Marlin_main.cpp 391 KB

12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849505152535455565758596061626364656667686970717273747576777879808182838485868788899091929394959697989910010110210310410510610710810911011111211311411511611711811912012112212312412512612712812913013113213313413513613713813914014114214314414514614714814915015115215315415515615715815916016116216316416516616716816917017117217317417517617717817918018118218318418518618718818919019119219319419519619719819920020120220320420520620720820921021121221321421521621721821922022122222322422522622722822923023123223323423523623723823924024124224324424524624724824925025125225325425525625725825926026126226326426526626726826927027127227327427527627727827928028128228328428528628728828929029129229329429529629729829930030130230330430530630730830931031131231331431531631731831932032132232332432532632732832933033133233333433533633733833934034134234334434534634734834935035135235335435535635735835936036136236336436536636736836937037137237337437537637737837938038138238338438538638738838939039139239339439539639739839940040140240340440540640740840941041141241341441541641741841942042142242342442542642742842943043143243343443543643743843944044144244344444544644744844945045145245345445545645745845946046146246346446546646746846947047147247347447547647747847948048148248348448548648748848949049149249349449549649749849950050150250350450550650750850951051151251351451551651751851952052152252352452552652752852953053153253353453553653753853954054154254354454554654754854955055155255355455555655755855956056156256356456556656756856957057157257357457557657757857958058158258358458558658758858959059159259359459559659759859960060160260360460560660760860961061161261361461561661761861962062162262362462562662762862963063163263363463563663763863964064164264364464564664764864965065165265365465565665765865966066166266366466566666766866967067167267367467567667767867968068168268368468568668768868969069169269369469569669769869970070170270370470570670770870971071171271371471571671771871972072172272372472572672772872973073173273373473573673773873974074174274374474574674774874975075175275375475575675775875976076176276376476576676776876977077177277377477577677777877978078178278378478578678778878979079179279379479579679779879980080180280380480580680780880981081181281381481581681781881982082182282382482582682782882983083183283383483583683783883984084184284384484584684784884985085185285385485585685785885986086186286386486586686786886987087187287387487587687787887988088188288388488588688788888989089189289389489589689789889990090190290390490590690790890991091191291391491591691791891992092192292392492592692792892993093193293393493593693793893994094194294394494594694794894995095195295395495595695795895996096196296396496596696796896997097197297397497597697797897998098198298398498598698798898999099199299399499599699799899910001001100210031004100510061007100810091010101110121013101410151016101710181019102010211022102310241025102610271028102910301031103210331034103510361037103810391040104110421043104410451046104710481049105010511052105310541055105610571058105910601061106210631064106510661067106810691070107110721073107410751076107710781079108010811082108310841085108610871088108910901091109210931094109510961097109810991100110111021103110411051106110711081109111011111112111311141115111611171118111911201121112211231124112511261127112811291130113111321133113411351136113711381139114011411142114311441145114611471148114911501151115211531154115511561157115811591160116111621163116411651166116711681169117011711172117311741175117611771178117911801181118211831184118511861187118811891190119111921193119411951196119711981199120012011202120312041205120612071208120912101211121212131214121512161217121812191220122112221223122412251226122712281229123012311232123312341235123612371238123912401241124212431244124512461247124812491250125112521253125412551256125712581259126012611262126312641265126612671268126912701271127212731274127512761277127812791280128112821283128412851286128712881289129012911292129312941295129612971298129913001301130213031304130513061307130813091310131113121313131413151316131713181319132013211322132313241325132613271328132913301331133213331334133513361337133813391340134113421343134413451346134713481349135013511352135313541355135613571358135913601361136213631364136513661367136813691370137113721373137413751376137713781379138013811382138313841385138613871388138913901391139213931394139513961397139813991400140114021403140414051406140714081409141014111412141314141415141614171418141914201421142214231424142514261427142814291430143114321433143414351436143714381439144014411442144314441445144614471448144914501451145214531454145514561457145814591460146114621463146414651466146714681469147014711472147314741475147614771478147914801481148214831484148514861487148814891490149114921493149414951496149714981499150015011502150315041505150615071508150915101511151215131514151515161517151815191520152115221523152415251526152715281529153015311532153315341535153615371538153915401541154215431544154515461547154815491550155115521553155415551556155715581559156015611562156315641565156615671568156915701571157215731574157515761577157815791580158115821583158415851586158715881589159015911592159315941595159615971598159916001601160216031604160516061607160816091610161116121613161416151616161716181619162016211622162316241625162616271628162916301631163216331634163516361637163816391640164116421643164416451646164716481649165016511652165316541655165616571658165916601661166216631664166516661667166816691670167116721673167416751676167716781679168016811682168316841685168616871688168916901691169216931694169516961697169816991700170117021703170417051706170717081709171017111712171317141715171617171718171917201721172217231724172517261727172817291730173117321733173417351736173717381739174017411742174317441745174617471748174917501751175217531754175517561757175817591760176117621763176417651766176717681769177017711772177317741775177617771778177917801781178217831784178517861787178817891790179117921793179417951796179717981799180018011802180318041805180618071808180918101811181218131814181518161817181818191820182118221823182418251826182718281829183018311832183318341835183618371838183918401841184218431844184518461847184818491850185118521853185418551856185718581859186018611862186318641865186618671868186918701871187218731874187518761877187818791880188118821883188418851886188718881889189018911892189318941895189618971898189919001901190219031904190519061907190819091910191119121913191419151916191719181919192019211922192319241925192619271928192919301931193219331934193519361937193819391940194119421943194419451946194719481949195019511952195319541955195619571958195919601961196219631964196519661967196819691970197119721973197419751976197719781979198019811982198319841985198619871988198919901991199219931994199519961997199819992000200120022003200420052006200720082009201020112012201320142015201620172018201920202021202220232024202520262027202820292030203120322033203420352036203720382039204020412042204320442045204620472048204920502051205220532054205520562057205820592060206120622063206420652066206720682069207020712072207320742075207620772078207920802081208220832084208520862087208820892090209120922093209420952096209720982099210021012102210321042105210621072108210921102111211221132114211521162117211821192120212121222123212421252126212721282129213021312132213321342135213621372138213921402141214221432144214521462147214821492150215121522153215421552156215721582159216021612162216321642165216621672168216921702171217221732174217521762177217821792180218121822183218421852186218721882189219021912192219321942195219621972198219922002201220222032204220522062207220822092210221122122213221422152216221722182219222022212222222322242225222622272228222922302231223222332234223522362237223822392240224122422243224422452246224722482249225022512252225322542255225622572258225922602261226222632264226522662267226822692270227122722273227422752276227722782279228022812282228322842285228622872288228922902291229222932294229522962297229822992300230123022303230423052306230723082309231023112312231323142315231623172318231923202321232223232324232523262327232823292330233123322333233423352336233723382339234023412342234323442345234623472348234923502351235223532354235523562357235823592360236123622363236423652366236723682369237023712372237323742375237623772378237923802381238223832384238523862387238823892390239123922393239423952396239723982399240024012402240324042405240624072408240924102411241224132414241524162417241824192420242124222423242424252426242724282429243024312432243324342435243624372438243924402441244224432444244524462447244824492450245124522453245424552456245724582459246024612462246324642465246624672468246924702471247224732474247524762477247824792480248124822483248424852486248724882489249024912492249324942495249624972498249925002501250225032504250525062507250825092510251125122513251425152516251725182519252025212522252325242525252625272528252925302531253225332534253525362537253825392540254125422543254425452546254725482549255025512552255325542555255625572558255925602561256225632564256525662567256825692570257125722573257425752576257725782579258025812582258325842585258625872588258925902591259225932594259525962597259825992600260126022603260426052606260726082609261026112612261326142615261626172618261926202621262226232624262526262627262826292630263126322633263426352636263726382639264026412642264326442645264626472648264926502651265226532654265526562657265826592660266126622663266426652666266726682669267026712672267326742675267626772678267926802681268226832684268526862687268826892690269126922693269426952696269726982699270027012702270327042705270627072708270927102711271227132714271527162717271827192720272127222723272427252726272727282729273027312732273327342735273627372738273927402741274227432744274527462747274827492750275127522753275427552756275727582759276027612762276327642765276627672768276927702771277227732774277527762777277827792780278127822783278427852786278727882789279027912792279327942795279627972798279928002801280228032804280528062807280828092810281128122813281428152816281728182819282028212822282328242825282628272828282928302831283228332834283528362837283828392840284128422843284428452846284728482849285028512852285328542855285628572858285928602861286228632864286528662867286828692870287128722873287428752876287728782879288028812882288328842885288628872888288928902891289228932894289528962897289828992900290129022903290429052906290729082909291029112912291329142915291629172918291929202921292229232924292529262927292829292930293129322933293429352936293729382939294029412942294329442945294629472948294929502951295229532954295529562957295829592960296129622963296429652966296729682969297029712972297329742975297629772978297929802981298229832984298529862987298829892990299129922993299429952996299729982999300030013002300330043005300630073008300930103011301230133014301530163017301830193020302130223023302430253026302730283029303030313032303330343035303630373038303930403041304230433044304530463047304830493050305130523053305430553056305730583059306030613062306330643065306630673068306930703071307230733074307530763077307830793080308130823083308430853086308730883089309030913092309330943095309630973098309931003101310231033104310531063107310831093110311131123113311431153116311731183119312031213122312331243125312631273128312931303131313231333134313531363137313831393140314131423143314431453146314731483149315031513152315331543155315631573158315931603161316231633164316531663167316831693170317131723173317431753176317731783179318031813182318331843185318631873188318931903191319231933194319531963197319831993200320132023203320432053206320732083209321032113212321332143215321632173218321932203221322232233224322532263227322832293230323132323233323432353236323732383239324032413242324332443245324632473248324932503251325232533254325532563257325832593260326132623263326432653266326732683269327032713272327332743275327632773278327932803281328232833284328532863287328832893290329132923293329432953296329732983299330033013302330333043305330633073308330933103311331233133314331533163317331833193320332133223323332433253326332733283329333033313332333333343335333633373338333933403341334233433344334533463347334833493350335133523353335433553356335733583359336033613362336333643365336633673368336933703371337233733374337533763377337833793380338133823383338433853386338733883389339033913392339333943395339633973398339934003401340234033404340534063407340834093410341134123413341434153416341734183419342034213422342334243425342634273428342934303431343234333434343534363437343834393440344134423443344434453446344734483449345034513452345334543455345634573458345934603461346234633464346534663467346834693470347134723473347434753476347734783479348034813482348334843485348634873488348934903491349234933494349534963497349834993500350135023503350435053506350735083509351035113512351335143515351635173518351935203521352235233524352535263527352835293530353135323533353435353536353735383539354035413542354335443545354635473548354935503551355235533554355535563557355835593560356135623563356435653566356735683569357035713572357335743575357635773578357935803581358235833584358535863587358835893590359135923593359435953596359735983599360036013602360336043605360636073608360936103611361236133614361536163617361836193620362136223623362436253626362736283629363036313632363336343635363636373638363936403641364236433644364536463647364836493650365136523653365436553656365736583659366036613662366336643665366636673668366936703671367236733674367536763677367836793680368136823683368436853686368736883689369036913692369336943695369636973698369937003701370237033704370537063707370837093710371137123713371437153716371737183719372037213722372337243725372637273728372937303731373237333734373537363737373837393740374137423743374437453746374737483749375037513752375337543755375637573758375937603761376237633764376537663767376837693770377137723773377437753776377737783779378037813782378337843785378637873788378937903791379237933794379537963797379837993800380138023803380438053806380738083809381038113812381338143815381638173818381938203821382238233824382538263827382838293830383138323833383438353836383738383839384038413842384338443845384638473848384938503851385238533854385538563857385838593860386138623863386438653866386738683869387038713872387338743875387638773878387938803881388238833884388538863887388838893890389138923893389438953896389738983899390039013902390339043905390639073908390939103911391239133914391539163917391839193920392139223923392439253926392739283929393039313932393339343935393639373938393939403941394239433944394539463947394839493950395139523953395439553956395739583959396039613962396339643965396639673968396939703971397239733974397539763977397839793980398139823983398439853986398739883989399039913992399339943995399639973998399940004001400240034004400540064007400840094010401140124013401440154016401740184019402040214022402340244025402640274028402940304031403240334034403540364037403840394040404140424043404440454046404740484049405040514052405340544055405640574058405940604061406240634064406540664067406840694070407140724073407440754076407740784079408040814082408340844085408640874088408940904091409240934094409540964097409840994100410141024103410441054106410741084109411041114112411341144115411641174118411941204121412241234124412541264127412841294130413141324133413441354136413741384139414041414142414341444145414641474148414941504151415241534154415541564157415841594160416141624163416441654166416741684169417041714172417341744175417641774178417941804181418241834184418541864187418841894190419141924193419441954196419741984199420042014202420342044205420642074208420942104211421242134214421542164217421842194220422142224223422442254226422742284229423042314232423342344235423642374238423942404241424242434244424542464247424842494250425142524253425442554256425742584259426042614262426342644265426642674268426942704271427242734274427542764277427842794280428142824283428442854286428742884289429042914292429342944295429642974298429943004301430243034304430543064307430843094310431143124313431443154316431743184319432043214322432343244325432643274328432943304331433243334334433543364337433843394340434143424343434443454346434743484349435043514352435343544355435643574358435943604361436243634364436543664367436843694370437143724373437443754376437743784379438043814382438343844385438643874388438943904391439243934394439543964397439843994400440144024403440444054406440744084409441044114412441344144415441644174418441944204421442244234424442544264427442844294430443144324433443444354436443744384439444044414442444344444445444644474448444944504451445244534454445544564457445844594460446144624463446444654466446744684469447044714472447344744475447644774478447944804481448244834484448544864487448844894490449144924493449444954496449744984499450045014502450345044505450645074508450945104511451245134514451545164517451845194520452145224523452445254526452745284529453045314532453345344535453645374538453945404541454245434544454545464547454845494550455145524553455445554556455745584559456045614562456345644565456645674568456945704571457245734574457545764577457845794580458145824583458445854586458745884589459045914592459345944595459645974598459946004601460246034604460546064607460846094610461146124613461446154616461746184619462046214622462346244625462646274628462946304631463246334634463546364637463846394640464146424643464446454646464746484649465046514652465346544655465646574658465946604661466246634664466546664667466846694670467146724673467446754676467746784679468046814682468346844685468646874688468946904691469246934694469546964697469846994700470147024703470447054706470747084709471047114712471347144715471647174718471947204721472247234724472547264727472847294730473147324733473447354736473747384739474047414742474347444745474647474748474947504751475247534754475547564757475847594760476147624763476447654766476747684769477047714772477347744775477647774778477947804781478247834784478547864787478847894790479147924793479447954796479747984799480048014802480348044805480648074808480948104811481248134814481548164817481848194820482148224823482448254826482748284829483048314832483348344835483648374838483948404841484248434844484548464847484848494850485148524853485448554856485748584859486048614862486348644865486648674868486948704871487248734874487548764877487848794880488148824883488448854886488748884889489048914892489348944895489648974898489949004901490249034904490549064907490849094910491149124913491449154916491749184919492049214922492349244925492649274928492949304931493249334934493549364937493849394940494149424943494449454946494749484949495049514952495349544955495649574958495949604961496249634964496549664967496849694970497149724973497449754976497749784979498049814982498349844985498649874988498949904991499249934994499549964997499849995000500150025003500450055006500750085009501050115012501350145015501650175018501950205021502250235024502550265027502850295030503150325033503450355036503750385039504050415042504350445045504650475048504950505051505250535054505550565057505850595060506150625063506450655066506750685069507050715072507350745075507650775078507950805081508250835084508550865087508850895090509150925093509450955096509750985099510051015102510351045105510651075108510951105111511251135114511551165117511851195120512151225123512451255126512751285129513051315132513351345135513651375138513951405141514251435144514551465147514851495150515151525153515451555156515751585159516051615162516351645165516651675168516951705171517251735174517551765177517851795180518151825183518451855186518751885189519051915192519351945195519651975198519952005201520252035204520552065207520852095210521152125213521452155216521752185219522052215222522352245225522652275228522952305231523252335234523552365237523852395240524152425243524452455246524752485249525052515252525352545255525652575258525952605261526252635264526552665267526852695270527152725273527452755276527752785279528052815282528352845285528652875288528952905291529252935294529552965297529852995300530153025303530453055306530753085309531053115312531353145315531653175318531953205321532253235324532553265327532853295330533153325333533453355336533753385339534053415342534353445345534653475348534953505351535253535354535553565357535853595360536153625363536453655366536753685369537053715372537353745375537653775378537953805381538253835384538553865387538853895390539153925393539453955396539753985399540054015402540354045405540654075408540954105411541254135414541554165417541854195420542154225423542454255426542754285429543054315432543354345435543654375438543954405441544254435444544554465447544854495450545154525453545454555456545754585459546054615462546354645465546654675468546954705471547254735474547554765477547854795480548154825483548454855486548754885489549054915492549354945495549654975498549955005501550255035504550555065507550855095510551155125513551455155516551755185519552055215522552355245525552655275528552955305531553255335534553555365537553855395540554155425543554455455546554755485549555055515552555355545555555655575558555955605561556255635564556555665567556855695570557155725573557455755576557755785579558055815582558355845585558655875588558955905591559255935594559555965597559855995600560156025603560456055606560756085609561056115612561356145615561656175618561956205621562256235624562556265627562856295630563156325633563456355636563756385639564056415642564356445645564656475648564956505651565256535654565556565657565856595660566156625663566456655666566756685669567056715672567356745675567656775678567956805681568256835684568556865687568856895690569156925693569456955696569756985699570057015702570357045705570657075708570957105711571257135714571557165717571857195720572157225723572457255726572757285729573057315732573357345735573657375738573957405741574257435744574557465747574857495750575157525753575457555756575757585759576057615762576357645765576657675768576957705771577257735774577557765777577857795780578157825783578457855786578757885789579057915792579357945795579657975798579958005801580258035804580558065807580858095810581158125813581458155816581758185819582058215822582358245825582658275828582958305831583258335834583558365837583858395840584158425843584458455846584758485849585058515852585358545855585658575858585958605861586258635864586558665867586858695870587158725873587458755876587758785879588058815882588358845885588658875888588958905891589258935894589558965897589858995900590159025903590459055906590759085909591059115912591359145915591659175918591959205921592259235924592559265927592859295930593159325933593459355936593759385939594059415942594359445945594659475948594959505951595259535954595559565957595859595960596159625963596459655966596759685969597059715972597359745975597659775978597959805981598259835984598559865987598859895990599159925993599459955996599759985999600060016002600360046005600660076008600960106011601260136014601560166017601860196020602160226023602460256026602760286029603060316032603360346035603660376038603960406041604260436044604560466047604860496050605160526053605460556056605760586059606060616062606360646065606660676068606960706071607260736074607560766077607860796080608160826083608460856086608760886089609060916092609360946095609660976098609961006101610261036104610561066107610861096110611161126113611461156116611761186119612061216122612361246125612661276128612961306131613261336134613561366137613861396140614161426143614461456146614761486149615061516152615361546155615661576158615961606161616261636164616561666167616861696170617161726173617461756176617761786179618061816182618361846185618661876188618961906191619261936194619561966197619861996200620162026203620462056206620762086209621062116212621362146215621662176218621962206221622262236224622562266227622862296230623162326233623462356236623762386239624062416242624362446245624662476248624962506251625262536254625562566257625862596260626162626263626462656266626762686269627062716272627362746275627662776278627962806281628262836284628562866287628862896290629162926293629462956296629762986299630063016302630363046305630663076308630963106311631263136314631563166317631863196320632163226323632463256326632763286329633063316332633363346335633663376338633963406341634263436344634563466347634863496350635163526353635463556356635763586359636063616362636363646365636663676368636963706371637263736374637563766377637863796380638163826383638463856386638763886389639063916392639363946395639663976398639964006401640264036404640564066407640864096410641164126413641464156416641764186419642064216422642364246425642664276428642964306431643264336434643564366437643864396440644164426443644464456446644764486449645064516452645364546455645664576458645964606461646264636464646564666467646864696470647164726473647464756476647764786479648064816482648364846485648664876488648964906491649264936494649564966497649864996500650165026503650465056506650765086509651065116512651365146515651665176518651965206521652265236524652565266527652865296530653165326533653465356536653765386539654065416542654365446545654665476548654965506551655265536554655565566557655865596560656165626563656465656566656765686569657065716572657365746575657665776578657965806581658265836584658565866587658865896590659165926593659465956596659765986599660066016602660366046605660666076608660966106611661266136614661566166617661866196620662166226623662466256626662766286629663066316632663366346635663666376638663966406641664266436644664566466647664866496650665166526653665466556656665766586659666066616662666366646665666666676668666966706671667266736674667566766677667866796680668166826683668466856686668766886689669066916692669366946695669666976698669967006701670267036704670567066707670867096710671167126713671467