Marlin_main.cpp 264 KB

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  1. /* -*- c++ -*- */
  2. /*
  3. Reprap firmware based on Sprinter and grbl.
  4. Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  5. This program is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. This program is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with this program. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. /*
  17. This firmware is a mashup between Sprinter and grbl.
  18. (https://github.com/kliment/Sprinter)
  19. (https://github.com/simen/grbl/tree)
  20. It has preliminary support for Matthew Roberts advance algorithm
  21. http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  22. */
  23. #include "Marlin.h"
  24. #ifdef ENABLE_AUTO_BED_LEVELING
  25. #include "vector_3.h"
  26. #ifdef AUTO_BED_LEVELING_GRID
  27. #include "qr_solve.h"
  28. #endif
  29. #endif // ENABLE_AUTO_BED_LEVELING
  30. #ifdef MESH_BED_LEVELING
  31. #include "mesh_bed_leveling.h"
  32. #include "mesh_bed_calibration.h"
  33. #endif
  34. #include "ultralcd.h"
  35. #include "Configuration_prusa.h"
  36. #include "planner.h"
  37. #include "stepper.h"
  38. #include "temperature.h"
  39. #include "motion_control.h"
  40. #include "cardreader.h"
  41. #include "watchdog.h"
  42. #include "ConfigurationStore.h"
  43. #include "language.h"
  44. #include "pins_arduino.h"
  45. #include "math.h"
  46. #include "util.h"
  47. #include <avr/wdt.h>
  48. #include "Dcodes.h"
  49. #ifdef SWSPI
  50. #include "swspi.h"
  51. #endif //SWSPI
  52. #ifdef SWI2C
  53. #include "swi2c.h"
  54. #endif //SWI2C
  55. #ifdef PAT9125
  56. #include "pat9125.h"
  57. #include "fsensor.h"
  58. #endif //PAT9125
  59. #ifdef TMC2130
  60. #include "tmc2130.h"
  61. #endif //TMC2130
  62. #ifdef BLINKM
  63. #include "BlinkM.h"
  64. #include "Wire.h"
  65. #endif
  66. #ifdef ULTRALCD
  67. #include "ultralcd.h"
  68. #endif
  69. #if NUM_SERVOS > 0
  70. #include "Servo.h"
  71. #endif
  72. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  73. #include <SPI.h>
  74. #endif
  75. #define VERSION_STRING "1.0.2"
  76. #include "ultralcd.h"
  77. #include "cmdqueue.h"
  78. // Macros for bit masks
  79. #define BIT(b) (1<<(b))
  80. #define TEST(n,b) (((n)&BIT(b))!=0)
  81. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  82. //Macro for print fan speed
  83. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  84. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  85. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  86. //Implemented Codes
  87. //-------------------
  88. // PRUSA CODES
  89. // P F - Returns FW versions
  90. // P R - Returns revision of printer
  91. // G0 -> G1
  92. // G1 - Coordinated Movement X Y Z E
  93. // G2 - CW ARC
  94. // G3 - CCW ARC
  95. // G4 - Dwell S<seconds> or P<milliseconds>
  96. // G10 - retract filament according to settings of M207
  97. // G11 - retract recover filament according to settings of M208
  98. // G28 - Home all Axis
  99. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  100. // G30 - Single Z Probe, probes bed at current XY location.
  101. // G31 - Dock sled (Z_PROBE_SLED only)
  102. // G32 - Undock sled (Z_PROBE_SLED only)
  103. // G80 - Automatic mesh bed leveling
  104. // G81 - Print bed profile
  105. // G90 - Use Absolute Coordinates
  106. // G91 - Use Relative Coordinates
  107. // G92 - Set current position to coordinates given
  108. // M Codes
  109. // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  110. // M1 - Same as M0
  111. // M17 - Enable/Power all stepper motors
  112. // M18 - Disable all stepper motors; same as M84
  113. // M20 - List SD card
  114. // M21 - Init SD card
  115. // M22 - Release SD card
  116. // M23 - Select SD file (M23 filename.g)
  117. // M24 - Start/resume SD print
  118. // M25 - Pause SD print
  119. // M26 - Set SD position in bytes (M26 S12345)
  120. // M27 - Report SD print status
  121. // M28 - Start SD write (M28 filename.g)
  122. // M29 - Stop SD write
  123. // M30 - Delete file from SD (M30 filename.g)
  124. // M31 - Output time since last M109 or SD card start to serial
  125. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  126. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  127. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  128. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  129. // 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.
  130. // M80 - Turn on Power Supply
  131. // M81 - Turn off Power Supply
  132. // M82 - Set E codes absolute (default)
  133. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  134. // M84 - Disable steppers until next move,
  135. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  136. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  137. // M92 - Set axis_steps_per_unit - same syntax as G92
  138. // M104 - Set extruder target temp
  139. // M105 - Read current temp
  140. // M106 - Fan on
  141. // M107 - Fan off
  142. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  143. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  144. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  145. // M112 - Emergency stop
  146. // M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  147. // M114 - Output current position to serial port
  148. // M115 - Capabilities string
  149. // M117 - display message
  150. // M119 - Output Endstop status to serial port
  151. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  152. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  153. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  154. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  155. // M140 - Set bed target temp
  156. // 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.
  157. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  158. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  159. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  160. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  161. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  162. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  163. // 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
  164. // 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
  165. // M206 - set additional homing offset
  166. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  167. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  168. // 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.
  169. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  170. // M220 S<factor in percent>- set speed factor override percentage
  171. // M221 S<factor in percent>- set extrude factor override percentage
  172. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  173. // M240 - Trigger a camera to take a photograph
  174. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  175. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  176. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  177. // M301 - Set PID parameters P I and D
  178. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  179. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  180. // M304 - Set bed PID parameters P I and D
  181. // M400 - Finish all moves
  182. // M401 - Lower z-probe if present
  183. // M402 - Raise z-probe if present
  184. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  185. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  186. // M406 - Turn off Filament Sensor extrusion control
  187. // M407 - Displays measured filament diameter
  188. // M500 - stores parameters in EEPROM
  189. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  190. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  191. // M503 - print the current settings (from memory not from EEPROM)
  192. // M509 - force language selection on next restart
  193. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  194. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  195. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  196. // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  197. // M907 - Set digital trimpot motor current using axis codes.
  198. // M908 - Control digital trimpot directly.
  199. // M350 - Set microstepping mode.
  200. // M351 - Toggle MS1 MS2 pins directly.
  201. // M928 - Start SD logging (M928 filename.g) - ended by M29
  202. // M999 - Restart after being stopped by error
  203. //Stepper Movement Variables
  204. //===========================================================================
  205. //=============================imported variables============================
  206. //===========================================================================
  207. //===========================================================================
  208. //=============================public variables=============================
  209. //===========================================================================
  210. #ifdef SDSUPPORT
  211. CardReader card;
  212. #endif
  213. unsigned long PingTime = millis();
  214. union Data
  215. {
  216. byte b[2];
  217. int value;
  218. };
  219. float homing_feedrate[] = HOMING_FEEDRATE;
  220. // Currently only the extruder axis may be switched to a relative mode.
  221. // Other axes are always absolute or relative based on the common relative_mode flag.
  222. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  223. int feedmultiply=100; //100->1 200->2
  224. int saved_feedmultiply;
  225. int extrudemultiply=100; //100->1 200->2
  226. int extruder_multiply[EXTRUDERS] = {100
  227. #if EXTRUDERS > 1
  228. , 100
  229. #if EXTRUDERS > 2
  230. , 100
  231. #endif
  232. #endif
  233. };
  234. int bowden_length[4] = {385, 385, 385, 385};
  235. bool is_usb_printing = false;
  236. bool homing_flag = false;
  237. bool temp_cal_active = false;
  238. unsigned long kicktime = millis()+100000;
  239. unsigned int usb_printing_counter;
  240. int lcd_change_fil_state = 0;
  241. int feedmultiplyBckp = 100;
  242. float HotendTempBckp = 0;
  243. int fanSpeedBckp = 0;
  244. float pause_lastpos[4];
  245. unsigned long pause_time = 0;
  246. unsigned long start_pause_print = millis();
  247. unsigned long t_fan_rising_edge = millis();
  248. //unsigned long load_filament_time;
  249. bool mesh_bed_leveling_flag = false;
  250. bool mesh_bed_run_from_menu = false;
  251. unsigned char lang_selected = 0;
  252. int8_t FarmMode = 0;
  253. bool prusa_sd_card_upload = false;
  254. unsigned int status_number = 0;
  255. unsigned long total_filament_used;
  256. unsigned int heating_status;
  257. unsigned int heating_status_counter;
  258. bool custom_message;
  259. bool loading_flag = false;
  260. unsigned int custom_message_type;
  261. unsigned int custom_message_state;
  262. char snmm_filaments_used = 0;
  263. float distance_from_min[2];
  264. bool fan_state[2];
  265. int fan_edge_counter[2];
  266. int fan_speed[2];
  267. char dir_names[3][9];
  268. bool sortAlpha = false;
  269. bool volumetric_enabled = false;
  270. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  271. #if EXTRUDERS > 1
  272. , DEFAULT_NOMINAL_FILAMENT_DIA
  273. #if EXTRUDERS > 2
  274. , DEFAULT_NOMINAL_FILAMENT_DIA
  275. #endif
  276. #endif
  277. };
  278. float volumetric_multiplier[EXTRUDERS] = {1.0
  279. #if EXTRUDERS > 1
  280. , 1.0
  281. #if EXTRUDERS > 2
  282. , 1.0
  283. #endif
  284. #endif
  285. };
  286. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  287. float add_homing[3]={0,0,0};
  288. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  289. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  290. bool axis_known_position[3] = {false, false, false};
  291. float zprobe_zoffset;
  292. // Extruder offset
  293. #if EXTRUDERS > 1
  294. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  295. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  296. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  297. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  298. #endif
  299. };
  300. #endif
  301. uint8_t active_extruder = 0;
  302. int fanSpeed=0;
  303. #ifdef FWRETRACT
  304. bool autoretract_enabled=false;
  305. bool retracted[EXTRUDERS]={false
  306. #if EXTRUDERS > 1
  307. , false
  308. #if EXTRUDERS > 2
  309. , false
  310. #endif
  311. #endif
  312. };
  313. bool retracted_swap[EXTRUDERS]={false
  314. #if EXTRUDERS > 1
  315. , false
  316. #if EXTRUDERS > 2
  317. , false
  318. #endif
  319. #endif
  320. };
  321. float retract_length = RETRACT_LENGTH;
  322. float retract_length_swap = RETRACT_LENGTH_SWAP;
  323. float retract_feedrate = RETRACT_FEEDRATE;
  324. float retract_zlift = RETRACT_ZLIFT;
  325. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  326. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  327. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  328. #endif
  329. #ifdef ULTIPANEL
  330. #ifdef PS_DEFAULT_OFF
  331. bool powersupply = false;
  332. #else
  333. bool powersupply = true;
  334. #endif
  335. #endif
  336. bool cancel_heatup = false ;
  337. #ifdef HOST_KEEPALIVE_FEATURE
  338. int busy_state = NOT_BUSY;
  339. static long prev_busy_signal_ms = -1;
  340. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  341. #else
  342. #define host_keepalive();
  343. #define KEEPALIVE_STATE(n);
  344. #endif
  345. #ifdef FILAMENT_SENSOR
  346. //Variables for Filament Sensor input
  347. float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
  348. bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
  349. float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
  350. signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
  351. int delay_index1=0; //index into ring buffer
  352. int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  353. float delay_dist=0; //delay distance counter
  354. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  355. #endif
  356. const char errormagic[] PROGMEM = "Error:";
  357. const char echomagic[] PROGMEM = "echo:";
  358. //===========================================================================
  359. //=============================Private Variables=============================
  360. //===========================================================================
  361. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  362. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  363. static float delta[3] = {0.0, 0.0, 0.0};
  364. // For tracing an arc
  365. static float offset[3] = {0.0, 0.0, 0.0};
  366. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  367. // Determines Absolute or Relative Coordinates.
  368. // Also there is bool axis_relative_modes[] per axis flag.
  369. static bool relative_mode = false;
  370. #ifndef _DISABLE_M42_M226
  371. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  372. #endif //_DISABLE_M42_M226
  373. //static float tt = 0;
  374. //static float bt = 0;
  375. //Inactivity shutdown variables
  376. static unsigned long previous_millis_cmd = 0;
  377. unsigned long max_inactive_time = 0;
  378. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  379. unsigned long starttime=0;
  380. unsigned long stoptime=0;
  381. unsigned long _usb_timer = 0;
  382. static uint8_t tmp_extruder;
  383. bool extruder_under_pressure = true;
  384. bool Stopped=false;
  385. #if NUM_SERVOS > 0
  386. Servo servos[NUM_SERVOS];
  387. #endif
  388. bool CooldownNoWait = true;
  389. bool target_direction;
  390. //Insert variables if CHDK is defined
  391. #ifdef CHDK
  392. unsigned long chdkHigh = 0;
  393. boolean chdkActive = false;
  394. #endif
  395. //===========================================================================
  396. //=============================Routines======================================
  397. //===========================================================================
  398. void get_arc_coordinates();
  399. bool setTargetedHotend(int code);
  400. void serial_echopair_P(const char *s_P, float v)
  401. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  402. void serial_echopair_P(const char *s_P, double v)
  403. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  404. void serial_echopair_P(const char *s_P, unsigned long v)
  405. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  406. #ifdef SDSUPPORT
  407. #include "SdFatUtil.h"
  408. int freeMemory() { return SdFatUtil::FreeRam(); }
  409. #else
  410. extern "C" {
  411. extern unsigned int __bss_end;
  412. extern unsigned int __heap_start;
  413. extern void *__brkval;
  414. int freeMemory() {
  415. int free_memory;
  416. if ((int)__brkval == 0)
  417. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  418. else
  419. free_memory = ((int)&free_memory) - ((int)__brkval);
  420. return free_memory;
  421. }
  422. }
  423. #endif //!SDSUPPORT
  424. void setup_killpin()
  425. {
  426. #if defined(KILL_PIN) && KILL_PIN > -1
  427. SET_INPUT(KILL_PIN);
  428. WRITE(KILL_PIN,HIGH);
  429. #endif
  430. }
  431. // Set home pin
  432. void setup_homepin(void)
  433. {
  434. #if defined(HOME_PIN) && HOME_PIN > -1
  435. SET_INPUT(HOME_PIN);
  436. WRITE(HOME_PIN,HIGH);
  437. #endif
  438. }
  439. void setup_photpin()
  440. {
  441. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  442. SET_OUTPUT(PHOTOGRAPH_PIN);
  443. WRITE(PHOTOGRAPH_PIN, LOW);
  444. #endif
  445. }
  446. void setup_powerhold()
  447. {
  448. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  449. SET_OUTPUT(SUICIDE_PIN);
  450. WRITE(SUICIDE_PIN, HIGH);
  451. #endif
  452. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  453. SET_OUTPUT(PS_ON_PIN);
  454. #if defined(PS_DEFAULT_OFF)
  455. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  456. #else
  457. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  458. #endif
  459. #endif
  460. }
  461. void suicide()
  462. {
  463. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  464. SET_OUTPUT(SUICIDE_PIN);
  465. WRITE(SUICIDE_PIN, LOW);
  466. #endif
  467. }
  468. void servo_init()
  469. {
  470. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  471. servos[0].attach(SERVO0_PIN);
  472. #endif
  473. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  474. servos[1].attach(SERVO1_PIN);
  475. #endif
  476. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  477. servos[2].attach(SERVO2_PIN);
  478. #endif
  479. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  480. servos[3].attach(SERVO3_PIN);
  481. #endif
  482. #if (NUM_SERVOS >= 5)
  483. #error "TODO: enter initalisation code for more servos"
  484. #endif
  485. }
  486. static void lcd_language_menu();
  487. void stop_and_save_print_to_ram(float z_move, float e_move);
  488. void restore_print_from_ram_and_continue(float e_move);
  489. bool fans_check_enabled = true;
  490. bool filament_autoload_enabled = true;
  491. extern int8_t CrashDetectMenu;
  492. void crashdet_enable()
  493. {
  494. MYSERIAL.println("crashdet_enable");
  495. tmc2130_sg_stop_on_crash = true;
  496. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
  497. CrashDetectMenu = 1;
  498. }
  499. void crashdet_disable()
  500. {
  501. MYSERIAL.println("crashdet_disable");
  502. tmc2130_sg_stop_on_crash = false;
  503. tmc2130_sg_crash = false;
  504. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
  505. CrashDetectMenu = 0;
  506. }
  507. void crashdet_stop_and_save_print()
  508. {
  509. stop_and_save_print_to_ram(10, 0); //XY - no change, Z 10mm up, E - no change
  510. }
  511. void crashdet_restore_print_and_continue()
  512. {
  513. restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
  514. // babystep_apply();
  515. }
  516. void crashdet_stop_and_save_print2()
  517. {
  518. cli();
  519. planner_abort_hard(); //abort printing
  520. cmdqueue_reset(); //empty cmdqueue
  521. card.sdprinting = false;
  522. card.closefile();
  523. sei();
  524. }
  525. void crashdet_detected()
  526. {
  527. // printf("CRASH_DETECTED");
  528. /* while (!is_buffer_empty())
  529. {
  530. process_commands();
  531. cmdqueue_pop_front();
  532. }*/
  533. st_synchronize();
  534. lcd_update_enable(true);
  535. lcd_implementation_clear();
  536. lcd_update(2);
  537. // Increment crash counter
  538. uint8_t crash_count = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT);
  539. crash_count++;
  540. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT, crash_count);
  541. #ifdef AUTOMATIC_RECOVERY_AFTER_CRASH
  542. bool yesno = true;
  543. #else
  544. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_CRASH_DETECTED, false);
  545. #endif
  546. lcd_update_enable(true);
  547. lcd_update(2);
  548. lcd_setstatuspgm(WELCOME_MSG);
  549. if (yesno)
  550. {
  551. enquecommand_P(PSTR("G28 X"));
  552. enquecommand_P(PSTR("G28 Y"));
  553. enquecommand_P(PSTR("CRASH_RECOVER"));
  554. }
  555. else
  556. {
  557. enquecommand_P(PSTR("CRASH_CANCEL"));
  558. }
  559. }
  560. void crashdet_recover()
  561. {
  562. crashdet_restore_print_and_continue();
  563. tmc2130_sg_stop_on_crash = true;
  564. }
  565. void crashdet_cancel()
  566. {
  567. card.sdprinting = false;
  568. card.closefile();
  569. tmc2130_sg_stop_on_crash = true;
  570. }
  571. #ifdef MESH_BED_LEVELING
  572. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  573. #endif
  574. // Factory reset function
  575. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  576. // Level input parameter sets depth of reset
  577. // Quiet parameter masks all waitings for user interact.
  578. int er_progress = 0;
  579. void factory_reset(char level, bool quiet)
  580. {
  581. lcd_implementation_clear();
  582. int cursor_pos = 0;
  583. switch (level) {
  584. // Level 0: Language reset
  585. case 0:
  586. WRITE(BEEPER, HIGH);
  587. _delay_ms(100);
  588. WRITE(BEEPER, LOW);
  589. lcd_force_language_selection();
  590. break;
  591. //Level 1: Reset statistics
  592. case 1:
  593. WRITE(BEEPER, HIGH);
  594. _delay_ms(100);
  595. WRITE(BEEPER, LOW);
  596. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  597. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  598. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  599. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT, 0);
  600. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  601. lcd_menu_statistics();
  602. break;
  603. // Level 2: Prepare for shipping
  604. case 2:
  605. //lcd_printPGM(PSTR("Factory RESET"));
  606. //lcd_print_at_PGM(1,2,PSTR("Shipping prep"));
  607. // Force language selection at the next boot up.
  608. lcd_force_language_selection();
  609. // Force the "Follow calibration flow" message at the next boot up.
  610. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  611. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  612. farm_no = 0;
  613. farm_mode == false;
  614. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  615. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  616. WRITE(BEEPER, HIGH);
  617. _delay_ms(100);
  618. WRITE(BEEPER, LOW);
  619. //_delay_ms(2000);
  620. break;
  621. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  622. case 3:
  623. lcd_printPGM(PSTR("Factory RESET"));
  624. lcd_print_at_PGM(1, 2, PSTR("ERASING all data"));
  625. WRITE(BEEPER, HIGH);
  626. _delay_ms(100);
  627. WRITE(BEEPER, LOW);
  628. er_progress = 0;
  629. lcd_print_at_PGM(3, 3, PSTR(" "));
  630. lcd_implementation_print_at(3, 3, er_progress);
  631. // Erase EEPROM
  632. for (int i = 0; i < 4096; i++) {
  633. eeprom_write_byte((uint8_t*)i, 0xFF);
  634. if (i % 41 == 0) {
  635. er_progress++;
  636. lcd_print_at_PGM(3, 3, PSTR(" "));
  637. lcd_implementation_print_at(3, 3, er_progress);
  638. lcd_printPGM(PSTR("%"));
  639. }
  640. }
  641. break;
  642. case 4:
  643. bowden_menu();
  644. break;
  645. default:
  646. break;
  647. }
  648. }
  649. #include "LiquidCrystal.h"
  650. extern LiquidCrystal lcd;
  651. FILE _lcdout = {0};
  652. int lcd_putchar(char c, FILE *stream)
  653. {
  654. lcd.write(c);
  655. return 0;
  656. }
  657. FILE _uartout = {0};
  658. int uart_putchar(char c, FILE *stream)
  659. {
  660. MYSERIAL.write(c);
  661. return 0;
  662. }
  663. void lcd_splash()
  664. {
  665. // lcd_print_at_PGM(0, 1, PSTR(" Original Prusa "));
  666. // lcd_print_at_PGM(0, 2, PSTR(" 3D Printers "));
  667. // lcd.print_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
  668. fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
  669. }
  670. void factory_reset()
  671. {
  672. KEEPALIVE_STATE(PAUSED_FOR_USER);
  673. if (!READ(BTN_ENC))
  674. {
  675. _delay_ms(1000);
  676. if (!READ(BTN_ENC))
  677. {
  678. lcd_implementation_clear();
  679. lcd_printPGM(PSTR("Factory RESET"));
  680. SET_OUTPUT(BEEPER);
  681. WRITE(BEEPER, HIGH);
  682. while (!READ(BTN_ENC));
  683. WRITE(BEEPER, LOW);
  684. _delay_ms(2000);
  685. char level = reset_menu();
  686. factory_reset(level, false);
  687. switch (level) {
  688. case 0: _delay_ms(0); break;
  689. case 1: _delay_ms(0); break;
  690. case 2: _delay_ms(0); break;
  691. case 3: _delay_ms(0); break;
  692. }
  693. // _delay_ms(100);
  694. /*
  695. #ifdef MESH_BED_LEVELING
  696. _delay_ms(2000);
  697. if (!READ(BTN_ENC))
  698. {
  699. WRITE(BEEPER, HIGH);
  700. _delay_ms(100);
  701. WRITE(BEEPER, LOW);
  702. _delay_ms(200);
  703. WRITE(BEEPER, HIGH);
  704. _delay_ms(100);
  705. WRITE(BEEPER, LOW);
  706. int _z = 0;
  707. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  708. EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
  709. EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
  710. EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
  711. }
  712. else
  713. {
  714. WRITE(BEEPER, HIGH);
  715. _delay_ms(100);
  716. WRITE(BEEPER, LOW);
  717. }
  718. #endif // mesh */
  719. }
  720. }
  721. else
  722. {
  723. //_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
  724. }
  725. KEEPALIVE_STATE(IN_HANDLER);
  726. }
  727. void show_fw_version_warnings() {
  728. if (FW_DEV_VERSION == FW_VERSION_GOLD) return;
  729. switch (FW_DEV_VERSION) {
  730. case(FW_VERSION_ALPHA): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_ALPHA); break;
  731. case(FW_VERSION_BETA): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_BETA); break;
  732. case(FW_VERSION_RC): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_RC); break;
  733. default: lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_UNKNOWN); break;
  734. }
  735. lcd_update_enable(true);
  736. }
  737. // "Setup" function is called by the Arduino framework on startup.
  738. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  739. // are initialized by the main() routine provided by the Arduino framework.
  740. void setup()
  741. {
  742. lcd_init();
  743. fdev_setup_stream(lcdout, lcd_putchar, NULL, _FDEV_SETUP_WRITE); //setup lcdout stream
  744. lcd_splash();
  745. setup_killpin();
  746. setup_powerhold();
  747. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  748. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  749. if ((farm_mode == 0xFF && farm_no == 0) || (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
  750. if (farm_no == 0xFFFF) farm_no = 0;
  751. selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
  752. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  753. if (farm_mode)
  754. {
  755. prusa_statistics(8);
  756. selectedSerialPort = 1;
  757. }
  758. MYSERIAL.begin(BAUDRATE);
  759. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  760. stdout = uartout;
  761. SERIAL_PROTOCOLLNPGM("start");
  762. SERIAL_ECHO_START;
  763. printf_P(PSTR(" "FW_VERSION_FULL"\n"));
  764. #if 0
  765. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  766. for (int i = 0; i < 4096; ++i) {
  767. int b = eeprom_read_byte((unsigned char*)i);
  768. if (b != 255) {
  769. SERIAL_ECHO(i);
  770. SERIAL_ECHO(":");
  771. SERIAL_ECHO(b);
  772. SERIAL_ECHOLN("");
  773. }
  774. }
  775. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  776. #endif
  777. // Check startup - does nothing if bootloader sets MCUSR to 0
  778. byte mcu = MCUSR;
  779. /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  780. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  781. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  782. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  783. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  784. if (mcu & 1) puts_P(MSG_POWERUP);
  785. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  786. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  787. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  788. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  789. MCUSR = 0;
  790. //SERIAL_ECHORPGM(MSG_MARLIN);
  791. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  792. #ifdef STRING_VERSION_CONFIG_H
  793. #ifdef STRING_CONFIG_H_AUTHOR
  794. SERIAL_ECHO_START;
  795. SERIAL_ECHORPGM(MSG_CONFIGURATION_VER);
  796. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  797. SERIAL_ECHORPGM(MSG_AUTHOR);
  798. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  799. SERIAL_ECHOPGM("Compiled: ");
  800. SERIAL_ECHOLNPGM(__DATE__);
  801. #endif
  802. #endif
  803. SERIAL_ECHO_START;
  804. SERIAL_ECHORPGM(MSG_FREE_MEMORY);
  805. SERIAL_ECHO(freeMemory());
  806. SERIAL_ECHORPGM(MSG_PLANNER_BUFFER_BYTES);
  807. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  808. //lcd_update_enable(false); // why do we need this?? - andre
  809. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  810. Config_RetrieveSettings(EEPROM_OFFSET);
  811. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  812. tp_init(); // Initialize temperature loop
  813. lcd_splash(); // we need to do this again, because tp_init() kills lcd
  814. plan_init(); // Initialize planner;
  815. watchdog_init();
  816. factory_reset();
  817. #ifdef TMC2130
  818. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  819. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  820. uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
  821. if (crashdet)
  822. {
  823. crashdet_enable();
  824. MYSERIAL.println("CrashDetect ENABLED!");
  825. }
  826. else
  827. {
  828. crashdet_disable();
  829. MYSERIAL.println("CrashDetect DISABLED");
  830. }
  831. #endif //TMC2130
  832. st_init(); // Initialize stepper, this enables interrupts!
  833. setup_photpin();
  834. servo_init();
  835. // Reset the machine correction matrix.
  836. // It does not make sense to load the correction matrix until the machine is homed.
  837. world2machine_reset();
  838. #ifdef PAT9125
  839. fsensor_init();
  840. #endif //PAT9125
  841. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  842. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  843. #endif
  844. #ifdef DIGIPOT_I2C
  845. digipot_i2c_init();
  846. #endif
  847. setup_homepin();
  848. if (1) {
  849. /// SERIAL_ECHOPGM("initial zsteps on power up: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
  850. // try to run to zero phase before powering the Z motor.
  851. // Move in negative direction
  852. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  853. // Round the current micro-micro steps to micro steps.
  854. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_TMC2130_CS) + 8) >> 4; phase > 0; -- phase) {
  855. // Until the phase counter is reset to zero.
  856. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  857. delay(2);
  858. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  859. delay(2);
  860. }
  861. // SERIAL_ECHOPGM("initial zsteps after reset: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
  862. }
  863. #if defined(Z_AXIS_ALWAYS_ON)
  864. enable_z();
  865. #endif
  866. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  867. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  868. if ((farm_mode == 0xFF && farm_no == 0) || (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
  869. if (farm_no == 0xFFFF) farm_no = 0;
  870. if (farm_mode)
  871. {
  872. prusa_statistics(8);
  873. }
  874. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  875. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  876. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  877. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
  878. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  879. // where all the EEPROM entries are set to 0x0ff.
  880. // Once a firmware boots up, it forces at least a language selection, which changes
  881. // EEPROM_LANG to number lower than 0x0ff.
  882. // 1) Set a high power mode.
  883. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  884. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  885. }
  886. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  887. // but this times out if a blocking dialog is shown in setup().
