Marlin_main.cpp 305 KB

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  1. /* -*- c++ -*- */
  2. /**
  3. * @file
  4. */
  5. /**
  6. * @mainpage Reprap 3D printer firmware based on Sprinter and grbl.
  7. *
  8. * @section intro_sec Introduction
  9. *
  10. * This firmware is a mashup between Sprinter and grbl.
  11. * https://github.com/kliment/Sprinter
  12. * https://github.com/simen/grbl/tree
  13. *
  14. * It has preliminary support for Matthew Roberts advance algorithm
  15. * http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  16. *
  17. * Prusa Research s.r.o. https://www.prusa3d.cz
  18. *
  19. * @section copyright_sec Copyright
  20. *
  21. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  22. *
  23. * This program is free software: you can redistribute it and/or modify
  24. * it under the terms of the GNU General Public License as published by
  25. * the Free Software Foundation, either version 3 of the License, or
  26. * (at your option) any later version.
  27. *
  28. * This program is distributed in the hope that it will be useful,
  29. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  30. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  31. * GNU General Public License for more details.
  32. *
  33. * You should have received a copy of the GNU General Public License
  34. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  35. *
  36. * @section notes_sec Notes
  37. *
  38. * * Do not create static objects in global functions.
  39. * Otherwise constructor guard against concurrent calls is generated costing
  40. * about 8B RAM and 14B flash.
  41. *
  42. *
  43. */
  44. #include "Marlin.h"
  45. #ifdef ENABLE_AUTO_BED_LEVELING
  46. #include "vector_3.h"
  47. #ifdef AUTO_BED_LEVELING_GRID
  48. #include "qr_solve.h"
  49. #endif
  50. #endif // ENABLE_AUTO_BED_LEVELING
  51. #ifdef MESH_BED_LEVELING
  52. #include "mesh_bed_leveling.h"
  53. #include "mesh_bed_calibration.h"
  54. #endif
  55. #include "printers.h"
  56. #include "menu.h"
  57. #include "ultralcd.h"
  58. #include "planner.h"
  59. #include "stepper.h"
  60. #include "temperature.h"
  61. #include "motion_control.h"
  62. #include "cardreader.h"
  63. #include "ConfigurationStore.h"
  64. #include "language.h"
  65. #include "pins_arduino.h"
  66. #include "math.h"
  67. #include "util.h"
  68. #include "Timer.h"
  69. #include <avr/wdt.h>
  70. #include <avr/pgmspace.h>
  71. #include "Dcodes.h"
  72. #ifdef SWSPI
  73. #include "swspi.h"
  74. #endif //SWSPI
  75. #include "spi.h"
  76. #ifdef SWI2C
  77. #include "swi2c.h"
  78. #endif //SWI2C
  79. #ifdef FILAMENT_SENSOR
  80. #include "fsensor.h"
  81. #endif //FILAMENT_SENSOR
  82. #ifdef TMC2130
  83. #include "tmc2130.h"
  84. #endif //TMC2130
  85. #ifdef W25X20CL
  86. #include "w25x20cl.h"
  87. #include "optiboot_w25x20cl.h"
  88. #endif //W25X20CL
  89. #ifdef BLINKM
  90. #include "BlinkM.h"
  91. #include "Wire.h"
  92. #endif
  93. #ifdef ULTRALCD
  94. #include "ultralcd.h"
  95. #endif
  96. #if NUM_SERVOS > 0
  97. #include "Servo.h"
  98. #endif
  99. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  100. #include <SPI.h>
  101. #endif
  102. #include "mmu.h"
  103. #define VERSION_STRING "1.0.2"
  104. #include "ultralcd.h"
  105. #include "sound.h"
  106. #include "cmdqueue.h"
  107. // Macros for bit masks
  108. #define BIT(b) (1<<(b))
  109. #define TEST(n,b) (((n)&BIT(b))!=0)
  110. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  111. //Macro for print fan speed
  112. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  113. #define PRINTING_TYPE_SD 0
  114. #define PRINTING_TYPE_USB 1
  115. //filament types
  116. #define FILAMENT_DEFAULT 0
  117. #define FILAMENT_FLEX 1
  118. #define FILAMENT_PVA 2
  119. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  120. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  121. //Implemented Codes
  122. //-------------------
  123. // PRUSA CODES
  124. // P F - Returns FW versions
  125. // P R - Returns revision of printer
  126. // G0 -> G1
  127. // G1 - Coordinated Movement X Y Z E
  128. // G2 - CW ARC
  129. // G3 - CCW ARC
  130. // G4 - Dwell S<seconds> or P<milliseconds>
  131. // G10 - retract filament according to settings of M207
  132. // G11 - retract recover filament according to settings of M208
  133. // G28 - Home all Axis
  134. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  135. // G30 - Single Z Probe, probes bed at current XY location.
  136. // G31 - Dock sled (Z_PROBE_SLED only)
  137. // G32 - Undock sled (Z_PROBE_SLED only)
  138. // G80 - Automatic mesh bed leveling
  139. // G81 - Print bed profile
  140. // G90 - Use Absolute Coordinates
  141. // G91 - Use Relative Coordinates
  142. // G92 - Set current position to coordinates given
  143. // M Codes
  144. // M0 - Unconditional stop - Wait for user to press a button on the LCD
  145. // M1 - Same as M0
  146. // M17 - Enable/Power all stepper motors
  147. // M18 - Disable all stepper motors; same as M84
  148. // M20 - List SD card
  149. // M21 - Init SD card
  150. // M22 - Release SD card
  151. // M23 - Select SD file (M23 filename.g)
  152. // M24 - Start/resume SD print
  153. // M25 - Pause SD print
  154. // M26 - Set SD position in bytes (M26 S12345)
  155. // M27 - Report SD print status
  156. // M28 - Start SD write (M28 filename.g)
  157. // M29 - Stop SD write
  158. // M30 - Delete file from SD (M30 filename.g)
  159. // M31 - Output time since last M109 or SD card start to serial
  160. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  161. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  162. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  163. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  164. // 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.
  165. // M73 - Show percent done and print time remaining
  166. // M80 - Turn on Power Supply
  167. // M81 - Turn off Power Supply
  168. // M82 - Set E codes absolute (default)
  169. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  170. // M84 - Disable steppers until next move,
  171. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  172. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  173. // M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
  174. // M92 - Set axis_steps_per_unit - same syntax as G92
  175. // M104 - Set extruder target temp
  176. // M105 - Read current temp
  177. // M106 - Fan on
  178. // M107 - Fan off
  179. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  180. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  181. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  182. // M112 - Emergency stop
  183. // M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  184. // M114 - Output current position to serial port
  185. // M115 - Capabilities string
  186. // M117 - display message
  187. // M119 - Output Endstop status to serial port
  188. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  189. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  190. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  191. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  192. // M140 - Set bed target temp
  193. // 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.
  194. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  195. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  196. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  197. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  198. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  199. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  200. // 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
  201. // 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
  202. // M206 - set additional homing offset
  203. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  204. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  205. // 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.
  206. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  207. // M220 S<factor in percent>- set speed factor override percentage
  208. // M221 S<factor in percent>- set extrude factor override percentage
  209. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  210. // M240 - Trigger a camera to take a photograph
  211. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  212. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  213. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  214. // M301 - Set PID parameters P I and D
  215. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  216. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  217. // M304 - Set bed PID parameters P I and D
  218. // M400 - Finish all moves
  219. // M401 - Lower z-probe if present
  220. // M402 - Raise z-probe if present
  221. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  222. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  223. // M406 - Turn off Filament Sensor extrusion control
  224. // M407 - Displays measured filament diameter
  225. // M500 - stores parameters in EEPROM
  226. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  227. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  228. // M503 - print the current settings (from memory not from EEPROM)
  229. // M509 - force language selection on next restart
  230. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  231. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  232. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  233. // M860 - Wait for PINDA thermistor to reach target temperature.
  234. // M861 - Set / Read PINDA temperature compensation offsets
  235. // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  236. // M907 - Set digital trimpot motor current using axis codes.
  237. // M908 - Control digital trimpot directly.
  238. // M350 - Set microstepping mode.
  239. // M351 - Toggle MS1 MS2 pins directly.
  240. // M928 - Start SD logging (M928 filename.g) - ended by M29
  241. // M999 - Restart after being stopped by error
  242. //Stepper Movement Variables
  243. //===========================================================================
  244. //=============================imported variables============================
  245. //===========================================================================
  246. //===========================================================================
  247. //=============================public variables=============================
  248. //===========================================================================
  249. #ifdef SDSUPPORT
  250. CardReader card;
  251. #endif
  252. unsigned long PingTime = millis();
  253. unsigned long NcTime;
  254. //used for PINDA temp calibration and pause print
  255. #define DEFAULT_RETRACTION 1
  256. #define DEFAULT_RETRACTION_MM 4 //MM
  257. float default_retraction = DEFAULT_RETRACTION;
  258. float homing_feedrate[] = HOMING_FEEDRATE;
  259. // Currently only the extruder axis may be switched to a relative mode.
  260. // Other axes are always absolute or relative based on the common relative_mode flag.
  261. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  262. int feedmultiply=100; //100->1 200->2
  263. int saved_feedmultiply;
  264. int extrudemultiply=100; //100->1 200->2
  265. int extruder_multiply[EXTRUDERS] = {100
  266. #if EXTRUDERS > 1
  267. , 100
  268. #if EXTRUDERS > 2
  269. , 100
  270. #endif
  271. #endif
  272. };
  273. int bowden_length[4] = {385, 385, 385, 385};
  274. bool is_usb_printing = false;
  275. bool homing_flag = false;
  276. bool temp_cal_active = false;
  277. unsigned long kicktime = millis()+100000;
  278. unsigned int usb_printing_counter;
  279. int8_t lcd_change_fil_state = 0;
  280. int feedmultiplyBckp = 100;
  281. float HotendTempBckp = 0;
  282. int fanSpeedBckp = 0;
  283. float pause_lastpos[4];
  284. unsigned long pause_time = 0;
  285. unsigned long start_pause_print = millis();
  286. unsigned long t_fan_rising_edge = millis();
  287. LongTimer safetyTimer;
  288. LongTimer crashDetTimer;
  289. //unsigned long load_filament_time;
  290. bool mesh_bed_leveling_flag = false;
  291. bool mesh_bed_run_from_menu = false;
  292. int8_t FarmMode = 0;
  293. bool prusa_sd_card_upload = false;
  294. unsigned int status_number = 0;
  295. unsigned long total_filament_used;
  296. unsigned int heating_status;
  297. unsigned int heating_status_counter;
  298. bool loading_flag = false;
  299. char snmm_filaments_used = 0;
  300. bool fan_state[2];
  301. int fan_edge_counter[2];
  302. int fan_speed[2];
  303. char dir_names[3][9];
  304. bool sortAlpha = false;
  305. bool volumetric_enabled = false;
  306. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  307. #if EXTRUDERS > 1
  308. , DEFAULT_NOMINAL_FILAMENT_DIA
  309. #if EXTRUDERS > 2
  310. , DEFAULT_NOMINAL_FILAMENT_DIA
  311. #endif
  312. #endif
  313. };
  314. float extruder_multiplier[EXTRUDERS] = {1.0
  315. #if EXTRUDERS > 1
  316. , 1.0
  317. #if EXTRUDERS > 2
  318. , 1.0
  319. #endif
  320. #endif
  321. };
  322. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  323. //shortcuts for more readable code
  324. #define _x current_position[X_AXIS]
  325. #define _y current_position[Y_AXIS]
  326. #define _z current_position[Z_AXIS]
  327. #define _e current_position[E_AXIS]
  328. float add_homing[3]={0,0,0};
  329. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  330. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  331. bool axis_known_position[3] = {false, false, false};
  332. float zprobe_zoffset;
  333. // Extruder offset
  334. #if EXTRUDERS > 1
  335. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  336. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  337. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  338. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  339. #endif
  340. };
  341. #endif
  342. uint8_t active_extruder = 0;
  343. int fanSpeed=0;
  344. #ifdef FWRETRACT
  345. bool autoretract_enabled=false;
  346. bool retracted[EXTRUDERS]={false
  347. #if EXTRUDERS > 1
  348. , false
  349. #if EXTRUDERS > 2
  350. , false
  351. #endif
  352. #endif
  353. };
  354. bool retracted_swap[EXTRUDERS]={false
  355. #if EXTRUDERS > 1
  356. , false
  357. #if EXTRUDERS > 2
  358. , false
  359. #endif
  360. #endif
  361. };
  362. float retract_length = RETRACT_LENGTH;
  363. float retract_length_swap = RETRACT_LENGTH_SWAP;
  364. float retract_feedrate = RETRACT_FEEDRATE;
  365. float retract_zlift = RETRACT_ZLIFT;
  366. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  367. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  368. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  369. #endif
  370. #ifdef PS_DEFAULT_OFF
  371. bool powersupply = false;
  372. #else
  373. bool powersupply = true;
  374. #endif
  375. bool cancel_heatup = false ;
  376. #ifdef HOST_KEEPALIVE_FEATURE
  377. int busy_state = NOT_BUSY;
  378. static long prev_busy_signal_ms = -1;
  379. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  380. #else
  381. #define host_keepalive();
  382. #define KEEPALIVE_STATE(n);
  383. #endif
  384. const char errormagic[] PROGMEM = "Error:";
  385. const char echomagic[] PROGMEM = "echo:";
  386. bool no_response = false;
  387. uint8_t important_status;
  388. uint8_t saved_filament_type;
  389. // save/restore printing
  390. bool saved_printing = false;
  391. // save/restore printing in case that mmu was not responding
  392. bool mmu_print_saved = false;
  393. // storing estimated time to end of print counted by slicer
  394. uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  395. uint32_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  396. uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  397. uint32_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  398. //===========================================================================
  399. //=============================Private Variables=============================
  400. //===========================================================================
  401. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  402. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  403. // For tracing an arc
  404. static float offset[3] = {0.0, 0.0, 0.0};
  405. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  406. // Determines Absolute or Relative Coordinates.
  407. // Also there is bool axis_relative_modes[] per axis flag.
  408. static bool relative_mode = false;
  409. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  410. //static float tt = 0;
  411. //static float bt = 0;
  412. //Inactivity shutdown variables
  413. static unsigned long previous_millis_cmd = 0;
  414. unsigned long max_inactive_time = 0;
  415. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  416. static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
  417. unsigned long starttime=0;
  418. unsigned long stoptime=0;
  419. unsigned long _usb_timer = 0;
  420. bool extruder_under_pressure = true;
  421. bool Stopped=false;
  422. #if NUM_SERVOS > 0
  423. Servo servos[NUM_SERVOS];
  424. #endif
  425. bool CooldownNoWait = true;
  426. bool target_direction;
  427. //Insert variables if CHDK is defined
  428. #ifdef CHDK
  429. unsigned long chdkHigh = 0;
  430. boolean chdkActive = false;
  431. #endif
  432. // save/restore printing
  433. static uint32_t saved_sdpos = 0;
  434. static uint8_t saved_printing_type = PRINTING_TYPE_SD;
  435. static float saved_pos[4] = { 0, 0, 0, 0 };
  436. // Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  437. static float saved_feedrate2 = 0;
  438. static uint8_t saved_active_extruder = 0;
  439. static bool saved_extruder_under_pressure = false;
  440. static bool saved_extruder_relative_mode = false;
  441. //===========================================================================
  442. //=============================Routines======================================
  443. //===========================================================================
  444. static void get_arc_coordinates();
  445. static bool setTargetedHotend(int code, uint8_t &extruder);
  446. static void print_time_remaining_init();
  447. static void wait_for_heater(long codenum, uint8_t extruder);
  448. uint16_t gcode_in_progress = 0;
  449. uint16_t mcode_in_progress = 0;
  450. void serial_echopair_P(const char *s_P, float v)
  451. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  452. void serial_echopair_P(const char *s_P, double v)
  453. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  454. void serial_echopair_P(const char *s_P, unsigned long v)
  455. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  456. #ifdef SDSUPPORT
  457. #include "SdFatUtil.h"
  458. int freeMemory() { return SdFatUtil::FreeRam(); }
  459. #else
  460. extern "C" {
  461. extern unsigned int __bss_end;
  462. extern unsigned int __heap_start;
  463. extern void *__brkval;
  464. int freeMemory() {
  465. int free_memory;
  466. if ((int)__brkval == 0)
  467. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  468. else
  469. free_memory = ((int)&free_memory) - ((int)__brkval);
  470. return free_memory;
  471. }
  472. }
  473. #endif //!SDSUPPORT
  474. void setup_killpin()
  475. {
  476. #if defined(KILL_PIN) && KILL_PIN > -1
  477. SET_INPUT(KILL_PIN);
  478. WRITE(KILL_PIN,HIGH);
  479. #endif
  480. }
  481. // Set home pin
  482. void setup_homepin(void)
  483. {
  484. #if defined(HOME_PIN) && HOME_PIN > -1
  485. SET_INPUT(HOME_PIN);
  486. WRITE(HOME_PIN,HIGH);
  487. #endif
  488. }
  489. void setup_photpin()
  490. {
  491. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  492. SET_OUTPUT(PHOTOGRAPH_PIN);
  493. WRITE(PHOTOGRAPH_PIN, LOW);
  494. #endif
  495. }
  496. void setup_powerhold()
  497. {
  498. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  499. SET_OUTPUT(SUICIDE_PIN);
  500. WRITE(SUICIDE_PIN, HIGH);
  501. #endif
  502. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  503. SET_OUTPUT(PS_ON_PIN);
  504. #if defined(PS_DEFAULT_OFF)
  505. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  506. #else
  507. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  508. #endif
  509. #endif
  510. }
  511. void suicide()
  512. {
  513. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  514. SET_OUTPUT(SUICIDE_PIN);
  515. WRITE(SUICIDE_PIN, LOW);
  516. #endif
  517. }
  518. void servo_init()
  519. {
  520. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  521. servos[0].attach(SERVO0_PIN);
  522. #endif
  523. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  524. servos[1].attach(SERVO1_PIN);
  525. #endif
  526. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  527. servos[2].attach(SERVO2_PIN);
  528. #endif
  529. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  530. servos[3].attach(SERVO3_PIN);
  531. #endif
  532. #if (NUM_SERVOS >= 5)
  533. #error "TODO: enter initalisation code for more servos"
  534. #endif
  535. }
  536. void stop_and_save_print_to_ram(float z_move, float e_move);
  537. void restore_print_from_ram_and_continue(float e_move);
  538. bool fans_check_enabled = true;
  539. #ifdef TMC2130
  540. extern int8_t CrashDetectMenu;
  541. void crashdet_enable()
  542. {
  543. tmc2130_sg_stop_on_crash = true;
  544. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
  545. CrashDetectMenu = 1;
  546. }
  547. void crashdet_disable()
  548. {
  549. tmc2130_sg_stop_on_crash = false;
  550. tmc2130_sg_crash = 0;
  551. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
  552. CrashDetectMenu = 0;
  553. }
  554. void crashdet_stop_and_save_print()
  555. {
  556. stop_and_save_print_to_ram(10, -default_retraction); //XY - no change, Z 10mm up, E -1mm retract
  557. }
  558. void crashdet_restore_print_and_continue()
  559. {
  560. restore_print_from_ram_and_continue(default_retraction); //XYZ = orig, E +1mm unretract
  561. // babystep_apply();
  562. }
  563. void crashdet_stop_and_save_print2()
  564. {
  565. cli();
  566. planner_abort_hard(); //abort printing
  567. cmdqueue_reset(); //empty cmdqueue
  568. card.sdprinting = false;
  569. card.closefile();
  570. // Reset and re-enable the stepper timer just before the global interrupts are enabled.
  571. st_reset_timer();
  572. sei();
  573. }
  574. void crashdet_detected(uint8_t mask)
  575. {
  576. st_synchronize();
  577. static uint8_t crashDet_counter = 0;
  578. bool automatic_recovery_after_crash = true;
  579. if (crashDet_counter++ == 0) {
  580. crashDetTimer.start();
  581. }
  582. else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
  583. crashDetTimer.stop();
  584. crashDet_counter = 0;
  585. }
  586. else if(crashDet_counter == CRASHDET_COUNTER_MAX){
  587. automatic_recovery_after_crash = false;
  588. crashDetTimer.stop();
  589. crashDet_counter = 0;
  590. }
  591. else {
  592. crashDetTimer.start();
  593. }
  594. lcd_update_enable(true);
  595. lcd_clear();
  596. lcd_update(2);
  597. if (mask & X_AXIS_MASK)
  598. {
  599. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  600. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  601. }
  602. if (mask & Y_AXIS_MASK)
  603. {
  604. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  605. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  606. }
  607. lcd_update_enable(true);
  608. lcd_update(2);
  609. lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
  610. gcode_G28(true, true, false); //home X and Y
  611. st_synchronize();
  612. if (automatic_recovery_after_crash) {
  613. enquecommand_P(PSTR("CRASH_RECOVER"));
  614. }else{
  615. HotendTempBckp = degTargetHotend(active_extruder);
  616. setTargetHotend(0, active_extruder);
  617. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
  618. lcd_update_enable(true);
  619. if (yesno)
  620. {
  621. char cmd1[10];
  622. strcpy(cmd1, "M109 S");
  623. strcat(cmd1, ftostr3(HotendTempBckp));
  624. enquecommand(cmd1);
  625. enquecommand_P(PSTR("CRASH_RECOVER"));
  626. }
  627. else
  628. {
  629. enquecommand_P(PSTR("CRASH_CANCEL"));
  630. }
  631. }
  632. }
  633. void crashdet_recover()
  634. {
  635. crashdet_restore_print_and_continue();
  636. tmc2130_sg_stop_on_crash = true;
  637. }
  638. void crashdet_cancel()
  639. {
  640. tmc2130_sg_stop_on_crash = true;
  641. if (saved_printing_type == PRINTING_TYPE_SD) {
  642. lcd_print_stop();
  643. }else if(saved_printing_type == PRINTING_TYPE_USB){
  644. SERIAL_ECHOLNPGM("// action:cancel"); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
  645. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  646. }
  647. }
  648. #endif //TMC2130
  649. void failstats_reset_print()
  650. {
  651. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  652. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  653. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  654. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  655. }
  656. #ifdef MESH_BED_LEVELING
  657. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  658. #endif
  659. // Factory reset function
  660. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  661. // Level input parameter sets depth of reset
  662. // Quiet parameter masks all waitings for user interact.
  663. int er_progress = 0;
  664. void factory_reset(char level, bool quiet)
  665. {
  666. lcd_clear();
  667. switch (level) {
  668. // Level 0: Language reset
  669. case 0:
  670. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  671. WRITE(BEEPER, HIGH);
  672. _delay_ms(100);
  673. WRITE(BEEPER, LOW);
  674. lang_reset();
  675. break;
  676. //Level 1: Reset statistics
  677. case 1:
  678. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  679. WRITE(BEEPER, HIGH);
  680. _delay_ms(100);
  681. WRITE(BEEPER, LOW);
  682. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  683. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  684. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  685. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  686. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  687. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  688. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  689. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  690. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  691. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  692. lcd_menu_statistics();
  693. break;
  694. // Level 2: Prepare for shipping
  695. case 2:
  696. //lcd_puts_P(PSTR("Factory RESET"));
  697. //lcd_puts_at_P(1,2,PSTR("Shipping prep"));
  698. // Force language selection at the next boot up.
  699. lang_reset();
  700. // Force the "Follow calibration flow" message at the next boot up.
  701. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  702. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  703. farm_no = 0;
  704. farm_mode = false;
  705. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  706. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  707. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  708. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  709. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  710. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  711. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  712. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  713. #ifdef FILAMENT_SENSOR
  714. fsensor_enable();
  715. fsensor_autoload_set(true);
  716. #endif //FILAMENT_SENSOR
  717. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  718. WRITE(BEEPER, HIGH);
  719. _delay_ms(100);
  720. WRITE(BEEPER, LOW);
  721. //_delay_ms(2000);
  722. break;
  723. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  724. case 3:
  725. lcd_puts_P(PSTR("Factory RESET"));
  726. lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
  727. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  728. WRITE(BEEPER, HIGH);
  729. _delay_ms(100);
  730. WRITE(BEEPER, LOW);
  731. er_progress = 0;
  732. lcd_puts_at_P(3, 3, PSTR(" "));
  733. lcd_set_cursor(3, 3);
  734. lcd_print(er_progress);
  735. // Erase EEPROM
  736. for (int i = 0; i < 4096; i++) {
  737. eeprom_write_byte((uint8_t*)i, 0xFF);
  738. if (i % 41 == 0) {
  739. er_progress++;
  740. lcd_puts_at_P(3, 3, PSTR(" "));
  741. lcd_set_cursor(3, 3);
  742. lcd_print(er_progress);
  743. lcd_puts_P(PSTR("%"));
  744. }
  745. }
  746. break;
  747. case 4:
  748. bowden_menu();
  749. break;
  750. default:
  751. break;
  752. }
  753. }
  754. FILE _uartout = {0};
  755. int uart_putchar(char c, FILE *stream)
  756. {
  757. MYSERIAL.write(c);
  758. return 0;
  759. }
  760. void lcd_splash()
  761. {
  762. // lcd_puts_at_P(0, 1, PSTR(" Original Prusa "));
  763. // lcd_puts_at_P(0, 2, PSTR(" 3D Printers "));
  764. // lcd_puts_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
  765. // fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
  766. lcd_puts_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"));
  767. // lcd_printf_P(_N(ESC_2J "x:%.3f\ny:%.3f\nz:%.3f\ne:%.3f"), _x, _y, _z, _e);
  768. }
  769. void factory_reset()
  770. {
  771. KEEPALIVE_STATE(PAUSED_FOR_USER);
  772. if (!READ(BTN_ENC))
  773. {
  774. _delay_ms(1000);
  775. if (!READ(BTN_ENC))
  776. {
  777. lcd_clear();
  778. lcd_puts_P(PSTR("Factory RESET"));
  779. SET_OUTPUT(BEEPER);
  780. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  781. WRITE(BEEPER, HIGH);
  782. while (!READ(BTN_ENC));
  783. WRITE(BEEPER, LOW);
  784. _delay_ms(2000);
  785. char level = reset_menu();
  786. factory_reset(level, false);
  787. switch (level) {
  788. case 0: _delay_ms(0); break;
  789. case 1: _delay_ms(0); break;
  790. case 2: _delay_ms(0); break;
  791. case 3: _delay_ms(0); break;
  792. }
  793. }
  794. }
  795. KEEPALIVE_STATE(IN_HANDLER);
  796. }
  797. void show_fw_version_warnings() {
  798. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  799. switch (FW_DEV_VERSION) {
  800. case(FW_VERSION_ALPHA): lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage.")); break;////MSG_FW_VERSION_ALPHA c=20 r=8
  801. case(FW_VERSION_BETA): lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage.")); break;////MSG_FW_VERSION_BETA c=20 r=8
  802. case(FW_VERSION_DEVEL):
  803. case(FW_VERSION_DEBUG):
  804. lcd_update_enable(false);
  805. lcd_clear();
  806. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  807. lcd_puts_at_P(0, 0, PSTR("Development build !!"));
  808. #else
  809. lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
  810. #endif
  811. lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
  812. lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
  813. lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
  814. lcd_wait_for_click();
  815. break;
  816. // default: lcd_show_fullscreen_message_and_wait_P(_i("WARNING: This is an unofficial, unsupported build. Use at your own risk!")); break;////MSG_FW_VERSION_UNKNOWN c=20 r=8
  817. }
  818. lcd_update_enable(true);
  819. }
  820. uint8_t check_printer_version()
  821. {
  822. uint8_t version_changed = 0;
  823. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  824. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  825. if (printer_type != PRINTER_TYPE) {
  826. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  827. else version_changed |= 0b10;
  828. }
  829. if (motherboard != MOTHERBOARD) {
  830. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  831. else version_changed |= 0b01;
  832. }
  833. return version_changed;
  834. }
  835. void erase_eeprom_section(uint16_t offset, uint16_t bytes)
  836. {
  837. for (unsigned int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
  838. }
  839. #ifdef BOOTAPP
  840. #include "bootapp.h" //bootloader support
  841. #endif //BOOTAPP
  842. #if (LANG_MODE != 0) //secondary language support
  843. #ifdef W25X20CL
  844. // language update from external flash
  845. #define LANGBOOT_BLOCKSIZE 0x1000u
  846. #define LANGBOOT_RAMBUFFER 0x0800
  847. void update_sec_lang_from_external_flash()
  848. {
  849. if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
  850. {
  851. uint8_t lang = boot_reserved >> 4;
  852. uint8_t state = boot_reserved & 0xf;
  853. lang_table_header_t header;
  854. uint32_t src_addr;
  855. if (lang_get_header(lang, &header, &src_addr))
  856. {
  857. fputs_P(PSTR(ESC_H(1,3) "Language update."), lcdout);
  858. for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
  859. delay(100);
  860. boot_reserved = (state + 1) | (lang << 4);
  861. if ((state * LANGBOOT_BLOCKSIZE) < header.size)
  862. {
  863. cli();
  864. uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
  865. if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
  866. w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
  867. if (state == 0)
  868. {
  869. //TODO - check header integrity
  870. }
  871. bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
  872. }
  873. else
  874. {
  875. //TODO - check sec lang data integrity
  876. eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
  877. }
  878. }
  879. }
  880. boot_app_flags &= ~BOOT_APP_FLG_USER0;
  881. }
  882. #ifdef DEBUG_W25X20CL
  883. uint8_t lang_xflash_enum_codes(uint16_t* codes)
  884. {
  885. lang_table_header_t header;
  886. uint8_t count = 0;
  887. uint32_t addr = 0x00000;
  888. while (1)
  889. {
  890. printf_P(_n("LANGTABLE%d:"), count);
  891. w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
  892. if (header.magic != LANG_MAGIC)
  893. {
  894. printf_P(_n("NG!\n"));
  895. break;
  896. }
  897. printf_P(_n("OK\n"));
  898. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  899. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  900. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  901. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  902. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  903. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  904. addr += header.size;
  905. codes[count] = header.code;
  906. count ++;
  907. }
  908. return count;
  909. }
  910. void list_sec_lang_from_external_flash()
  911. {
  912. uint16_t codes[8];
  913. uint8_t count = lang_xflash_enum_codes(codes);
  914. printf_P(_n("XFlash lang count = %hhd\n"), count);
  915. }
  916. #endif //DEBUG_W25X20CL
  917. #endif //W25X20CL
  918. #endif //(LANG_MODE != 0)
  919. // "Setup" function is called by the Arduino framework on startup.
  920. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  921. // are initialized by the main() routine provided by the Arduino framework.
  922. void setup()
  923. {
  924. mmu_init();
  925. ultralcd_init();
  926. spi_init();
  927. lcd_splash();
  928. Sound_Init(); // also guarantee "SET_OUTPUT(BEEPER)"
  929. #ifdef W25X20CL
  930. if (!w25x20cl_init())
  931. kill(_i("External SPI flash W25X20CL not responding."));
  932. // Enter an STK500 compatible Optiboot boot loader waiting for flashing the languages to an external flash memory.
