL_ECHOPGM(", length: ");
MYSERIAL.print(block_buffer[idx].sdlen, DEC);
SERIAL_ECHOPGM(", steps: (");
MYSERIAL.print(block_buffer[idx].steps_x, DEC);
SERIAL_ECHOPGM(",");
MYSERIAL.print(block_buffer[idx].steps_y, DEC);
SERIAL_ECHOPGM(",");
MYSERIAL.print(block_buffer[idx].steps_z, DEC);
SERIAL_ECHOPGM(",");
MYSERIAL.print(block_buffer[idx].steps_e, DEC);
SERIAL_ECHOPGM("), events: ");
MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
for (int len = block_buffer[idx].sdlen; len > 0; -- len)
MYSERIAL.print(char(card.get()));
}
}
{
// Print the content of the command buffer, line by line:
int8_t iline = 0;
union {
struct {
char lo;
char hi;
} lohi;
uint16_t value;
} sdlen_single;
int _bufindr = bufindr;
for (int _buflen = buflen; _buflen > 0; ++ iline) {
if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
}
SERIAL_ECHOPGM("Buffer line (from buffer): ");
MYSERIAL.print(int(iline), DEC);
SERIAL_ECHOPGM(", type: ");
MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
SERIAL_ECHOPGM(", len: ");
MYSERIAL.println(sdlen_single.value, DEC);
// Print the content of the buffer line.
MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
SERIAL_ECHOPGM("Buffer line (from file): ");
MYSERIAL.println(int(iline), DEC);
for (; sdlen_single.value > 0; -- sdlen_single.value)
MYSERIAL.print(char(card.get()));
if (-- _buflen == 0)
break;
// First skip the current command ID and iterate up to the end of the string.
for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
// Second, skip the end of string null character and iterate until a nonzero command ID is found.
for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
// If the end of the buffer was empty,
if (_bufindr == sizeof(cmdbuffer)) {
// skip to the start and find the nonzero command.
for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
}
}
}
#endif
#if 0
saved_feedrate2 = feedrate; //save feedrate
#else
// Try to deduce the feedrate from the first block of the planner.
// Speed is in mm/min.
saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
#endif
planner_abort_hard(); //abort printing
memcpy(saved_pos, current_position, sizeof(saved_pos));
saved_active_extruder = active_extruder; //save active_extruder
saved_extruder_temperature = degTargetHotend(active_extruder);
saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
saved_fanSpeed = fanSpeed;
cmdqueue_reset(); //empty cmdqueue
card.sdprinting = false;
// card.closefile();
saved_printing = true;
// We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
st_reset_timer();
sei();
if ((z_move != 0) || (e_move != 0)) { // extruder or z move
#if 1
// Rather than calling plan_buffer_line directly, push the move into the command queue,
char buf[48];
// First unretract (relative extrusion)
if(!saved_extruder_relative_mode){
strcpy_P(buf, PSTR("M83"));
enquecommand(buf, false);
}
//retract 45mm/s
strcpy_P(buf, PSTR("G1 E"));
dtostrf(e_move, 6, 3, buf + strlen(buf));
strcat_P(buf, PSTR(" F"));
dtostrf(2700, 8, 3, buf + strlen(buf));
enquecommand(buf, false);
// Then lift Z axis
strcpy_P(buf, PSTR("G1 Z"));
dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
strcat_P(buf, PSTR(" F"));
dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
// At this point the command queue is empty.
enquecommand(buf, false);
// If this call is invoked from the main Arduino loop() function, let the caller know that the command
// in the command queue is not the original command, but a new one, so it should not be removed from the queue.
repeatcommand_front();
#else
plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS] + z_move, saved_pos[E_AXIS] + e_move, homing_feedrate[Z_AXIS], active_extruder);
st_synchronize(); //wait moving
memcpy(current_position, saved_pos, sizeof(saved_pos));
memcpy(destination, current_position, sizeof(destination));
#endif
}
}
//! @brief Restore print from ram
//!
//! Restore print saved by stop_and_save_print_to_ram(). Is blocking,
//! waits for extruder temperature restore, then restores position and continues
//! print moves.
//! Internaly lcd_update() is called by wait_for_heater().
//!