  888. card.initsd();
  889. if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff)
  890. eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
  891. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT) == 0xff)
  892. eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT, 0);
  893. if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff)
  894. eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
  895. #ifdef SNMM
  896. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  897. int _z = BOWDEN_LENGTH;
  898. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  899. }
  900. #endif
  901. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  902. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  903. // is being written into the EEPROM, so the update procedure will be triggered only once.
  904. lang_selected = eeprom_read_byte((uint8_t*)EEPROM_LANG);
  905. if (lang_selected >= LANG_NUM){
  906. lcd_mylang();
  907. }
  908. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  909. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  910. temp_cal_active = false;
  911. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  912. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  913. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  914. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  915. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 0, 8); //40C - 20um - 8usteps
  916. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 1, 24); //45C - 60um - 24usteps
  917. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 2, 48); //50C - 120um - 48usteps
  918. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 3, 80); //55C - 200um - 80usteps
  919. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 4, 120); //60C - 300um - 120usteps
  920. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 1);
  921. temp_cal_active = true;
  922. }
  923. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  924. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  925. }
  926. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  927. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  928. }
  929. check_babystep(); //checking if Z babystep is in allowed range
  930. setup_uvlo_interrupt();
  931. #ifndef DEBUG_DISABLE_FANCHECK
  932. setup_fan_interrupt();
  933. #endif //DEBUG_DISABLE_FANCHECK
  934. #ifndef DEBUG_DISABLE_FSENSORCHECK
  935. fsensor_setup_interrupt();
  936. #endif //DEBUG_DISABLE_FSENSORCHECK
  937. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  938. #ifndef DEBUG_DISABLE_STARTMSGS
  939. KEEPALIVE_STATE(PAUSED_FOR_USER);
  940. show_fw_version_warnings();
  941. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  942. lcd_wizard(0);
  943. }
  944. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  945. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  946. calibration_status() == CALIBRATION_STATUS_UNKNOWN) {
  947. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  948. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  949. // Show the message.
  950. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  951. }
  952. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  953. // Show the message.
  954. lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  955. lcd_update_enable(true);
  956. }
  957. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  958. //lcd_show_fullscreen_message_and_wait_P(MSG_PINDA_NOT_CALIBRATED);
  959. lcd_update_enable(true);
  960. }
  961. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  962. // Show the message.
  963. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  964. }
  965. }
  966. KEEPALIVE_STATE(IN_PROCESS);
  967. #endif //DEBUG_DISABLE_STARTMSGS
  968. lcd_update_enable(true);
  969. lcd_implementation_clear();
  970. lcd_update(2);
  971. // Store the currently running firmware into an eeprom,
  972. // so the next time the firmware gets updated, it will know from which version it has been updated.
  973. update_current_firmware_version_to_eeprom();
  974. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
  975. /*
  976. if (lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false)) recover_print();
  977. else {
  978. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  979. lcd_update_enable(true);
  980. lcd_update(2);
  981. lcd_setstatuspgm(WELCOME_MSG);
  982. }
  983. */
  984. manage_heater(); // Update temperatures
  985. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  986. MYSERIAL.println("Power panic detected!");
  987. MYSERIAL.print("Current bed temp:");
  988. MYSERIAL.println(degBed());
  989. MYSERIAL.print("Saved bed temp:");
  990. MYSERIAL.println((float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED));
  991. #endif
  992. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  993. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  994. MYSERIAL.println("Automatic recovery!");
  995. #endif
  996. recover_print(1);
  997. }
  998. else{
  999. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1000. MYSERIAL.println("Normal recovery!");
  1001. #endif
  1002. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false) ) recover_print(0);
  1003. else {
  1004. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1005. lcd_update_enable(true);
  1006. lcd_update(2);
  1007. lcd_setstatuspgm(WELCOME_MSG);
  1008. }
  1009. }
  1010. }
  1011. KEEPALIVE_STATE(NOT_BUSY);
  1012. wdt_enable(WDTO_4S);
  1013. }
  1014. #ifdef PAT9125
  1015. void fsensor_init() {
  1016. int pat9125 = pat9125_init(PAT9125_XRES, PAT9125_YRES);
  1017. printf_P(PSTR("PAT9125_init:%d\n"), pat9125);
  1018. uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
  1019. if (!pat9125)
  1020. {
  1021. fsensor = 0; //disable sensor
  1022. fsensor_not_responding = true;
  1023. }
  1024. else {
  1025. fsensor_not_responding = false;
  1026. }
  1027. puts_P(PSTR("FSensor "));
  1028. if (fsensor)
  1029. {
  1030. puts_P(PSTR("ENABLED\n"));
  1031. fsensor_enable();
  1032. }
  1033. else
  1034. {
  1035. puts_P(PSTR("DISABLED\n"));
  1036. fsensor_disable();
  1037. }
  1038. #ifdef DEBUG_DISABLE_FSENSORCHECK
  1039. filament_autoload_enabled = false;
  1040. fsensor_disable();
  1041. #endif //DEBUG_DISABLE_FSENSORCHECK
  1042. }
  1043. #endif //PAT9125
  1044. void trace();
  1045. #define CHUNK_SIZE 64 // bytes
  1046. #define SAFETY_MARGIN 1
  1047. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1048. int chunkHead = 0;
  1049. int serial_read_stream() {
  1050. setTargetHotend(0, 0);
  1051. setTargetBed(0);
  1052. lcd_implementation_clear();
  1053. lcd_printPGM(PSTR(" Upload in progress"));
  1054. // first wait for how many bytes we will receive
  1055. uint32_t bytesToReceive;
  1056. // receive the four bytes
  1057. char bytesToReceiveBuffer[4];
  1058. for (int i=0; i<4; i++) {
  1059. int data;
  1060. while ((data = MYSERIAL.read()) == -1) {};
  1061. bytesToReceiveBuffer[i] = data;
  1062. }
  1063. // make it a uint32
  1064. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1065. // we're ready, notify the sender
  1066. MYSERIAL.write('+');
  1067. // lock in the routine
  1068. uint32_t receivedBytes = 0;
  1069. while (prusa_sd_card_upload) {
  1070. int i;
  1071. for (i=0; i<CHUNK_SIZE; i++) {
  1072. int data;
  1073. // check if we're not done
  1074. if (receivedBytes == bytesToReceive) {
  1075. break;
  1076. }
  1077. // read the next byte
  1078. while ((data = MYSERIAL.read()) == -1) {};
  1079. receivedBytes++;
  1080. // save it to the chunk
  1081. chunk[i] = data;
  1082. }
  1083. // write the chunk to SD
  1084. card.write_command_no_newline(&chunk[0]);
  1085. // notify the sender we're ready for more data
  1086. MYSERIAL.write('+');
  1087. // for safety
  1088. manage_heater();
  1089. // check if we're done
  1090. if(receivedBytes == bytesToReceive) {
  1091. trace(); // beep
  1092. card.closefile();
  1093. prusa_sd_card_upload = false;
  1094. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1095. return 0;
  1096. }
  1097. }
  1098. }
  1099. #ifdef HOST_KEEPALIVE_FEATURE
  1100. /**
  1101. * Output a "busy" message at regular intervals
  1102. * while the machine is not accepting commands.
  1103. */
  1104. void host_keepalive() {
  1105. if (farm_mode) return;
  1106. long ms = millis();
  1107. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1108. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1109. switch (busy_state) {
  1110. case IN_HANDLER:
  1111. case IN_PROCESS:
  1112. SERIAL_ECHO_START;
  1113. SERIAL_ECHOLNPGM("busy: processing");
  1114. break;
  1115. case PAUSED_FOR_USER:
  1116. SERIAL_ECHO_START;
  1117. SERIAL_ECHOLNPGM("busy: paused for user");
  1118. break;
  1119. case PAUSED_FOR_INPUT:
  1120. SERIAL_ECHO_START;
  1121. SERIAL_ECHOLNPGM("busy: paused for input");
  1122. break;
  1123. default:
  1124. break;
  1125. }
  1126. }
  1127. prev_busy_signal_ms = ms;
  1128. }
  1129. #endif
  1130. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1131. // Before loop(), the setup() function is called by the main() routine.
  1132. void loop()
  1133. {
  1134. KEEPALIVE_STATE(NOT_BUSY);
  1135. bool stack_integrity = true;
  1136. if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
  1137. {
  1138. is_usb_printing = true;
  1139. usb_printing_counter--;
  1140. _usb_timer = millis();
  1141. }
  1142. if (usb_printing_counter == 0)
  1143. {
  1144. is_usb_printing = false;
  1145. }
  1146. if (prusa_sd_card_upload)
  1147. {
  1148. //we read byte-by byte
  1149. serial_read_stream();
  1150. } else
  1151. {
  1152. get_command();
  1153. #ifdef SDSUPPORT
  1154. card.checkautostart(false);
  1155. #endif
  1156. if(buflen)
  1157. {
  1158. cmdbuffer_front_already_processed = false;
  1159. #ifdef SDSUPPORT
  1160. if(card.saving)
  1161. {
  1162. // Saving a G-code file onto an SD-card is in progress.
  1163. // Saving starts with M28, saving until M29 is seen.
  1164. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1165. card.write_command(CMDBUFFER_CURRENT_STRING);
  1166. if(card.logging)
  1167. process_commands();
  1168. else
  1169. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1170. } else {
  1171. card.closefile();
  1172. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1173. }
  1174. } else {
  1175. process_commands();
  1176. }
  1177. #else
  1178. process_commands();
  1179. #endif //SDSUPPORT
  1180. if (! cmdbuffer_front_already_processed && buflen)
  1181. {
  1182. cli();
  1183. union {
  1184. struct {
  1185. char lo;
  1186. char hi;
  1187. } lohi;
  1188. uint16_t value;
  1189. } sdlen;
  1190. sdlen.value = 0;
  1191. if (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1192. sdlen.lohi.lo = cmdbuffer[bufindr + 1];
  1193. sdlen.lohi.hi = cmdbuffer[bufindr + 2];
  1194. }
  1195. cmdqueue_pop_front();
  1196. planner_add_sd_length(sdlen.value);
  1197. sei();
  1198. }
  1199. host_keepalive();
  1200. }
  1201. }
  1202. //check heater every n milliseconds
  1203. manage_heater();
  1204. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1205. checkHitEndstops();
  1206. lcd_update();
  1207. #ifdef PAT9125
  1208. fsensor_update();
  1209. #endif //PAT9125
  1210. #ifdef TMC2130
  1211. tmc2130_check_overtemp();
  1212. if (tmc2130_sg_crash)
  1213. {
  1214. tmc2130_sg_crash = false;
  1215. // crashdet_stop_and_save_print();
  1216. enquecommand_P((PSTR("CRASH_DETECTED")));
  1217. }
  1218. #endif //TMC2130
  1219. }
  1220. #define DEFINE_PGM_READ_ANY(type, reader) \
  1221. static inline type pgm_read_any(const type *p) \
  1222. { return pgm_read_##reader##_near(p); }
  1223. DEFINE_PGM_READ_ANY(float, float);
  1224. DEFINE_PGM_READ_ANY(signed char, byte);
  1225. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1226. static const PROGMEM type array##_P[3] = \
  1227. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1228. static inline type array(int axis) \
  1229. { return pgm_read_any(&array##_P[axis]); } \
  1230. type array##_ext(int axis) \
  1231. { return pgm_read_any(&array##_P[axis]); }
  1232. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1233. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1234. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1235. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1236. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1237. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1238. static void axis_is_at_home(int axis) {
  1239. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1240. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1241. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1242. }
  1243. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1244. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1245. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1246. saved_feedrate = feedrate;
  1247. saved_feedmultiply = feedmultiply;
  1248. feedmultiply = 100;
  1249. previous_millis_cmd = millis();
  1250. enable_endstops(enable_endstops_now);
  1251. }
  1252. static void clean_up_after_endstop_move() {
  1253. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1254. enable_endstops(false);
  1255. #endif
  1256. feedrate = saved_feedrate;
  1257. feedmultiply = saved_feedmultiply;
  1258. previous_millis_cmd = millis();
  1259. }
  1260. #ifdef ENABLE_AUTO_BED_LEVELING
  1261. #ifdef AUTO_BED_LEVELING_GRID
  1262. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1263. {
  1264. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1265. planeNormal.debug("planeNormal");
  1266. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1267. //bedLevel.debug("bedLevel");
  1268. //plan_bed_level_matrix.debug("bed level before");
  1269. //vector_3 uncorrected_position = plan_get_position_mm();
  1270. //uncorrected_position.debug("position before");
  1271. vector_3 corrected_position = plan_get_position();
  1272. // corrected_position.debug("position after");
  1273. current_position[X_AXIS] = corrected_position.x;
  1274. current_position[Y_AXIS] = corrected_position.y;
  1275. current_position[Z_AXIS] = corrected_position.z;
  1276. // put the bed at 0 so we don't go below it.
  1277. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1278. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1279. }
  1280. #else // not AUTO_BED_LEVELING_GRID
  1281. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1282. plan_bed_level_matrix.set_to_identity();
  1283. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1284. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1285. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1286. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1287. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1288. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1289. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1290. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1291. vector_3 corrected_position = plan_get_position();
  1292. current_position[X_AXIS] = corrected_position.x;
  1293. current_position[Y_AXIS] = corrected_position.y;
  1294. current_position[Z_AXIS] = corrected_position.z;
  1295. // put the bed at 0 so we don't go below it.
  1296. current_position[Z_AXIS] = zprobe_zoffset;
  1297. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1298. }
  1299. #endif // AUTO_BED_LEVELING_GRID
  1300. static void run_z_probe() {
  1301. plan_bed_level_matrix.set_to_identity();
  1302. feedrate = homing_feedrate[Z_AXIS];
  1303. // move down until you find the bed
  1304. float zPosition = -10;
  1305. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1306. st_synchronize();
  1307. // we have to let the planner know where we are right now as it is not where we said to go.
  1308. zPosition = st_get_position_mm(Z_AXIS);
  1309. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1310. // move up the retract distance
  1311. zPosition += home_retract_mm(Z_AXIS);
  1312. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1313. st_synchronize();
  1314. // move back down slowly to find bed
  1315. feedrate = homing_feedrate[Z_AXIS]/4;
  1316. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1317. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1318. st_synchronize();
  1319. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1320. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1321. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1322. }
  1323. static void do_blocking_move_to(float x, float y, float z) {
  1324. float oldFeedRate = feedrate;
  1325. feedrate = homing_feedrate[Z_AXIS];
  1326. current_position[Z_AXIS] = z;
  1327. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1328. st_synchronize();
  1329. feedrate = XY_TRAVEL_SPEED;
  1330. current_position[X_AXIS] = x;
  1331. current_position[Y_AXIS] = y;
  1332. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1333. st_synchronize();
  1334. feedrate = oldFeedRate;
  1335. }
  1336. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1337. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1338. }
  1339. /// Probe bed height at position (x,y), returns the measured z value
  1340. static float probe_pt(float x, float y, float z_before) {
  1341. // move to right place
  1342. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1343. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1344. run_z_probe();
  1345. float measured_z = current_position[Z_AXIS];
  1346. SERIAL_PROTOCOLRPGM(MSG_BED);
  1347. SERIAL_PROTOCOLPGM(" x: ");
  1348. SERIAL_PROTOCOL(x);
  1349. SERIAL_PROTOCOLPGM(" y: ");
  1350. SERIAL_PROTOCOL(y);
  1351. SERIAL_PROTOCOLPGM(" z: ");
  1352. SERIAL_PROTOCOL(measured_z);
  1353. SERIAL_PROTOCOLPGM("\n");
  1354. return measured_z;
  1355. }
  1356. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1357. #ifdef LIN_ADVANCE
  1358. /**
  1359. * M900: Set and/or Get advance K factor and WH/D ratio
  1360. *
  1361. * K<factor> Set advance K factor
  1362. * R<ratio> Set ratio directly (overrides WH/D)
  1363. * W<width> H<height> D<diam> Set ratio from WH/D
  1364. */
  1365. inline void gcode_M900() {
  1366. st_synchronize();
  1367. const float newK = code_seen('K') ? code_value_float() : -1;
  1368. if (newK >= 0) extruder_advance_k = newK;
  1369. float newR = code_seen('R') ? code_value_float() : -1;
  1370. if (newR < 0) {
  1371. const float newD = code_seen('D') ? code_value_float() : -1,
  1372. newW = code_seen('W') ? code_value_float() : -1,
  1373. newH = code_seen('H') ? code_value_float() : -1;
  1374. if (newD >= 0 && newW >= 0 && newH >= 0)
  1375. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1376. }
  1377. if (newR >= 0) advance_ed_ratio = newR;
  1378. SERIAL_ECHO_START;
  1379. SERIAL_ECHOPGM("Advance K=");
  1380. SERIAL_ECHOLN(extruder_advance_k);
  1381. SERIAL_ECHOPGM(" E/D=");
  1382. const float ratio = advance_ed_ratio;
  1383. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1384. }
  1385. #endif // LIN_ADVANCE
  1386. bool check_commands() {
  1387. bool end_command_found = false;
  1388. while (buflen)
  1389. {
  1390. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1391. if (!cmdbuffer_front_already_processed)
  1392. cmdqueue_pop_front();
  1393. cmdbuffer_front_already_processed = false;
  1394. }
  1395. return end_command_found;
  1396. }
  1397. #ifdef TMC2130
  1398. bool calibrate_z_auto()
  1399. {
  1400. //lcd_display_message_fullscreen_P(MSG_CALIBRATE_Z_AUTO);
  1401. lcd_implementation_clear();
  1402. lcd_print_at_PGM(0,1, MSG_CALIBRATE_Z_AUTO);
  1403. bool endstops_enabled = enable_endstops(true);
  1404. int axis_up_dir = -home_dir(Z_AXIS);
  1405. tmc2130_home_enter(Z_AXIS_MASK);
  1406. current_position[Z_AXIS] = 0;
  1407. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1408. set_destination_to_current();
  1409. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1410. feedrate = homing_feedrate[Z_AXIS];
  1411. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1412. st_synchronize();
  1413. // current_position[axis] = 0;
  1414. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1415. tmc2130_home_exit();
  1416. enable_endstops(false);
  1417. current_position[Z_AXIS] = 0;
  1418. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1419. set_destination_to_current();
  1420. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1421. feedrate = homing_feedrate[Z_AXIS] / 2;
  1422. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1423. st_synchronize();
  1424. enable_endstops(endstops_enabled);
  1425. current_position[Z_AXIS] = Z_MAX_POS+2.0;
  1426. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1427. return true;
  1428. }
  1429. #endif //TMC2130
  1430. void homeaxis(int axis)
  1431. {
  1432. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homming
  1433. #define HOMEAXIS_DO(LETTER) \
  1434. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1435. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1436. {
  1437. int axis_home_dir = home_dir(axis);
  1438. feedrate = homing_feedrate[axis];
  1439. #ifdef TMC2130
  1440. tmc2130_home_enter(X_AXIS_MASK << axis);
  1441. #endif
  1442. // Move right a bit, so that the print head does not touch the left end position,
  1443. // and the following left movement has a chance to achieve the required velocity
  1444. // for the stall guard to work.
  1445. current_position[axis] = 0;
  1446. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1447. // destination[axis] = 11.f;
  1448. destination[axis] = 3.f;
  1449. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1450. st_synchronize();
  1451. // Move left away from the possible collision with the collision detection disabled.
  1452. endstops_hit_on_purpose();
  1453. enable_endstops(false);
  1454. current_position[axis] = 0;
  1455. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1456. destination[axis] = - 1.;
  1457. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1458. st_synchronize();
  1459. // Now continue to move up to the left end stop with the collision detection enabled.
  1460. enable_endstops(true);
  1461. destination[axis] = - 1.1 * max_length(axis);
  1462. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1463. st_synchronize();
  1464. // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
  1465. endstops_hit_on_purpose();
  1466. enable_endstops(false);
  1467. current_position[axis] = 0;
  1468. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1469. destination[axis] = 10.f;
  1470. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1471. st_synchronize();
  1472. endstops_hit_on_purpose();
  1473. // Now move left up to the collision, this time with a repeatable velocity.
  1474. enable_endstops(true);
  1475. destination[axis] = - 15.f;
  1476. feedrate = homing_feedrate[axis]/2;
  1477. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1478. st_synchronize();
  1479. axis_is_at_home(axis);
  1480. axis_known_position[axis] = true;
  1481. #ifdef TMC2130
  1482. tmc2130_home_exit();
  1483. #endif
  1484. // Move the X carriage away from the collision.
  1485. // If this is not done, the X cariage will jump from the collision at the instant the Trinamic driver reduces power on idle.
  1486. endstops_hit_on_purpose();
  1487. enable_endstops(false);
  1488. {
  1489. // Two full periods (4 full steps).
  1490. float gap = 0.32f * 2.f;
  1491. current_position[axis] -= gap;
  1492. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1493. current_position[axis] += gap;
  1494. }
  1495. destination[axis] = current_position[axis];
  1496. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.3f*feedrate/60, active_extruder);
  1497. st_synchronize();
  1498. feedrate = 0.0;
  1499. }
  1500. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  1501. {
  1502. int axis_home_dir = home_dir(axis);
  1503. current_position[axis] = 0;
  1504. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1505. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1506. feedrate = homing_feedrate[axis];
  1507. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1508. st_synchronize();
  1509. current_position[axis] = 0;
  1510. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1511. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1512. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1513. st_synchronize();
  1514. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1515. feedrate = homing_feedrate[axis]/2 ;
  1516. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1517. st_synchronize();
  1518. axis_is_at_home(axis);
  1519. destination[axis] = current_position[axis];
  1520. feedrate = 0.0;
  1521. endstops_hit_on_purpose();
  1522. axis_known_position[axis] = true;
  1523. }
  1524. enable_endstops(endstops_enabled);
  1525. }
  1526. /**/
  1527. void home_xy()
  1528. {
  1529. set_destination_to_current();
  1530. homeaxis(X_AXIS);
  1531. homeaxis(Y_AXIS);
  1532. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1533. endstops_hit_on_purpose();
  1534. }
  1535. void refresh_cmd_timeout(void)
  1536. {
  1537. previous_millis_cmd = millis();
  1538. }
  1539. #ifdef FWRETRACT
  1540. void retract(bool retracting, bool swapretract = false) {
  1541. if(retracting && !retracted[active_extruder]) {
  1542. destination[X_AXIS]=current_position[X_AXIS];
  1543. destination[Y_AXIS]=current_position[Y_AXIS];
  1544. destination[Z_AXIS]=current_position[Z_AXIS];
  1545. destination[E_AXIS]=current_position[E_AXIS];
  1546. if (swapretract) {
  1547. current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
  1548. } else {
  1549. current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
  1550. }
  1551. plan_set_e_position(current_position[E_AXIS]);
  1552. float oldFeedrate = feedrate;
  1553. feedrate=retract_feedrate*60;
  1554. retracted[active_extruder]=true;
  1555. prepare_move();
  1556. current_position[Z_AXIS]-=retract_zlift;
  1557. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1558. prepare_move();
  1559. feedrate = oldFeedrate;
  1560. } else if(!retracting && retracted[active_extruder]) {
  1561. destination[X_AXIS]=current_position[X_AXIS];
  1562. destination[Y_AXIS]=current_position[Y_AXIS];
  1563. destination[Z_AXIS]=current_position[Z_AXIS];
  1564. destination[E_AXIS]=current_position[E_AXIS];
  1565. current_position[Z_AXIS]+=retract_zlift;
  1566. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1567. //prepare_move();
  1568. if (swapretract) {
  1569. current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
  1570. } else {
  1571. current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
  1572. }
  1573. plan_set_e_position(current_position[E_AXIS]);
  1574. float oldFeedrate = feedrate;
  1575. feedrate=retract_recover_feedrate*60;
  1576. retracted[active_extruder]=false;
  1577. prepare_move();
  1578. feedrate = oldFeedrate;
  1579. }
  1580. } //retract
  1581. #endif //FWRETRACT
  1582. void trace() {
  1583. tone(BEEPER, 440);
  1584. delay(25);
  1585. noTone(BEEPER);
  1586. delay(20);
  1587. }
  1588. /*
  1589. void ramming() {
  1590. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  1591. if (current_temperature[0] < 230) {
  1592. //PLA
  1593. max_feedrate[E_AXIS] = 50;
  1594. //current_position[E_AXIS] -= 8;
  1595. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1596. //current_position[E_AXIS] += 8;
  1597. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1598. current_position[E_AXIS] += 5.4;
  1599. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  1600. current_position[E_AXIS] += 3.2;
  1601. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1602. current_position[E_AXIS] += 3;
  1603. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  1604. st_synchronize();
  1605. max_feedrate[E_AXIS] = 80;
  1606. current_position[E_AXIS] -= 82;
  1607. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  1608. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1609. current_position[E_AXIS] -= 20;
  1610. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  1611. current_position[E_AXIS] += 5;
  1612. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1613. current_position[E_AXIS] += 5;
  1614. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1615. current_position[E_AXIS] -= 10;
  1616. st_synchronize();
  1617. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1618. current_position[E_AXIS] += 10;
  1619. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1620. current_position[E_AXIS] -= 10;
  1621. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1622. current_position[E_AXIS] += 10;
  1623. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1624. current_position[E_AXIS] -= 10;
  1625. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1626. st_synchronize();
  1627. }
  1628. else {
  1629. //ABS
  1630. max_feedrate[E_AXIS] = 50;
  1631. //current_position[E_AXIS] -= 8;
  1632. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1633. //current_position[E_AXIS] += 8;
  1634. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1635. current_position[E_AXIS] += 3.1;
  1636. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  1637. current_position[E_AXIS] += 3.1;
  1638. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  1639. current_position[E_AXIS] += 4;
  1640. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1641. st_synchronize();
  1642. //current_position[X_AXIS] += 23; //delay
  1643. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1644. //current_position[X_AXIS] -= 23; //delay
  1645. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1646. delay(4700);
  1647. max_feedrate[E_AXIS] = 80;
  1648. current_position[E_AXIS] -= 92;
  1649. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  1650. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1651. current_position[E_AXIS] -= 5;
  1652. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1653. current_position[E_AXIS] += 5;
  1654. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1655. current_position[E_AXIS] -= 5;
  1656. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1657. st_synchronize();
  1658. current_position[E_AXIS] += 5;
  1659. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1660. current_position[E_AXIS] -= 5;
  1661. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1662. current_position[E_AXIS] += 5;
  1663. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1664. current_position[E_AXIS] -= 5;
  1665. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1666. st_synchronize();
  1667. }
  1668. }
  1669. */
  1670. #ifdef TMC2130
  1671. void force_high_power_mode(bool start_high_power_section) {
  1672. uint8_t silent;
  1673. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1674. if (silent == 1) {
  1675. //we are in silent mode, set to normal mode to enable crash detection
  1676. st_synchronize();
  1677. cli();
  1678. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  1679. tmc2130_init();
  1680. sei();
  1681. digipot_init();
  1682. }
  1683. }
  1684. #endif //TMC2130
  1685. bool gcode_M45(bool onlyZ)
  1686. {
  1687. bool final_result = false;
  1688. #ifdef TMC2130
  1689. FORCE_HIGH_POWER_START;
  1690. #endif // TMC2130
  1691. // Only Z calibration?
  1692. if (!onlyZ)
  1693. {
  1694. setTargetBed(0);
  1695. setTargetHotend(0, 0);
  1696. setTargetHotend(0, 1);
  1697. setTargetHotend(0, 2);
  1698. adjust_bed_reset(); //reset bed level correction
  1699. }
  1700. // Disable the default update procedure of the display. We will do a modal dialog.
  1701. lcd_update_enable(false);
  1702. // Let the planner use the uncorrected coordinates.
  1703. mbl.reset();
  1704. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  1705. // the planner will not perform any adjustments in the XY plane.
  1706. // Wait for the motors to stop and update the current position with the absolute values.
  1707. world2machine_revert_to_uncorrected();
  1708. // Reset the baby step value applied without moving the axes.
  1709. babystep_reset();
  1710. // Mark all axes as in a need for homing.
  1711. memset(axis_known_position, 0, sizeof(axis_known_position));
  1712. // Home in the XY plane.
  1713. //set_destination_to_current();
  1714. setup_for_endstop_move();
  1715. lcd_display_message_fullscreen_P(MSG_AUTO_HOME);
  1716. home_xy();
  1717. // Let the user move the Z axes up to the end stoppers.
  1718. #ifdef TMC2130
  1719. if (calibrate_z_auto())
  1720. {
  1721. #else //TMC2130
  1722. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  1723. {
  1724. #endif //TMC2130
  1725. refresh_cmd_timeout();
  1726. //if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  1727. //{
  1728. // lcd_wait_for_cool_down();
  1729. //}
  1730. if(!onlyZ)
  1731. {
  1732. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1733. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_STEEL_SHEET_CHECK, false, false);
  1734. if(result) lcd_show_fullscreen_message_and_wait_P(MSG_REMOVE_STEEL_SHEET);
  1735. lcd_show_fullscreen_message_and_wait_P(MSG_CONFIRM_NOZZLE_CLEAN);
  1736. lcd_show_fullscreen_message_and_wait_P(MSG_PAPER);
  1737. KEEPALIVE_STATE(IN_HANDLER);
  1738. lcd_display_message_fullscreen_P(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1);
  1739. lcd_implementation_print_at(0, 2, 1);
  1740. lcd_printPGM(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2);
  1741. }
  1742. // Move the print head close to the bed.