  933. optiboot_w25x20cl_enter();
  934. #endif
  935. #if (LANG_MODE != 0) //secondary language support
  936. #ifdef W25X20CL
  937. if (w25x20cl_init())
  938. update_sec_lang_from_external_flash();
  939. #endif //W25X20CL
  940. #endif //(LANG_MODE != 0)
  941. setup_killpin();
  942. setup_powerhold();
  943. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  944. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  945. if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
  946. 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
  947. if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
  948. selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
  949. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  950. if (farm_mode)
  951. {
  952. no_response = true; //we need confirmation by recieving PRUSA thx
  953. important_status = 8;
  954. prusa_statistics(8);
  955. selectedSerialPort = 1;
  956. #ifdef TMC2130
  957. //increased extruder current (PFW363)
  958. tmc2130_current_h[E_AXIS] = 36;
  959. tmc2130_current_r[E_AXIS] = 36;
  960. #endif //TMC2130
  961. #ifdef FILAMENT_SENSOR
  962. //disabled filament autoload (PFW360)
  963. fsensor_autoload_set(false);
  964. #endif //FILAMENT_SENSOR
  965. }
  966. MYSERIAL.begin(BAUDRATE);
  967. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  968. stdout = uartout;
  969. SERIAL_PROTOCOLLNPGM("start");
  970. SERIAL_ECHO_START;
  971. printf_P(PSTR(" " FW_VERSION_FULL "\n"));
  972. #ifdef DEBUG_SEC_LANG
  973. lang_table_header_t header;
  974. uint32_t src_addr = 0x00000;
  975. if (lang_get_header(1, &header, &src_addr))
  976. {
  977. //this is comparsion of some printing-methods regarding to flash space usage and code size/readability
  978. #define LT_PRINT_TEST 2
  979. // flash usage
  980. // total p.test
  981. //0 252718 t+c text code
  982. //1 253142 424 170 254
  983. //2 253040 322 164 158
  984. //3 253248 530 135 395
  985. #if (LT_PRINT_TEST==1) //not optimized printf
  986. printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
  987. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  988. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  989. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  990. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  991. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  992. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  993. #elif (LT_PRINT_TEST==2) //optimized printf
  994. printf_P(
  995. _n(
  996. " _src_addr = 0x%08lx\n"
  997. " _lt_magic = 0x%08lx %S\n"
  998. " _lt_size = 0x%04x (%d)\n"
  999. " _lt_count = 0x%04x (%d)\n"
  1000. " _lt_chsum = 0x%04x\n"
  1001. " _lt_code = 0x%04x (%c%c)\n"
  1002. " _lt_resv1 = 0x%08lx\n"
  1003. ),
  1004. src_addr,
  1005. header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
  1006. header.size, header.size,
  1007. header.count, header.count,
  1008. header.checksum,
  1009. header.code, header.code >> 8, header.code & 0xff,
  1010. header.signature
  1011. );
  1012. #elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
  1013. MYSERIAL.print(" _src_addr = 0x");
  1014. MYSERIAL.println(src_addr, 16);
  1015. MYSERIAL.print(" _lt_magic = 0x");
  1016. MYSERIAL.print(header.magic, 16);
  1017. MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
  1018. MYSERIAL.print(" _lt_size = 0x");
  1019. MYSERIAL.print(header.size, 16);
  1020. MYSERIAL.print(" (");
  1021. MYSERIAL.print(header.size, 10);
  1022. MYSERIAL.println(")");
  1023. MYSERIAL.print(" _lt_count = 0x");
  1024. MYSERIAL.print(header.count, 16);
  1025. MYSERIAL.print(" (");
  1026. MYSERIAL.print(header.count, 10);
  1027. MYSERIAL.println(")");
  1028. MYSERIAL.print(" _lt_chsum = 0x");
  1029. MYSERIAL.println(header.checksum, 16);
  1030. MYSERIAL.print(" _lt_code = 0x");
  1031. MYSERIAL.print(header.code, 16);
  1032. MYSERIAL.print(" (");
  1033. MYSERIAL.print((char)(header.code >> 8), 0);
  1034. MYSERIAL.print((char)(header.code & 0xff), 0);
  1035. MYSERIAL.println(")");
  1036. MYSERIAL.print(" _lt_resv1 = 0x");
  1037. MYSERIAL.println(header.signature, 16);
  1038. #endif //(LT_PRINT_TEST==)
  1039. #undef LT_PRINT_TEST
  1040. #if 0
  1041. w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
  1042. for (uint16_t i = 0; i < 1024; i++)
  1043. {
  1044. if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
  1045. printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
  1046. if ((i % 16) == 15) putchar('\n');
  1047. }
  1048. #endif
  1049. uint16_t sum = 0;
  1050. for (uint16_t i = 0; i < header.size; i++)
  1051. sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
  1052. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1053. sum -= header.checksum; //subtract checksum
  1054. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1055. sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
  1056. if (sum == header.checksum)
  1057. printf_P(_n("Checksum OK\n"), sum);
  1058. else
  1059. printf_P(_n("Checksum NG\n"), sum);
  1060. }
  1061. else
  1062. printf_P(_n("lang_get_header failed!\n"));
  1063. #if 0
  1064. for (uint16_t i = 0; i < 1024*10; i++)
  1065. {
  1066. if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
  1067. printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
  1068. if ((i % 16) == 15) putchar('\n');
  1069. }
  1070. #endif
  1071. #if 0
  1072. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  1073. for (int i = 0; i < 4096; ++i) {
  1074. int b = eeprom_read_byte((unsigned char*)i);
  1075. if (b != 255) {
  1076. SERIAL_ECHO(i);
  1077. SERIAL_ECHO(":");
  1078. SERIAL_ECHO(b);
  1079. SERIAL_ECHOLN("");
  1080. }
  1081. }
  1082. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  1083. #endif
  1084. #endif //DEBUG_SEC_LANG
  1085. // Check startup - does nothing if bootloader sets MCUSR to 0
  1086. byte mcu = MCUSR;
  1087. /* if (mcu & 1) SERIAL_ECHOLNRPGM(_T(MSG_POWERUP));
  1088. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  1089. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  1090. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  1091. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  1092. if (mcu & 1) puts_P(_T(MSG_POWERUP));
  1093. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  1094. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  1095. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  1096. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  1097. MCUSR = 0;
  1098. //SERIAL_ECHORPGM(MSG_MARLIN);
  1099. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  1100. #ifdef STRING_VERSION_CONFIG_H
  1101. #ifdef STRING_CONFIG_H_AUTHOR
  1102. SERIAL_ECHO_START;
  1103. SERIAL_ECHORPGM(_i(" Last Updated: "));////MSG_CONFIGURATION_VER c=0 r=0
  1104. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  1105. SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR c=0 r=0
  1106. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  1107. SERIAL_ECHOPGM("Compiled: ");
  1108. SERIAL_ECHOLNPGM(__DATE__);
  1109. #endif
  1110. #endif
  1111. SERIAL_ECHO_START;
  1112. SERIAL_ECHORPGM(_i(" Free Memory: "));////MSG_FREE_MEMORY c=0 r=0
  1113. SERIAL_ECHO(freeMemory());
  1114. SERIAL_ECHORPGM(_i(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES c=0 r=0
  1115. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  1116. //lcd_update_enable(false); // why do we need this?? - andre
  1117. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  1118. bool previous_settings_retrieved = false;
  1119. uint8_t hw_changed = check_printer_version();
  1120. if (!(hw_changed & 0b10)) { //if printer version wasn't changed, check for eeprom version and retrieve settings from eeprom in case that version wasn't changed
  1121. previous_settings_retrieved = Config_RetrieveSettings(EEPROM_OFFSET);
  1122. }
  1123. else { //printer version was changed so use default settings
  1124. Config_ResetDefault();
  1125. }
  1126. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  1127. tp_init(); // Initialize temperature loop
  1128. lcd_splash(); // we need to do this again, because tp_init() kills lcd
  1129. plan_init(); // Initialize planner;
  1130. factory_reset();
  1131. lcd_encoder_diff=0;
  1132. #ifdef TMC2130
  1133. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1134. if (silentMode == 0xff) silentMode = 0;
  1135. tmc2130_mode = TMC2130_MODE_NORMAL;
  1136. uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
  1137. if (crashdet && !farm_mode)
  1138. {
  1139. crashdet_enable();
  1140. puts_P(_N("CrashDetect ENABLED!"));
  1141. }
  1142. else
  1143. {
  1144. crashdet_disable();
  1145. puts_P(_N("CrashDetect DISABLED"));
  1146. }
  1147. #ifdef TMC2130_LINEARITY_CORRECTION
  1148. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  1149. tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  1150. tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  1151. tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  1152. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  1153. tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
  1154. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  1155. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  1156. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  1157. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  1158. #endif //TMC2130_LINEARITY_CORRECTION
  1159. #ifdef TMC2130_VARIABLE_RESOLUTION
  1160. tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
  1161. tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
  1162. tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
  1163. tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
  1164. if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1165. if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1166. if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1167. if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1168. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
  1169. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
  1170. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
  1171. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
  1172. #else //TMC2130_VARIABLE_RESOLUTION
  1173. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1174. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1175. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1176. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1177. #endif //TMC2130_VARIABLE_RESOLUTION
  1178. #endif //TMC2130
  1179. st_init(); // Initialize stepper, this enables interrupts!
  1180. #ifdef TMC2130
  1181. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1182. update_mode_profile();
  1183. tmc2130_init();
  1184. #endif //TMC2130
  1185. setup_photpin();
  1186. servo_init();
  1187. // Reset the machine correction matrix.
  1188. // It does not make sense to load the correction matrix until the machine is homed.
  1189. world2machine_reset();
  1190. #ifdef FILAMENT_SENSOR
  1191. fsensor_init();
  1192. #endif //FILAMENT_SENSOR
  1193. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  1194. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  1195. #endif
  1196. setup_homepin();
  1197. #ifdef TMC2130
  1198. if (1) {
  1199. // try to run to zero phase before powering the Z motor.
  1200. // Move in negative direction
  1201. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  1202. // Round the current micro-micro steps to micro steps.
  1203. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
  1204. // Until the phase counter is reset to zero.
  1205. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  1206. delay(2);
  1207. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  1208. delay(2);
  1209. }
  1210. }
  1211. #endif //TMC2130
  1212. #if defined(Z_AXIS_ALWAYS_ON)
  1213. enable_z();
  1214. #endif
  1215. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  1216. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  1217. if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == static_cast<int>(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
  1218. if (farm_no == static_cast<int>(0xFFFF)) farm_no = 0;
  1219. if (farm_mode)
  1220. {
  1221. prusa_statistics(8);
  1222. }
  1223. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1224. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1225. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1226. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
  1227. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1228. // where all the EEPROM entries are set to 0x0ff.
  1229. // Once a firmware boots up, it forces at least a language selection, which changes
  1230. // EEPROM_LANG to number lower than 0x0ff.
  1231. // 1) Set a high power mode.
  1232. #ifdef TMC2130
  1233. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  1234. tmc2130_mode = TMC2130_MODE_NORMAL;
  1235. #endif //TMC2130
  1236. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  1237. }
  1238. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1239. // but this times out if a blocking dialog is shown in setup().
  1240. card.initsd();
  1241. #ifdef DEBUG_SD_SPEED_TEST
  1242. if (card.cardOK)
  1243. {
  1244. uint8_t* buff = (uint8_t*)block_buffer;
  1245. uint32_t block = 0;
  1246. uint32_t sumr = 0;
  1247. uint32_t sumw = 0;
  1248. for (int i = 0; i < 1024; i++)
  1249. {
  1250. uint32_t u = micros();
  1251. bool res = card.card.readBlock(i, buff);
  1252. u = micros() - u;
  1253. if (res)
  1254. {
  1255. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1256. sumr += u;
  1257. u = micros();
  1258. res = card.card.writeBlock(i, buff);
  1259. u = micros() - u;
  1260. if (res)
  1261. {
  1262. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1263. sumw += u;
  1264. }
  1265. else
  1266. {
  1267. printf_P(PSTR("writeBlock %4d error\n"), i);
  1268. break;
  1269. }
  1270. }
  1271. else
  1272. {
  1273. printf_P(PSTR("readBlock %4d error\n"), i);
  1274. break;
  1275. }
  1276. }
  1277. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1278. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1279. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1280. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1281. }
  1282. else
  1283. printf_P(PSTR("Card NG!\n"));
  1284. #endif //DEBUG_SD_SPEED_TEST
  1285. if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
  1286. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
  1287. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
  1288. if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
  1289. if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
  1290. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
  1291. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
  1292. if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
  1293. #ifdef SNMM
  1294. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1295. int _z = BOWDEN_LENGTH;
  1296. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1297. }
  1298. #endif
  1299. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1300. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1301. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1302. #if (LANG_MODE != 0) //secondary language support
  1303. #ifdef DEBUG_W25X20CL
  1304. W25X20CL_SPI_ENTER();
  1305. uint8_t uid[8]; // 64bit unique id
  1306. w25x20cl_rd_uid(uid);
  1307. puts_P(_n("W25X20CL UID="));
  1308. for (uint8_t i = 0; i < 8; i ++)
  1309. printf_P(PSTR("%02hhx"), uid[i]);
  1310. putchar('\n');
  1311. list_sec_lang_from_external_flash();
  1312. #endif //DEBUG_W25X20CL
  1313. // lang_reset();
  1314. if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
  1315. lcd_language();
  1316. #ifdef DEBUG_SEC_LANG
  1317. uint16_t sec_lang_code = lang_get_code(1);
  1318. uint16_t ui = _SEC_LANG_TABLE; //table pointer
  1319. printf_P(_n("lang_selected=%d\nlang_table=0x%04x\nSEC_LANG_CODE=0x%04x (%c%c)\n"), lang_selected, ui, sec_lang_code, sec_lang_code >> 8, sec_lang_code & 0xff);
  1320. // lang_print_sec_lang(uartout);
  1321. #endif //DEBUG_SEC_LANG
  1322. #endif //(LANG_MODE != 0)
  1323. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1324. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1325. temp_cal_active = false;
  1326. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  1327. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1328. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1329. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1330. int16_t z_shift = 0;
  1331. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  1332. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1333. temp_cal_active = false;
  1334. }
  1335. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1336. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1337. }
  1338. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1339. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1340. }
  1341. check_babystep(); //checking if Z babystep is in allowed range
  1342. #ifdef UVLO_SUPPORT
  1343. setup_uvlo_interrupt();
  1344. #endif //UVLO_SUPPORT
  1345. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1346. setup_fan_interrupt();
  1347. #endif //DEBUG_DISABLE_FANCHECK
  1348. #ifdef FILAMENT_SENSOR
  1349. fsensor_setup_interrupt();
  1350. #endif //FILAMENT_SENSOR
  1351. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1352. #ifndef DEBUG_DISABLE_STARTMSGS
  1353. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1354. show_fw_version_warnings();
  1355. switch (hw_changed) {
  1356. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1357. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1358. case(0b01):
  1359. lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
  1360. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1361. break;
  1362. case(0b10):
  1363. lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
  1364. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1365. break;
  1366. case(0b11):
  1367. lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
  1368. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1369. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1370. break;
  1371. default: break; //no change, show no message
  1372. }
  1373. if (!previous_settings_retrieved) {
  1374. lcd_show_fullscreen_message_and_wait_P(_i("Old settings found. Default PID, Esteps etc. will be set.")); //if EEPROM version or printer type was changed, inform user that default setting were loaded////MSG_DEFAULT_SETTINGS_LOADED c=20 r=4
  1375. erase_eeprom_section(EEPROM_OFFSET, 156); //erase M500 part of eeprom
  1376. }
  1377. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  1378. lcd_wizard(0);
  1379. }
  1380. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1381. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1382. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1383. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1384. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1385. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1386. // Show the message.
  1387. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1388. }
  1389. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1390. // Show the message.
  1391. lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  1392. lcd_update_enable(true);
  1393. }
  1394. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  1395. //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
  1396. lcd_update_enable(true);
  1397. }
  1398. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1399. // Show the message.
  1400. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_Z_CALIBRATION_FLOW));
  1401. }
  1402. }
  1403. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1404. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1405. lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
  1406. update_current_firmware_version_to_eeprom();
  1407. lcd_selftest();
  1408. }
  1409. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1410. KEEPALIVE_STATE(IN_PROCESS);
  1411. #endif //DEBUG_DISABLE_STARTMSGS
  1412. lcd_update_enable(true);
  1413. lcd_clear();
  1414. lcd_update(2);
  1415. // Store the currently running firmware into an eeprom,
  1416. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1417. update_current_firmware_version_to_eeprom();
  1418. #ifdef TMC2130
  1419. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1420. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1421. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1422. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1423. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1424. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1425. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1426. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1427. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1428. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1429. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1430. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1431. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1432. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1433. #endif //TMC2130
  1434. #ifdef UVLO_SUPPORT
  1435. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != 0) { //previous print was terminated by UVLO
  1436. /*
  1437. if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
  1438. else {
  1439. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1440. lcd_update_enable(true);
  1441. lcd_update(2);
  1442. lcd_setstatuspgm(_T(WELCOME_MSG));
  1443. }
  1444. */
  1445. manage_heater(); // Update temperatures
  1446. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1447. printf_P(_N("Power panic detected!\nCurrent bed temp:%d\nSaved bed temp:%d\n"), (int)degBed(), eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED))
  1448. #endif
  1449. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1450. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1451. puts_P(_N("Automatic recovery!"));
  1452. #endif
  1453. recover_print(1);
  1454. }
  1455. else{
  1456. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1457. puts_P(_N("Normal recovery!"));
  1458. #endif
  1459. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
  1460. else {
  1461. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1462. lcd_update_enable(true);
  1463. lcd_update(2);
  1464. lcd_setstatuspgm(_T(WELCOME_MSG));
  1465. }
  1466. }
  1467. }
  1468. #endif //UVLO_SUPPORT
  1469. KEEPALIVE_STATE(NOT_BUSY);
  1470. #ifdef WATCHDOG
  1471. wdt_enable(WDTO_4S);
  1472. #endif //WATCHDOG
  1473. }
  1474. void trace();
  1475. #define CHUNK_SIZE 64 // bytes
  1476. #define SAFETY_MARGIN 1
  1477. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1478. int chunkHead = 0;
  1479. void serial_read_stream() {
  1480. setAllTargetHotends(0);
  1481. setTargetBed(0);
  1482. lcd_clear();
  1483. lcd_puts_P(PSTR(" Upload in progress"));
  1484. // first wait for how many bytes we will receive
  1485. uint32_t bytesToReceive;
  1486. // receive the four bytes
  1487. char bytesToReceiveBuffer[4];
  1488. for (int i=0; i<4; i++) {
  1489. int data;
  1490. while ((data = MYSERIAL.read()) == -1) {};
  1491. bytesToReceiveBuffer[i] = data;
  1492. }
  1493. // make it a uint32
  1494. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1495. // we're ready, notify the sender
  1496. MYSERIAL.write('+');
  1497. // lock in the routine
  1498. uint32_t receivedBytes = 0;
  1499. while (prusa_sd_card_upload) {
  1500. int i;
  1501. for (i=0; i<CHUNK_SIZE; i++) {
  1502. int data;
  1503. // check if we're not done
  1504. if (receivedBytes == bytesToReceive) {
  1505. break;
  1506. }
  1507. // read the next byte
  1508. while ((data = MYSERIAL.read()) == -1) {};
  1509. receivedBytes++;
  1510. // save it to the chunk
  1511. chunk[i] = data;
  1512. }
  1513. // write the chunk to SD
  1514. card.write_command_no_newline(&chunk[0]);
  1515. // notify the sender we're ready for more data
  1516. MYSERIAL.write('+');
  1517. // for safety
  1518. manage_heater();
  1519. // check if we're done
  1520. if(receivedBytes == bytesToReceive) {
  1521. trace(); // beep
  1522. card.closefile();
  1523. prusa_sd_card_upload = false;
  1524. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1525. }
  1526. }
  1527. }
  1528. #ifdef HOST_KEEPALIVE_FEATURE
  1529. /**
  1530. * Output a "busy" message at regular intervals
  1531. * while the machine is not accepting commands.
  1532. */
  1533. void host_keepalive() {
  1534. if (farm_mode) return;
  1535. long ms = millis();
  1536. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1537. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1538. switch (busy_state) {
  1539. case IN_HANDLER:
  1540. case IN_PROCESS:
  1541. SERIAL_ECHO_START;
  1542. SERIAL_ECHOLNPGM("busy: processing");
  1543. break;
  1544. case PAUSED_FOR_USER:
  1545. SERIAL_ECHO_START;
  1546. SERIAL_ECHOLNPGM("busy: paused for user");
  1547. break;
  1548. case PAUSED_FOR_INPUT:
  1549. SERIAL_ECHO_START;
  1550. SERIAL_ECHOLNPGM("busy: paused for input");
  1551. break;
  1552. default:
  1553. break;
  1554. }
  1555. }
  1556. prev_busy_signal_ms = ms;
  1557. }
  1558. #endif
  1559. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1560. // Before loop(), the setup() function is called by the main() routine.
  1561. void loop()
  1562. {
  1563. KEEPALIVE_STATE(NOT_BUSY);
  1564. if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
  1565. {
  1566. is_usb_printing = true;
  1567. usb_printing_counter--;
  1568. _usb_timer = millis();
  1569. }
  1570. if (usb_printing_counter == 0)
  1571. {
  1572. is_usb_printing = false;
  1573. }
  1574. if (prusa_sd_card_upload)
  1575. {
  1576. //we read byte-by byte
  1577. serial_read_stream();
  1578. } else
  1579. {
  1580. get_command();
  1581. #ifdef SDSUPPORT
  1582. card.checkautostart(false);
  1583. #endif
  1584. if(buflen)
  1585. {
  1586. cmdbuffer_front_already_processed = false;
  1587. #ifdef SDSUPPORT
  1588. if(card.saving)
  1589. {
  1590. // Saving a G-code file onto an SD-card is in progress.
  1591. // Saving starts with M28, saving until M29 is seen.
  1592. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1593. card.write_command(CMDBUFFER_CURRENT_STRING);
  1594. if(card.logging)
  1595. process_commands();
  1596. else
  1597. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  1598. } else {
  1599. card.closefile();
  1600. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1601. }
  1602. } else {
  1603. process_commands();
  1604. }
  1605. #else
  1606. process_commands();
  1607. #endif //SDSUPPORT
  1608. if (! cmdbuffer_front_already_processed && buflen)
  1609. {
  1610. // ptr points to the start of the block currently being processed.
  1611. // The first character in the block is the block type.
  1612. char *ptr = cmdbuffer + bufindr;
  1613. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1614. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1615. union {
  1616. struct {
  1617. char lo;
  1618. char hi;
  1619. } lohi;
  1620. uint16_t value;
  1621. } sdlen;
  1622. sdlen.value = 0;
  1623. {
  1624. // This block locks the interrupts globally for 3.25 us,
  1625. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1626. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1627. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1628. cli();
  1629. // Reset the command to something, which will be ignored by the power panic routine,
  1630. // so this buffer length will not be counted twice.
  1631. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1632. // Extract the current buffer length.
  1633. sdlen.lohi.lo = *ptr ++;
  1634. sdlen.lohi.hi = *ptr;
  1635. // and pass it to the planner queue.
  1636. planner_add_sd_length(sdlen.value);
  1637. sei();
  1638. }
  1639. }
  1640. else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
  1641. cli();
  1642. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1643. // and one for each command to previous block in the planner queue.
  1644. planner_add_sd_length(1);
  1645. sei();
  1646. }
  1647. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1648. // this block's SD card length will not be counted twice as its command type has been replaced
  1649. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1650. cmdqueue_pop_front();
  1651. }
  1652. host_keepalive();
  1653. }
  1654. }
  1655. //check heater every n milliseconds
  1656. manage_heater();
  1657. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1658. checkHitEndstops();
  1659. lcd_update(0);
  1660. #ifdef FILAMENT_SENSOR
  1661. if (mcode_in_progress != 600 && !mmu_enabled) //M600 not in progress
  1662. fsensor_update();
  1663. #endif //FILAMENT_SENSOR
  1664. #ifdef TMC2130
  1665. tmc2130_check_overtemp();
  1666. if (tmc2130_sg_crash)
  1667. {
  1668. uint8_t crash = tmc2130_sg_crash;
  1669. tmc2130_sg_crash = 0;
  1670. // crashdet_stop_and_save_print();
  1671. switch (crash)
  1672. {
  1673. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1674. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1675. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1676. }
  1677. }
  1678. #endif //TMC2130
  1679. mmu_loop();
  1680. }
  1681. #define DEFINE_PGM_READ_ANY(type, reader) \
  1682. static inline type pgm_read_any(const type *p) \
  1683. { return pgm_read_##reader##_near(p); }
  1684. DEFINE_PGM_READ_ANY(float, float);
  1685. DEFINE_PGM_READ_ANY(signed char, byte);
  1686. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1687. static const PROGMEM type array##_P[3] = \
  1688. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1689. static inline type array(int axis) \
  1690. { return pgm_read_any(&array##_P[axis]); } \
  1691. type array##_ext(int axis) \
  1692. { return pgm_read_any(&array##_P[axis]); }
  1693. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1694. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1695. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1696. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1697. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1698. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1699. static void axis_is_at_home(int axis) {
  1700. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1701. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1702. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1703. }
  1704. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1705. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1706. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1707. saved_feedrate = feedrate;
  1708. saved_feedmultiply = feedmultiply;
  1709. feedmultiply = 100;
  1710. previous_millis_cmd = millis();
  1711. enable_endstops(enable_endstops_now);
  1712. }
  1713. static void clean_up_after_endstop_move() {
  1714. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1715. enable_endstops(false);
  1716. #endif
  1717. feedrate = saved_feedrate;
  1718. feedmultiply = saved_feedmultiply;
  1719. previous_millis_cmd = millis();
  1720. }
  1721. #ifdef ENABLE_AUTO_BED_LEVELING
  1722. #ifdef AUTO_BED_LEVELING_GRID
  1723. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1724. {
  1725. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1726. planeNormal.debug("planeNormal");
  1727. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1728. //bedLevel.debug("bedLevel");
  1729. //plan_bed_level_matrix.debug("bed level before");
  1730. //vector_3 uncorrected_position = plan_get_position_mm();
  1731. //uncorrected_position.debug("position before");
  1732. vector_3 corrected_position = plan_get_position();
  1733. // corrected_position.debug("position after");
  1734. current_position[X_AXIS] = corrected_position.x;
  1735. current_position[Y_AXIS] = corrected_position.y;
  1736. current_position[Z_AXIS] = corrected_position.z;
  1737. // put the bed at 0 so we don't go below it.
  1738. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1739. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1740. }
  1741. #else // not AUTO_BED_LEVELING_GRID
  1742. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1743. plan_bed_level_matrix.set_to_identity();
  1744. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1745. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1746. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1747. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1748. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1749. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1750. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1751. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1752. vector_3 corrected_position = plan_get_position();
  1753. current_position[X_AXIS] = corrected_position.x;
  1754. current_position[Y_AXIS] = corrected_position.y;
  1755. current_position[Z_AXIS] = corrected_position.z;
  1756. // put the bed at 0 so we don't go below it.
  1757. current_position[Z_AXIS] = zprobe_zoffset;
  1758. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1759. }
  1760. #endif // AUTO_BED_LEVELING_GRID
  1761. static void run_z_probe() {
  1762. plan_bed_level_matrix.set_to_identity();
  1763. feedrate = homing_feedrate[Z_AXIS];
  1764. // move down until you find the bed
  1765. float zPosition = -10;
  1766. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1767. st_synchronize();
  1768. // we have to let the planner know where we are right now as it is not where we said to go.
  1769. zPosition = st_get_position_mm(Z_AXIS);
  1770. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1771. // move up the retract distance
  1772. zPosition += home_retract_mm(Z_AXIS);
  1773. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1774. st_synchronize();
  1775. // move back down slowly to find bed
  1776. feedrate = homing_feedrate[Z_AXIS]/4;
  1777. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1778. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1779. st_synchronize();
  1780. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1781. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1782. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1783. }
  1784. static void do_blocking_move_to(float x, float y, float z) {
  1785. float oldFeedRate = feedrate;
  1786. feedrate = homing_feedrate[Z_AXIS];
  1787. current_position[Z_AXIS] = z;
  1788. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1789. st_synchronize();
  1790. feedrate = XY_TRAVEL_SPEED;
  1791. current_position[X_AXIS] = x;
  1792. current_position[Y_AXIS] = y;
  1793. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1794. st_synchronize();
  1795. feedrate = oldFeedRate;
  1796. }
  1797. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1798. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1799. }
  1800. /// Probe bed height at position (x,y), returns the measured z value
  1801. static float probe_pt(float x, float y, float z_before) {
  1802. // move to right place
  1803. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1804. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1805. run_z_probe();
  1806. float measured_z = current_position[Z_AXIS];
  1807. SERIAL_PROTOCOLRPGM(_T(MSG_BED));
  1808. SERIAL_PROTOCOLPGM(" x: ");
  1809. SERIAL_PROTOCOL(x);
  1810. SERIAL_PROTOCOLPGM(" y: ");
  1811. SERIAL_PROTOCOL(y);
  1812. SERIAL_PROTOCOLPGM(" z: ");
  1813. SERIAL_PROTOCOL(measured_z);
  1814. SERIAL_PROTOCOLPGM("\n");
  1815. return measured_z;
  1816. }
  1817. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1818. #ifdef LIN_ADVANCE
  1819. /**
  1820. * M900: Set and/or Get advance K factor and WH/D ratio
  1821. *
  1822. * K<factor> Set advance K factor
  1823. * R<ratio> Set ratio directly (overrides WH/D)
  1824. * W<width> H<height> D<diam> Set ratio from WH/D
  1825. */
  1826. inline void gcode_M900() {
  1827. st_synchronize();
  1828. const float newK = code_seen('K') ? code_value_float() : -1;
  1829. if (newK >= 0) extruder_advance_k = newK;
  1830. float newR = code_seen('R') ? code_value_float() : -1;
  1831. if (newR < 0) {
  1832. const float newD = code_seen('D') ? code_value_float() : -1,
  1833. newW = code_seen('W') ? code_value_float() : -1,
  1834. newH = code_seen('H') ? code_value_float() : -1;
  1835. if (newD >= 0 && newW >= 0 && newH >= 0)
  1836. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1837. }
  1838. if (newR >= 0) advance_ed_ratio = newR;
  1839. SERIAL_ECHO_START;
  1840. SERIAL_ECHOPGM("Advance K=");
  1841. SERIAL_ECHOLN(extruder_advance_k);
  1842. SERIAL_ECHOPGM(" E/D=");
  1843. const float ratio = advance_ed_ratio;
  1844. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1845. }
  1846. #endif // LIN_ADVANCE
  1847. bool check_commands() {
  1848. bool end_command_found = false;
  1849. while (buflen)
  1850. {
  1851. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1852. if (!cmdbuffer_front_already_processed)
  1853. cmdqueue_pop_front();
  1854. cmdbuffer_front_already_processed = false;
  1855. }
  1856. return end_command_found;
  1857. }
  1858. #ifdef TMC2130
  1859. bool calibrate_z_auto()
  1860. {
  1861. //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
  1862. lcd_clear();
  1863. lcd_puts_at_P(0,1, _T(MSG_CALIBRATE_Z_AUTO));
  1864. bool endstops_enabled = enable_endstops(true);
  1865. int axis_up_dir = -home_dir(Z_AXIS);
  1866. tmc2130_home_enter(Z_AXIS_MASK);
  1867. current_position[Z_AXIS] = 0;
  1868. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1869. set_destination_to_current();
  1870. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1871. feedrate = homing_feedrate[Z_AXIS];
  1872. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1873. st_synchronize();
  1874. // current_position[axis] = 0;
  1875. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1876. tmc2130_home_exit();
  1877. enable_endstops(false);
  1878. current_position[Z_AXIS] = 0;
  1879. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1880. set_destination_to_current();
  1881. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1882. feedrate = homing_feedrate[Z_AXIS] / 2;
  1883. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1884. st_synchronize();
  1885. enable_endstops(endstops_enabled);
  1886. current_position[Z_AXIS] = Z_MAX_POS+2.0;
  1887. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1888. return true;
  1889. }
  1890. #endif //TMC2130
  1891. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1892. {
  1893. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1894. #define HOMEAXIS_DO(LETTER) \
  1895. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1896. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1897. {
  1898. int axis_home_dir = home_dir(axis);
  1899. feedrate = homing_feedrate[axis];
  1900. #ifdef TMC2130
  1901. tmc2130_home_enter(X_AXIS_MASK << axis);
  1902. #endif //TMC2130
  1903. // Move right a bit, so that the print head does not touch the left end position,
  1904. // and the following left movement has a chance to achieve the required velocity
  1905. // for the stall guard to work.
  1906. current_position[axis] = 0;
  1907. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1908. set_destination_to_current();
  1909. // destination[axis] = 11.f;
  1910. destination[axis] = 3.f;
  1911. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1912. st_synchronize();
  1913. // Move left away from the possible collision with the collision detection disabled.
  1914. endstops_hit_on_purpose();
  1915. enable_endstops(false);
  1916. current_position[axis] = 0;
  1917. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1918. destination[axis] = - 1.;
  1919. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1920. st_synchronize();
  1921. // Now continue to move up to the left end stop with the collision detection enabled.
  1922. enable_endstops(true);
  1923. destination[axis] = - 1.1 * max_length(axis);
  1924. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1925. st_synchronize();
  1926. for (uint8_t i = 0; i < cnt; i++)
  1927. {
  1928. // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
  1929. endstops_hit_on_purpose();
  1930. enable_endstops(false);
  1931. current_position[axis] = 0;
  1932. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1933. destination[axis] = 10.f;
  1934. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1935. st_synchronize();
  1936. endstops_hit_on_purpose();
  1937. // Now move left up to the collision, this time with a repeatable velocity.