//! @param e_move
void restore_print_from_ram_and_continue(float e_move)
{
if (!saved_printing) return;
// for (int axis = X_AXIS; axis <= E_AXIS; axis++)
// current_position[axis] = st_get_position_mm(axis);
active_extruder = saved_active_extruder; //restore active_extruder
if (saved_extruder_temperature) {
setTargetHotendSafe(saved_extruder_temperature, saved_active_extruder);
heating_status = 1;
wait_for_heater(_millis(), saved_active_extruder);
heating_status = 2;
}
feedrate = saved_feedrate2; //restore feedrate
axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
fanSpeed = saved_fanSpeed;
float e = saved_pos[E_AXIS] - e_move;
plan_set_e_position(e);
//first move print head in XY to the saved position:
plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], current_position[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
st_synchronize();
//then move Z
plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
st_synchronize();
//and finaly unretract (35mm/s)
plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], 35, active_extruder);
st_synchronize();
memcpy(current_position, saved_pos, sizeof(saved_pos));
memcpy(destination, current_position, sizeof(destination));
if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
card.setIndex(saved_sdpos);
sdpos_atomic = saved_sdpos;
card.sdprinting = true;
printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
}
else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
serial_count = 0;
FlushSerialRequestResend();
}
else {
//not sd printing nor usb printing
}
lcd_setstatuspgm(_T(WELCOME_MSG));
saved_printing = false;
}
void print_world_coordinates()
{
printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
}
void print_physical_coordinates()
{
printf_P(_N("physical coordinates: (%.3f, %.3f, %.3f)\n"), st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
}
void print_mesh_bed_leveling_table()
{
SERIAL_ECHOPGM("mesh bed leveling: ");
for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
MYSERIAL.print(mbl.z_values[y][x], 3);
SERIAL_ECHOPGM(" ");
}
SERIAL_ECHOLNPGM("");
}
uint16_t print_time_remaining() {
uint16_t print_t = PRINT_TIME_REMAINING_INIT;
#ifdef TMC2130
if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
else print_t = print_time_remaining_silent;
#else
print_t = print_time_remaining_normal;
#endif //TMC2130
if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100ul * print_t / feedmultiply;
return print_t;
}
uint8_t calc_percent_done()
{
//in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
uint8_t percent_done = 0;
#ifdef TMC2130
if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
percent_done = print_percent_done_normal;
}
else if (print_percent_done_silent <= 100) {
percent_done = print_percent_done_silent;
}
#else
if (print_percent_done_normal <= 100) {
percent_done = print_percent_done_normal;
}
#endif //TMC2130
else {
percent_done = card.percentDone();
}
return percent_done;
}
static void print_time_remaining_init()
{
print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
print_percent_done_silent = PRINT_PERCENT_DONE_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);
}
void M600_check_state()
{
//Wait for user to check the state
lcd_change_fil_state = 0;
while (lcd_change_fil_state != 1){
lcd_change_fil_state = 0;
KEEPALIVE_STATE(PAUSED_FOR_USER);
lcd_alright();
KEEPALIVE_STATE(IN_HANDLER);
switch(lcd_change_fil_state){
// Filament failed to load so load it again
case 2:
if (mmu_enabled)
mmu_M600_load_filament(false); //nonautomatic load; change to "wrong filament loaded" option?
else
M600_load_filament_movements();
break;
// Filament loaded properly but color is not clear
case 3:
st_synchronize();
load_filament_final_feed();
lcd_loading_color();
st_synchronize();
break;
// Everything good
default:
lcd_change_success();
break;
}
}
}
//! @brief Wait for user action
//!
//! Beep, manage nozzle heater and wait for user to start unload filament
//! If times out, active extruder temperature is set to 0.
//!
//! @param HotendTempBckp Temperature to be restored for active extruder, after user resolves MMU problem.
void M600_wait_for_user(float HotendTempBckp) {
KEEPALIVE_STATE(PAUSED_FOR_USER);
int counterBeep = 0;
unsigned long waiting_start_time = _millis();
uint8_t wait_for_user_state = 0;
lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
bool bFirst=true;
while (!(wait_for_user_state == 0 && 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_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
{
bFirst=false;
WRITE(BEEPER, HIGH);
}
}
if (counterBeep == 20) {
WRITE(BEEPER, LOW);
}
counterBeep++;
#endif //BEEPER > 0
switch (wait_for_user_state) {
case 0: //nozzle is hot, waiting for user to press the knob to unload filament
delay_keep_alive(4);
if (_millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
wait_for_user_state = 1;
setAllTargetHotends(0);
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
}
break;
case 1: //nozzle target temperature is set to zero, waiting for user to start nozzle preheat
delay_keep_alive(4);
if (lcd_clicked()) {
setTargetHotend(HotendTempBckp, active_extruder);
lcd_wait_for_heater();
wait_for_user_state = 2;
}
break;
case 2: //waiting for nozzle to reach target temperature
if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
waiting_start_time = _millis();
wait_for_user_state = 0;
}
else {
counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
lcd_set_cursor(1, 4);
lcd_print(ftostr3(degHotend(active_extruder)));
}
break;
}
}
WRITE(BEEPER, LOW);
}
void M600_load_filament_movements()
{
#ifdef SNMM
display_loading();
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);
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);
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);
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);
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);
#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);
#endif
load_filament_final_feed();
lcd_loading_filament();
st_synchronize();
}
void M600_load_filament() {
//load filament for single material and SNMM
lcd_wait_interact();
//load_filament_time = _millis();
KEEPALIVE_STATE(PAUSED_FOR_USER);
#ifdef PAT9125
fsensor_autoload_check_start();
#endif //PAT9125
while(!lcd_clicked())
{
manage_heater();
manage_inactivity(true);
#ifdef FILAMENT_SENSOR
if (fsensor_check_autoload())
{
if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
_tone(BEEPER, 1000);
delay_keep_alive(50);
_noTone(BEEPER);
break;
}
#endif //FILAMENT_SENSOR
}
#ifdef PAT9125
fsensor_autoload_check_stop();
#endif //PAT9125
KEEPALIVE_STATE(IN_HANDLER);
#ifdef FSENSOR_QUALITY
fsensor_oq_meassure_start(70);
#endif //FSENSOR_QUALITY
M600_load_filament_movements();
if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
_tone(BEEPER, 500);
delay_keep_alive(50);
_noTone(BEEPER);
#ifdef FSENSOR_QUALITY
fsensor_oq_meassure_stop();
if (!fsensor_oq_result())
{
bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
lcd_update_enable(true);
lcd_update(2);
if (disable)
fsensor_disable();
}
#endif //FSENSOR_QUALITY
lcd_update_enable(false);
}
#define FIL_LOAD_LENGTH 60