  1743. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  1744. bool endstops_enabled = enable_endstops(true);
  1745. tmc2130_home_enter(Z_AXIS_MASK);
  1746. 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);
  1747. st_synchronize();
  1748. tmc2130_home_exit();
  1749. enable_endstops(endstops_enabled);
  1750. if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
  1751. {
  1752. //#ifdef TMC2130
  1753. // tmc2130_home_enter(X_AXIS_MASK | Y_AXIS_MASK);
  1754. //#endif
  1755. int8_t verbosity_level = 0;
  1756. if (code_seen('V'))
  1757. {
  1758. // Just 'V' without a number counts as V1.
  1759. char c = strchr_pointer[1];
  1760. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  1761. }
  1762. if (onlyZ)
  1763. {
  1764. clean_up_after_endstop_move();
  1765. // Z only calibration.
  1766. // Load the machine correction matrix
  1767. world2machine_initialize();
  1768. // and correct the current_position to match the transformed coordinate system.
  1769. world2machine_update_current();
  1770. //FIXME
  1771. bool result = sample_mesh_and_store_reference();
  1772. if (result)
  1773. {
  1774. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  1775. // Shipped, the nozzle height has been set already. The user can start printing now.
  1776. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  1777. final_result = true;
  1778. // babystep_apply();
  1779. }
  1780. }
  1781. else
  1782. {
  1783. // Reset the baby step value and the baby step applied flag.
  1784. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  1785. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1786. // Complete XYZ calibration.
  1787. uint8_t point_too_far_mask = 0;
  1788. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  1789. clean_up_after_endstop_move();
  1790. // Print head up.
  1791. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  1792. 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);
  1793. st_synchronize();
  1794. if (result >= 0)
  1795. {
  1796. point_too_far_mask = 0;
  1797. // Second half: The fine adjustment.
  1798. // Let the planner use the uncorrected coordinates.
  1799. mbl.reset();
  1800. world2machine_reset();
  1801. // Home in the XY plane.
  1802. setup_for_endstop_move();
  1803. home_xy();
  1804. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  1805. clean_up_after_endstop_move();
  1806. // Print head up.
  1807. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  1808. 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);
  1809. st_synchronize();
  1810. // if (result >= 0) babystep_apply();
  1811. }
  1812. lcd_bed_calibration_show_result(result, point_too_far_mask);
  1813. if (result >= 0)
  1814. {
  1815. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  1816. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  1817. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  1818. final_result = true;
  1819. }
  1820. }
  1821. #ifdef TMC2130
  1822. tmc2130_home_exit();
  1823. #endif
  1824. }
  1825. else
  1826. {
  1827. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  1828. final_result = false;
  1829. }
  1830. }
  1831. else
  1832. {
  1833. // Timeouted.
  1834. }
  1835. lcd_update_enable(true);
  1836. #ifdef TMC2130
  1837. FORCE_HIGH_POWER_END;
  1838. #endif // TMC2130
  1839. return final_result;
  1840. }
  1841. void gcode_M701()
  1842. {
  1843. #ifdef SNMM
  1844. extr_adj(snmm_extruder);//loads current extruder
  1845. #else
  1846. enable_z();
  1847. custom_message = true;
  1848. custom_message_type = 2;
  1849. lcd_setstatuspgm(MSG_LOADING_FILAMENT);
  1850. current_position[E_AXIS] += 70;
  1851. 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
  1852. current_position[E_AXIS] += 25;
  1853. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
  1854. st_synchronize();
  1855. if (!farm_mode && loading_flag) {
  1856. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  1857. while (!clean) {
  1858. lcd_update_enable(true);
  1859. lcd_update(2);
  1860. current_position[E_AXIS] += 25;
  1861. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
  1862. st_synchronize();
  1863. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  1864. }
  1865. }
  1866. lcd_update_enable(true);
  1867. lcd_update(2);
  1868. lcd_setstatuspgm(WELCOME_MSG);
  1869. disable_z();
  1870. loading_flag = false;
  1871. custom_message = false;
  1872. custom_message_type = 0;
  1873. #endif
  1874. }
  1875. void process_commands()
  1876. {
  1877. #ifdef FILAMENT_RUNOUT_SUPPORT
  1878. SET_INPUT(FR_SENS);
  1879. #endif
  1880. #ifdef CMDBUFFER_DEBUG
  1881. SERIAL_ECHOPGM("Processing a GCODE command: ");
  1882. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  1883. SERIAL_ECHOLNPGM("");
  1884. SERIAL_ECHOPGM("In cmdqueue: ");
  1885. SERIAL_ECHO(buflen);
  1886. SERIAL_ECHOLNPGM("");
  1887. #endif /* CMDBUFFER_DEBUG */
  1888. unsigned long codenum; //throw away variable
  1889. char *starpos = NULL;
  1890. #ifdef ENABLE_AUTO_BED_LEVELING
  1891. float x_tmp, y_tmp, z_tmp, real_z;
  1892. #endif
  1893. // PRUSA GCODES
  1894. KEEPALIVE_STATE(IN_HANDLER);
  1895. #ifdef SNMM
  1896. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  1897. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  1898. int8_t SilentMode;
  1899. #endif
  1900. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  1901. starpos = (strchr(strchr_pointer + 5, '*'));
  1902. if (starpos != NULL)
  1903. *(starpos) = '\0';
  1904. lcd_setstatus(strchr_pointer + 5);
  1905. }
  1906. else if(code_seen("CRASH_DETECTED"))
  1907. crashdet_detected();
  1908. else if(code_seen("CRASH_RECOVER"))
  1909. crashdet_recover();
  1910. else if(code_seen("CRASH_CANCEL"))
  1911. crashdet_cancel();
  1912. else if(code_seen("PRUSA")){
  1913. if (code_seen("Ping")) { //PRUSA Ping
  1914. if (farm_mode) {
  1915. PingTime = millis();
  1916. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  1917. }
  1918. }
  1919. else if (code_seen("PRN")) {
  1920. MYSERIAL.println(status_number);
  1921. }else if (code_seen("FAN")) {
  1922. MYSERIAL.print("E0:");
  1923. MYSERIAL.print(60*fan_speed[0]);
  1924. MYSERIAL.println(" RPM");
  1925. MYSERIAL.print("PRN0:");
  1926. MYSERIAL.print(60*fan_speed[1]);
  1927. MYSERIAL.println(" RPM");
  1928. }else if (code_seen("fn")) {
  1929. if (farm_mode) {
  1930. MYSERIAL.println(farm_no);
  1931. }
  1932. else {
  1933. MYSERIAL.println("Not in farm mode.");
  1934. }
  1935. }else if (code_seen("fv")) {
  1936. // get file version
  1937. #ifdef SDSUPPORT
  1938. card.openFile(strchr_pointer + 3,true);
  1939. while (true) {
  1940. uint16_t readByte = card.get();
  1941. MYSERIAL.write(readByte);
  1942. if (readByte=='\n') {
  1943. break;
  1944. }
  1945. }
  1946. card.closefile();
  1947. #endif // SDSUPPORT
  1948. } else if (code_seen("M28")) {
  1949. trace();
  1950. prusa_sd_card_upload = true;
  1951. card.openFile(strchr_pointer+4,false);
  1952. } else if (code_seen("SN")) {
  1953. if (farm_mode) {
  1954. selectedSerialPort = 0;
  1955. MSerial.write(";S");
  1956. // S/N is:CZPX0917X003XC13518
  1957. int numbersRead = 0;
  1958. while (numbersRead < 19) {
  1959. while (MSerial.available() > 0) {
  1960. uint8_t serial_char = MSerial.read();
  1961. selectedSerialPort = 1;
  1962. MSerial.write(serial_char);
  1963. numbersRead++;
  1964. selectedSerialPort = 0;
  1965. }
  1966. }
  1967. selectedSerialPort = 1;
  1968. MSerial.write('\n');
  1969. /*for (int b = 0; b < 3; b++) {
  1970. tone(BEEPER, 110);
  1971. delay(50);
  1972. noTone(BEEPER);
  1973. delay(50);
  1974. }*/
  1975. } else {
  1976. MYSERIAL.println("Not in farm mode.");
  1977. }
  1978. } else if(code_seen("Fir")){
  1979. SERIAL_PROTOCOLLN(FW_VERSION);
  1980. } else if(code_seen("Rev")){
  1981. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  1982. } else if(code_seen("Lang")) {
  1983. lcd_force_language_selection();
  1984. } else if(code_seen("Lz")) {
  1985. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  1986. } else if (code_seen("SERIAL LOW")) {
  1987. MYSERIAL.println("SERIAL LOW");
  1988. MYSERIAL.begin(BAUDRATE);
  1989. return;
  1990. } else if (code_seen("SERIAL HIGH")) {
  1991. MYSERIAL.println("SERIAL HIGH");
  1992. MYSERIAL.begin(1152000);
  1993. return;
  1994. } else if(code_seen("Beat")) {
  1995. // Kick farm link timer
  1996. kicktime = millis();
  1997. } else if(code_seen("FR")) {
  1998. // Factory full reset
  1999. factory_reset(0,true);
  2000. }
  2001. //else if (code_seen('Cal')) {
  2002. // lcd_calibration();
  2003. // }
  2004. }
  2005. else if (code_seen('^')) {
  2006. // nothing, this is a version line
  2007. } else if(code_seen('G'))
  2008. {
  2009. switch((int)code_value())
  2010. {
  2011. case 0: // G0 -> G1
  2012. case 1: // G1
  2013. if(Stopped == false) {
  2014. #ifdef FILAMENT_RUNOUT_SUPPORT
  2015. if(READ(FR_SENS)){
  2016. feedmultiplyBckp=feedmultiply;
  2017. float target[4];
  2018. float lastpos[4];
  2019. target[X_AXIS]=current_position[X_AXIS];
  2020. target[Y_AXIS]=current_position[Y_AXIS];
  2021. target[Z_AXIS]=current_position[Z_AXIS];
  2022. target[E_AXIS]=current_position[E_AXIS];
  2023. lastpos[X_AXIS]=current_position[X_AXIS];
  2024. lastpos[Y_AXIS]=current_position[Y_AXIS];
  2025. lastpos[Z_AXIS]=current_position[Z_AXIS];
  2026. lastpos[E_AXIS]=current_position[E_AXIS];
  2027. //retract by E
  2028. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  2029. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2030. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  2031. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  2032. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  2033. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  2034. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  2035. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  2036. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2037. //finish moves
  2038. st_synchronize();
  2039. //disable extruder steppers so filament can be removed
  2040. disable_e0();
  2041. disable_e1();
  2042. disable_e2();
  2043. delay(100);
  2044. //LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
  2045. uint8_t cnt=0;
  2046. int counterBeep = 0;
  2047. lcd_wait_interact();
  2048. while(!lcd_clicked()){
  2049. cnt++;
  2050. manage_heater();
  2051. manage_inactivity(true);
  2052. //lcd_update();
  2053. if(cnt==0)
  2054. {
  2055. #if BEEPER > 0
  2056. if (counterBeep== 500){
  2057. counterBeep = 0;
  2058. }
  2059. SET_OUTPUT(BEEPER);
  2060. if (counterBeep== 0){
  2061. WRITE(BEEPER,HIGH);
  2062. }
  2063. if (counterBeep== 20){
  2064. WRITE(BEEPER,LOW);
  2065. }
  2066. counterBeep++;
  2067. #else
  2068. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  2069. lcd_buzz(1000/6,100);
  2070. #else
  2071. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
  2072. #endif
  2073. #endif
  2074. }
  2075. }
  2076. WRITE(BEEPER,LOW);
  2077. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  2078. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2079. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2080. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2081. lcd_change_fil_state = 0;
  2082. lcd_loading_filament();
  2083. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  2084. lcd_change_fil_state = 0;
  2085. lcd_alright();
  2086. switch(lcd_change_fil_state){
  2087. case 2:
  2088. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  2089. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2090. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2091. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2092. lcd_loading_filament();
  2093. break;
  2094. case 3:
  2095. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2096. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2097. lcd_loading_color();
  2098. break;
  2099. default:
  2100. lcd_change_success();
  2101. break;
  2102. }
  2103. }
  2104. target[E_AXIS]+= 5;
  2105. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2106. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  2107. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2108. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  2109. //plan_set_e_position(current_position[E_AXIS]);
  2110. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  2111. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  2112. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  2113. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  2114. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  2115. plan_set_e_position(lastpos[E_AXIS]);
  2116. feedmultiply=feedmultiplyBckp;
  2117. char cmd[9];
  2118. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2119. enquecommand(cmd);
  2120. }
  2121. #endif
  2122. get_coordinates(); // For X Y Z E F
  2123. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  2124. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  2125. }
  2126. #ifdef FWRETRACT
  2127. if(autoretract_enabled)
  2128. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2129. float echange=destination[E_AXIS]-current_position[E_AXIS];
  2130. if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
  2131. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  2132. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  2133. retract(!retracted);
  2134. return;
  2135. }
  2136. }
  2137. #endif //FWRETRACT
  2138. prepare_move();
  2139. //ClearToSend();
  2140. }
  2141. break;
  2142. case 2: // G2 - CW ARC
  2143. if(Stopped == false) {
  2144. get_arc_coordinates();
  2145. prepare_arc_move(true);
  2146. }
  2147. break;
  2148. case 3: // G3 - CCW ARC
  2149. if(Stopped == false) {
  2150. get_arc_coordinates();
  2151. prepare_arc_move(false);
  2152. }
  2153. break;
  2154. case 4: // G4 dwell
  2155. codenum = 0;
  2156. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  2157. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  2158. if(codenum != 0) LCD_MESSAGERPGM(MSG_DWELL);
  2159. st_synchronize();
  2160. codenum += millis(); // keep track of when we started waiting
  2161. previous_millis_cmd = millis();
  2162. while(millis() < codenum) {
  2163. manage_heater();
  2164. manage_inactivity();
  2165. lcd_update();
  2166. }
  2167. break;
  2168. #ifdef FWRETRACT
  2169. case 10: // G10 retract
  2170. #if EXTRUDERS > 1
  2171. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  2172. retract(true,retracted_swap[active_extruder]);
  2173. #else
  2174. retract(true);
  2175. #endif
  2176. break;
  2177. case 11: // G11 retract_recover
  2178. #if EXTRUDERS > 1
  2179. retract(false,retracted_swap[active_extruder]);
  2180. #else
  2181. retract(false);
  2182. #endif
  2183. break;
  2184. #endif //FWRETRACT
  2185. case 28: //G28 Home all Axis one at a time
  2186. {
  2187. st_synchronize();
  2188. #if 0
  2189. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2190. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2191. #endif
  2192. // Flag for the display update routine and to disable the print cancelation during homing.
  2193. homing_flag = true;
  2194. // Which axes should be homed?
  2195. bool home_x = code_seen(axis_codes[X_AXIS]);
  2196. bool home_y = code_seen(axis_codes[Y_AXIS]);
  2197. bool home_z = code_seen(axis_codes[Z_AXIS]);
  2198. // Either all X,Y,Z codes are present, or none of them.
  2199. bool home_all_axes = home_x == home_y && home_x == home_z;
  2200. if (home_all_axes)
  2201. // No X/Y/Z code provided means to home all axes.
  2202. home_x = home_y = home_z = true;
  2203. #ifdef ENABLE_AUTO_BED_LEVELING
  2204. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2205. #endif //ENABLE_AUTO_BED_LEVELING
  2206. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2207. // the planner will not perform any adjustments in the XY plane.
  2208. // Wait for the motors to stop and update the current position with the absolute values.
  2209. world2machine_revert_to_uncorrected();
  2210. // For mesh bed leveling deactivate the matrix temporarily.
  2211. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2212. // in a single axis only.
  2213. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2214. #ifdef MESH_BED_LEVELING
  2215. uint8_t mbl_was_active = mbl.active;
  2216. mbl.active = 0;
  2217. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2218. #endif
  2219. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2220. // consumed during the first movements following this statement.
  2221. if (home_z)
  2222. babystep_undo();
  2223. saved_feedrate = feedrate;
  2224. saved_feedmultiply = feedmultiply;
  2225. feedmultiply = 100;
  2226. previous_millis_cmd = millis();
  2227. enable_endstops(true);
  2228. memcpy(destination, current_position, sizeof(destination));
  2229. feedrate = 0.0;
  2230. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2231. if(home_z)
  2232. homeaxis(Z_AXIS);
  2233. #endif
  2234. #ifdef QUICK_HOME
  2235. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2236. if(home_x && home_y) //first diagonal move
  2237. {
  2238. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2239. int x_axis_home_dir = home_dir(X_AXIS);
  2240. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2241. 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);
  2242. feedrate = homing_feedrate[X_AXIS];
  2243. if(homing_feedrate[Y_AXIS]<feedrate)
  2244. feedrate = homing_feedrate[Y_AXIS];
  2245. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2246. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2247. } else {
  2248. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2249. }
  2250. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2251. st_synchronize();
  2252. axis_is_at_home(X_AXIS);
  2253. axis_is_at_home(Y_AXIS);
  2254. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2255. destination[X_AXIS] = current_position[X_AXIS];
  2256. destination[Y_AXIS] = current_position[Y_AXIS];
  2257. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2258. feedrate = 0.0;
  2259. st_synchronize();
  2260. endstops_hit_on_purpose();
  2261. current_position[X_AXIS] = destination[X_AXIS];
  2262. current_position[Y_AXIS] = destination[Y_AXIS];
  2263. current_position[Z_AXIS] = destination[Z_AXIS];
  2264. }
  2265. #endif /* QUICK_HOME */
  2266. if(home_x)
  2267. homeaxis(X_AXIS);
  2268. if(home_y)
  2269. homeaxis(Y_AXIS);
  2270. if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
  2271. current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
  2272. if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
  2273. current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
  2274. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2275. #ifndef Z_SAFE_HOMING
  2276. if(home_z) {
  2277. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2278. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2279. feedrate = max_feedrate[Z_AXIS];
  2280. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2281. st_synchronize();
  2282. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2283. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
  2284. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2285. {
  2286. homeaxis(X_AXIS);
  2287. homeaxis(Y_AXIS);
  2288. }
  2289. // 1st mesh bed leveling measurement point, corrected.
  2290. world2machine_initialize();
  2291. world2machine(pgm_read_float(bed_ref_points), pgm_read_float(bed_ref_points+1), destination[X_AXIS], destination[Y_AXIS]);
  2292. world2machine_reset();
  2293. if (destination[Y_AXIS] < Y_MIN_POS)
  2294. destination[Y_AXIS] = Y_MIN_POS;
  2295. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2296. feedrate = homing_feedrate[Z_AXIS]/10;
  2297. current_position[Z_AXIS] = 0;
  2298. enable_endstops(false);
  2299. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2300. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2301. st_synchronize();
  2302. current_position[X_AXIS] = destination[X_AXIS];
  2303. current_position[Y_AXIS] = destination[Y_AXIS];
  2304. enable_endstops(true);
  2305. endstops_hit_on_purpose();
  2306. homeaxis(Z_AXIS);
  2307. #else // MESH_BED_LEVELING
  2308. homeaxis(Z_AXIS);
  2309. #endif // MESH_BED_LEVELING
  2310. }
  2311. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2312. if(home_all_axes) {
  2313. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2314. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2315. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2316. feedrate = XY_TRAVEL_SPEED/60;
  2317. current_position[Z_AXIS] = 0;
  2318. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2319. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2320. st_synchronize();
  2321. current_position[X_AXIS] = destination[X_AXIS];
  2322. current_position[Y_AXIS] = destination[Y_AXIS];
  2323. homeaxis(Z_AXIS);
  2324. }
  2325. // Let's see if X and Y are homed and probe is inside bed area.
  2326. if(home_z) {
  2327. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2328. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2329. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2330. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2331. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2332. current_position[Z_AXIS] = 0;
  2333. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2334. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2335. feedrate = max_feedrate[Z_AXIS];
  2336. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2337. st_synchronize();
  2338. homeaxis(Z_AXIS);
  2339. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2340. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2341. SERIAL_ECHO_START;
  2342. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2343. } else {
  2344. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2345. SERIAL_ECHO_START;
  2346. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2347. }
  2348. }
  2349. #endif // Z_SAFE_HOMING
  2350. #endif // Z_HOME_DIR < 0
  2351. if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
  2352. current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
  2353. #ifdef ENABLE_AUTO_BED_LEVELING
  2354. if(home_z)
  2355. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2356. #endif
  2357. // Set the planner and stepper routine positions.
  2358. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2359. // contains the machine coordinates.
  2360. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2361. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2362. enable_endstops(false);
  2363. #endif
  2364. feedrate = saved_feedrate;
  2365. feedmultiply = saved_feedmultiply;
  2366. previous_millis_cmd = millis();
  2367. endstops_hit_on_purpose();
  2368. #ifndef MESH_BED_LEVELING
  2369. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2370. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2371. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2372. lcd_adjust_z();
  2373. #endif
  2374. // Load the machine correction matrix
  2375. world2machine_initialize();
  2376. // and correct the current_position XY axes to match the transformed coordinate system.
  2377. world2machine_update_current();
  2378. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2379. if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
  2380. {
  2381. if (! home_z && mbl_was_active) {
  2382. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2383. mbl.active = true;
  2384. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2385. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2386. }
  2387. }
  2388. else
  2389. {
  2390. st_synchronize();
  2391. homing_flag = false;
  2392. // Push the commands to the front of the message queue in the reverse order!
  2393. // There shall be always enough space reserved for these commands.
  2394. // enquecommand_front_P((PSTR("G80")));
  2395. goto case_G80;
  2396. }
  2397. #endif
  2398. if (farm_mode) { prusa_statistics(20); };
  2399. homing_flag = false;
  2400. #if 0
  2401. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2402. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2403. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2404. #endif
  2405. break;
  2406. }
  2407. #ifdef ENABLE_AUTO_BED_LEVELING
  2408. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  2409. {
  2410. #if Z_MIN_PIN == -1
  2411. #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."
  2412. #endif
  2413. // Prevent user from running a G29 without first homing in X and Y
  2414. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  2415. {
  2416. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2417. SERIAL_ECHO_START;
  2418. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2419. break; // abort G29, since we don't know where we are
  2420. }
  2421. st_synchronize();
  2422. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  2423. //vector_3 corrected_position = plan_get_position_mm();
  2424. //corrected_position.debug("position before G29");
  2425. plan_bed_level_matrix.set_to_identity();
  2426. vector_3 uncorrected_position = plan_get_position();
  2427. //uncorrected_position.debug("position durring G29");
  2428. current_position[X_AXIS] = uncorrected_position.x;
  2429. current_position[Y_AXIS] = uncorrected_position.y;
  2430. current_position[Z_AXIS] = uncorrected_position.z;
  2431. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2432. setup_for_endstop_move();
  2433. feedrate = homing_feedrate[Z_AXIS];
  2434. #ifdef AUTO_BED_LEVELING_GRID
  2435. // probe at the points of a lattice grid
  2436. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2437. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2438. // solve the plane equation ax + by + d = z
  2439. // A is the matrix with rows [x y 1] for all the probed points
  2440. // B is the vector of the Z positions
  2441. // 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
  2442. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  2443. // "A" matrix of the linear system of equations
  2444. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  2445. // "B" vector of Z points
  2446. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  2447. int probePointCounter = 0;
  2448. bool zig = true;
  2449. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  2450. {
  2451. int xProbe, xInc;
  2452. if (zig)
  2453. {
  2454. xProbe = LEFT_PROBE_BED_POSITION;
  2455. //xEnd = RIGHT_PROBE_BED_POSITION;
  2456. xInc = xGridSpacing;
  2457. zig = false;
  2458. } else // zag
  2459. {
  2460. xProbe = RIGHT_PROBE_BED_POSITION;
  2461. //xEnd = LEFT_PROBE_BED_POSITION;
  2462. xInc = -xGridSpacing;
  2463. zig = true;
  2464. }
  2465. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  2466. {
  2467. float z_before;
  2468. if (probePointCounter == 0)
  2469. {
  2470. // raise before probing
  2471. z_before = Z_RAISE_BEFORE_PROBING;
  2472. } else
  2473. {
  2474. // raise extruder
  2475. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  2476. }
  2477. float measured_z = probe_pt(xProbe, yProbe, z_before);
  2478. eqnBVector[probePointCounter] = measured_z;
  2479. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  2480. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  2481. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  2482. probePointCounter++;
  2483. xProbe += xInc;
  2484. }
  2485. }
  2486. clean_up_after_endstop_move();
  2487. // solve lsq problem
  2488. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  2489. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  2490. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  2491. SERIAL_PROTOCOLPGM(" b: ");
  2492. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  2493. SERIAL_PROTOCOLPGM(" d: ");
  2494. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  2495. set_bed_level_equation_lsq(plane_equation_coefficients);
  2496. free(plane_equation_coefficients);
  2497. #else // AUTO_BED_LEVELING_GRID not defined
  2498. // Probe at 3 arbitrary points
  2499. // probe 1
  2500. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  2501. // probe 2
  2502. 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);
  2503. // probe 3
  2504. 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);
  2505. clean_up_after_endstop_move();
  2506. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  2507. #endif // AUTO_BED_LEVELING_GRID
  2508. st_synchronize();
  2509. // The following code correct the Z height difference from z-probe position and hotend tip position.
  2510. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  2511. // When the bed is uneven, this height must be corrected.
  2512. real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
  2513. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  2514. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  2515. z_tmp = current_position[Z_AXIS];
  2516. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  2517. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  2518. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2519. }
  2520. break;
  2521. #ifndef Z_PROBE_SLED
  2522. case 30: // G30 Single Z Probe
  2523. {
  2524. st_synchronize();
  2525. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2526. setup_for_endstop_move();
  2527. feedrate = homing_feedrate[Z_AXIS];
  2528. run_z_probe();
  2529. SERIAL_PROTOCOLPGM(MSG_BED);
  2530. SERIAL_PROTOCOLPGM(" X: ");
  2531. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2532. SERIAL_PROTOCOLPGM(" Y: ");
  2533. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2534. SERIAL_PROTOCOLPGM(" Z: ");
  2535. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2536. SERIAL_PROTOCOLPGM("\n");
  2537. clean_up_after_endstop_move();
  2538. }
  2539. break;
  2540. #else
  2541. case 31: // dock the sled
  2542. dock_sled(true);
  2543. break;
  2544. case 32: // undock the sled
  2545. dock_sled(false);
  2546. break;
  2547. #endif // Z_PROBE_SLED
  2548. #endif // ENABLE_AUTO_BED_LEVELING
  2549. #ifdef MESH_BED_LEVELING
  2550. case 30: // G30 Single Z Probe
  2551. {
  2552. st_synchronize();
  2553. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2554. setup_for_endstop_move();
  2555. feedrate = homing_feedrate[Z_AXIS];
  2556. find_bed_induction_sensor_point_z(-10.f, 3);
  2557. SERIAL_PROTOCOLRPGM(MSG_BED);
  2558. SERIAL_PROTOCOLPGM(" X: ");
  2559. MYSERIAL.print(current_position[X_AXIS], 5);
  2560. SERIAL_PROTOCOLPGM(" Y: ");
  2561. MYSERIAL.print(current_position[Y_AXIS], 5);
  2562. SERIAL_PROTOCOLPGM(" Z: ");
  2563. MYSERIAL.print(current_position[Z_AXIS], 5);
  2564. SERIAL_PROTOCOLPGM("\n");
  2565. clean_up_after_endstop_move();
  2566. }
  2567. break;
  2568. case 75:
  2569. {
  2570. for (int i = 40; i <= 110; i++) {
  2571. MYSERIAL.print(i);
  2572. MYSERIAL.print(" ");
  2573. MYSERIAL.println(temp_comp_interpolation(i));// / axis_steps_per_unit[Z_AXIS]);
  2574. }
  2575. }
  2576. break;
  2577. case 76: //PINDA probe temperature calibration
  2578. {
  2579. #ifdef PINDA_THERMISTOR
  2580. if (true)
  2581. {
  2582. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2583. // We don't know where we are! HOME!
  2584. // Push the commands to the front of the message queue in the reverse order!
  2585. // There shall be always enough space reserved for these commands.