  1938. enable_endstops(true);
  1939. destination[axis] = - 11.f;
  1940. #ifdef TMC2130
  1941. feedrate = homing_feedrate[axis];
  1942. #else //TMC2130
  1943. feedrate = homing_feedrate[axis] / 2;
  1944. #endif //TMC2130
  1945. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1946. st_synchronize();
  1947. #ifdef TMC2130
  1948. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  1949. if (pstep) pstep[i] = mscnt >> 4;
  1950. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  1951. #endif //TMC2130
  1952. }
  1953. endstops_hit_on_purpose();
  1954. enable_endstops(false);
  1955. #ifdef TMC2130
  1956. uint8_t orig = tmc2130_home_origin[axis];
  1957. uint8_t back = tmc2130_home_bsteps[axis];
  1958. if (tmc2130_home_enabled && (orig <= 63))
  1959. {
  1960. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  1961. if (back > 0)
  1962. tmc2130_do_steps(axis, back, 1, 1000);
  1963. }
  1964. else
  1965. tmc2130_do_steps(axis, 8, 2, 1000);
  1966. tmc2130_home_exit();
  1967. #endif //TMC2130
  1968. axis_is_at_home(axis);
  1969. axis_known_position[axis] = true;
  1970. // Move from minimum
  1971. #ifdef TMC2130
  1972. float dist = 0.01f * tmc2130_home_fsteps[axis];
  1973. #else //TMC2130
  1974. float dist = 0.01f * 64;
  1975. #endif //TMC2130
  1976. current_position[axis] -= dist;
  1977. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1978. current_position[axis] += dist;
  1979. destination[axis] = current_position[axis];
  1980. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
  1981. st_synchronize();
  1982. feedrate = 0.0;
  1983. }
  1984. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  1985. {
  1986. #ifdef TMC2130
  1987. FORCE_HIGH_POWER_START;
  1988. #endif
  1989. int axis_home_dir = home_dir(axis);
  1990. current_position[axis] = 0;
  1991. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1992. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1993. feedrate = homing_feedrate[axis];
  1994. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1995. st_synchronize();
  1996. #ifdef TMC2130
  1997. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  1998. FORCE_HIGH_POWER_END;
  1999. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2000. return;
  2001. }
  2002. #endif //TMC2130
  2003. current_position[axis] = 0;
  2004. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2005. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  2006. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2007. st_synchronize();
  2008. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  2009. feedrate = homing_feedrate[axis]/2 ;
  2010. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2011. st_synchronize();
  2012. #ifdef TMC2130
  2013. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  2014. FORCE_HIGH_POWER_END;
  2015. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2016. return;
  2017. }
  2018. #endif //TMC2130
  2019. axis_is_at_home(axis);
  2020. destination[axis] = current_position[axis];
  2021. feedrate = 0.0;
  2022. endstops_hit_on_purpose();
  2023. axis_known_position[axis] = true;
  2024. #ifdef TMC2130
  2025. FORCE_HIGH_POWER_END;
  2026. #endif
  2027. }
  2028. enable_endstops(endstops_enabled);
  2029. }
  2030. /**/
  2031. void home_xy()
  2032. {
  2033. set_destination_to_current();
  2034. homeaxis(X_AXIS);
  2035. homeaxis(Y_AXIS);
  2036. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2037. endstops_hit_on_purpose();
  2038. }
  2039. void refresh_cmd_timeout(void)
  2040. {
  2041. previous_millis_cmd = millis();
  2042. }
  2043. #ifdef FWRETRACT
  2044. void retract(bool retracting, bool swapretract = false) {
  2045. if(retracting && !retracted[active_extruder]) {
  2046. destination[X_AXIS]=current_position[X_AXIS];
  2047. destination[Y_AXIS]=current_position[Y_AXIS];
  2048. destination[Z_AXIS]=current_position[Z_AXIS];
  2049. destination[E_AXIS]=current_position[E_AXIS];
  2050. current_position[E_AXIS]+=(swapretract?retract_length_swap:retract_length)*float(extrudemultiply)*0.01f;
  2051. plan_set_e_position(current_position[E_AXIS]);
  2052. float oldFeedrate = feedrate;
  2053. feedrate=retract_feedrate*60;
  2054. retracted[active_extruder]=true;
  2055. prepare_move();
  2056. current_position[Z_AXIS]-=retract_zlift;
  2057. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2058. prepare_move();
  2059. feedrate = oldFeedrate;
  2060. } else if(!retracting && retracted[active_extruder]) {
  2061. destination[X_AXIS]=current_position[X_AXIS];
  2062. destination[Y_AXIS]=current_position[Y_AXIS];
  2063. destination[Z_AXIS]=current_position[Z_AXIS];
  2064. destination[E_AXIS]=current_position[E_AXIS];
  2065. current_position[Z_AXIS]+=retract_zlift;
  2066. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2067. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(retract_length+retract_recover_length))*float(extrudemultiply)*0.01f;
  2068. plan_set_e_position(current_position[E_AXIS]);
  2069. float oldFeedrate = feedrate;
  2070. feedrate=retract_recover_feedrate*60;
  2071. retracted[active_extruder]=false;
  2072. prepare_move();
  2073. feedrate = oldFeedrate;
  2074. }
  2075. } //retract
  2076. #endif //FWRETRACT
  2077. void trace() {
  2078. //if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  2079. tone(BEEPER, 440);
  2080. delay(25);
  2081. noTone(BEEPER);
  2082. delay(20);
  2083. }
  2084. /*
  2085. void ramming() {
  2086. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  2087. if (current_temperature[0] < 230) {
  2088. //PLA
  2089. max_feedrate[E_AXIS] = 50;
  2090. //current_position[E_AXIS] -= 8;
  2091. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2092. //current_position[E_AXIS] += 8;
  2093. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2094. current_position[E_AXIS] += 5.4;
  2095. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  2096. current_position[E_AXIS] += 3.2;
  2097. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2098. current_position[E_AXIS] += 3;
  2099. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  2100. st_synchronize();
  2101. max_feedrate[E_AXIS] = 80;
  2102. current_position[E_AXIS] -= 82;
  2103. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  2104. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2105. current_position[E_AXIS] -= 20;
  2106. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  2107. current_position[E_AXIS] += 5;
  2108. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  2109. current_position[E_AXIS] += 5;
  2110. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2111. current_position[E_AXIS] -= 10;
  2112. st_synchronize();
  2113. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2114. current_position[E_AXIS] += 10;
  2115. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2116. current_position[E_AXIS] -= 10;
  2117. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2118. current_position[E_AXIS] += 10;
  2119. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2120. current_position[E_AXIS] -= 10;
  2121. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2122. st_synchronize();
  2123. }
  2124. else {
  2125. //ABS
  2126. max_feedrate[E_AXIS] = 50;
  2127. //current_position[E_AXIS] -= 8;
  2128. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2129. //current_position[E_AXIS] += 8;
  2130. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2131. current_position[E_AXIS] += 3.1;
  2132. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  2133. current_position[E_AXIS] += 3.1;
  2134. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  2135. current_position[E_AXIS] += 4;
  2136. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2137. st_synchronize();
  2138. //current_position[X_AXIS] += 23; //delay
  2139. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  2140. //current_position[X_AXIS] -= 23; //delay
  2141. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  2142. delay(4700);
  2143. max_feedrate[E_AXIS] = 80;
  2144. current_position[E_AXIS] -= 92;
  2145. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  2146. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2147. current_position[E_AXIS] -= 5;
  2148. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2149. current_position[E_AXIS] += 5;
  2150. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  2151. current_position[E_AXIS] -= 5;
  2152. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2153. st_synchronize();
  2154. current_position[E_AXIS] += 5;
  2155. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2156. current_position[E_AXIS] -= 5;
  2157. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2158. current_position[E_AXIS] += 5;
  2159. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2160. current_position[E_AXIS] -= 5;
  2161. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2162. st_synchronize();
  2163. }
  2164. }
  2165. */
  2166. #ifdef TMC2130
  2167. void force_high_power_mode(bool start_high_power_section) {
  2168. uint8_t silent;
  2169. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  2170. if (silent == 1) {
  2171. //we are in silent mode, set to normal mode to enable crash detection
  2172. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  2173. st_synchronize();
  2174. cli();
  2175. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  2176. update_mode_profile();
  2177. tmc2130_init();
  2178. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  2179. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  2180. st_reset_timer();
  2181. sei();
  2182. }
  2183. }
  2184. #endif //TMC2130
  2185. void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis) {
  2186. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
  2187. }
  2188. void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl) {
  2189. st_synchronize();
  2190. #if 0
  2191. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2192. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2193. #endif
  2194. // Flag for the display update routine and to disable the print cancelation during homing.
  2195. homing_flag = true;
  2196. // Which axes should be homed?
  2197. bool home_x = home_x_axis;
  2198. bool home_y = home_y_axis;
  2199. bool home_z = home_z_axis;
  2200. // Either all X,Y,Z codes are present, or none of them.
  2201. bool home_all_axes = home_x == home_y && home_x == home_z;
  2202. if (home_all_axes)
  2203. // No X/Y/Z code provided means to home all axes.
  2204. home_x = home_y = home_z = true;
  2205. //if we are homing all axes, first move z higher to protect heatbed/steel sheet
  2206. if (home_all_axes) {
  2207. current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
  2208. feedrate = homing_feedrate[Z_AXIS];
  2209. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  2210. st_synchronize();
  2211. }
  2212. #ifdef ENABLE_AUTO_BED_LEVELING
  2213. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2214. #endif //ENABLE_AUTO_BED_LEVELING
  2215. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2216. // the planner will not perform any adjustments in the XY plane.
  2217. // Wait for the motors to stop and update the current position with the absolute values.
  2218. world2machine_revert_to_uncorrected();
  2219. // For mesh bed leveling deactivate the matrix temporarily.
  2220. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2221. // in a single axis only.
  2222. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2223. #ifdef MESH_BED_LEVELING
  2224. uint8_t mbl_was_active = mbl.active;
  2225. mbl.active = 0;
  2226. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2227. #endif
  2228. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2229. // consumed during the first movements following this statement.
  2230. if (home_z)
  2231. babystep_undo();
  2232. saved_feedrate = feedrate;
  2233. saved_feedmultiply = feedmultiply;
  2234. feedmultiply = 100;
  2235. previous_millis_cmd = millis();
  2236. enable_endstops(true);
  2237. memcpy(destination, current_position, sizeof(destination));
  2238. feedrate = 0.0;
  2239. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2240. if(home_z)
  2241. homeaxis(Z_AXIS);
  2242. #endif
  2243. #ifdef QUICK_HOME
  2244. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2245. if(home_x && home_y) //first diagonal move
  2246. {
  2247. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2248. int x_axis_home_dir = home_dir(X_AXIS);
  2249. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2250. 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);
  2251. feedrate = homing_feedrate[X_AXIS];
  2252. if(homing_feedrate[Y_AXIS]<feedrate)
  2253. feedrate = homing_feedrate[Y_AXIS];
  2254. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2255. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2256. } else {
  2257. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2258. }
  2259. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2260. st_synchronize();
  2261. axis_is_at_home(X_AXIS);
  2262. axis_is_at_home(Y_AXIS);
  2263. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2264. destination[X_AXIS] = current_position[X_AXIS];
  2265. destination[Y_AXIS] = current_position[Y_AXIS];
  2266. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2267. feedrate = 0.0;
  2268. st_synchronize();
  2269. endstops_hit_on_purpose();
  2270. current_position[X_AXIS] = destination[X_AXIS];
  2271. current_position[Y_AXIS] = destination[Y_AXIS];
  2272. current_position[Z_AXIS] = destination[Z_AXIS];
  2273. }
  2274. #endif /* QUICK_HOME */
  2275. #ifdef TMC2130
  2276. if(home_x)
  2277. {
  2278. if (!calib)
  2279. homeaxis(X_AXIS);
  2280. else
  2281. tmc2130_home_calibrate(X_AXIS);
  2282. }
  2283. if(home_y)
  2284. {
  2285. if (!calib)
  2286. homeaxis(Y_AXIS);
  2287. else
  2288. tmc2130_home_calibrate(Y_AXIS);
  2289. }
  2290. #endif //TMC2130
  2291. if(home_x_axis && home_x_value != 0)
  2292. current_position[X_AXIS]=home_x_value+add_homing[X_AXIS];
  2293. if(home_y_axis && home_y_value != 0)
  2294. current_position[Y_AXIS]=home_y_value+add_homing[Y_AXIS];
  2295. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2296. #ifndef Z_SAFE_HOMING
  2297. if(home_z) {
  2298. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2299. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2300. feedrate = max_feedrate[Z_AXIS];
  2301. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2302. st_synchronize();
  2303. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2304. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
  2305. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2306. {
  2307. homeaxis(X_AXIS);
  2308. homeaxis(Y_AXIS);
  2309. }
  2310. // 1st mesh bed leveling measurement point, corrected.
  2311. world2machine_initialize();
  2312. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2313. world2machine_reset();
  2314. if (destination[Y_AXIS] < Y_MIN_POS)
  2315. destination[Y_AXIS] = Y_MIN_POS;
  2316. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2317. feedrate = homing_feedrate[Z_AXIS]/10;
  2318. current_position[Z_AXIS] = 0;
  2319. enable_endstops(false);
  2320. #ifdef DEBUG_BUILD
  2321. SERIAL_ECHOLNPGM("plan_set_position()");
  2322. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2323. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2324. #endif
  2325. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2326. #ifdef DEBUG_BUILD
  2327. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2328. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2329. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2330. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2331. #endif
  2332. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2333. st_synchronize();
  2334. current_position[X_AXIS] = destination[X_AXIS];
  2335. current_position[Y_AXIS] = destination[Y_AXIS];
  2336. enable_endstops(true);
  2337. endstops_hit_on_purpose();
  2338. homeaxis(Z_AXIS);
  2339. #else // MESH_BED_LEVELING
  2340. homeaxis(Z_AXIS);
  2341. #endif // MESH_BED_LEVELING
  2342. }
  2343. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2344. if(home_all_axes) {
  2345. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2346. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2347. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2348. feedrate = XY_TRAVEL_SPEED/60;
  2349. current_position[Z_AXIS] = 0;
  2350. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2351. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2352. st_synchronize();
  2353. current_position[X_AXIS] = destination[X_AXIS];
  2354. current_position[Y_AXIS] = destination[Y_AXIS];
  2355. homeaxis(Z_AXIS);
  2356. }
  2357. // Let's see if X and Y are homed and probe is inside bed area.
  2358. if(home_z) {
  2359. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2360. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2361. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2362. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2363. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2364. current_position[Z_AXIS] = 0;
  2365. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2366. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2367. feedrate = max_feedrate[Z_AXIS];
  2368. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2369. st_synchronize();
  2370. homeaxis(Z_AXIS);
  2371. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2372. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2373. SERIAL_ECHO_START;
  2374. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2375. } else {
  2376. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2377. SERIAL_ECHO_START;
  2378. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2379. }
  2380. }
  2381. #endif // Z_SAFE_HOMING
  2382. #endif // Z_HOME_DIR < 0
  2383. if(home_z_axis && home_z_value != 0)
  2384. current_position[Z_AXIS]=home_z_value+add_homing[Z_AXIS];
  2385. #ifdef ENABLE_AUTO_BED_LEVELING
  2386. if(home_z)
  2387. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2388. #endif
  2389. // Set the planner and stepper routine positions.
  2390. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2391. // contains the machine coordinates.
  2392. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2393. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2394. enable_endstops(false);
  2395. #endif
  2396. feedrate = saved_feedrate;
  2397. feedmultiply = saved_feedmultiply;
  2398. previous_millis_cmd = millis();
  2399. endstops_hit_on_purpose();
  2400. #ifndef MESH_BED_LEVELING
  2401. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2402. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2403. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2404. lcd_adjust_z();
  2405. #endif
  2406. // Load the machine correction matrix
  2407. world2machine_initialize();
  2408. // and correct the current_position XY axes to match the transformed coordinate system.
  2409. world2machine_update_current();
  2410. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2411. if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
  2412. {
  2413. if (! home_z && mbl_was_active) {
  2414. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2415. mbl.active = true;
  2416. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2417. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2418. }
  2419. }
  2420. else
  2421. {
  2422. st_synchronize();
  2423. homing_flag = false;
  2424. }
  2425. #endif
  2426. if (farm_mode) { prusa_statistics(20); };
  2427. homing_flag = false;
  2428. #if 0
  2429. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2430. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2431. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2432. #endif
  2433. }
  2434. void adjust_bed_reset()
  2435. {
  2436. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
  2437. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT, 0);
  2438. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, 0);
  2439. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT, 0);
  2440. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR, 0);
  2441. }
  2442. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  2443. {
  2444. bool final_result = false;
  2445. #ifdef TMC2130
  2446. FORCE_HIGH_POWER_START;
  2447. #endif // TMC2130
  2448. // Only Z calibration?
  2449. if (!onlyZ)
  2450. {
  2451. setTargetBed(0);
  2452. setAllTargetHotends(0);
  2453. adjust_bed_reset(); //reset bed level correction
  2454. }
  2455. // Disable the default update procedure of the display. We will do a modal dialog.
  2456. lcd_update_enable(false);
  2457. // Let the planner use the uncorrected coordinates.
  2458. mbl.reset();
  2459. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2460. // the planner will not perform any adjustments in the XY plane.
  2461. // Wait for the motors to stop and update the current position with the absolute values.
  2462. world2machine_revert_to_uncorrected();
  2463. // Reset the baby step value applied without moving the axes.
  2464. babystep_reset();
  2465. // Mark all axes as in a need for homing.
  2466. memset(axis_known_position, 0, sizeof(axis_known_position));
  2467. // Home in the XY plane.
  2468. //set_destination_to_current();
  2469. setup_for_endstop_move();
  2470. lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
  2471. home_xy();
  2472. enable_endstops(false);
  2473. current_position[X_AXIS] += 5;
  2474. current_position[Y_AXIS] += 5;
  2475. 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);
  2476. st_synchronize();
  2477. // Let the user move the Z axes up to the end stoppers.
  2478. #ifdef TMC2130
  2479. if (calibrate_z_auto())
  2480. {
  2481. #else //TMC2130
  2482. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  2483. {
  2484. #endif //TMC2130
  2485. refresh_cmd_timeout();
  2486. #ifndef STEEL_SHEET
  2487. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  2488. {
  2489. lcd_wait_for_cool_down();
  2490. }
  2491. #endif //STEEL_SHEET
  2492. if(!onlyZ)
  2493. {
  2494. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2495. #ifdef STEEL_SHEET
  2496. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  2497. if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  2498. #endif //STEEL_SHEET
  2499. lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
  2500. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2501. KEEPALIVE_STATE(IN_HANDLER);
  2502. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2503. lcd_set_cursor(0, 2);
  2504. lcd_print(1);
  2505. lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2506. }
  2507. // Move the print head close to the bed.
  2508. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2509. bool endstops_enabled = enable_endstops(true);
  2510. #ifdef TMC2130
  2511. tmc2130_home_enter(Z_AXIS_MASK);
  2512. #endif //TMC2130
  2513. 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);
  2514. st_synchronize();
  2515. #ifdef TMC2130
  2516. tmc2130_home_exit();
  2517. #endif //TMC2130
  2518. enable_endstops(endstops_enabled);
  2519. if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
  2520. {
  2521. int8_t verbosity_level = 0;
  2522. if (code_seen('V'))
  2523. {
  2524. // Just 'V' without a number counts as V1.
  2525. char c = strchr_pointer[1];
  2526. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2527. }
  2528. if (onlyZ)
  2529. {
  2530. clean_up_after_endstop_move();
  2531. // Z only calibration.
  2532. // Load the machine correction matrix
  2533. world2machine_initialize();
  2534. // and correct the current_position to match the transformed coordinate system.
  2535. world2machine_update_current();
  2536. //FIXME
  2537. bool result = sample_mesh_and_store_reference();
  2538. if (result)
  2539. {
  2540. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  2541. // Shipped, the nozzle height has been set already. The user can start printing now.
  2542. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2543. final_result = true;
  2544. // babystep_apply();
  2545. }
  2546. }
  2547. else
  2548. {
  2549. // Reset the baby step value and the baby step applied flag.
  2550. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  2551. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  2552. // Complete XYZ calibration.
  2553. uint8_t point_too_far_mask = 0;
  2554. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  2555. clean_up_after_endstop_move();
  2556. // Print head up.
  2557. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2558. 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);
  2559. st_synchronize();
  2560. //#ifndef NEW_XYZCAL
  2561. if (result >= 0)
  2562. {
  2563. #ifdef HEATBED_V2
  2564. sample_z();
  2565. #else //HEATBED_V2
  2566. point_too_far_mask = 0;
  2567. // Second half: The fine adjustment.
  2568. // Let the planner use the uncorrected coordinates.
  2569. mbl.reset();
  2570. world2machine_reset();
  2571. // Home in the XY plane.
  2572. setup_for_endstop_move();
  2573. home_xy();
  2574. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  2575. clean_up_after_endstop_move();
  2576. // Print head up.
  2577. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2578. 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);
  2579. st_synchronize();
  2580. // if (result >= 0) babystep_apply();
  2581. #endif //HEATBED_V2
  2582. }
  2583. //#endif //NEW_XYZCAL
  2584. lcd_update_enable(true);
  2585. lcd_update(2);
  2586. lcd_bed_calibration_show_result(result, point_too_far_mask);
  2587. if (result >= 0)
  2588. {
  2589. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  2590. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2591. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  2592. final_result = true;
  2593. }
  2594. }
  2595. #ifdef TMC2130
  2596. tmc2130_home_exit();
  2597. #endif
  2598. }
  2599. else
  2600. {
  2601. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  2602. final_result = false;
  2603. }
  2604. }
  2605. else
  2606. {
  2607. // Timeouted.
  2608. }
  2609. lcd_update_enable(true);
  2610. #ifdef TMC2130
  2611. FORCE_HIGH_POWER_END;
  2612. #endif // TMC2130
  2613. return final_result;
  2614. }
  2615. void gcode_M114()
  2616. {
  2617. SERIAL_PROTOCOLPGM("X:");
  2618. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2619. SERIAL_PROTOCOLPGM(" Y:");
  2620. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2621. SERIAL_PROTOCOLPGM(" Z:");
  2622. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2623. SERIAL_PROTOCOLPGM(" E:");
  2624. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2625. SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
  2626. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
  2627. SERIAL_PROTOCOLPGM(" Y:");
  2628. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
  2629. SERIAL_PROTOCOLPGM(" Z:");
  2630. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
  2631. SERIAL_PROTOCOLPGM(" E:");
  2632. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
  2633. SERIAL_PROTOCOLLN("");
  2634. }
  2635. void gcode_M600(bool automatic, float x_position, float y_position, float z_shift, float e_shift, float e_shift_late) {
  2636. st_synchronize();
  2637. float lastpos[4];
  2638. if (farm_mode)
  2639. {
  2640. prusa_statistics(22);
  2641. }
  2642. //First backup current position and settings
  2643. feedmultiplyBckp=feedmultiply;
  2644. HotendTempBckp = degTargetHotend(active_extruder);
  2645. fanSpeedBckp = fanSpeed;
  2646. lastpos[X_AXIS]=current_position[X_AXIS];
  2647. lastpos[Y_AXIS]=current_position[Y_AXIS];
  2648. lastpos[Z_AXIS]=current_position[Z_AXIS];
  2649. lastpos[E_AXIS]=current_position[E_AXIS];
  2650. //Retract E
  2651. current_position[E_AXIS]+= e_shift;
  2652. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  2653. st_synchronize();
  2654. //Lift Z
  2655. current_position[Z_AXIS]+= z_shift;
  2656. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  2657. st_synchronize();
  2658. //Move XY to side
  2659. current_position[X_AXIS]= x_position;
  2660. current_position[Y_AXIS]= y_position;
  2661. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  2662. st_synchronize();
  2663. //Beep, manage nozzle heater and wait for user to start unload filament
  2664. if(!mmu_enabled) M600_wait_for_user();
  2665. lcd_change_fil_state = 0;
  2666. // Unload filament
  2667. if (mmu_enabled)
  2668. extr_unload(); //unload just current filament for multimaterial printers (used also in M702)
  2669. else
  2670. unload_filament(); //unload filament for single material (used also in M702)
  2671. //finish moves
  2672. st_synchronize();
  2673. if (!mmu_enabled)
  2674. {
  2675. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2676. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"), false, true);////MSG_UNLOAD_SUCCESSFUL c=20 r=2
  2677. if (lcd_change_fil_state == 0) lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
  2678. lcd_update_enable(true);
  2679. }
  2680. if (mmu_enabled)
  2681. {
  2682. if (!automatic) {
  2683. if (saved_printing) mmu_eject_filament(mmu_extruder, false); //if M600 was invoked by filament senzor (FINDA) eject filament so user can easily remove it
  2684. mmu_M600_wait_and_beep();
  2685. if (saved_printing) {
  2686. lcd_clear();
  2687. lcd_set_cursor(0, 2);
  2688. lcd_puts_P(_T(MSG_PLEASE_WAIT));
  2689. mmu_command(MMU_CMD_R0);
  2690. manage_response(false, false);
  2691. }
  2692. }
  2693. mmu_M600_load_filament(automatic);
  2694. }
  2695. else
  2696. M600_load_filament();
  2697. if(!automatic) M600_check_state();
  2698. lcd_update_enable(true);
  2699. //Not let's go back to print
  2700. fanSpeed = fanSpeedBckp;
  2701. //Feed a little of filament to stabilize pressure
  2702. if (!automatic) {
  2703. current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
  2704. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  2705. }
  2706. //Move XY back
  2707. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  2708. st_synchronize();
  2709. //Move Z back
  2710. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  2711. st_synchronize();
  2712. //Set E position to original
  2713. plan_set_e_position(lastpos[E_AXIS]);
  2714. memcpy(current_position, lastpos, sizeof(lastpos));
  2715. memcpy(destination, current_position, sizeof(current_position));
  2716. //Recover feed rate
  2717. feedmultiply=feedmultiplyBckp;
  2718. char cmd[9];
  2719. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2720. enquecommand(cmd);
  2721. lcd_setstatuspgm(_T(WELCOME_MSG));
  2722. custom_message_type = CUSTOM_MSG_TYPE_STATUS;
  2723. }
  2724. void gcode_M701()
  2725. {
  2726. printf_P(PSTR("gcode_M701 begin\n"));
  2727. if (mmu_enabled)
  2728. {
  2729. extr_adj(tmp_extruder);//loads current extruder
  2730. mmu_extruder = tmp_extruder;
  2731. }
  2732. else
  2733. {
  2734. enable_z();
  2735. custom_message_type = CUSTOM_MSG_TYPE_F_LOAD;
  2736. #ifdef FILAMENT_SENSOR
  2737. fsensor_oq_meassure_start(40);
  2738. #endif //FILAMENT_SENSOR
  2739. lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
  2740. current_position[E_AXIS] += 40;
  2741. 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
  2742. st_synchronize();
  2743. if (current_position[Z_AXIS] < 20) current_position[Z_AXIS] += 30;
  2744. current_position[E_AXIS] += 30;
  2745. 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
  2746. st_synchronize();
  2747. current_position[E_AXIS] += 25;
  2748. 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
  2749. st_synchronize();
  2750. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) tone(BEEPER, 500);
  2751. delay_keep_alive(50);
  2752. noTone(BEEPER);
  2753. if (!farm_mode && loading_flag) {
  2754. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
  2755. while (!clean) {
  2756. lcd_update_enable(true);
  2757. lcd_update(2);
  2758. current_position[E_AXIS] += 25;
  2759. 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
  2760. st_synchronize();
  2761. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
  2762. }
  2763. }
  2764. lcd_update_enable(true);
  2765. lcd_update(2);
  2766. lcd_setstatuspgm(_T(WELCOME_MSG));
  2767. disable_z();
  2768. loading_flag = false;
  2769. custom_message_type = CUSTOM_MSG_TYPE_STATUS;
  2770. #ifdef FILAMENT_SENSOR
  2771. if (mmu_enabled == false)
  2772. {
  2773. fsensor_oq_meassure_stop();
  2774. if (!fsensor_oq_result())
  2775. {
  2776. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  2777. lcd_update_enable(true);
  2778. lcd_update(2);
  2779. if (disable)
  2780. fsensor_disable();
  2781. }
  2782. }
  2783. #endif //FILAMENT_SENSOR
  2784. }
  2785. }
  2786. /**
  2787. * @brief Get serial number from 32U2 processor
  2788. *
  2789. * Typical format of S/N is:CZPX0917X003XC13518
  2790. *
  2791. * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
  2792. *
  2793. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  2794. * reply is transmitted to serial port 1 character by character.
  2795. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  2796. * it is interrupted, so less, or no characters are retransmitted, only newline character is send
  2797. * in any case.
  2798. */
  2799. static void gcode_PRUSA_SN()
  2800. {
  2801. if (farm_mode) {
  2802. selectedSerialPort = 0;
  2803. putchar(';');
  2804. putchar('S');
  2805. int numbersRead = 0;
  2806. ShortTimer timeout;
  2807. timeout.start();
  2808. while (numbersRead < 19) {
  2809. while (MSerial.available() > 0) {
  2810. uint8_t serial_char = MSerial.read();
  2811. selectedSerialPort = 1;
  2812. putchar(serial_char);
  2813. numbersRead++;
  2814. selectedSerialPort = 0;
  2815. }
  2816. if (timeout.expired(100u)) break;
  2817. }
  2818. selectedSerialPort = 1;
  2819. putchar('\n');
  2820. #if 0
  2821. for (int b = 0; b < 3; b++) {
  2822. tone(BEEPER, 110);
  2823. delay(50);
  2824. noTone(BEEPER);
  2825. delay(50);
  2826. }
  2827. #endif
  2828. } else {
  2829. puts_P(_N("Not in farm mode."));
  2830. }
  2831. }
  2832. #ifdef BACKLASH_X
  2833. extern uint8_t st_backlash_x;
  2834. #endif //BACKLASH_X
  2835. #ifdef BACKLASH_Y
  2836. extern uint8_t st_backlash_y;
  2837. #endif //BACKLASH_Y
  2838. void process_commands()
  2839. {
  2840. if (!buflen) return; //empty command
  2841. #ifdef FILAMENT_RUNOUT_SUPPORT
  2842. SET_INPUT(FR_SENS);
  2843. #endif
  2844. #ifdef CMDBUFFER_DEBUG
  2845. SERIAL_ECHOPGM("Processing a GCODE command: ");
  2846. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  2847. SERIAL_ECHOLNPGM("");
  2848. SERIAL_ECHOPGM("In cmdqueue: ");
  2849. SERIAL_ECHO(buflen);
  2850. SERIAL_ECHOLNPGM("");
  2851. #endif /* CMDBUFFER_DEBUG */
  2852. unsigned long codenum; //throw away variable
  2853. char *starpos = NULL;
  2854. #ifdef ENABLE_AUTO_BED_LEVELING
  2855. float x_tmp, y_tmp, z_tmp, real_z;
  2856. #endif
  2857. // PRUSA GCODES
  2858. KEEPALIVE_STATE(IN_HANDLER);
  2859. #ifdef SNMM
  2860. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  2861. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  2862. int8_t SilentMode;
  2863. #endif
  2864. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  2865. starpos = (strchr(strchr_pointer + 5, '*'));
  2866. if (starpos != NULL)
  2867. *(starpos) = '\0';
  2868. lcd_setstatus(strchr_pointer + 5);
  2869. }
  2870. #ifdef TMC2130
  2871. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  2872. {
  2873. if(code_seen("CRASH_DETECTED"))
  2874. {
  2875. uint8_t mask = 0;
  2876. if (code_seen('X')) mask |= X_AXIS_MASK;
  2877. if (code_seen('Y')) mask |= Y_AXIS_MASK;
  2878. crashdet_detected(mask);
  2879. }
  2880. else if(code_seen("CRASH_RECOVER"))
  2881. crashdet_recover();
  2882. else if(code_seen("CRASH_CANCEL"))
  2883. crashdet_cancel();
  2884. }
  2885. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  2886. {
  2887. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
  2888. {
  2889. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2890. axis = (axis == 'E')?3:(axis - 'X');
  2891. if (axis < 4)
  2892. {
  2893. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2894. tmc2130_set_wave(axis, 247, fac);
  2895. }
  2896. }
  2897. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
  2898. {
  2899. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2900. axis = (axis == 'E')?3:(axis - 'X');
  2901. if (axis < 4)
  2902. {
  2903. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2904. uint16_t res = tmc2130_get_res(axis);
  2905. tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
  2906. }
  2907. }
  2908. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
  2909. {
  2910. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2911. axis = (axis == 'E')?3:(axis - 'X');
  2912. if (axis < 4)
  2913. {
  2914. uint8_t chop0 = tmc2130_chopper_config[axis].toff;
  2915. uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
  2916. uint8_t chop2 = tmc2130_chopper_config[axis].hend;
  2917. uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
  2918. char* str_end = 0;
  2919. if (CMDBUFFER_CURRENT_STRING[14])
  2920. {
  2921. chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
  2922. if (str_end && *str_end)
  2923. {
  2924. chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
  2925. if (str_end && *str_end)
  2926. {
  2927. chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
  2928. if (str_end && *str_end)
  2929. chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
  2930. }
  2931. }
  2932. }
  2933. tmc2130_chopper_config[axis].toff = chop0;
  2934. tmc2130_chopper_config[axis].hstr = chop1 & 7;
  2935. tmc2130_chopper_config[axis].hend = chop2 & 15;
  2936. tmc2130_chopper_config[axis].tbl = chop3 & 3;
  2937. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  2938. //printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
  2939. }
  2940. }
  2941. }
  2942. #ifdef BACKLASH_X
  2943. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
  2944. {
  2945. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  2946. st_backlash_x = bl;
  2947. printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
  2948. }
  2949. #endif //BACKLASH_X
  2950. #ifdef BACKLASH_Y
  2951. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
  2952. {
  2953. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  2954. st_backlash_y = bl;
  2955. printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
  2956. }
  2957. #endif //BACKLASH_Y
  2958. #endif //TMC2130
  2959. else if (code_seen("FSENSOR_RECOVER")) {
  2960. fsensor_restore_print_and_continue();
  2961. }
  2962. else if(code_seen("PRUSA")){
  2963. if (code_seen("Ping")) { //PRUSA Ping
  2964. if (farm_mode) {
  2965. PingTime = millis();
  2966. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  2967. }
  2968. }
  2969. else if (code_seen("PRN")) {
  2970. printf_P(_N("%d"), status_number);
  2971. }else if (code_seen("FAN")) {
  2972. printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
  2973. }else if (code_seen("fn")) {
  2974. if (farm_mode) {
  2975. printf_P(_N("%d"), farm_no);
  2976. }
  2977. else {
  2978. puts_P(_N("Not in farm mode."));
  2979. }
  2980. }
  2981. else if (code_seen("thx"))
  2982. {
  2983. no_response = false;
  2984. }
  2985. else if (code_seen("uvlo"))
  2986. {
  2987. eeprom_update_byte((uint8_t*)EEPROM_UVLO,0);
  2988. enquecommand_P(PSTR("M24"));
  2989. }
  2990. else if (code_seen("MMURES"))
  2991. {
  2992. mmu_reset();
  2993. }
  2994. else if (code_seen("RESET")) {
  2995. // careful!