156716671767186719672067216722672367246725672667276728672967306731673267336734673567366737673867396740674167426743674467456746674767486749675067516752675367546755675667576758675967606761676267636764676567666767676867696770677167726773677467756776677767786779678067816782678367846785678667876788678967906791679267936794679567966797679867996800680168026803680468056806680768086809681068116812681368146815681668176818681968206821682268236824682568266827682868296830683168326833683468356836683768386839684068416842684368446845684668476848684968506851685268536854685568566857685868596860686168626863686468656866686768686869687068716872687368746875687668776878687968806881688268836884688568866887688868896890689168926893689468956896689768986899690069016902690369046905690669076908690969106911691269136914691569166917691869196920692169226923692469256926692769286929693069316932693369346935693669376938693969406941694269436944694569466947694869496950695169526953695469556956695769586959696069616962696369646965696669676968696969706971697269736974697569766977697869796980698169826983698469856986698769886989699069916992699369946995699669976998699970007001700270037004700570067007700870097010701170127013701470157016701770187019702070217022702370247025702670277028702970307031703270337034703570367037703870397040704170427043704470457046704770487049705070517052705370547055705670577058705970607061706270637064706570667067706870697070707170727073707470757076707770787079708070817082708370847085708670877088708970907091709270937094709570967097709870997100710171027103710471057106710771087109711071117112711371147115711671177118711971207121712271237124712571267127712871297130713171327133713471357136713771387139714071417142714371447145714671477148714971507151715271537154715571567157715871597160716171627163716471657166716771687169717071717172717371747175717671777178717971807181718271837184718571867187718871897190719171927193719471957196719771987199720072017202720372047205720672077208720972107211721272137214721572167217721872197220722172227223722472257226722772287229723072317232723372347235723672377238723972407241724272437244724572467247724872497250725172527253725472557256725772587259726072617262726372647265726672677268726972707271727272737274727572767277727872797280728172827283728472857286728772887289729072917292729372947295729672977298729973007301730273037304730573067307730873097310731173127313731473157316731773187319732073217322732373247325732673277328732973307331733273337334733573367337733873397340734173427343734473457346734773487349735073517352735373547355735673577358735973607361736273637364736573667367736873697370737173727373737473757376737773787379738073817382738373847385738673877388738973907391739273937394739573967397739873997400740174027403740474057406740774087409741074117412741374147415741674177418741974207421742274237424742574267427742874297430743174327433743474357436743774387439744074417442744374447445744674477448744974507451745274537454745574567457745874597460746174627463746474657466746774687469747074717472747374747475747674777478747974807481748274837484748574867487748874897490749174927493749474957496749774987499750075017502750375047505750675077508750975107511751275137514751575167517751875197520752175227523752475257526752775287529753075317532753375347535753675377538753975407541754275437544754575467547754875497550755175527553755475557556755775587559756075617562756375647565756675677568756975707571757275737574757575767577757875797580758175827583758475857586758775887589759075917592759375947595759675977598759976007601760276037604760576067607760876097610761176127613761476157616761776187619762076217622762376247625762676277628762976307631763276337634763576367637763876397640764176427643764476457646764776487649765076517652765376547655765676577658765976607661766276637664766576667667766876697670767176727673767476757676767776787679768076817682768376847685768676877688768976907691769276937694769576967697769876997700770177027703770477057706770777087709771077117712771377147715771677177718771977207721772277237724772577267727772877297730773177327733773477357736773777387739774077417742774377447745774677477748774977507751775277537754775577567757775877597760776177627763776477657766776777687769777077717772777377747775777677777778777977807781778277837784778577867787778877897790779177927793779477957796779777987799780078017802780378047805780678077808780978107811781278137814781578167817781878197820782178227823782478257826782778287829783078317832783378347835783678377838783978407841784278437844784578467847784878497850785178527853785478557856785778587859786078617862786378647865786678677868786978707871787278737874787578767877787878797880788178827883788478857886788778887889789078917892789378947895789678977898789979007901790279037904790579067907790879097910791179127913791479157916791779187919792079217922792379247925792679277928792979307931793279337934793579367937793879397940794179427943794479457946794779487949795079517952795379547955795679577958795979607961796279637964796579667967796879697970797179727973797479757976797779787979798079817982798379847985798679877988798979907991799279937994799579967997799879998000800180028003800480058006800780088009801080118012801380148015801680178018801980208021802280238024802580268027802880298030803180328033803480358036803780388039804080418042804380448045804680478048804980508051805280538054805580568057805880598060806180628063806480658066806780688069807080718072807380748075807680778078807980808081808280838084808580868087808880898090809180928093809480958096809780988099810081018102810381048105810681078108810981108111811281138114811581168117811881198120812181228123812481258126812781288129813081318132813381348135813681378138813981408141814281438144814581468147814881498150815181528153815481558156815781588159816081618162816381648165816681678168816981708171817281738174817581768177817881798180818181828183818481858186818781888189819081918192819381948195819681978198819982008201820282038204820582068207820882098210821182128213821482158216821782188219822082218222822382248225822682278228822982308231823282338234823582368237823882398240824182428243824482458246824782488249825082518252825382548255825682578258825982608261826282638264826582668267826882698270827182728273827482758276827782788279828082818282828382848285828682878288828982908291829282938294829582968297829882998300830183028303830483058306830783088309831083118312831383148315831683178318831983208321832283238324832583268327832883298330833183328333833483358336833783388339834083418342834383448345834683478348834983508351835283538354835583568357835883598360836183628363836483658366836783688369837083718372837383748375837683778378837983808381838283838384838583868387838883898390839183928393839483958396839783988399840084018402840384048405840684078408840984108411841284138414841584168417841884198420842184228423842484258426842784288429843084318432843384348435843684378438843984408441844284438444844584468447844884498450845184528453845484558456845784588459846084618462846384648465846684678468846984708471847284738474847584768477847884798480848184828483848484858486848784888489849084918492849384948495849684978498849985008501850285038504850585068507850885098510851185128513851485158516851785188519852085218522852385248525852685278528852985308531853285338534853585368537853885398540854185428543854485458546854785488549855085518552855385548555855685578558855985608561856285638564856585668567856885698570857185728573857485758576857785788579858085818582858385848585858685878588858985908591859285938594859585968597859885998600860186028603860486058606860786088609861086118612861386148615861686178618861986208621862286238624862586268627862886298630863186328633863486358636863786388639864086418642864386448645864686478648864986508651865286538654865586568657865886598660866186628663866486658666866786688669867086718672867386748675867686778678867986808681868286838684868586868687868886898690869186928693869486958696869786988699870087018702870387048705870687078708870987108711871287138714871587168717871887198720872187228723872487258726872787288729873087318732873387348735873687378738873987408741874287438744874587468747874887498750875187528753875487558756875787588759876087618762876387648765876687678768876987708771877287738774877587768777877887798780878187828783878487858786878787888789879087918792879387948795879687978798879988008801880288038804880588068807880888098810881188128813881488158816881788188819882088218822882388248825882688278828882988308831883288338834883588368837883888398840884188428843884488458846884788488849885088518852885388548855885688578858885988608861886288638864886588668867886888698870887188728873887488758876887788788879888088818882888388848885888688878888888988908891889288938894889588968897889888998900890189028903890489058906890789088909891089118912891389148915891689178918891989208921892289238924892589268927892889298930893189328933893489358936893789388939894089418942894389448945894689478948894989508951895289538954895589568957895889598960896189628963896489658966896789688969897089718972897389748975897689778978897989808981898289838984898589868987898889898990899189928993899489958996899789988999900090019002900390049005900690079008900990109011901290139014901590169017901890199020902190229023902490259026902790289029903090319032903390349035903690379038903990409041904290439044904590469047904890499050905190529053905490559056905790589059906090619062906390649065906690679068906990709071907290739074907590769077907890799080908190829083908490859086908790889089909090919092909390949095909690979098909991009101910291039104910591069107910891099110911191129113911491159116911791189119912091219122912391249125912691279128912991309131913291339134913591369137913891399140914191429143914491459146914791489149915091519152915391549155915691579158915991609161916291639164916591669167916891699170917191729173917491759176917791789179918091819182918391849185918691879188918991909191919291939194919591969197919891999200920192029203920492059206920792089209921092119212921392149215921692179218921992209221922292239224922592269227922892299230923192329233923492359236923792389239924092419242924392449245924692479248924992509251925292539254925592569257925892599260926192629263926492659266926792689269927092719272927392749275927692779278927992809281928292839284928592869287928892899290929192929293929492959296929792989299930093019302930393049305930693079308930993109311931293139314931593169317931893199320932193229323932493259326932793289329933093319332933393349335933693379338933993409341934293439344934593469347934893499350935193529353935493559356935793589359936093619362936393649365936693679368936993709371937293739374937593769377937893799380938193829383938493859386938793889389939093919392939393949395939693979398939994009401940294039404940594069407940894099410941194129413941494159416941794189419942094219422942394249425942694279428942994309431943294339434943594369437943894399440944194429443944494459446944794489449945094519452945394549455945694579458945994609461946294639464946594669467946894699470947194729473947494759476947794789479948094819482948394849485948694879488948994909491949294939494949594969497949894999500950195029503950495059506950795089509951095119512951395149515951695179518951995209521952295239524952595269527952895299530953195329533953495359536953795389539954095419542954395449545954695479548954995509551955295539554955595569557955895599560956195629563956495659566956795689569957095719572957395749575957695779578957995809581958295839584958595869587958895899590959195929593959495959596959795989599960096019602960396049605960696079608960996109611961296139614961596169617961896199620962196229623962496259626962796289629963096319632963396349635963696379638963996409641964296439644964596469647964896499650965196529653965496559656965796589659966096619662966396649665966696679668966996709671967296739674967596769677967896799680968196829683968496859686968796889689969096919692969396949695969696979698969997009701970297039704970597069707970897099710971197129713971497159716971797189719972097219722972397249725972697279728972997309731973297339734973597369737973897399740974197429743974497459746974797489749975097519752975397549755975697579758975997609761976297639764976597669767976897699770977197729773977497759776977797789779978097819782978397849785978697879788978997909791979297939794979597969797979897999800980198029803980498059806980798089809981098119812981398149815981698179818981998209821982298239824982598269827982898299830983198329833983498359836983798389839984098419842984398449845984698479848984998509851985298539854985598569857985898599860986198629863986498659866986798689869987098719872987398749875987698779878987998809881988298839884988598869887988898899890989198929893989498959896989798989899990099019902990399049905990699079908990999109911991299139914991599169917991899199920992199229923992499259926992799289929993099319932993399349935993699379938993999409941994299439944994599469947994899499950995199529953995499559956995799589959996099619962996399649965996699679968996999709971997299739974997599769977997899799980998199829983998499859986998799889989999099919992999399949995999699979998999910000100011000210003100041000510006100071000810009100101001110012100131001410015100161001710018100191002010021100221002310024100251002610027100281002910030100311003210033100341003510036100371003810039100401004110042100431004410045100461004710048100491005010051100521005310054100551005610057100581005910060100611006210063100641006510066100671006810069100701007110072100731007410075100761007710078100791008010081100821008310084100851008610087100881008910090100911009210093100941009510096100971009810099101001010110102101031010410105101061010710108101091011010111101121011310114101151011610117101181011910120101211012210123101241012510126101271012810129101301013110132101331013410135101361013710138101391014010141101421014310144101451014610147101481014910150101511015210153101541015510156101571015810159101601016110162101631016410165101661016710168101691017010171101721017310174101751017610177101781017910180101811018210183101841018510186101871018810189101901019110192101931019410195101961019710198101991020010201102021020310204102051020610207102081020910210102111021210213102141021510216102171021810219102201022110222102231022410225102261022710228102291023010231102321023310234102351023610237102381023910240102411024210243102441024510246102471024810249102501025110252102531025410255102561025710258102591026010261102621026310264102651026610267102681026910270102711027210273102741027510276102771027810279102801028110282102831028410285102861028710288102891029010291102921029310294102951029610297102981029910300103011030210303103041030510306103071030810309103101031110312103131031410315103161031710318103191032010321103221032310324103251032610327103281032910330103311033210333103341033510336103371033810339103401034110342103431034410345103461034710348103491035010351103521035310354103551035610357103581035910360103611036210363103641036510366103671036810369103701037110372103731037410375103761037710378103791038010381103821038310384103851038610387103881038910390103911039210393103941039510396103971039810399104001040110402104031040410405104061040710408104091041010411104121041310414104151041610417104181041910420104211042210423104241042510426104271042810429104301043110432104331043410435104361043710438104391044010441104421044310444104451044610447104481044910450104511045210453104541045510456104571045810459104601046110462104631046410465104661046710468104691047010471104721047310474104751047610477104781047910480104811048210483104841048510486104871048810489104901049110492104931049410495104961049710498104991050010501105021050310504105051050610507105081050910510105111051210513105141051510516105171051810519105201052110522105231052410525105261052710528105291053010531105321053310534105351053610537105381053910540105411054210543105441054510546105471054810549105501055110552105531055410555105561055710558105591056010561105621056310564105651056610567105681056910570105711057210573105741057510576105771057810579105801058110582105831058410585105861058710588105891059010591105921059310594105951059610597105981059910600106011060210603106041060510606106071060810609106101061110612106131061410615106161061710618106191062010621106221062310624106251062610627106281062910630106311063210633106341063510636106371063810639106401064110642106431064410645106461064710648106491065010651106521065310654106551065610657106581065910660106611066210663106641066510666106671066810669106701067110672106731067410675106761067710678106791068010681106821068310684106851068610687106881068910690106911069210693106941069510696106971069810699107001070110702107031070410705107061070710708107091071010711107121071310714107151071610717107181071910720107211072210723107241072510726107271072810729107301073110732107331073410735107361073710738107391074010741107421074310744107451074610747107481074910750107511075210753107541075510756107571075810759107601076110762107631076410765107661076710768107691077010771107721077310774107751077610777107781077910780107811078210783107841078510786107871078810789107901079110792107931079410795107961079710798107991080010801108021080310804108051080610807108081080910810108111081210813108141081510816108171081810819108201082110822108231082410825108261082710828108291083010831108321083310834108351083610837108381083910840108411084210843108441084510846108471084810849108501085110852108531085410855108561085710858108591086010861108621086310864108651086610867108681086910870108711087210873108741087510876108771087810879108801088110882108831088410885108861088710888108891089010891108921089310894108951089610897108981089910900109011090210903109041090510906109071090810909109101091110912109131091410915109161091710918109191092010921109221092310924109251092610927109281092910930109311093210933109341093510936109371093810939109401094110942109431094410945109461094710948109491095010951109521095310954109551095610957109581095910960109611096210963109641096510966109671096810969109701097110972109731097410975109761097710978109791098010981109821098310984109851098610987109881098910990109911099210993109941099510996109971099810999110001100111002110031100411005110061100711008110091101011011110121101311014110151101611017110181101911020110211102211023110241102511026110271102811029110301103111032110331103411035110361103711038110391104011041110421104311044110451104611047110481104911050110511105211053110541105511056110571105811059110601106111062110631106411065110661106711068110691107011071110721107311074110751107611077110781107911080110811108211083110841108511086110871108811089110901109111092110931109411095110961109711098110991110011101111021110311104111051110611107111081110911110111111111211113111141111511116111171111811119111201112111122111231112411125111261112711128111291113011131111321113311134111351113611137111381113911140111411114211143111441114511146111471114811149111501115111152111531115411155111561115711158111591116011161111621116311164111651116611167111681116911170111711117211173111741117511176111771117811179111801118111182111831118411185111861118711188111891119011191111921119311194111951119611197111981119911200112011120211203112041120511206112071120811209112101121111212112131121411215112161121711218112191122011221112221122311224112251122611227112281122911230112311123211233112341123511236112371123811239112401124111242112431124411245112461124711248112491125011251112521125311254112551125611257112581125911260112611126211263112641126511266112671126811269112701127111272112731127411275112761127711278112791128011281112821128311284112851128611287112881128911290112911129211293112941129511296112971129811299113001130111302113031130411305113061130711308113091131011311113121131311314113151131611317113181131911320113211132211323113241132511326113271132811329113301133111332113331133411335113361133711338113391134011341113421134311344113451134611347113481134911350113511135211353113541135511356113571135811359113601136111362113631136411365113661136711368113691137011371113721137311374113751137611377113781137911380113811138211383113841138511386113871138811389113901139111392113931139411395113961139711398113991140011401114021140311404114051140611407114081140911410114111141211413114141141511416114171141811419114201142111422114231142411425114261142711428114291143011431114321143311434114351143611437114381143911440114411144211443114441144511446114471144811449114501145111452114531145411455114561145711458114591146011461114621146311464114651146611467114681146911470114711147211473114741147511476114771147811479114801148111482114831148411485114861148711488114891149011491114921149311494114951149611497114981149911500115011150211503115041150511506115071150811509115101151111512115131151411515115161151711518115191152011521115221152311524115251152611527115281152911530115311153211533115341153511536115371153811539115401154111542115431154411545115461154711548115491155011551115521155311554115551155611557115581155911560115611156211563115641156511566115671156811569115701157111572115731157411575115761157711578115791158011581115821158311584115851158611587115881158911590115911159211593115941159511596115971159811599116001160111602116031160411605116061160711608116091161011611116121161311614116151161611617116181161911620116211162211623116241162511626116271162811629116301163111632116331163411635116361163711638116391164011641116421164311644116451164611647116481164911650116511165211653116541165511656116571165811659116601166111662116631166411665116661166711668116691167011671116721167311674116751167611677116781167911680116811168211683116841168511686116871168811689116901169111692116931169411695116961169711698116991170011701117021170311704117051170611707117081170911710117111171211713117141171511716117171171811719117201172111722117231172411725117261172711728117291173011731117321173311734117351173611737117381173911740117411174211743117441174511746117471174811749117501175111752117531175411755117561175711758117591176011761117621176311764117651176611767117681176911770117711177211773117741177511776117771177811779117801178111782117831178411785117861178711788117891179011791117921179311794117951179611797117981179911800118011180211803118041180511806118071180811809
  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. //-//
  45. #include "Configuration.h"
  46. #include "Marlin.h"
  47. #include "config.h"
  48. #include "macros.h"
  49. #ifdef ENABLE_AUTO_BED_LEVELING
  50. #include "vector_3.h"
  51. #ifdef AUTO_BED_LEVELING_GRID
  52. #include "qr_solve.h"
  53. #endif
  54. #endif // ENABLE_AUTO_BED_LEVELING
  55. #ifdef MESH_BED_LEVELING
  56. #include "mesh_bed_leveling.h"
  57. #include "mesh_bed_calibration.h"
  58. #endif
  59. #include "printers.h"
  60. #include "menu.h"
  61. #include "ultralcd.h"
  62. #include "backlight.h"
  63. #include "planner.h"
  64. #include "stepper.h"
  65. #include "temperature.h"
  66. #include "motion_control.h"
  67. #include "cardreader.h"
  68. #include "ConfigurationStore.h"
  69. #include "language.h"
  70. #include "pins_arduino.h"
  71. #include "math.h"
  72. #include "util.h"
  73. #include "Timer.h"
  74. #include <avr/wdt.h>
  75. #include <avr/pgmspace.h>
  76. #include "Dcodes.h"
  77. #include "AutoDeplete.h"
  78. #ifndef LA_NOCOMPAT
  79. #include "la10compat.h"
  80. #endif
  81. #ifdef SWSPI
  82. #include "swspi.h"
  83. #endif //SWSPI
  84. #include "spi.h"
  85. #ifdef SWI2C
  86. #include "swi2c.h"
  87. #endif //SWI2C
  88. #ifdef FILAMENT_SENSOR
  89. #include "fsensor.h"
  90. #endif //FILAMENT_SENSOR
  91. #ifdef TMC2130
  92. #include "tmc2130.h"
  93. #endif //TMC2130
  94. #ifdef W25X20CL
  95. #include "w25x20cl.h"
  96. #include "optiboot_w25x20cl.h"
  97. #endif //W25X20CL
  98. #ifdef BLINKM
  99. #include "BlinkM.h"
  100. #include "Wire.h"
  101. #endif
  102. #ifdef ULTRALCD
  103. #include "ultralcd.h"
  104. #endif
  105. #if NUM_SERVOS > 0
  106. #include "Servo.h"
  107. #endif
  108. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  109. #include <SPI.h>
  110. #endif
  111. #include "mmu.h"
  112. #define VERSION_STRING "1.0.2"
  113. #include "ultralcd.h"
  114. #include "sound.h"
  115. #include "cmdqueue.h"
  116. //Macro for print fan speed
  117. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  118. //filament types
  119. #define FILAMENT_DEFAULT 0
  120. #define FILAMENT_FLEX 1
  121. #define FILAMENT_PVA 2
  122. #define FILAMENT_UNDEFINED 255
  123. //Stepper Movement Variables
  124. //===========================================================================
  125. //=============================imported variables============================
  126. //===========================================================================
  127. //===========================================================================
  128. //=============================public variables=============================
  129. //===========================================================================
  130. #ifdef SDSUPPORT
  131. CardReader card;
  132. #endif
  133. unsigned long PingTime = _millis();
  134. unsigned long NcTime;
  135. uint8_t mbl_z_probe_nr = 3; //numer of Z measurements for each point in mesh bed leveling calibration
  136. //used for PINDA temp calibration and pause print
  137. #define DEFAULT_RETRACTION 1
  138. #define DEFAULT_RETRACTION_MM 4 //MM
  139. float default_retraction = DEFAULT_RETRACTION;
  140. float homing_feedrate[] = HOMING_FEEDRATE;
  141. //Although this flag and many others like this could be represented with a struct/bitfield for each axis (more readable and efficient code), the implementation
  142. //would not be standard across all platforms. That being said, the code will continue to use bitmasks for independent axis.