  2586. repeatcommand_front(); // repeat G76 with all its parameters
  2587. enquecommand_front_P((PSTR("G28 W0")));
  2588. break;
  2589. }
  2590. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  2591. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  2592. float zero_z;
  2593. int z_shift = 0; //unit: steps
  2594. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  2595. if (start_temp < 35) start_temp = 35;
  2596. if (start_temp < current_temperature_pinda) start_temp += 5;
  2597. SERIAL_ECHOPGM("start temperature: ");
  2598. MYSERIAL.println(start_temp);
  2599. // setTargetHotend(200, 0);
  2600. setTargetBed(70 + (start_temp - 30));
  2601. custom_message = true;
  2602. custom_message_type = 4;
  2603. custom_message_state = 1;
  2604. custom_message = MSG_TEMP_CALIBRATION;
  2605. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2606. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2607. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2608. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2609. st_synchronize();
  2610. while (current_temperature_pinda < start_temp)
  2611. {
  2612. delay_keep_alive(1000);
  2613. serialecho_temperatures();
  2614. }
  2615. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  2616. current_position[Z_AXIS] = 5;
  2617. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2618. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2619. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2620. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2621. st_synchronize();
  2622. find_bed_induction_sensor_point_z(-1.f);
  2623. zero_z = current_position[Z_AXIS];
  2624. //current_position[Z_AXIS]
  2625. SERIAL_ECHOLNPGM("");
  2626. SERIAL_ECHOPGM("ZERO: ");
  2627. MYSERIAL.print(current_position[Z_AXIS]);
  2628. SERIAL_ECHOLNPGM("");
  2629. int i = -1; for (; i < 5; i++)
  2630. {
  2631. float temp = (40 + i * 5);
  2632. SERIAL_ECHOPGM("Step: ");
  2633. MYSERIAL.print(i + 2);
  2634. SERIAL_ECHOLNPGM("/6 (skipped)");
  2635. SERIAL_ECHOPGM("PINDA temperature: ");
  2636. MYSERIAL.print((40 + i*5));
  2637. SERIAL_ECHOPGM(" Z shift (mm):");
  2638. MYSERIAL.print(0);
  2639. SERIAL_ECHOLNPGM("");
  2640. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  2641. if (start_temp <= temp) break;
  2642. }
  2643. for (i++; i < 5; i++)
  2644. {
  2645. float temp = (40 + i * 5);
  2646. SERIAL_ECHOPGM("Step: ");
  2647. MYSERIAL.print(i + 2);
  2648. SERIAL_ECHOLNPGM("/6");
  2649. custom_message_state = i + 2;
  2650. setTargetBed(50 + 10 * (temp - 30) / 5);
  2651. // setTargetHotend(255, 0);
  2652. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2653. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2654. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2655. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2656. st_synchronize();
  2657. while (current_temperature_pinda < temp)
  2658. {
  2659. delay_keep_alive(1000);
  2660. serialecho_temperatures();
  2661. }
  2662. current_position[Z_AXIS] = 5;
  2663. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2664. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2665. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2666. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2667. st_synchronize();
  2668. find_bed_induction_sensor_point_z(-1.f);
  2669. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  2670. SERIAL_ECHOLNPGM("");
  2671. SERIAL_ECHOPGM("PINDA temperature: ");
  2672. MYSERIAL.print(current_temperature_pinda);
  2673. SERIAL_ECHOPGM(" Z shift (mm):");
  2674. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  2675. SERIAL_ECHOLNPGM("");
  2676. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  2677. }
  2678. custom_message_type = 0;
  2679. custom_message = false;
  2680. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  2681. SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
  2682. disable_x();
  2683. disable_y();
  2684. disable_z();
  2685. disable_e0();
  2686. disable_e1();
  2687. disable_e2();
  2688. setTargetBed(0); //set bed target temperature back to 0
  2689. // setTargetHotend(0,0); //set hotend target temperature back to 0
  2690. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
  2691. lcd_update_enable(true);
  2692. lcd_update(2);
  2693. break;
  2694. }
  2695. #endif //PINDA_THERMISTOR
  2696. setTargetBed(PINDA_MIN_T);
  2697. float zero_z;
  2698. int z_shift = 0; //unit: steps
  2699. int t_c; // temperature
  2700. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2701. // We don't know where we are! HOME!
  2702. // Push the commands to the front of the message queue in the reverse order!
  2703. // There shall be always enough space reserved for these commands.
  2704. repeatcommand_front(); // repeat G76 with all its parameters
  2705. enquecommand_front_P((PSTR("G28 W0")));
  2706. break;
  2707. }
  2708. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  2709. custom_message = true;
  2710. custom_message_type = 4;
  2711. custom_message_state = 1;
  2712. custom_message = MSG_TEMP_CALIBRATION;
  2713. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2714. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2715. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2716. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2717. st_synchronize();
  2718. while (abs(degBed() - PINDA_MIN_T) > 1) {
  2719. delay_keep_alive(1000);
  2720. serialecho_temperatures();
  2721. }
  2722. //enquecommand_P(PSTR("M190 S50"));
  2723. for (int i = 0; i < PINDA_HEAT_T; i++) {
  2724. delay_keep_alive(1000);
  2725. serialecho_temperatures();
  2726. }
  2727. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  2728. current_position[Z_AXIS] = 5;
  2729. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2730. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2731. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2732. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2733. st_synchronize();
  2734. find_bed_induction_sensor_point_z(-1.f);
  2735. zero_z = current_position[Z_AXIS];
  2736. //current_position[Z_AXIS]
  2737. SERIAL_ECHOLNPGM("");
  2738. SERIAL_ECHOPGM("ZERO: ");
  2739. MYSERIAL.print(current_position[Z_AXIS]);
  2740. SERIAL_ECHOLNPGM("");
  2741. for (int i = 0; i<5; i++) {
  2742. SERIAL_ECHOPGM("Step: ");
  2743. MYSERIAL.print(i+2);
  2744. SERIAL_ECHOLNPGM("/6");
  2745. custom_message_state = i + 2;
  2746. t_c = 60 + i * 10;
  2747. setTargetBed(t_c);
  2748. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2749. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2750. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2751. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2752. st_synchronize();
  2753. while (degBed() < t_c) {
  2754. delay_keep_alive(1000);
  2755. serialecho_temperatures();
  2756. }
  2757. for (int i = 0; i < PINDA_HEAT_T; i++) {
  2758. delay_keep_alive(1000);
  2759. serialecho_temperatures();
  2760. }
  2761. current_position[Z_AXIS] = 5;
  2762. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2763. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2764. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2765. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2766. st_synchronize();
  2767. find_bed_induction_sensor_point_z(-1.f);
  2768. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  2769. SERIAL_ECHOLNPGM("");
  2770. SERIAL_ECHOPGM("Temperature: ");
  2771. MYSERIAL.print(t_c);
  2772. SERIAL_ECHOPGM(" Z shift (mm):");
  2773. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  2774. SERIAL_ECHOLNPGM("");
  2775. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  2776. }
  2777. custom_message_type = 0;
  2778. custom_message = false;
  2779. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  2780. SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
  2781. disable_x();
  2782. disable_y();
  2783. disable_z();
  2784. disable_e0();
  2785. disable_e1();
  2786. disable_e2();
  2787. setTargetBed(0); //set bed target temperature back to 0
  2788. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
  2789. lcd_update_enable(true);
  2790. lcd_update(2);
  2791. }
  2792. break;
  2793. #ifdef DIS
  2794. case 77:
  2795. {
  2796. //G77 X200 Y150 XP100 YP15 XO10 Y015
  2797. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  2798. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  2799. float dimension_x = 40;
  2800. float dimension_y = 40;
  2801. int points_x = 40;
  2802. int points_y = 40;
  2803. float offset_x = 74;
  2804. float offset_y = 33;
  2805. if (code_seen('X')) dimension_x = code_value();
  2806. if (code_seen('Y')) dimension_y = code_value();
  2807. if (code_seen('XP')) points_x = code_value();
  2808. if (code_seen('YP')) points_y = code_value();
  2809. if (code_seen('XO')) offset_x = code_value();
  2810. if (code_seen('YO')) offset_y = code_value();
  2811. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  2812. } break;
  2813. #endif
  2814. case 79: {
  2815. for (int i = 255; i > 0; i = i - 5) {
  2816. fanSpeed = i;
  2817. //delay_keep_alive(2000);
  2818. for (int j = 0; j < 100; j++) {
  2819. delay_keep_alive(100);
  2820. }
  2821. fan_speed[1];
  2822. MYSERIAL.print(i); SERIAL_ECHOPGM(": "); MYSERIAL.println(fan_speed[1]);
  2823. }
  2824. }break;
  2825. /**
  2826. * G80: Mesh-based Z probe, probes a grid and produces a
  2827. * mesh to compensate for variable bed height
  2828. *
  2829. * The S0 report the points as below
  2830. *
  2831. * +----> X-axis
  2832. * |
  2833. * |
  2834. * v Y-axis
  2835. *
  2836. */
  2837. case 80:
  2838. #ifdef MK1BP
  2839. break;
  2840. #endif //MK1BP
  2841. case_G80:
  2842. {
  2843. mesh_bed_leveling_flag = true;
  2844. int8_t verbosity_level = 0;
  2845. static bool run = false;
  2846. if (code_seen('V')) {
  2847. // Just 'V' without a number counts as V1.
  2848. char c = strchr_pointer[1];
  2849. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2850. }
  2851. // Firstly check if we know where we are
  2852. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2853. // We don't know where we are! HOME!
  2854. // Push the commands to the front of the message queue in the reverse order!
  2855. // There shall be always enough space reserved for these commands.
  2856. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  2857. repeatcommand_front(); // repeat G80 with all its parameters
  2858. enquecommand_front_P((PSTR("G28 W0")));
  2859. }
  2860. else {
  2861. mesh_bed_leveling_flag = false;
  2862. }
  2863. break;
  2864. }
  2865. bool temp_comp_start = true;
  2866. #ifdef PINDA_THERMISTOR
  2867. temp_comp_start = false;
  2868. #endif //PINDA_THERMISTOR
  2869. if (temp_comp_start)
  2870. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  2871. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  2872. temp_compensation_start();
  2873. run = true;
  2874. repeatcommand_front(); // repeat G80 with all its parameters
  2875. enquecommand_front_P((PSTR("G28 W0")));
  2876. }
  2877. else {
  2878. mesh_bed_leveling_flag = false;
  2879. }
  2880. break;
  2881. }
  2882. run = false;
  2883. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  2884. mesh_bed_leveling_flag = false;
  2885. break;
  2886. }
  2887. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  2888. bool custom_message_old = custom_message;
  2889. unsigned int custom_message_type_old = custom_message_type;
  2890. unsigned int custom_message_state_old = custom_message_state;
  2891. custom_message = true;
  2892. custom_message_type = 1;
  2893. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  2894. lcd_update(1);
  2895. mbl.reset(); //reset mesh bed leveling
  2896. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2897. // consumed during the first movements following this statement.
  2898. babystep_undo();
  2899. // Cycle through all points and probe them
  2900. // First move up. During this first movement, the babystepping will be reverted.
  2901. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2902. 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);
  2903. // The move to the first calibration point.
  2904. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2905. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2906. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2907. #ifdef SUPPORT_VERBOSITY
  2908. if (verbosity_level >= 1) {
  2909. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  2910. }
  2911. #endif //SUPPORT_VERBOSITY
  2912. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  2913. 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);
  2914. // Wait until the move is finished.
  2915. st_synchronize();
  2916. int mesh_point = 0; //index number of calibration point
  2917. int ix = 0;
  2918. int iy = 0;
  2919. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  2920. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  2921. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  2922. bool has_z = 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)
  2923. #ifdef SUPPORT_VERBOSITY
  2924. if (verbosity_level >= 1) {
  2925. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  2926. }
  2927. #endif // SUPPORT_VERBOSITY
  2928. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  2929. const char *kill_message = NULL;
  2930. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  2931. // Get coords of a measuring point.
  2932. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  2933. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  2934. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  2935. float z0 = 0.f;
  2936. if (has_z && mesh_point > 0) {
  2937. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  2938. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  2939. //#if 0
  2940. #ifdef SUPPORT_VERBOSITY
  2941. if (verbosity_level >= 1) {
  2942. SERIAL_ECHOLNPGM("");
  2943. SERIAL_ECHOPGM("Bed leveling, point: ");
  2944. MYSERIAL.print(mesh_point);
  2945. SERIAL_ECHOPGM(", calibration z: ");
  2946. MYSERIAL.print(z0, 5);
  2947. SERIAL_ECHOLNPGM("");
  2948. }
  2949. #endif // SUPPORT_VERBOSITY
  2950. //#endif
  2951. }
  2952. // Move Z up to MESH_HOME_Z_SEARCH.
  2953. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2954. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  2955. st_synchronize();
  2956. // Move to XY position of the sensor point.
  2957. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  2958. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  2959. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2960. #ifdef SUPPORT_VERBOSITY
  2961. if (verbosity_level >= 1) {
  2962. SERIAL_PROTOCOL(mesh_point);
  2963. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  2964. }
  2965. #endif // SUPPORT_VERBOSITY
  2966. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  2967. st_synchronize();
  2968. // Go down until endstop is hit
  2969. const float Z_CALIBRATION_THRESHOLD = 1.f;
  2970. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -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
  2971. kill_message = MSG_BED_LEVELING_FAILED_POINT_LOW;
  2972. break;
  2973. }
  2974. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  2975. kill_message = MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED;
  2976. break;
  2977. }
  2978. 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
  2979. kill_message = MSG_BED_LEVELING_FAILED_POINT_HIGH;
  2980. break;
  2981. }
  2982. #ifdef SUPPORT_VERBOSITY
  2983. if (verbosity_level >= 10) {
  2984. SERIAL_ECHOPGM("X: ");
  2985. MYSERIAL.print(current_position[X_AXIS], 5);
  2986. SERIAL_ECHOLNPGM("");
  2987. SERIAL_ECHOPGM("Y: ");
  2988. MYSERIAL.print(current_position[Y_AXIS], 5);
  2989. SERIAL_PROTOCOLPGM("\n");
  2990. }
  2991. #endif // SUPPORT_VERBOSITY
  2992. float offset_z = 0;
  2993. #ifdef PINDA_THERMISTOR
  2994. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  2995. #endif //PINDA_THERMISTOR
  2996. // #ifdef SUPPORT_VERBOSITY
  2997. /* if (verbosity_level >= 1)
  2998. {
  2999. SERIAL_ECHOPGM("mesh bed leveling: ");
  3000. MYSERIAL.print(current_position[Z_AXIS], 5);
  3001. SERIAL_ECHOPGM(" offset: ");
  3002. MYSERIAL.print(offset_z, 5);
  3003. SERIAL_ECHOLNPGM("");
  3004. }*/
  3005. // #endif // SUPPORT_VERBOSITY
  3006. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  3007. custom_message_state--;
  3008. mesh_point++;
  3009. lcd_update(1);
  3010. }
  3011. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3012. #ifdef SUPPORT_VERBOSITY
  3013. if (verbosity_level >= 20) {
  3014. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  3015. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  3016. MYSERIAL.print(current_position[Z_AXIS], 5);
  3017. }
  3018. #endif // SUPPORT_VERBOSITY
  3019. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3020. st_synchronize();
  3021. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3022. kill(kill_message);
  3023. SERIAL_ECHOLNPGM("killed");
  3024. }
  3025. clean_up_after_endstop_move();
  3026. // SERIAL_ECHOLNPGM("clean up finished ");
  3027. bool apply_temp_comp = true;
  3028. #ifdef PINDA_THERMISTOR
  3029. apply_temp_comp = false;
  3030. #endif
  3031. if (apply_temp_comp)
  3032. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  3033. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  3034. // SERIAL_ECHOLNPGM("babystep applied");
  3035. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  3036. #ifdef SUPPORT_VERBOSITY
  3037. if (verbosity_level >= 1) {
  3038. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  3039. }
  3040. #endif // SUPPORT_VERBOSITY
  3041. for (uint8_t i = 0; i < 4; ++i) {
  3042. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  3043. long correction = 0;
  3044. if (code_seen(codes[i]))
  3045. correction = code_value_long();
  3046. else if (eeprom_bed_correction_valid) {
  3047. unsigned char *addr = (i < 2) ?
  3048. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  3049. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  3050. correction = eeprom_read_int8(addr);
  3051. }
  3052. if (correction == 0)
  3053. continue;
  3054. float offset = float(correction) * 0.001f;
  3055. if (fabs(offset) > 0.101f) {
  3056. SERIAL_ERROR_START;
  3057. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  3058. SERIAL_ECHO(offset);
  3059. SERIAL_ECHOLNPGM(" microns");
  3060. }
  3061. else {
  3062. switch (i) {
  3063. case 0:
  3064. for (uint8_t row = 0; row < 3; ++row) {
  3065. mbl.z_values[row][1] += 0.5f * offset;
  3066. mbl.z_values[row][0] += offset;
  3067. }
  3068. break;
  3069. case 1:
  3070. for (uint8_t row = 0; row < 3; ++row) {
  3071. mbl.z_values[row][1] += 0.5f * offset;
  3072. mbl.z_values[row][2] += offset;
  3073. }
  3074. break;
  3075. case 2:
  3076. for (uint8_t col = 0; col < 3; ++col) {
  3077. mbl.z_values[1][col] += 0.5f * offset;
  3078. mbl.z_values[0][col] += offset;
  3079. }
  3080. break;
  3081. case 3:
  3082. for (uint8_t col = 0; col < 3; ++col) {
  3083. mbl.z_values[1][col] += 0.5f * offset;
  3084. mbl.z_values[2][col] += offset;
  3085. }
  3086. break;
  3087. }
  3088. }
  3089. }
  3090. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  3091. mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
  3092. // SERIAL_ECHOLNPGM("Upsample finished");
  3093. mbl.active = 1; //activate mesh bed leveling
  3094. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  3095. go_home_with_z_lift();
  3096. // SERIAL_ECHOLNPGM("Go home finished");
  3097. //unretract (after PINDA preheat retraction)
  3098. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3099. current_position[E_AXIS] += DEFAULT_RETRACTION;
  3100. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  3101. }
  3102. KEEPALIVE_STATE(NOT_BUSY);
  3103. // Restore custom message state
  3104. custom_message = custom_message_old;
  3105. custom_message_type = custom_message_type_old;
  3106. custom_message_state = custom_message_state_old;
  3107. mesh_bed_leveling_flag = false;
  3108. mesh_bed_run_from_menu = false;
  3109. lcd_update(2);
  3110. }
  3111. break;
  3112. /**
  3113. * G81: Print mesh bed leveling status and bed profile if activated
  3114. */
  3115. case 81:
  3116. if (mbl.active) {
  3117. SERIAL_PROTOCOLPGM("Num X,Y: ");
  3118. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  3119. SERIAL_PROTOCOLPGM(",");
  3120. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  3121. SERIAL_PROTOCOLPGM("\nZ search height: ");
  3122. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  3123. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3124. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  3125. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  3126. SERIAL_PROTOCOLPGM(" ");
  3127. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  3128. }
  3129. SERIAL_PROTOCOLPGM("\n");
  3130. }
  3131. }
  3132. else
  3133. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3134. break;
  3135. #if 0
  3136. /**
  3137. * G82: Single Z probe at current location
  3138. *
  3139. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  3140. *
  3141. */
  3142. case 82:
  3143. SERIAL_PROTOCOLLNPGM("Finding bed ");
  3144. setup_for_endstop_move();
  3145. find_bed_induction_sensor_point_z();
  3146. clean_up_after_endstop_move();
  3147. SERIAL_PROTOCOLPGM("Bed found at: ");
  3148. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  3149. SERIAL_PROTOCOLPGM("\n");
  3150. break;
  3151. /**
  3152. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  3153. */
  3154. case 83:
  3155. {
  3156. int babystepz = code_seen('S') ? code_value() : 0;
  3157. int BabyPosition = code_seen('P') ? code_value() : 0;
  3158. if (babystepz != 0) {
  3159. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  3160. // Is the axis indexed starting with zero or one?
  3161. if (BabyPosition > 4) {
  3162. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  3163. }else{
  3164. // Save it to the eeprom
  3165. babystepLoadZ = babystepz;
  3166. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  3167. // adjust the Z
  3168. babystepsTodoZadd(babystepLoadZ);
  3169. }
  3170. }
  3171. }
  3172. break;
  3173. /**
  3174. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  3175. */
  3176. case 84:
  3177. babystepsTodoZsubtract(babystepLoadZ);
  3178. // babystepLoadZ = 0;
  3179. break;
  3180. /**
  3181. * G85: Prusa3D specific: Pick best babystep
  3182. */
  3183. case 85:
  3184. lcd_pick_babystep();
  3185. break;
  3186. #endif
  3187. /**
  3188. * G86: Prusa3D specific: Disable babystep correction after home.
  3189. * This G-code will be performed at the start of a calibration script.
  3190. */
  3191. case 86:
  3192. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3193. break;
  3194. /**
  3195. * G87: Prusa3D specific: Enable babystep correction after home
  3196. * This G-code will be performed at the end of a calibration script.
  3197. */
  3198. case 87:
  3199. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3200. break;
  3201. /**
  3202. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  3203. */
  3204. case 88:
  3205. break;
  3206. #endif // ENABLE_MESH_BED_LEVELING
  3207. case 90: // G90
  3208. relative_mode = false;
  3209. break;
  3210. case 91: // G91
  3211. relative_mode = true;
  3212. break;
  3213. case 92: // G92
  3214. if(!code_seen(axis_codes[E_AXIS]))
  3215. st_synchronize();
  3216. for(int8_t i=0; i < NUM_AXIS; i++) {
  3217. if(code_seen(axis_codes[i])) {
  3218. if(i == E_AXIS) {
  3219. current_position[i] = code_value();
  3220. plan_set_e_position(current_position[E_AXIS]);
  3221. }
  3222. else {
  3223. current_position[i] = code_value()+add_homing[i];
  3224. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3225. }
  3226. }
  3227. }
  3228. break;
  3229. case 98: //activate farm mode
  3230. farm_mode = 1;
  3231. PingTime = millis();
  3232. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3233. break;
  3234. case 99: //deactivate farm mode
  3235. farm_mode = 0;
  3236. lcd_printer_connected();
  3237. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3238. lcd_update(2);
  3239. break;
  3240. }
  3241. } // end if(code_seen('G'))
  3242. else if(code_seen('M'))
  3243. {
  3244. int index;
  3245. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  3246. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  3247. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  3248. SERIAL_ECHOLNPGM("Invalid M code");
  3249. } else
  3250. switch((int)code_value())
  3251. {
  3252. #ifdef ULTIPANEL
  3253. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  3254. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  3255. {
  3256. char *src = strchr_pointer + 2;
  3257. codenum = 0;
  3258. bool hasP = false, hasS = false;
  3259. if (code_seen('P')) {
  3260. codenum = code_value(); // milliseconds to wait
  3261. hasP = codenum > 0;
  3262. }
  3263. if (code_seen('S')) {
  3264. codenum = code_value() * 1000; // seconds to wait
  3265. hasS = codenum > 0;
  3266. }
  3267. starpos = strchr(src, '*');
  3268. if (starpos != NULL) *(starpos) = '\0';
  3269. while (*src == ' ') ++src;
  3270. if (!hasP && !hasS && *src != '\0') {
  3271. lcd_setstatus(src);
  3272. } else {
  3273. LCD_MESSAGERPGM(MSG_USERWAIT);
  3274. }
  3275. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  3276. st_synchronize();
  3277. previous_millis_cmd = millis();
  3278. if (codenum > 0){
  3279. codenum += millis(); // keep track of when we started waiting
  3280. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3281. while(millis() < codenum && !lcd_clicked()){
  3282. manage_heater();
  3283. manage_inactivity(true);
  3284. lcd_update();
  3285. }
  3286. KEEPALIVE_STATE(IN_HANDLER);
  3287. lcd_ignore_click(false);
  3288. }else{
  3289. if (!lcd_detected())
  3290. break;
  3291. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3292. while(!lcd_clicked()){
  3293. manage_heater();
  3294. manage_inactivity(true);
  3295. lcd_update();
  3296. }
  3297. KEEPALIVE_STATE(IN_HANDLER);
  3298. }
  3299. if (IS_SD_PRINTING)
  3300. LCD_MESSAGERPGM(MSG_RESUMING);
  3301. else
  3302. LCD_MESSAGERPGM(WELCOME_MSG);
  3303. }
  3304. break;
  3305. #endif
  3306. case 17:
  3307. LCD_MESSAGERPGM(MSG_NO_MOVE);
  3308. enable_x();
  3309. enable_y();
  3310. enable_z();
  3311. enable_e0();
  3312. enable_e1();
  3313. enable_e2();
  3314. break;
  3315. #ifdef SDSUPPORT
  3316. case 20: // M20 - list SD card
  3317. SERIAL_PROTOCOLLNRPGM(MSG_BEGIN_FILE_LIST);
  3318. card.ls();
  3319. SERIAL_PROTOCOLLNRPGM(MSG_END_FILE_LIST);
  3320. break;
  3321. case 21: // M21 - init SD card
  3322. card.initsd();
  3323. break;
  3324. case 22: //M22 - release SD card
  3325. card.release();
  3326. break;
  3327. case 23: //M23 - Select file
  3328. starpos = (strchr(strchr_pointer + 4,'*'));
  3329. if(starpos!=NULL)
  3330. *(starpos)='\0';
  3331. card.openFile(strchr_pointer + 4,true);
  3332. break;
  3333. case 24: //M24 - Start SD print
  3334. card.startFileprint();
  3335. starttime=millis();
  3336. break;
  3337. case 25: //M25 - Pause SD print
  3338. card.pauseSDPrint();
  3339. break;
  3340. case 26: //M26 - Set SD index
  3341. if(card.cardOK && code_seen('S')) {
  3342. card.setIndex(code_value_long());
  3343. }
  3344. break;
  3345. case 27: //M27 - Get SD status
  3346. card.getStatus();
  3347. break;
  3348. case 28: //M28 - Start SD write
  3349. starpos = (strchr(strchr_pointer + 4,'*'));
  3350. if(starpos != NULL){
  3351. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3352. strchr_pointer = strchr(npos,' ') + 1;
  3353. *(starpos) = '\0';
  3354. }
  3355. card.openFile(strchr_pointer+4,false);
  3356. break;
  3357. case 29: //M29 - Stop SD write
  3358. //processed in write to file routine above
  3359. //card,saving = false;
  3360. break;
  3361. case 30: //M30 <filename> Delete File
  3362. if (card.cardOK){
  3363. card.closefile();
  3364. starpos = (strchr(strchr_pointer + 4,'*'));
  3365. if(starpos != NULL){
  3366. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3367. strchr_pointer = strchr(npos,' ') + 1;
  3368. *(starpos) = '\0';
  3369. }
  3370. card.removeFile(strchr_pointer + 4);
  3371. }
  3372. break;
  3373. case 32: //M32 - Select file and start SD print
  3374. {
  3375. if(card.sdprinting) {
  3376. st_synchronize();
  3377. }
  3378. starpos = (strchr(strchr_pointer + 4,'*'));
  3379. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  3380. if(namestartpos==NULL)
  3381. {
  3382. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  3383. }
  3384. else
  3385. namestartpos++; //to skip the '!'
  3386. if(starpos!=NULL)
  3387. *(starpos)='\0';
  3388. bool call_procedure=(code_seen('P'));
  3389. if(strchr_pointer>namestartpos)
  3390. call_procedure=false; //false alert, 'P' found within filename
  3391. if( card.cardOK )
  3392. {
  3393. card.openFile(namestartpos,true,!call_procedure);
  3394. if(code_seen('S'))
  3395. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  3396. card.setIndex(code_value_long());
  3397. card.startFileprint();
  3398. if(!call_procedure)
  3399. starttime=millis(); //procedure calls count as normal print time.
  3400. }
  3401. } break;
  3402. case 928: //M928 - Start SD write
  3403. starpos = (strchr(strchr_pointer + 5,'*'));
  3404. if(starpos != NULL){
  3405. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3406. strchr_pointer = strchr(npos,' ') + 1;
  3407. *(starpos) = '\0';
  3408. }
  3409. card.openLogFile(strchr_pointer+5);
  3410. break;
  3411. #endif //SDSUPPORT
  3412. case 31: //M31 take time since the start of the SD print or an M109 command
  3413. {
  3414. stoptime=millis();
  3415. char time[30];
  3416. unsigned long t=(stoptime-starttime)/1000;
  3417. int sec,min;
  3418. min=t/60;
  3419. sec=t%60;
  3420. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  3421. SERIAL_ECHO_START;
  3422. SERIAL_ECHOLN(time);
  3423. lcd_setstatus(time);
  3424. autotempShutdown();
  3425. }
  3426. break;
  3427. #ifndef _DISABLE_M42_M226
  3428. case 42: //M42 -Change pin status via gcode
  3429. if (code_seen('S'))
  3430. {
  3431. int pin_status = code_value();
  3432. int pin_number = LED_PIN;
  3433. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  3434. pin_number = code_value();
  3435. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  3436. {
  3437. if (sensitive_pins[i] == pin_number)
  3438. {
  3439. pin_number = -1;
  3440. break;
  3441. }
  3442. }
  3443. #if defined(FAN_PIN) && FAN_PIN > -1
  3444. if (pin_number == FAN_PIN)
  3445. fanSpeed = pin_status;
  3446. #endif
  3447. if (pin_number > -1)
  3448. {
  3449. pinMode(pin_number, OUTPUT);
  3450. digitalWrite(pin_number, pin_status);
  3451. analogWrite(pin_number, pin_status);
  3452. }
  3453. }
  3454. break;
  3455. #endif //_DISABLE_M42_M226
  3456. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  3457. // Reset the baby step value and the baby step applied flag.
  3458. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  3459. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  3460. // Reset the skew and offset in both RAM and EEPROM.
  3461. reset_bed_offset_and_skew();
  3462. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3463. // the planner will not perform any adjustments in the XY plane.