  2996. if (farm_mode) {
  2997. #ifdef WATCHDOG
  2998. boot_app_magic = BOOT_APP_MAGIC;
  2999. boot_app_flags = BOOT_APP_FLG_RUN;
  3000. wdt_enable(WDTO_15MS);
  3001. cli();
  3002. while(1);
  3003. #else //WATCHDOG
  3004. asm volatile("jmp 0x3E000");
  3005. #endif //WATCHDOG
  3006. }
  3007. else {
  3008. MYSERIAL.println("Not in farm mode.");
  3009. }
  3010. }else if (code_seen("fv")) {
  3011. // get file version
  3012. #ifdef SDSUPPORT
  3013. card.openFile(strchr_pointer + 3,true);
  3014. while (true) {
  3015. uint16_t readByte = card.get();
  3016. MYSERIAL.write(readByte);
  3017. if (readByte=='\n') {
  3018. break;
  3019. }
  3020. }
  3021. card.closefile();
  3022. #endif // SDSUPPORT
  3023. } else if (code_seen("M28")) {
  3024. trace();
  3025. prusa_sd_card_upload = true;
  3026. card.openFile(strchr_pointer+4,false);
  3027. } else if (code_seen("SN")) {
  3028. gcode_PRUSA_SN();
  3029. } else if(code_seen("Fir")){
  3030. SERIAL_PROTOCOLLN(FW_VERSION_FULL);
  3031. } else if(code_seen("Rev")){
  3032. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  3033. } else if(code_seen("Lang")) {
  3034. lang_reset();
  3035. } else if(code_seen("Lz")) {
  3036. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  3037. } else if(code_seen("Beat")) {
  3038. // Kick farm link timer
  3039. kicktime = millis();
  3040. } else if(code_seen("FR")) {
  3041. // Factory full reset
  3042. factory_reset(0,true);
  3043. }
  3044. //else if (code_seen('Cal')) {
  3045. // lcd_calibration();
  3046. // }
  3047. }
  3048. else if (code_seen('^')) {
  3049. // nothing, this is a version line
  3050. } else if(code_seen('G'))
  3051. {
  3052. gcode_in_progress = (int)code_value();
  3053. // printf_P(_N("BEGIN G-CODE=%u\n"), gcode_in_progress);
  3054. switch (gcode_in_progress)
  3055. {
  3056. case 0: // G0 -> G1
  3057. case 1: // G1
  3058. if(Stopped == false) {
  3059. #ifdef FILAMENT_RUNOUT_SUPPORT
  3060. if(READ(FR_SENS)){
  3061. feedmultiplyBckp=feedmultiply;
  3062. float target[4];
  3063. float lastpos[4];
  3064. target[X_AXIS]=current_position[X_AXIS];
  3065. target[Y_AXIS]=current_position[Y_AXIS];
  3066. target[Z_AXIS]=current_position[Z_AXIS];
  3067. target[E_AXIS]=current_position[E_AXIS];
  3068. lastpos[X_AXIS]=current_position[X_AXIS];
  3069. lastpos[Y_AXIS]=current_position[Y_AXIS];
  3070. lastpos[Z_AXIS]=current_position[Z_AXIS];
  3071. lastpos[E_AXIS]=current_position[E_AXIS];
  3072. //retract by E
  3073. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  3074. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3075. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  3076. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  3077. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  3078. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  3079. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  3080. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  3081. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3082. //finish moves
  3083. st_synchronize();
  3084. //disable extruder steppers so filament can be removed
  3085. disable_e0();
  3086. disable_e1();
  3087. disable_e2();
  3088. delay(100);
  3089. //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
  3090. uint8_t cnt=0;
  3091. int counterBeep = 0;
  3092. lcd_wait_interact();
  3093. while(!lcd_clicked()){
  3094. cnt++;
  3095. manage_heater();
  3096. manage_inactivity(true);
  3097. //lcd_update(0);
  3098. if(cnt==0)
  3099. {
  3100. #if BEEPER > 0
  3101. if (counterBeep== 500){
  3102. counterBeep = 0;
  3103. }
  3104. SET_OUTPUT(BEEPER);
  3105. if (counterBeep== 0){
  3106. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  3107. WRITE(BEEPER,HIGH);
  3108. }
  3109. if (counterBeep== 20){
  3110. WRITE(BEEPER,LOW);
  3111. }
  3112. counterBeep++;
  3113. #else
  3114. #endif
  3115. }
  3116. }
  3117. WRITE(BEEPER,LOW);
  3118. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3119. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3120. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3121. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3122. lcd_change_fil_state = 0;
  3123. lcd_loading_filament();
  3124. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  3125. lcd_change_fil_state = 0;
  3126. lcd_alright();
  3127. switch(lcd_change_fil_state){
  3128. case 2:
  3129. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3130. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3131. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3132. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3133. lcd_loading_filament();
  3134. break;
  3135. case 3:
  3136. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3137. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3138. lcd_loading_color();
  3139. break;
  3140. default:
  3141. lcd_change_success();
  3142. break;
  3143. }
  3144. }
  3145. target[E_AXIS]+= 5;
  3146. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3147. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  3148. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3149. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3150. //plan_set_e_position(current_position[E_AXIS]);
  3151. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  3152. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  3153. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  3154. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  3155. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  3156. plan_set_e_position(lastpos[E_AXIS]);
  3157. feedmultiply=feedmultiplyBckp;
  3158. char cmd[9];
  3159. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  3160. enquecommand(cmd);
  3161. }
  3162. #endif
  3163. get_coordinates(); // For X Y Z E F
  3164. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  3165. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  3166. }
  3167. #ifdef FWRETRACT
  3168. if(autoretract_enabled)
  3169. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  3170. float echange=destination[E_AXIS]-current_position[E_AXIS];
  3171. if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
  3172. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  3173. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  3174. retract(!retracted[active_extruder]);
  3175. return;
  3176. }
  3177. }
  3178. #endif //FWRETRACT
  3179. prepare_move();
  3180. //ClearToSend();
  3181. }
  3182. break;
  3183. case 2: // G2 - CW ARC
  3184. if(Stopped == false) {
  3185. get_arc_coordinates();
  3186. prepare_arc_move(true);
  3187. }
  3188. break;
  3189. case 3: // G3 - CCW ARC
  3190. if(Stopped == false) {
  3191. get_arc_coordinates();
  3192. prepare_arc_move(false);
  3193. }
  3194. break;
  3195. case 4: // G4 dwell
  3196. codenum = 0;
  3197. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  3198. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  3199. if(codenum != 0) LCD_MESSAGERPGM(_i("Sleep..."));////MSG_DWELL c=0 r=0
  3200. st_synchronize();
  3201. codenum += millis(); // keep track of when we started waiting
  3202. previous_millis_cmd = millis();
  3203. while(millis() < codenum) {
  3204. manage_heater();
  3205. manage_inactivity();
  3206. lcd_update(0);
  3207. }
  3208. break;
  3209. #ifdef FWRETRACT
  3210. case 10: // G10 retract
  3211. #if EXTRUDERS > 1
  3212. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  3213. retract(true,retracted_swap[active_extruder]);
  3214. #else
  3215. retract(true);
  3216. #endif
  3217. break;
  3218. case 11: // G11 retract_recover
  3219. #if EXTRUDERS > 1
  3220. retract(false,retracted_swap[active_extruder]);
  3221. #else
  3222. retract(false);
  3223. #endif
  3224. break;
  3225. #endif //FWRETRACT
  3226. case 28: //G28 Home all Axis one at a time
  3227. {
  3228. long home_x_value = 0;
  3229. long home_y_value = 0;
  3230. long home_z_value = 0;
  3231. // Which axes should be homed?
  3232. bool home_x = code_seen(axis_codes[X_AXIS]);
  3233. home_x_value = code_value_long();
  3234. bool home_y = code_seen(axis_codes[Y_AXIS]);
  3235. home_y_value = code_value_long();
  3236. bool home_z = code_seen(axis_codes[Z_AXIS]);
  3237. home_z_value = code_value_long();
  3238. bool without_mbl = code_seen('W');
  3239. // calibrate?
  3240. bool calib = code_seen('C');
  3241. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
  3242. if ((home_x || home_y || without_mbl || home_z) == false) {
  3243. // Push the commands to the front of the message queue in the reverse order!
  3244. // There shall be always enough space reserved for these commands.
  3245. goto case_G80;
  3246. }
  3247. break;
  3248. }
  3249. #ifdef ENABLE_AUTO_BED_LEVELING
  3250. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  3251. {
  3252. #if Z_MIN_PIN == -1
  3253. #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."
  3254. #endif
  3255. // Prevent user from running a G29 without first homing in X and Y
  3256. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  3257. {
  3258. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  3259. SERIAL_ECHO_START;
  3260. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  3261. break; // abort G29, since we don't know where we are
  3262. }
  3263. st_synchronize();
  3264. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  3265. //vector_3 corrected_position = plan_get_position_mm();
  3266. //corrected_position.debug("position before G29");
  3267. plan_bed_level_matrix.set_to_identity();
  3268. vector_3 uncorrected_position = plan_get_position();
  3269. //uncorrected_position.debug("position durring G29");
  3270. current_position[X_AXIS] = uncorrected_position.x;
  3271. current_position[Y_AXIS] = uncorrected_position.y;
  3272. current_position[Z_AXIS] = uncorrected_position.z;
  3273. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3274. setup_for_endstop_move();
  3275. feedrate = homing_feedrate[Z_AXIS];
  3276. #ifdef AUTO_BED_LEVELING_GRID
  3277. // probe at the points of a lattice grid
  3278. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3279. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3280. // solve the plane equation ax + by + d = z
  3281. // A is the matrix with rows [x y 1] for all the probed points
  3282. // B is the vector of the Z positions
  3283. // 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
  3284. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3285. // "A" matrix of the linear system of equations
  3286. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  3287. // "B" vector of Z points
  3288. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  3289. int probePointCounter = 0;
  3290. bool zig = true;
  3291. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  3292. {
  3293. int xProbe, xInc;
  3294. if (zig)
  3295. {
  3296. xProbe = LEFT_PROBE_BED_POSITION;
  3297. //xEnd = RIGHT_PROBE_BED_POSITION;
  3298. xInc = xGridSpacing;
  3299. zig = false;
  3300. } else // zag
  3301. {
  3302. xProbe = RIGHT_PROBE_BED_POSITION;
  3303. //xEnd = LEFT_PROBE_BED_POSITION;
  3304. xInc = -xGridSpacing;
  3305. zig = true;
  3306. }
  3307. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  3308. {
  3309. float z_before;
  3310. if (probePointCounter == 0)
  3311. {
  3312. // raise before probing
  3313. z_before = Z_RAISE_BEFORE_PROBING;
  3314. } else
  3315. {
  3316. // raise extruder
  3317. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  3318. }
  3319. float measured_z = probe_pt(xProbe, yProbe, z_before);
  3320. eqnBVector[probePointCounter] = measured_z;
  3321. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  3322. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  3323. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  3324. probePointCounter++;
  3325. xProbe += xInc;
  3326. }
  3327. }
  3328. clean_up_after_endstop_move();
  3329. // solve lsq problem
  3330. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  3331. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3332. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  3333. SERIAL_PROTOCOLPGM(" b: ");
  3334. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  3335. SERIAL_PROTOCOLPGM(" d: ");
  3336. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  3337. set_bed_level_equation_lsq(plane_equation_coefficients);
  3338. free(plane_equation_coefficients);
  3339. #else // AUTO_BED_LEVELING_GRID not defined
  3340. // Probe at 3 arbitrary points
  3341. // probe 1
  3342. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  3343. // probe 2
  3344. 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);
  3345. // probe 3
  3346. 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);
  3347. clean_up_after_endstop_move();
  3348. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  3349. #endif // AUTO_BED_LEVELING_GRID
  3350. st_synchronize();
  3351. // The following code correct the Z height difference from z-probe position and hotend tip position.
  3352. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  3353. // When the bed is uneven, this height must be corrected.
  3354. 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)
  3355. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  3356. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3357. z_tmp = current_position[Z_AXIS];
  3358. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  3359. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  3360. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3361. }
  3362. break;
  3363. #ifndef Z_PROBE_SLED
  3364. case 30: // G30 Single Z Probe
  3365. {
  3366. st_synchronize();
  3367. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3368. setup_for_endstop_move();
  3369. feedrate = homing_feedrate[Z_AXIS];
  3370. run_z_probe();
  3371. SERIAL_PROTOCOLPGM(_T(MSG_BED));
  3372. SERIAL_PROTOCOLPGM(" X: ");
  3373. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3374. SERIAL_PROTOCOLPGM(" Y: ");
  3375. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3376. SERIAL_PROTOCOLPGM(" Z: ");
  3377. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3378. SERIAL_PROTOCOLPGM("\n");
  3379. clean_up_after_endstop_move();
  3380. }
  3381. break;
  3382. #else
  3383. case 31: // dock the sled
  3384. dock_sled(true);
  3385. break;
  3386. case 32: // undock the sled
  3387. dock_sled(false);
  3388. break;
  3389. #endif // Z_PROBE_SLED
  3390. #endif // ENABLE_AUTO_BED_LEVELING
  3391. #ifdef MESH_BED_LEVELING
  3392. case 30: // G30 Single Z Probe
  3393. {
  3394. st_synchronize();
  3395. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3396. setup_for_endstop_move();
  3397. feedrate = homing_feedrate[Z_AXIS];
  3398. find_bed_induction_sensor_point_z(-10.f, 3);
  3399. printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
  3400. clean_up_after_endstop_move();
  3401. }
  3402. break;
  3403. case 75:
  3404. {
  3405. for (int i = 40; i <= 110; i++)
  3406. printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
  3407. }
  3408. break;
  3409. case 76: //PINDA probe temperature calibration
  3410. {
  3411. #ifdef PINDA_THERMISTOR
  3412. if (true)
  3413. {
  3414. if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
  3415. //we need to know accurate position of first calibration point
  3416. //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
  3417. lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
  3418. break;
  3419. }
  3420. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  3421. {
  3422. // We don't know where we are! HOME!
  3423. // Push the commands to the front of the message queue in the reverse order!
  3424. // There shall be always enough space reserved for these commands.
  3425. repeatcommand_front(); // repeat G76 with all its parameters
  3426. enquecommand_front_P((PSTR("G28 W0")));
  3427. break;
  3428. }
  3429. lcd_show_fullscreen_message_and_wait_P(_i("Stable ambient temperature 21-26C is needed a rigid stand is required."));////MSG_TEMP_CAL_WARNING c=20 r=4
  3430. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  3431. if (result)
  3432. {
  3433. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3434. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3435. current_position[Z_AXIS] = 50;
  3436. current_position[Y_AXIS] = 180;
  3437. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3438. st_synchronize();
  3439. lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  3440. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3441. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3442. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3443. st_synchronize();
  3444. gcode_G28(false, false, true);
  3445. }
  3446. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  3447. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  3448. current_position[Z_AXIS] = 100;
  3449. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3450. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  3451. lcd_temp_cal_show_result(false);
  3452. break;
  3453. }
  3454. }
  3455. lcd_update_enable(true);
  3456. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  3457. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  3458. float zero_z;
  3459. int z_shift = 0; //unit: steps
  3460. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  3461. if (start_temp < 35) start_temp = 35;
  3462. if (start_temp < current_temperature_pinda) start_temp += 5;
  3463. printf_P(_N("start temperature: %.1f\n"), start_temp);
  3464. // setTargetHotend(200, 0);
  3465. setTargetBed(70 + (start_temp - 30));
  3466. custom_message_type = CUSTOM_MSG_TYPE_TEMCAL;
  3467. custom_message_state = 1;
  3468. lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
  3469. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3470. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3471. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3472. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3473. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3474. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3475. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3476. st_synchronize();
  3477. while (current_temperature_pinda < start_temp)
  3478. {
  3479. delay_keep_alive(1000);
  3480. serialecho_temperatures();
  3481. }
  3482. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3483. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3484. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3485. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3486. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3487. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3488. st_synchronize();
  3489. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3490. if (find_z_result == false) {
  3491. lcd_temp_cal_show_result(find_z_result);
  3492. break;
  3493. }
  3494. zero_z = current_position[Z_AXIS];
  3495. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3496. int i = -1; for (; i < 5; i++)
  3497. {
  3498. float temp = (40 + i * 5);
  3499. printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
  3500. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3501. if (start_temp <= temp) break;
  3502. }
  3503. for (i++; i < 5; i++)
  3504. {
  3505. float temp = (40 + i * 5);
  3506. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3507. custom_message_state = i + 2;
  3508. setTargetBed(50 + 10 * (temp - 30) / 5);
  3509. // setTargetHotend(255, 0);
  3510. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3511. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3512. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3513. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3514. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3515. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3516. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3517. st_synchronize();
  3518. while (current_temperature_pinda < temp)
  3519. {
  3520. delay_keep_alive(1000);
  3521. serialecho_temperatures();
  3522. }
  3523. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3524. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3525. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3526. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3527. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3528. st_synchronize();
  3529. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3530. if (find_z_result == false) {
  3531. lcd_temp_cal_show_result(find_z_result);
  3532. break;
  3533. }
  3534. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3535. printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
  3536. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3537. }
  3538. lcd_temp_cal_show_result(true);
  3539. break;
  3540. }
  3541. #endif //PINDA_THERMISTOR
  3542. setTargetBed(PINDA_MIN_T);
  3543. float zero_z;
  3544. int z_shift = 0; //unit: steps
  3545. int t_c; // temperature
  3546. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3547. // We don't know where we are! HOME!
  3548. // Push the commands to the front of the message queue in the reverse order!
  3549. // There shall be always enough space reserved for these commands.
  3550. repeatcommand_front(); // repeat G76 with all its parameters
  3551. enquecommand_front_P((PSTR("G28 W0")));
  3552. break;
  3553. }
  3554. puts_P(_N("PINDA probe calibration start"));
  3555. custom_message_type = CUSTOM_MSG_TYPE_TEMCAL;
  3556. custom_message_state = 1;
  3557. lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
  3558. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3559. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3560. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3561. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3562. st_synchronize();
  3563. while (abs(degBed() - PINDA_MIN_T) > 1) {
  3564. delay_keep_alive(1000);
  3565. serialecho_temperatures();
  3566. }
  3567. //enquecommand_P(PSTR("M190 S50"));
  3568. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3569. delay_keep_alive(1000);
  3570. serialecho_temperatures();
  3571. }
  3572. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3573. current_position[Z_AXIS] = 5;
  3574. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3575. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3576. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3577. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3578. st_synchronize();
  3579. find_bed_induction_sensor_point_z(-1.f);
  3580. zero_z = current_position[Z_AXIS];
  3581. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3582. for (int i = 0; i<5; i++) {
  3583. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3584. custom_message_state = i + 2;
  3585. t_c = 60 + i * 10;
  3586. setTargetBed(t_c);
  3587. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3588. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3589. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3590. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3591. st_synchronize();
  3592. while (degBed() < t_c) {
  3593. delay_keep_alive(1000);
  3594. serialecho_temperatures();
  3595. }
  3596. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3597. delay_keep_alive(1000);
  3598. serialecho_temperatures();
  3599. }
  3600. current_position[Z_AXIS] = 5;
  3601. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3602. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3603. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3604. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3605. st_synchronize();
  3606. find_bed_induction_sensor_point_z(-1.f);
  3607. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3608. printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
  3609. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  3610. }
  3611. custom_message_type = CUSTOM_MSG_TYPE_STATUS;
  3612. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  3613. puts_P(_N("Temperature calibration done."));
  3614. disable_x();
  3615. disable_y();
  3616. disable_z();
  3617. disable_e0();
  3618. disable_e1();
  3619. disable_e2();
  3620. setTargetBed(0); //set bed target temperature back to 0
  3621. lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
  3622. temp_cal_active = true;
  3623. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  3624. lcd_update_enable(true);
  3625. lcd_update(2);
  3626. }
  3627. break;
  3628. #ifdef DIS
  3629. case 77:
  3630. {
  3631. //G77 X200 Y150 XP100 YP15 XO10 Y015
  3632. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  3633. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  3634. float dimension_x = 40;
  3635. float dimension_y = 40;
  3636. int points_x = 40;
  3637. int points_y = 40;
  3638. float offset_x = 74;
  3639. float offset_y = 33;
  3640. if (code_seen('X')) dimension_x = code_value();
  3641. if (code_seen('Y')) dimension_y = code_value();
  3642. if (code_seen("XP")) { strchr_pointer+=1; points_x = code_value(); }
  3643. if (code_seen("YP")) { strchr_pointer+=1; points_y = code_value(); }
  3644. if (code_seen("XO")) { strchr_pointer+=1; offset_x = code_value(); }
  3645. if (code_seen("YO")) { strchr_pointer+=1; offset_y = code_value(); }
  3646. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  3647. } break;
  3648. #endif
  3649. case 79: {
  3650. for (int i = 255; i > 0; i = i - 5) {
  3651. fanSpeed = i;
  3652. //delay_keep_alive(2000);
  3653. for (int j = 0; j < 100; j++) {
  3654. delay_keep_alive(100);
  3655. }
  3656. printf_P(_N("%d: %d\n"), i, fan_speed[1]);
  3657. }
  3658. }break;
  3659. /**
  3660. * G80: Mesh-based Z probe, probes a grid and produces a
  3661. * mesh to compensate for variable bed height
  3662. *
  3663. * The S0 report the points as below
  3664. *
  3665. * +----> X-axis
  3666. * |
  3667. * |
  3668. * v Y-axis
  3669. *
  3670. */
  3671. case 80:
  3672. #ifdef MK1BP
  3673. break;
  3674. #endif //MK1BP
  3675. case_G80:
  3676. {
  3677. mesh_bed_leveling_flag = true;
  3678. static bool run = false;
  3679. #ifdef SUPPORT_VERBOSITY
  3680. int8_t verbosity_level = 0;
  3681. if (code_seen('V')) {
  3682. // Just 'V' without a number counts as V1.
  3683. char c = strchr_pointer[1];
  3684. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3685. }
  3686. #endif //SUPPORT_VERBOSITY
  3687. // Firstly check if we know where we are
  3688. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3689. // We don't know where we are! HOME!
  3690. // Push the commands to the front of the message queue in the reverse order!
  3691. // There shall be always enough space reserved for these commands.
  3692. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3693. repeatcommand_front(); // repeat G80 with all its parameters
  3694. enquecommand_front_P((PSTR("G28 W0")));
  3695. }
  3696. else {
  3697. mesh_bed_leveling_flag = false;
  3698. }
  3699. break;
  3700. }
  3701. bool temp_comp_start = true;
  3702. #ifdef PINDA_THERMISTOR
  3703. temp_comp_start = false;
  3704. #endif //PINDA_THERMISTOR
  3705. if (temp_comp_start)
  3706. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3707. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3708. temp_compensation_start();
  3709. run = true;
  3710. repeatcommand_front(); // repeat G80 with all its parameters
  3711. enquecommand_front_P((PSTR("G28 W0")));
  3712. }
  3713. else {
  3714. mesh_bed_leveling_flag = false;
  3715. }
  3716. break;
  3717. }
  3718. run = false;
  3719. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  3720. mesh_bed_leveling_flag = false;
  3721. break;
  3722. }
  3723. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  3724. unsigned int custom_message_type_old = custom_message_type;
  3725. unsigned int custom_message_state_old = custom_message_state;
  3726. custom_message_type = CUSTOM_MSG_TYPE_MESHBL;
  3727. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  3728. lcd_update(1);
  3729. mbl.reset(); //reset mesh bed leveling
  3730. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  3731. // consumed during the first movements following this statement.
  3732. babystep_undo();
  3733. // Cycle through all points and probe them
  3734. // First move up. During this first movement, the babystepping will be reverted.
  3735. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3736. 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);
  3737. // The move to the first calibration point.
  3738. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3739. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3740. #ifdef SUPPORT_VERBOSITY
  3741. if (verbosity_level >= 1)
  3742. {
  3743. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3744. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  3745. }
  3746. #endif //SUPPORT_VERBOSITY
  3747. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  3748. 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);
  3749. // Wait until the move is finished.
  3750. st_synchronize();
  3751. int mesh_point = 0; //index number of calibration point
  3752. int ix = 0;
  3753. int iy = 0;
  3754. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  3755. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  3756. 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)
  3757. #ifdef SUPPORT_VERBOSITY
  3758. if (verbosity_level >= 1) {
  3759. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  3760. }
  3761. #endif // SUPPORT_VERBOSITY
  3762. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  3763. const char *kill_message = NULL;
  3764. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3765. // Get coords of a measuring point.
  3766. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  3767. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  3768. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  3769. float z0 = 0.f;
  3770. if (has_z && mesh_point > 0) {
  3771. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  3772. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  3773. //#if 0
  3774. #ifdef SUPPORT_VERBOSITY
  3775. if (verbosity_level >= 1) {
  3776. SERIAL_ECHOLNPGM("");
  3777. SERIAL_ECHOPGM("Bed leveling, point: ");
  3778. MYSERIAL.print(mesh_point);
  3779. SERIAL_ECHOPGM(", calibration z: ");
  3780. MYSERIAL.print(z0, 5);
  3781. SERIAL_ECHOLNPGM("");
  3782. }
  3783. #endif // SUPPORT_VERBOSITY
  3784. //#endif
  3785. }
  3786. // Move Z up to MESH_HOME_Z_SEARCH.
  3787. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3788. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3789. st_synchronize();
  3790. // Move to XY position of the sensor point.
  3791. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  3792. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  3793. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3794. #ifdef SUPPORT_VERBOSITY
  3795. if (verbosity_level >= 1) {
  3796. SERIAL_PROTOCOL(mesh_point);
  3797. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  3798. }
  3799. #endif // SUPPORT_VERBOSITY
  3800. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  3801. st_synchronize();
  3802. // Go down until endstop is hit
  3803. const float Z_CALIBRATION_THRESHOLD = 1.f;
  3804. 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
  3805. kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW);
  3806. break;
  3807. }
  3808. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  3809. kill_message = _i("Bed leveling failed. Sensor disconnected or cable broken. Waiting for reset.");////MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED c=20 r=4
  3810. break;
  3811. }
  3812. 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
  3813. kill_message = _i("Bed leveling failed. Sensor triggered too high. Waiting for reset.");////MSG_BED_LEVELING_FAILED_POINT_HIGH c=20 r=4
  3814. break;
  3815. }
  3816. #ifdef SUPPORT_VERBOSITY
  3817. if (verbosity_level >= 10) {
  3818. SERIAL_ECHOPGM("X: ");
  3819. MYSERIAL.print(current_position[X_AXIS], 5);
  3820. SERIAL_ECHOLNPGM("");
  3821. SERIAL_ECHOPGM("Y: ");
  3822. MYSERIAL.print(current_position[Y_AXIS], 5);
  3823. SERIAL_PROTOCOLPGM("\n");
  3824. }
  3825. #endif // SUPPORT_VERBOSITY
  3826. float offset_z = 0;
  3827. #ifdef PINDA_THERMISTOR
  3828. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  3829. #endif //PINDA_THERMISTOR
  3830. // #ifdef SUPPORT_VERBOSITY
  3831. /* if (verbosity_level >= 1)
  3832. {
  3833. SERIAL_ECHOPGM("mesh bed leveling: ");
  3834. MYSERIAL.print(current_position[Z_AXIS], 5);
  3835. SERIAL_ECHOPGM(" offset: ");
  3836. MYSERIAL.print(offset_z, 5);
  3837. SERIAL_ECHOLNPGM("");
  3838. }*/
  3839. // #endif // SUPPORT_VERBOSITY
  3840. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  3841. custom_message_state--;
  3842. mesh_point++;
  3843. lcd_update(1);
  3844. }
  3845. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3846. #ifdef SUPPORT_VERBOSITY
  3847. if (verbosity_level >= 20) {
  3848. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  3849. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  3850. MYSERIAL.print(current_position[Z_AXIS], 5);
  3851. }
  3852. #endif // SUPPORT_VERBOSITY
  3853. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3854. st_synchronize();
  3855. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3856. kill(kill_message);
  3857. SERIAL_ECHOLNPGM("killed");
  3858. }
  3859. clean_up_after_endstop_move();
  3860. // SERIAL_ECHOLNPGM("clean up finished ");
  3861. bool apply_temp_comp = true;
  3862. #ifdef PINDA_THERMISTOR
  3863. apply_temp_comp = false;
  3864. #endif
  3865. if (apply_temp_comp)
  3866. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  3867. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  3868. // SERIAL_ECHOLNPGM("babystep applied");
  3869. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  3870. #ifdef SUPPORT_VERBOSITY
  3871. if (verbosity_level >= 1) {
  3872. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  3873. }
  3874. #endif // SUPPORT_VERBOSITY
  3875. for (uint8_t i = 0; i < 4; ++i) {
  3876. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  3877. long correction = 0;
  3878. if (code_seen(codes[i]))
  3879. correction = code_value_long();
  3880. else if (eeprom_bed_correction_valid) {
  3881. unsigned char *addr = (i < 2) ?
  3882. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  3883. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  3884. correction = eeprom_read_int8(addr);
  3885. }
  3886. if (correction == 0)
  3887. continue;
  3888. float offset = float(correction) * 0.001f;
  3889. if (fabs(offset) > 0.101f) {
  3890. SERIAL_ERROR_START;
  3891. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  3892. SERIAL_ECHO(offset);
  3893. SERIAL_ECHOLNPGM(" microns");
  3894. }
  3895. else {
  3896. switch (i) {
  3897. case 0:
  3898. for (uint8_t row = 0; row < 3; ++row) {
  3899. mbl.z_values[row][1] += 0.5f * offset;
  3900. mbl.z_values[row][0] += offset;
  3901. }
  3902. break;
  3903. case 1:
  3904. for (uint8_t row = 0; row < 3; ++row) {
  3905. mbl.z_values[row][1] += 0.5f * offset;
  3906. mbl.z_values[row][2] += offset;
  3907. }
  3908. break;
  3909. case 2:
  3910. for (uint8_t col = 0; col < 3; ++col) {
  3911. mbl.z_values[1][col] += 0.5f * offset;
  3912. mbl.z_values[0][col] += offset;
  3913. }
  3914. break;
  3915. case 3:
  3916. for (uint8_t col = 0; col < 3; ++col) {
  3917. mbl.z_values[1][col] += 0.5f * offset;
  3918. mbl.z_values[2][col] += offset;
  3919. }
  3920. break;
  3921. }
  3922. }
  3923. }
  3924. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  3925. 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)
  3926. // SERIAL_ECHOLNPGM("Upsample finished");
  3927. mbl.active = 1; //activate mesh bed leveling
  3928. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  3929. go_home_with_z_lift();
  3930. // SERIAL_ECHOLNPGM("Go home finished");
  3931. //unretract (after PINDA preheat retraction)
  3932. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3933. current_position[E_AXIS] += default_retraction;
  3934. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  3935. }
  3936. KEEPALIVE_STATE(NOT_BUSY);
  3937. // Restore custom message state
  3938. lcd_setstatuspgm(_T(WELCOME_MSG));
  3939. custom_message_type = custom_message_type_old;
  3940. custom_message_state = custom_message_state_old;
  3941. mesh_bed_leveling_flag = false;
  3942. mesh_bed_run_from_menu = false;
  3943. lcd_update(2);
  3944. }
  3945. break;
  3946. /**
  3947. * G81: Print mesh bed leveling status and bed profile if activated
  3948. */
  3949. case 81:
  3950. if (mbl.active) {
  3951. SERIAL_PROTOCOLPGM("Num X,Y: ");
  3952. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  3953. SERIAL_PROTOCOLPGM(",");
  3954. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  3955. SERIAL_PROTOCOLPGM("\nZ search height: ");
  3956. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  3957. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3958. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  3959. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  3960. SERIAL_PROTOCOLPGM(" ");
  3961. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  3962. }
  3963. SERIAL_PROTOCOLPGM("\n");
  3964. }
  3965. }
  3966. else
  3967. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3968. break;
  3969. #if 0
  3970. /**
  3971. * G82: Single Z probe at current location
  3972. *
  3973. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  3974. *
  3975. */
  3976. case 82:
  3977. SERIAL_PROTOCOLLNPGM("Finding bed ");
  3978. setup_for_endstop_move();
  3979. find_bed_induction_sensor_point_z();
  3980. clean_up_after_endstop_move();
  3981. SERIAL_PROTOCOLPGM("Bed found at: ");
  3982. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  3983. SERIAL_PROTOCOLPGM("\n");
  3984. break;
  3985. /**
  3986. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  3987. */
  3988. case 83:
  3989. {
  3990. int babystepz = code_seen('S') ? code_value() : 0;
  3991. int BabyPosition = code_seen('P') ? code_value() : 0;
  3992. if (babystepz != 0) {
  3993. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  3994. // Is the axis indexed starting with zero or one?