  143. //Moreover, according to C/C++ standard, the ordering of bits is platform/compiler dependent and the compiler is allowed to align the bits arbitrarily,
  144. //thus bit operations like shifting and masking may stop working and will be very hard to fix.
  145. uint8_t axis_relative_modes = 0;
  146. int feedmultiply=100; //100->1 200->2
  147. int extrudemultiply=100; //100->1 200->2
  148. int extruder_multiply[EXTRUDERS] = {100
  149. #if EXTRUDERS > 1
  150. , 100
  151. #if EXTRUDERS > 2
  152. , 100
  153. #endif
  154. #endif
  155. };
  156. int bowden_length[4] = {385, 385, 385, 385};
  157. bool is_usb_printing = false;
  158. bool homing_flag = false;
  159. unsigned long kicktime = _millis()+100000;
  160. unsigned int usb_printing_counter;
  161. int8_t lcd_change_fil_state = 0;
  162. unsigned long pause_time = 0;
  163. unsigned long start_pause_print = _millis();
  164. unsigned long t_fan_rising_edge = _millis();
  165. LongTimer safetyTimer;
  166. static LongTimer crashDetTimer;
  167. //unsigned long load_filament_time;
  168. bool mesh_bed_leveling_flag = false;
  169. bool mesh_bed_run_from_menu = false;
  170. bool prusa_sd_card_upload = false;
  171. unsigned int status_number = 0;
  172. unsigned long total_filament_used;
  173. unsigned int heating_status;
  174. unsigned int heating_status_counter;
  175. bool loading_flag = false;
  176. char snmm_filaments_used = 0;
  177. bool fan_state[2];
  178. int fan_edge_counter[2];
  179. int fan_speed[2];
  180. char dir_names[3][9];
  181. bool sortAlpha = false;
  182. float extruder_multiplier[EXTRUDERS] = {1.0
  183. #if EXTRUDERS > 1
  184. , 1.0
  185. #if EXTRUDERS > 2
  186. , 1.0
  187. #endif
  188. #endif
  189. };
  190. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  191. //shortcuts for more readable code
  192. #define _x current_position[X_AXIS]
  193. #define _y current_position[Y_AXIS]
  194. #define _z current_position[Z_AXIS]
  195. #define _e current_position[E_AXIS]
  196. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  197. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  198. bool axis_known_position[3] = {false, false, false};
  199. // Extruder offset
  200. #if EXTRUDERS > 1
  201. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  202. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  203. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  204. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  205. #endif
  206. };
  207. #endif
  208. uint8_t active_extruder = 0;
  209. int fanSpeed=0;
  210. #ifdef FWRETRACT
  211. bool retracted[EXTRUDERS]={false
  212. #if EXTRUDERS > 1
  213. , false
  214. #if EXTRUDERS > 2
  215. , false
  216. #endif
  217. #endif
  218. };
  219. bool retracted_swap[EXTRUDERS]={false
  220. #if EXTRUDERS > 1
  221. , false
  222. #if EXTRUDERS > 2
  223. , false
  224. #endif
  225. #endif
  226. };
  227. float retract_length_swap = RETRACT_LENGTH_SWAP;
  228. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  229. #endif
  230. #ifdef PS_DEFAULT_OFF
  231. bool powersupply = false;
  232. #else
  233. bool powersupply = true;
  234. #endif
  235. bool cancel_heatup = false ;
  236. int8_t busy_state = NOT_BUSY;
  237. static long prev_busy_signal_ms = -1;
  238. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  239. const char errormagic[] PROGMEM = "Error:";
  240. const char echomagic[] PROGMEM = "echo:";
  241. bool no_response = false;
  242. uint8_t important_status;
  243. uint8_t saved_filament_type;
  244. #define SAVED_TARGET_UNSET (X_MIN_POS-1)
  245. float saved_target[NUM_AXIS] = {SAVED_TARGET_UNSET, 0, 0, 0};
  246. // save/restore printing in case that mmu was not responding
  247. bool mmu_print_saved = false;
  248. // storing estimated time to end of print counted by slicer
  249. uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  250. uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  251. uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  252. uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  253. //===========================================================================
  254. //=============================Private Variables=============================
  255. //===========================================================================
  256. #define MSG_BED_LEVELING_FAILED_TIMEOUT 30
  257. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  258. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  259. // For tracing an arc
  260. static float offset[3] = {0.0, 0.0, 0.0};
  261. // Current feedrate
  262. float feedrate = 1500.0;
  263. // Feedrate for the next move
  264. static float next_feedrate;
  265. // Original feedrate saved during homing moves
  266. static float saved_feedrate;
  267. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  268. //static float tt = 0;
  269. //static float bt = 0;
  270. //Inactivity shutdown variables
  271. static unsigned long previous_millis_cmd = 0;
  272. unsigned long max_inactive_time = 0;
  273. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  274. static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
  275. unsigned long starttime=0;
  276. unsigned long stoptime=0;
  277. unsigned long _usb_timer = 0;
  278. bool Stopped=false;
  279. #if NUM_SERVOS > 0
  280. Servo servos[NUM_SERVOS];
  281. #endif
  282. bool target_direction;
  283. //Insert variables if CHDK is defined
  284. #ifdef CHDK
  285. unsigned long chdkHigh = 0;
  286. boolean chdkActive = false;
  287. #endif
  288. //! @name RAM save/restore printing
  289. //! @{
  290. bool saved_printing = false; //!< Print is paused and saved in RAM
  291. static uint32_t saved_sdpos = 0; //!< SD card position, or line number in case of USB printing
  292. uint8_t saved_printing_type = PRINTING_TYPE_SD;
  293. static float saved_pos[4] = { 0, 0, 0, 0 };
  294. static uint16_t saved_feedrate2 = 0; //!< Default feedrate (truncated from float)
  295. static int saved_feedmultiply2 = 0;
  296. static uint8_t saved_active_extruder = 0;
  297. static float saved_extruder_temperature = 0.0; //!< Active extruder temperature
  298. static bool saved_extruder_relative_mode = false;
  299. static int saved_fanSpeed = 0; //!< Print fan speed
  300. //! @}
  301. static int saved_feedmultiply_mm = 100;
  302. #ifdef AUTO_REPORT_TEMPERATURES
  303. static LongTimer auto_report_temp_timer;
  304. static uint8_t auto_report_temp_period = 0;
  305. #endif //AUTO_REPORT_TEMPERATURES
  306. //===========================================================================
  307. //=============================Routines======================================
  308. //===========================================================================
  309. static void get_arc_coordinates();
  310. static bool setTargetedHotend(int code, uint8_t &extruder);
  311. static void print_time_remaining_init();
  312. static void wait_for_heater(long codenum, uint8_t extruder);
  313. static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
  314. static void gcode_M105(uint8_t extruder);
  315. static void temp_compensation_start();
  316. static void temp_compensation_apply();
  317. uint16_t gcode_in_progress = 0;
  318. uint16_t mcode_in_progress = 0;
  319. void serial_echopair_P(const char *s_P, float v)
  320. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  321. void serial_echopair_P(const char *s_P, double v)
  322. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  323. void serial_echopair_P(const char *s_P, unsigned long v)
  324. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  325. /*FORCE_INLINE*/ void serialprintPGM(const char *str)
  326. {
  327. #if 0
  328. char ch=pgm_read_byte(str);
  329. while(ch)
  330. {
  331. MYSERIAL.write(ch);
  332. ch=pgm_read_byte(++str);
  333. }
  334. #else
  335. // hmm, same size as the above version, the compiler did a good job optimizing the above
  336. while( uint8_t ch = pgm_read_byte(str) ){
  337. MYSERIAL.write((char)ch);
  338. ++str;
  339. }
  340. #endif
  341. }
  342. #ifdef SDSUPPORT
  343. #include "SdFatUtil.h"
  344. int freeMemory() { return SdFatUtil::FreeRam(); }
  345. #else
  346. extern "C" {
  347. extern unsigned int __bss_end;
  348. extern unsigned int __heap_start;
  349. extern void *__brkval;
  350. int freeMemory() {
  351. int free_memory;
  352. if ((int)__brkval == 0)
  353. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  354. else
  355. free_memory = ((int)&free_memory) - ((int)__brkval);
  356. return free_memory;
  357. }
  358. }
  359. #endif //!SDSUPPORT
  360. void setup_killpin()
  361. {
  362. #if defined(KILL_PIN) && KILL_PIN > -1
  363. SET_INPUT(KILL_PIN);
  364. WRITE(KILL_PIN,HIGH);
  365. #endif
  366. }
  367. // Set home pin
  368. void setup_homepin(void)
  369. {
  370. #if defined(HOME_PIN) && HOME_PIN > -1
  371. SET_INPUT(HOME_PIN);
  372. WRITE(HOME_PIN,HIGH);
  373. #endif
  374. }
  375. void setup_photpin()
  376. {
  377. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  378. SET_OUTPUT(PHOTOGRAPH_PIN);
  379. WRITE(PHOTOGRAPH_PIN, LOW);
  380. #endif
  381. }
  382. void setup_powerhold()
  383. {
  384. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  385. SET_OUTPUT(SUICIDE_PIN);
  386. WRITE(SUICIDE_PIN, HIGH);
  387. #endif
  388. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  389. SET_OUTPUT(PS_ON_PIN);
  390. #if defined(PS_DEFAULT_OFF)
  391. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  392. #else
  393. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  394. #endif
  395. #endif
  396. }
  397. void suicide()
  398. {
  399. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  400. SET_OUTPUT(SUICIDE_PIN);
  401. WRITE(SUICIDE_PIN, LOW);
  402. #endif
  403. }
  404. void servo_init()
  405. {
  406. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  407. servos[0].attach(SERVO0_PIN);
  408. #endif
  409. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  410. servos[1].attach(SERVO1_PIN);
  411. #endif
  412. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  413. servos[2].attach(SERVO2_PIN);
  414. #endif
  415. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  416. servos[3].attach(SERVO3_PIN);
  417. #endif
  418. #if (NUM_SERVOS >= 5)
  419. #error "TODO: enter initalisation code for more servos"
  420. #endif
  421. }
  422. bool fans_check_enabled = true;
  423. #ifdef TMC2130
  424. void crashdet_stop_and_save_print()
  425. {
  426. stop_and_save_print_to_ram(10, -default_retraction); //XY - no change, Z 10mm up, E -1mm retract
  427. }
  428. void crashdet_restore_print_and_continue()
  429. {
  430. restore_print_from_ram_and_continue(default_retraction); //XYZ = orig, E +1mm unretract
  431. // babystep_apply();
  432. }
  433. void crashdet_stop_and_save_print2()
  434. {
  435. cli();
  436. planner_abort_hard(); //abort printing
  437. cmdqueue_reset(); //empty cmdqueue
  438. card.sdprinting = false;
  439. card.closefile();
  440. // Reset and re-enable the stepper timer just before the global interrupts are enabled.
  441. st_reset_timer();
  442. sei();
  443. }
  444. void crashdet_detected(uint8_t mask)
  445. {
  446. st_synchronize();
  447. static uint8_t crashDet_counter = 0;
  448. bool automatic_recovery_after_crash = true;
  449. if (crashDet_counter++ == 0) {
  450. crashDetTimer.start();
  451. }
  452. else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
  453. crashDetTimer.stop();
  454. crashDet_counter = 0;
  455. }
  456. else if(crashDet_counter == CRASHDET_COUNTER_MAX){
  457. automatic_recovery_after_crash = false;
  458. crashDetTimer.stop();
  459. crashDet_counter = 0;
  460. }
  461. else {
  462. crashDetTimer.start();
  463. }
  464. lcd_update_enable(true);
  465. lcd_clear();
  466. lcd_update(2);
  467. if (mask & X_AXIS_MASK)
  468. {
  469. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  470. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  471. }
  472. if (mask & Y_AXIS_MASK)
  473. {
  474. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  475. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  476. }
  477. lcd_update_enable(true);
  478. lcd_update(2);
  479. lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
  480. gcode_G28(true, true, false); //home X and Y
  481. st_synchronize();
  482. if (automatic_recovery_after_crash) {
  483. enquecommand_P(PSTR("CRASH_RECOVER"));
  484. }else{
  485. setTargetHotend(0, active_extruder);
  486. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
  487. lcd_update_enable(true);
  488. if (yesno)
  489. {
  490. enquecommand_P(PSTR("CRASH_RECOVER"));
  491. }
  492. else
  493. {
  494. enquecommand_P(PSTR("CRASH_CANCEL"));
  495. }
  496. }
  497. }
  498. void crashdet_recover()
  499. {
  500. crashdet_restore_print_and_continue();
  501. if (lcd_crash_detect_enabled()) tmc2130_sg_stop_on_crash = true;
  502. }
  503. void crashdet_cancel()
  504. {
  505. saved_printing = false;
  506. tmc2130_sg_stop_on_crash = true;
  507. if (saved_printing_type == PRINTING_TYPE_SD) {
  508. lcd_print_stop();
  509. }else if(saved_printing_type == PRINTING_TYPE_USB){
  510. SERIAL_ECHOLNRPGM(MSG_OCTOPRINT_CANCEL); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
  511. cmdqueue_reset();
  512. }
  513. }
  514. #endif //TMC2130
  515. void failstats_reset_print()
  516. {
  517. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  518. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  519. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  520. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  521. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  522. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  523. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  524. fsensor_softfail = 0;
  525. #endif
  526. }
  527. void softReset()
  528. {
  529. cli();
  530. wdt_enable(WDTO_15MS);
  531. while(1);
  532. }
  533. #ifdef MESH_BED_LEVELING
  534. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  535. #endif
  536. // Factory reset function
  537. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  538. // Level input parameter sets depth of reset
  539. int er_progress = 0;
  540. static void factory_reset(char level)
  541. {
  542. lcd_clear();
  543. switch (level) {
  544. // Level 0: Language reset
  545. case 0:
  546. Sound_MakeCustom(100,0,false);
  547. lang_reset();
  548. break;
  549. //Level 1: Reset statistics
  550. case 1:
  551. Sound_MakeCustom(100,0,false);
  552. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  553. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  554. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  555. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  556. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  557. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  558. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  559. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  560. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  561. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  562. eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
  563. eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
  564. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  565. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  566. lcd_menu_statistics();
  567. break;
  568. // Level 2: Prepare for shipping
  569. case 2:
  570. //lcd_puts_P(PSTR("Factory RESET"));
  571. //lcd_puts_at_P(1,2,PSTR("Shipping prep"));
  572. // Force language selection at the next boot up.
  573. lang_reset();
  574. // Force the "Follow calibration flow" message at the next boot up.
  575. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  576. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  577. farm_no = 0;
  578. farm_mode = false;
  579. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  580. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  581. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  582. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  583. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  584. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  585. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  586. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  587. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  588. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  589. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  590. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  591. eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
  592. eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
  593. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  594. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  595. #ifdef FILAMENT_SENSOR
  596. fsensor_enable();
  597. fsensor_autoload_set(true);
  598. #endif //FILAMENT_SENSOR
  599. Sound_MakeCustom(100,0,false);
  600. //_delay_ms(2000);
  601. break;
  602. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  603. case 3:
  604. lcd_puts_P(PSTR("Factory RESET"));
  605. lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
  606. Sound_MakeCustom(100,0,false);
  607. er_progress = 0;
  608. lcd_puts_at_P(3, 3, PSTR(" "));
  609. lcd_set_cursor(3, 3);
  610. lcd_print(er_progress);
  611. // Erase EEPROM
  612. for (int i = 0; i < 4096; i++) {
  613. eeprom_update_byte((uint8_t*)i, 0xFF);
  614. if (i % 41 == 0) {
  615. er_progress++;
  616. lcd_puts_at_P(3, 3, PSTR(" "));
  617. lcd_set_cursor(3, 3);
  618. lcd_print(er_progress);
  619. lcd_puts_P(PSTR("%"));
  620. }
  621. }
  622. softReset();
  623. break;
  624. case 4:
  625. bowden_menu();
  626. break;
  627. default:
  628. break;
  629. }
  630. }
  631. extern "C" {
  632. FILE _uartout; //= {0}; Global variable is always zero initialized. No need to explicitly state this.
  633. }
  634. int uart_putchar(char c, FILE *)
  635. {
  636. MYSERIAL.write(c);
  637. return 0;
  638. }
  639. void lcd_splash()
  640. {
  641. lcd_clear(); // clears display and homes screen
  642. lcd_puts_P(PSTR("\n Original Prusa i3\n Prusa Research"));
  643. }
  644. void factory_reset()
  645. {
  646. KEEPALIVE_STATE(PAUSED_FOR_USER);
  647. if (!READ(BTN_ENC))
  648. {
  649. _delay_ms(1000);
  650. if (!READ(BTN_ENC))
  651. {
  652. lcd_clear();
  653. lcd_puts_P(PSTR("Factory RESET"));
  654. SET_OUTPUT(BEEPER);
  655. if(eSoundMode!=e_SOUND_MODE_SILENT)
  656. WRITE(BEEPER, HIGH);
  657. while (!READ(BTN_ENC));
  658. WRITE(BEEPER, LOW);
  659. _delay_ms(2000);
  660. char level = reset_menu();
  661. factory_reset(level);
  662. switch (level) {
  663. case 0: _delay_ms(0); break;
  664. case 1: _delay_ms(0); break;
  665. case 2: _delay_ms(0); break;
  666. case 3: _delay_ms(0); break;
  667. }
  668. }
  669. }
  670. KEEPALIVE_STATE(IN_HANDLER);
  671. }
  672. void show_fw_version_warnings() {
  673. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  674. switch (FW_DEV_VERSION) {
  675. 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
  676. 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
  677. case(FW_VERSION_DEVEL):
  678. case(FW_VERSION_DEBUG):
  679. lcd_update_enable(false);
  680. lcd_clear();
  681. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  682. lcd_puts_at_P(0, 0, PSTR("Development build !!"));
  683. #else
  684. lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
  685. #endif
  686. lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
  687. lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
  688. lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
  689. lcd_wait_for_click();
  690. break;
  691. // 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
  692. }
  693. lcd_update_enable(true);
  694. }
  695. //! @brief try to check if firmware is on right type of printer
  696. static void check_if_fw_is_on_right_printer(){
  697. #ifdef FILAMENT_SENSOR
  698. if((PRINTER_TYPE == PRINTER_MK3) || (PRINTER_TYPE == PRINTER_MK3S)){
  699. #ifdef IR_SENSOR
  700. swi2c_init();
  701. const uint8_t pat9125_detected = swi2c_readByte_A8(PAT9125_I2C_ADDR,0x00,NULL);
  702. if (pat9125_detected){
  703. lcd_show_fullscreen_message_and_wait_P(_i("MK3S firmware detected on MK3 printer"));}////c=20 r=3
  704. #endif //IR_SENSOR
  705. #ifdef PAT9125
  706. //will return 1 only if IR can detect filament in bondtech extruder so this may fail even when we have IR sensor
  707. const uint8_t ir_detected = !READ(IR_SENSOR_PIN);
  708. if (ir_detected){
  709. lcd_show_fullscreen_message_and_wait_P(_i("MK3 firmware detected on MK3S printer"));}////c=20 r=3
  710. #endif //PAT9125
  711. }
  712. #endif //FILAMENT_SENSOR
  713. }
  714. uint8_t check_printer_version()
  715. {
  716. uint8_t version_changed = 0;
  717. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  718. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  719. if (printer_type != PRINTER_TYPE) {
  720. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  721. else version_changed |= 0b10;
  722. }
  723. if (motherboard != MOTHERBOARD) {
  724. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  725. else version_changed |= 0b01;
  726. }
  727. return version_changed;
  728. }
  729. #ifdef BOOTAPP
  730. #include "bootapp.h" //bootloader support
  731. #endif //BOOTAPP
  732. #if (LANG_MODE != 0) //secondary language support
  733. #ifdef W25X20CL
  734. // language update from external flash
  735. #define LANGBOOT_BLOCKSIZE 0x1000u
  736. #define LANGBOOT_RAMBUFFER 0x0800
  737. void update_sec_lang_from_external_flash()
  738. {
  739. if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
  740. {
  741. uint8_t lang = boot_reserved >> 4;
  742. uint8_t state = boot_reserved & 0xf;
  743. lang_table_header_t header;
  744. uint32_t src_addr;
  745. if (lang_get_header(lang, &header, &src_addr))
  746. {
  747. lcd_puts_at_P(1,3,PSTR("Language update."));
  748. for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
  749. _delay(100);
  750. boot_reserved = (state + 1) | (lang << 4);
  751. if ((state * LANGBOOT_BLOCKSIZE) < header.size)
  752. {
  753. cli();
  754. uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
  755. if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
  756. w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
  757. if (state == 0)
  758. {
  759. //TODO - check header integrity
  760. }
  761. bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
  762. }
  763. else
  764. {
  765. //TODO - check sec lang data integrity
  766. eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
  767. }
  768. }
  769. }
  770. boot_app_flags &= ~BOOT_APP_FLG_USER0;
  771. }
  772. #ifdef DEBUG_W25X20CL
  773. uint8_t lang_xflash_enum_codes(uint16_t* codes)
  774. {
  775. lang_table_header_t header;
  776. uint8_t count = 0;
  777. uint32_t addr = 0x00000;
  778. while (1)
  779. {
  780. printf_P(_n("LANGTABLE%d:"), count);
  781. w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
  782. if (header.magic != LANG_MAGIC)
  783. {
  784. printf_P(_n("NG!\n"));
  785. break;
  786. }
  787. printf_P(_n("OK\n"));
  788. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  789. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  790. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  791. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  792. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  793. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  794. addr += header.size;
  795. codes[count] = header.code;
  796. count ++;
  797. }
  798. return count;
  799. }
  800. void list_sec_lang_from_external_flash()
  801. {
  802. uint16_t codes[8];
  803. uint8_t count = lang_xflash_enum_codes(codes);
  804. printf_P(_n("XFlash lang count = %hhd\n"), count);
  805. }
  806. #endif //DEBUG_W25X20CL
  807. #endif //W25X20CL
  808. #endif //(LANG_MODE != 0)
  809. static void w25x20cl_err_msg()
  810. {
  811. lcd_clear();
  812. lcd_puts_P(_n("External SPI flash\nW25X20CL is not res-\nponding. Language\nswitch unavailable."));
  813. }
  814. // "Setup" function is called by the Arduino framework on startup.