  3464. // Wait for the motors to stop and update the current position with the absolute values.
  3465. world2machine_revert_to_uncorrected();
  3466. break;
  3467. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  3468. {
  3469. bool only_Z = code_seen('Z');
  3470. gcode_M45(only_Z);
  3471. }
  3472. break;
  3473. /*
  3474. case 46:
  3475. {
  3476. // M46: Prusa3D: Show the assigned IP address.
  3477. uint8_t ip[4];
  3478. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  3479. if (hasIP) {
  3480. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  3481. SERIAL_ECHO(int(ip[0]));
  3482. SERIAL_ECHOPGM(".");
  3483. SERIAL_ECHO(int(ip[1]));
  3484. SERIAL_ECHOPGM(".");
  3485. SERIAL_ECHO(int(ip[2]));
  3486. SERIAL_ECHOPGM(".");
  3487. SERIAL_ECHO(int(ip[3]));
  3488. SERIAL_ECHOLNPGM("");
  3489. } else {
  3490. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  3491. }
  3492. break;
  3493. }
  3494. */
  3495. case 47:
  3496. // M47: Prusa3D: Show end stops dialog on the display.
  3497. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3498. lcd_diag_show_end_stops();
  3499. KEEPALIVE_STATE(IN_HANDLER);
  3500. break;
  3501. #if 0
  3502. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  3503. {
  3504. // Disable the default update procedure of the display. We will do a modal dialog.
  3505. lcd_update_enable(false);
  3506. // Let the planner use the uncorrected coordinates.
  3507. mbl.reset();
  3508. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3509. // the planner will not perform any adjustments in the XY plane.
  3510. // Wait for the motors to stop and update the current position with the absolute values.
  3511. world2machine_revert_to_uncorrected();
  3512. // Move the print head close to the bed.
  3513. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3514. 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);
  3515. st_synchronize();
  3516. // Home in the XY plane.
  3517. set_destination_to_current();
  3518. setup_for_endstop_move();
  3519. home_xy();
  3520. int8_t verbosity_level = 0;
  3521. if (code_seen('V')) {
  3522. // Just 'V' without a number counts as V1.
  3523. char c = strchr_pointer[1];
  3524. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3525. }
  3526. bool success = scan_bed_induction_points(verbosity_level);
  3527. clean_up_after_endstop_move();
  3528. // Print head up.
  3529. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3530. 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);
  3531. st_synchronize();
  3532. lcd_update_enable(true);
  3533. break;
  3534. }
  3535. #endif
  3536. // M48 Z-Probe repeatability measurement function.
  3537. //
  3538. // Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <L legs_of_movement_prior_to_doing_probe>
  3539. //
  3540. // This function assumes the bed has been homed. Specificaly, that a G28 command
  3541. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  3542. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3543. // regenerated.
  3544. //
  3545. // The number of samples will default to 10 if not specified. You can use upper or lower case
  3546. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  3547. // N for its communication protocol and will get horribly confused if you send it a capital N.
  3548. //
  3549. #ifdef ENABLE_AUTO_BED_LEVELING
  3550. #ifdef Z_PROBE_REPEATABILITY_TEST
  3551. case 48: // M48 Z-Probe repeatability
  3552. {
  3553. #if Z_MIN_PIN == -1
  3554. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  3555. #endif
  3556. double sum=0.0;
  3557. double mean=0.0;
  3558. double sigma=0.0;
  3559. double sample_set[50];
  3560. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  3561. double X_current, Y_current, Z_current;
  3562. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  3563. if (code_seen('V') || code_seen('v')) {
  3564. verbose_level = code_value();
  3565. if (verbose_level<0 || verbose_level>4 ) {
  3566. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  3567. goto Sigma_Exit;
  3568. }
  3569. }
  3570. if (verbose_level > 0) {
  3571. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  3572. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  3573. }
  3574. if (code_seen('n')) {
  3575. n_samples = code_value();
  3576. if (n_samples<4 || n_samples>50 ) {
  3577. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  3578. goto Sigma_Exit;
  3579. }
  3580. }
  3581. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  3582. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  3583. Z_current = st_get_position_mm(Z_AXIS);
  3584. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  3585. ext_position = st_get_position_mm(E_AXIS);
  3586. if (code_seen('X') || code_seen('x') ) {
  3587. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  3588. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  3589. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  3590. goto Sigma_Exit;
  3591. }
  3592. }
  3593. if (code_seen('Y') || code_seen('y') ) {
  3594. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  3595. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  3596. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  3597. goto Sigma_Exit;
  3598. }
  3599. }
  3600. if (code_seen('L') || code_seen('l') ) {
  3601. n_legs = code_value();
  3602. if ( n_legs==1 )
  3603. n_legs = 2;
  3604. if ( n_legs<0 || n_legs>15 ) {
  3605. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  3606. goto Sigma_Exit;
  3607. }
  3608. }
  3609. //
  3610. // Do all the preliminary setup work. First raise the probe.
  3611. //
  3612. st_synchronize();
  3613. plan_bed_level_matrix.set_to_identity();
  3614. plan_buffer_line( X_current, Y_current, Z_start_location,
  3615. ext_position,
  3616. homing_feedrate[Z_AXIS]/60,
  3617. active_extruder);
  3618. st_synchronize();
  3619. //
  3620. // Now get everything to the specified probe point So we can safely do a probe to
  3621. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  3622. // use that as a starting point for each probe.
  3623. //
  3624. if (verbose_level > 2)
  3625. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  3626. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3627. ext_position,
  3628. homing_feedrate[X_AXIS]/60,
  3629. active_extruder);
  3630. st_synchronize();
  3631. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  3632. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  3633. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3634. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  3635. //
  3636. // OK, do the inital probe to get us close to the bed.
  3637. // Then retrace the right amount and use that in subsequent probes
  3638. //
  3639. setup_for_endstop_move();
  3640. run_z_probe();
  3641. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3642. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  3643. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3644. ext_position,
  3645. homing_feedrate[X_AXIS]/60,
  3646. active_extruder);
  3647. st_synchronize();
  3648. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3649. for( n=0; n<n_samples; n++) {
  3650. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  3651. if ( n_legs) {
  3652. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  3653. int rotational_direction, l;
  3654. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  3655. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  3656. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  3657. //SERIAL_ECHOPAIR("starting radius: ",radius);
  3658. //SERIAL_ECHOPAIR(" theta: ",theta);
  3659. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  3660. //SERIAL_PROTOCOLLNPGM("");
  3661. for( l=0; l<n_legs-1; l++) {
  3662. if (rotational_direction==1)
  3663. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  3664. else
  3665. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  3666. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  3667. if ( radius<0.0 )
  3668. radius = -radius;
  3669. X_current = X_probe_location + cos(theta) * radius;
  3670. Y_current = Y_probe_location + sin(theta) * radius;
  3671. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  3672. X_current = X_MIN_POS;
  3673. if ( X_current>X_MAX_POS)
  3674. X_current = X_MAX_POS;
  3675. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  3676. Y_current = Y_MIN_POS;
  3677. if ( Y_current>Y_MAX_POS)
  3678. Y_current = Y_MAX_POS;
  3679. if (verbose_level>3 ) {
  3680. SERIAL_ECHOPAIR("x: ", X_current);
  3681. SERIAL_ECHOPAIR("y: ", Y_current);
  3682. SERIAL_PROTOCOLLNPGM("");
  3683. }
  3684. do_blocking_move_to( X_current, Y_current, Z_current );
  3685. }
  3686. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  3687. }
  3688. setup_for_endstop_move();
  3689. run_z_probe();
  3690. sample_set[n] = current_position[Z_AXIS];
  3691. //
  3692. // Get the current mean for the data points we have so far
  3693. //
  3694. sum=0.0;
  3695. for( j=0; j<=n; j++) {
  3696. sum = sum + sample_set[j];
  3697. }
  3698. mean = sum / (double (n+1));
  3699. //
  3700. // Now, use that mean to calculate the standard deviation for the
  3701. // data points we have so far
  3702. //
  3703. sum=0.0;
  3704. for( j=0; j<=n; j++) {
  3705. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  3706. }
  3707. sigma = sqrt( sum / (double (n+1)) );
  3708. if (verbose_level > 1) {
  3709. SERIAL_PROTOCOL(n+1);
  3710. SERIAL_PROTOCOL(" of ");
  3711. SERIAL_PROTOCOL(n_samples);
  3712. SERIAL_PROTOCOLPGM(" z: ");
  3713. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  3714. }
  3715. if (verbose_level > 2) {
  3716. SERIAL_PROTOCOL(" mean: ");
  3717. SERIAL_PROTOCOL_F(mean,6);
  3718. SERIAL_PROTOCOL(" sigma: ");
  3719. SERIAL_PROTOCOL_F(sigma,6);
  3720. }
  3721. if (verbose_level > 0)
  3722. SERIAL_PROTOCOLPGM("\n");
  3723. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3724. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  3725. st_synchronize();
  3726. }
  3727. delay(1000);
  3728. clean_up_after_endstop_move();
  3729. // enable_endstops(true);
  3730. if (verbose_level > 0) {
  3731. SERIAL_PROTOCOLPGM("Mean: ");
  3732. SERIAL_PROTOCOL_F(mean, 6);
  3733. SERIAL_PROTOCOLPGM("\n");
  3734. }
  3735. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  3736. SERIAL_PROTOCOL_F(sigma, 6);
  3737. SERIAL_PROTOCOLPGM("\n\n");
  3738. Sigma_Exit:
  3739. break;
  3740. }
  3741. #endif // Z_PROBE_REPEATABILITY_TEST
  3742. #endif // ENABLE_AUTO_BED_LEVELING
  3743. case 104: // M104
  3744. if(setTargetedHotend(104)){
  3745. break;
  3746. }
  3747. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  3748. setWatch();
  3749. break;
  3750. case 112: // M112 -Emergency Stop
  3751. kill("", 3);
  3752. break;
  3753. case 140: // M140 set bed temp
  3754. if (code_seen('S')) setTargetBed(code_value());
  3755. break;
  3756. case 105 : // M105
  3757. if(setTargetedHotend(105)){
  3758. break;
  3759. }
  3760. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  3761. SERIAL_PROTOCOLPGM("ok T:");
  3762. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  3763. SERIAL_PROTOCOLPGM(" /");
  3764. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  3765. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3766. SERIAL_PROTOCOLPGM(" B:");
  3767. SERIAL_PROTOCOL_F(degBed(),1);
  3768. SERIAL_PROTOCOLPGM(" /");
  3769. SERIAL_PROTOCOL_F(degTargetBed(),1);
  3770. #endif //TEMP_BED_PIN
  3771. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3772. SERIAL_PROTOCOLPGM(" T");
  3773. SERIAL_PROTOCOL(cur_extruder);
  3774. SERIAL_PROTOCOLPGM(":");
  3775. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  3776. SERIAL_PROTOCOLPGM(" /");
  3777. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  3778. }
  3779. #else
  3780. SERIAL_ERROR_START;
  3781. SERIAL_ERRORLNRPGM(MSG_ERR_NO_THERMISTORS);
  3782. #endif
  3783. SERIAL_PROTOCOLPGM(" @:");
  3784. #ifdef EXTRUDER_WATTS
  3785. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  3786. SERIAL_PROTOCOLPGM("W");
  3787. #else
  3788. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  3789. #endif
  3790. SERIAL_PROTOCOLPGM(" B@:");
  3791. #ifdef BED_WATTS
  3792. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  3793. SERIAL_PROTOCOLPGM("W");
  3794. #else
  3795. SERIAL_PROTOCOL(getHeaterPower(-1));
  3796. #endif
  3797. #ifdef PINDA_THERMISTOR
  3798. SERIAL_PROTOCOLPGM(" P:");
  3799. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  3800. #endif //PINDA_THERMISTOR
  3801. #ifdef AMBIENT_THERMISTOR
  3802. SERIAL_PROTOCOLPGM(" A:");
  3803. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  3804. #endif //AMBIENT_THERMISTOR
  3805. #ifdef SHOW_TEMP_ADC_VALUES
  3806. {float raw = 0.0;
  3807. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3808. SERIAL_PROTOCOLPGM(" ADC B:");
  3809. SERIAL_PROTOCOL_F(degBed(),1);
  3810. SERIAL_PROTOCOLPGM("C->");
  3811. raw = rawBedTemp();
  3812. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  3813. SERIAL_PROTOCOLPGM(" Rb->");
  3814. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  3815. SERIAL_PROTOCOLPGM(" Rxb->");
  3816. SERIAL_PROTOCOL_F(raw, 5);
  3817. #endif
  3818. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3819. SERIAL_PROTOCOLPGM(" T");
  3820. SERIAL_PROTOCOL(cur_extruder);
  3821. SERIAL_PROTOCOLPGM(":");
  3822. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  3823. SERIAL_PROTOCOLPGM("C->");
  3824. raw = rawHotendTemp(cur_extruder);
  3825. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  3826. SERIAL_PROTOCOLPGM(" Rt");
  3827. SERIAL_PROTOCOL(cur_extruder);
  3828. SERIAL_PROTOCOLPGM("->");
  3829. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  3830. SERIAL_PROTOCOLPGM(" Rx");
  3831. SERIAL_PROTOCOL(cur_extruder);
  3832. SERIAL_PROTOCOLPGM("->");
  3833. SERIAL_PROTOCOL_F(raw, 5);
  3834. }}
  3835. #endif
  3836. SERIAL_PROTOCOLLN("");
  3837. KEEPALIVE_STATE(NOT_BUSY);
  3838. return;
  3839. break;
  3840. case 109:
  3841. {// M109 - Wait for extruder heater to reach target.
  3842. if(setTargetedHotend(109)){
  3843. break;
  3844. }
  3845. LCD_MESSAGERPGM(MSG_HEATING);
  3846. heating_status = 1;
  3847. if (farm_mode) { prusa_statistics(1); };
  3848. #ifdef AUTOTEMP
  3849. autotemp_enabled=false;
  3850. #endif
  3851. if (code_seen('S')) {
  3852. setTargetHotend(code_value(), tmp_extruder);
  3853. CooldownNoWait = true;
  3854. } else if (code_seen('R')) {
  3855. setTargetHotend(code_value(), tmp_extruder);
  3856. CooldownNoWait = false;
  3857. }
  3858. #ifdef AUTOTEMP
  3859. if (code_seen('S')) autotemp_min=code_value();
  3860. if (code_seen('B')) autotemp_max=code_value();
  3861. if (code_seen('F'))
  3862. {
  3863. autotemp_factor=code_value();
  3864. autotemp_enabled=true;
  3865. }
  3866. #endif
  3867. setWatch();
  3868. codenum = millis();
  3869. /* See if we are heating up or cooling down */
  3870. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  3871. KEEPALIVE_STATE(NOT_BUSY);
  3872. cancel_heatup = false;
  3873. wait_for_heater(codenum); //loops until target temperature is reached
  3874. LCD_MESSAGERPGM(MSG_HEATING_COMPLETE);
  3875. KEEPALIVE_STATE(IN_HANDLER);
  3876. heating_status = 2;
  3877. if (farm_mode) { prusa_statistics(2); };
  3878. //starttime=millis();
  3879. previous_millis_cmd = millis();
  3880. }
  3881. break;
  3882. case 190: // M190 - Wait for bed heater to reach target.
  3883. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3884. LCD_MESSAGERPGM(MSG_BED_HEATING);
  3885. heating_status = 3;
  3886. if (farm_mode) { prusa_statistics(1); };
  3887. if (code_seen('S'))
  3888. {
  3889. setTargetBed(code_value());
  3890. CooldownNoWait = true;
  3891. }
  3892. else if (code_seen('R'))
  3893. {
  3894. setTargetBed(code_value());
  3895. CooldownNoWait = false;
  3896. }
  3897. codenum = millis();
  3898. cancel_heatup = false;
  3899. target_direction = isHeatingBed(); // true if heating, false if cooling
  3900. KEEPALIVE_STATE(NOT_BUSY);
  3901. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  3902. {
  3903. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  3904. {
  3905. if (!farm_mode) {
  3906. float tt = degHotend(active_extruder);
  3907. SERIAL_PROTOCOLPGM("T:");
  3908. SERIAL_PROTOCOL(tt);
  3909. SERIAL_PROTOCOLPGM(" E:");
  3910. SERIAL_PROTOCOL((int)active_extruder);
  3911. SERIAL_PROTOCOLPGM(" B:");
  3912. SERIAL_PROTOCOL_F(degBed(), 1);
  3913. SERIAL_PROTOCOLLN("");
  3914. }
  3915. codenum = millis();
  3916. }
  3917. manage_heater();
  3918. manage_inactivity();
  3919. lcd_update();
  3920. }
  3921. LCD_MESSAGERPGM(MSG_BED_DONE);
  3922. KEEPALIVE_STATE(IN_HANDLER);
  3923. heating_status = 4;
  3924. previous_millis_cmd = millis();
  3925. #endif
  3926. break;
  3927. #if defined(FAN_PIN) && FAN_PIN > -1
  3928. case 106: //M106 Fan On
  3929. if (code_seen('S')){
  3930. fanSpeed=constrain(code_value(),0,255);
  3931. }
  3932. else {
  3933. fanSpeed=255;
  3934. }
  3935. break;
  3936. case 107: //M107 Fan Off
  3937. fanSpeed = 0;
  3938. break;
  3939. #endif //FAN_PIN
  3940. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  3941. case 80: // M80 - Turn on Power Supply
  3942. SET_OUTPUT(PS_ON_PIN); //GND
  3943. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  3944. // If you have a switch on suicide pin, this is useful
  3945. // if you want to start another print with suicide feature after
  3946. // a print without suicide...
  3947. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  3948. SET_OUTPUT(SUICIDE_PIN);
  3949. WRITE(SUICIDE_PIN, HIGH);
  3950. #endif
  3951. #ifdef ULTIPANEL
  3952. powersupply = true;
  3953. LCD_MESSAGERPGM(WELCOME_MSG);
  3954. lcd_update();
  3955. #endif
  3956. break;
  3957. #endif
  3958. case 81: // M81 - Turn off Power Supply
  3959. disable_heater();
  3960. st_synchronize();
  3961. disable_e0();
  3962. disable_e1();
  3963. disable_e2();
  3964. finishAndDisableSteppers();
  3965. fanSpeed = 0;
  3966. delay(1000); // Wait a little before to switch off
  3967. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  3968. st_synchronize();
  3969. suicide();
  3970. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  3971. SET_OUTPUT(PS_ON_PIN);
  3972. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  3973. #endif
  3974. #ifdef ULTIPANEL
  3975. powersupply = false;
  3976. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR("."))); //!!
  3977. /*
  3978. MACHNAME = "Prusa i3"
  3979. MSGOFF = "Vypnuto"
  3980. "Prusai3"" ""vypnuto""."
  3981. "Prusa i3"" "MSG_ALL[lang_selected][50]"."
  3982. */
  3983. lcd_update();
  3984. #endif
  3985. break;
  3986. case 82:
  3987. axis_relative_modes[3] = false;
  3988. break;
  3989. case 83:
  3990. axis_relative_modes[3] = true;
  3991. break;
  3992. case 18: //compatibility
  3993. case 84: // M84
  3994. if(code_seen('S')){
  3995. stepper_inactive_time = code_value() * 1000;
  3996. }
  3997. else
  3998. {
  3999. 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])));
  4000. if(all_axis)
  4001. {
  4002. st_synchronize();
  4003. disable_e0();
  4004. disable_e1();
  4005. disable_e2();
  4006. finishAndDisableSteppers();
  4007. }
  4008. else
  4009. {
  4010. st_synchronize();
  4011. if (code_seen('X')) disable_x();
  4012. if (code_seen('Y')) disable_y();
  4013. if (code_seen('Z')) disable_z();
  4014. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4015. if (code_seen('E')) {
  4016. disable_e0();
  4017. disable_e1();
  4018. disable_e2();
  4019. }
  4020. #endif
  4021. }
  4022. }
  4023. snmm_filaments_used = 0;
  4024. break;
  4025. case 85: // M85
  4026. if(code_seen('S')) {
  4027. max_inactive_time = code_value() * 1000;
  4028. }
  4029. break;
  4030. case 92: // M92
  4031. for(int8_t i=0; i < NUM_AXIS; i++)
  4032. {
  4033. if(code_seen(axis_codes[i]))
  4034. {
  4035. if(i == 3) { // E
  4036. float value = code_value();
  4037. if(value < 20.0) {
  4038. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  4039. max_jerk[E_AXIS] *= factor;
  4040. max_feedrate[i] *= factor;
  4041. axis_steps_per_sqr_second[i] *= factor;
  4042. }
  4043. axis_steps_per_unit[i] = value;
  4044. }
  4045. else {
  4046. axis_steps_per_unit[i] = code_value();
  4047. }
  4048. }
  4049. }
  4050. break;
  4051. case 110: // M110 - reset line pos
  4052. if (code_seen('N'))
  4053. gcode_LastN = code_value_long();
  4054. break;
  4055. #ifdef HOST_KEEPALIVE_FEATURE
  4056. case 113: // M113 - Get or set Host Keepalive interval
  4057. if (code_seen('S')) {
  4058. host_keepalive_interval = (uint8_t)code_value_short();
  4059. // NOMORE(host_keepalive_interval, 60);
  4060. }
  4061. else {
  4062. SERIAL_ECHO_START;
  4063. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4064. SERIAL_PROTOCOLLN("");
  4065. }
  4066. break;
  4067. #endif
  4068. case 115: // M115
  4069. if (code_seen('V')) {
  4070. // Report the Prusa version number.
  4071. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  4072. } else if (code_seen('U')) {
  4073. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  4074. // pause the print and ask the user to upgrade the firmware.
  4075. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  4076. } else {
  4077. SERIAL_PROTOCOLRPGM(MSG_M115_REPORT);
  4078. }
  4079. break;
  4080. /* case 117: // M117 display message
  4081. starpos = (strchr(strchr_pointer + 5,'*'));
  4082. if(starpos!=NULL)
  4083. *(starpos)='\0';
  4084. lcd_setstatus(strchr_pointer + 5);
  4085. break;*/
  4086. case 114: // M114
  4087. SERIAL_PROTOCOLPGM("X:");
  4088. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4089. SERIAL_PROTOCOLPGM(" Y:");
  4090. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4091. SERIAL_PROTOCOLPGM(" Z:");
  4092. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4093. SERIAL_PROTOCOLPGM(" E:");
  4094. SERIAL_PROTOCOL(current_position[E_AXIS]);
  4095. SERIAL_PROTOCOLRPGM(MSG_COUNT_X);
  4096. SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
  4097. SERIAL_PROTOCOLPGM(" Y:");
  4098. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
  4099. SERIAL_PROTOCOLPGM(" Z:");
  4100. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
  4101. SERIAL_PROTOCOLPGM(" E:");
  4102. SERIAL_PROTOCOL(float(st_get_position(E_AXIS))/axis_steps_per_unit[E_AXIS]);
  4103. SERIAL_PROTOCOLLN("");
  4104. break;
  4105. case 120: // M120
  4106. enable_endstops(false) ;
  4107. break;
  4108. case 121: // M121
  4109. enable_endstops(true) ;
  4110. break;
  4111. case 119: // M119
  4112. SERIAL_PROTOCOLRPGM(MSG_M119_REPORT);
  4113. SERIAL_PROTOCOLLN("");
  4114. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  4115. SERIAL_PROTOCOLRPGM(MSG_X_MIN);
  4116. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  4117. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4118. }else{
  4119. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4120. }
  4121. SERIAL_PROTOCOLLN("");
  4122. #endif
  4123. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  4124. SERIAL_PROTOCOLRPGM(MSG_X_MAX);
  4125. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  4126. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4127. }else{
  4128. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4129. }
  4130. SERIAL_PROTOCOLLN("");
  4131. #endif
  4132. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  4133. SERIAL_PROTOCOLRPGM(MSG_Y_MIN);
  4134. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  4135. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4136. }else{
  4137. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4138. }
  4139. SERIAL_PROTOCOLLN("");
  4140. #endif
  4141. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  4142. SERIAL_PROTOCOLRPGM(MSG_Y_MAX);
  4143. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  4144. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4145. }else{
  4146. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4147. }
  4148. SERIAL_PROTOCOLLN("");
  4149. #endif
  4150. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  4151. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  4152. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  4153. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4154. }else{
  4155. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4156. }
  4157. SERIAL_PROTOCOLLN("");
  4158. #endif
  4159. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  4160. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  4161. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  4162. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4163. }else{
  4164. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4165. }
  4166. SERIAL_PROTOCOLLN("");
  4167. #endif
  4168. break;
  4169. //TODO: update for all axis, use for loop
  4170. #ifdef BLINKM
  4171. case 150: // M150
  4172. {
  4173. byte red;
  4174. byte grn;
  4175. byte blu;
  4176. if(code_seen('R')) red = code_value();
  4177. if(code_seen('U')) grn = code_value();
  4178. if(code_seen('B')) blu = code_value();
  4179. SendColors(red,grn,blu);
  4180. }
  4181. break;
  4182. #endif //BLINKM
  4183. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  4184. {
  4185. tmp_extruder = active_extruder;
  4186. if(code_seen('T')) {
  4187. tmp_extruder = code_value();
  4188. if(tmp_extruder >= EXTRUDERS) {
  4189. SERIAL_ECHO_START;
  4190. SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
  4191. break;
  4192. }
  4193. }
  4194. float area = .0;
  4195. if(code_seen('D')) {
  4196. float diameter = (float)code_value();
  4197. if (diameter == 0.0) {
  4198. // setting any extruder filament size disables volumetric on the assumption that
  4199. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4200. // for all extruders
  4201. volumetric_enabled = false;
  4202. } else {
  4203. filament_size[tmp_extruder] = (float)code_value();
  4204. // make sure all extruders have some sane value for the filament size
  4205. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  4206. #if EXTRUDERS > 1
  4207. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  4208. #if EXTRUDERS > 2
  4209. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  4210. #endif
  4211. #endif
  4212. volumetric_enabled = true;
  4213. }
  4214. } else {
  4215. //reserved for setting filament diameter via UFID or filament measuring device
  4216. break;
  4217. }
  4218. calculate_volumetric_multipliers();
  4219. }
  4220. break;
  4221. case 201: // M201
  4222. for(int8_t i=0; i < NUM_AXIS; i++)
  4223. {
  4224. if(code_seen(axis_codes[i]))
  4225. {
  4226. max_acceleration_units_per_sq_second[i] = code_value();
  4227. }
  4228. }
  4229. // 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)
  4230. reset_acceleration_rates();
  4231. break;
  4232. #if 0 // Not used for Sprinter/grbl gen6
  4233. case 202: // M202
  4234. for(int8_t i=0; i < NUM_AXIS; i++) {
  4235. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  4236. }
  4237. break;
  4238. #endif
  4239. case 203: // M203 max feedrate mm/sec
  4240. for(int8_t i=0; i < NUM_AXIS; i++) {
  4241. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  4242. }
  4243. break;
  4244. case 204: // M204 acclereration S normal moves T filmanent only moves
  4245. {
  4246. if(code_seen('S')) acceleration = code_value() ;
  4247. if(code_seen('T')) retract_acceleration = code_value() ;
  4248. }
  4249. break;
  4250. 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
  4251. {
  4252. if(code_seen('S')) minimumfeedrate = code_value();
  4253. if(code_seen('T')) mintravelfeedrate = code_value();
  4254. if(code_seen('B')) minsegmenttime = code_value() ;
  4255. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  4256. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  4257. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  4258. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  4259. }
  4260. break;
  4261. case 206: // M206 additional homing offset
  4262. for(int8_t i=0; i < 3; i++)
  4263. {
  4264. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  4265. }
  4266. break;
  4267. #ifdef FWRETRACT
  4268. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  4269. {
  4270. if(code_seen('S'))
  4271. {
  4272. retract_length = code_value() ;
  4273. }
  4274. if(code_seen('F'))
  4275. {
  4276. retract_feedrate = code_value()/60 ;
  4277. }
  4278. if(code_seen('Z'))
  4279. {
  4280. retract_zlift = code_value() ;
  4281. }
  4282. }break;
  4283. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  4284. {
  4285. if(code_seen('S'))
  4286. {
  4287. retract_recover_length = code_value() ;
  4288. }
  4289. if(code_seen('F'))
  4290. {
  4291. retract_recover_feedrate = code_value()/60 ;
  4292. }
  4293. }break;
  4294. 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.