  3995. if (BabyPosition > 4) {
  3996. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  3997. }else{
  3998. // Save it to the eeprom
  3999. babystepLoadZ = babystepz;
  4000. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  4001. // adjust the Z
  4002. babystepsTodoZadd(babystepLoadZ);
  4003. }
  4004. }
  4005. }
  4006. break;
  4007. /**
  4008. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  4009. */
  4010. case 84:
  4011. babystepsTodoZsubtract(babystepLoadZ);
  4012. // babystepLoadZ = 0;
  4013. break;
  4014. /**
  4015. * G85: Prusa3D specific: Pick best babystep
  4016. */
  4017. case 85:
  4018. lcd_pick_babystep();
  4019. break;
  4020. #endif
  4021. /**
  4022. * G86: Prusa3D specific: Disable babystep correction after home.
  4023. * This G-code will be performed at the start of a calibration script.
  4024. */
  4025. case 86:
  4026. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  4027. break;
  4028. /**
  4029. * G87: Prusa3D specific: Enable babystep correction after home
  4030. * This G-code will be performed at the end of a calibration script.
  4031. */
  4032. case 87:
  4033. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  4034. break;
  4035. /**
  4036. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  4037. */
  4038. case 88:
  4039. break;
  4040. #endif // ENABLE_MESH_BED_LEVELING
  4041. case 90: // G90
  4042. relative_mode = false;
  4043. break;
  4044. case 91: // G91
  4045. relative_mode = true;
  4046. break;
  4047. case 92: // G92
  4048. if(!code_seen(axis_codes[E_AXIS]))
  4049. st_synchronize();
  4050. for(int8_t i=0; i < NUM_AXIS; i++) {
  4051. if(code_seen(axis_codes[i])) {
  4052. if(i == E_AXIS) {
  4053. current_position[i] = code_value();
  4054. plan_set_e_position(current_position[E_AXIS]);
  4055. }
  4056. else {
  4057. current_position[i] = code_value()+add_homing[i];
  4058. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  4059. }
  4060. }
  4061. }
  4062. break;
  4063. case 98: // G98 (activate farm mode)
  4064. farm_mode = 1;
  4065. PingTime = millis();
  4066. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4067. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  4068. SilentModeMenu = SILENT_MODE_OFF;
  4069. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  4070. break;
  4071. case 99: // G99 (deactivate farm mode)
  4072. farm_mode = 0;
  4073. lcd_printer_connected();
  4074. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4075. lcd_update(2);
  4076. break;
  4077. default:
  4078. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4079. }
  4080. // printf_P(_N("END G-CODE=%u\n"), gcode_in_progress);
  4081. gcode_in_progress = 0;
  4082. } // end if(code_seen('G'))
  4083. else if(code_seen('M'))
  4084. {
  4085. int index;
  4086. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  4087. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  4088. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  4089. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4090. } else
  4091. {
  4092. mcode_in_progress = (int)code_value();
  4093. // printf_P(_N("BEGIN M-CODE=%u\n"), mcode_in_progress);
  4094. switch(mcode_in_progress)
  4095. {
  4096. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  4097. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  4098. {
  4099. char *src = strchr_pointer + 2;
  4100. codenum = 0;
  4101. bool hasP = false, hasS = false;
  4102. if (code_seen('P')) {
  4103. codenum = code_value(); // milliseconds to wait
  4104. hasP = codenum > 0;
  4105. }
  4106. if (code_seen('S')) {
  4107. codenum = code_value() * 1000; // seconds to wait
  4108. hasS = codenum > 0;
  4109. }
  4110. starpos = strchr(src, '*');
  4111. if (starpos != NULL) *(starpos) = '\0';
  4112. while (*src == ' ') ++src;
  4113. if (!hasP && !hasS && *src != '\0') {
  4114. lcd_setstatus(src);
  4115. } else {
  4116. LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT c=0 r=0
  4117. }
  4118. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  4119. st_synchronize();
  4120. previous_millis_cmd = millis();
  4121. if (codenum > 0){
  4122. codenum += millis(); // keep track of when we started waiting
  4123. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4124. while(millis() < codenum && !lcd_clicked()){
  4125. manage_heater();
  4126. manage_inactivity(true);
  4127. lcd_update(0);
  4128. }
  4129. KEEPALIVE_STATE(IN_HANDLER);
  4130. lcd_ignore_click(false);
  4131. }else{
  4132. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4133. while(!lcd_clicked()){
  4134. manage_heater();
  4135. manage_inactivity(true);
  4136. lcd_update(0);
  4137. }
  4138. KEEPALIVE_STATE(IN_HANDLER);
  4139. }
  4140. if (IS_SD_PRINTING)
  4141. LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
  4142. else
  4143. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4144. }
  4145. break;
  4146. case 17:
  4147. LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE c=0 r=0
  4148. enable_x();
  4149. enable_y();
  4150. enable_z();
  4151. enable_e0();
  4152. enable_e1();
  4153. enable_e2();
  4154. break;
  4155. #ifdef SDSUPPORT
  4156. case 20: // M20 - list SD card
  4157. SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST c=0 r=0
  4158. card.ls();
  4159. SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST c=0 r=0
  4160. break;
  4161. case 21: // M21 - init SD card
  4162. card.initsd();
  4163. break;
  4164. case 22: //M22 - release SD card
  4165. card.release();
  4166. break;
  4167. case 23: //M23 - Select file
  4168. starpos = (strchr(strchr_pointer + 4,'*'));
  4169. if(starpos!=NULL)
  4170. *(starpos)='\0';
  4171. card.openFile(strchr_pointer + 4,true);
  4172. break;
  4173. case 24: //M24 - Start SD print
  4174. if (!card.paused)
  4175. failstats_reset_print();
  4176. card.startFileprint();
  4177. starttime=millis();
  4178. break;
  4179. case 25: //M25 - Pause SD print
  4180. card.pauseSDPrint();
  4181. break;
  4182. case 26: //M26 - Set SD index
  4183. if(card.cardOK && code_seen('S')) {
  4184. card.setIndex(code_value_long());
  4185. }
  4186. break;
  4187. case 27: //M27 - Get SD status
  4188. card.getStatus();
  4189. break;
  4190. case 28: //M28 - Start SD write
  4191. starpos = (strchr(strchr_pointer + 4,'*'));
  4192. if(starpos != NULL){
  4193. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4194. strchr_pointer = strchr(npos,' ') + 1;
  4195. *(starpos) = '\0';
  4196. }
  4197. card.openFile(strchr_pointer+4,false);
  4198. break;
  4199. case 29: //M29 - Stop SD write
  4200. //processed in write to file routine above
  4201. //card,saving = false;
  4202. break;
  4203. case 30: //M30 <filename> Delete File
  4204. if (card.cardOK){
  4205. card.closefile();
  4206. starpos = (strchr(strchr_pointer + 4,'*'));
  4207. if(starpos != NULL){
  4208. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4209. strchr_pointer = strchr(npos,' ') + 1;
  4210. *(starpos) = '\0';
  4211. }
  4212. card.removeFile(strchr_pointer + 4);
  4213. }
  4214. break;
  4215. case 32: //M32 - Select file and start SD print
  4216. {
  4217. if(card.sdprinting) {
  4218. st_synchronize();
  4219. }
  4220. starpos = (strchr(strchr_pointer + 4,'*'));
  4221. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  4222. if(namestartpos==NULL)
  4223. {
  4224. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  4225. }
  4226. else
  4227. namestartpos++; //to skip the '!'
  4228. if(starpos!=NULL)
  4229. *(starpos)='\0';
  4230. bool call_procedure=(code_seen('P'));
  4231. if(strchr_pointer>namestartpos)
  4232. call_procedure=false; //false alert, 'P' found within filename
  4233. if( card.cardOK )
  4234. {
  4235. card.openFile(namestartpos,true,!call_procedure);
  4236. if(code_seen('S'))
  4237. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  4238. card.setIndex(code_value_long());
  4239. card.startFileprint();
  4240. if(!call_procedure)
  4241. starttime=millis(); //procedure calls count as normal print time.
  4242. }
  4243. } break;
  4244. case 928: //M928 - Start SD write
  4245. starpos = (strchr(strchr_pointer + 5,'*'));
  4246. if(starpos != NULL){
  4247. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4248. strchr_pointer = strchr(npos,' ') + 1;
  4249. *(starpos) = '\0';
  4250. }
  4251. card.openLogFile(strchr_pointer+5);
  4252. break;
  4253. #endif //SDSUPPORT
  4254. case 31: //M31 take time since the start of the SD print or an M109 command
  4255. {
  4256. stoptime=millis();
  4257. char time[30];
  4258. unsigned long t=(stoptime-starttime)/1000;
  4259. int sec,min;
  4260. min=t/60;
  4261. sec=t%60;
  4262. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  4263. SERIAL_ECHO_START;
  4264. SERIAL_ECHOLN(time);
  4265. lcd_setstatus(time);
  4266. autotempShutdown();
  4267. }
  4268. break;
  4269. case 42: //M42 -Change pin status via gcode
  4270. if (code_seen('S'))
  4271. {
  4272. int pin_status = code_value();
  4273. int pin_number = LED_PIN;
  4274. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  4275. pin_number = code_value();
  4276. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4277. {
  4278. if (sensitive_pins[i] == pin_number)
  4279. {
  4280. pin_number = -1;
  4281. break;
  4282. }
  4283. }
  4284. #if defined(FAN_PIN) && FAN_PIN > -1
  4285. if (pin_number == FAN_PIN)
  4286. fanSpeed = pin_status;
  4287. #endif
  4288. if (pin_number > -1)
  4289. {
  4290. pinMode(pin_number, OUTPUT);
  4291. digitalWrite(pin_number, pin_status);
  4292. analogWrite(pin_number, pin_status);
  4293. }
  4294. }
  4295. break;
  4296. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  4297. // Reset the baby step value and the baby step applied flag.
  4298. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  4299. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  4300. // Reset the skew and offset in both RAM and EEPROM.
  4301. reset_bed_offset_and_skew();
  4302. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4303. // the planner will not perform any adjustments in the XY plane.
  4304. // Wait for the motors to stop and update the current position with the absolute values.
  4305. world2machine_revert_to_uncorrected();
  4306. break;
  4307. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  4308. {
  4309. int8_t verbosity_level = 0;
  4310. bool only_Z = code_seen('Z');
  4311. #ifdef SUPPORT_VERBOSITY
  4312. if (code_seen('V'))
  4313. {
  4314. // Just 'V' without a number counts as V1.
  4315. char c = strchr_pointer[1];
  4316. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4317. }
  4318. #endif //SUPPORT_VERBOSITY
  4319. gcode_M45(only_Z, verbosity_level);
  4320. }
  4321. break;
  4322. /*
  4323. case 46:
  4324. {
  4325. // M46: Prusa3D: Show the assigned IP address.
  4326. uint8_t ip[4];
  4327. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  4328. if (hasIP) {
  4329. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  4330. SERIAL_ECHO(int(ip[0]));
  4331. SERIAL_ECHOPGM(".");
  4332. SERIAL_ECHO(int(ip[1]));
  4333. SERIAL_ECHOPGM(".");
  4334. SERIAL_ECHO(int(ip[2]));
  4335. SERIAL_ECHOPGM(".");
  4336. SERIAL_ECHO(int(ip[3]));
  4337. SERIAL_ECHOLNPGM("");
  4338. } else {
  4339. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  4340. }
  4341. break;
  4342. }
  4343. */
  4344. case 47:
  4345. // M47: Prusa3D: Show end stops dialog on the display.
  4346. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4347. lcd_diag_show_end_stops();
  4348. KEEPALIVE_STATE(IN_HANDLER);
  4349. break;
  4350. #if 0
  4351. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  4352. {
  4353. // Disable the default update procedure of the display. We will do a modal dialog.
  4354. lcd_update_enable(false);
  4355. // Let the planner use the uncorrected coordinates.
  4356. mbl.reset();
  4357. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4358. // the planner will not perform any adjustments in the XY plane.
  4359. // Wait for the motors to stop and update the current position with the absolute values.
  4360. world2machine_revert_to_uncorrected();
  4361. // Move the print head close to the bed.
  4362. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4363. 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);
  4364. st_synchronize();
  4365. // Home in the XY plane.
  4366. set_destination_to_current();
  4367. setup_for_endstop_move();
  4368. home_xy();
  4369. int8_t verbosity_level = 0;
  4370. if (code_seen('V')) {
  4371. // Just 'V' without a number counts as V1.
  4372. char c = strchr_pointer[1];
  4373. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4374. }
  4375. bool success = scan_bed_induction_points(verbosity_level);
  4376. clean_up_after_endstop_move();
  4377. // Print head up.
  4378. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4379. 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);
  4380. st_synchronize();
  4381. lcd_update_enable(true);
  4382. break;
  4383. }
  4384. #endif
  4385. // M48 Z-Probe repeatability measurement function.
  4386. //
  4387. // 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>
  4388. //
  4389. // This function assumes the bed has been homed. Specificaly, that a G28 command
  4390. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  4391. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  4392. // regenerated.
  4393. //
  4394. // The number of samples will default to 10 if not specified. You can use upper or lower case
  4395. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  4396. // N for its communication protocol and will get horribly confused if you send it a capital N.
  4397. //
  4398. #ifdef ENABLE_AUTO_BED_LEVELING
  4399. #ifdef Z_PROBE_REPEATABILITY_TEST
  4400. case 48: // M48 Z-Probe repeatability
  4401. {
  4402. #if Z_MIN_PIN == -1
  4403. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  4404. #endif
  4405. double sum=0.0;
  4406. double mean=0.0;
  4407. double sigma=0.0;
  4408. double sample_set[50];
  4409. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  4410. double X_current, Y_current, Z_current;
  4411. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  4412. if (code_seen('V') || code_seen('v')) {
  4413. verbose_level = code_value();
  4414. if (verbose_level<0 || verbose_level>4 ) {
  4415. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  4416. goto Sigma_Exit;
  4417. }
  4418. }
  4419. if (verbose_level > 0) {
  4420. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  4421. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  4422. }
  4423. if (code_seen('n')) {
  4424. n_samples = code_value();
  4425. if (n_samples<4 || n_samples>50 ) {
  4426. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  4427. goto Sigma_Exit;
  4428. }
  4429. }
  4430. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  4431. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  4432. Z_current = st_get_position_mm(Z_AXIS);
  4433. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4434. ext_position = st_get_position_mm(E_AXIS);
  4435. if (code_seen('X') || code_seen('x') ) {
  4436. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  4437. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  4438. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  4439. goto Sigma_Exit;
  4440. }
  4441. }
  4442. if (code_seen('Y') || code_seen('y') ) {
  4443. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  4444. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  4445. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  4446. goto Sigma_Exit;
  4447. }
  4448. }
  4449. if (code_seen('L') || code_seen('l') ) {
  4450. n_legs = code_value();
  4451. if ( n_legs==1 )
  4452. n_legs = 2;
  4453. if ( n_legs<0 || n_legs>15 ) {
  4454. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  4455. goto Sigma_Exit;
  4456. }
  4457. }
  4458. //
  4459. // Do all the preliminary setup work. First raise the probe.
  4460. //
  4461. st_synchronize();
  4462. plan_bed_level_matrix.set_to_identity();
  4463. plan_buffer_line( X_current, Y_current, Z_start_location,
  4464. ext_position,
  4465. homing_feedrate[Z_AXIS]/60,
  4466. active_extruder);
  4467. st_synchronize();
  4468. //
  4469. // Now get everything to the specified probe point So we can safely do a probe to
  4470. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  4471. // use that as a starting point for each probe.
  4472. //
  4473. if (verbose_level > 2)
  4474. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  4475. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4476. ext_position,
  4477. homing_feedrate[X_AXIS]/60,
  4478. active_extruder);
  4479. st_synchronize();
  4480. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  4481. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  4482. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4483. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  4484. //
  4485. // OK, do the inital probe to get us close to the bed.
  4486. // Then retrace the right amount and use that in subsequent probes
  4487. //
  4488. setup_for_endstop_move();
  4489. run_z_probe();
  4490. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4491. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4492. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4493. ext_position,
  4494. homing_feedrate[X_AXIS]/60,
  4495. active_extruder);
  4496. st_synchronize();
  4497. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4498. for( n=0; n<n_samples; n++) {
  4499. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  4500. if ( n_legs) {
  4501. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  4502. int rotational_direction, l;
  4503. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  4504. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  4505. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  4506. //SERIAL_ECHOPAIR("starting radius: ",radius);
  4507. //SERIAL_ECHOPAIR(" theta: ",theta);
  4508. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  4509. //SERIAL_PROTOCOLLNPGM("");
  4510. for( l=0; l<n_legs-1; l++) {
  4511. if (rotational_direction==1)
  4512. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4513. else
  4514. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4515. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  4516. if ( radius<0.0 )
  4517. radius = -radius;
  4518. X_current = X_probe_location + cos(theta) * radius;
  4519. Y_current = Y_probe_location + sin(theta) * radius;
  4520. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  4521. X_current = X_MIN_POS;
  4522. if ( X_current>X_MAX_POS)
  4523. X_current = X_MAX_POS;
  4524. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  4525. Y_current = Y_MIN_POS;
  4526. if ( Y_current>Y_MAX_POS)
  4527. Y_current = Y_MAX_POS;
  4528. if (verbose_level>3 ) {
  4529. SERIAL_ECHOPAIR("x: ", X_current);
  4530. SERIAL_ECHOPAIR("y: ", Y_current);
  4531. SERIAL_PROTOCOLLNPGM("");
  4532. }
  4533. do_blocking_move_to( X_current, Y_current, Z_current );
  4534. }
  4535. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  4536. }
  4537. setup_for_endstop_move();
  4538. run_z_probe();
  4539. sample_set[n] = current_position[Z_AXIS];
  4540. //
  4541. // Get the current mean for the data points we have so far
  4542. //
  4543. sum=0.0;
  4544. for( j=0; j<=n; j++) {
  4545. sum = sum + sample_set[j];
  4546. }
  4547. mean = sum / (double (n+1));
  4548. //
  4549. // Now, use that mean to calculate the standard deviation for the
  4550. // data points we have so far
  4551. //
  4552. sum=0.0;
  4553. for( j=0; j<=n; j++) {
  4554. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  4555. }
  4556. sigma = sqrt( sum / (double (n+1)) );
  4557. if (verbose_level > 1) {
  4558. SERIAL_PROTOCOL(n+1);
  4559. SERIAL_PROTOCOL(" of ");
  4560. SERIAL_PROTOCOL(n_samples);
  4561. SERIAL_PROTOCOLPGM(" z: ");
  4562. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  4563. }
  4564. if (verbose_level > 2) {
  4565. SERIAL_PROTOCOL(" mean: ");
  4566. SERIAL_PROTOCOL_F(mean,6);
  4567. SERIAL_PROTOCOL(" sigma: ");
  4568. SERIAL_PROTOCOL_F(sigma,6);
  4569. }
  4570. if (verbose_level > 0)
  4571. SERIAL_PROTOCOLPGM("\n");
  4572. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4573. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  4574. st_synchronize();
  4575. }
  4576. delay(1000);
  4577. clean_up_after_endstop_move();
  4578. // enable_endstops(true);
  4579. if (verbose_level > 0) {
  4580. SERIAL_PROTOCOLPGM("Mean: ");
  4581. SERIAL_PROTOCOL_F(mean, 6);
  4582. SERIAL_PROTOCOLPGM("\n");
  4583. }
  4584. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  4585. SERIAL_PROTOCOL_F(sigma, 6);
  4586. SERIAL_PROTOCOLPGM("\n\n");
  4587. Sigma_Exit:
  4588. break;
  4589. }
  4590. #endif // Z_PROBE_REPEATABILITY_TEST
  4591. #endif // ENABLE_AUTO_BED_LEVELING
  4592. case 73: //M73 show percent done and time remaining
  4593. if(code_seen('P')) print_percent_done_normal = code_value();
  4594. if(code_seen('R')) print_time_remaining_normal = code_value();
  4595. if(code_seen('Q')) print_percent_done_silent = code_value();
  4596. if(code_seen('S')) print_time_remaining_silent = code_value();
  4597. {
  4598. const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
  4599. printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
  4600. printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
  4601. }
  4602. break;
  4603. case 104: // M104
  4604. {
  4605. uint8_t extruder;
  4606. if(setTargetedHotend(104,extruder)){
  4607. break;
  4608. }
  4609. if (code_seen('S'))
  4610. {
  4611. setTargetHotendSafe(code_value(), extruder);
  4612. }
  4613. setWatch();
  4614. break;
  4615. }
  4616. case 112: // M112 -Emergency Stop
  4617. kill(_n(""), 3);
  4618. break;
  4619. case 140: // M140 set bed temp
  4620. if (code_seen('S')) setTargetBed(code_value());
  4621. break;
  4622. case 105 : // M105
  4623. {
  4624. uint8_t extruder;
  4625. if(setTargetedHotend(105, extruder)){
  4626. break;
  4627. }
  4628. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  4629. SERIAL_PROTOCOLPGM("ok T:");
  4630. SERIAL_PROTOCOL_F(degHotend(extruder),1);
  4631. SERIAL_PROTOCOLPGM(" /");
  4632. SERIAL_PROTOCOL_F(degTargetHotend(extruder),1);
  4633. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4634. SERIAL_PROTOCOLPGM(" B:");
  4635. SERIAL_PROTOCOL_F(degBed(),1);
  4636. SERIAL_PROTOCOLPGM(" /");
  4637. SERIAL_PROTOCOL_F(degTargetBed(),1);
  4638. #endif //TEMP_BED_PIN
  4639. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4640. SERIAL_PROTOCOLPGM(" T");
  4641. SERIAL_PROTOCOL(cur_extruder);
  4642. SERIAL_PROTOCOLPGM(":");
  4643. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4644. SERIAL_PROTOCOLPGM(" /");
  4645. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  4646. }
  4647. #else
  4648. SERIAL_ERROR_START;
  4649. SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS c=0 r=0
  4650. #endif
  4651. SERIAL_PROTOCOLPGM(" @:");
  4652. #ifdef EXTRUDER_WATTS
  4653. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  4654. SERIAL_PROTOCOLPGM("W");
  4655. #else
  4656. SERIAL_PROTOCOL(getHeaterPower(extruder));
  4657. #endif
  4658. SERIAL_PROTOCOLPGM(" B@:");
  4659. #ifdef BED_WATTS
  4660. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  4661. SERIAL_PROTOCOLPGM("W");
  4662. #else
  4663. SERIAL_PROTOCOL(getHeaterPower(-1));
  4664. #endif
  4665. #ifdef PINDA_THERMISTOR
  4666. SERIAL_PROTOCOLPGM(" P:");
  4667. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  4668. #endif //PINDA_THERMISTOR
  4669. #ifdef AMBIENT_THERMISTOR
  4670. SERIAL_PROTOCOLPGM(" A:");
  4671. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  4672. #endif //AMBIENT_THERMISTOR
  4673. #ifdef SHOW_TEMP_ADC_VALUES
  4674. {float raw = 0.0;
  4675. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4676. SERIAL_PROTOCOLPGM(" ADC B:");
  4677. SERIAL_PROTOCOL_F(degBed(),1);
  4678. SERIAL_PROTOCOLPGM("C->");
  4679. raw = rawBedTemp();
  4680. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4681. SERIAL_PROTOCOLPGM(" Rb->");
  4682. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4683. SERIAL_PROTOCOLPGM(" Rxb->");
  4684. SERIAL_PROTOCOL_F(raw, 5);
  4685. #endif
  4686. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4687. SERIAL_PROTOCOLPGM(" T");
  4688. SERIAL_PROTOCOL(cur_extruder);
  4689. SERIAL_PROTOCOLPGM(":");
  4690. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4691. SERIAL_PROTOCOLPGM("C->");
  4692. raw = rawHotendTemp(cur_extruder);
  4693. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4694. SERIAL_PROTOCOLPGM(" Rt");
  4695. SERIAL_PROTOCOL(cur_extruder);
  4696. SERIAL_PROTOCOLPGM("->");
  4697. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4698. SERIAL_PROTOCOLPGM(" Rx");
  4699. SERIAL_PROTOCOL(cur_extruder);
  4700. SERIAL_PROTOCOLPGM("->");
  4701. SERIAL_PROTOCOL_F(raw, 5);
  4702. }}
  4703. #endif
  4704. SERIAL_PROTOCOLLN("");
  4705. KEEPALIVE_STATE(NOT_BUSY);
  4706. return;
  4707. break;
  4708. }
  4709. case 109:
  4710. {// M109 - Wait for extruder heater to reach target.
  4711. uint8_t extruder;
  4712. if(setTargetedHotend(109, extruder)){
  4713. break;
  4714. }
  4715. LCD_MESSAGERPGM(_T(MSG_HEATING));
  4716. heating_status = 1;
  4717. if (farm_mode) { prusa_statistics(1); };
  4718. #ifdef AUTOTEMP
  4719. autotemp_enabled=false;
  4720. #endif
  4721. if (code_seen('S')) {
  4722. setTargetHotendSafe(code_value(), extruder);
  4723. CooldownNoWait = true;
  4724. } else if (code_seen('R')) {
  4725. setTargetHotendSafe(code_value(), extruder);
  4726. CooldownNoWait = false;
  4727. }
  4728. #ifdef AUTOTEMP
  4729. if (code_seen('S')) autotemp_min=code_value();
  4730. if (code_seen('B')) autotemp_max=code_value();
  4731. if (code_seen('F'))
  4732. {
  4733. autotemp_factor=code_value();
  4734. autotemp_enabled=true;
  4735. }
  4736. #endif
  4737. setWatch();
  4738. codenum = millis();
  4739. /* See if we are heating up or cooling down */
  4740. target_direction = isHeatingHotend(extruder); // true if heating, false if cooling
  4741. KEEPALIVE_STATE(NOT_BUSY);
  4742. cancel_heatup = false;
  4743. wait_for_heater(codenum, extruder); //loops until target temperature is reached
  4744. LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
  4745. KEEPALIVE_STATE(IN_HANDLER);
  4746. heating_status = 2;
  4747. if (farm_mode) { prusa_statistics(2); };
  4748. //starttime=millis();
  4749. previous_millis_cmd = millis();
  4750. }
  4751. break;
  4752. case 190: // M190 - Wait for bed heater to reach target.
  4753. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4754. LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
  4755. heating_status = 3;
  4756. if (farm_mode) { prusa_statistics(1); };
  4757. if (code_seen('S'))
  4758. {
  4759. setTargetBed(code_value());
  4760. CooldownNoWait = true;
  4761. }
  4762. else if (code_seen('R'))
  4763. {
  4764. setTargetBed(code_value());
  4765. CooldownNoWait = false;
  4766. }
  4767. codenum = millis();
  4768. cancel_heatup = false;
  4769. target_direction = isHeatingBed(); // true if heating, false if cooling
  4770. KEEPALIVE_STATE(NOT_BUSY);
  4771. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  4772. {
  4773. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  4774. {
  4775. if (!farm_mode) {
  4776. float tt = degHotend(active_extruder);
  4777. SERIAL_PROTOCOLPGM("T:");
  4778. SERIAL_PROTOCOL(tt);
  4779. SERIAL_PROTOCOLPGM(" E:");
  4780. SERIAL_PROTOCOL((int)active_extruder);
  4781. SERIAL_PROTOCOLPGM(" B:");
  4782. SERIAL_PROTOCOL_F(degBed(), 1);
  4783. SERIAL_PROTOCOLLN("");
  4784. }
  4785. codenum = millis();
  4786. }
  4787. manage_heater();
  4788. manage_inactivity();
  4789. lcd_update(0);
  4790. }
  4791. LCD_MESSAGERPGM(_T(MSG_BED_DONE));
  4792. KEEPALIVE_STATE(IN_HANDLER);
  4793. heating_status = 4;
  4794. previous_millis_cmd = millis();
  4795. #endif
  4796. break;
  4797. #if defined(FAN_PIN) && FAN_PIN > -1
  4798. case 106: //M106 Fan On
  4799. if (code_seen('S')){
  4800. fanSpeed=constrain(code_value(),0,255);
  4801. }
  4802. else {
  4803. fanSpeed=255;
  4804. }
  4805. break;
  4806. case 107: //M107 Fan Off
  4807. fanSpeed = 0;
  4808. break;
  4809. #endif //FAN_PIN
  4810. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  4811. case 80: // M80 - Turn on Power Supply
  4812. SET_OUTPUT(PS_ON_PIN); //GND
  4813. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  4814. // If you have a switch on suicide pin, this is useful
  4815. // if you want to start another print with suicide feature after
  4816. // a print without suicide...
  4817. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  4818. SET_OUTPUT(SUICIDE_PIN);
  4819. WRITE(SUICIDE_PIN, HIGH);
  4820. #endif
  4821. powersupply = true;
  4822. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4823. lcd_update(0);
  4824. break;
  4825. #endif
  4826. case 81: // M81 - Turn off Power Supply
  4827. disable_heater();
  4828. st_synchronize();
  4829. disable_e0();
  4830. disable_e1();
  4831. disable_e2();
  4832. finishAndDisableSteppers();
  4833. fanSpeed = 0;
  4834. delay(1000); // Wait a little before to switch off
  4835. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  4836. st_synchronize();
  4837. suicide();
  4838. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  4839. SET_OUTPUT(PS_ON_PIN);
  4840. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4841. #endif
  4842. powersupply = false;
  4843. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
  4844. lcd_update(0);
  4845. break;
  4846. case 82:
  4847. axis_relative_modes[3] = false;
  4848. break;
  4849. case 83:
  4850. axis_relative_modes[3] = true;
  4851. break;
  4852. case 18: //compatibility
  4853. case 84: // M84
  4854. if(code_seen('S')){
  4855. stepper_inactive_time = code_value() * 1000;
  4856. }
  4857. else
  4858. {
  4859. 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])));
  4860. if(all_axis)
  4861. {
  4862. st_synchronize();
  4863. disable_e0();
  4864. disable_e1();
  4865. disable_e2();
  4866. finishAndDisableSteppers();
  4867. }
  4868. else
  4869. {
  4870. st_synchronize();
  4871. if (code_seen('X')) disable_x();
  4872. if (code_seen('Y')) disable_y();
  4873. if (code_seen('Z')) disable_z();
  4874. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4875. if (code_seen('E')) {
  4876. disable_e0();
  4877. disable_e1();
  4878. disable_e2();
  4879. }
  4880. #endif
  4881. }
  4882. }
  4883. //in the end of print set estimated time to end of print and extruders used during print to default values for next print
  4884. print_time_remaining_init();
  4885. snmm_filaments_used = 0;
  4886. break;
  4887. case 85: // M85
  4888. if(code_seen('S')) {
  4889. max_inactive_time = code_value() * 1000;
  4890. }
  4891. break;
  4892. #ifdef SAFETYTIMER
  4893. case 86: // M86 - set safety timer expiration time in seconds; M86 S0 will disable safety timer
  4894. //when safety timer expires heatbed and nozzle target temperatures are set to zero
  4895. if (code_seen('S')) {
  4896. safetytimer_inactive_time = code_value() * 1000;
  4897. safetyTimer.start();
  4898. }
  4899. break;
  4900. #endif
  4901. case 92: // M92
  4902. for(int8_t i=0; i < NUM_AXIS; i++)
  4903. {
  4904. if(code_seen(axis_codes[i]))
  4905. {
  4906. if(i == 3) { // E
  4907. float value = code_value();
  4908. if(value < 20.0) {
  4909. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  4910. max_jerk[E_AXIS] *= factor;
  4911. max_feedrate[i] *= factor;
  4912. axis_steps_per_sqr_second[i] *= factor;
  4913. }
  4914. axis_steps_per_unit[i] = value;
  4915. }
  4916. else {
  4917. axis_steps_per_unit[i] = code_value();
  4918. }
  4919. }
  4920. }
  4921. break;
  4922. case 110: // M110 - reset line pos
  4923. if (code_seen('N'))
  4924. gcode_LastN = code_value_long();
  4925. break;
  4926. #ifdef HOST_KEEPALIVE_FEATURE
  4927. case 113: // M113 - Get or set Host Keepalive interval
  4928. if (code_seen('S')) {
  4929. host_keepalive_interval = (uint8_t)code_value_short();
  4930. // NOMORE(host_keepalive_interval, 60);
  4931. }
  4932. else {
  4933. SERIAL_ECHO_START;
  4934. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4935. SERIAL_PROTOCOLLN("");
  4936. }
  4937. break;
  4938. #endif
  4939. case 115: // M115
  4940. if (code_seen('V')) {
  4941. // Report the Prusa version number.
  4942. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  4943. } else if (code_seen('U')) {
  4944. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  4945. // pause the print and ask the user to upgrade the firmware.