  815. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  816. // are initialized by the main() routine provided by the Arduino framework.
  817. void setup()
  818. {
  819. mmu_init();
  820. ultralcd_init();
  821. spi_init();
  822. lcd_splash();
  823. Sound_Init(); // also guarantee "SET_OUTPUT(BEEPER)"
  824. selectedSerialPort = eeprom_read_byte((uint8_t *)EEPROM_SECOND_SERIAL_ACTIVE);
  825. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  826. eeprom_update_byte((uint8_t *)EEPROM_SECOND_SERIAL_ACTIVE, selectedSerialPort);
  827. MYSERIAL.begin(BAUDRATE);
  828. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  829. stdout = uartout;
  830. #ifdef W25X20CL
  831. bool w25x20cl_success = w25x20cl_init();
  832. uint8_t optiboot_status = 1;
  833. if (w25x20cl_success)
  834. {
  835. optiboot_status = optiboot_w25x20cl_enter();
  836. #if (LANG_MODE != 0) //secondary language support
  837. update_sec_lang_from_external_flash();
  838. #endif //(LANG_MODE != 0)
  839. }
  840. else
  841. {
  842. w25x20cl_err_msg();
  843. }
  844. #else
  845. const bool w25x20cl_success = true;
  846. #endif //W25X20CL
  847. setup_killpin();
  848. setup_powerhold();
  849. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  850. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  851. if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
  852. 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
  853. if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
  854. if (farm_mode)
  855. {
  856. no_response = true; //we need confirmation by recieving PRUSA thx
  857. important_status = 8;
  858. prusa_statistics(8);
  859. selectedSerialPort = 1;
  860. MYSERIAL.begin(BAUDRATE);
  861. #ifdef TMC2130
  862. //increased extruder current (PFW363)
  863. tmc2130_current_h[E_AXIS] = 36;
  864. tmc2130_current_r[E_AXIS] = 36;
  865. #endif //TMC2130
  866. #ifdef FILAMENT_SENSOR
  867. //disabled filament autoload (PFW360)
  868. fsensor_autoload_set(false);
  869. #endif //FILAMENT_SENSOR
  870. // ~ FanCheck -> on
  871. if(!(eeprom_read_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED)))
  872. eeprom_update_byte((unsigned char *)EEPROM_FAN_CHECK_ENABLED,true);
  873. }
  874. #ifndef W25X20CL
  875. SERIAL_PROTOCOLLNPGM("start");
  876. #else
  877. if ((optiboot_status != 0) || (selectedSerialPort != 0))
  878. SERIAL_PROTOCOLLNPGM("start");
  879. #endif
  880. SERIAL_ECHO_START;
  881. printf_P(PSTR(" " FW_VERSION_FULL "\n"));
  882. //SERIAL_ECHOPAIR("Active sheet before:", static_cast<unsigned long int>(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet))));
  883. #ifdef DEBUG_SEC_LANG
  884. lang_table_header_t header;
  885. uint32_t src_addr = 0x00000;
  886. if (lang_get_header(1, &header, &src_addr))
  887. {
  888. //this is comparsion of some printing-methods regarding to flash space usage and code size/readability
  889. #define LT_PRINT_TEST 2
  890. // flash usage
  891. // total p.test
  892. //0 252718 t+c text code
  893. //1 253142 424 170 254
  894. //2 253040 322 164 158
  895. //3 253248 530 135 395
  896. #if (LT_PRINT_TEST==1) //not optimized printf
  897. printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
  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. #elif (LT_PRINT_TEST==2) //optimized printf
  905. printf_P(
  906. _n(
  907. " _src_addr = 0x%08lx\n"
  908. " _lt_magic = 0x%08lx %S\n"
  909. " _lt_size = 0x%04x (%d)\n"
  910. " _lt_count = 0x%04x (%d)\n"
  911. " _lt_chsum = 0x%04x\n"
  912. " _lt_code = 0x%04x (%c%c)\n"
  913. " _lt_resv1 = 0x%08lx\n"
  914. ),
  915. src_addr,
  916. header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
  917. header.size, header.size,
  918. header.count, header.count,
  919. header.checksum,
  920. header.code, header.code >> 8, header.code & 0xff,
  921. header.signature
  922. );
  923. #elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
  924. MYSERIAL.print(" _src_addr = 0x");
  925. MYSERIAL.println(src_addr, 16);
  926. MYSERIAL.print(" _lt_magic = 0x");
  927. MYSERIAL.print(header.magic, 16);
  928. MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
  929. MYSERIAL.print(" _lt_size = 0x");
  930. MYSERIAL.print(header.size, 16);
  931. MYSERIAL.print(" (");
  932. MYSERIAL.print(header.size, 10);
  933. MYSERIAL.println(")");
  934. MYSERIAL.print(" _lt_count = 0x");
  935. MYSERIAL.print(header.count, 16);
  936. MYSERIAL.print(" (");
  937. MYSERIAL.print(header.count, 10);
  938. MYSERIAL.println(")");
  939. MYSERIAL.print(" _lt_chsum = 0x");
  940. MYSERIAL.println(header.checksum, 16);
  941. MYSERIAL.print(" _lt_code = 0x");
  942. MYSERIAL.print(header.code, 16);
  943. MYSERIAL.print(" (");
  944. MYSERIAL.print((char)(header.code >> 8), 0);
  945. MYSERIAL.print((char)(header.code & 0xff), 0);
  946. MYSERIAL.println(")");
  947. MYSERIAL.print(" _lt_resv1 = 0x");
  948. MYSERIAL.println(header.signature, 16);
  949. #endif //(LT_PRINT_TEST==)
  950. #undef LT_PRINT_TEST
  951. #if 0
  952. w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
  953. for (uint16_t i = 0; i < 1024; i++)
  954. {
  955. if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
  956. printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
  957. if ((i % 16) == 15) putchar('\n');
  958. }
  959. #endif
  960. uint16_t sum = 0;
  961. for (uint16_t i = 0; i < header.size; i++)
  962. sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
  963. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  964. sum -= header.checksum; //subtract checksum
  965. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  966. sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
  967. if (sum == header.checksum)
  968. printf_P(_n("Checksum OK\n"), sum);
  969. else
  970. printf_P(_n("Checksum NG\n"), sum);
  971. }
  972. else
  973. printf_P(_n("lang_get_header failed!\n"));
  974. #if 0
  975. for (uint16_t i = 0; i < 1024*10; i++)
  976. {
  977. if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
  978. printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
  979. if ((i % 16) == 15) putchar('\n');
  980. }
  981. #endif
  982. #if 0
  983. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  984. for (int i = 0; i < 4096; ++i) {
  985. int b = eeprom_read_byte((unsigned char*)i);
  986. if (b != 255) {
  987. SERIAL_ECHO(i);
  988. SERIAL_ECHO(":");
  989. SERIAL_ECHO(b);
  990. SERIAL_ECHOLN("");
  991. }
  992. }
  993. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  994. #endif
  995. #endif //DEBUG_SEC_LANG
  996. // Check startup - does nothing if bootloader sets MCUSR to 0
  997. byte mcu = MCUSR;
  998. /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  999. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  1000. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  1001. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  1002. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  1003. if (mcu & 1) puts_P(MSG_POWERUP);
  1004. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  1005. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  1006. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  1007. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  1008. MCUSR = 0;
  1009. //SERIAL_ECHORPGM(MSG_MARLIN);
  1010. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  1011. #ifdef STRING_VERSION_CONFIG_H
  1012. #ifdef STRING_CONFIG_H_AUTHOR
  1013. SERIAL_ECHO_START;
  1014. SERIAL_ECHORPGM(_n(" Last Updated: "));////MSG_CONFIGURATION_VER
  1015. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  1016. SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR
  1017. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  1018. SERIAL_ECHOPGM("Compiled: ");
  1019. SERIAL_ECHOLNPGM(__DATE__);
  1020. #endif
  1021. #endif
  1022. SERIAL_ECHO_START;
  1023. SERIAL_ECHORPGM(_n(" Free Memory: "));////MSG_FREE_MEMORY
  1024. SERIAL_ECHO(freeMemory());
  1025. SERIAL_ECHORPGM(_n(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES
  1026. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  1027. //lcd_update_enable(false); // why do we need this?? - andre
  1028. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  1029. bool previous_settings_retrieved = false;
  1030. uint8_t hw_changed = check_printer_version();
  1031. 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
  1032. previous_settings_retrieved = Config_RetrieveSettings();
  1033. }
  1034. else { //printer version was changed so use default settings
  1035. Config_ResetDefault();
  1036. }
  1037. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  1038. tp_init(); // Initialize temperature loop
  1039. if (w25x20cl_success) lcd_splash(); // we need to do this again, because tp_init() kills lcd
  1040. else
  1041. {
  1042. w25x20cl_err_msg();
  1043. printf_P(_n("W25X20CL not responding.\n"));
  1044. }
  1045. #ifdef EXTRUDER_ALTFAN_DETECT
  1046. SERIAL_ECHORPGM(_n("Extruder fan type: "));
  1047. if (extruder_altfan_detect())
  1048. SERIAL_ECHOLNRPGM(PSTR("ALTFAN"));
  1049. else
  1050. SERIAL_ECHOLNRPGM(PSTR("NOCTUA"));
  1051. #endif //EXTRUDER_ALTFAN_DETECT
  1052. plan_init(); // Initialize planner;
  1053. factory_reset();
  1054. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1055. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff)
  1056. {
  1057. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1058. // where all the EEPROM entries are set to 0x0ff.
  1059. // Once a firmware boots up, it forces at least a language selection, which changes
  1060. // EEPROM_LANG to number lower than 0x0ff.
  1061. // 1) Set a high power mode.
  1062. eeprom_update_byte((uint8_t*)EEPROM_SILENT, SILENT_MODE_OFF);
  1063. #ifdef TMC2130
  1064. tmc2130_mode = TMC2130_MODE_NORMAL;
  1065. #endif //TMC2130
  1066. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  1067. }
  1068. lcd_encoder_diff=0;
  1069. #ifdef TMC2130
  1070. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1071. if (silentMode == 0xff) silentMode = 0;
  1072. tmc2130_mode = TMC2130_MODE_NORMAL;
  1073. if (lcd_crash_detect_enabled() && !farm_mode)
  1074. {
  1075. lcd_crash_detect_enable();
  1076. puts_P(_N("CrashDetect ENABLED!"));
  1077. }
  1078. else
  1079. {
  1080. lcd_crash_detect_disable();
  1081. puts_P(_N("CrashDetect DISABLED"));
  1082. }
  1083. #ifdef TMC2130_LINEARITY_CORRECTION
  1084. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  1085. tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  1086. tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  1087. tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  1088. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  1089. tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
  1090. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  1091. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  1092. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  1093. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  1094. #endif //TMC2130_LINEARITY_CORRECTION
  1095. #ifdef TMC2130_VARIABLE_RESOLUTION
  1096. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[X_AXIS]);
  1097. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Y_AXIS]);
  1098. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Z_AXIS]);
  1099. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[E_AXIS]);
  1100. #else //TMC2130_VARIABLE_RESOLUTION
  1101. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1102. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1103. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1104. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1105. #endif //TMC2130_VARIABLE_RESOLUTION
  1106. #endif //TMC2130
  1107. st_init(); // Initialize stepper, this enables interrupts!
  1108. #ifdef TMC2130
  1109. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1110. update_mode_profile();
  1111. tmc2130_init();
  1112. #endif //TMC2130
  1113. #ifdef PSU_Delta
  1114. init_force_z(); // ! important for correct Z-axis initialization
  1115. #endif // PSU_Delta
  1116. setup_photpin();
  1117. servo_init();
  1118. // Reset the machine correction matrix.
  1119. // It does not make sense to load the correction matrix until the machine is homed.
  1120. world2machine_reset();
  1121. // Initialize current_position accounting for software endstops to
  1122. // avoid unexpected initial shifts on the first move
  1123. clamp_to_software_endstops(current_position);
  1124. plan_set_position_curposXYZE();
  1125. #ifdef FILAMENT_SENSOR
  1126. fsensor_init();
  1127. #endif //FILAMENT_SENSOR
  1128. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  1129. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  1130. #endif
  1131. setup_homepin();
  1132. #if defined(Z_AXIS_ALWAYS_ON)
  1133. enable_z();
  1134. #endif
  1135. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  1136. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  1137. 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
  1138. if (farm_no == static_cast<int>(0xFFFF)) farm_no = 0;
  1139. if (farm_mode)
  1140. {
  1141. prusa_statistics(8);
  1142. }
  1143. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1144. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1145. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1146. // but this times out if a blocking dialog is shown in setup().
  1147. card.initsd();
  1148. #ifdef DEBUG_SD_SPEED_TEST
  1149. if (card.cardOK)
  1150. {
  1151. uint8_t* buff = (uint8_t*)block_buffer;
  1152. uint32_t block = 0;
  1153. uint32_t sumr = 0;
  1154. uint32_t sumw = 0;
  1155. for (int i = 0; i < 1024; i++)
  1156. {
  1157. uint32_t u = _micros();
  1158. bool res = card.card.readBlock(i, buff);
  1159. u = _micros() - u;
  1160. if (res)
  1161. {
  1162. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1163. sumr += u;
  1164. u = _micros();
  1165. res = card.card.writeBlock(i, buff);
  1166. u = _micros() - u;
  1167. if (res)
  1168. {
  1169. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1170. sumw += u;
  1171. }
  1172. else
  1173. {
  1174. printf_P(PSTR("writeBlock %4d error\n"), i);
  1175. break;
  1176. }
  1177. }
  1178. else
  1179. {
  1180. printf_P(PSTR("readBlock %4d error\n"), i);
  1181. break;
  1182. }
  1183. }
  1184. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1185. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1186. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1187. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1188. }
  1189. else
  1190. printf_P(PSTR("Card NG!\n"));
  1191. #endif //DEBUG_SD_SPEED_TEST
  1192. eeprom_init();
  1193. #ifdef SNMM
  1194. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1195. int _z = BOWDEN_LENGTH;
  1196. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1197. }
  1198. #endif
  1199. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1200. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1201. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1202. #if (LANG_MODE != 0) //secondary language support
  1203. #ifdef DEBUG_W25X20CL
  1204. W25X20CL_SPI_ENTER();
  1205. uint8_t uid[8]; // 64bit unique id
  1206. w25x20cl_rd_uid(uid);
  1207. puts_P(_n("W25X20CL UID="));
  1208. for (uint8_t i = 0; i < 8; i ++)
  1209. printf_P(PSTR("%02hhx"), uid[i]);
  1210. putchar('\n');
  1211. list_sec_lang_from_external_flash();
  1212. #endif //DEBUG_W25X20CL
  1213. // lang_reset();
  1214. if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
  1215. lcd_language();
  1216. #ifdef DEBUG_SEC_LANG
  1217. uint16_t sec_lang_code = lang_get_code(1);
  1218. uint16_t ui = _SEC_LANG_TABLE; //table pointer
  1219. 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);
  1220. lang_print_sec_lang(uartout);
  1221. #endif //DEBUG_SEC_LANG
  1222. #endif //(LANG_MODE != 0)
  1223. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1224. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1225. }
  1226. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1227. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1228. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1229. int16_t z_shift = 0;
  1230. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  1231. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1232. }
  1233. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1234. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1235. }
  1236. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1237. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1238. }
  1239. //mbl_mode_init();
  1240. mbl_settings_init();
  1241. SilentModeMenu_MMU = eeprom_read_byte((uint8_t*)EEPROM_MMU_STEALTH);
  1242. if (SilentModeMenu_MMU == 255) {
  1243. SilentModeMenu_MMU = 1;
  1244. eeprom_write_byte((uint8_t*)EEPROM_MMU_STEALTH, SilentModeMenu_MMU);
  1245. }
  1246. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1247. setup_fan_interrupt();
  1248. #endif //DEBUG_DISABLE_FANCHECK
  1249. #ifdef PAT9125
  1250. fsensor_setup_interrupt();
  1251. #endif //PAT9125
  1252. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1253. #ifndef DEBUG_DISABLE_STARTMSGS
  1254. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1255. if (!farm_mode) {
  1256. check_if_fw_is_on_right_printer();
  1257. show_fw_version_warnings();
  1258. }
  1259. switch (hw_changed) {
  1260. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1261. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1262. case(0b01):
  1263. lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
  1264. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1265. break;
  1266. case(0b10):
  1267. lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
  1268. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1269. break;
  1270. case(0b11):
  1271. lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
  1272. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1273. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1274. break;
  1275. default: break; //no change, show no message
  1276. }
  1277. if (!previous_settings_retrieved) {
  1278. 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=5
  1279. Config_StoreSettings();
  1280. }
  1281. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  1282. lcd_wizard(WizState::Run);
  1283. }
  1284. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1285. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1286. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1287. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1288. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1289. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  1290. // Show the message.
  1291. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1292. }
  1293. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1294. // Show the message.
  1295. lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  1296. lcd_update_enable(true);
  1297. }
  1298. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() == false) {
  1299. //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
  1300. lcd_update_enable(true);
  1301. }
  1302. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1303. // Show the message.
  1304. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_Z_CALIBRATION_FLOW));
  1305. }
  1306. }
  1307. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1308. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1309. lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
  1310. update_current_firmware_version_to_eeprom();
  1311. lcd_selftest();
  1312. }
  1313. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1314. KEEPALIVE_STATE(IN_PROCESS);
  1315. #endif //DEBUG_DISABLE_STARTMSGS
  1316. lcd_update_enable(true);
  1317. lcd_clear();
  1318. lcd_update(2);
  1319. // Store the currently running firmware into an eeprom,
  1320. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1321. update_current_firmware_version_to_eeprom();
  1322. #ifdef TMC2130
  1323. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1324. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1325. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1326. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1327. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1328. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1329. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1330. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1331. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1332. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1333. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1334. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1335. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1336. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1337. #endif //TMC2130
  1338. #ifdef UVLO_SUPPORT
  1339. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != 0) { //previous print was terminated by UVLO
  1340. /*
  1341. if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
  1342. else {
  1343. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1344. lcd_update_enable(true);
  1345. lcd_update(2);
  1346. lcd_setstatuspgm(_T(WELCOME_MSG));
  1347. }
  1348. */
  1349. manage_heater(); // Update temperatures
  1350. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1351. 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));
  1352. #endif
  1353. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1354. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1355. puts_P(_N("Automatic recovery!"));
  1356. #endif
  1357. recover_print(1);
  1358. }
  1359. else{
  1360. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1361. puts_P(_N("Normal recovery!"));
  1362. #endif
  1363. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
  1364. else {
  1365. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1366. lcd_update_enable(true);
  1367. lcd_update(2);
  1368. lcd_setstatuspgm(_T(WELCOME_MSG));
  1369. }
  1370. }
  1371. }
  1372. // Only arm the uvlo interrupt _after_ a recovering print has been initialized and
  1373. // the entire state machine initialized.