  4295. {
  4296. if(code_seen('S'))
  4297. {
  4298. int t= code_value() ;
  4299. switch(t)
  4300. {
  4301. case 0:
  4302. {
  4303. autoretract_enabled=false;
  4304. retracted[0]=false;
  4305. #if EXTRUDERS > 1
  4306. retracted[1]=false;
  4307. #endif
  4308. #if EXTRUDERS > 2
  4309. retracted[2]=false;
  4310. #endif
  4311. }break;
  4312. case 1:
  4313. {
  4314. autoretract_enabled=true;
  4315. retracted[0]=false;
  4316. #if EXTRUDERS > 1
  4317. retracted[1]=false;
  4318. #endif
  4319. #if EXTRUDERS > 2
  4320. retracted[2]=false;
  4321. #endif
  4322. }break;
  4323. default:
  4324. SERIAL_ECHO_START;
  4325. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  4326. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  4327. SERIAL_ECHOLNPGM("\"(1)");
  4328. }
  4329. }
  4330. }break;
  4331. #endif // FWRETRACT
  4332. #if EXTRUDERS > 1
  4333. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  4334. {
  4335. if(setTargetedHotend(218)){
  4336. break;
  4337. }
  4338. if(code_seen('X'))
  4339. {
  4340. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  4341. }
  4342. if(code_seen('Y'))
  4343. {
  4344. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  4345. }
  4346. SERIAL_ECHO_START;
  4347. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  4348. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  4349. {
  4350. SERIAL_ECHO(" ");
  4351. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  4352. SERIAL_ECHO(",");
  4353. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  4354. }
  4355. SERIAL_ECHOLN("");
  4356. }break;
  4357. #endif
  4358. case 220: // M220 S<factor in percent>- set speed factor override percentage
  4359. {
  4360. if(code_seen('S'))
  4361. {
  4362. feedmultiply = code_value() ;
  4363. }
  4364. }
  4365. break;
  4366. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  4367. {
  4368. if(code_seen('S'))
  4369. {
  4370. int tmp_code = code_value();
  4371. if (code_seen('T'))
  4372. {
  4373. if(setTargetedHotend(221)){
  4374. break;
  4375. }
  4376. extruder_multiply[tmp_extruder] = tmp_code;
  4377. }
  4378. else
  4379. {
  4380. extrudemultiply = tmp_code ;
  4381. }
  4382. }
  4383. }
  4384. break;
  4385. #ifndef _DISABLE_M42_M226
  4386. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  4387. {
  4388. if(code_seen('P')){
  4389. int pin_number = code_value(); // pin number
  4390. int pin_state = -1; // required pin state - default is inverted
  4391. if(code_seen('S')) pin_state = code_value(); // required pin state
  4392. if(pin_state >= -1 && pin_state <= 1){
  4393. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4394. {
  4395. if (sensitive_pins[i] == pin_number)
  4396. {
  4397. pin_number = -1;
  4398. break;
  4399. }
  4400. }
  4401. if (pin_number > -1)
  4402. {
  4403. int target = LOW;
  4404. st_synchronize();
  4405. pinMode(pin_number, INPUT);
  4406. switch(pin_state){
  4407. case 1:
  4408. target = HIGH;
  4409. break;
  4410. case 0:
  4411. target = LOW;
  4412. break;
  4413. case -1:
  4414. target = !digitalRead(pin_number);
  4415. break;
  4416. }
  4417. while(digitalRead(pin_number) != target){
  4418. manage_heater();
  4419. manage_inactivity();
  4420. lcd_update();
  4421. }
  4422. }
  4423. }
  4424. }
  4425. }
  4426. break;
  4427. #endif //_DISABLE_M42_M226
  4428. #if NUM_SERVOS > 0
  4429. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  4430. {
  4431. int servo_index = -1;
  4432. int servo_position = 0;
  4433. if (code_seen('P'))
  4434. servo_index = code_value();
  4435. if (code_seen('S')) {
  4436. servo_position = code_value();
  4437. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  4438. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4439. servos[servo_index].attach(0);
  4440. #endif
  4441. servos[servo_index].write(servo_position);
  4442. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4443. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  4444. servos[servo_index].detach();
  4445. #endif
  4446. }
  4447. else {
  4448. SERIAL_ECHO_START;
  4449. SERIAL_ECHO("Servo ");
  4450. SERIAL_ECHO(servo_index);
  4451. SERIAL_ECHOLN(" out of range");
  4452. }
  4453. }
  4454. else if (servo_index >= 0) {
  4455. SERIAL_PROTOCOL(MSG_OK);
  4456. SERIAL_PROTOCOL(" Servo ");
  4457. SERIAL_PROTOCOL(servo_index);
  4458. SERIAL_PROTOCOL(": ");
  4459. SERIAL_PROTOCOL(servos[servo_index].read());
  4460. SERIAL_PROTOCOLLN("");
  4461. }
  4462. }
  4463. break;
  4464. #endif // NUM_SERVOS > 0
  4465. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  4466. case 300: // M300
  4467. {
  4468. int beepS = code_seen('S') ? code_value() : 110;
  4469. int beepP = code_seen('P') ? code_value() : 1000;
  4470. if (beepS > 0)
  4471. {
  4472. #if BEEPER > 0
  4473. tone(BEEPER, beepS);
  4474. delay(beepP);
  4475. noTone(BEEPER);
  4476. #elif defined(ULTRALCD)
  4477. lcd_buzz(beepS, beepP);
  4478. #elif defined(LCD_USE_I2C_BUZZER)
  4479. lcd_buzz(beepP, beepS);
  4480. #endif
  4481. }
  4482. else
  4483. {
  4484. delay(beepP);
  4485. }
  4486. }
  4487. break;
  4488. #endif // M300
  4489. #ifdef PIDTEMP
  4490. case 301: // M301
  4491. {
  4492. if(code_seen('P')) Kp = code_value();
  4493. if(code_seen('I')) Ki = scalePID_i(code_value());
  4494. if(code_seen('D')) Kd = scalePID_d(code_value());
  4495. #ifdef PID_ADD_EXTRUSION_RATE
  4496. if(code_seen('C')) Kc = code_value();
  4497. #endif
  4498. updatePID();
  4499. SERIAL_PROTOCOLRPGM(MSG_OK);
  4500. SERIAL_PROTOCOL(" p:");
  4501. SERIAL_PROTOCOL(Kp);
  4502. SERIAL_PROTOCOL(" i:");
  4503. SERIAL_PROTOCOL(unscalePID_i(Ki));
  4504. SERIAL_PROTOCOL(" d:");
  4505. SERIAL_PROTOCOL(unscalePID_d(Kd));
  4506. #ifdef PID_ADD_EXTRUSION_RATE
  4507. SERIAL_PROTOCOL(" c:");
  4508. //Kc does not have scaling applied above, or in resetting defaults
  4509. SERIAL_PROTOCOL(Kc);
  4510. #endif
  4511. SERIAL_PROTOCOLLN("");
  4512. }
  4513. break;
  4514. #endif //PIDTEMP
  4515. #ifdef PIDTEMPBED
  4516. case 304: // M304
  4517. {
  4518. if(code_seen('P')) bedKp = code_value();
  4519. if(code_seen('I')) bedKi = scalePID_i(code_value());
  4520. if(code_seen('D')) bedKd = scalePID_d(code_value());
  4521. updatePID();
  4522. SERIAL_PROTOCOLRPGM(MSG_OK);
  4523. SERIAL_PROTOCOL(" p:");
  4524. SERIAL_PROTOCOL(bedKp);
  4525. SERIAL_PROTOCOL(" i:");
  4526. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  4527. SERIAL_PROTOCOL(" d:");
  4528. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  4529. SERIAL_PROTOCOLLN("");
  4530. }
  4531. break;
  4532. #endif //PIDTEMP
  4533. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  4534. {
  4535. #ifdef CHDK
  4536. SET_OUTPUT(CHDK);
  4537. WRITE(CHDK, HIGH);
  4538. chdkHigh = millis();
  4539. chdkActive = true;
  4540. #else
  4541. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  4542. const uint8_t NUM_PULSES=16;
  4543. const float PULSE_LENGTH=0.01524;
  4544. for(int i=0; i < NUM_PULSES; i++) {
  4545. WRITE(PHOTOGRAPH_PIN, HIGH);
  4546. _delay_ms(PULSE_LENGTH);
  4547. WRITE(PHOTOGRAPH_PIN, LOW);
  4548. _delay_ms(PULSE_LENGTH);
  4549. }
  4550. delay(7.33);
  4551. for(int i=0; i < NUM_PULSES; i++) {
  4552. WRITE(PHOTOGRAPH_PIN, HIGH);
  4553. _delay_ms(PULSE_LENGTH);
  4554. WRITE(PHOTOGRAPH_PIN, LOW);
  4555. _delay_ms(PULSE_LENGTH);
  4556. }
  4557. #endif
  4558. #endif //chdk end if
  4559. }
  4560. break;
  4561. #ifdef DOGLCD
  4562. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  4563. {
  4564. if (code_seen('C')) {
  4565. lcd_setcontrast( ((int)code_value())&63 );
  4566. }
  4567. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4568. SERIAL_PROTOCOL(lcd_contrast);
  4569. SERIAL_PROTOCOLLN("");
  4570. }
  4571. break;
  4572. #endif
  4573. #ifdef PREVENT_DANGEROUS_EXTRUDE
  4574. case 302: // allow cold extrudes, or set the minimum extrude temperature
  4575. {
  4576. float temp = .0;
  4577. if (code_seen('S')) temp=code_value();
  4578. set_extrude_min_temp(temp);
  4579. }
  4580. break;
  4581. #endif
  4582. case 303: // M303 PID autotune
  4583. {
  4584. float temp = 150.0;
  4585. int e=0;
  4586. int c=5;
  4587. if (code_seen('E')) e=code_value();
  4588. if (e<0)
  4589. temp=70;
  4590. if (code_seen('S')) temp=code_value();
  4591. if (code_seen('C')) c=code_value();
  4592. PID_autotune(temp, e, c);
  4593. }
  4594. break;
  4595. case 400: // M400 finish all moves
  4596. {
  4597. st_synchronize();
  4598. }
  4599. break;
  4600. #ifdef FILAMENT_SENSOR
  4601. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  4602. {
  4603. #if (FILWIDTH_PIN > -1)
  4604. if(code_seen('N')) filament_width_nominal=code_value();
  4605. else{
  4606. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  4607. SERIAL_PROTOCOLLN(filament_width_nominal);
  4608. }
  4609. #endif
  4610. }
  4611. break;
  4612. case 405: //M405 Turn on filament sensor for control
  4613. {
  4614. if(code_seen('D')) meas_delay_cm=code_value();
  4615. if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
  4616. meas_delay_cm = MAX_MEASUREMENT_DELAY;
  4617. if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
  4618. {
  4619. int temp_ratio = widthFil_to_size_ratio();
  4620. for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
  4621. measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
  4622. }
  4623. delay_index1=0;
  4624. delay_index2=0;
  4625. }
  4626. filament_sensor = true ;
  4627. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4628. //SERIAL_PROTOCOL(filament_width_meas);
  4629. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  4630. //SERIAL_PROTOCOL(extrudemultiply);
  4631. }
  4632. break;
  4633. case 406: //M406 Turn off filament sensor for control
  4634. {
  4635. filament_sensor = false ;
  4636. }
  4637. break;
  4638. case 407: //M407 Display measured filament diameter
  4639. {
  4640. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4641. SERIAL_PROTOCOLLN(filament_width_meas);
  4642. }
  4643. break;
  4644. #endif
  4645. case 500: // M500 Store settings in EEPROM
  4646. {
  4647. Config_StoreSettings(EEPROM_OFFSET);
  4648. }
  4649. break;
  4650. case 501: // M501 Read settings from EEPROM
  4651. {
  4652. Config_RetrieveSettings(EEPROM_OFFSET);
  4653. }
  4654. break;
  4655. case 502: // M502 Revert to default settings
  4656. {
  4657. Config_ResetDefault();
  4658. }
  4659. break;
  4660. case 503: // M503 print settings currently in memory
  4661. {
  4662. Config_PrintSettings();
  4663. }
  4664. break;
  4665. case 509: //M509 Force language selection
  4666. {
  4667. lcd_force_language_selection();
  4668. SERIAL_ECHO_START;
  4669. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  4670. }
  4671. break;
  4672. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  4673. case 540:
  4674. {
  4675. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  4676. }
  4677. break;
  4678. #endif
  4679. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  4680. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  4681. {
  4682. float value;
  4683. if (code_seen('Z'))
  4684. {
  4685. value = code_value();
  4686. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  4687. {
  4688. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  4689. SERIAL_ECHO_START;
  4690. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  4691. SERIAL_PROTOCOLLN("");
  4692. }
  4693. else
  4694. {
  4695. SERIAL_ECHO_START;
  4696. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  4697. SERIAL_ECHORPGM(MSG_Z_MIN);
  4698. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  4699. SERIAL_ECHORPGM(MSG_Z_MAX);
  4700. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  4701. SERIAL_PROTOCOLLN("");
  4702. }
  4703. }
  4704. else
  4705. {
  4706. SERIAL_ECHO_START;
  4707. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  4708. SERIAL_ECHO(-zprobe_zoffset);
  4709. SERIAL_PROTOCOLLN("");
  4710. }
  4711. break;
  4712. }
  4713. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  4714. #ifdef FILAMENTCHANGEENABLE
  4715. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  4716. {
  4717. bool old_fsensor_enabled = fsensor_enabled;
  4718. fsensor_enabled = false; //temporary solution for unexpected restarting
  4719. st_synchronize();
  4720. float target[4];
  4721. float lastpos[4];
  4722. if (farm_mode)
  4723. {
  4724. prusa_statistics(22);
  4725. }
  4726. feedmultiplyBckp=feedmultiply;
  4727. int8_t TooLowZ = 0;
  4728. target[X_AXIS]=current_position[X_AXIS];
  4729. target[Y_AXIS]=current_position[Y_AXIS];
  4730. target[Z_AXIS]=current_position[Z_AXIS];
  4731. target[E_AXIS]=current_position[E_AXIS];
  4732. lastpos[X_AXIS]=current_position[X_AXIS];
  4733. lastpos[Y_AXIS]=current_position[Y_AXIS];
  4734. lastpos[Z_AXIS]=current_position[Z_AXIS];
  4735. lastpos[E_AXIS]=current_position[E_AXIS];
  4736. //Restract extruder
  4737. if(code_seen('E'))
  4738. {
  4739. target[E_AXIS]+= code_value();
  4740. }
  4741. else
  4742. {
  4743. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  4744. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  4745. #endif
  4746. }
  4747. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4748. //Lift Z
  4749. if(code_seen('Z'))
  4750. {
  4751. target[Z_AXIS]+= code_value();
  4752. }
  4753. else
  4754. {
  4755. #ifdef FILAMENTCHANGE_ZADD
  4756. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  4757. if(target[Z_AXIS] < 10){
  4758. target[Z_AXIS]+= 10 ;
  4759. TooLowZ = 1;
  4760. }else{
  4761. TooLowZ = 0;
  4762. }
  4763. #endif
  4764. }
  4765. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  4766. //Move XY to side
  4767. if(code_seen('X'))
  4768. {
  4769. target[X_AXIS]+= code_value();
  4770. }
  4771. else
  4772. {
  4773. #ifdef FILAMENTCHANGE_XPOS
  4774. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  4775. #endif
  4776. }
  4777. if(code_seen('Y'))
  4778. {
  4779. target[Y_AXIS]= code_value();
  4780. }
  4781. else
  4782. {
  4783. #ifdef FILAMENTCHANGE_YPOS
  4784. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  4785. #endif
  4786. }
  4787. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  4788. st_synchronize();
  4789. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4790. uint8_t cnt = 0;
  4791. int counterBeep = 0;
  4792. lcd_display_message_fullscreen_P(MSG_PRESS_TO_UNLOAD);
  4793. while (!lcd_clicked()) {
  4794. cnt++;
  4795. manage_heater();
  4796. manage_inactivity(true);
  4797. /*#ifdef SNMM
  4798. target[E_AXIS] += 0.002;
  4799. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4800. #endif // SNMM*/
  4801. if (cnt == 0)
  4802. {
  4803. #if BEEPER > 0
  4804. if (counterBeep == 500) {
  4805. counterBeep = 0;
  4806. }
  4807. SET_OUTPUT(BEEPER);
  4808. if (counterBeep == 0) {
  4809. WRITE(BEEPER, HIGH);
  4810. }
  4811. if (counterBeep == 20) {
  4812. WRITE(BEEPER, LOW);
  4813. }
  4814. counterBeep++;
  4815. #else
  4816. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  4817. lcd_buzz(1000 / 6, 100);
  4818. #else
  4819. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
  4820. #endif
  4821. #endif
  4822. }
  4823. }
  4824. WRITE(BEEPER, LOW);
  4825. lcd_change_fil_state = 0;
  4826. while (lcd_change_fil_state == 0) {
  4827. lcd_display_message_fullscreen_P(MSG_UNLOADING_FILAMENT);
  4828. KEEPALIVE_STATE(IN_HANDLER);
  4829. custom_message = true;
  4830. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  4831. // Unload filament
  4832. if (code_seen('L'))
  4833. {
  4834. target[E_AXIS] += code_value();
  4835. }
  4836. else
  4837. {
  4838. #ifdef SNMM
  4839. #else
  4840. #ifdef FILAMENTCHANGE_FINALRETRACT
  4841. target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  4842. #endif
  4843. #endif // SNMM
  4844. }
  4845. #ifdef SNMM
  4846. target[E_AXIS] += 12;
  4847. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
  4848. target[E_AXIS] += 6;
  4849. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  4850. target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
  4851. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  4852. st_synchronize();
  4853. target[E_AXIS] += (FIL_COOLING);
  4854. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4855. target[E_AXIS] += (FIL_COOLING*-1);
  4856. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4857. target[E_AXIS] += (bowden_length[snmm_extruder] * -1);
  4858. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  4859. st_synchronize();
  4860. #else
  4861. // plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4862. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500 / 60, active_extruder);
  4863. target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
  4864. target[E_AXIS] -= 45;
  4865. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5200 / 60, active_extruder);
  4866. st_synchronize();
  4867. target[E_AXIS] -= 15;
  4868. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 160 / 60, active_extruder);
  4869. st_synchronize();
  4870. target[E_AXIS] -= 20;
  4871. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000 / 60, active_extruder);
  4872. st_synchronize();
  4873. #endif // SNMM
  4874. //finish moves
  4875. st_synchronize();
  4876. //disable extruder steppers so filament can be removed
  4877. disable_e0();
  4878. disable_e1();
  4879. disable_e2();
  4880. delay(100);
  4881. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4882. lcd_change_fil_state = !lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_UNLOAD_SUCCESSFULL, false, false);
  4883. //lcd_return_to_status();
  4884. lcd_update_enable(true);
  4885. }
  4886. //Wait for user to insert filament
  4887. lcd_wait_interact();
  4888. //load_filament_time = millis();
  4889. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4890. #ifdef PAT9125
  4891. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_start();
  4892. #endif //PAT9125
  4893. // printf_P(PSTR("M600 PAT9125 filament_autoload_enabled=%d, old_fsensor_enabled=%d, fsensor_M600=%d"), filament_autoload_enabled, old_fsensor_enabled, fsensor_M600);
  4894. while(!lcd_clicked())
  4895. {
  4896. manage_heater();
  4897. manage_inactivity(true);
  4898. #ifdef PAT9125
  4899. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600) && fsensor_check_autoload())
  4900. {
  4901. tone(BEEPER, 1000);
  4902. delay_keep_alive(50);
  4903. noTone(BEEPER);
  4904. break;
  4905. }
  4906. #endif //PAT9125
  4907. /*#ifdef SNMM
  4908. target[E_AXIS] += 0.002;
  4909. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4910. #endif // SNMM*/
  4911. }
  4912. #ifdef PAT9125
  4913. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_stop();
  4914. #endif //PAT9125
  4915. //WRITE(BEEPER, LOW);
  4916. KEEPALIVE_STATE(IN_HANDLER);
  4917. #ifdef SNMM
  4918. display_loading();
  4919. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4920. do {
  4921. target[E_AXIS] += 0.002;
  4922. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4923. delay_keep_alive(2);
  4924. } while (!lcd_clicked());
  4925. KEEPALIVE_STATE(IN_HANDLER);
  4926. /*if (millis() - load_filament_time > 2) {
  4927. load_filament_time = millis();
  4928. target[E_AXIS] += 0.001;
  4929. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
  4930. }*/
  4931. //Filament inserted
  4932. //Feed the filament to the end of nozzle quickly
  4933. st_synchronize();
  4934. target[E_AXIS] += bowden_length[snmm_extruder];
  4935. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  4936. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  4937. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  4938. target[E_AXIS] += 40;
  4939. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  4940. target[E_AXIS] += 10;
  4941. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4942. #else
  4943. target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
  4944. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  4945. #endif // SNMM
  4946. //Extrude some filament
  4947. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4948. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  4949. //Wait for user to check the state
  4950. lcd_change_fil_state = 0;
  4951. lcd_loading_filament();
  4952. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  4953. lcd_change_fil_state = 0;
  4954. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4955. lcd_alright();
  4956. KEEPALIVE_STATE(IN_HANDLER);
  4957. switch(lcd_change_fil_state){
  4958. // Filament failed to load so load it again
  4959. case 2:
  4960. #ifdef SNMM
  4961. display_loading();
  4962. do {
  4963. target[E_AXIS] += 0.002;
  4964. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4965. delay_keep_alive(2);
  4966. } while (!lcd_clicked());
  4967. st_synchronize();
  4968. target[E_AXIS] += bowden_length[snmm_extruder];
  4969. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  4970. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  4971. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  4972. target[E_AXIS] += 40;
  4973. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  4974. target[E_AXIS] += 10;
  4975. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4976. #else
  4977. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  4978. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  4979. #endif
  4980. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4981. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  4982. lcd_loading_filament();
  4983. break;
  4984. // Filament loaded properly but color is not clear
  4985. case 3:
  4986. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4987. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  4988. lcd_loading_color();
  4989. break;
  4990. // Everything good
  4991. default:
  4992. lcd_change_success();
  4993. lcd_update_enable(true);
  4994. break;
  4995. }
  4996. }
  4997. //Not let's go back to print
  4998. //Feed a little of filament to stabilize pressure
  4999. target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
  5000. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5001. //Retract
  5002. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  5003. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5004. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  5005. //Move XY back
  5006. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5007. //Move Z back
  5008. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5009. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  5010. //Unretract
  5011. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5012. //Set E position to original
  5013. plan_set_e_position(lastpos[E_AXIS]);
  5014. //Recover feed rate
  5015. feedmultiply=feedmultiplyBckp;
  5016. char cmd[9];
  5017. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  5018. enquecommand(cmd);
  5019. lcd_setstatuspgm(WELCOME_MSG);
  5020. custom_message = false;
  5021. custom_message_type = 0;
  5022. fsensor_enabled = old_fsensor_enabled; //temporary solution for unexpected restarting
  5023. #ifdef PAT9125
  5024. if (fsensor_M600)
  5025. {
  5026. cmdqueue_pop_front(); //hack because M600 repeated 2x when enqueued to front
  5027. st_synchronize();
  5028. while (!is_buffer_empty())
  5029. {
  5030. process_commands();
  5031. cmdqueue_pop_front();
  5032. }
  5033. fsensor_enable();
  5034. fsensor_restore_print_and_continue();
  5035. }
  5036. #endif //PAT9125
  5037. }
  5038. break;
  5039. #endif //FILAMENTCHANGEENABLE
  5040. case 601: {
  5041. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  5042. }
  5043. break;
  5044. case 602: {
  5045. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  5046. }
  5047. break;
  5048. #ifdef LIN_ADVANCE
  5049. case 900: // M900: Set LIN_ADVANCE options.
  5050. gcode_M900();
  5051. break;
  5052. #endif
  5053. case 907: // M907 Set digital trimpot motor current using axis codes.
  5054. {
  5055. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5056. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
  5057. if(code_seen('B')) digipot_current(4,code_value());
  5058. if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
  5059. #endif
  5060. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  5061. if(code_seen('X')) digipot_current(0, code_value());
  5062. #endif
  5063. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  5064. if(code_seen('Z')) digipot_current(1, code_value());
  5065. #endif
  5066. #ifdef MOTOR_CURRENT_PWM_E_PIN
  5067. if(code_seen('E')) digipot_current(2, code_value());
  5068. #endif
  5069. #ifdef DIGIPOT_I2C
  5070. // this one uses actual amps in floating point
  5071. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
  5072. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  5073. for(int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
  5074. #endif
  5075. }
  5076. break;
  5077. case 908: // M908 Control digital trimpot directly.