  4946. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  4947. } else {
  4948. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  4949. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  4950. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  4951. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  4952. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  4953. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  4954. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  4955. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  4956. SERIAL_ECHOPGM(" UUID:");
  4957. SERIAL_ECHOLNPGM(MACHINE_UUID);
  4958. }
  4959. break;
  4960. /* case 117: // M117 display message
  4961. starpos = (strchr(strchr_pointer + 5,'*'));
  4962. if(starpos!=NULL)
  4963. *(starpos)='\0';
  4964. lcd_setstatus(strchr_pointer + 5);
  4965. break;*/
  4966. case 114: // M114
  4967. gcode_M114();
  4968. break;
  4969. case 120: // M120
  4970. enable_endstops(false) ;
  4971. break;
  4972. case 121: // M121
  4973. enable_endstops(true) ;
  4974. break;
  4975. case 119: // M119
  4976. SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT c=0 r=0
  4977. SERIAL_PROTOCOLLN("");
  4978. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  4979. SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN c=0 r=0
  4980. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  4981. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4982. }else{
  4983. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4984. }
  4985. SERIAL_PROTOCOLLN("");
  4986. #endif
  4987. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  4988. SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX c=0 r=0
  4989. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  4990. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4991. }else{
  4992. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4993. }
  4994. SERIAL_PROTOCOLLN("");
  4995. #endif
  4996. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  4997. SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN c=0 r=0
  4998. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  4999. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  5000. }else{
  5001. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  5002. }
  5003. SERIAL_PROTOCOLLN("");
  5004. #endif
  5005. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  5006. SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX c=0 r=0
  5007. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  5008. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  5009. }else{
  5010. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  5011. }
  5012. SERIAL_PROTOCOLLN("");
  5013. #endif
  5014. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  5015. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  5016. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  5017. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  5018. }else{
  5019. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  5020. }
  5021. SERIAL_PROTOCOLLN("");
  5022. #endif
  5023. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  5024. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  5025. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  5026. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  5027. }else{
  5028. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  5029. }
  5030. SERIAL_PROTOCOLLN("");
  5031. #endif
  5032. break;
  5033. //TODO: update for all axis, use for loop
  5034. #ifdef BLINKM
  5035. case 150: // M150
  5036. {
  5037. byte red;
  5038. byte grn;
  5039. byte blu;
  5040. if(code_seen('R')) red = code_value();
  5041. if(code_seen('U')) grn = code_value();
  5042. if(code_seen('B')) blu = code_value();
  5043. SendColors(red,grn,blu);
  5044. }
  5045. break;
  5046. #endif //BLINKM
  5047. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  5048. {
  5049. uint8_t extruder = active_extruder;
  5050. if(code_seen('T')) {
  5051. extruder = code_value();
  5052. if(extruder >= EXTRUDERS) {
  5053. SERIAL_ECHO_START;
  5054. SERIAL_ECHO(_i("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER c=0 r=0
  5055. break;
  5056. }
  5057. }
  5058. if(code_seen('D')) {
  5059. float diameter = (float)code_value();
  5060. if (diameter == 0.0) {
  5061. // setting any extruder filament size disables volumetric on the assumption that
  5062. // slicers either generate in extruder values as cubic mm or as as filament feeds
  5063. // for all extruders
  5064. volumetric_enabled = false;
  5065. } else {
  5066. filament_size[extruder] = (float)code_value();
  5067. // make sure all extruders have some sane value for the filament size
  5068. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  5069. #if EXTRUDERS > 1
  5070. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  5071. #if EXTRUDERS > 2
  5072. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  5073. #endif
  5074. #endif
  5075. volumetric_enabled = true;
  5076. }
  5077. } else {
  5078. //reserved for setting filament diameter via UFID or filament measuring device
  5079. break;
  5080. }
  5081. calculate_extruder_multipliers();
  5082. }
  5083. break;
  5084. case 201: // M201
  5085. for (int8_t i = 0; i < NUM_AXIS; i++)
  5086. {
  5087. if (code_seen(axis_codes[i]))
  5088. {
  5089. unsigned long val = code_value();
  5090. #ifdef TMC2130
  5091. unsigned long val_silent = val;
  5092. if ((i == X_AXIS) || (i == Y_AXIS))
  5093. {
  5094. if (val > NORMAL_MAX_ACCEL_XY)
  5095. val = NORMAL_MAX_ACCEL_XY;
  5096. if (val_silent > SILENT_MAX_ACCEL_XY)
  5097. val_silent = SILENT_MAX_ACCEL_XY;
  5098. }
  5099. max_acceleration_units_per_sq_second_normal[i] = val;
  5100. max_acceleration_units_per_sq_second_silent[i] = val_silent;
  5101. #else //TMC2130
  5102. max_acceleration_units_per_sq_second[i] = val;
  5103. #endif //TMC2130
  5104. }
  5105. }
  5106. // 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)
  5107. reset_acceleration_rates();
  5108. break;
  5109. #if 0 // Not used for Sprinter/grbl gen6
  5110. case 202: // M202
  5111. for(int8_t i=0; i < NUM_AXIS; i++) {
  5112. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  5113. }
  5114. break;
  5115. #endif
  5116. case 203: // M203 max feedrate mm/sec
  5117. for (int8_t i = 0; i < NUM_AXIS; i++)
  5118. {
  5119. if (code_seen(axis_codes[i]))
  5120. {
  5121. float val = code_value();
  5122. #ifdef TMC2130
  5123. float val_silent = val;
  5124. if ((i == X_AXIS) || (i == Y_AXIS))
  5125. {
  5126. if (val > NORMAL_MAX_FEEDRATE_XY)
  5127. val = NORMAL_MAX_FEEDRATE_XY;
  5128. if (val_silent > SILENT_MAX_FEEDRATE_XY)
  5129. val_silent = SILENT_MAX_FEEDRATE_XY;
  5130. }
  5131. max_feedrate_normal[i] = val;
  5132. max_feedrate_silent[i] = val_silent;
  5133. #else //TMC2130
  5134. max_feedrate[i] = val;
  5135. #endif //TMC2130
  5136. }
  5137. }
  5138. break;
  5139. case 204:
  5140. // M204 acclereration settings.
  5141. // Supporting old format: M204 S[normal moves] T[filmanent only moves]
  5142. // and new format: M204 P[printing moves] R[filmanent only moves] T[travel moves] (as of now T is ignored)
  5143. {
  5144. if(code_seen('S')) {
  5145. // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
  5146. // and it is also generated by Slic3r to control acceleration per extrusion type
  5147. // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
  5148. acceleration = code_value();
  5149. // Interpret the T value as retract acceleration in the old Marlin format.
  5150. if(code_seen('T'))
  5151. retract_acceleration = code_value();
  5152. } else {
  5153. // New acceleration format, compatible with the upstream Marlin.
  5154. if(code_seen('P'))
  5155. acceleration = code_value();
  5156. if(code_seen('R'))
  5157. retract_acceleration = code_value();
  5158. if(code_seen('T')) {
  5159. // Interpret the T value as the travel acceleration in the new Marlin format.
  5160. //FIXME Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
  5161. // travel_acceleration = code_value();
  5162. }
  5163. }
  5164. }
  5165. break;
  5166. 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
  5167. {
  5168. if(code_seen('S')) minimumfeedrate = code_value();
  5169. if(code_seen('T')) mintravelfeedrate = code_value();
  5170. if(code_seen('B')) minsegmenttime = code_value() ;
  5171. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  5172. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  5173. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  5174. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  5175. if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
  5176. if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
  5177. }
  5178. break;
  5179. case 206: // M206 additional homing offset
  5180. for(int8_t i=0; i < 3; i++)
  5181. {
  5182. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  5183. }
  5184. break;
  5185. #ifdef FWRETRACT
  5186. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  5187. {
  5188. if(code_seen('S'))
  5189. {
  5190. retract_length = code_value() ;
  5191. }
  5192. if(code_seen('F'))
  5193. {
  5194. retract_feedrate = code_value()/60 ;
  5195. }
  5196. if(code_seen('Z'))
  5197. {
  5198. retract_zlift = code_value() ;
  5199. }
  5200. }break;
  5201. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  5202. {
  5203. if(code_seen('S'))
  5204. {
  5205. retract_recover_length = code_value() ;
  5206. }
  5207. if(code_seen('F'))
  5208. {
  5209. retract_recover_feedrate = code_value()/60 ;
  5210. }
  5211. }break;
  5212. 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.
  5213. {
  5214. if(code_seen('S'))
  5215. {
  5216. int t= code_value() ;
  5217. switch(t)
  5218. {
  5219. case 0:
  5220. {
  5221. autoretract_enabled=false;
  5222. retracted[0]=false;
  5223. #if EXTRUDERS > 1
  5224. retracted[1]=false;
  5225. #endif
  5226. #if EXTRUDERS > 2
  5227. retracted[2]=false;
  5228. #endif
  5229. }break;
  5230. case 1:
  5231. {
  5232. autoretract_enabled=true;
  5233. retracted[0]=false;
  5234. #if EXTRUDERS > 1
  5235. retracted[1]=false;
  5236. #endif
  5237. #if EXTRUDERS > 2
  5238. retracted[2]=false;
  5239. #endif
  5240. }break;
  5241. default:
  5242. SERIAL_ECHO_START;
  5243. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5244. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5245. SERIAL_ECHOLNPGM("\"(1)");
  5246. }
  5247. }
  5248. }break;
  5249. #endif // FWRETRACT
  5250. #if EXTRUDERS > 1
  5251. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  5252. {
  5253. uint8_t extruder;
  5254. if(setTargetedHotend(218, extruder)){
  5255. break;
  5256. }
  5257. if(code_seen('X'))
  5258. {
  5259. extruder_offset[X_AXIS][extruder] = code_value();
  5260. }
  5261. if(code_seen('Y'))
  5262. {
  5263. extruder_offset[Y_AXIS][extruder] = code_value();
  5264. }
  5265. SERIAL_ECHO_START;
  5266. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  5267. for(extruder = 0; extruder < EXTRUDERS; extruder++)
  5268. {
  5269. SERIAL_ECHO(" ");
  5270. SERIAL_ECHO(extruder_offset[X_AXIS][extruder]);
  5271. SERIAL_ECHO(",");
  5272. SERIAL_ECHO(extruder_offset[Y_AXIS][extruder]);
  5273. }
  5274. SERIAL_ECHOLN("");
  5275. }break;
  5276. #endif
  5277. case 220: // M220 S<factor in percent>- set speed factor override percentage
  5278. {
  5279. if(code_seen('S'))
  5280. {
  5281. feedmultiply = code_value() ;
  5282. }
  5283. }
  5284. break;
  5285. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  5286. {
  5287. if(code_seen('S'))
  5288. {
  5289. int tmp_code = code_value();
  5290. if (code_seen('T'))
  5291. {
  5292. uint8_t extruder;
  5293. if(setTargetedHotend(221, extruder)){
  5294. break;
  5295. }
  5296. extruder_multiply[extruder] = tmp_code;
  5297. }
  5298. else
  5299. {
  5300. extrudemultiply = tmp_code ;
  5301. }
  5302. }
  5303. calculate_extruder_multipliers();
  5304. }
  5305. break;
  5306. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  5307. {
  5308. if(code_seen('P')){
  5309. int pin_number = code_value(); // pin number
  5310. int pin_state = -1; // required pin state - default is inverted
  5311. if(code_seen('S')) pin_state = code_value(); // required pin state
  5312. if(pin_state >= -1 && pin_state <= 1){
  5313. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  5314. {
  5315. if (sensitive_pins[i] == pin_number)
  5316. {
  5317. pin_number = -1;
  5318. break;
  5319. }
  5320. }
  5321. if (pin_number > -1)
  5322. {
  5323. int target = LOW;
  5324. st_synchronize();
  5325. pinMode(pin_number, INPUT);
  5326. switch(pin_state){
  5327. case 1:
  5328. target = HIGH;
  5329. break;
  5330. case 0:
  5331. target = LOW;
  5332. break;
  5333. case -1:
  5334. target = !digitalRead(pin_number);
  5335. break;
  5336. }
  5337. while(digitalRead(pin_number) != target){
  5338. manage_heater();
  5339. manage_inactivity();
  5340. lcd_update(0);
  5341. }
  5342. }
  5343. }
  5344. }
  5345. }
  5346. break;
  5347. #if NUM_SERVOS > 0
  5348. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  5349. {
  5350. int servo_index = -1;
  5351. int servo_position = 0;
  5352. if (code_seen('P'))
  5353. servo_index = code_value();
  5354. if (code_seen('S')) {
  5355. servo_position = code_value();
  5356. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  5357. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5358. servos[servo_index].attach(0);
  5359. #endif
  5360. servos[servo_index].write(servo_position);
  5361. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5362. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  5363. servos[servo_index].detach();
  5364. #endif
  5365. }
  5366. else {
  5367. SERIAL_ECHO_START;
  5368. SERIAL_ECHO("Servo ");
  5369. SERIAL_ECHO(servo_index);
  5370. SERIAL_ECHOLN(" out of range");
  5371. }
  5372. }
  5373. else if (servo_index >= 0) {
  5374. SERIAL_PROTOCOL(_T(MSG_OK));
  5375. SERIAL_PROTOCOL(" Servo ");
  5376. SERIAL_PROTOCOL(servo_index);
  5377. SERIAL_PROTOCOL(": ");
  5378. SERIAL_PROTOCOL(servos[servo_index].read());
  5379. SERIAL_PROTOCOLLN("");
  5380. }
  5381. }
  5382. break;
  5383. #endif // NUM_SERVOS > 0
  5384. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  5385. case 300: // M300
  5386. {
  5387. int beepS = code_seen('S') ? code_value() : 110;
  5388. int beepP = code_seen('P') ? code_value() : 1000;
  5389. if (beepS > 0)
  5390. {
  5391. #if BEEPER > 0
  5392. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  5393. tone(BEEPER, beepS);
  5394. delay(beepP);
  5395. noTone(BEEPER);
  5396. #endif
  5397. }
  5398. else
  5399. {
  5400. delay(beepP);
  5401. }
  5402. }
  5403. break;
  5404. #endif // M300
  5405. #ifdef PIDTEMP
  5406. case 301: // M301
  5407. {
  5408. if(code_seen('P')) Kp = code_value();
  5409. if(code_seen('I')) Ki = scalePID_i(code_value());
  5410. if(code_seen('D')) Kd = scalePID_d(code_value());
  5411. #ifdef PID_ADD_EXTRUSION_RATE
  5412. if(code_seen('C')) Kc = code_value();
  5413. #endif
  5414. updatePID();
  5415. SERIAL_PROTOCOLRPGM(_T(MSG_OK));
  5416. SERIAL_PROTOCOL(" p:");
  5417. SERIAL_PROTOCOL(Kp);
  5418. SERIAL_PROTOCOL(" i:");
  5419. SERIAL_PROTOCOL(unscalePID_i(Ki));
  5420. SERIAL_PROTOCOL(" d:");
  5421. SERIAL_PROTOCOL(unscalePID_d(Kd));
  5422. #ifdef PID_ADD_EXTRUSION_RATE
  5423. SERIAL_PROTOCOL(" c:");
  5424. //Kc does not have scaling applied above, or in resetting defaults
  5425. SERIAL_PROTOCOL(Kc);
  5426. #endif
  5427. SERIAL_PROTOCOLLN("");
  5428. }
  5429. break;
  5430. #endif //PIDTEMP
  5431. #ifdef PIDTEMPBED
  5432. case 304: // M304
  5433. {
  5434. if(code_seen('P')) bedKp = code_value();
  5435. if(code_seen('I')) bedKi = scalePID_i(code_value());
  5436. if(code_seen('D')) bedKd = scalePID_d(code_value());
  5437. updatePID();
  5438. SERIAL_PROTOCOLRPGM(_T(MSG_OK));
  5439. SERIAL_PROTOCOL(" p:");
  5440. SERIAL_PROTOCOL(bedKp);
  5441. SERIAL_PROTOCOL(" i:");
  5442. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  5443. SERIAL_PROTOCOL(" d:");
  5444. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  5445. SERIAL_PROTOCOLLN("");
  5446. }
  5447. break;
  5448. #endif //PIDTEMP
  5449. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  5450. {
  5451. #ifdef CHDK
  5452. SET_OUTPUT(CHDK);
  5453. WRITE(CHDK, HIGH);
  5454. chdkHigh = millis();
  5455. chdkActive = true;
  5456. #else
  5457. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  5458. const uint8_t NUM_PULSES=16;
  5459. const float PULSE_LENGTH=0.01524;
  5460. for(int i=0; i < NUM_PULSES; i++) {
  5461. WRITE(PHOTOGRAPH_PIN, HIGH);
  5462. _delay_ms(PULSE_LENGTH);
  5463. WRITE(PHOTOGRAPH_PIN, LOW);
  5464. _delay_ms(PULSE_LENGTH);
  5465. }
  5466. delay(7.33);
  5467. for(int i=0; i < NUM_PULSES; i++) {
  5468. WRITE(PHOTOGRAPH_PIN, HIGH);
  5469. _delay_ms(PULSE_LENGTH);
  5470. WRITE(PHOTOGRAPH_PIN, LOW);
  5471. _delay_ms(PULSE_LENGTH);
  5472. }
  5473. #endif
  5474. #endif //chdk end if
  5475. }
  5476. break;
  5477. #ifdef PREVENT_DANGEROUS_EXTRUDE
  5478. case 302: // allow cold extrudes, or set the minimum extrude temperature
  5479. {
  5480. float temp = .0;
  5481. if (code_seen('S')) temp=code_value();
  5482. set_extrude_min_temp(temp);
  5483. }
  5484. break;
  5485. #endif
  5486. case 303: // M303 PID autotune
  5487. {
  5488. float temp = 150.0;
  5489. int e=0;
  5490. int c=5;
  5491. if (code_seen('E')) e=code_value();
  5492. if (e<0)
  5493. temp=70;
  5494. if (code_seen('S')) temp=code_value();
  5495. if (code_seen('C')) c=code_value();
  5496. PID_autotune(temp, e, c);
  5497. }
  5498. break;
  5499. case 400: // M400 finish all moves
  5500. {
  5501. st_synchronize();
  5502. }
  5503. break;
  5504. case 403: //M403 set filament type (material) for particular extruder and send this information to mmu
  5505. {
  5506. //currently three different materials are needed (default, flex and PVA)
  5507. //add storing this information for different load/unload profiles etc. in the future
  5508. //firmware does not wait for "ok" from mmu
  5509. if (mmu_enabled)
  5510. {
  5511. uint8_t extruder;
  5512. uint8_t filament;
  5513. if(code_seen('E')) extruder = code_value();
  5514. if(code_seen('F')) filament = code_value();
  5515. mmu_set_filament_type(extruder, filament);
  5516. }
  5517. }
  5518. break;
  5519. case 500: // M500 Store settings in EEPROM
  5520. {
  5521. Config_StoreSettings(EEPROM_OFFSET);
  5522. }
  5523. break;
  5524. case 501: // M501 Read settings from EEPROM
  5525. {
  5526. Config_RetrieveSettings(EEPROM_OFFSET);
  5527. }
  5528. break;
  5529. case 502: // M502 Revert to default settings
  5530. {
  5531. Config_ResetDefault();
  5532. }
  5533. break;
  5534. case 503: // M503 print settings currently in memory
  5535. {
  5536. Config_PrintSettings();
  5537. }
  5538. break;
  5539. case 509: //M509 Force language selection
  5540. {
  5541. lang_reset();
  5542. SERIAL_ECHO_START;
  5543. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  5544. }
  5545. break;
  5546. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5547. case 540:
  5548. {
  5549. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  5550. }
  5551. break;
  5552. #endif
  5553. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5554. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  5555. {
  5556. float value;
  5557. if (code_seen('Z'))
  5558. {
  5559. value = code_value();
  5560. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  5561. {
  5562. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  5563. SERIAL_ECHO_START;
  5564. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", _T(MSG_OK),PSTR("")));
  5565. SERIAL_PROTOCOLLN("");
  5566. }
  5567. else
  5568. {
  5569. SERIAL_ECHO_START;
  5570. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  5571. SERIAL_ECHORPGM(MSG_Z_MIN);
  5572. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  5573. SERIAL_ECHORPGM(MSG_Z_MAX);
  5574. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  5575. SERIAL_PROTOCOLLN("");
  5576. }
  5577. }
  5578. else
  5579. {
  5580. SERIAL_ECHO_START;
  5581. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  5582. SERIAL_ECHO(-zprobe_zoffset);
  5583. SERIAL_PROTOCOLLN("");
  5584. }
  5585. break;
  5586. }
  5587. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5588. #ifdef FILAMENTCHANGEENABLE
  5589. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  5590. {
  5591. st_synchronize();
  5592. float x_position = current_position[X_AXIS];
  5593. float y_position = current_position[Y_AXIS];
  5594. float z_shift = 0;
  5595. float e_shift_init = 0;
  5596. float e_shift_late = 0;
  5597. bool automatic = false;
  5598. //Retract extruder
  5599. if(code_seen('E'))
  5600. {
  5601. e_shift_init = code_value();
  5602. }
  5603. else
  5604. {
  5605. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  5606. e_shift_init = FILAMENTCHANGE_FIRSTRETRACT ;
  5607. #endif
  5608. }
  5609. //currently don't work as we are using the same unload sequence as in M702, needs re-work
  5610. if (code_seen('L'))
  5611. {
  5612. e_shift_late = code_value();
  5613. }
  5614. else
  5615. {
  5616. #ifdef FILAMENTCHANGE_FINALRETRACT
  5617. e_shift_late = FILAMENTCHANGE_FINALRETRACT;
  5618. #endif
  5619. }
  5620. //Lift Z
  5621. if(code_seen('Z'))
  5622. {
  5623. z_shift = code_value();
  5624. }
  5625. else
  5626. {
  5627. #ifdef FILAMENTCHANGE_ZADD
  5628. z_shift= FILAMENTCHANGE_ZADD ;
  5629. if(current_position[Z_AXIS] < 25) z_shift+= 25 ;
  5630. #endif
  5631. }
  5632. //Move XY to side
  5633. if(code_seen('X'))
  5634. {
  5635. x_position = code_value();
  5636. }
  5637. else
  5638. {
  5639. #ifdef FILAMENTCHANGE_XPOS
  5640. x_position = FILAMENTCHANGE_XPOS;
  5641. #endif
  5642. }
  5643. if(code_seen('Y'))
  5644. {
  5645. y_position = code_value();
  5646. }
  5647. else
  5648. {
  5649. #ifdef FILAMENTCHANGE_YPOS
  5650. y_position = FILAMENTCHANGE_YPOS ;
  5651. #endif
  5652. }
  5653. if (mmu_enabled && code_seen("AUTO"))
  5654. automatic = true;
  5655. gcode_M600(automatic, x_position, y_position, z_shift, e_shift_init, e_shift_late);
  5656. }
  5657. break;
  5658. #endif //FILAMENTCHANGEENABLE
  5659. case 601: {
  5660. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  5661. }
  5662. break;
  5663. case 602: {
  5664. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  5665. }
  5666. break;
  5667. #ifdef PINDA_THERMISTOR
  5668. case 860: // M860 - Wait for PINDA thermistor to reach target temperature.
  5669. {
  5670. int set_target_pinda = 0;
  5671. if (code_seen('S')) {
  5672. set_target_pinda = code_value();
  5673. }
  5674. else {
  5675. break;
  5676. }
  5677. LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
  5678. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  5679. SERIAL_PROTOCOL(set_target_pinda);
  5680. SERIAL_PROTOCOLLN("");
  5681. codenum = millis();
  5682. cancel_heatup = false;
  5683. bool is_pinda_cooling = false;
  5684. if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
  5685. is_pinda_cooling = true;
  5686. }
  5687. while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
  5688. if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  5689. {
  5690. SERIAL_PROTOCOLPGM("P:");
  5691. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  5692. SERIAL_PROTOCOLPGM("/");
  5693. SERIAL_PROTOCOL(set_target_pinda);
  5694. SERIAL_PROTOCOLLN("");
  5695. codenum = millis();
  5696. }
  5697. manage_heater();
  5698. manage_inactivity();
  5699. lcd_update(0);
  5700. }
  5701. LCD_MESSAGERPGM(_T(MSG_OK));
  5702. break;
  5703. }
  5704. case 861: // M861 - Set/Read PINDA temperature compensation offsets
  5705. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  5706. uint8_t cal_status = calibration_status_pinda();
  5707. int16_t usteps = 0;
  5708. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  5709. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5710. for (uint8_t i = 0; i < 6; i++)
  5711. {
  5712. if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
  5713. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5714. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5715. SERIAL_PROTOCOLPGM(", ");
  5716. SERIAL_PROTOCOL(35 + (i * 5));
  5717. SERIAL_PROTOCOLPGM(", ");
  5718. SERIAL_PROTOCOL(usteps);
  5719. SERIAL_PROTOCOLPGM(", ");
  5720. SERIAL_PROTOCOL(mm * 1000);
  5721. SERIAL_PROTOCOLLN("");
  5722. }
  5723. }
  5724. else if (code_seen('!')) { // ! - Set factory default values
  5725. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5726. int16_t z_shift = 8; //40C - 20um - 8usteps
  5727. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
  5728. z_shift = 24; //45C - 60um - 24usteps
  5729. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
  5730. z_shift = 48; //50C - 120um - 48usteps
  5731. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
  5732. z_shift = 80; //55C - 200um - 80usteps
  5733. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
  5734. z_shift = 120; //60C - 300um - 120usteps
  5735. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
  5736. SERIAL_PROTOCOLLN("factory restored");
  5737. }
  5738. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  5739. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5740. int16_t z_shift = 0;
  5741. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  5742. SERIAL_PROTOCOLLN("zerorized");
  5743. }
  5744. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  5745. int16_t usteps = code_value();
  5746. if (code_seen('I')) {
  5747. byte index = code_value();
  5748. if ((index >= 0) && (index < 5)) {
  5749. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
  5750. SERIAL_PROTOCOLLN("OK");
  5751. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5752. for (uint8_t i = 0; i < 6; i++)
  5753. {
  5754. usteps = 0;
  5755. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
  5756. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5757. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5758. SERIAL_PROTOCOLPGM(", ");
  5759. SERIAL_PROTOCOL(35 + (i * 5));
  5760. SERIAL_PROTOCOLPGM(", ");
  5761. SERIAL_PROTOCOL(usteps);
  5762. SERIAL_PROTOCOLPGM(", ");
  5763. SERIAL_PROTOCOL(mm * 1000);
  5764. SERIAL_PROTOCOLLN("");
  5765. }
  5766. }
  5767. }
  5768. }
  5769. else {
  5770. SERIAL_PROTOCOLPGM("no valid command");
  5771. }
  5772. break;
  5773. #endif //PINDA_THERMISTOR
  5774. #ifdef LIN_ADVANCE
  5775. case 900: // M900: Set LIN_ADVANCE options.
  5776. gcode_M900();
  5777. break;
  5778. #endif
  5779. case 907: // M907 Set digital trimpot motor current using axis codes.
  5780. {
  5781. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5782. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  5783. if(code_seen('B')) st_current_set(4,code_value());
  5784. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  5785. #endif
  5786. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  5787. if(code_seen('X')) st_current_set(0, code_value());
  5788. #endif
  5789. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  5790. if(code_seen('Z')) st_current_set(1, code_value());
  5791. #endif
  5792. #ifdef MOTOR_CURRENT_PWM_E_PIN
  5793. if(code_seen('E')) st_current_set(2, code_value());
  5794. #endif
  5795. }
  5796. break;
  5797. case 908: // M908 Control digital trimpot directly.
  5798. {
  5799. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5800. uint8_t channel,current;
  5801. if(code_seen('P')) channel=code_value();
  5802. if(code_seen('S')) current=code_value();
  5803. digitalPotWrite(channel, current);
  5804. #endif
  5805. }
  5806. break;
  5807. #ifdef TMC2130
  5808. case 910: // M910 TMC2130 init
  5809. {
  5810. tmc2130_init();
  5811. }
  5812. break;
  5813. case 911: // M911 Set TMC2130 holding currents
  5814. {
  5815. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  5816. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  5817. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  5818. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  5819. }
  5820. break;
  5821. case 912: // M912 Set TMC2130 running currents
  5822. {
  5823. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  5824. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  5825. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  5826. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  5827. }
  5828. break;
  5829. case 913: // M913 Print TMC2130 currents
  5830. {
  5831. tmc2130_print_currents();
  5832. }
  5833. break;
  5834. case 914: // M914 Set normal mode
  5835. {
  5836. tmc2130_mode = TMC2130_MODE_NORMAL;
  5837. update_mode_profile();
  5838. tmc2130_init();
  5839. }
  5840. break;
  5841. case 915: // M915 Set silent mode
  5842. {
  5843. tmc2130_mode = TMC2130_MODE_SILENT;
  5844. update_mode_profile();
  5845. tmc2130_init();
  5846. }
  5847. break;
  5848. case 916: // M916 Set sg_thrs
  5849. {
  5850. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  5851. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  5852. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  5853. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  5854. for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
  5855. printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
  5856. }
  5857. break;
  5858. case 917: // M917 Set TMC2130 pwm_ampl
  5859. {
  5860. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  5861. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  5862. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  5863. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  5864. }
  5865. break;
  5866. case 918: // M918 Set TMC2130 pwm_grad
  5867. {
  5868. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  5869. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  5870. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  5871. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  5872. }
  5873. break;
  5874. #endif //TMC2130
  5875. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5876. {
  5877. #ifdef TMC2130
  5878. if(code_seen('E'))
  5879. {
  5880. uint16_t res_new = code_value();
  5881. if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
  5882. {
  5883. st_synchronize();
  5884. uint8_t axis = E_AXIS;
  5885. uint16_t res = tmc2130_get_res(axis);
  5886. tmc2130_set_res(axis, res_new);
  5887. if (res_new > res)
  5888. {
  5889. uint16_t fac = (res_new / res);
  5890. axis_steps_per_unit[axis] *= fac;
  5891. position[E_AXIS] *= fac;
  5892. }
  5893. else
  5894. {
  5895. uint16_t fac = (res / res_new);
  5896. axis_steps_per_unit[axis] /= fac;
  5897. position[E_AXIS] /= fac;
  5898. }
  5899. }
  5900. }
  5901. #else //TMC2130
  5902. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5903. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  5904. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  5905. if(code_seen('B')) microstep_mode(4,code_value());
  5906. microstep_readings();
  5907. #endif
  5908. #endif //TMC2130
  5909. }
  5910. break;
  5911. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  5912. {
  5913. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5914. if(code_seen('S')) switch((int)code_value())
  5915. {
  5916. case 1:
  5917. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  5918. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  5919. break;
  5920. case 2:
  5921. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  5922. if(code_seen('B')) microstep_ms(4,-1,code_value());
  5923. break;
  5924. }
  5925. microstep_readings();
  5926. #endif
  5927. }
  5928. break;
  5929. case 701: //M701: load filament
  5930. {
  5931. if (mmu_enabled && code_seen('E'))
  5932. tmp_extruder = code_value();
  5933. gcode_M701();
  5934. }
  5935. break;
  5936. case 702:
  5937. {
  5938. if (mmu_enabled)
  5939. {
  5940. if (code_seen('U'))
  5941. extr_unload_used(); //unload all filaments which were used in current print
  5942. else if (code_seen('C'))
  5943. extr_unload(); //unload just current filament
  5944. else
  5945. extr_unload_all(); //unload all filaments
  5946. }
  5947. else
  5948. unload_filament();
  5949. }
  5950. break;
  5951. case 999: // M999: Restart after being stopped
  5952. Stopped = false;
  5953. lcd_reset_alert_level();
  5954. gcode_LastN = Stopped_gcode_LastN;
  5955. FlushSerialRequestResend();
  5956. break;
  5957. default:
  5958. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  5959. }
  5960. // printf_P(_N("END M-CODE=%u\n"), mcode_in_progress);
  5961. mcode_in_progress = 0;
  5962. }
  5963. } // end if(code_seen('M')) (end of M codes)
  5964. else if(code_seen('T'))
  5965. {
  5966. int index;
  5967. st_synchronize();
  5968. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  5969. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '4') && *(strchr_pointer + index) != '?') {
  5970. SERIAL_ECHOLNPGM("Invalid T code.");
  5971. }
  5972. else {
  5973. if (*(strchr_pointer + index) == '?') {
  5974. tmp_extruder = choose_extruder_menu();
  5975. }
  5976. else {
  5977. tmp_extruder = code_value();
  5978. }
  5979. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  5980. if (mmu_enabled)
  5981. {
  5982. mmu_command(MMU_CMD_T0 + tmp_extruder);
  5983. manage_response(true, true);
  5984. mmu_command(MMU_CMD_C0);
  5985. mmu_extruder = tmp_extruder; //filament change is finished
  5986. if (*(strchr_pointer + index) == '?')// for single material usage with mmu
  5987. {
  5988. mmu_load_to_nozzle();
  5989. }
  5990. }
  5991. else
  5992. {
  5993. #ifdef SNMM
  5994. #ifdef LIN_ADVANCE
  5995. if (mmu_extruder != tmp_extruder)
  5996. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  5997. #endif
  5998. mmu_extruder = tmp_extruder;
  5999. delay(100);
  6000. disable_e0();
  6001. disable_e1();
  6002. disable_e2();
  6003. pinMode(E_MUX0_PIN, OUTPUT);
  6004. pinMode(E_MUX1_PIN, OUTPUT);
  6005. delay(100);
  6006. SERIAL_ECHO_START;
  6007. SERIAL_ECHO("T:");
  6008. SERIAL_ECHOLN((int)tmp_extruder);
  6009. switch (tmp_extruder) {
  6010. case 1:
  6011. WRITE(E_MUX0_PIN, HIGH);
  6012. WRITE(E_MUX1_PIN, LOW);
  6013. break;
  6014. case 2:
  6015. WRITE(E_MUX0_PIN, LOW);
  6016. WRITE(E_MUX1_PIN, HIGH);
  6017. break;
  6018. case 3:
  6019. WRITE(E_MUX0_PIN, HIGH);
  6020. WRITE(E_MUX1_PIN, HIGH);
  6021. break;
  6022. default:
  6023. WRITE(E_MUX0_PIN, LOW);
  6024. WRITE(E_MUX1_PIN, LOW);
  6025. break;
  6026. }
  6027. delay(100);
  6028. #else //SNMM
  6029. if (tmp_extruder >= EXTRUDERS) {
  6030. SERIAL_ECHO_START;
  6031. SERIAL_ECHOPGM("T");
  6032. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6033. SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER c=0 r=0
  6034. }
  6035. else {
  6036. #if EXTRUDERS > 1
  6037. boolean make_move = false;
  6038. #endif
  6039. if (code_seen('F')) {
  6040. #if EXTRUDERS > 1
  6041. make_move = true;
  6042. #endif
  6043. next_feedrate = code_value();
  6044. if (next_feedrate > 0.0) {
  6045. feedrate = next_feedrate;
  6046. }
  6047. }
  6048. #if EXTRUDERS > 1
  6049. if (tmp_extruder != active_extruder) {
  6050. // Save current position to return to after applying extruder offset
  6051. memcpy(destination, current_position, sizeof(destination));
  6052. // Offset extruder (only by XY)
  6053. int i;
  6054. for (i = 0; i < 2; i++) {
  6055. current_position[i] = current_position[i] -
  6056. extruder_offset[i][active_extruder] +
  6057. extruder_offset[i][tmp_extruder];
  6058. }
  6059. // Set the new active extruder and position
  6060. active_extruder = tmp_extruder;
  6061. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6062. // Move to the old position if 'F' was in the parameters
  6063. if (make_move && Stopped == false) {
  6064. prepare_move();
  6065. }
  6066. }
  6067. #endif
  6068. SERIAL_ECHO_START;
  6069. SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER c=0 r=0
  6070. SERIAL_PROTOCOLLN((int)active_extruder);
  6071. }
  6072. #endif //SNMM
  6073. }
  6074. }
  6075. } // end if(code_seen('T')) (end of T codes)
  6076. else if (code_seen('D')) // D codes (debug)
  6077. {
  6078. switch((int)code_value())
  6079. {
  6080. #ifdef DEBUG_DCODES
  6081. case -1: // D-1 - Endless loop
  6082. dcode__1(); break;
  6083. case 0: // D0 - Reset
  6084. dcode_0(); break;
  6085. case 1: // D1 - Clear EEPROM
  6086. dcode_1(); break;
  6087. case 2: // D2 - Read/Write RAM
  6088. dcode_2(); break;
  6089. #endif //DEBUG_DCODES
  6090. #ifdef DEBUG_DCODE3
  6091. case 3: // D3 - Read/Write EEPROM
  6092. dcode_3(); break;
  6093. #endif //DEBUG_DCODE3
  6094. #ifdef DEBUG_DCODES
  6095. case 4: // D4 - Read/Write PIN
  6096. dcode_4(); break;
  6097. case 5: // D5 - Read/Write FLASH
  6098. // dcode_5(); break;
  6099. break;
  6100. case 6: // D6 - Read/Write external FLASH
  6101. dcode_6(); break;
  6102. case 7: // D7 - Read/Write Bootloader
  6103. dcode_7(); break;
  6104. case 8: // D8 - Read/Write PINDA
  6105. dcode_8(); break;
  6106. case 9: // D9 - Read/Write ADC
  6107. dcode_9(); break;
  6108. case 10: // D10 - XYZ calibration = OK
  6109. dcode_10(); break;
  6110. #ifdef TMC2130
  6111. case 2130: // D9125 - TMC2130
  6112. dcode_2130(); break;
  6113. #endif //TMC2130
  6114. #ifdef FILAMENT_SENSOR
  6115. case 9125: // D9125 - FILAMENT_SENSOR
  6116. dcode_9125(); break;
  6117. #endif //FILAMENT_SENSOR
  6118. #endif //DEBUG_DCODES
  6119. }
  6120. }
  6121. else
  6122. {
  6123. SERIAL_ECHO_START;
  6124. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  6125. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  6126. SERIAL_ECHOLNPGM("\"(2)");
  6127. }
  6128. KEEPALIVE_STATE(NOT_BUSY);
  6129. ClearToSend();
  6130. }
  6131. void FlushSerialRequestResend()
  6132. {
  6133. //char cmdbuffer[bufindr][100]="Resend:";
  6134. MYSERIAL.flush();
  6135. printf_P(_N("%S: %ld\n%S\n"), _i("Resend"), gcode_LastN + 1, _T(MSG_OK));
  6136. }
  6137. // Confirm the execution of a command, if sent from a serial line.