  1374. setup_uvlo_interrupt();
  1375. #endif //UVLO_SUPPORT
  1376. fCheckModeInit();
  1377. fSetMmuMode(mmu_enabled);
  1378. KEEPALIVE_STATE(NOT_BUSY);
  1379. #ifdef WATCHDOG
  1380. wdt_enable(WDTO_4S);
  1381. #endif //WATCHDOG
  1382. }
  1383. void trace();
  1384. #define CHUNK_SIZE 64 // bytes
  1385. #define SAFETY_MARGIN 1
  1386. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1387. int chunkHead = 0;
  1388. void serial_read_stream() {
  1389. setAllTargetHotends(0);
  1390. setTargetBed(0);
  1391. lcd_clear();
  1392. lcd_puts_P(PSTR(" Upload in progress"));
  1393. // first wait for how many bytes we will receive
  1394. uint32_t bytesToReceive;
  1395. // receive the four bytes
  1396. char bytesToReceiveBuffer[4];
  1397. for (int i=0; i<4; i++) {
  1398. int data;
  1399. while ((data = MYSERIAL.read()) == -1) {};
  1400. bytesToReceiveBuffer[i] = data;
  1401. }
  1402. // make it a uint32
  1403. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1404. // we're ready, notify the sender
  1405. MYSERIAL.write('+');
  1406. // lock in the routine
  1407. uint32_t receivedBytes = 0;
  1408. while (prusa_sd_card_upload) {
  1409. int i;
  1410. for (i=0; i<CHUNK_SIZE; i++) {
  1411. int data;
  1412. // check if we're not done
  1413. if (receivedBytes == bytesToReceive) {
  1414. break;
  1415. }
  1416. // read the next byte
  1417. while ((data = MYSERIAL.read()) == -1) {};
  1418. receivedBytes++;
  1419. // save it to the chunk
  1420. chunk[i] = data;
  1421. }
  1422. // write the chunk to SD
  1423. card.write_command_no_newline(&chunk[0]);
  1424. // notify the sender we're ready for more data
  1425. MYSERIAL.write('+');
  1426. // for safety
  1427. manage_heater();
  1428. // check if we're done
  1429. if(receivedBytes == bytesToReceive) {
  1430. trace(); // beep
  1431. card.closefile();
  1432. prusa_sd_card_upload = false;
  1433. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1434. }
  1435. }
  1436. }
  1437. /**
  1438. * Output a "busy" message at regular intervals
  1439. * while the machine is not accepting commands.
  1440. */
  1441. void host_keepalive() {
  1442. #ifndef HOST_KEEPALIVE_FEATURE
  1443. return;
  1444. #endif //HOST_KEEPALIVE_FEATURE
  1445. if (farm_mode) return;
  1446. long ms = _millis();
  1447. #ifdef AUTO_REPORT_TEMPERATURES
  1448. if (auto_report_temp_timer.running())
  1449. {
  1450. if (auto_report_temp_timer.expired(auto_report_temp_period * 1000ul))
  1451. {
  1452. gcode_M105(active_extruder);
  1453. auto_report_temp_timer.start();
  1454. }
  1455. }
  1456. #endif //AUTO_REPORT_TEMPERATURES
  1457. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1458. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1459. switch (busy_state) {
  1460. case IN_HANDLER:
  1461. case IN_PROCESS:
  1462. SERIAL_ECHO_START;
  1463. SERIAL_ECHOLNPGM("busy: processing");
  1464. break;
  1465. case PAUSED_FOR_USER:
  1466. SERIAL_ECHO_START;
  1467. SERIAL_ECHOLNPGM("busy: paused for user");
  1468. break;
  1469. case PAUSED_FOR_INPUT:
  1470. SERIAL_ECHO_START;
  1471. SERIAL_ECHOLNPGM("busy: paused for input");
  1472. break;
  1473. default:
  1474. break;
  1475. }
  1476. }
  1477. prev_busy_signal_ms = ms;
  1478. }
  1479. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1480. // Before loop(), the setup() function is called by the main() routine.
  1481. void loop()
  1482. {
  1483. KEEPALIVE_STATE(NOT_BUSY);
  1484. if ((usb_printing_counter > 0) && ((_millis()-_usb_timer) > 1000))
  1485. {
  1486. is_usb_printing = true;
  1487. usb_printing_counter--;
  1488. _usb_timer = _millis();
  1489. }
  1490. if (usb_printing_counter == 0)
  1491. {
  1492. is_usb_printing = false;
  1493. }
  1494. if (isPrintPaused && saved_printing_type == PRINTING_TYPE_USB) //keep believing that usb is being printed. Prevents accessing dangerous menus while pausing.
  1495. {
  1496. is_usb_printing = true;
  1497. }
  1498. #ifdef FANCHECK
  1499. if (fan_check_error && isPrintPaused)
  1500. {
  1501. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1502. host_keepalive(); //prevent timeouts since usb processing is disabled until print is resumed. This is for a crude way of pausing a print on all hosts.
  1503. }
  1504. #endif
  1505. if (prusa_sd_card_upload)
  1506. {
  1507. //we read byte-by byte
  1508. serial_read_stream();
  1509. }
  1510. else
  1511. {
  1512. get_command();
  1513. #ifdef SDSUPPORT
  1514. card.checkautostart(false);
  1515. #endif
  1516. if(buflen)
  1517. {
  1518. cmdbuffer_front_already_processed = false;
  1519. #ifdef SDSUPPORT
  1520. if(card.saving)
  1521. {
  1522. // Saving a G-code file onto an SD-card is in progress.
  1523. // Saving starts with M28, saving until M29 is seen.
  1524. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1525. card.write_command(CMDBUFFER_CURRENT_STRING);
  1526. if(card.logging)
  1527. process_commands();
  1528. else
  1529. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1530. } else {
  1531. card.closefile();
  1532. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1533. }
  1534. } else {
  1535. process_commands();
  1536. }
  1537. #else
  1538. process_commands();
  1539. #endif //SDSUPPORT
  1540. if (! cmdbuffer_front_already_processed && buflen)
  1541. {
  1542. // ptr points to the start of the block currently being processed.
  1543. // The first character in the block is the block type.
  1544. char *ptr = cmdbuffer + bufindr;
  1545. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1546. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1547. union {
  1548. struct {
  1549. char lo;
  1550. char hi;
  1551. } lohi;
  1552. uint16_t value;
  1553. } sdlen;
  1554. sdlen.value = 0;
  1555. {
  1556. // This block locks the interrupts globally for 3.25 us,
  1557. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1558. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1559. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1560. cli();
  1561. // Reset the command to something, which will be ignored by the power panic routine,
  1562. // so this buffer length will not be counted twice.
  1563. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1564. // Extract the current buffer length.
  1565. sdlen.lohi.lo = *ptr ++;
  1566. sdlen.lohi.hi = *ptr;
  1567. // and pass it to the planner queue.
  1568. planner_add_sd_length(sdlen.value);
  1569. sei();
  1570. }
  1571. }
  1572. else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
  1573. cli();
  1574. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1575. // and one for each command to previous block in the planner queue.
  1576. planner_add_sd_length(1);
  1577. sei();
  1578. }
  1579. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1580. // this block's SD card length will not be counted twice as its command type has been replaced
  1581. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1582. cmdqueue_pop_front();
  1583. }
  1584. host_keepalive();
  1585. }
  1586. }
  1587. //check heater every n milliseconds
  1588. manage_heater();
  1589. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1590. checkHitEndstops();
  1591. lcd_update(0);
  1592. #ifdef TMC2130
  1593. tmc2130_check_overtemp();
  1594. if (tmc2130_sg_crash)
  1595. {
  1596. uint8_t crash = tmc2130_sg_crash;
  1597. tmc2130_sg_crash = 0;
  1598. // crashdet_stop_and_save_print();
  1599. switch (crash)
  1600. {
  1601. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1602. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1603. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1604. }
  1605. }
  1606. #endif //TMC2130
  1607. mmu_loop();
  1608. }
  1609. #define DEFINE_PGM_READ_ANY(type, reader) \
  1610. static inline type pgm_read_any(const type *p) \
  1611. { return pgm_read_##reader##_near(p); }
  1612. DEFINE_PGM_READ_ANY(float, float);
  1613. DEFINE_PGM_READ_ANY(signed char, byte);
  1614. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1615. static const PROGMEM type array##_P[3] = \
  1616. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1617. static inline type array(int axis) \
  1618. { return pgm_read_any(&array##_P[axis]); } \
  1619. type array##_ext(int axis) \
  1620. { return pgm_read_any(&array##_P[axis]); }
  1621. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1622. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1623. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1624. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1625. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1626. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1627. static void axis_is_at_home(int axis) {
  1628. current_position[axis] = base_home_pos(axis) + cs.add_homing[axis];
  1629. min_pos[axis] = base_min_pos(axis) + cs.add_homing[axis];
  1630. max_pos[axis] = base_max_pos(axis) + cs.add_homing[axis];
  1631. }
  1632. //! @return original feedmultiply
  1633. static int setup_for_endstop_move(bool enable_endstops_now = true) {
  1634. saved_feedrate = feedrate;
  1635. int l_feedmultiply = feedmultiply;
  1636. feedmultiply = 100;
  1637. previous_millis_cmd = _millis();
  1638. enable_endstops(enable_endstops_now);
  1639. return l_feedmultiply;
  1640. }
  1641. //! @param original_feedmultiply feedmultiply to restore
  1642. static void clean_up_after_endstop_move(int original_feedmultiply) {
  1643. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1644. enable_endstops(false);
  1645. #endif
  1646. feedrate = saved_feedrate;
  1647. feedmultiply = original_feedmultiply;
  1648. previous_millis_cmd = _millis();
  1649. }
  1650. #ifdef ENABLE_AUTO_BED_LEVELING
  1651. #ifdef AUTO_BED_LEVELING_GRID
  1652. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1653. {
  1654. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1655. planeNormal.debug("planeNormal");
  1656. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1657. //bedLevel.debug("bedLevel");
  1658. //plan_bed_level_matrix.debug("bed level before");
  1659. //vector_3 uncorrected_position = plan_get_position_mm();
  1660. //uncorrected_position.debug("position before");
  1661. vector_3 corrected_position = plan_get_position();
  1662. // corrected_position.debug("position after");
  1663. current_position[X_AXIS] = corrected_position.x;
  1664. current_position[Y_AXIS] = corrected_position.y;
  1665. current_position[Z_AXIS] = corrected_position.z;
  1666. // put the bed at 0 so we don't go below it.
  1667. current_position[Z_AXIS] = cs.zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1668. plan_set_position_curposXYZE();
  1669. }
  1670. #else // not AUTO_BED_LEVELING_GRID
  1671. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1672. plan_bed_level_matrix.set_to_identity();
  1673. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1674. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1675. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1676. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1677. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1678. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1679. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1680. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1681. vector_3 corrected_position = plan_get_position();
  1682. current_position[X_AXIS] = corrected_position.x;
  1683. current_position[Y_AXIS] = corrected_position.y;
  1684. current_position[Z_AXIS] = corrected_position.z;
  1685. // put the bed at 0 so we don't go below it.
  1686. current_position[Z_AXIS] = cs.zprobe_zoffset;
  1687. plan_set_position_curposXYZE();
  1688. }
  1689. #endif // AUTO_BED_LEVELING_GRID
  1690. static void run_z_probe() {
  1691. plan_bed_level_matrix.set_to_identity();
  1692. feedrate = homing_feedrate[Z_AXIS];
  1693. // move down until you find the bed
  1694. float zPosition = -10;
  1695. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1696. st_synchronize();
  1697. // we have to let the planner know where we are right now as it is not where we said to go.
  1698. zPosition = st_get_position_mm(Z_AXIS);
  1699. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1700. // move up the retract distance
  1701. zPosition += home_retract_mm(Z_AXIS);
  1702. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1703. st_synchronize();
  1704. // move back down slowly to find bed
  1705. feedrate = homing_feedrate[Z_AXIS]/4;
  1706. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1707. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1708. st_synchronize();
  1709. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1710. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1711. plan_set_position_curposXYZE();
  1712. }
  1713. static void do_blocking_move_to(float x, float y, float z) {
  1714. float oldFeedRate = feedrate;
  1715. feedrate = homing_feedrate[Z_AXIS];
  1716. current_position[Z_AXIS] = z;
  1717. plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
  1718. st_synchronize();
  1719. feedrate = XY_TRAVEL_SPEED;
  1720. current_position[X_AXIS] = x;
  1721. current_position[Y_AXIS] = y;
  1722. plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
  1723. st_synchronize();
  1724. feedrate = oldFeedRate;
  1725. }
  1726. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1727. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1728. }
  1729. /// Probe bed height at position (x,y), returns the measured z value
  1730. static float probe_pt(float x, float y, float z_before) {
  1731. // move to right place
  1732. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1733. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1734. run_z_probe();
  1735. float measured_z = current_position[Z_AXIS];
  1736. SERIAL_PROTOCOLRPGM(_T(MSG_BED));
  1737. SERIAL_PROTOCOLPGM(" x: ");
  1738. SERIAL_PROTOCOL(x);
  1739. SERIAL_PROTOCOLPGM(" y: ");
  1740. SERIAL_PROTOCOL(y);
  1741. SERIAL_PROTOCOLPGM(" z: ");
  1742. SERIAL_PROTOCOL(measured_z);
  1743. SERIAL_PROTOCOLPGM("\n");
  1744. return measured_z;
  1745. }
  1746. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1747. #ifdef LIN_ADVANCE
  1748. /**
  1749. * M900: Set and/or Get advance K factor
  1750. *
  1751. * K<factor> Set advance K factor
  1752. */
  1753. inline void gcode_M900() {
  1754. float newK = code_seen('K') ? code_value_float() : -2;
  1755. #ifdef LA_NOCOMPAT
  1756. if (newK >= 0 && newK < LA_K_MAX)
  1757. extruder_advance_K = newK;
  1758. else
  1759. SERIAL_ECHOLNPGM("K out of allowed range!");
  1760. #else
  1761. if (newK == 0)
  1762. {
  1763. extruder_advance_K = 0;
  1764. la10c_reset();
  1765. }
  1766. else
  1767. {
  1768. newK = la10c_value(newK);
  1769. if (newK < 0)
  1770. SERIAL_ECHOLNPGM("K out of allowed range!");
  1771. else
  1772. extruder_advance_K = newK;
  1773. }
  1774. #endif
  1775. SERIAL_ECHO_START;
  1776. SERIAL_ECHOPGM("Advance K=");
  1777. SERIAL_ECHOLN(extruder_advance_K);
  1778. }
  1779. #endif // LIN_ADVANCE
  1780. bool check_commands() {
  1781. bool end_command_found = false;
  1782. while (buflen)
  1783. {
  1784. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1785. if (!cmdbuffer_front_already_processed)
  1786. cmdqueue_pop_front();
  1787. cmdbuffer_front_already_processed = false;
  1788. }
  1789. return end_command_found;
  1790. }
  1791. // raise_z_above: slowly raise Z to the requested height
  1792. //
  1793. // contrarily to a simple move, this function will carefully plan a move
  1794. // when the current Z position is unknown. In such cases, stallguard is
  1795. // enabled and will prevent prolonged pushing against the Z tops
  1796. void raise_z_above(float target, bool plan)
  1797. {
  1798. if (current_position[Z_AXIS] >= target)
  1799. return;
  1800. // Z needs raising
  1801. current_position[Z_AXIS] = target;
  1802. #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
  1803. bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  1804. #else
  1805. bool z_min_endstop = false;
  1806. #endif
  1807. if (axis_known_position[Z_AXIS] || z_min_endstop)
  1808. {
  1809. // current position is known or very low, it's safe to raise Z
  1810. if(plan) plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
  1811. return;
  1812. }
  1813. // ensure Z is powered in normal mode to overcome initial load
  1814. enable_z();
  1815. st_synchronize();
  1816. // rely on crashguard to limit damage
  1817. bool z_endstop_enabled = enable_z_endstop(true);
  1818. #ifdef TMC2130
  1819. tmc2130_home_enter(Z_AXIS_MASK);
  1820. #endif //TMC2130
  1821. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
  1822. st_synchronize();
  1823. #ifdef TMC2130
  1824. if (endstop_z_hit_on_purpose())
  1825. {
  1826. // not necessarily exact, but will avoid further vertical moves
  1827. current_position[Z_AXIS] = max_pos[Z_AXIS];
  1828. plan_set_position_curposXYZE();
  1829. }
  1830. tmc2130_home_exit();
  1831. #endif //TMC2130
  1832. enable_z_endstop(z_endstop_enabled);
  1833. }
  1834. #ifdef TMC2130
  1835. bool calibrate_z_auto()
  1836. {
  1837. //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
  1838. lcd_clear();
  1839. lcd_puts_at_P(0, 1, _T(MSG_CALIBRATE_Z_AUTO));
  1840. bool endstops_enabled = enable_endstops(true);
  1841. int axis_up_dir = -home_dir(Z_AXIS);
  1842. tmc2130_home_enter(Z_AXIS_MASK);
  1843. current_position[Z_AXIS] = 0;
  1844. plan_set_position_curposXYZE();
  1845. set_destination_to_current();
  1846. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1847. feedrate = homing_feedrate[Z_AXIS];
  1848. plan_buffer_line_destinationXYZE(feedrate / 60);
  1849. st_synchronize();
  1850. // current_position[axis] = 0;
  1851. // plan_set_position_curposXYZE();
  1852. tmc2130_home_exit();
  1853. enable_endstops(false);
  1854. current_position[Z_AXIS] = 0;
  1855. plan_set_position_curposXYZE();
  1856. set_destination_to_current();
  1857. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1858. feedrate = homing_feedrate[Z_AXIS] / 2;
  1859. plan_buffer_line_destinationXYZE(feedrate / 60);
  1860. st_synchronize();
  1861. enable_endstops(endstops_enabled);
  1862. if (PRINTER_TYPE == PRINTER_MK3) {
  1863. current_position[Z_AXIS] = Z_MAX_POS + 2.0;
  1864. }
  1865. else {
  1866. current_position[Z_AXIS] = Z_MAX_POS + 9.0;
  1867. }
  1868. plan_set_position_curposXYZE();
  1869. return true;
  1870. }
  1871. #endif //TMC2130
  1872. #ifdef TMC2130
  1873. static void check_Z_crash(void)
  1874. {
  1875. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  1876. FORCE_HIGH_POWER_END;
  1877. current_position[Z_AXIS] = 0;
  1878. plan_set_position_curposXYZE();
  1879. current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
  1880. plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
  1881. st_synchronize();
  1882. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  1883. }
  1884. }
  1885. #endif //TMC2130
  1886. #ifdef TMC2130
  1887. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1888. #else
  1889. void homeaxis(int axis, uint8_t cnt)
  1890. #endif //TMC2130
  1891. {
  1892. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1893. #define HOMEAXIS_DO(LETTER) \
  1894. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1895. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1896. {
  1897. int axis_home_dir = home_dir(axis);
  1898. feedrate = homing_feedrate[axis];
  1899. #ifdef TMC2130
  1900. tmc2130_home_enter(X_AXIS_MASK << axis);
  1901. #endif //TMC2130
  1902. // Move away a bit, so that the print head does not touch the end position,
  1903. // and the following movement to endstop has a chance to achieve the required velocity
  1904. // for the stall guard to work.
  1905. current_position[axis] = 0;
  1906. plan_set_position_curposXYZE();
  1907. set_destination_to_current();
  1908. // destination[axis] = 11.f;
  1909. destination[axis] = -3.f * axis_home_dir;
  1910. plan_buffer_line_destinationXYZE(feedrate/60);
  1911. st_synchronize();
  1912. // Move away from the possible collision with opposite endstop with the collision detection disabled.
  1913. endstops_hit_on_purpose();
  1914. enable_endstops(false);
  1915. current_position[axis] = 0;
  1916. plan_set_position_curposXYZE();
  1917. destination[axis] = 1. * axis_home_dir;
  1918. plan_buffer_line_destinationXYZE(feedrate/60);
  1919. st_synchronize();
  1920. // Now continue to move up to the left end stop with the collision detection enabled.
  1921. enable_endstops(true);
  1922. destination[axis] = 1.1 * axis_home_dir * max_length(axis);
  1923. plan_buffer_line_destinationXYZE(feedrate/60);
  1924. st_synchronize();
  1925. for (uint8_t i = 0; i < cnt; i++)
  1926. {
  1927. // Move away from the collision to a known distance from the left end stop with the collision detection disabled.