  5078. {
  5079. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5080. uint8_t channel,current;
  5081. if(code_seen('P')) channel=code_value();
  5082. if(code_seen('S')) current=code_value();
  5083. digitalPotWrite(channel, current);
  5084. #endif
  5085. }
  5086. break;
  5087. case 910: // M910 TMC2130 init
  5088. {
  5089. tmc2130_init();
  5090. }
  5091. break;
  5092. case 911: // M911 Set TMC2130 holding currents
  5093. {
  5094. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  5095. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  5096. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  5097. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  5098. }
  5099. break;
  5100. case 912: // M912 Set TMC2130 running currents
  5101. {
  5102. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  5103. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  5104. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  5105. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  5106. }
  5107. break;
  5108. case 913: // M913 Print TMC2130 currents
  5109. {
  5110. tmc2130_print_currents();
  5111. }
  5112. break;
  5113. case 914: // M914 Set normal mode
  5114. {
  5115. tmc2130_mode = TMC2130_MODE_NORMAL;
  5116. tmc2130_init();
  5117. }
  5118. break;
  5119. case 915: // M915 Set silent mode
  5120. {
  5121. tmc2130_mode = TMC2130_MODE_SILENT;
  5122. tmc2130_init();
  5123. }
  5124. break;
  5125. case 916: // M916 Set sg_thrs
  5126. {
  5127. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  5128. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  5129. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  5130. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  5131. MYSERIAL.print("tmc2130_sg_thr[X]=");
  5132. MYSERIAL.println(tmc2130_sg_thr[X_AXIS], DEC);
  5133. MYSERIAL.print("tmc2130_sg_thr[Y]=");
  5134. MYSERIAL.println(tmc2130_sg_thr[Y_AXIS], DEC);
  5135. MYSERIAL.print("tmc2130_sg_thr[Z]=");
  5136. MYSERIAL.println(tmc2130_sg_thr[Z_AXIS], DEC);
  5137. MYSERIAL.print("tmc2130_sg_thr[E]=");
  5138. MYSERIAL.println(tmc2130_sg_thr[E_AXIS], DEC);
  5139. }
  5140. break;
  5141. case 917: // M917 Set TMC2130 pwm_ampl
  5142. {
  5143. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  5144. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  5145. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  5146. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  5147. }
  5148. break;
  5149. case 918: // M918 Set TMC2130 pwm_grad
  5150. {
  5151. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  5152. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  5153. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  5154. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  5155. }
  5156. break;
  5157. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5158. {
  5159. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5160. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  5161. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  5162. if(code_seen('B')) microstep_mode(4,code_value());
  5163. microstep_readings();
  5164. #endif
  5165. }
  5166. break;
  5167. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  5168. {
  5169. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5170. if(code_seen('S')) switch((int)code_value())
  5171. {
  5172. case 1:
  5173. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  5174. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  5175. break;
  5176. case 2:
  5177. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  5178. if(code_seen('B')) microstep_ms(4,-1,code_value());
  5179. break;
  5180. }
  5181. microstep_readings();
  5182. #endif
  5183. }
  5184. break;
  5185. case 701: //M701: load filament
  5186. {
  5187. gcode_M701();
  5188. }
  5189. break;
  5190. case 702:
  5191. {
  5192. #ifdef SNMM
  5193. if (code_seen('U')) {
  5194. extr_unload_used(); //unload all filaments which were used in current print
  5195. }
  5196. else if (code_seen('C')) {
  5197. extr_unload(); //unload just current filament
  5198. }
  5199. else {
  5200. extr_unload_all(); //unload all filaments
  5201. }
  5202. #else
  5203. bool old_fsensor_enabled = fsensor_enabled;
  5204. fsensor_enabled = false;
  5205. custom_message = true;
  5206. custom_message_type = 2;
  5207. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  5208. // extr_unload2();
  5209. current_position[E_AXIS] -= 45;
  5210. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
  5211. st_synchronize();
  5212. current_position[E_AXIS] -= 15;
  5213. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 160 / 60, active_extruder);
  5214. st_synchronize();
  5215. current_position[E_AXIS] -= 20;
  5216. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5000 / 60, active_extruder);
  5217. st_synchronize();
  5218. lcd_setstatuspgm(WELCOME_MSG);
  5219. custom_message = false;
  5220. custom_message_type = 0;
  5221. fsensor_enabled = old_fsensor_enabled;
  5222. #endif
  5223. }
  5224. break;
  5225. case 999: // M999: Restart after being stopped
  5226. Stopped = false;
  5227. lcd_reset_alert_level();
  5228. gcode_LastN = Stopped_gcode_LastN;
  5229. FlushSerialRequestResend();
  5230. break;
  5231. default: SERIAL_ECHOLNPGM("Invalid M code.");
  5232. }
  5233. } // end if(code_seen('M')) (end of M codes)
  5234. else if(code_seen('T'))
  5235. {
  5236. int index;
  5237. st_synchronize();
  5238. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  5239. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
  5240. SERIAL_ECHOLNPGM("Invalid T code.");
  5241. }
  5242. else {
  5243. if (*(strchr_pointer + index) == '?') {
  5244. tmp_extruder = choose_extruder_menu();
  5245. }
  5246. else {
  5247. tmp_extruder = code_value();
  5248. }
  5249. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  5250. #ifdef SNMM
  5251. #ifdef LIN_ADVANCE
  5252. if (snmm_extruder != tmp_extruder)
  5253. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  5254. #endif
  5255. snmm_extruder = tmp_extruder;
  5256. delay(100);
  5257. disable_e0();
  5258. disable_e1();
  5259. disable_e2();
  5260. pinMode(E_MUX0_PIN, OUTPUT);
  5261. pinMode(E_MUX1_PIN, OUTPUT);
  5262. pinMode(E_MUX2_PIN, OUTPUT);
  5263. delay(100);
  5264. SERIAL_ECHO_START;
  5265. SERIAL_ECHO("T:");
  5266. SERIAL_ECHOLN((int)tmp_extruder);
  5267. switch (tmp_extruder) {
  5268. case 1:
  5269. WRITE(E_MUX0_PIN, HIGH);
  5270. WRITE(E_MUX1_PIN, LOW);
  5271. WRITE(E_MUX2_PIN, LOW);
  5272. break;
  5273. case 2:
  5274. WRITE(E_MUX0_PIN, LOW);
  5275. WRITE(E_MUX1_PIN, HIGH);
  5276. WRITE(E_MUX2_PIN, LOW);
  5277. break;
  5278. case 3:
  5279. WRITE(E_MUX0_PIN, HIGH);
  5280. WRITE(E_MUX1_PIN, HIGH);
  5281. WRITE(E_MUX2_PIN, LOW);
  5282. break;
  5283. default:
  5284. WRITE(E_MUX0_PIN, LOW);
  5285. WRITE(E_MUX1_PIN, LOW);
  5286. WRITE(E_MUX2_PIN, LOW);
  5287. break;
  5288. }
  5289. delay(100);
  5290. #else
  5291. if (tmp_extruder >= EXTRUDERS) {
  5292. SERIAL_ECHO_START;
  5293. SERIAL_ECHOPGM("T");
  5294. SERIAL_PROTOCOLLN((int)tmp_extruder);
  5295. SERIAL_ECHOLNRPGM(MSG_INVALID_EXTRUDER);
  5296. }
  5297. else {
  5298. boolean make_move = false;
  5299. if (code_seen('F')) {
  5300. make_move = true;
  5301. next_feedrate = code_value();
  5302. if (next_feedrate > 0.0) {
  5303. feedrate = next_feedrate;
  5304. }
  5305. }
  5306. #if EXTRUDERS > 1
  5307. if (tmp_extruder != active_extruder) {
  5308. // Save current position to return to after applying extruder offset
  5309. memcpy(destination, current_position, sizeof(destination));
  5310. // Offset extruder (only by XY)
  5311. int i;
  5312. for (i = 0; i < 2; i++) {
  5313. current_position[i] = current_position[i] -
  5314. extruder_offset[i][active_extruder] +
  5315. extruder_offset[i][tmp_extruder];
  5316. }
  5317. // Set the new active extruder and position
  5318. active_extruder = tmp_extruder;
  5319. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  5320. // Move to the old position if 'F' was in the parameters
  5321. if (make_move && Stopped == false) {
  5322. prepare_move();
  5323. }
  5324. }
  5325. #endif
  5326. SERIAL_ECHO_START;
  5327. SERIAL_ECHORPGM(MSG_ACTIVE_EXTRUDER);
  5328. SERIAL_PROTOCOLLN((int)active_extruder);
  5329. }
  5330. #endif
  5331. }
  5332. } // end if(code_seen('T')) (end of T codes)
  5333. #ifdef DEBUG_DCODES
  5334. else if (code_seen('D')) // D codes (debug)
  5335. {
  5336. switch((int)code_value())
  5337. {
  5338. case -1: // D-1 - Endless loop
  5339. dcode__1(); break;
  5340. case 0: // D0 - Reset
  5341. dcode_0(); break;
  5342. case 1: // D1 - Clear EEPROM
  5343. dcode_1(); break;
  5344. case 2: // D2 - Read/Write RAM
  5345. dcode_2(); break;
  5346. case 3: // D3 - Read/Write EEPROM
  5347. dcode_3(); break;
  5348. case 4: // D4 - Read/Write PIN
  5349. dcode_4(); break;
  5350. case 5: // D5 - Read/Write FLASH
  5351. // dcode_5(); break;
  5352. break;
  5353. case 6: // D6 - Read/Write external FLASH
  5354. dcode_6(); break;
  5355. case 7: // D7 - Read/Write Bootloader
  5356. dcode_7(); break;
  5357. case 8: // D8 - Read/Write PINDA
  5358. dcode_8(); break;
  5359. case 9: // D9 - Read/Write ADC
  5360. dcode_9(); break;
  5361. case 10: // D10 - XYZ calibration = OK
  5362. dcode_10(); break;
  5363. case 12: //D12 - Reset failstat counters
  5364. dcode_12(); break;
  5365. case 2130: // D9125 - TMC2130
  5366. dcode_2130(); break;
  5367. case 9125: // D9125 - PAT9125
  5368. dcode_9125(); break;
  5369. }
  5370. }
  5371. #endif //DEBUG_DCODES
  5372. else
  5373. {
  5374. SERIAL_ECHO_START;
  5375. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5376. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5377. SERIAL_ECHOLNPGM("\"(2)");
  5378. }
  5379. KEEPALIVE_STATE(NOT_BUSY);
  5380. ClearToSend();
  5381. }
  5382. void FlushSerialRequestResend()
  5383. {
  5384. //char cmdbuffer[bufindr][100]="Resend:";
  5385. MYSERIAL.flush();
  5386. SERIAL_PROTOCOLRPGM(MSG_RESEND);
  5387. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  5388. previous_millis_cmd = millis();
  5389. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  5390. }
  5391. // Confirm the execution of a command, if sent from a serial line.
  5392. // Execution of a command from a SD card will not be confirmed.
  5393. void ClearToSend()
  5394. {
  5395. previous_millis_cmd = millis();
  5396. if (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB)
  5397. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  5398. }
  5399. void get_coordinates()
  5400. {
  5401. bool seen[4]={false,false,false,false};
  5402. for(int8_t i=0; i < NUM_AXIS; i++) {
  5403. if(code_seen(axis_codes[i]))
  5404. {
  5405. destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
  5406. seen[i]=true;
  5407. }
  5408. else destination[i] = current_position[i]; //Are these else lines really needed?
  5409. }
  5410. if(code_seen('F')) {
  5411. next_feedrate = code_value();
  5412. #ifdef MAX_SILENT_FEEDRATE
  5413. if (tmc2130_mode == TMC2130_MODE_SILENT)
  5414. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  5415. #endif //MAX_SILENT_FEEDRATE
  5416. if(next_feedrate > 0.0) feedrate = next_feedrate;
  5417. }
  5418. }
  5419. void get_arc_coordinates()
  5420. {
  5421. #ifdef SF_ARC_FIX
  5422. bool relative_mode_backup = relative_mode;
  5423. relative_mode = true;
  5424. #endif
  5425. get_coordinates();
  5426. #ifdef SF_ARC_FIX
  5427. relative_mode=relative_mode_backup;
  5428. #endif
  5429. if(code_seen('I')) {
  5430. offset[0] = code_value();
  5431. }
  5432. else {
  5433. offset[0] = 0.0;
  5434. }
  5435. if(code_seen('J')) {
  5436. offset[1] = code_value();
  5437. }
  5438. else {
  5439. offset[1] = 0.0;
  5440. }
  5441. }
  5442. void clamp_to_software_endstops(float target[3])
  5443. {
  5444. #ifdef DEBUG_DISABLE_SWLIMITS
  5445. return;
  5446. #endif //DEBUG_DISABLE_SWLIMITS
  5447. world2machine_clamp(target[0], target[1]);
  5448. // Clamp the Z coordinate.
  5449. if (min_software_endstops) {
  5450. float negative_z_offset = 0;
  5451. #ifdef ENABLE_AUTO_BED_LEVELING
  5452. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  5453. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  5454. #endif
  5455. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  5456. }
  5457. if (max_software_endstops) {
  5458. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  5459. }
  5460. }
  5461. #ifdef MESH_BED_LEVELING
  5462. 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) {
  5463. float dx = x - current_position[X_AXIS];
  5464. float dy = y - current_position[Y_AXIS];
  5465. float dz = z - current_position[Z_AXIS];
  5466. int n_segments = 0;
  5467. if (mbl.active) {
  5468. float len = abs(dx) + abs(dy);
  5469. if (len > 0)
  5470. // Split to 3cm segments or shorter.
  5471. n_segments = int(ceil(len / 30.f));
  5472. }
  5473. if (n_segments > 1) {
  5474. float de = e - current_position[E_AXIS];
  5475. for (int i = 1; i < n_segments; ++ i) {
  5476. float t = float(i) / float(n_segments);
  5477. plan_buffer_line(
  5478. current_position[X_AXIS] + t * dx,
  5479. current_position[Y_AXIS] + t * dy,
  5480. current_position[Z_AXIS] + t * dz,
  5481. current_position[E_AXIS] + t * de,
  5482. feed_rate, extruder);
  5483. }
  5484. }
  5485. // The rest of the path.
  5486. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  5487. current_position[X_AXIS] = x;
  5488. current_position[Y_AXIS] = y;
  5489. current_position[Z_AXIS] = z;
  5490. current_position[E_AXIS] = e;
  5491. }
  5492. #endif // MESH_BED_LEVELING
  5493. void prepare_move()
  5494. {
  5495. clamp_to_software_endstops(destination);
  5496. previous_millis_cmd = millis();
  5497. // Do not use feedmultiply for E or Z only moves
  5498. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  5499. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  5500. }
  5501. else {
  5502. #ifdef MESH_BED_LEVELING
  5503. 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);
  5504. #else
  5505. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  5506. #endif
  5507. }
  5508. for(int8_t i=0; i < NUM_AXIS; i++) {
  5509. current_position[i] = destination[i];
  5510. }
  5511. }
  5512. void prepare_arc_move(char isclockwise) {
  5513. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  5514. // Trace the arc
  5515. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  5516. // As far as the parser is concerned, the position is now == target. In reality the
  5517. // motion control system might still be processing the action and the real tool position
  5518. // in any intermediate location.
  5519. for(int8_t i=0; i < NUM_AXIS; i++) {
  5520. current_position[i] = destination[i];
  5521. }
  5522. previous_millis_cmd = millis();
  5523. }
  5524. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  5525. #if defined(FAN_PIN)
  5526. #if CONTROLLERFAN_PIN == FAN_PIN
  5527. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  5528. #endif
  5529. #endif
  5530. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  5531. unsigned long lastMotorCheck = 0;
  5532. void controllerFan()
  5533. {
  5534. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  5535. {
  5536. lastMotorCheck = millis();
  5537. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  5538. #if EXTRUDERS > 2
  5539. || !READ(E2_ENABLE_PIN)
  5540. #endif
  5541. #if EXTRUDER > 1
  5542. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  5543. || !READ(X2_ENABLE_PIN)
  5544. #endif
  5545. || !READ(E1_ENABLE_PIN)
  5546. #endif
  5547. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  5548. {
  5549. lastMotor = millis(); //... set time to NOW so the fan will turn on
  5550. }
  5551. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  5552. {
  5553. digitalWrite(CONTROLLERFAN_PIN, 0);
  5554. analogWrite(CONTROLLERFAN_PIN, 0);
  5555. }
  5556. else
  5557. {
  5558. // allows digital or PWM fan output to be used (see M42 handling)
  5559. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  5560. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  5561. }
  5562. }
  5563. }
  5564. #endif
  5565. #ifdef TEMP_STAT_LEDS
  5566. static bool blue_led = false;
  5567. static bool red_led = false;
  5568. static uint32_t stat_update = 0;
  5569. void handle_status_leds(void) {
  5570. float max_temp = 0.0;
  5571. if(millis() > stat_update) {
  5572. stat_update += 500; // Update every 0.5s
  5573. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  5574. max_temp = max(max_temp, degHotend(cur_extruder));
  5575. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  5576. }
  5577. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5578. max_temp = max(max_temp, degTargetBed());
  5579. max_temp = max(max_temp, degBed());
  5580. #endif
  5581. if((max_temp > 55.0) && (red_led == false)) {
  5582. digitalWrite(STAT_LED_RED, 1);
  5583. digitalWrite(STAT_LED_BLUE, 0);
  5584. red_led = true;
  5585. blue_led = false;
  5586. }
  5587. if((max_temp < 54.0) && (blue_led == false)) {
  5588. digitalWrite(STAT_LED_RED, 0);
  5589. digitalWrite(STAT_LED_BLUE, 1);
  5590. red_led = false;
  5591. blue_led = true;
  5592. }
  5593. }
  5594. }
  5595. #endif
  5596. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  5597. {
  5598. if (fsensor_enabled && filament_autoload_enabled && !fsensor_M600 && !moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
  5599. {
  5600. if (fsensor_autoload_enabled)
  5601. {
  5602. if (fsensor_check_autoload())
  5603. {
  5604. if (degHotend0() > EXTRUDE_MINTEMP)
  5605. {
  5606. fsensor_autoload_check_stop();
  5607. tone(BEEPER, 1000);
  5608. delay_keep_alive(50);
  5609. noTone(BEEPER);
  5610. loading_flag = true;
  5611. enquecommand_front_P((PSTR("M701")));
  5612. }
  5613. else
  5614. {
  5615. lcd_update_enable(false);
  5616. lcd_implementation_clear();
  5617. lcd.setCursor(0, 0);
  5618. lcd_printPGM(MSG_ERROR);
  5619. lcd.setCursor(0, 2);
  5620. lcd_printPGM(MSG_PREHEAT_NOZZLE);
  5621. delay(2000);
  5622. lcd_implementation_clear();
  5623. lcd_update_enable(true);
  5624. }
  5625. }
  5626. }
  5627. else
  5628. fsensor_autoload_check_start();
  5629. }
  5630. else
  5631. if (fsensor_autoload_enabled)
  5632. fsensor_autoload_check_stop();
  5633. #if defined(KILL_PIN) && KILL_PIN > -1
  5634. static int killCount = 0; // make the inactivity button a bit less responsive
  5635. const int KILL_DELAY = 10000;
  5636. #endif
  5637. if(buflen < (BUFSIZE-1)){
  5638. get_command();
  5639. }
  5640. if( (millis() - previous_millis_cmd) > max_inactive_time )
  5641. if(max_inactive_time)
  5642. kill("", 4);
  5643. if(stepper_inactive_time) {
  5644. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  5645. {
  5646. if(blocks_queued() == false && ignore_stepper_queue == false) {
  5647. disable_x();
  5648. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  5649. disable_y();
  5650. disable_z();
  5651. disable_e0();
  5652. disable_e1();
  5653. disable_e2();
  5654. }
  5655. }
  5656. }
  5657. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  5658. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  5659. {
  5660. chdkActive = false;
  5661. WRITE(CHDK, LOW);
  5662. }
  5663. #endif
  5664. #if defined(KILL_PIN) && KILL_PIN > -1
  5665. // Check if the kill button was pressed and wait just in case it was an accidental
  5666. // key kill key press
  5667. // -------------------------------------------------------------------------------
  5668. if( 0 == READ(KILL_PIN) )
  5669. {
  5670. killCount++;
  5671. }
  5672. else if (killCount > 0)
  5673. {
  5674. killCount--;
  5675. }
  5676. // Exceeded threshold and we can confirm that it was not accidental
  5677. // KILL the machine
  5678. // ----------------------------------------------------------------
  5679. if ( killCount >= KILL_DELAY)
  5680. {
  5681. kill("", 5);
  5682. }
  5683. #endif
  5684. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  5685. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  5686. #endif
  5687. #ifdef EXTRUDER_RUNOUT_PREVENT
  5688. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  5689. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  5690. {
  5691. bool oldstatus=READ(E0_ENABLE_PIN);
  5692. enable_e0();
  5693. float oldepos=current_position[E_AXIS];
  5694. float oldedes=destination[E_AXIS];
  5695. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  5696. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  5697. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  5698. current_position[E_AXIS]=oldepos;
  5699. destination[E_AXIS]=oldedes;
  5700. plan_set_e_position(oldepos);
  5701. previous_millis_cmd=millis();
  5702. st_synchronize();
  5703. WRITE(E0_ENABLE_PIN,oldstatus);
  5704. }
  5705. #endif
  5706. #ifdef TEMP_STAT_LEDS
  5707. handle_status_leds();
  5708. #endif
  5709. check_axes_activity();
  5710. }
  5711. void kill(const char *full_screen_message, unsigned char id)
  5712. {
  5713. SERIAL_ECHOPGM("KILL: ");
  5714. MYSERIAL.println(int(id));
  5715. //return;
  5716. cli(); // Stop interrupts
  5717. disable_heater();
  5718. disable_x();
  5719. // SERIAL_ECHOLNPGM("kill - disable Y");
  5720. disable_y();
  5721. disable_z();
  5722. disable_e0();
  5723. disable_e1();
  5724. disable_e2();
  5725. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  5726. pinMode(PS_ON_PIN,INPUT);
  5727. #endif
  5728. SERIAL_ERROR_START;
  5729. SERIAL_ERRORLNRPGM(MSG_ERR_KILLED);
  5730. if (full_screen_message != NULL) {
  5731. SERIAL_ERRORLNRPGM(full_screen_message);
  5732. lcd_display_message_fullscreen_P(full_screen_message);
  5733. } else {
  5734. LCD_ALERTMESSAGERPGM(MSG_KILLED);
  5735. }
  5736. // FMC small patch to update the LCD before ending
  5737. sei(); // enable interrupts
  5738. for ( int i=5; i--; lcd_update())
  5739. {
  5740. delay(200);
  5741. }
  5742. cli(); // disable interrupts
  5743. suicide();
  5744. while(1)
  5745. {
  5746. wdt_reset();
  5747. /* Intentionally left empty */
  5748. } // Wait for reset
  5749. }
  5750. void Stop()
  5751. {
  5752. disable_heater();
  5753. if(Stopped == false) {
  5754. Stopped = true;
  5755. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  5756. SERIAL_ERROR_START;
  5757. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  5758. LCD_MESSAGERPGM(MSG_STOPPED);
  5759. }
  5760. }
  5761. bool IsStopped() { return Stopped; };
  5762. #ifdef FAST_PWM_FAN
  5763. void setPwmFrequency(uint8_t pin, int val)
  5764. {
  5765. val &= 0x07;
  5766. switch(digitalPinToTimer(pin))
  5767. {
  5768. #if defined(TCCR0A)
  5769. case TIMER0A:
  5770. case TIMER0B:
  5771. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  5772. // TCCR0B |= val;
  5773. break;
  5774. #endif
  5775. #if defined(TCCR1A)
  5776. case TIMER1A:
  5777. case TIMER1B:
  5778. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  5779. // TCCR1B |= val;
  5780. break;
  5781. #endif
  5782. #if defined(TCCR2)
  5783. case TIMER2:
  5784. case TIMER2:
  5785. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  5786. TCCR2 |= val;
  5787. break;
  5788. #endif
  5789. #if defined(TCCR2A)
  5790. case TIMER2A:
  5791. case TIMER2B:
  5792. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  5793. TCCR2B |= val;
  5794. break;
  5795. #endif
  5796. #if defined(TCCR3A)
  5797. case TIMER3A:
  5798. case TIMER3B:
  5799. case TIMER3C:
  5800. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  5801. TCCR3B |= val;
  5802. break;
  5803. #endif
  5804. #if defined(TCCR4A)
  5805. case TIMER4A:
  5806. case TIMER4B:
  5807. case TIMER4C:
  5808. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  5809. TCCR4B |= val;
  5810. break;
  5811. #endif
  5812. #if defined(TCCR5A)
  5813. case TIMER5A:
  5814. case TIMER5B:
  5815. case TIMER5C:
  5816. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  5817. TCCR5B |= val;
  5818. break;
  5819. #endif
  5820. }
  5821. }
  5822. #endif //FAST_PWM_FAN
  5823. bool setTargetedHotend(int code){
  5824. tmp_extruder = active_extruder;
  5825. if(code_seen('T')) {
  5826. tmp_extruder = code_value();
  5827. if(tmp_extruder >= EXTRUDERS) {
  5828. SERIAL_ECHO_START;
  5829. switch(code){
  5830. case 104:
  5831. SERIAL_ECHORPGM(MSG_M104_INVALID_EXTRUDER);
  5832. break;
  5833. case 105:
  5834. SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
  5835. break;
  5836. case 109:
  5837. SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
  5838. break;
  5839. case 218:
  5840. SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
  5841. break;
  5842. case 221:
  5843. SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
  5844. break;
  5845. }
  5846. SERIAL_PROTOCOLLN((int)tmp_extruder);
  5847. return true;
  5848. }
  5849. }
  5850. return false;
  5851. }
  5852. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  5853. {
  5854. 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)
  5855. {
  5856. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  5857. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  5858. }
  5859. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  5860. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  5861. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  5862. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  5863. total_filament_used = 0;
  5864. }
  5865. float calculate_volumetric_multiplier(float diameter) {
  5866. float area = .0;
  5867. float radius = .0;
  5868. radius = diameter * .5;
  5869. if (! volumetric_enabled || radius == 0) {
  5870. area = 1;
  5871. }
  5872. else {
  5873. area = M_PI * pow(radius, 2);
  5874. }
  5875. return 1.0 / area;
  5876. }
  5877. void calculate_volumetric_multipliers() {
  5878. volumetric_multiplier[0] = calculate_volumetric_multiplier(filament_size[0]);
  5879. #if EXTRUDERS > 1
  5880. volumetric_multiplier[1] = calculate_volumetric_multiplier(filament_size[1]);
  5881. #if EXTRUDERS > 2
  5882. volumetric_multiplier[2] = calculate_volumetric_multiplier(filament_size[2]);
  5883. #endif
  5884. #endif
  5885. }
  5886. void delay_keep_alive(unsigned int ms)
  5887. {
  5888. for (;;) {
  5889. manage_heater();
  5890. // Manage inactivity, but don't disable steppers on timeout.
  5891. manage_inactivity(true);
  5892. lcd_update();
  5893. if (ms == 0)
  5894. break;
  5895. else if (ms >= 50) {
  5896. delay(50);
  5897. ms -= 50;
  5898. } else {
  5899. delay(ms);
  5900. ms = 0;
  5901. }
  5902. }
  5903. }
  5904. void wait_for_heater(long codenum) {
  5905. #ifdef TEMP_RESIDENCY_TIME
  5906. long residencyStart;
  5907. residencyStart = -1;
  5908. /* continue to loop until we have reached the target temp
  5909. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  5910. while ((!cancel_heatup) && ((residencyStart == -1) ||
  5911. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  5912. #else
  5913. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  5914. #endif //TEMP_RESIDENCY_TIME
  5915. if ((millis() - codenum) > 1000UL)
  5916. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  5917. if (!farm_mode) {
  5918. SERIAL_PROTOCOLPGM("T:");
  5919. SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
  5920. SERIAL_PROTOCOLPGM(" E:");
  5921. SERIAL_PROTOCOL((int)tmp_extruder);
  5922. #ifdef TEMP_RESIDENCY_TIME
  5923. SERIAL_PROTOCOLPGM(" W:");
  5924. if (residencyStart > -1)
  5925. {
  5926. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  5927. SERIAL_PROTOCOLLN(codenum);
  5928. }
  5929. else
  5930. {
  5931. SERIAL_PROTOCOLLN("?");
  5932. }
  5933. }
  5934. #else
  5935. SERIAL_PROTOCOLLN("");
  5936. #endif
  5937. codenum = millis();
  5938. }
  5939. manage_heater();
  5940. manage_inactivity();
  5941. lcd_update();
  5942. #ifdef TEMP_RESIDENCY_TIME
  5943. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  5944. or when current temp falls outside the hysteresis after target temp was reached */
  5945. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
  5946. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
  5947. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
  5948. {
  5949. residencyStart = millis();
  5950. }
  5951. #endif //TEMP_RESIDENCY_TIME
  5952. }
  5953. }
  5954. void check_babystep() {
  5955. int babystep_z;
  5956. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  5957. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  5958. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  5959. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  5960. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  5961. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  5962. lcd_update_enable(true);
  5963. }
  5964. }
  5965. #ifdef DIS
  5966. void d_setup()
  5967. {
  5968. pinMode(D_DATACLOCK, INPUT_PULLUP);
  5969. pinMode(D_DATA, INPUT_PULLUP);
  5970. pinMode(D_REQUIRE, OUTPUT);
  5971. digitalWrite(D_REQUIRE, HIGH);
  5972. }
  5973. float d_ReadData()
  5974. {
  5975. int digit[13];
  5976. String mergeOutput;
  5977. float output;
  5978. digitalWrite(D_REQUIRE, HIGH);
  5979. for (int i = 0; i<13; i++)
  5980. {
  5981. for (int j = 0; j < 4; j++)
  5982. {
  5983. while (digitalRead(D_DATACLOCK) == LOW) {}
  5984. while (digitalRead(D_DATACLOCK) == HIGH) {}
  5985. bitWrite(digit[i], j, digitalRead(D_DATA));
  5986. }
  5987. }
  5988. digitalWrite(D_REQUIRE, LOW);
  5989. mergeOutput = "";
  5990. output = 0;
  5991. for (int r = 5; r <= 10; r++) //Merge digits
  5992. {
  5993. mergeOutput += digit[r];
  5994. }
  5995. output = mergeOutput.toFloat();
  5996. if (digit[4] == 8) //Handle sign
  5997. {
  5998. output *= -1;
  5999. }
  6000. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6001. {
  6002. output /= 10;
  6003. }
  6004. return output;
  6005. }
  6006. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  6007. int t1 = 0;
  6008. int t_delay = 0;
  6009. int digit[13];
  6010. int m;
  6011. char str[3];
  6012. //String mergeOutput;
  6013. char mergeOutput[15];
  6014. float output;
  6015. int mesh_point = 0; //index number of calibration point
  6016. 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
  6017. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  6018. float mesh_home_z_search = 4;
  6019. float row[x_points_num];
  6020. int ix = 0;
  6021. int iy = 0;
  6022. char* filename_wldsd = "wldsd.txt";
  6023. char data_wldsd[70];
  6024. char numb_wldsd[10];
  6025. d_setup();
  6026. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  6027. // We don't know where we are! HOME!
  6028. // Push the commands to the front of the message queue in the reverse order!
  6029. // There shall be always enough space reserved for these commands.