  6138. // Execution of a command from a SD card will not be confirmed.
  6139. void ClearToSend()
  6140. {
  6141. previous_millis_cmd = millis();
  6142. if ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR))
  6143. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  6144. }
  6145. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6146. void update_currents() {
  6147. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  6148. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  6149. float tmp_motor[3];
  6150. //SERIAL_ECHOLNPGM("Currents updated: ");
  6151. if (destination[Z_AXIS] < Z_SILENT) {
  6152. //SERIAL_ECHOLNPGM("LOW");
  6153. for (uint8_t i = 0; i < 3; i++) {
  6154. st_current_set(i, current_low[i]);
  6155. /*MYSERIAL.print(int(i));
  6156. SERIAL_ECHOPGM(": ");
  6157. MYSERIAL.println(current_low[i]);*/
  6158. }
  6159. }
  6160. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  6161. //SERIAL_ECHOLNPGM("HIGH");
  6162. for (uint8_t i = 0; i < 3; i++) {
  6163. st_current_set(i, current_high[i]);
  6164. /*MYSERIAL.print(int(i));
  6165. SERIAL_ECHOPGM(": ");
  6166. MYSERIAL.println(current_high[i]);*/
  6167. }
  6168. }
  6169. else {
  6170. for (uint8_t i = 0; i < 3; i++) {
  6171. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  6172. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  6173. st_current_set(i, tmp_motor[i]);
  6174. /*MYSERIAL.print(int(i));
  6175. SERIAL_ECHOPGM(": ");
  6176. MYSERIAL.println(tmp_motor[i]);*/
  6177. }
  6178. }
  6179. }
  6180. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6181. void get_coordinates()
  6182. {
  6183. bool seen[4]={false,false,false,false};
  6184. for(int8_t i=0; i < NUM_AXIS; i++) {
  6185. if(code_seen(axis_codes[i]))
  6186. {
  6187. bool relative = axis_relative_modes[i] || relative_mode;
  6188. destination[i] = (float)code_value();
  6189. if (i == E_AXIS) {
  6190. float emult = extruder_multiplier[active_extruder];
  6191. if (emult != 1.) {
  6192. if (! relative) {
  6193. destination[i] -= current_position[i];
  6194. relative = true;
  6195. }
  6196. destination[i] *= emult;
  6197. }
  6198. }
  6199. if (relative)
  6200. destination[i] += current_position[i];
  6201. seen[i]=true;
  6202. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6203. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  6204. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6205. }
  6206. else destination[i] = current_position[i]; //Are these else lines really needed?
  6207. }
  6208. if(code_seen('F')) {
  6209. next_feedrate = code_value();
  6210. #ifdef MAX_SILENT_FEEDRATE
  6211. if (tmc2130_mode == TMC2130_MODE_SILENT)
  6212. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  6213. #endif //MAX_SILENT_FEEDRATE
  6214. if(next_feedrate > 0.0) feedrate = next_feedrate;
  6215. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  6216. {
  6217. // float e_max_speed =
  6218. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  6219. }
  6220. }
  6221. }
  6222. void get_arc_coordinates()
  6223. {
  6224. #ifdef SF_ARC_FIX
  6225. bool relative_mode_backup = relative_mode;
  6226. relative_mode = true;
  6227. #endif
  6228. get_coordinates();
  6229. #ifdef SF_ARC_FIX
  6230. relative_mode=relative_mode_backup;
  6231. #endif
  6232. if(code_seen('I')) {
  6233. offset[0] = code_value();
  6234. }
  6235. else {
  6236. offset[0] = 0.0;
  6237. }
  6238. if(code_seen('J')) {
  6239. offset[1] = code_value();
  6240. }
  6241. else {
  6242. offset[1] = 0.0;
  6243. }
  6244. }
  6245. void clamp_to_software_endstops(float target[3])
  6246. {
  6247. #ifdef DEBUG_DISABLE_SWLIMITS
  6248. return;
  6249. #endif //DEBUG_DISABLE_SWLIMITS
  6250. world2machine_clamp(target[0], target[1]);
  6251. // Clamp the Z coordinate.
  6252. if (min_software_endstops) {
  6253. float negative_z_offset = 0;
  6254. #ifdef ENABLE_AUTO_BED_LEVELING
  6255. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  6256. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  6257. #endif
  6258. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  6259. }
  6260. if (max_software_endstops) {
  6261. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  6262. }
  6263. }
  6264. #ifdef MESH_BED_LEVELING
  6265. 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) {
  6266. float dx = x - current_position[X_AXIS];
  6267. float dy = y - current_position[Y_AXIS];
  6268. float dz = z - current_position[Z_AXIS];
  6269. int n_segments = 0;
  6270. if (mbl.active) {
  6271. float len = abs(dx) + abs(dy);
  6272. if (len > 0)
  6273. // Split to 3cm segments or shorter.
  6274. n_segments = int(ceil(len / 30.f));
  6275. }
  6276. if (n_segments > 1) {
  6277. float de = e - current_position[E_AXIS];
  6278. for (int i = 1; i < n_segments; ++ i) {
  6279. float t = float(i) / float(n_segments);
  6280. if (saved_printing || (mbl.active == false)) return;
  6281. plan_buffer_line(
  6282. current_position[X_AXIS] + t * dx,
  6283. current_position[Y_AXIS] + t * dy,
  6284. current_position[Z_AXIS] + t * dz,
  6285. current_position[E_AXIS] + t * de,
  6286. feed_rate, extruder);
  6287. }
  6288. }
  6289. // The rest of the path.
  6290. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  6291. current_position[X_AXIS] = x;
  6292. current_position[Y_AXIS] = y;
  6293. current_position[Z_AXIS] = z;
  6294. current_position[E_AXIS] = e;
  6295. }
  6296. #endif // MESH_BED_LEVELING
  6297. void prepare_move()
  6298. {
  6299. clamp_to_software_endstops(destination);
  6300. previous_millis_cmd = millis();
  6301. // Do not use feedmultiply for E or Z only moves
  6302. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  6303. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  6304. }
  6305. else {
  6306. #ifdef MESH_BED_LEVELING
  6307. 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);
  6308. #else
  6309. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  6310. #endif
  6311. }
  6312. for(int8_t i=0; i < NUM_AXIS; i++) {
  6313. current_position[i] = destination[i];
  6314. }
  6315. }
  6316. void prepare_arc_move(char isclockwise) {
  6317. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  6318. // Trace the arc
  6319. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  6320. // As far as the parser is concerned, the position is now == target. In reality the
  6321. // motion control system might still be processing the action and the real tool position
  6322. // in any intermediate location.
  6323. for(int8_t i=0; i < NUM_AXIS; i++) {
  6324. current_position[i] = destination[i];
  6325. }
  6326. previous_millis_cmd = millis();
  6327. }
  6328. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6329. #if defined(FAN_PIN)
  6330. #if CONTROLLERFAN_PIN == FAN_PIN
  6331. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  6332. #endif
  6333. #endif
  6334. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  6335. unsigned long lastMotorCheck = 0;
  6336. void controllerFan()
  6337. {
  6338. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  6339. {
  6340. lastMotorCheck = millis();
  6341. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  6342. #if EXTRUDERS > 2
  6343. || !READ(E2_ENABLE_PIN)
  6344. #endif
  6345. #if EXTRUDER > 1
  6346. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  6347. || !READ(X2_ENABLE_PIN)
  6348. #endif
  6349. || !READ(E1_ENABLE_PIN)
  6350. #endif
  6351. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  6352. {
  6353. lastMotor = millis(); //... set time to NOW so the fan will turn on
  6354. }
  6355. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  6356. {
  6357. digitalWrite(CONTROLLERFAN_PIN, 0);
  6358. analogWrite(CONTROLLERFAN_PIN, 0);
  6359. }
  6360. else
  6361. {
  6362. // allows digital or PWM fan output to be used (see M42 handling)
  6363. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6364. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6365. }
  6366. }
  6367. }
  6368. #endif
  6369. #ifdef TEMP_STAT_LEDS
  6370. static bool blue_led = false;
  6371. static bool red_led = false;
  6372. static uint32_t stat_update = 0;
  6373. void handle_status_leds(void) {
  6374. float max_temp = 0.0;
  6375. if(millis() > stat_update) {
  6376. stat_update += 500; // Update every 0.5s
  6377. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  6378. max_temp = max(max_temp, degHotend(cur_extruder));
  6379. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  6380. }
  6381. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  6382. max_temp = max(max_temp, degTargetBed());
  6383. max_temp = max(max_temp, degBed());
  6384. #endif
  6385. if((max_temp > 55.0) && (red_led == false)) {
  6386. digitalWrite(STAT_LED_RED, 1);
  6387. digitalWrite(STAT_LED_BLUE, 0);
  6388. red_led = true;
  6389. blue_led = false;
  6390. }
  6391. if((max_temp < 54.0) && (blue_led == false)) {
  6392. digitalWrite(STAT_LED_RED, 0);
  6393. digitalWrite(STAT_LED_BLUE, 1);
  6394. red_led = false;
  6395. blue_led = true;
  6396. }
  6397. }
  6398. }
  6399. #endif
  6400. #ifdef SAFETYTIMER
  6401. /**
  6402. * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
  6403. *
  6404. * Full screen blocking notification message is shown after heater turning off.
  6405. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  6406. * damage print.
  6407. *
  6408. * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
  6409. */
  6410. static void handleSafetyTimer()
  6411. {
  6412. #if (EXTRUDERS > 1)
  6413. #error Implemented only for one extruder.
  6414. #endif //(EXTRUDERS > 1)
  6415. if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
  6416. {
  6417. safetyTimer.stop();
  6418. }
  6419. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  6420. {
  6421. safetyTimer.start();
  6422. }
  6423. else if (safetyTimer.expired(safetytimer_inactive_time))
  6424. {
  6425. setTargetBed(0);
  6426. setAllTargetHotends(0);
  6427. lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
  6428. }
  6429. }
  6430. #endif //SAFETYTIMER
  6431. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  6432. {
  6433. #ifdef FILAMENT_SENSOR
  6434. if (mmu_enabled == false)
  6435. {
  6436. if (mcode_in_progress != 600) //M600 not in progress
  6437. {
  6438. if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
  6439. {
  6440. if (fsensor_check_autoload())
  6441. {
  6442. fsensor_autoload_check_stop();
  6443. if (degHotend0() > EXTRUDE_MINTEMP)
  6444. {
  6445. if ((eSoundMode == e_SOUND_MODE_LOUD) || (eSoundMode == e_SOUND_MODE_ONCE))
  6446. tone(BEEPER, 1000);
  6447. delay_keep_alive(50);
  6448. noTone(BEEPER);
  6449. loading_flag = true;
  6450. enquecommand_front_P((PSTR("M701")));
  6451. }
  6452. else
  6453. {
  6454. lcd_update_enable(false);
  6455. lcd_clear();
  6456. lcd_set_cursor(0, 0);
  6457. lcd_puts_P(_T(MSG_ERROR));
  6458. lcd_set_cursor(0, 2);
  6459. lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
  6460. delay(2000);
  6461. lcd_clear();
  6462. lcd_update_enable(true);
  6463. }
  6464. }
  6465. }
  6466. else
  6467. fsensor_autoload_check_stop();
  6468. }
  6469. }
  6470. #endif //FILAMENT_SENSOR
  6471. #ifdef SAFETYTIMER
  6472. handleSafetyTimer();
  6473. #endif //SAFETYTIMER
  6474. #if defined(KILL_PIN) && KILL_PIN > -1
  6475. static int killCount = 0; // make the inactivity button a bit less responsive
  6476. const int KILL_DELAY = 10000;
  6477. #endif
  6478. if(buflen < (BUFSIZE-1)){
  6479. get_command();
  6480. }
  6481. if( (millis() - previous_millis_cmd) > max_inactive_time )
  6482. if(max_inactive_time)
  6483. kill(_n(""), 4);
  6484. if(stepper_inactive_time) {
  6485. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  6486. {
  6487. if(blocks_queued() == false && ignore_stepper_queue == false) {
  6488. disable_x();
  6489. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  6490. disable_y();
  6491. disable_z();
  6492. disable_e0();
  6493. disable_e1();
  6494. disable_e2();
  6495. }
  6496. }
  6497. }
  6498. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  6499. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  6500. {
  6501. chdkActive = false;
  6502. WRITE(CHDK, LOW);
  6503. }
  6504. #endif
  6505. #if defined(KILL_PIN) && KILL_PIN > -1
  6506. // Check if the kill button was pressed and wait just in case it was an accidental
  6507. // key kill key press
  6508. // -------------------------------------------------------------------------------
  6509. if( 0 == READ(KILL_PIN) )
  6510. {
  6511. killCount++;
  6512. }
  6513. else if (killCount > 0)
  6514. {
  6515. killCount--;
  6516. }
  6517. // Exceeded threshold and we can confirm that it was not accidental
  6518. // KILL the machine
  6519. // ----------------------------------------------------------------
  6520. if ( killCount >= KILL_DELAY)
  6521. {
  6522. kill("", 5);
  6523. }
  6524. #endif
  6525. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6526. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  6527. #endif
  6528. #ifdef EXTRUDER_RUNOUT_PREVENT
  6529. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  6530. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  6531. {
  6532. bool oldstatus=READ(E0_ENABLE_PIN);
  6533. enable_e0();
  6534. float oldepos=current_position[E_AXIS];
  6535. float oldedes=destination[E_AXIS];
  6536. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  6537. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  6538. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  6539. current_position[E_AXIS]=oldepos;
  6540. destination[E_AXIS]=oldedes;
  6541. plan_set_e_position(oldepos);
  6542. previous_millis_cmd=millis();
  6543. st_synchronize();
  6544. WRITE(E0_ENABLE_PIN,oldstatus);
  6545. }
  6546. #endif
  6547. #ifdef TEMP_STAT_LEDS
  6548. handle_status_leds();
  6549. #endif
  6550. check_axes_activity();
  6551. mmu_loop();
  6552. }
  6553. void kill(const char *full_screen_message, unsigned char id)
  6554. {
  6555. printf_P(_N("KILL: %d\n"), id);
  6556. //return;
  6557. cli(); // Stop interrupts
  6558. disable_heater();
  6559. disable_x();
  6560. // SERIAL_ECHOLNPGM("kill - disable Y");
  6561. disable_y();
  6562. disable_z();
  6563. disable_e0();
  6564. disable_e1();
  6565. disable_e2();
  6566. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  6567. pinMode(PS_ON_PIN,INPUT);
  6568. #endif
  6569. SERIAL_ERROR_START;
  6570. SERIAL_ERRORLNRPGM(_i("Printer halted. kill() called!"));////MSG_ERR_KILLED c=0 r=0
  6571. if (full_screen_message != NULL) {
  6572. SERIAL_ERRORLNRPGM(full_screen_message);
  6573. lcd_display_message_fullscreen_P(full_screen_message);
  6574. } else {
  6575. LCD_ALERTMESSAGERPGM(_i("KILLED. "));////MSG_KILLED c=0 r=0
  6576. }
  6577. // FMC small patch to update the LCD before ending
  6578. sei(); // enable interrupts
  6579. for ( int i=5; i--; lcd_update(0))
  6580. {
  6581. delay(200);
  6582. }
  6583. cli(); // disable interrupts
  6584. suicide();
  6585. while(1)
  6586. {
  6587. #ifdef WATCHDOG
  6588. wdt_reset();
  6589. #endif //WATCHDOG
  6590. /* Intentionally left empty */
  6591. } // Wait for reset
  6592. }
  6593. void Stop()
  6594. {
  6595. disable_heater();
  6596. if(Stopped == false) {
  6597. Stopped = true;
  6598. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  6599. SERIAL_ERROR_START;
  6600. SERIAL_ERRORLNRPGM(_T(MSG_ERR_STOPPED));
  6601. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  6602. }
  6603. }
  6604. bool IsStopped() { return Stopped; };
  6605. #ifdef FAST_PWM_FAN
  6606. void setPwmFrequency(uint8_t pin, int val)
  6607. {
  6608. val &= 0x07;
  6609. switch(digitalPinToTimer(pin))
  6610. {
  6611. #if defined(TCCR0A)
  6612. case TIMER0A:
  6613. case TIMER0B:
  6614. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  6615. // TCCR0B |= val;
  6616. break;
  6617. #endif
  6618. #if defined(TCCR1A)
  6619. case TIMER1A:
  6620. case TIMER1B:
  6621. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6622. // TCCR1B |= val;
  6623. break;
  6624. #endif
  6625. #if defined(TCCR2)
  6626. case TIMER2:
  6627. case TIMER2:
  6628. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6629. TCCR2 |= val;
  6630. break;
  6631. #endif
  6632. #if defined(TCCR2A)
  6633. case TIMER2A:
  6634. case TIMER2B:
  6635. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  6636. TCCR2B |= val;
  6637. break;
  6638. #endif
  6639. #if defined(TCCR3A)
  6640. case TIMER3A:
  6641. case TIMER3B:
  6642. case TIMER3C:
  6643. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  6644. TCCR3B |= val;
  6645. break;
  6646. #endif
  6647. #if defined(TCCR4A)
  6648. case TIMER4A:
  6649. case TIMER4B:
  6650. case TIMER4C:
  6651. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  6652. TCCR4B |= val;
  6653. break;
  6654. #endif
  6655. #if defined(TCCR5A)
  6656. case TIMER5A:
  6657. case TIMER5B:
  6658. case TIMER5C:
  6659. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  6660. TCCR5B |= val;
  6661. break;
  6662. #endif
  6663. }
  6664. }
  6665. #endif //FAST_PWM_FAN
  6666. //! @brief Get and validate extruder number
  6667. //!
  6668. //! If it is not specified, active_extruder is returned in parameter extruder.
  6669. //! @param [in] code M code number
  6670. //! @param [out] extruder
  6671. //! @return error
  6672. //! @retval true Invalid extruder specified in T code
  6673. //! @retval false Valid extruder specified in T code, or not specifiead
  6674. bool setTargetedHotend(int code, uint8_t &extruder)
  6675. {
  6676. extruder = active_extruder;
  6677. if(code_seen('T')) {
  6678. extruder = code_value();
  6679. if(extruder >= EXTRUDERS) {
  6680. SERIAL_ECHO_START;
  6681. switch(code){
  6682. case 104:
  6683. SERIAL_ECHORPGM(_i("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER c=0 r=0
  6684. break;
  6685. case 105:
  6686. SERIAL_ECHO(_i("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER c=0 r=0
  6687. break;
  6688. case 109:
  6689. SERIAL_ECHO(_i("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER c=0 r=0
  6690. break;
  6691. case 218:
  6692. SERIAL_ECHO(_i("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER c=0 r=0
  6693. break;
  6694. case 221:
  6695. SERIAL_ECHO(_i("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER c=0 r=0
  6696. break;
  6697. }
  6698. SERIAL_PROTOCOLLN((int)extruder);
  6699. return true;
  6700. }
  6701. }
  6702. return false;
  6703. }
  6704. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  6705. {
  6706. 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)
  6707. {
  6708. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  6709. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  6710. }
  6711. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  6712. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  6713. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  6714. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  6715. total_filament_used = 0;
  6716. }
  6717. float calculate_extruder_multiplier(float diameter) {
  6718. float out = 1.f;
  6719. if (volumetric_enabled && diameter > 0.f) {
  6720. float area = M_PI * diameter * diameter * 0.25;
  6721. out = 1.f / area;
  6722. }
  6723. if (extrudemultiply != 100)
  6724. out *= float(extrudemultiply) * 0.01f;
  6725. return out;
  6726. }
  6727. void calculate_extruder_multipliers() {
  6728. extruder_multiplier[0] = calculate_extruder_multiplier(filament_size[0]);
  6729. #if EXTRUDERS > 1
  6730. extruder_multiplier[1] = calculate_extruder_multiplier(filament_size[1]);
  6731. #if EXTRUDERS > 2
  6732. extruder_multiplier[2] = calculate_extruder_multiplier(filament_size[2]);
  6733. #endif
  6734. #endif
  6735. }
  6736. void delay_keep_alive(unsigned int ms)
  6737. {
  6738. for (;;) {
  6739. manage_heater();
  6740. // Manage inactivity, but don't disable steppers on timeout.
  6741. manage_inactivity(true);
  6742. lcd_update(0);
  6743. if (ms == 0)
  6744. break;
  6745. else if (ms >= 50) {
  6746. delay(50);
  6747. ms -= 50;
  6748. } else {
  6749. delay(ms);
  6750. ms = 0;
  6751. }
  6752. }
  6753. }
  6754. static void wait_for_heater(long codenum, uint8_t extruder) {
  6755. #ifdef TEMP_RESIDENCY_TIME
  6756. long residencyStart;
  6757. residencyStart = -1;
  6758. /* continue to loop until we have reached the target temp
  6759. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  6760. while ((!cancel_heatup) && ((residencyStart == -1) ||
  6761. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  6762. #else
  6763. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  6764. #endif //TEMP_RESIDENCY_TIME
  6765. if ((millis() - codenum) > 1000UL)
  6766. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  6767. if (!farm_mode) {
  6768. SERIAL_PROTOCOLPGM("T:");
  6769. SERIAL_PROTOCOL_F(degHotend(extruder), 1);
  6770. SERIAL_PROTOCOLPGM(" E:");
  6771. SERIAL_PROTOCOL((int)extruder);
  6772. #ifdef TEMP_RESIDENCY_TIME
  6773. SERIAL_PROTOCOLPGM(" W:");
  6774. if (residencyStart > -1)
  6775. {
  6776. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  6777. SERIAL_PROTOCOLLN(codenum);
  6778. }
  6779. else
  6780. {
  6781. SERIAL_PROTOCOLLN("?");
  6782. }
  6783. }
  6784. #else
  6785. SERIAL_PROTOCOLLN("");
  6786. #endif
  6787. codenum = millis();
  6788. }
  6789. manage_heater();
  6790. manage_inactivity();
  6791. lcd_update(0);
  6792. #ifdef TEMP_RESIDENCY_TIME
  6793. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  6794. or when current temp falls outside the hysteresis after target temp was reached */
  6795. if ((residencyStart == -1 && target_direction && (degHotend(extruder) >= (degTargetHotend(extruder) - TEMP_WINDOW))) ||
  6796. (residencyStart == -1 && !target_direction && (degHotend(extruder) <= (degTargetHotend(extruder) + TEMP_WINDOW))) ||
  6797. (residencyStart > -1 && labs(degHotend(extruder) - degTargetHotend(extruder)) > TEMP_HYSTERESIS))
  6798. {
  6799. residencyStart = millis();
  6800. }
  6801. #endif //TEMP_RESIDENCY_TIME
  6802. }
  6803. }
  6804. void check_babystep()
  6805. {
  6806. int babystep_z;
  6807. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6808. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  6809. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  6810. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  6811. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6812. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  6813. lcd_update_enable(true);
  6814. }
  6815. }
  6816. #ifdef DIS
  6817. void d_setup()
  6818. {
  6819. pinMode(D_DATACLOCK, INPUT_PULLUP);
  6820. pinMode(D_DATA, INPUT_PULLUP);
  6821. pinMode(D_REQUIRE, OUTPUT);
  6822. digitalWrite(D_REQUIRE, HIGH);
  6823. }
  6824. float d_ReadData()
  6825. {
  6826. int digit[13];
  6827. String mergeOutput;
  6828. float output;
  6829. digitalWrite(D_REQUIRE, HIGH);
  6830. for (int i = 0; i<13; i++)
  6831. {
  6832. for (int j = 0; j < 4; j++)
  6833. {
  6834. while (digitalRead(D_DATACLOCK) == LOW) {}
  6835. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6836. bitWrite(digit[i], j, digitalRead(D_DATA));
  6837. }
  6838. }
  6839. digitalWrite(D_REQUIRE, LOW);
  6840. mergeOutput = "";
  6841. output = 0;
  6842. for (int r = 5; r <= 10; r++) //Merge digits
  6843. {
  6844. mergeOutput += digit[r];
  6845. }
  6846. output = mergeOutput.toFloat();
  6847. if (digit[4] == 8) //Handle sign
  6848. {
  6849. output *= -1;
  6850. }
  6851. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6852. {
  6853. output /= 10;
  6854. }
  6855. return output;
  6856. }
  6857. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  6858. int t1 = 0;
  6859. int t_delay = 0;
  6860. int digit[13];
  6861. int m;
  6862. char str[3];
  6863. //String mergeOutput;
  6864. char mergeOutput[15];
  6865. float output;
  6866. int mesh_point = 0; //index number of calibration point
  6867. 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
  6868. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  6869. float mesh_home_z_search = 4;
  6870. float row[x_points_num];
  6871. int ix = 0;
  6872. int iy = 0;
  6873. const char* filename_wldsd = "wldsd.txt";
  6874. char data_wldsd[70];
  6875. char numb_wldsd[10];
  6876. d_setup();
  6877. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  6878. // We don't know where we are! HOME!
  6879. // Push the commands to the front of the message queue in the reverse order!
  6880. // There shall be always enough space reserved for these commands.