  1928. endstops_hit_on_purpose();
  1929. enable_endstops(false);
  1930. current_position[axis] = 0;
  1931. plan_set_position_curposXYZE();
  1932. destination[axis] = -10.f * axis_home_dir;
  1933. plan_buffer_line_destinationXYZE(feedrate/60);
  1934. st_synchronize();
  1935. endstops_hit_on_purpose();
  1936. // Now move left up to the collision, this time with a repeatable velocity.
  1937. enable_endstops(true);
  1938. destination[axis] = 11.f * axis_home_dir;
  1939. #ifdef TMC2130
  1940. feedrate = homing_feedrate[axis];
  1941. #else //TMC2130
  1942. feedrate = homing_feedrate[axis] / 2;
  1943. #endif //TMC2130
  1944. plan_buffer_line_destinationXYZE(feedrate/60);
  1945. st_synchronize();
  1946. #ifdef TMC2130
  1947. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  1948. if (pstep) pstep[i] = mscnt >> 4;
  1949. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  1950. #endif //TMC2130
  1951. }
  1952. endstops_hit_on_purpose();
  1953. enable_endstops(false);
  1954. #ifdef TMC2130
  1955. uint8_t orig = tmc2130_home_origin[axis];
  1956. uint8_t back = tmc2130_home_bsteps[axis];
  1957. if (tmc2130_home_enabled && (orig <= 63))
  1958. {
  1959. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  1960. if (back > 0)
  1961. tmc2130_do_steps(axis, back, -axis_home_dir, 1000);
  1962. }
  1963. else
  1964. tmc2130_do_steps(axis, 8, -axis_home_dir, 1000);
  1965. tmc2130_home_exit();
  1966. #endif //TMC2130
  1967. axis_is_at_home(axis);
  1968. axis_known_position[axis] = true;
  1969. // Move from minimum
  1970. #ifdef TMC2130
  1971. float dist = - axis_home_dir * 0.01f * tmc2130_home_fsteps[axis];
  1972. #else //TMC2130
  1973. float dist = - axis_home_dir * 0.01f * 64;
  1974. #endif //TMC2130
  1975. current_position[axis] -= dist;
  1976. plan_set_position_curposXYZE();
  1977. current_position[axis] += dist;
  1978. destination[axis] = current_position[axis];
  1979. plan_buffer_line_destinationXYZE(0.5f*feedrate/60);
  1980. st_synchronize();
  1981. feedrate = 0.0;
  1982. }
  1983. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  1984. {
  1985. #ifdef TMC2130
  1986. FORCE_HIGH_POWER_START;
  1987. #endif
  1988. int axis_home_dir = home_dir(axis);
  1989. current_position[axis] = 0;
  1990. plan_set_position_curposXYZE();
  1991. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1992. feedrate = homing_feedrate[axis];
  1993. plan_buffer_line_destinationXYZE(feedrate/60);
  1994. st_synchronize();
  1995. #ifdef TMC2130
  1996. check_Z_crash();
  1997. #endif //TMC2130
  1998. current_position[axis] = 0;
  1999. plan_set_position_curposXYZE();
  2000. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  2001. plan_buffer_line_destinationXYZE(feedrate/60);
  2002. st_synchronize();
  2003. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  2004. feedrate = homing_feedrate[axis]/2 ;
  2005. plan_buffer_line_destinationXYZE(feedrate/60);
  2006. st_synchronize();
  2007. #ifdef TMC2130
  2008. check_Z_crash();
  2009. #endif //TMC2130
  2010. axis_is_at_home(axis);
  2011. destination[axis] = current_position[axis];
  2012. feedrate = 0.0;
  2013. endstops_hit_on_purpose();
  2014. axis_known_position[axis] = true;
  2015. #ifdef TMC2130
  2016. FORCE_HIGH_POWER_END;
  2017. #endif
  2018. }
  2019. enable_endstops(endstops_enabled);
  2020. }
  2021. /**/
  2022. void home_xy()
  2023. {
  2024. set_destination_to_current();
  2025. homeaxis(X_AXIS);
  2026. homeaxis(Y_AXIS);
  2027. plan_set_position_curposXYZE();
  2028. endstops_hit_on_purpose();
  2029. }
  2030. void refresh_cmd_timeout(void)
  2031. {
  2032. previous_millis_cmd = _millis();
  2033. }
  2034. #ifdef FWRETRACT
  2035. void retract(bool retracting, bool swapretract = false) {
  2036. if(retracting && !retracted[active_extruder]) {
  2037. destination[X_AXIS]=current_position[X_AXIS];
  2038. destination[Y_AXIS]=current_position[Y_AXIS];
  2039. destination[Z_AXIS]=current_position[Z_AXIS];
  2040. destination[E_AXIS]=current_position[E_AXIS];
  2041. current_position[E_AXIS]+=(swapretract?retract_length_swap:cs.retract_length)*float(extrudemultiply)*0.01f;
  2042. plan_set_e_position(current_position[E_AXIS]);
  2043. float oldFeedrate = feedrate;
  2044. feedrate=cs.retract_feedrate*60;
  2045. retracted[active_extruder]=true;
  2046. prepare_move();
  2047. current_position[Z_AXIS]-=cs.retract_zlift;
  2048. plan_set_position_curposXYZE();
  2049. prepare_move();
  2050. feedrate = oldFeedrate;
  2051. } else if(!retracting && retracted[active_extruder]) {
  2052. destination[X_AXIS]=current_position[X_AXIS];
  2053. destination[Y_AXIS]=current_position[Y_AXIS];
  2054. destination[Z_AXIS]=current_position[Z_AXIS];
  2055. destination[E_AXIS]=current_position[E_AXIS];
  2056. current_position[Z_AXIS]+=cs.retract_zlift;
  2057. plan_set_position_curposXYZE();
  2058. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f;
  2059. plan_set_e_position(current_position[E_AXIS]);
  2060. float oldFeedrate = feedrate;
  2061. feedrate=cs.retract_recover_feedrate*60;
  2062. retracted[active_extruder]=false;
  2063. prepare_move();
  2064. feedrate = oldFeedrate;
  2065. }
  2066. } //retract
  2067. #endif //FWRETRACT
  2068. void trace() {
  2069. Sound_MakeCustom(25,440,true);
  2070. }
  2071. /*
  2072. void ramming() {
  2073. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  2074. if (current_temperature[0] < 230) {
  2075. //PLA
  2076. max_feedrate[E_AXIS] = 50;
  2077. //current_position[E_AXIS] -= 8;
  2078. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2079. //current_position[E_AXIS] += 8;
  2080. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2081. current_position[E_AXIS] += 5.4;
  2082. plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
  2083. current_position[E_AXIS] += 3.2;
  2084. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  2085. current_position[E_AXIS] += 3;
  2086. plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
  2087. st_synchronize();
  2088. max_feedrate[E_AXIS] = 80;
  2089. current_position[E_AXIS] -= 82;
  2090. plan_buffer_line_curposXYZE(9500 / 60, active_extruder);
  2091. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2092. current_position[E_AXIS] -= 20;
  2093. plan_buffer_line_curposXYZE(1200 / 60, active_extruder);
  2094. current_position[E_AXIS] += 5;
  2095. plan_buffer_line_curposXYZE(400 / 60, active_extruder);
  2096. current_position[E_AXIS] += 5;
  2097. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2098. current_position[E_AXIS] -= 10;
  2099. st_synchronize();
  2100. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2101. current_position[E_AXIS] += 10;
  2102. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2103. current_position[E_AXIS] -= 10;
  2104. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2105. current_position[E_AXIS] += 10;
  2106. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2107. current_position[E_AXIS] -= 10;
  2108. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2109. st_synchronize();
  2110. }
  2111. else {
  2112. //ABS
  2113. max_feedrate[E_AXIS] = 50;
  2114. //current_position[E_AXIS] -= 8;
  2115. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2116. //current_position[E_AXIS] += 8;
  2117. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2118. current_position[E_AXIS] += 3.1;
  2119. plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
  2120. current_position[E_AXIS] += 3.1;
  2121. plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
  2122. current_position[E_AXIS] += 4;
  2123. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  2124. st_synchronize();
  2125. //current_position[X_AXIS] += 23; //delay
  2126. //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
  2127. //current_position[X_AXIS] -= 23; //delay
  2128. //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
  2129. _delay(4700);
  2130. max_feedrate[E_AXIS] = 80;
  2131. current_position[E_AXIS] -= 92;
  2132. plan_buffer_line_curposXYZE(9900 / 60, active_extruder);
  2133. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2134. current_position[E_AXIS] -= 5;
  2135. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2136. current_position[E_AXIS] += 5;
  2137. plan_buffer_line_curposXYZE(400 / 60, active_extruder);
  2138. current_position[E_AXIS] -= 5;
  2139. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2140. st_synchronize();
  2141. current_position[E_AXIS] += 5;
  2142. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2143. current_position[E_AXIS] -= 5;
  2144. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2145. current_position[E_AXIS] += 5;
  2146. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2147. current_position[E_AXIS] -= 5;
  2148. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2149. st_synchronize();
  2150. }
  2151. }
  2152. */
  2153. #ifdef TMC2130
  2154. void force_high_power_mode(bool start_high_power_section) {
  2155. #ifdef PSU_Delta
  2156. if (start_high_power_section == true) enable_force_z();
  2157. #endif //PSU_Delta
  2158. uint8_t silent;
  2159. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  2160. if (silent == 1) {
  2161. //we are in silent mode, set to normal mode to enable crash detection
  2162. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  2163. st_synchronize();
  2164. cli();
  2165. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  2166. update_mode_profile();
  2167. tmc2130_init();
  2168. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  2169. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  2170. st_reset_timer();
  2171. sei();
  2172. }
  2173. }
  2174. #endif //TMC2130
  2175. void gcode_M105(uint8_t extruder)
  2176. {
  2177. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  2178. SERIAL_PROTOCOLPGM("T:");
  2179. SERIAL_PROTOCOL_F(degHotend(extruder),1);
  2180. SERIAL_PROTOCOLPGM(" /");
  2181. SERIAL_PROTOCOL_F(degTargetHotend(extruder),1);
  2182. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2183. SERIAL_PROTOCOLPGM(" B:");
  2184. SERIAL_PROTOCOL_F(degBed(),1);
  2185. SERIAL_PROTOCOLPGM(" /");
  2186. SERIAL_PROTOCOL_F(degTargetBed(),1);
  2187. #endif //TEMP_BED_PIN
  2188. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2189. SERIAL_PROTOCOLPGM(" T");
  2190. SERIAL_PROTOCOL(cur_extruder);
  2191. SERIAL_PROTOCOL(':');
  2192. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2193. SERIAL_PROTOCOLPGM(" /");
  2194. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  2195. }
  2196. #else
  2197. SERIAL_ERROR_START;
  2198. SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS
  2199. #endif
  2200. SERIAL_PROTOCOLPGM(" @:");
  2201. #ifdef EXTRUDER_WATTS
  2202. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  2203. SERIAL_PROTOCOLPGM("W");
  2204. #else
  2205. SERIAL_PROTOCOL(getHeaterPower(extruder));
  2206. #endif
  2207. SERIAL_PROTOCOLPGM(" B@:");
  2208. #ifdef BED_WATTS
  2209. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  2210. SERIAL_PROTOCOLPGM("W");
  2211. #else
  2212. SERIAL_PROTOCOL(getHeaterPower(-1));
  2213. #endif
  2214. #ifdef PINDA_THERMISTOR
  2215. SERIAL_PROTOCOLPGM(" P:");
  2216. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  2217. #endif //PINDA_THERMISTOR
  2218. #ifdef AMBIENT_THERMISTOR
  2219. SERIAL_PROTOCOLPGM(" A:");
  2220. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  2221. #endif //AMBIENT_THERMISTOR
  2222. #ifdef SHOW_TEMP_ADC_VALUES
  2223. {
  2224. float raw = 0.0;
  2225. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2226. SERIAL_PROTOCOLPGM(" ADC B:");
  2227. SERIAL_PROTOCOL_F(degBed(),1);
  2228. SERIAL_PROTOCOLPGM("C->");
  2229. raw = rawBedTemp();
  2230. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  2231. SERIAL_PROTOCOLPGM(" Rb->");
  2232. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  2233. SERIAL_PROTOCOLPGM(" Rxb->");
  2234. SERIAL_PROTOCOL_F(raw, 5);
  2235. #endif
  2236. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2237. SERIAL_PROTOCOLPGM(" T");
  2238. SERIAL_PROTOCOL(cur_extruder);
  2239. SERIAL_PROTOCOLPGM(":");
  2240. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2241. SERIAL_PROTOCOLPGM("C->");
  2242. raw = rawHotendTemp(cur_extruder);
  2243. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  2244. SERIAL_PROTOCOLPGM(" Rt");
  2245. SERIAL_PROTOCOL(cur_extruder);
  2246. SERIAL_PROTOCOLPGM("->");
  2247. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  2248. SERIAL_PROTOCOLPGM(" Rx");
  2249. SERIAL_PROTOCOL(cur_extruder);
  2250. SERIAL_PROTOCOLPGM("->");
  2251. SERIAL_PROTOCOL_F(raw, 5);
  2252. }
  2253. }
  2254. #endif
  2255. SERIAL_PROTOCOLLN("");
  2256. }
  2257. #ifdef TMC2130
  2258. static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl)
  2259. #else
  2260. static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool without_mbl)
  2261. #endif //TMC2130
  2262. {
  2263. st_synchronize();
  2264. #if 0
  2265. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2266. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2267. #endif
  2268. // Flag for the display update routine and to disable the print cancelation during homing.
  2269. homing_flag = true;
  2270. // Which axes should be homed?
  2271. bool home_x = home_x_axis;
  2272. bool home_y = home_y_axis;
  2273. bool home_z = home_z_axis;
  2274. // Either all X,Y,Z codes are present, or none of them.
  2275. bool home_all_axes = home_x == home_y && home_x == home_z;
  2276. if (home_all_axes)
  2277. // No X/Y/Z code provided means to home all axes.
  2278. home_x = home_y = home_z = true;
  2279. //if we are homing all axes, first move z higher to protect heatbed/steel sheet
  2280. if (home_all_axes) {
  2281. raise_z_above(MESH_HOME_Z_SEARCH);
  2282. st_synchronize();
  2283. }
  2284. #ifdef ENABLE_AUTO_BED_LEVELING
  2285. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2286. #endif //ENABLE_AUTO_BED_LEVELING
  2287. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2288. // the planner will not perform any adjustments in the XY plane.
  2289. // Wait for the motors to stop and update the current position with the absolute values.
  2290. world2machine_revert_to_uncorrected();
  2291. // For mesh bed leveling deactivate the matrix temporarily.
  2292. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2293. // in a single axis only.
  2294. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2295. #ifdef MESH_BED_LEVELING
  2296. uint8_t mbl_was_active = mbl.active;
  2297. mbl.active = 0;
  2298. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2299. #endif
  2300. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2301. // consumed during the first movements following this statement.
  2302. if (home_z)
  2303. babystep_undo();
  2304. saved_feedrate = feedrate;
  2305. int l_feedmultiply = feedmultiply;
  2306. feedmultiply = 100;
  2307. previous_millis_cmd = _millis();
  2308. enable_endstops(true);
  2309. memcpy(destination, current_position, sizeof(destination));
  2310. feedrate = 0.0;
  2311. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2312. if(home_z)
  2313. homeaxis(Z_AXIS);
  2314. #endif
  2315. #ifdef QUICK_HOME
  2316. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2317. if(home_x && home_y) //first diagonal move
  2318. {
  2319. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2320. int x_axis_home_dir = home_dir(X_AXIS);
  2321. plan_set_position_curposXYZE();
  2322. 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);
  2323. feedrate = homing_feedrate[X_AXIS];
  2324. if(homing_feedrate[Y_AXIS]<feedrate)
  2325. feedrate = homing_feedrate[Y_AXIS];
  2326. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2327. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2328. } else {
  2329. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2330. }
  2331. plan_buffer_line_destinationXYZE(feedrate/60);
  2332. st_synchronize();
  2333. axis_is_at_home(X_AXIS);
  2334. axis_is_at_home(Y_AXIS);
  2335. plan_set_position_curposXYZE();
  2336. destination[X_AXIS] = current_position[X_AXIS];
  2337. destination[Y_AXIS] = current_position[Y_AXIS];
  2338. plan_buffer_line_destinationXYZE(feedrate/60);
  2339. feedrate = 0.0;
  2340. st_synchronize();
  2341. endstops_hit_on_purpose();
  2342. current_position[X_AXIS] = destination[X_AXIS];
  2343. current_position[Y_AXIS] = destination[Y_AXIS];
  2344. current_position[Z_AXIS] = destination[Z_AXIS];
  2345. }
  2346. #endif /* QUICK_HOME */
  2347. #ifdef TMC2130
  2348. if(home_x)
  2349. {
  2350. if (!calib)
  2351. homeaxis(X_AXIS);
  2352. else
  2353. tmc2130_home_calibrate(X_AXIS);
  2354. }
  2355. if(home_y)
  2356. {
  2357. if (!calib)
  2358. homeaxis(Y_AXIS);
  2359. else
  2360. tmc2130_home_calibrate(Y_AXIS);
  2361. }
  2362. #else //TMC2130
  2363. if(home_x) homeaxis(X_AXIS);
  2364. if(home_y) homeaxis(Y_AXIS);
  2365. #endif //TMC2130
  2366. if(home_x_axis && home_x_value != 0)
  2367. current_position[X_AXIS]=home_x_value+cs.add_homing[X_AXIS];
  2368. if(home_y_axis && home_y_value != 0)
  2369. current_position[Y_AXIS]=home_y_value+cs.add_homing[Y_AXIS];
  2370. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2371. #ifndef Z_SAFE_HOMING
  2372. if(home_z) {
  2373. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2374. raise_z_above(Z_RAISE_BEFORE_HOMING);
  2375. st_synchronize();
  2376. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2377. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
  2378. raise_z_above(MESH_HOME_Z_SEARCH);
  2379. st_synchronize();
  2380. if (!axis_known_position[X_AXIS]) homeaxis(X_AXIS);
  2381. if (!axis_known_position[Y_AXIS]) homeaxis(Y_AXIS);
  2382. // 1st mesh bed leveling measurement point, corrected.
  2383. world2machine_initialize();
  2384. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2385. world2machine_reset();
  2386. if (destination[Y_AXIS] < Y_MIN_POS)
  2387. destination[Y_AXIS] = Y_MIN_POS;
  2388. feedrate = homing_feedrate[X_AXIS] / 20;
  2389. enable_endstops(false);
  2390. #ifdef DEBUG_BUILD
  2391. SERIAL_ECHOLNPGM("plan_set_position()");
  2392. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2393. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2394. #endif
  2395. plan_set_position_curposXYZE();
  2396. #ifdef DEBUG_BUILD
  2397. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2398. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2399. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2400. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2401. #endif
  2402. plan_buffer_line_destinationXYZE(feedrate);
  2403. st_synchronize();
  2404. current_position[X_AXIS] = destination[X_AXIS];
  2405. current_position[Y_AXIS] = destination[Y_AXIS];
  2406. enable_endstops(true);
  2407. endstops_hit_on_purpose();
  2408. homeaxis(Z_AXIS);
  2409. #else // MESH_BED_LEVELING
  2410. homeaxis(Z_AXIS);
  2411. #endif // MESH_BED_LEVELING
  2412. }
  2413. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2414. if(home_all_axes) {
  2415. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2416. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2417. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2418. feedrate = XY_TRAVEL_SPEED/60;
  2419. current_position[Z_AXIS] = 0;
  2420. plan_set_position_curposXYZE();
  2421. plan_buffer_line_destinationXYZE(feedrate);
  2422. st_synchronize();
  2423. current_position[X_AXIS] = destination[X_AXIS];
  2424. current_position[Y_AXIS] = destination[Y_AXIS];
  2425. homeaxis(Z_AXIS);
  2426. }
  2427. // Let's see if X and Y are homed and probe is inside bed area.
  2428. if(home_z) {
  2429. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2430. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2431. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2432. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2433. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2434. current_position[Z_AXIS] = 0;
  2435. plan_set_position_curposXYZE();
  2436. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2437. feedrate = max_feedrate[Z_AXIS];
  2438. plan_buffer_line_destinationXYZE(feedrate);
  2439. st_synchronize();
  2440. homeaxis(Z_AXIS);
  2441. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2442. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2443. SERIAL_ECHO_START;
  2444. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2445. } else {
  2446. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2447. SERIAL_ECHO_START;
  2448. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2449. }
  2450. }
  2451. #endif // Z_SAFE_HOMING
  2452. #endif // Z_HOME_DIR < 0
  2453. if(home_z_axis && home_z_value != 0)
  2454. current_position[Z_AXIS]=home_z_value+cs.add_homing[Z_AXIS];
  2455. #ifdef ENABLE_AUTO_BED_LEVELING
  2456. if(home_z)
  2457. current_position[Z_AXIS] += cs.zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2458. #endif
  2459. // Set the planner and stepper routine positions.