  6030. repeatcommand_front(); // repeat G80 with all its parameters
  6031. enquecommand_front_P((PSTR("G28 W0")));
  6032. enquecommand_front_P((PSTR("G1 Z5")));
  6033. return;
  6034. }
  6035. bool custom_message_old = custom_message;
  6036. unsigned int custom_message_type_old = custom_message_type;
  6037. unsigned int custom_message_state_old = custom_message_state;
  6038. custom_message = true;
  6039. custom_message_type = 1;
  6040. custom_message_state = (x_points_num * y_points_num) + 10;
  6041. lcd_update(1);
  6042. mbl.reset();
  6043. babystep_undo();
  6044. card.openFile(filename_wldsd, false);
  6045. current_position[Z_AXIS] = mesh_home_z_search;
  6046. 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);
  6047. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  6048. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  6049. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  6050. setup_for_endstop_move(false);
  6051. SERIAL_PROTOCOLPGM("Num X,Y: ");
  6052. SERIAL_PROTOCOL(x_points_num);
  6053. SERIAL_PROTOCOLPGM(",");
  6054. SERIAL_PROTOCOL(y_points_num);
  6055. SERIAL_PROTOCOLPGM("\nZ search height: ");
  6056. SERIAL_PROTOCOL(mesh_home_z_search);
  6057. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  6058. SERIAL_PROTOCOL(x_dimension);
  6059. SERIAL_PROTOCOLPGM(",");
  6060. SERIAL_PROTOCOL(y_dimension);
  6061. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  6062. while (mesh_point != x_points_num * y_points_num) {
  6063. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  6064. iy = mesh_point / x_points_num;
  6065. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  6066. float z0 = 0.f;
  6067. current_position[Z_AXIS] = mesh_home_z_search;
  6068. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  6069. st_synchronize();
  6070. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  6071. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  6072. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  6073. st_synchronize();
  6074. 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
  6075. break;
  6076. card.closefile();
  6077. }
  6078. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6079. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  6080. //strcat(data_wldsd, numb_wldsd);
  6081. //MYSERIAL.println(data_wldsd);
  6082. //delay(1000);
  6083. //delay(3000);
  6084. //t1 = millis();
  6085. //while (digitalRead(D_DATACLOCK) == LOW) {}
  6086. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  6087. memset(digit, 0, sizeof(digit));
  6088. //cli();
  6089. digitalWrite(D_REQUIRE, LOW);
  6090. for (int i = 0; i<13; i++)
  6091. {
  6092. //t1 = millis();
  6093. for (int j = 0; j < 4; j++)
  6094. {
  6095. while (digitalRead(D_DATACLOCK) == LOW) {}
  6096. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6097. bitWrite(digit[i], j, digitalRead(D_DATA));
  6098. }
  6099. //t_delay = (millis() - t1);
  6100. //SERIAL_PROTOCOLPGM(" ");
  6101. //SERIAL_PROTOCOL_F(t_delay, 5);
  6102. //SERIAL_PROTOCOLPGM(" ");
  6103. }
  6104. //sei();
  6105. digitalWrite(D_REQUIRE, HIGH);
  6106. mergeOutput[0] = '\0';
  6107. output = 0;
  6108. for (int r = 5; r <= 10; r++) //Merge digits
  6109. {
  6110. sprintf(str, "%d", digit[r]);
  6111. strcat(mergeOutput, str);
  6112. }
  6113. output = atof(mergeOutput);
  6114. if (digit[4] == 8) //Handle sign
  6115. {
  6116. output *= -1;
  6117. }
  6118. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6119. {
  6120. output *= 0.1;
  6121. }
  6122. //output = d_ReadData();
  6123. //row[ix] = current_position[Z_AXIS];
  6124. memset(data_wldsd, 0, sizeof(data_wldsd));
  6125. for (int i = 0; i <3; i++) {
  6126. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6127. dtostrf(current_position[i], 8, 5, numb_wldsd);
  6128. strcat(data_wldsd, numb_wldsd);
  6129. strcat(data_wldsd, ";");
  6130. }
  6131. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6132. dtostrf(output, 8, 5, numb_wldsd);
  6133. strcat(data_wldsd, numb_wldsd);
  6134. //strcat(data_wldsd, ";");
  6135. card.write_command(data_wldsd);
  6136. //row[ix] = d_ReadData();
  6137. row[ix] = output; // current_position[Z_AXIS];
  6138. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  6139. for (int i = 0; i < x_points_num; i++) {
  6140. SERIAL_PROTOCOLPGM(" ");
  6141. SERIAL_PROTOCOL_F(row[i], 5);
  6142. }
  6143. SERIAL_PROTOCOLPGM("\n");
  6144. }
  6145. custom_message_state--;
  6146. mesh_point++;
  6147. lcd_update(1);
  6148. }
  6149. card.closefile();
  6150. }
  6151. #endif
  6152. void temp_compensation_start() {
  6153. custom_message = true;
  6154. custom_message_type = 5;
  6155. custom_message_state = PINDA_HEAT_T + 1;
  6156. lcd_update(2);
  6157. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  6158. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  6159. }
  6160. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  6161. current_position[X_AXIS] = PINDA_PREHEAT_X;
  6162. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  6163. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  6164. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  6165. st_synchronize();
  6166. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  6167. for (int i = 0; i < PINDA_HEAT_T; i++) {
  6168. delay_keep_alive(1000);
  6169. custom_message_state = PINDA_HEAT_T - i;
  6170. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  6171. else lcd_update(1);
  6172. }
  6173. custom_message_type = 0;
  6174. custom_message_state = 0;
  6175. custom_message = false;
  6176. }
  6177. void temp_compensation_apply() {
  6178. int i_add;
  6179. int compensation_value;
  6180. int z_shift = 0;
  6181. float z_shift_mm;
  6182. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  6183. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  6184. i_add = (target_temperature_bed - 60) / 10;
  6185. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  6186. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  6187. }else {
  6188. //interpolation
  6189. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  6190. }
  6191. SERIAL_PROTOCOLPGM("\n");
  6192. SERIAL_PROTOCOLPGM("Z shift applied:");
  6193. MYSERIAL.print(z_shift_mm);
  6194. 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);
  6195. st_synchronize();
  6196. plan_set_z_position(current_position[Z_AXIS]);
  6197. }
  6198. else {
  6199. //we have no temp compensation data
  6200. }
  6201. }
  6202. float temp_comp_interpolation(float inp_temperature) {
  6203. //cubic spline interpolation
  6204. int n, i, j, k;
  6205. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  6206. int shift[10];
  6207. int temp_C[10];
  6208. n = 6; //number of measured points
  6209. shift[0] = 0;
  6210. for (i = 0; i < n; i++) {
  6211. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  6212. temp_C[i] = 50 + i * 10; //temperature in C
  6213. #ifdef PINDA_THERMISTOR
  6214. temp_C[i] = 35 + i * 5; //temperature in C
  6215. #else
  6216. temp_C[i] = 50 + i * 10; //temperature in C
  6217. #endif
  6218. x[i] = (float)temp_C[i];
  6219. f[i] = (float)shift[i];
  6220. }
  6221. if (inp_temperature < x[0]) return 0;
  6222. for (i = n - 1; i>0; i--) {
  6223. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  6224. h[i - 1] = x[i] - x[i - 1];
  6225. }
  6226. //*********** formation of h, s , f matrix **************
  6227. for (i = 1; i<n - 1; i++) {
  6228. m[i][i] = 2 * (h[i - 1] + h[i]);
  6229. if (i != 1) {
  6230. m[i][i - 1] = h[i - 1];
  6231. m[i - 1][i] = h[i - 1];
  6232. }
  6233. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  6234. }
  6235. //*********** forward elimination **************
  6236. for (i = 1; i<n - 2; i++) {
  6237. temp = (m[i + 1][i] / m[i][i]);
  6238. for (j = 1; j <= n - 1; j++)
  6239. m[i + 1][j] -= temp*m[i][j];
  6240. }
  6241. //*********** backward substitution *********
  6242. for (i = n - 2; i>0; i--) {
  6243. sum = 0;
  6244. for (j = i; j <= n - 2; j++)
  6245. sum += m[i][j] * s[j];
  6246. s[i] = (m[i][n - 1] - sum) / m[i][i];
  6247. }
  6248. for (i = 0; i<n - 1; i++)
  6249. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  6250. a = (s[i + 1] - s[i]) / (6 * h[i]);
  6251. b = s[i] / 2;
  6252. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  6253. d = f[i];
  6254. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  6255. }
  6256. return sum;
  6257. }
  6258. #ifdef PINDA_THERMISTOR
  6259. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  6260. {
  6261. if (!temp_cal_active) return 0;
  6262. if (!calibration_status_pinda()) return 0;
  6263. return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
  6264. }
  6265. #endif //PINDA_THERMISTOR
  6266. void long_pause() //long pause print
  6267. {
  6268. st_synchronize();
  6269. //save currently set parameters to global variables
  6270. saved_feedmultiply = feedmultiply;
  6271. HotendTempBckp = degTargetHotend(active_extruder);
  6272. fanSpeedBckp = fanSpeed;
  6273. start_pause_print = millis();
  6274. //save position
  6275. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  6276. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  6277. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  6278. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  6279. //retract
  6280. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  6281. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  6282. //lift z
  6283. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  6284. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  6285. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  6286. //set nozzle target temperature to 0
  6287. setTargetHotend(0, 0);
  6288. setTargetHotend(0, 1);
  6289. setTargetHotend(0, 2);
  6290. //Move XY to side
  6291. current_position[X_AXIS] = X_PAUSE_POS;
  6292. current_position[Y_AXIS] = Y_PAUSE_POS;
  6293. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  6294. // Turn off the print fan
  6295. fanSpeed = 0;
  6296. st_synchronize();
  6297. }
  6298. void serialecho_temperatures() {
  6299. float tt = degHotend(active_extruder);
  6300. SERIAL_PROTOCOLPGM("T:");
  6301. SERIAL_PROTOCOL(tt);
  6302. SERIAL_PROTOCOLPGM(" E:");
  6303. SERIAL_PROTOCOL((int)active_extruder);
  6304. SERIAL_PROTOCOLPGM(" B:");
  6305. SERIAL_PROTOCOL_F(degBed(), 1);
  6306. SERIAL_PROTOCOLLN("");
  6307. }
  6308. extern uint32_t sdpos_atomic;
  6309. void uvlo_()
  6310. {
  6311. unsigned long time_start = millis();
  6312. bool sd_print = card.sdprinting;
  6313. // Conserve power as soon as possible.
  6314. disable_x();
  6315. disable_y();
  6316. disable_e0();
  6317. tmc2130_set_current_h(Z_AXIS, 20);
  6318. tmc2130_set_current_r(Z_AXIS, 20);
  6319. tmc2130_set_current_h(E_AXIS, 20);
  6320. tmc2130_set_current_r(E_AXIS, 20);
  6321. // Indicate that the interrupt has been triggered.
  6322. // SERIAL_ECHOLNPGM("UVLO");
  6323. // Read out the current Z motor microstep counter. This will be later used
  6324. // for reaching the zero full step before powering off.
  6325. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  6326. // Calculate the file position, from which to resume this print.
  6327. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  6328. {
  6329. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  6330. sd_position -= sdlen_planner;
  6331. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  6332. sd_position -= sdlen_cmdqueue;
  6333. if (sd_position < 0) sd_position = 0;
  6334. }
  6335. // Backup the feedrate in mm/min.
  6336. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  6337. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  6338. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  6339. // are in action.
  6340. planner_abort_hard();
  6341. // Store the current extruder position.
  6342. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  6343. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  6344. // Clean the input command queue.
  6345. cmdqueue_reset();
  6346. card.sdprinting = false;
  6347. // card.closefile();
  6348. // Enable stepper driver interrupt to move Z axis.
  6349. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  6350. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  6351. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  6352. sei();
  6353. plan_buffer_line(
  6354. current_position[X_AXIS],
  6355. current_position[Y_AXIS],
  6356. current_position[Z_AXIS],
  6357. current_position[E_AXIS] - DEFAULT_RETRACTION,
  6358. 95, active_extruder);
  6359. st_synchronize();
  6360. disable_e0();
  6361. plan_buffer_line(
  6362. current_position[X_AXIS],
  6363. current_position[Y_AXIS],
  6364. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  6365. current_position[E_AXIS] - DEFAULT_RETRACTION,
  6366. 40, active_extruder);
  6367. st_synchronize();
  6368. disable_e0();
  6369. plan_buffer_line(
  6370. current_position[X_AXIS],
  6371. current_position[Y_AXIS],
  6372. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  6373. current_position[E_AXIS] - DEFAULT_RETRACTION,
  6374. 40, active_extruder);
  6375. st_synchronize();
  6376. disable_e0();
  6377. disable_z();
  6378. // Move Z up to the next 0th full step.
  6379. // Write the file position.
  6380. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  6381. // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  6382. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  6383. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  6384. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  6385. // Scale the z value to 1u resolution.
  6386. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
  6387. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  6388. }
  6389. // Read out the current Z motor microstep counter. This will be later used
  6390. // for reaching the zero full step before powering off.
  6391. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  6392. // Store the current position.
  6393. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  6394. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  6395. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  6396. // Store the current feed rate, temperatures and fan speed.
  6397. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  6398. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  6399. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  6400. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  6401. // Finaly store the "power outage" flag.
  6402. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  6403. st_synchronize();
  6404. SERIAL_ECHOPGM("stps");
  6405. MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
  6406. disable_z();
  6407. // Increment power failure counter
  6408. uint8_t power_count = eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT);
  6409. power_count++;
  6410. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, power_count);
  6411. SERIAL_ECHOLNPGM("UVLO - end");
  6412. MYSERIAL.println(millis() - time_start);
  6413. #if 0
  6414. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  6415. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  6416. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  6417. st_synchronize();
  6418. #endif
  6419. cli();
  6420. volatile unsigned int ppcount = 0;
  6421. SET_OUTPUT(BEEPER);
  6422. WRITE(BEEPER, HIGH);
  6423. for(ppcount = 0; ppcount < 2000; ppcount ++){
  6424. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  6425. }
  6426. WRITE(BEEPER, LOW);
  6427. while(1){
  6428. #if 1
  6429. WRITE(BEEPER, LOW);
  6430. for(ppcount = 0; ppcount < 8000; ppcount ++){
  6431. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  6432. }
  6433. #endif
  6434. };
  6435. }
  6436. void setup_fan_interrupt() {
  6437. //INT7
  6438. DDRE &= ~(1 << 7); //input pin
  6439. PORTE &= ~(1 << 7); //no internal pull-up
  6440. //start with sensing rising edge
  6441. EICRB &= ~(1 << 6);
  6442. EICRB |= (1 << 7);
  6443. //enable INT7 interrupt
  6444. EIMSK |= (1 << 7);
  6445. }
  6446. ISR(INT7_vect) {
  6447. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  6448. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  6449. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  6450. t_fan_rising_edge = millis();
  6451. }
  6452. else { //interrupt was triggered by falling edge
  6453. if ((millis() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  6454. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  6455. }
  6456. }
  6457. EICRB ^= (1 << 6); //change edge
  6458. }
  6459. void setup_uvlo_interrupt() {
  6460. DDRE &= ~(1 << 4); //input pin
  6461. PORTE &= ~(1 << 4); //no internal pull-up
  6462. //sensing falling edge
  6463. EICRB |= (1 << 0);
  6464. EICRB &= ~(1 << 1);
  6465. //enable INT4 interrupt
  6466. EIMSK |= (1 << 4);
  6467. }
  6468. ISR(INT4_vect) {
  6469. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  6470. SERIAL_ECHOLNPGM("INT4");
  6471. if (IS_SD_PRINTING) uvlo_();
  6472. }
  6473. void recover_print(uint8_t automatic) {
  6474. char cmd[30];
  6475. lcd_update_enable(true);
  6476. lcd_update(2);
  6477. lcd_setstatuspgm(MSG_RECOVERING_PRINT);
  6478. recover_machine_state_after_power_panic();
  6479. // Set the target bed and nozzle temperatures.
  6480. sprintf_P(cmd, PSTR("M104 S%d"), target_temperature[active_extruder]);
  6481. enquecommand(cmd);
  6482. sprintf_P(cmd, PSTR("M140 S%d"), target_temperature_bed);
  6483. enquecommand(cmd);
  6484. // Lift the print head, so one may remove the excess priming material.
  6485. if (current_position[Z_AXIS] < 25)
  6486. enquecommand_P(PSTR("G1 Z25 F800"));
  6487. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  6488. enquecommand_P(PSTR("G28 X Y"));
  6489. // Set the target bed and nozzle temperatures and wait.
  6490. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  6491. enquecommand(cmd);
  6492. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  6493. enquecommand(cmd);
  6494. enquecommand_P(PSTR("M83")); //E axis relative mode
  6495. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  6496. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  6497. if(automatic == 0){
  6498. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  6499. }
  6500. enquecommand_P(PSTR("G1 E" STRINGIFY(-DEFAULT_RETRACTION)" F480"));
  6501. // Mark the power panic status as inactive.
  6502. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  6503. /*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
  6504. delay_keep_alive(1000);
  6505. }*/
  6506. SERIAL_ECHOPGM("After waiting for temp:");
  6507. SERIAL_ECHOPGM("Current position X_AXIS:");
  6508. MYSERIAL.println(current_position[X_AXIS]);
  6509. SERIAL_ECHOPGM("Current position Y_AXIS:");
  6510. MYSERIAL.println(current_position[Y_AXIS]);
  6511. // Restart the print.
  6512. restore_print_from_eeprom();
  6513. SERIAL_ECHOPGM("current_position[Z_AXIS]:");
  6514. MYSERIAL.print(current_position[Z_AXIS]);
  6515. SERIAL_ECHOPGM("current_position[E_AXIS]:");
  6516. MYSERIAL.print(current_position[E_AXIS]);
  6517. }
  6518. void recover_machine_state_after_power_panic()
  6519. {
  6520. char cmd[30];
  6521. // 1) Recover the logical cordinates at the time of the power panic.
  6522. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  6523. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  6524. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  6525. // Recover the logical coordinate of the Z axis at the time of the power panic.
  6526. // The current position after power panic is moved to the next closest 0th full step.
  6527. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  6528. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  6529. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
  6530. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  6531. sprintf_P(cmd, PSTR("G92 E"));
  6532. dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
  6533. enquecommand(cmd);
  6534. }
  6535. memcpy(destination, current_position, sizeof(destination));
  6536. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  6537. print_world_coordinates();
  6538. // 2) Initialize the logical to physical coordinate system transformation.
  6539. world2machine_initialize();
  6540. // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  6541. mbl.active = false;
  6542. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  6543. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  6544. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  6545. // Scale the z value to 10u resolution.
  6546. int16_t v;
  6547. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
  6548. if (v != 0)
  6549. mbl.active = true;
  6550. mbl.z_values[iy][ix] = float(v) * 0.001f;
  6551. }
  6552. if (mbl.active)
  6553. mbl.upsample_3x3();
  6554. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  6555. // print_mesh_bed_leveling_table();
  6556. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  6557. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  6558. babystep_load();
  6559. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  6560. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6561. // 6) Power up the motors, mark their positions as known.
  6562. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  6563. axis_known_position[X_AXIS] = true; enable_x();
  6564. axis_known_position[Y_AXIS] = true; enable_y();
  6565. axis_known_position[Z_AXIS] = true; enable_z();
  6566. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  6567. print_physical_coordinates();
  6568. // 7) Recover the target temperatures.
  6569. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  6570. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  6571. }
  6572. void restore_print_from_eeprom() {
  6573. float x_rec, y_rec, z_pos;
  6574. int feedrate_rec;
  6575. uint8_t fan_speed_rec;
  6576. char cmd[30];
  6577. char* c;
  6578. char filename[13];
  6579. uint8_t depth = 0;
  6580. char dir_name[9];
  6581. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  6582. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  6583. SERIAL_ECHOPGM("Feedrate:");
  6584. MYSERIAL.println(feedrate_rec);
  6585. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  6586. MYSERIAL.println(int(depth));
  6587. for (int i = 0; i < depth; i++) {
  6588. for (int j = 0; j < 8; j++) {
  6589. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  6590. }
  6591. dir_name[8] = '\0';
  6592. MYSERIAL.println(dir_name);
  6593. card.chdir(dir_name);
  6594. }
  6595. for (int i = 0; i < 8; i++) {
  6596. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  6597. }
  6598. filename[8] = '\0';
  6599. MYSERIAL.print(filename);
  6600. strcat_P(filename, PSTR(".gco"));
  6601. sprintf_P(cmd, PSTR("M23 %s"), filename);
  6602. for (c = &cmd[4]; *c; c++)
  6603. *c = tolower(*c);
  6604. enquecommand(cmd);
  6605. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  6606. SERIAL_ECHOPGM("Position read from eeprom:");
  6607. MYSERIAL.println(position);
  6608. // E axis relative mode.
  6609. enquecommand_P(PSTR("M83"));
  6610. // Move to the XY print position in logical coordinates, where the print has been killed.
  6611. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  6612. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  6613. strcat_P(cmd, PSTR(" F2000"));
  6614. enquecommand(cmd);
  6615. // Move the Z axis down to the print, in logical coordinates.
  6616. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  6617. enquecommand(cmd);
  6618. // Unretract.
  6619. enquecommand_P(PSTR("G1 E" STRINGIFY(2*DEFAULT_RETRACTION)" F480"));
  6620. // Set the feedrate saved at the power panic.
  6621. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  6622. enquecommand(cmd);
  6623. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  6624. {
  6625. float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  6626. enquecommand_P(PSTR("M82")); //E axis abslute mode
  6627. }
  6628. // Set the fan speed saved at the power panic.
  6629. strcpy_P(cmd, PSTR("M106 S"));
  6630. strcat(cmd, itostr3(int(fan_speed_rec)));
  6631. enquecommand(cmd);
  6632. // Set a position in the file.
  6633. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  6634. enquecommand(cmd);
  6635. // Start SD print.
  6636. enquecommand_P(PSTR("M24"));
  6637. }
  6638. ////////////////////////////////////////////////////////////////////////////////
  6639. // new save/restore printing
  6640. //extern uint32_t sdpos_atomic;
  6641. bool saved_printing = false;
  6642. uint32_t saved_sdpos = 0;
  6643. float saved_pos[4] = {0, 0, 0, 0};
  6644. // Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  6645. float saved_feedrate2 = 0;
  6646. uint8_t saved_active_extruder = 0;
  6647. bool saved_extruder_under_pressure = false;
  6648. void stop_and_save_print_to_ram(float z_move, float e_move)
  6649. {
  6650. if (saved_printing) return;
  6651. cli();
  6652. unsigned char nplanner_blocks = number_of_blocks();
  6653. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  6654. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  6655. saved_sdpos -= sdlen_planner;
  6656. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  6657. saved_sdpos -= sdlen_cmdqueue;
  6658. #if 0
  6659. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  6660. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  6661. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  6662. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  6663. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  6664. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  6665. SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  6666. {
  6667. card.setIndex(saved_sdpos);
  6668. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  6669. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  6670. MYSERIAL.print(char(card.get()));
  6671. SERIAL_ECHOLNPGM("Content of command buffer: ");
  6672. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  6673. MYSERIAL.print(char(card.get()));
  6674. SERIAL_ECHOLNPGM("End of command buffer");
  6675. }
  6676. {
  6677. // Print the content of the planner buffer, line by line:
  6678. card.setIndex(saved_sdpos);
  6679. int8_t iline = 0;
  6680. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  6681. SERIAL_ECHOPGM("Planner line (from file): ");
  6682. MYSERIAL.print(int(iline), DEC);
  6683. SERIAL_ECHOPGM(", length: ");
  6684. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  6685. SERIAL_ECHOPGM(", steps: (");
  6686. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  6687. SERIAL_ECHOPGM(",");
  6688. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  6689. SERIAL_ECHOPGM(",");
  6690. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  6691. SERIAL_ECHOPGM(",");
  6692. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  6693. SERIAL_ECHOPGM("), events: ");
  6694. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  6695. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  6696. MYSERIAL.print(char(card.get()));
  6697. }
  6698. }
  6699. {
  6700. // Print the content of the command buffer, line by line:
  6701. int8_t iline = 0;
  6702. union {
  6703. struct {
  6704. char lo;
  6705. char hi;
  6706. } lohi;
  6707. uint16_t value;
  6708. } sdlen_single;
  6709. int _bufindr = bufindr;
  6710. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  6711. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  6712. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  6713. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  6714. }
  6715. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  6716. MYSERIAL.print(int(iline), DEC);
  6717. SERIAL_ECHOPGM(", type: ");
  6718. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  6719. SERIAL_ECHOPGM(", len: ");
  6720. MYSERIAL.println(sdlen_single.value, DEC);
  6721. // Print the content of the buffer line.
  6722. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  6723. SERIAL_ECHOPGM("Buffer line (from file): ");
  6724. MYSERIAL.print(int(iline), DEC);
  6725. MYSERIAL.println(int(iline), DEC);
  6726. for (; sdlen_single.value > 0; -- sdlen_single.value)
  6727. MYSERIAL.print(char(card.get()));
  6728. if (-- _buflen == 0)
  6729. break;
  6730. // First skip the current command ID and iterate up to the end of the string.
  6731. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  6732. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  6733. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  6734. // If the end of the buffer was empty,
  6735. if (_bufindr == sizeof(cmdbuffer)) {
  6736. // skip to the start and find the nonzero command.
  6737. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  6738. }
  6739. }
  6740. }
  6741. #endif
  6742. #if 0
  6743. saved_feedrate2 = feedrate; //save feedrate
  6744. #else
  6745. // Try to deduce the feedrate from the first block of the planner.
  6746. // Speed is in mm/min.
  6747. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  6748. #endif
  6749. planner_abort_hard(); //abort printing
  6750. memcpy(saved_pos, current_position, sizeof(saved_pos));
  6751. saved_active_extruder = active_extruder; //save active_extruder
  6752. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  6753. cmdqueue_reset(); //empty cmdqueue
  6754. card.sdprinting = false;
  6755. // card.closefile();
  6756. saved_printing = true;
  6757. sei();
  6758. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  6759. #if 1
  6760. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  6761. char buf[48];
  6762. strcpy_P(buf, PSTR("G1 Z"));
  6763. dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
  6764. strcat_P(buf, PSTR(" E"));
  6765. // Relative extrusion
  6766. dtostrf(e_move, 6, 3, buf + strlen(buf));
  6767. strcat_P(buf, PSTR(" F"));
  6768. dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
  6769. // At this point the command queue is empty.
  6770. enquecommand(buf, false);
  6771. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  6772. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  6773. repeatcommand_front();
  6774. #else
  6775. 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);
  6776. st_synchronize(); //wait moving
  6777. memcpy(current_position, saved_pos, sizeof(saved_pos));
  6778. memcpy(destination, current_position, sizeof(destination));
  6779. #endif
  6780. }
  6781. }
  6782. void restore_print_from_ram_and_continue(float e_move)
  6783. {
  6784. if (!saved_printing) return;
  6785. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  6786. // current_position[axis] = st_get_position_mm(axis);
  6787. active_extruder = saved_active_extruder; //restore active_extruder
  6788. feedrate = saved_feedrate2; //restore feedrate
  6789. float e = saved_pos[E_AXIS] - e_move;
  6790. plan_set_e_position(e);
  6791. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], homing_feedrate[Z_AXIS]/13, active_extruder);
  6792. st_synchronize();
  6793. memcpy(current_position, saved_pos, sizeof(saved_pos));
  6794. memcpy(destination, current_position, sizeof(destination));
  6795. card.setIndex(saved_sdpos);
  6796. sdpos_atomic = saved_sdpos;
  6797. card.sdprinting = true;
  6798. saved_printing = false;
  6799. printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
  6800. }
  6801. void print_world_coordinates()
  6802. {
  6803. SERIAL_ECHOPGM("world coordinates: (");
  6804. MYSERIAL.print(current_position[X_AXIS], 3);
  6805. SERIAL_ECHOPGM(", ");
  6806. MYSERIAL.print(current_position[Y_AXIS], 3);
  6807. SERIAL_ECHOPGM(", ");
  6808. MYSERIAL.print(current_position[Z_AXIS], 3);
  6809. SERIAL_ECHOLNPGM(")");
  6810. }
  6811. void print_physical_coordinates()
  6812. {
  6813. SERIAL_ECHOPGM("physical coordinates: (");
  6814. MYSERIAL.print(st_get_position_mm(X_AXIS), 3);
  6815. SERIAL_ECHOPGM(", ");
  6816. MYSERIAL.print(st_get_position_mm(Y_AXIS), 3);
  6817. SERIAL_ECHOPGM(", ");
  6818. MYSERIAL.print(st_get_position_mm(Z_AXIS), 3);
  6819. SERIAL_ECHOLNPGM(")");
  6820. }
  6821. void print_mesh_bed_leveling_table()
  6822. {
  6823. SERIAL_ECHOPGM("mesh bed leveling: ");
  6824. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  6825. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  6826. MYSERIAL.print(mbl.z_values[y][x], 3);
  6827. SERIAL_ECHOPGM(" ");
  6828. }
  6829. SERIAL_ECHOLNPGM("");
  6830. }
  6831. #define FIL_LOAD_LENGTH 60
  6832. void extr_unload2() { //unloads filament
  6833. // float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  6834. // float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  6835. // int8_t SilentMode;
  6836. uint8_t snmm_extruder = 0;
  6837. if (degHotend0() > EXTRUDE_MINTEMP) {
  6838. lcd_implementation_clear();
  6839. lcd_display_message_fullscreen_P(PSTR(""));
  6840. max_feedrate[E_AXIS] = 50;
  6841. lcd.setCursor(0, 0); lcd_printPGM(MSG_UNLOADING_FILAMENT);
  6842. // lcd.print(" ");
  6843. // lcd.print(snmm_extruder + 1);
  6844. lcd.setCursor(0, 2); lcd_printPGM(MSG_PLEASE_WAIT);
  6845. if (current_position[Z_AXIS] < 15) {
  6846. current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
  6847. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, active_extruder);
  6848. }
  6849. current_position[E_AXIS] += 10; //extrusion
  6850. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 10, active_extruder);
  6851. // digipot_current(2, E_MOTOR_HIGH_CURRENT);
  6852. if (current_temperature[0] < 230) { //PLA & all other filaments
  6853. current_position[E_AXIS] += 5.4;
  6854. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  6855. current_position[E_AXIS] += 3.2;
  6856. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  6857. current_position[E_AXIS] += 3;
  6858. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  6859. }
  6860. else { //ABS
  6861. current_position[E_AXIS] += 3.1;
  6862. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  6863. current_position[E_AXIS] += 3.1;
  6864. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  6865. current_position[E_AXIS] += 4;
  6866. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  6867. /*current_position[X_AXIS] += 23; //delay
  6868. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay
  6869. current_position[X_AXIS] -= 23; //delay
  6870. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay*/
  6871. delay_keep_alive(4700);
  6872. }
  6873. max_feedrate[E_AXIS] = 80;
  6874. current_position[E_AXIS] -= (bowden_length[snmm_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
  6875. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  6876. current_position[E_AXIS] -= (bowden_length[snmm_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
  6877. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  6878. st_synchronize();
  6879. //digipot_init();
  6880. // if (SilentMode == 1) digipot_current(2, tmp_motor[2]); //set back to normal operation currents
  6881. // else digipot_current(2, tmp_motor_loud[2]);
  6882. lcd_update_enable(true);
  6883. // lcd_return_to_status();
  6884. max_feedrate[E_AXIS] = 50;
  6885. }
  6886. else {
  6887. lcd_implementation_clear();
  6888. lcd.setCursor(0, 0);
  6889. lcd_printPGM(MSG_ERROR);
  6890. lcd.setCursor(0, 2);
  6891. lcd_printPGM(MSG_PREHEAT_NOZZLE);
  6892. delay(2000);
  6893. lcd_implementation_clear();
  6894. }
  6895. // lcd_return_to_status();
  6896. }