  6881. repeatcommand_front(); // repeat G80 with all its parameters
  6882. enquecommand_front_P((PSTR("G28 W0")));
  6883. enquecommand_front_P((PSTR("G1 Z5")));
  6884. return;
  6885. }
  6886. unsigned int custom_message_type_old = custom_message_type;
  6887. unsigned int custom_message_state_old = custom_message_state;
  6888. custom_message_type = CUSTOM_MSG_TYPE_MESHBL;
  6889. custom_message_state = (x_points_num * y_points_num) + 10;
  6890. lcd_update(1);
  6891. mbl.reset();
  6892. babystep_undo();
  6893. card.openFile(filename_wldsd, false);
  6894. current_position[Z_AXIS] = mesh_home_z_search;
  6895. 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);
  6896. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  6897. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  6898. setup_for_endstop_move(false);
  6899. SERIAL_PROTOCOLPGM("Num X,Y: ");
  6900. SERIAL_PROTOCOL(x_points_num);
  6901. SERIAL_PROTOCOLPGM(",");
  6902. SERIAL_PROTOCOL(y_points_num);
  6903. SERIAL_PROTOCOLPGM("\nZ search height: ");
  6904. SERIAL_PROTOCOL(mesh_home_z_search);
  6905. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  6906. SERIAL_PROTOCOL(x_dimension);
  6907. SERIAL_PROTOCOLPGM(",");
  6908. SERIAL_PROTOCOL(y_dimension);
  6909. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  6910. while (mesh_point != x_points_num * y_points_num) {
  6911. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  6912. iy = mesh_point / x_points_num;
  6913. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  6914. float z0 = 0.f;
  6915. current_position[Z_AXIS] = mesh_home_z_search;
  6916. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  6917. st_synchronize();
  6918. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  6919. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  6920. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  6921. st_synchronize();
  6922. 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
  6923. break;
  6924. card.closefile();
  6925. }
  6926. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6927. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  6928. //strcat(data_wldsd, numb_wldsd);
  6929. //MYSERIAL.println(data_wldsd);
  6930. //delay(1000);
  6931. //delay(3000);
  6932. //t1 = millis();
  6933. //while (digitalRead(D_DATACLOCK) == LOW) {}
  6934. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  6935. memset(digit, 0, sizeof(digit));
  6936. //cli();
  6937. digitalWrite(D_REQUIRE, LOW);
  6938. for (int i = 0; i<13; i++)
  6939. {
  6940. //t1 = millis();
  6941. for (int j = 0; j < 4; j++)
  6942. {
  6943. while (digitalRead(D_DATACLOCK) == LOW) {}
  6944. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6945. bitWrite(digit[i], j, digitalRead(D_DATA));
  6946. }
  6947. //t_delay = (millis() - t1);
  6948. //SERIAL_PROTOCOLPGM(" ");
  6949. //SERIAL_PROTOCOL_F(t_delay, 5);
  6950. //SERIAL_PROTOCOLPGM(" ");
  6951. }
  6952. //sei();
  6953. digitalWrite(D_REQUIRE, HIGH);
  6954. mergeOutput[0] = '\0';
  6955. output = 0;
  6956. for (int r = 5; r <= 10; r++) //Merge digits
  6957. {
  6958. sprintf(str, "%d", digit[r]);
  6959. strcat(mergeOutput, str);
  6960. }
  6961. output = atof(mergeOutput);
  6962. if (digit[4] == 8) //Handle sign
  6963. {
  6964. output *= -1;
  6965. }
  6966. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6967. {
  6968. output *= 0.1;
  6969. }
  6970. //output = d_ReadData();
  6971. //row[ix] = current_position[Z_AXIS];
  6972. memset(data_wldsd, 0, sizeof(data_wldsd));
  6973. for (int i = 0; i <3; i++) {
  6974. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6975. dtostrf(current_position[i], 8, 5, numb_wldsd);
  6976. strcat(data_wldsd, numb_wldsd);
  6977. strcat(data_wldsd, ";");
  6978. }
  6979. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6980. dtostrf(output, 8, 5, numb_wldsd);
  6981. strcat(data_wldsd, numb_wldsd);
  6982. //strcat(data_wldsd, ";");
  6983. card.write_command(data_wldsd);
  6984. //row[ix] = d_ReadData();
  6985. row[ix] = output; // current_position[Z_AXIS];
  6986. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  6987. for (int i = 0; i < x_points_num; i++) {
  6988. SERIAL_PROTOCOLPGM(" ");
  6989. SERIAL_PROTOCOL_F(row[i], 5);
  6990. }
  6991. SERIAL_PROTOCOLPGM("\n");
  6992. }
  6993. custom_message_state--;
  6994. mesh_point++;
  6995. lcd_update(1);
  6996. }
  6997. card.closefile();
  6998. }
  6999. #endif
  7000. void temp_compensation_start() {
  7001. custom_message_type = CUSTOM_MSG_TYPE_TEMPRE;
  7002. custom_message_state = PINDA_HEAT_T + 1;
  7003. lcd_update(2);
  7004. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  7005. current_position[E_AXIS] -= default_retraction;
  7006. }
  7007. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7008. current_position[X_AXIS] = PINDA_PREHEAT_X;
  7009. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  7010. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  7011. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  7012. st_synchronize();
  7013. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  7014. for (int i = 0; i < PINDA_HEAT_T; i++) {
  7015. delay_keep_alive(1000);
  7016. custom_message_state = PINDA_HEAT_T - i;
  7017. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  7018. else lcd_update(1);
  7019. }
  7020. custom_message_type = CUSTOM_MSG_TYPE_STATUS;
  7021. custom_message_state = 0;
  7022. }
  7023. void temp_compensation_apply() {
  7024. int i_add;
  7025. int z_shift = 0;
  7026. float z_shift_mm;
  7027. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  7028. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  7029. i_add = (target_temperature_bed - 60) / 10;
  7030. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  7031. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  7032. }else {
  7033. //interpolation
  7034. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  7035. }
  7036. printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
  7037. 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);
  7038. st_synchronize();
  7039. plan_set_z_position(current_position[Z_AXIS]);
  7040. }
  7041. else {
  7042. //we have no temp compensation data
  7043. }
  7044. }
  7045. float temp_comp_interpolation(float inp_temperature) {
  7046. //cubic spline interpolation
  7047. int n, i, j;
  7048. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  7049. int shift[10];
  7050. int temp_C[10];
  7051. n = 6; //number of measured points
  7052. shift[0] = 0;
  7053. for (i = 0; i < n; i++) {
  7054. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  7055. temp_C[i] = 50 + i * 10; //temperature in C
  7056. #ifdef PINDA_THERMISTOR
  7057. temp_C[i] = 35 + i * 5; //temperature in C
  7058. #else
  7059. temp_C[i] = 50 + i * 10; //temperature in C
  7060. #endif
  7061. x[i] = (float)temp_C[i];
  7062. f[i] = (float)shift[i];
  7063. }
  7064. if (inp_temperature < x[0]) return 0;
  7065. for (i = n - 1; i>0; i--) {
  7066. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  7067. h[i - 1] = x[i] - x[i - 1];
  7068. }
  7069. //*********** formation of h, s , f matrix **************
  7070. for (i = 1; i<n - 1; i++) {
  7071. m[i][i] = 2 * (h[i - 1] + h[i]);
  7072. if (i != 1) {
  7073. m[i][i - 1] = h[i - 1];
  7074. m[i - 1][i] = h[i - 1];
  7075. }
  7076. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  7077. }
  7078. //*********** forward elimination **************
  7079. for (i = 1; i<n - 2; i++) {
  7080. temp = (m[i + 1][i] / m[i][i]);
  7081. for (j = 1; j <= n - 1; j++)
  7082. m[i + 1][j] -= temp*m[i][j];
  7083. }
  7084. //*********** backward substitution *********
  7085. for (i = n - 2; i>0; i--) {
  7086. sum = 0;
  7087. for (j = i; j <= n - 2; j++)
  7088. sum += m[i][j] * s[j];
  7089. s[i] = (m[i][n - 1] - sum) / m[i][i];
  7090. }
  7091. for (i = 0; i<n - 1; i++)
  7092. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  7093. a = (s[i + 1] - s[i]) / (6 * h[i]);
  7094. b = s[i] / 2;
  7095. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  7096. d = f[i];
  7097. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  7098. }
  7099. return sum;
  7100. }
  7101. #ifdef PINDA_THERMISTOR
  7102. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  7103. {
  7104. if (!temp_cal_active) return 0;
  7105. if (!calibration_status_pinda()) return 0;
  7106. return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
  7107. }
  7108. #endif //PINDA_THERMISTOR
  7109. void long_pause() //long pause print
  7110. {
  7111. st_synchronize();
  7112. //save currently set parameters to global variables
  7113. saved_feedmultiply = feedmultiply;
  7114. HotendTempBckp = degTargetHotend(active_extruder);
  7115. fanSpeedBckp = fanSpeed;
  7116. start_pause_print = millis();
  7117. //save position
  7118. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  7119. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  7120. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  7121. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  7122. //retract
  7123. current_position[E_AXIS] -= default_retraction;
  7124. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7125. //lift z
  7126. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  7127. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  7128. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  7129. //set nozzle target temperature to 0
  7130. setAllTargetHotends(0);
  7131. //Move XY to side
  7132. current_position[X_AXIS] = X_PAUSE_POS;
  7133. current_position[Y_AXIS] = Y_PAUSE_POS;
  7134. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  7135. // Turn off the print fan
  7136. fanSpeed = 0;
  7137. st_synchronize();
  7138. }
  7139. void serialecho_temperatures() {
  7140. float tt = degHotend(active_extruder);
  7141. SERIAL_PROTOCOLPGM("T:");
  7142. SERIAL_PROTOCOL(tt);
  7143. SERIAL_PROTOCOLPGM(" E:");
  7144. SERIAL_PROTOCOL((int)active_extruder);
  7145. SERIAL_PROTOCOLPGM(" B:");
  7146. SERIAL_PROTOCOL_F(degBed(), 1);
  7147. SERIAL_PROTOCOLLN("");
  7148. }
  7149. extern uint32_t sdpos_atomic;
  7150. #ifdef UVLO_SUPPORT
  7151. void uvlo_()
  7152. {
  7153. unsigned long time_start = millis();
  7154. bool sd_print = card.sdprinting;
  7155. // Conserve power as soon as possible.
  7156. disable_x();
  7157. disable_y();
  7158. #ifdef TMC2130
  7159. tmc2130_set_current_h(Z_AXIS, 20);
  7160. tmc2130_set_current_r(Z_AXIS, 20);
  7161. tmc2130_set_current_h(E_AXIS, 20);
  7162. tmc2130_set_current_r(E_AXIS, 20);
  7163. #endif //TMC2130
  7164. // Indicate that the interrupt has been triggered.
  7165. // SERIAL_ECHOLNPGM("UVLO");
  7166. // Read out the current Z motor microstep counter. This will be later used
  7167. // for reaching the zero full step before powering off.
  7168. uint16_t z_microsteps = 0;
  7169. #ifdef TMC2130
  7170. z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  7171. #endif //TMC2130
  7172. // Calculate the file position, from which to resume this print.
  7173. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  7174. {
  7175. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7176. sd_position -= sdlen_planner;
  7177. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7178. sd_position -= sdlen_cmdqueue;
  7179. if (sd_position < 0) sd_position = 0;
  7180. }
  7181. // Backup the feedrate in mm/min.
  7182. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7183. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  7184. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  7185. // are in action.
  7186. planner_abort_hard();
  7187. // Store the current extruder position.
  7188. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  7189. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  7190. // Clean the input command queue.
  7191. cmdqueue_reset();
  7192. card.sdprinting = false;
  7193. // card.closefile();
  7194. // Enable stepper driver interrupt to move Z axis.
  7195. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  7196. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  7197. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  7198. sei();
  7199. plan_buffer_line(
  7200. current_position[X_AXIS],
  7201. current_position[Y_AXIS],
  7202. current_position[Z_AXIS],
  7203. current_position[E_AXIS] - default_retraction,
  7204. 95, active_extruder);
  7205. st_synchronize();
  7206. disable_e0();
  7207. plan_buffer_line(
  7208. current_position[X_AXIS],
  7209. current_position[Y_AXIS],
  7210. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7211. current_position[E_AXIS] - default_retraction,
  7212. 40, active_extruder);
  7213. st_synchronize();
  7214. disable_e0();
  7215. plan_buffer_line(
  7216. current_position[X_AXIS],
  7217. current_position[Y_AXIS],
  7218. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7219. current_position[E_AXIS] - default_retraction,
  7220. 40, active_extruder);
  7221. st_synchronize();
  7222. disable_e0();
  7223. disable_z();
  7224. // Move Z up to the next 0th full step.
  7225. // Write the file position.
  7226. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  7227. // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7228. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7229. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7230. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7231. // Scale the z value to 1u resolution.
  7232. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
  7233. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  7234. }
  7235. // Read out the current Z motor microstep counter. This will be later used
  7236. // for reaching the zero full step before powering off.
  7237. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  7238. // Store the current position.
  7239. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  7240. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  7241. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  7242. // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
  7243. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  7244. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  7245. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  7246. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  7247. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
  7248. #if EXTRUDERS > 1
  7249. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
  7250. #if EXTRUDERS > 2
  7251. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
  7252. #endif
  7253. #endif
  7254. eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
  7255. // Finaly store the "power outage" flag.
  7256. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  7257. st_synchronize();
  7258. printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
  7259. disable_z();
  7260. // Increment power failure counter
  7261. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  7262. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  7263. printf_P(_N("UVLO - end %d\n"), millis() - time_start);
  7264. #if 0
  7265. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  7266. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  7267. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  7268. st_synchronize();
  7269. #endif
  7270. wdt_enable(WDTO_500MS);
  7271. WRITE(BEEPER,HIGH);
  7272. while(1)
  7273. ;
  7274. }
  7275. void uvlo_tiny()
  7276. {
  7277. uint16_t z_microsteps=0;
  7278. // Conserve power as soon as possible.
  7279. disable_x();
  7280. disable_y();
  7281. disable_e0();
  7282. #ifdef TMC2130
  7283. tmc2130_set_current_h(Z_AXIS, 20);
  7284. tmc2130_set_current_r(Z_AXIS, 20);
  7285. #endif //TMC2130
  7286. // Read out the current Z motor microstep counter
  7287. #ifdef TMC2130
  7288. z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
  7289. #endif //TMC2130
  7290. planner_abort_hard();
  7291. sei();
  7292. plan_buffer_line(
  7293. current_position[X_AXIS],
  7294. current_position[Y_AXIS],
  7295. // current_position[Z_AXIS]+float((1024-z_microsteps+7)>>4)/axis_steps_per_unit[Z_AXIS],
  7296. current_position[Z_AXIS]+UVLO_Z_AXIS_SHIFT+float((1024-z_microsteps+7)>>4)/axis_steps_per_unit[Z_AXIS],
  7297. current_position[E_AXIS],
  7298. 40, active_extruder);
  7299. st_synchronize();
  7300. disable_z();
  7301. // Finaly store the "power outage" flag.
  7302. //if(sd_print)
  7303. eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
  7304. eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS),z_microsteps);
  7305. eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  7306. // Increment power failure counter
  7307. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  7308. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  7309. wdt_enable(WDTO_500MS);
  7310. WRITE(BEEPER,HIGH);
  7311. while(1)
  7312. ;
  7313. }
  7314. #endif //UVLO_SUPPORT
  7315. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  7316. void setup_fan_interrupt() {
  7317. //INT7
  7318. DDRE &= ~(1 << 7); //input pin
  7319. PORTE &= ~(1 << 7); //no internal pull-up
  7320. //start with sensing rising edge
  7321. EICRB &= ~(1 << 6);
  7322. EICRB |= (1 << 7);
  7323. //enable INT7 interrupt
  7324. EIMSK |= (1 << 7);
  7325. }
  7326. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  7327. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  7328. ISR(INT7_vect) {
  7329. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  7330. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  7331. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  7332. t_fan_rising_edge = millis_nc();
  7333. }
  7334. else { //interrupt was triggered by falling edge
  7335. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  7336. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  7337. }
  7338. }
  7339. EICRB ^= (1 << 6); //change edge
  7340. }
  7341. #endif
  7342. #ifdef UVLO_SUPPORT
  7343. void setup_uvlo_interrupt() {
  7344. DDRE &= ~(1 << 4); //input pin
  7345. PORTE &= ~(1 << 4); //no internal pull-up
  7346. //sensing falling edge
  7347. EICRB |= (1 << 0);
  7348. EICRB &= ~(1 << 1);
  7349. //enable INT4 interrupt
  7350. EIMSK |= (1 << 4);
  7351. }
  7352. ISR(INT4_vect) {
  7353. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  7354. SERIAL_ECHOLNPGM("INT4");
  7355. if(IS_SD_PRINTING && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO))) ) uvlo_();
  7356. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
  7357. }
  7358. void recover_print(uint8_t automatic) {
  7359. char cmd[30];
  7360. lcd_update_enable(true);
  7361. lcd_update(2);
  7362. lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
  7363. bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
  7364. recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers
  7365. // Lift the print head, so one may remove the excess priming material.
  7366. if(!bTiny&&(current_position[Z_AXIS]<25))
  7367. enquecommand_P(PSTR("G1 Z25 F800"));
  7368. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  7369. enquecommand_P(PSTR("G28 X Y"));
  7370. // Set the target bed and nozzle temperatures and wait.
  7371. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  7372. enquecommand(cmd);
  7373. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  7374. enquecommand(cmd);
  7375. enquecommand_P(PSTR("M83")); //E axis relative mode
  7376. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7377. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  7378. if(automatic == 0){
  7379. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7380. }
  7381. enquecommand_P(PSTR("G1 E" STRINGIFY(-default_retraction)" F480"));
  7382. printf_P(_N("After waiting for temp:\nCurrent pos X_AXIS:%.3f\nCurrent pos Y_AXIS:%.3f\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  7383. // Restart the print.
  7384. restore_print_from_eeprom();
  7385. printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
  7386. }
  7387. void recover_machine_state_after_power_panic(bool bTiny)
  7388. {
  7389. char cmd[30];
  7390. // 1) Recover the logical cordinates at the time of the power panic.
  7391. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  7392. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  7393. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  7394. // Recover the logical coordinate of the Z axis at the time of the power panic.
  7395. // The current position after power panic is moved to the next closest 0th full step.
  7396. if(bTiny)
  7397. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z)) +
  7398. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  7399. else
  7400. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  7401. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  7402. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
  7403. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7404. sprintf_P(cmd, PSTR("G92 E"));
  7405. dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
  7406. enquecommand(cmd);
  7407. }
  7408. memcpy(destination, current_position, sizeof(destination));
  7409. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7410. print_world_coordinates();
  7411. // 2) Initialize the logical to physical coordinate system transformation.
  7412. world2machine_initialize();
  7413. // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7414. mbl.active = false;
  7415. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7416. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7417. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7418. // Scale the z value to 10u resolution.
  7419. int16_t v;
  7420. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
  7421. if (v != 0)
  7422. mbl.active = true;
  7423. mbl.z_values[iy][ix] = float(v) * 0.001f;
  7424. }
  7425. if (mbl.active)
  7426. mbl.upsample_3x3();
  7427. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7428. // print_mesh_bed_leveling_table();
  7429. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  7430. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  7431. babystep_load();
  7432. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  7433. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  7434. // 6) Power up the motors, mark their positions as known.
  7435. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  7436. axis_known_position[X_AXIS] = true; enable_x();
  7437. axis_known_position[Y_AXIS] = true; enable_y();
  7438. axis_known_position[Z_AXIS] = true; enable_z();
  7439. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7440. print_physical_coordinates();
  7441. // 7) Recover the target temperatures.
  7442. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  7443. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  7444. // 8) Recover extruder multipilers
  7445. extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
  7446. #if EXTRUDERS > 1
  7447. extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
  7448. #if EXTRUDERS > 2
  7449. extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
  7450. #endif
  7451. #endif
  7452. extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
  7453. }
  7454. void restore_print_from_eeprom() {
  7455. int feedrate_rec;
  7456. uint8_t fan_speed_rec;
  7457. char cmd[30];
  7458. char filename[13];
  7459. uint8_t depth = 0;
  7460. char dir_name[9];
  7461. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  7462. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  7463. SERIAL_ECHOPGM("Feedrate:");
  7464. MYSERIAL.println(feedrate_rec);
  7465. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  7466. MYSERIAL.println(int(depth));
  7467. for (int i = 0; i < depth; i++) {
  7468. for (int j = 0; j < 8; j++) {
  7469. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  7470. }
  7471. dir_name[8] = '\0';
  7472. MYSERIAL.println(dir_name);
  7473. strcpy(dir_names[i], dir_name);
  7474. card.chdir(dir_name);
  7475. }
  7476. for (int i = 0; i < 8; i++) {
  7477. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  7478. }
  7479. filename[8] = '\0';
  7480. MYSERIAL.print(filename);
  7481. strcat_P(filename, PSTR(".gco"));
  7482. sprintf_P(cmd, PSTR("M23 %s"), filename);
  7483. enquecommand(cmd);
  7484. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  7485. SERIAL_ECHOPGM("Position read from eeprom:");
  7486. MYSERIAL.println(position);
  7487. // E axis relative mode.
  7488. enquecommand_P(PSTR("M83"));
  7489. // Move to the XY print position in logical coordinates, where the print has been killed.
  7490. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  7491. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  7492. strcat_P(cmd, PSTR(" F2000"));
  7493. enquecommand(cmd);
  7494. // Move the Z axis down to the print, in logical coordinates.
  7495. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  7496. enquecommand(cmd);
  7497. // Unretract.
  7498. enquecommand_P(PSTR("G1 E" STRINGIFY(2*default_retraction)" F480"));
  7499. // Set the feedrate saved at the power panic.
  7500. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  7501. enquecommand(cmd);
  7502. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  7503. {
  7504. enquecommand_P(PSTR("M82")); //E axis abslute mode
  7505. }
  7506. // Set the fan speed saved at the power panic.
  7507. strcpy_P(cmd, PSTR("M106 S"));
  7508. strcat(cmd, itostr3(int(fan_speed_rec)));
  7509. enquecommand(cmd);
  7510. // Set a position in the file.
  7511. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  7512. enquecommand(cmd);
  7513. enquecommand_P(PSTR("G4 S0"));
  7514. enquecommand_P(PSTR("PRUSA uvlo"));
  7515. }
  7516. #endif //UVLO_SUPPORT
  7517. ////////////////////////////////////////////////////////////////////////////////
  7518. // save/restore printing
  7519. void stop_and_save_print_to_ram(float z_move, float e_move)
  7520. {
  7521. if (saved_printing) return;
  7522. #if 0
  7523. unsigned char nplanner_blocks;
  7524. #endif
  7525. unsigned char nlines;
  7526. uint16_t sdlen_planner;
  7527. uint16_t sdlen_cmdqueue;
  7528. cli();
  7529. if (card.sdprinting) {
  7530. #if 0
  7531. nplanner_blocks = number_of_blocks();
  7532. #endif
  7533. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  7534. sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7535. saved_sdpos -= sdlen_planner;
  7536. sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7537. saved_sdpos -= sdlen_cmdqueue;
  7538. saved_printing_type = PRINTING_TYPE_SD;
  7539. }
  7540. else if (is_usb_printing) { //reuse saved_sdpos for storing line number
  7541. saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
  7542. //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
  7543. nlines = planner_calc_sd_length(); //number of lines of commands in planner
  7544. saved_sdpos -= nlines;
  7545. saved_sdpos -= buflen; //number of blocks in cmd buffer
  7546. saved_printing_type = PRINTING_TYPE_USB;
  7547. }
  7548. else {
  7549. //not sd printing nor usb printing
  7550. }
  7551. #if 0
  7552. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  7553. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  7554. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  7555. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  7556. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  7557. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  7558. //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  7559. {
  7560. card.setIndex(saved_sdpos);
  7561. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  7562. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  7563. MYSERIAL.print(char(card.get()));
  7564. SERIAL_ECHOLNPGM("Content of command buffer: ");
  7565. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  7566. MYSERIAL.print(char(card.get()));
  7567. SERIAL_ECHOLNPGM("End of command buffer");
  7568. }
  7569. {
  7570. // Print the content of the planner buffer, line by line:
  7571. card.setIndex(saved_sdpos);
  7572. int8_t iline = 0;
  7573. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  7574. SERIAL_ECHOPGM("Planner line (from file): ");
  7575. MYSERIAL.print(int(iline), DEC);
  7576. SERIAL_ECHOPGM(", length: ");
  7577. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  7578. SERIAL_ECHOPGM(", steps: (");
  7579. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  7580. SERIAL_ECHOPGM(",");
  7581. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  7582. SERIAL_ECHOPGM(",");
  7583. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  7584. SERIAL_ECHOPGM(",");
  7585. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  7586. SERIAL_ECHOPGM("), events: ");
  7587. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  7588. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  7589. MYSERIAL.print(char(card.get()));
  7590. }
  7591. }
  7592. {
  7593. // Print the content of the command buffer, line by line:
  7594. int8_t iline = 0;
  7595. union {
  7596. struct {
  7597. char lo;
  7598. char hi;
  7599. } lohi;
  7600. uint16_t value;
  7601. } sdlen_single;
  7602. int _bufindr = bufindr;
  7603. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  7604. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  7605. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  7606. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  7607. }
  7608. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  7609. MYSERIAL.print(int(iline), DEC);
  7610. SERIAL_ECHOPGM(", type: ");
  7611. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  7612. SERIAL_ECHOPGM(", len: ");
  7613. MYSERIAL.println(sdlen_single.value, DEC);
  7614. // Print the content of the buffer line.
  7615. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  7616. SERIAL_ECHOPGM("Buffer line (from file): ");
  7617. MYSERIAL.println(int(iline), DEC);
  7618. for (; sdlen_single.value > 0; -- sdlen_single.value)
  7619. MYSERIAL.print(char(card.get()));
  7620. if (-- _buflen == 0)
  7621. break;
  7622. // First skip the current command ID and iterate up to the end of the string.
  7623. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  7624. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  7625. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7626. // If the end of the buffer was empty,
  7627. if (_bufindr == sizeof(cmdbuffer)) {
  7628. // skip to the start and find the nonzero command.
  7629. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7630. }
  7631. }
  7632. }
  7633. #endif
  7634. #if 0
  7635. saved_feedrate2 = feedrate; //save feedrate
  7636. #else
  7637. // Try to deduce the feedrate from the first block of the planner.
  7638. // Speed is in mm/min.
  7639. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7640. #endif
  7641. planner_abort_hard(); //abort printing
  7642. memcpy(saved_pos, current_position, sizeof(saved_pos));
  7643. saved_active_extruder = active_extruder; //save active_extruder
  7644. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  7645. saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
  7646. cmdqueue_reset(); //empty cmdqueue
  7647. card.sdprinting = false;
  7648. // card.closefile();
  7649. saved_printing = true;
  7650. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  7651. st_reset_timer();
  7652. sei();
  7653. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  7654. #if 1
  7655. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  7656. char buf[48];
  7657. // First unretract (relative extrusion)
  7658. if(!saved_extruder_relative_mode){
  7659. strcpy_P(buf, PSTR("M83"));
  7660. enquecommand(buf, false);
  7661. }
  7662. //retract 45mm/s
  7663. strcpy_P(buf, PSTR("G1 E"));
  7664. dtostrf(e_move, 6, 3, buf + strlen(buf));
  7665. strcat_P(buf, PSTR(" F"));
  7666. dtostrf(2700, 8, 3, buf + strlen(buf));
  7667. enquecommand(buf, false);
  7668. // Then lift Z axis
  7669. strcpy_P(buf, PSTR("G1 Z"));
  7670. dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
  7671. strcat_P(buf, PSTR(" F"));
  7672. dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
  7673. // At this point the command queue is empty.
  7674. enquecommand(buf, false);
  7675. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  7676. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  7677. repeatcommand_front();
  7678. #else
  7679. 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);
  7680. st_synchronize(); //wait moving
  7681. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7682. memcpy(destination, current_position, sizeof(destination));
  7683. #endif
  7684. }
  7685. }
  7686. void restore_print_from_ram_and_continue(float e_move)
  7687. {
  7688. if (!saved_printing) return;
  7689. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  7690. // current_position[axis] = st_get_position_mm(axis);
  7691. active_extruder = saved_active_extruder; //restore active_extruder
  7692. feedrate = saved_feedrate2; //restore feedrate
  7693. axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
  7694. float e = saved_pos[E_AXIS] - e_move;
  7695. plan_set_e_position(e);
  7696. //first move print head in XY to the saved position:
  7697. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], current_position[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
  7698. st_synchronize();
  7699. //then move Z
  7700. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
  7701. st_synchronize();
  7702. //and finaly unretract (35mm/s)
  7703. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], 35, active_extruder);
  7704. st_synchronize();
  7705. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7706. memcpy(destination, current_position, sizeof(destination));
  7707. if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
  7708. card.setIndex(saved_sdpos);
  7709. sdpos_atomic = saved_sdpos;
  7710. card.sdprinting = true;
  7711. printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
  7712. }
  7713. else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
  7714. gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
  7715. serial_count = 0;
  7716. FlushSerialRequestResend();
  7717. }
  7718. else {
  7719. //not sd printing nor usb printing
  7720. }
  7721. lcd_setstatuspgm(_T(WELCOME_MSG));
  7722. saved_printing = false;
  7723. }
  7724. void print_world_coordinates()
  7725. {
  7726. printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  7727. }
  7728. void print_physical_coordinates()
  7729. {
  7730. printf_P(_N("physical coordinates: (%.3f, %.3f, %.3f)\n"), st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
  7731. }
  7732. void print_mesh_bed_leveling_table()
  7733. {
  7734. SERIAL_ECHOPGM("mesh bed leveling: ");
  7735. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  7736. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  7737. MYSERIAL.print(mbl.z_values[y][x], 3);
  7738. SERIAL_ECHOPGM(" ");
  7739. }
  7740. SERIAL_ECHOLNPGM("");
  7741. }
  7742. uint16_t print_time_remaining() {
  7743. uint16_t print_t = PRINT_TIME_REMAINING_INIT;
  7744. if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
  7745. else print_t = print_time_remaining_silent;
  7746. if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100 * print_t / feedmultiply;
  7747. return print_t;
  7748. }
  7749. uint8_t calc_percent_done()
  7750. {
  7751. //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
  7752. uint8_t percent_done = 0;
  7753. if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
  7754. percent_done = print_percent_done_normal;
  7755. }
  7756. else if (print_percent_done_silent <= 100) {
  7757. percent_done = print_percent_done_silent;
  7758. }
  7759. else {
  7760. percent_done = card.percentDone();
  7761. }
  7762. return percent_done;
  7763. }
  7764. static void print_time_remaining_init()
  7765. {
  7766. print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
  7767. print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
  7768. print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  7769. print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  7770. }
  7771. void M600_check_state()
  7772. {
  7773. //Wait for user to check the state
  7774. lcd_change_fil_state = 0;
  7775. while (lcd_change_fil_state != 1){
  7776. lcd_change_fil_state = 0;
  7777. KEEPALIVE_STATE(PAUSED_FOR_USER);
  7778. lcd_alright();
  7779. KEEPALIVE_STATE(IN_HANDLER);
  7780. switch(lcd_change_fil_state){
  7781. // Filament failed to load so load it again
  7782. case 2:
  7783. if (mmu_enabled)
  7784. mmu_M600_load_filament(false); //nonautomatic load; change to "wrong filament loaded" option?
  7785. else
  7786. M600_load_filament_movements();
  7787. break;
  7788. // Filament loaded properly but color is not clear
  7789. case 3:
  7790. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  7791. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2, active_extruder);
  7792. lcd_loading_color();
  7793. break;
  7794. // Everything good
  7795. default:
  7796. lcd_change_success();
  7797. break;
  7798. }
  7799. }
  7800. }
  7801. void M600_wait_for_user() {
  7802. //Beep, manage nozzle heater and wait for user to start unload filament
  7803. KEEPALIVE_STATE(PAUSED_FOR_USER);
  7804. int counterBeep = 0;
  7805. unsigned long waiting_start_time = millis();
  7806. uint8_t wait_for_user_state = 0;
  7807. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  7808. bool bFirst=true;
  7809. while (!(wait_for_user_state == 0 && lcd_clicked())){
  7810. manage_heater();
  7811. manage_inactivity(true);
  7812. #if BEEPER > 0
  7813. if (counterBeep == 500) {
  7814. counterBeep = 0;
  7815. }
  7816. SET_OUTPUT(BEEPER);
  7817. if (counterBeep == 0) {
  7818. if((eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
  7819. {
  7820. bFirst=false;
  7821. WRITE(BEEPER, HIGH);
  7822. }
  7823. }
  7824. if (counterBeep == 20) {
  7825. WRITE(BEEPER, LOW);
  7826. }
  7827. counterBeep++;
  7828. #endif //BEEPER > 0
  7829. switch (wait_for_user_state) {
  7830. case 0: //nozzle is hot, waiting for user to press the knob to unload filament
  7831. delay_keep_alive(4);
  7832. if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  7833. lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
  7834. wait_for_user_state = 1;
  7835. setTargetHotend(0, 0);
  7836. setTargetHotend(0, 1);
  7837. setTargetHotend(0, 2);
  7838. st_synchronize();
  7839. disable_e0();
  7840. disable_e1();
  7841. disable_e2();
  7842. }
  7843. break;
  7844. case 1: //nozzle target temperature is set to zero, waiting for user to start nozzle preheat
  7845. delay_keep_alive(4);
  7846. if (lcd_clicked()) {
  7847. setTargetHotend(HotendTempBckp, active_extruder);
  7848. lcd_wait_for_heater();
  7849. wait_for_user_state = 2;
  7850. }
  7851. break;
  7852. case 2: //waiting for nozzle to reach target temperature
  7853. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  7854. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  7855. waiting_start_time = millis();
  7856. wait_for_user_state = 0;
  7857. }
  7858. else {
  7859. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  7860. lcd_set_cursor(1, 4);
  7861. lcd_print(ftostr3(degHotend(active_extruder)));
  7862. }
  7863. break;
  7864. }
  7865. }
  7866. WRITE(BEEPER, LOW);
  7867. }
  7868. void M600_load_filament_movements()
  7869. {
  7870. #ifdef SNMM
  7871. display_loading();
  7872. do
  7873. {
  7874. current_position[E_AXIS] += 0.002;
  7875. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  7876. delay_keep_alive(2);
  7877. }
  7878. while (!lcd_clicked());
  7879. st_synchronize();
  7880. current_position[E_AXIS] += bowden_length[mmu_extruder];
  7881. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000, active_extruder);
  7882. current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
  7883. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1400, active_extruder);
  7884. current_position[E_AXIS] += 40;
  7885. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7886. current_position[E_AXIS] += 10;
  7887. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  7888. #else
  7889. current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  7890. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  7891. #endif
  7892. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  7893. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  7894. lcd_loading_filament();
  7895. }
  7896. void M600_load_filament() {
  7897. //load filament for single material and SNMM
  7898. lcd_wait_interact();
  7899. //load_filament_time = millis();
  7900. KEEPALIVE_STATE(PAUSED_FOR_USER);
  7901. #ifdef FILAMENT_SENSOR
  7902. fsensor_autoload_check_start();
  7903. #endif //FILAMENT_SENSOR
  7904. while(!lcd_clicked())
  7905. {
  7906. manage_heater();
  7907. manage_inactivity(true);
  7908. #ifdef FILAMENT_SENSOR
  7909. if (fsensor_check_autoload())
  7910. {
  7911. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  7912. tone(BEEPER, 1000);
  7913. delay_keep_alive(50);
  7914. noTone(BEEPER);
  7915. break;
  7916. }
  7917. #endif //FILAMENT_SENSOR
  7918. }
  7919. #ifdef FILAMENT_SENSOR
  7920. fsensor_autoload_check_stop();
  7921. #endif //FILAMENT_SENSOR
  7922. KEEPALIVE_STATE(IN_HANDLER);
  7923. #ifdef FILAMENT_SENSOR
  7924. fsensor_oq_meassure_start(70);
  7925. #endif //FILAMENT_SENSOR
  7926. M600_load_filament_movements();
  7927. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  7928. tone(BEEPER, 500);
  7929. delay_keep_alive(50);
  7930. noTone(BEEPER);
  7931. #ifdef FILAMENT_SENSOR
  7932. fsensor_oq_meassure_stop();
  7933. if (!fsensor_oq_result())
  7934. {
  7935. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  7936. lcd_update_enable(true);
  7937. lcd_update(2);
  7938. if (disable)
  7939. fsensor_disable();
  7940. }
  7941. #endif //FILAMENT_SENSOR
  7942. lcd_update_enable(false);
  7943. }
  7944. #define FIL_LOAD_LENGTH 60