  2460. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2461. // contains the machine coordinates.
  2462. plan_set_position_curposXYZE();
  2463. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2464. enable_endstops(false);
  2465. #endif
  2466. feedrate = saved_feedrate;
  2467. feedmultiply = l_feedmultiply;
  2468. previous_millis_cmd = _millis();
  2469. endstops_hit_on_purpose();
  2470. #ifndef MESH_BED_LEVELING
  2471. //-// Oct 2019 :: this part of code is (from) now probably un-compilable
  2472. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2473. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2474. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2475. lcd_adjust_z();
  2476. #endif
  2477. // Load the machine correction matrix
  2478. world2machine_initialize();
  2479. // and correct the current_position XY axes to match the transformed coordinate system.
  2480. world2machine_update_current();
  2481. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2482. if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
  2483. {
  2484. if (! home_z && mbl_was_active) {
  2485. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2486. mbl.active = true;
  2487. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2488. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2489. }
  2490. }
  2491. else
  2492. {
  2493. st_synchronize();
  2494. homing_flag = false;
  2495. }
  2496. #endif
  2497. if (farm_mode) { prusa_statistics(20); };
  2498. homing_flag = false;
  2499. #if 0
  2500. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2501. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2502. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2503. #endif
  2504. }
  2505. static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis)
  2506. {
  2507. #ifdef TMC2130
  2508. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
  2509. #else
  2510. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, true);
  2511. #endif //TMC2130
  2512. }
  2513. void adjust_bed_reset()
  2514. {
  2515. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
  2516. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT, 0);
  2517. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, 0);
  2518. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT, 0);
  2519. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR, 0);
  2520. }
  2521. //! @brief Calibrate XYZ
  2522. //! @param onlyZ if true, calibrate only Z axis
  2523. //! @param verbosity_level
  2524. //! @retval true Succeeded
  2525. //! @retval false Failed
  2526. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  2527. {
  2528. bool final_result = false;
  2529. #ifdef TMC2130
  2530. FORCE_HIGH_POWER_START;
  2531. #endif // TMC2130
  2532. FORCE_BL_ON_START;
  2533. // Only Z calibration?
  2534. if (!onlyZ)
  2535. {
  2536. setTargetBed(0);
  2537. setAllTargetHotends(0);
  2538. adjust_bed_reset(); //reset bed level correction
  2539. }
  2540. // Disable the default update procedure of the display. We will do a modal dialog.
  2541. lcd_update_enable(false);
  2542. // Let the planner use the uncorrected coordinates.
  2543. mbl.reset();
  2544. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2545. // the planner will not perform any adjustments in the XY plane.
  2546. // Wait for the motors to stop and update the current position with the absolute values.
  2547. world2machine_revert_to_uncorrected();
  2548. // Reset the baby step value applied without moving the axes.
  2549. babystep_reset();
  2550. // Mark all axes as in a need for homing.
  2551. memset(axis_known_position, 0, sizeof(axis_known_position));
  2552. // Home in the XY plane.
  2553. //set_destination_to_current();
  2554. int l_feedmultiply = setup_for_endstop_move();
  2555. lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
  2556. home_xy();
  2557. enable_endstops(false);
  2558. current_position[X_AXIS] += 5;
  2559. current_position[Y_AXIS] += 5;
  2560. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2561. st_synchronize();
  2562. // Let the user move the Z axes up to the end stoppers.
  2563. #ifdef TMC2130
  2564. if (calibrate_z_auto())
  2565. {
  2566. #else //TMC2130
  2567. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  2568. {
  2569. #endif //TMC2130
  2570. lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
  2571. if(onlyZ){
  2572. lcd_display_message_fullscreen_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1));
  2573. lcd_set_cursor(0, 3);
  2574. lcd_print(1);
  2575. lcd_puts_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2));
  2576. }else{
  2577. //lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2578. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2579. lcd_set_cursor(0, 2);
  2580. lcd_print(1);
  2581. lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2582. }
  2583. refresh_cmd_timeout();
  2584. #ifndef STEEL_SHEET
  2585. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  2586. {
  2587. lcd_wait_for_cool_down();
  2588. }
  2589. #endif //STEEL_SHEET
  2590. if(!onlyZ)
  2591. {
  2592. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2593. #ifdef STEEL_SHEET
  2594. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  2595. if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  2596. #endif //STEEL_SHEET
  2597. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2598. KEEPALIVE_STATE(IN_HANDLER);
  2599. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2600. lcd_set_cursor(0, 2);
  2601. lcd_print(1);
  2602. lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2603. }
  2604. bool endstops_enabled = enable_endstops(false);
  2605. current_position[Z_AXIS] -= 1; //move 1mm down with disabled endstop
  2606. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2607. st_synchronize();
  2608. // Move the print head close to the bed.
  2609. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2610. enable_endstops(true);
  2611. #ifdef TMC2130
  2612. tmc2130_home_enter(Z_AXIS_MASK);
  2613. #endif //TMC2130
  2614. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2615. st_synchronize();
  2616. #ifdef TMC2130
  2617. tmc2130_home_exit();
  2618. #endif //TMC2130
  2619. enable_endstops(endstops_enabled);
  2620. if ((st_get_position_mm(Z_AXIS) <= (MESH_HOME_Z_SEARCH + HOME_Z_SEARCH_THRESHOLD)) &&
  2621. (st_get_position_mm(Z_AXIS) >= (MESH_HOME_Z_SEARCH - HOME_Z_SEARCH_THRESHOLD)))
  2622. {
  2623. if (onlyZ)
  2624. {
  2625. clean_up_after_endstop_move(l_feedmultiply);
  2626. // Z only calibration.
  2627. // Load the machine correction matrix
  2628. world2machine_initialize();
  2629. // and correct the current_position to match the transformed coordinate system.
  2630. world2machine_update_current();
  2631. //FIXME
  2632. bool result = sample_mesh_and_store_reference();
  2633. if (result)
  2634. {
  2635. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  2636. // Shipped, the nozzle height has been set already. The user can start printing now.
  2637. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2638. final_result = true;
  2639. // babystep_apply();
  2640. }
  2641. }
  2642. else
  2643. {
  2644. // Reset the baby step value and the baby step applied flag.
  2645. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  2646. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  2647. // Complete XYZ calibration.
  2648. uint8_t point_too_far_mask = 0;
  2649. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  2650. clean_up_after_endstop_move(l_feedmultiply);
  2651. // Print head up.
  2652. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2653. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2654. st_synchronize();
  2655. //#ifndef NEW_XYZCAL
  2656. if (result >= 0)
  2657. {
  2658. #ifdef HEATBED_V2
  2659. sample_z();
  2660. #else //HEATBED_V2
  2661. point_too_far_mask = 0;
  2662. // Second half: The fine adjustment.
  2663. // Let the planner use the uncorrected coordinates.
  2664. mbl.reset();
  2665. world2machine_reset();
  2666. // Home in the XY plane.
  2667. int l_feedmultiply = setup_for_endstop_move();
  2668. home_xy();
  2669. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  2670. clean_up_after_endstop_move(l_feedmultiply);
  2671. // Print head up.
  2672. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2673. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2674. st_synchronize();
  2675. // if (result >= 0) babystep_apply();
  2676. #endif //HEATBED_V2
  2677. }
  2678. //#endif //NEW_XYZCAL
  2679. lcd_update_enable(true);
  2680. lcd_update(2);
  2681. lcd_bed_calibration_show_result(result, point_too_far_mask);
  2682. if (result >= 0)
  2683. {
  2684. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  2685. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2686. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  2687. final_result = true;
  2688. }
  2689. }
  2690. #ifdef TMC2130
  2691. tmc2130_home_exit();
  2692. #endif
  2693. }
  2694. else
  2695. {
  2696. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  2697. final_result = false;
  2698. }
  2699. }
  2700. else
  2701. {
  2702. // Timeouted.
  2703. }
  2704. lcd_update_enable(true);
  2705. #ifdef TMC2130
  2706. FORCE_HIGH_POWER_END;
  2707. #endif // TMC2130
  2708. FORCE_BL_ON_END;
  2709. return final_result;
  2710. }
  2711. void gcode_M114()
  2712. {
  2713. SERIAL_PROTOCOLPGM("X:");
  2714. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2715. SERIAL_PROTOCOLPGM(" Y:");
  2716. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2717. SERIAL_PROTOCOLPGM(" Z:");
  2718. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2719. SERIAL_PROTOCOLPGM(" E:");
  2720. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2721. SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X
  2722. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / cs.axis_steps_per_unit[X_AXIS]);
  2723. SERIAL_PROTOCOLPGM(" Y:");
  2724. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / cs.axis_steps_per_unit[Y_AXIS]);
  2725. SERIAL_PROTOCOLPGM(" Z:");
  2726. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / cs.axis_steps_per_unit[Z_AXIS]);
  2727. SERIAL_PROTOCOLPGM(" E:");
  2728. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / cs.axis_steps_per_unit[E_AXIS]);
  2729. SERIAL_PROTOCOLLN("");
  2730. }
  2731. //! extracted code to compute z_shift for M600 in case of filament change operation
  2732. //! requested from fsensors.
  2733. //! The function ensures, that the printhead lifts to at least 25mm above the heat bed
  2734. //! unlike the previous implementation, which was adding 25mm even when the head was
  2735. //! printing at e.g. 24mm height.
  2736. //! A safety margin of FILAMENTCHANGE_ZADD is added in all cases to avoid touching
  2737. //! the printout.
  2738. //! This function is templated to enable fast change of computation data type.
  2739. //! @return new z_shift value
  2740. template<typename T>
  2741. static T gcode_M600_filament_change_z_shift()
  2742. {
  2743. #ifdef FILAMENTCHANGE_ZADD
  2744. static_assert(Z_MAX_POS < (255 - FILAMENTCHANGE_ZADD), "Z-range too high, change the T type from uint8_t to uint16_t");
  2745. // avoid floating point arithmetics when not necessary - results in shorter code
  2746. T ztmp = T( current_position[Z_AXIS] );
  2747. T z_shift = 0;
  2748. if(ztmp < T(25)){
  2749. z_shift = T(25) - ztmp; // make sure to be at least 25mm above the heat bed
  2750. }
  2751. return z_shift + T(FILAMENTCHANGE_ZADD); // always move above printout
  2752. #else
  2753. return T(0);
  2754. #endif
  2755. }
  2756. static void gcode_M600(bool automatic, float x_position, float y_position, float z_shift, float e_shift, float /*e_shift_late*/)
  2757. {
  2758. st_synchronize();
  2759. float lastpos[4];
  2760. if (farm_mode)
  2761. {
  2762. prusa_statistics(22);
  2763. }
  2764. //First backup current position and settings
  2765. int feedmultiplyBckp = feedmultiply;
  2766. float HotendTempBckp = degTargetHotend(active_extruder);
  2767. int fanSpeedBckp = fanSpeed;
  2768. lastpos[X_AXIS] = current_position[X_AXIS];
  2769. lastpos[Y_AXIS] = current_position[Y_AXIS];
  2770. lastpos[Z_AXIS] = current_position[Z_AXIS];
  2771. lastpos[E_AXIS] = current_position[E_AXIS];
  2772. //Retract E
  2773. current_position[E_AXIS] += e_shift;
  2774. plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED);
  2775. st_synchronize();
  2776. //Lift Z
  2777. current_position[Z_AXIS] += z_shift;
  2778. plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED);
  2779. st_synchronize();
  2780. //Move XY to side
  2781. current_position[X_AXIS] = x_position;
  2782. current_position[Y_AXIS] = y_position;
  2783. plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED);
  2784. st_synchronize();
  2785. //Beep, manage nozzle heater and wait for user to start unload filament
  2786. if(!mmu_enabled) M600_wait_for_user(HotendTempBckp);
  2787. lcd_change_fil_state = 0;
  2788. // Unload filament
  2789. if (mmu_enabled) extr_unload(); //unload just current filament for multimaterial printers (used also in M702)
  2790. else unload_filament(); //unload filament for single material (used also in M702)
  2791. //finish moves
  2792. st_synchronize();
  2793. if (!mmu_enabled)
  2794. {
  2795. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2796. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"),
  2797. false, true); ////MSG_UNLOAD_SUCCESSFUL c=20 r=2
  2798. if (lcd_change_fil_state == 0)
  2799. {
  2800. lcd_clear();
  2801. lcd_set_cursor(0, 2);
  2802. lcd_puts_P(_T(MSG_PLEASE_WAIT));
  2803. current_position[X_AXIS] -= 100;
  2804. plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED);
  2805. st_synchronize();
  2806. lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
  2807. }
  2808. }
  2809. if (mmu_enabled)
  2810. {
  2811. if (!automatic) {
  2812. 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
  2813. mmu_M600_wait_and_beep();
  2814. if (saved_printing) {
  2815. lcd_clear();
  2816. lcd_set_cursor(0, 2);
  2817. lcd_puts_P(_T(MSG_PLEASE_WAIT));
  2818. mmu_command(MmuCmd::R0);
  2819. manage_response(false, false);
  2820. }
  2821. }
  2822. mmu_M600_load_filament(automatic, HotendTempBckp);
  2823. }
  2824. else
  2825. M600_load_filament();
  2826. if (!automatic) M600_check_state(HotendTempBckp);
  2827. lcd_update_enable(true);
  2828. //Not let's go back to print
  2829. fanSpeed = fanSpeedBckp;
  2830. //Feed a little of filament to stabilize pressure
  2831. if (!automatic)
  2832. {
  2833. current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
  2834. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED);
  2835. }
  2836. //Move XY back
  2837. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  2838. FILAMENTCHANGE_XYFEED, active_extruder);
  2839. st_synchronize();
  2840. //Move Z back
  2841. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS],
  2842. FILAMENTCHANGE_ZFEED, active_extruder);
  2843. st_synchronize();
  2844. //Set E position to original
  2845. plan_set_e_position(lastpos[E_AXIS]);
  2846. memcpy(current_position, lastpos, sizeof(lastpos));
  2847. memcpy(destination, current_position, sizeof(current_position));
  2848. //Recover feed rate
  2849. feedmultiply = feedmultiplyBckp;
  2850. char cmd[9];
  2851. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2852. enquecommand(cmd);
  2853. #ifdef IR_SENSOR
  2854. //this will set fsensor_watch_autoload to correct value and prevent possible M701 gcode enqueuing when M600 is finished
  2855. fsensor_check_autoload();
  2856. #endif //IR_SENSOR
  2857. lcd_setstatuspgm(_T(WELCOME_MSG));
  2858. custom_message_type = CustomMsg::Status;
  2859. }
  2860. void gcode_M701()
  2861. {
  2862. printf_P(PSTR("gcode_M701 begin\n"));
  2863. if (farm_mode)
  2864. {
  2865. prusa_statistics(22);
  2866. }
  2867. if (mmu_enabled)
  2868. {
  2869. extr_adj(tmp_extruder);//loads current extruder
  2870. mmu_extruder = tmp_extruder;
  2871. }
  2872. else
  2873. {
  2874. enable_z();
  2875. custom_message_type = CustomMsg::FilamentLoading;
  2876. #ifdef FSENSOR_QUALITY
  2877. fsensor_oq_meassure_start(40);
  2878. #endif //FSENSOR_QUALITY
  2879. lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
  2880. current_position[E_AXIS] += 40;
  2881. plan_buffer_line_curposXYZE(400 / 60); //fast sequence
  2882. st_synchronize();
  2883. raise_z_above(MIN_Z_FOR_LOAD, false);
  2884. current_position[E_AXIS] += 30;
  2885. plan_buffer_line_curposXYZE(400 / 60); //fast sequence
  2886. load_filament_final_feed(); //slow sequence
  2887. st_synchronize();
  2888. Sound_MakeCustom(50,500,false);
  2889. if (!farm_mode && loading_flag) {
  2890. lcd_load_filament_color_check();
  2891. }
  2892. lcd_update_enable(true);
  2893. lcd_update(2);
  2894. lcd_setstatuspgm(_T(WELCOME_MSG));
  2895. disable_z();
  2896. loading_flag = false;
  2897. custom_message_type = CustomMsg::Status;
  2898. #ifdef FSENSOR_QUALITY
  2899. fsensor_oq_meassure_stop();
  2900. if (!fsensor_oq_result())
  2901. {
  2902. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  2903. lcd_update_enable(true);
  2904. lcd_update(2);
  2905. if (disable)
  2906. fsensor_disable();
  2907. }
  2908. #endif //FSENSOR_QUALITY
  2909. }
  2910. }
  2911. /**
  2912. * @brief Get serial number from 32U2 processor
  2913. *
  2914. * Typical format of S/N is:CZPX0917X003XC13518
  2915. *
  2916. * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
  2917. *
  2918. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  2919. * reply is transmitted to serial port 1 character by character.
  2920. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  2921. * it is interrupted, so less, or no characters are retransmitted, only newline character is send
  2922. * in any case.
  2923. */
  2924. static void gcode_PRUSA_SN()
  2925. {
  2926. uint8_t selectedSerialPort_bak = selectedSerialPort;
  2927. char SN[20];
  2928. selectedSerialPort = 0;
  2929. SERIAL_ECHOLNRPGM(PSTR(";S"));
  2930. uint8_t numbersRead = 0;
  2931. ShortTimer timeout;
  2932. timeout.start();
  2933. while (numbersRead < (sizeof(SN) - 1)) {
  2934. if (MSerial.available() > 0) {
  2935. SN[numbersRead] = MSerial.read();
  2936. numbersRead++;
  2937. }
  2938. if (timeout.expired(100u)) break;
  2939. }
  2940. SN[numbersRead] = 0;
  2941. selectedSerialPort = selectedSerialPort_bak;
  2942. SERIAL_ECHOLN(SN);
  2943. }
  2944. //! Detection of faulty RAMBo 1.1b boards equipped with bigger capacitors
  2945. //! at the TACH_1 pin, which causes bad detection of print fan speed.
  2946. //! Warning: This function is not to be used by ordinary users, it is here only for automated testing purposes,
  2947. //! it may even interfere with other functions of the printer! You have been warned!
  2948. //! The test idea is to measure the time necessary to charge the capacitor.
  2949. //! So the algorithm is as follows:
  2950. //! 1. Set TACH_1 pin to INPUT mode and LOW
  2951. //! 2. Wait a few ms
  2952. //! 3. disable interrupts and measure the time until the TACH_1 pin reaches HIGH
  2953. //! Repeat 1.-3. several times
  2954. //! Good RAMBo's times are in the range of approx. 260-320 us
  2955. //! Bad RAMBo's times are approx. 260-1200 us
  2956. //! So basically we are interested in maximum time, the minima are mostly the same.
  2957. //! May be that's why the bad RAMBo's still produce some fan RPM reading, but not corresponding to reality
  2958. static void gcode_PRUSA_BadRAMBoFanTest(){
  2959. //printf_P(PSTR("Enter fan pin test\n"));
  2960. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  2961. fan_measuring = false; // prevent EXTINT7 breaking into the measurement
  2962. unsigned long tach1max = 0;
  2963. uint8_t tach1cntr = 0;
  2964. for( /* nothing */; tach1cntr < 100; ++tach1cntr){
  2965. //printf_P(PSTR("TACH_1: %d\n"), tach1cntr);
  2966. SET_OUTPUT(TACH_1);
  2967. WRITE(TACH_1, LOW);
  2968. _delay(20); // the delay may be lower
  2969. unsigned long tachMeasure = _micros();
  2970. cli();
  2971. SET_INPUT(TACH_1);
  2972. // just wait brutally in an endless cycle until we reach HIGH
  2973. // if this becomes a problem it may be improved to non-endless cycle
  2974. while( READ(TACH_1) == 0 ) ;
  2975. sei();
  2976. tachMeasure = _micros() - tachMeasure;
  2977. if( tach1max < tachMeasure )
  2978. tach1max = tachMeasure;
  2979. //printf_P(PSTR("TACH_1: %d: capacitor check time=%lu us\n"), (int)tach1cntr, tachMeasure);
  2980. }
  2981. //printf_P(PSTR("TACH_1: max=%lu us\n"), tach1max);
  2982. SERIAL_PROTOCOLPGM("RAMBo FAN ");
  2983. if( tach1max > 500 ){
  2984. // bad RAMBo
  2985. SERIAL_PROTOCOLLNPGM("BAD");
  2986. } else {
  2987. SERIAL_PROTOCOLLNPGM("OK");
  2988. }
  2989. // cleanup after the test function
  2990. SET_INPUT(TACH_1);
  2991. WRITE(TACH_1, HIGH);
  2992. #endif
  2993. }
  2994. // G92 - Set current position to coordinates given
  2995. static void gcode_G92()
  2996. {
  2997. bool codes[NUM_AXIS];
  2998. float values[NUM_AXIS];
  2999. // Check which axes need to be set
  3000. for(uint8_t i = 0; i < NUM_AXIS; ++i)
  3001. {
  3002. codes[i] = code_seen(axis_codes[i]);
  3003. if(codes[i])
  3004. values[i] = code_value();
  3005. }
  3006. if((codes[E_AXIS] && values[E_AXIS] == 0) &&
  3007. (!codes[X_AXIS] && !codes[Y_AXIS] && !codes[Z_AXIS]))
  3008. {
  3009. // As a special optimization, when _just_ clearing the E position
  3010. // we schedule a flag asynchronously along with the next block to
  3011. // reset the starting E position instead of stopping the planner
  3012. current_position[E_AXIS] = 0;
  3013. plan_reset_next_e();
  3014. }
  3015. else
  3016. {
  3017. // In any other case we're forced to synchronize
  3018. st_synchronize();
  3019. for(uint8_t i = 0; i < 3; ++i)
  3020. {
  3021. if(codes[i])
  3022. current_position[i] = values[i] + cs.add_homing[i];
  3023. }
  3024. if(codes[E_AXIS])
  3025. current_position[E_AXIS] = values[E_AXIS];
  3026. // Set all at once
  3027. plan_set_position_curposXYZE();
  3028. }
  3029. }
  3030. #ifdef EXTENDED_CAPABILITIES_REPORT
  3031. static void cap_line(const char* name, bool ena = false) {
  3032. printf_P(PSTR("Cap:%S:%c\n"), name, (char)ena + '0');
  3033. }
  3034. static void extended_capabilities_report()
  3035. {
  3036. cap_line(PSTR("AUTOREPORT_TEMP"), ENABLED(AUTO_REPORT_TEMPERATURES));
  3037. //@todo
  3038. }
  3039. #endif //EXTENDED_CAPABILITIES_REPORT
  3040. #ifdef BACKLASH_X
  3041. extern uint8_t st_backlash_x;
  3042. #endif //BACKLASH_X
  3043. #ifdef BACKLASH_Y
  3044. extern uint8_t st_backlash_y;
  3045. #endif //BACKLASH_Y
  3046. //! \ingroup marlin_main
  3047. //! @brief Parse and process commands
  3048. //!
  3049. //! look here for descriptions of G-codes: https://reprap.org/wiki/G-code
  3050. //!
  3051. //!
  3052. //! Implemented Codes
  3053. //! -------------------
  3054. //!
  3055. //! * _This list is not updated. Current documentation is maintained inside the process_cmd function._
  3056. //!
  3057. //!@n PRUSA CODES
  3058. //!@n P F - Returns FW versions
  3059. //!@n P R - Returns revision of printer
  3060. //!
  3061. //!@n G0 -> G1
  3062. //!@n G1 - Coordinated Movement X Y Z E
  3063. //!@n G2 - CW ARC
  3064. //!@n G3 - CCW ARC
  3065. //!@n G4 - Dwell S<seconds> or P<milliseconds>
  3066. //!@n G10 - retract filament according to settings of M207
  3067. //!@n G11 - retract recover filament according to settings of M208
  3068. //!@n G28 - Home all Axes
  3069. //!@n G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  3070. //!@n G30 - Single Z Probe, probes bed at current XY location.
  3071. //!@n G31 - Dock sled (Z_PROBE_SLED only)
  3072. //!@n G32 - Undock sled (Z_PROBE_SLED only)
  3073. //!@n G80 - Automatic mesh bed leveling
  3074. //!@n G81 - Print bed profile
  3075. //!@n G90 - Use Absolute Coordinates
  3076. //!@n G91 - Use Relative Coordinates
  3077. //!@n G92 - Set current position to coordinates given
  3078. //!
  3079. //!@n M Codes
  3080. //!@n M0 - Unconditional stop - Wait for user to press a button on the LCD
  3081. //!@n M1 - Same as M0
  3082. //!@n M17 - Enable/Power all stepper motors
  3083. //!@n M18 - Disable all stepper motors; same as M84
  3084. //!@n M20 - List SD card
  3085. //!@n M21 - Init SD card
  3086. //!@n M22 - Release SD card
  3087. //!@n M23 - Select SD file (M23 filename.g)
  3088. //!@n M24 - Start/resume SD print
  3089. //!@n M25 - Pause SD print
  3090. //!@n M26 - Set SD position in bytes (M26 S12345)
  3091. //!@n M27 - Report SD print status
  3092. //!@n M28 - Start SD write (M28 filename.g)
  3093. //!@n M29 - Stop SD write
  3094. //!@n M30 - Delete file from SD (M30 filename.g)
  3095. //!@n M31 - Output time since last M109 or SD card start to serial
  3096. //!@n M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  3097. //! syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  3098. //! Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  3099. //! The '#' is necessary when calling from within sd files, as it stops buffer prereading
  3100. //!@n M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
  3101. //!@n M73 - Show percent done and print time remaining
  3102. //!@n M80 - Turn on Power Supply
  3103. //!@n M81 - Turn off Power Supply
  3104. //!@n M82 - Set E codes absolute (default)
  3105. //!@n M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  3106. //!@n M84 - Disable steppers until next move,
  3107. //! or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  3108. //!@n M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  3109. //!@n M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
  3110. //!@n M92 - Set axis_steps_per_unit - same syntax as G92
  3111. //!@n M104 - Set extruder target temp
  3112. //!@n M105 - Read current temp
  3113. //!@n M106 - Fan on
  3114. //!@n M107 - Fan off
  3115. //!@n M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  3116. //! Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  3117. //! IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  3118. //!@n M112 - Emergency stop
  3119. //!@n M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  3120. //!@n M114 - Output current position to serial port
  3121. //!@n M115 - Capabilities string
  3122. //!@n M117 - display message
  3123. //!@n M119 - Output Endstop status to serial port
  3124. //!@n M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  3125. //!@n M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  3126. //!@n M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  3127. //!@n M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  3128. //!@n M140 - Set bed target temp
  3129. //!@n M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
  3130. //!@n M155 - Automatically send temperatures
  3131. //!@n M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  3132. //! Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  3133. //!@n M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  3134. //!@n M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  3135. //!@n M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  3136. //!@n M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  3137. //!@n M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  3138. //!@n M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
  3139. //!@n M206 - set additional homing offset
  3140. //!@n M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  3141. //!@n M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  3142. //!@n M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  3143. //!@n M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  3144. //!@n M220 S<factor in percent>- set speed factor override percentage
  3145. //!@n M221 S<factor in percent>- set extrude factor override percentage
  3146. //!@n M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  3147. //!@n M240 - Trigger a camera to take a photograph
  3148. //!@n M250 - Set LCD contrast C<contrast value> (value 0..63)
  3149. //!@n M280 - set servo position absolute. P: servo index, S: angle or microseconds
  3150. //!@n M300 - Play beep sound S<frequency Hz> P<duration ms>
  3151. //!@n M301 - Set PID parameters P I and D
  3152. //!@n M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  3153. //!@n M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  3154. //!@n M304 - Set bed PID parameters P I and D
  3155. //!@n M400 - Finish all moves
  3156. //!@n M401 - Lower z-probe if present
  3157. //!@n M402 - Raise z-probe if present
  3158. //!@n M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  3159. //!@n M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  3160. //!@n M406 - Turn off Filament Sensor extrusion control
  3161. //!@n M407 - Displays measured filament diameter
  3162. //!@n M500 - stores parameters in EEPROM
  3163. //!@n M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  3164. //!@n M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  3165. //!@n M503 - print the current settings (from memory not from EEPROM)
  3166. //!@n M509 - force language selection on next restart
  3167. //!@n M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  3168. //!@n M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  3169. //!@n M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  3170. //!@n M860 - Wait for PINDA thermistor to reach target temperature.
  3171. //!@n M861 - Set / Read PINDA temperature compensation offsets
  3172. //!@n M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  3173. //!@n M907 - Set digital trimpot motor current using axis codes.
  3174. //!@n M908 - Control digital trimpot directly.
  3175. //!@n M350 - Set microstepping mode.
  3176. //!@n M351 - Toggle MS1 MS2 pins directly.
  3177. //!
  3178. //!@n M928 - Start SD logging (M928 filename.g) - ended by M29
  3179. //!@n M999 - Restart after being stopped by error
  3180. //! <br><br>
  3181. /** @defgroup marlin_main Marlin main */
  3182. /** \ingroup GCodes */
  3183. //! _This is a list of currently implemented G Codes in Prusa firmware (dynamically generated from doxygen)._
  3184. /**
  3185. They are shown in order of appearance in the code.
  3186. There are reasons why some G Codes aren't in numerical order.
  3187. */
  3188. void process_commands()
  3189. {
  3190. #ifdef FANCHECK
  3191. if(fan_check_error == EFCE_DETECTED){
  3192. fan_check_error = EFCE_REPORTED;
  3193. // SERIAL_PROTOCOLLNRPGM(MSG_OCTOPRINT_PAUSED);
  3194. lcd_pause_print();
  3195. cmdqueue_serial_disabled = true;
  3196. }
  3197. #endif
  3198. if (!buflen) return; //empty command
  3199. #ifdef FILAMENT_RUNOUT_SUPPORT
  3200. SET_INPUT(FR_SENS);
  3201. #endif
  3202. #ifdef CMDBUFFER_DEBUG
  3203. SERIAL_ECHOPGM("Processing a GCODE command: ");
  3204. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  3205. SERIAL_ECHOLNPGM("");
  3206. SERIAL_ECHOPGM("In cmdqueue: ");
  3207. SERIAL_ECHO(buflen);
  3208. SERIAL_ECHOLNPGM("");
  3209. #endif /* CMDBUFFER_DEBUG */
  3210. unsigned long codenum; //throw away variable
  3211. char *starpos = NULL;
  3212. #ifdef ENABLE_AUTO_BED_LEVELING
  3213. float x_tmp, y_tmp, z_tmp, real_z;
  3214. #endif
  3215. // PRUSA GCODES
  3216. KEEPALIVE_STATE(IN_HANDLER);
  3217. #ifdef SNMM
  3218. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  3219. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  3220. int8_t SilentMode;
  3221. #endif
  3222. /*!
  3223. ---------------------------------------------------------------------------------
  3224. ### M117 - Display Message <a href="https://reprap.org/wiki/G-code#M117:_Display_Message">M117: Display Message</a>
  3225. This causes the given message to be shown in the status line on an attached LCD.
  3226. It is processed early as to allow printing messages that contain G, M, N or T.
  3227. ---------------------------------------------------------------------------------
  3228. ### Special internal commands
  3229. These are used by internal functions to process certain actions in the right order. Some of these are also usable by the user.
  3230. They are processed early as the commands are complex (strings).
  3231. These are only available on the MK3(S) as these require TMC2130 drivers:
  3232. - CRASH DETECTED
  3233. - CRASH RECOVER
  3234. - CRASH_CANCEL
  3235. - TMC_SET_WAVE
  3236. - TMC_SET_STEP
  3237. - TMC_SET_CHOP
  3238. */
  3239. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  3240. starpos = (strchr(strchr_pointer + 5, '*'));
  3241. if (starpos != NULL)
  3242. *(starpos) = '\0';
  3243. lcd_setstatus(strchr_pointer + 5);
  3244. }
  3245. #ifdef TMC2130
  3246. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  3247. {
  3248. // ### CRASH_DETECTED - TMC2130
  3249. // ---------------------------------
  3250. if(code_seen("CRASH_DETECTED"))
  3251. {
  3252. uint8_t mask = 0;
  3253. if (code_seen('X')) mask |= X_AXIS_MASK;
  3254. if (code_seen('Y')) mask |= Y_AXIS_MASK;
  3255. crashdet_detected(mask);
  3256. }
  3257. // ### CRASH_RECOVER - TMC2130
  3258. // ----------------------------------
  3259. else if(code_seen("CRASH_RECOVER"))
  3260. crashdet_recover();
  3261. // ### CRASH_CANCEL - TMC2130
  3262. // ----------------------------------
  3263. else if(code_seen("CRASH_CANCEL"))
  3264. crashdet_cancel();
  3265. }
  3266. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  3267. {
  3268. // ### TMC_SET_WAVE_
  3269. // --------------------
  3270. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
  3271. {
  3272. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3273. axis = (axis == 'E')?3:(axis - 'X');
  3274. if (axis < 4)
  3275. {
  3276. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  3277. tmc2130_set_wave(axis, 247, fac);
  3278. }
  3279. }
  3280. // ### TMC_SET_STEP_
  3281. // ------------------
  3282. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
  3283. {
  3284. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3285. axis = (axis == 'E')?3:(axis - 'X');
  3286. if (axis < 4)
  3287. {
  3288. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  3289. uint16_t res = tmc2130_get_res(axis);
  3290. tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
  3291. }
  3292. }
  3293. // ### TMC_SET_CHOP_
  3294. // -------------------
  3295. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
  3296. {
  3297. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3298. axis = (axis == 'E')?3:(axis - 'X');
  3299. if (axis < 4)
  3300. {
  3301. uint8_t chop0 = tmc2130_chopper_config[axis].toff;
  3302. uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
  3303. uint8_t chop2 = tmc2130_chopper_config[axis].hend;
  3304. uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
  3305. char* str_end = 0;
  3306. if (CMDBUFFER_CURRENT_STRING[14])
  3307. {
  3308. chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
  3309. if (str_end && *str_end)
  3310. {
  3311. chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
  3312. if (str_end && *str_end)
  3313. {
  3314. chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
  3315. if (str_end && *str_end)
  3316. chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
  3317. }
  3318. }
  3319. }
  3320. tmc2130_chopper_config[axis].toff = chop0;
  3321. tmc2130_chopper_config[axis].hstr = chop1 & 7;
  3322. tmc2130_chopper_config[axis].hend = chop2 & 15;
  3323. tmc2130_chopper_config[axis].tbl = chop3 & 3;
  3324. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  3325. //printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
  3326. }
  3327. }
  3328. }
  3329. #ifdef BACKLASH_X
  3330. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
  3331. {
  3332. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  3333. st_backlash_x = bl;
  3334. printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
  3335. }
  3336. #endif //BACKLASH_X
  3337. #ifdef BACKLASH_Y
  3338. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
  3339. {
  3340. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  3341. st_backlash_y = bl;
  3342. printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
  3343. }
  3344. #endif //BACKLASH_Y
  3345. #endif //TMC2130
  3346. else if(code_seen("PRUSA")){
  3347. /*!
  3348. ---------------------------------------------------------------------------------
  3349. ### PRUSA - Internal command set <a href="https://reprap.org/wiki/G-code#G98:_Activate_farm_mode">G98: Activate farm mode - Notes</a>
  3350. Set of internal PRUSA commands
  3351. #### Usage
  3352. PRUSA [ Ping | PRN | FAN | fn | thx | uvlo | MMURES | RESET | fv | M28 | SN | Fir | Rev | Lang | Lz | Beat | FR ]
  3353. #### Parameters
  3354. - `Ping`
  3355. - `PRN` - Prints revision of the printer
  3356. - `FAN` - Prints fan details
  3357. - `fn` - Prints farm no.
  3358. - `thx`
  3359. - `uvlo`
  3360. - `MMURES` - Reset MMU
  3361. - `RESET` - (Careful!)
  3362. - `fv` - ?
  3363. - `M28`
  3364. - `SN`
  3365. - `Fir` - Prints firmware version
  3366. - `Rev`- Prints filament size, elelectronics, nozzle type
  3367. - `Lang` - Reset the language
  3368. - `Lz`
  3369. - `Beat` - Kick farm link timer
  3370. - `FR` - Full factory reset
  3371. - `nozzle set <diameter>` - set nozzle diameter (farm mode only), e.g. `PRUSA nozzle set 0.4`
  3372. - `nozzle D<diameter>` - check the nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle D0.4`
  3373. - `nozzle` - prints nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle`
  3374. */
  3375. if (code_seen("Ping")) { // PRUSA Ping
  3376. if (farm_mode) {
  3377. PingTime = _millis();
  3378. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  3379. }
  3380. }
  3381. else if (code_seen("PRN")) { // PRUSA PRN
  3382. printf_P(_N("%d"), status_number);
  3383. } else if( code_seen("FANPINTST") ){
  3384. gcode_PRUSA_BadRAMBoFanTest();
  3385. }else if (code_seen("FAN")) { // PRUSA FAN
  3386. printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
  3387. }else if (code_seen("fn")) { // PRUSA fn
  3388. if (farm_mode) {
  3389. printf_P(_N("%d"), farm_no);
  3390. }
  3391. else {
  3392. puts_P(_N("Not in farm mode."));
  3393. }
  3394. }
  3395. else if (code_seen("thx")) // PRUSA thx
  3396. {
  3397. no_response = false;
  3398. }
  3399. else if (code_seen("uvlo")) // PRUSA uvlo
  3400. {
  3401. eeprom_update_byte((uint8_t*)EEPROM_UVLO,0);
  3402. enquecommand_P(PSTR("M24"));
  3403. }
  3404. else if (code_seen("MMURES")) // PRUSA MMURES
  3405. {
  3406. mmu_reset();
  3407. }
  3408. else if (code_seen("RESET")) { // PRUSA RESET
  3409. // careful!
  3410. if (farm_mode) {
  3411. #if (defined(WATCHDOG) && (MOTHERBOARD == BOARD_EINSY_1_0a))
  3412. boot_app_magic = BOOT_APP_MAGIC;
  3413. boot_app_flags = BOOT_APP_FLG_RUN;
  3414. softReset();
  3415. #else //WATCHDOG
  3416. asm volatile("jmp 0x3E000");
  3417. #endif //WATCHDOG
  3418. }
  3419. else {
  3420. MYSERIAL.println("Not in farm mode.");
  3421. }
  3422. }else if (code_seen("fv")) { // PRUSA fv
  3423. // get file version
  3424. #ifdef SDSUPPORT
  3425. card.openFile(strchr_pointer + 3,true);
  3426. while (true) {
  3427. uint16_t readByte = card.get();
  3428. MYSERIAL.write(readByte);
  3429. if (readByte=='\n') {
  3430. break;
  3431. }
  3432. }
  3433. card.closefile();
  3434. #endif // SDSUPPORT
  3435. } else if (code_seen("M28")) { // PRUSA M28
  3436. trace();
  3437. prusa_sd_card_upload = true;
  3438. card.openFile(strchr_pointer+4,false);
  3439. } else if (code_seen("SN")) { // PRUSA SN
  3440. gcode_PRUSA_SN();
  3441. } else if(code_seen("Fir")){ // PRUSA Fir
  3442. SERIAL_PROTOCOLLN(FW_VERSION_FULL);
  3443. } else if(code_seen("Rev")){ // PRUSA Rev
  3444. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  3445. } else if(code_seen("Lang")) { // PRUSA Lang
  3446. lang_reset();
  3447. } else if(code_seen("Lz")) { // PRUSA Lz
  3448. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  3449. } else if(code_seen("Beat")) { // PRUSA Beat
  3450. // Kick farm link timer
  3451. kicktime = _millis();
  3452. } else if(code_seen("FR")) { // PRUSA FR
  3453. // Factory full reset
  3454. factory_reset(0);
  3455. } else if(code_seen("MBL")) { // PRUSA MBL
  3456. // Change the MBL status without changing the logical Z position.
  3457. if(code_seen("V")) {
  3458. bool value = code_value_short();
  3459. st_synchronize();
  3460. if(value != mbl.active) {
  3461. mbl.active = value;
  3462. // Use plan_set_z_position to reset the physical values
  3463. plan_set_z_position(current_position[Z_AXIS]);
  3464. }
  3465. }
  3466. //-//
  3467. /*
  3468. } else if(code_seen("rrr")) {
  3469. MYSERIAL.println("=== checking ===");
  3470. MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_CHECK_MODE),DEC);
  3471. MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER),DEC);
  3472. MYSERIAL.println(eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM),DEC);
  3473. MYSERIAL.println(farm_mode,DEC);
  3474. MYSERIAL.println(eCheckMode,DEC);
  3475. } else if(code_seen("www")) {
  3476. MYSERIAL.println("=== @ FF ===");
  3477. eeprom_update_byte((uint8_t*)EEPROM_CHECK_MODE,0xFF);
  3478. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,0xFF);
  3479. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,0xFFFF);
  3480. */
  3481. } else if (code_seen("nozzle")) { // PRUSA nozzle
  3482. uint16_t nDiameter;
  3483. if(code_seen('D'))
  3484. {
  3485. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  3486. nozzle_diameter_check(nDiameter);
  3487. }
  3488. else if(code_seen("set") && farm_mode)
  3489. {
  3490. strchr_pointer++; // skip 1st char (~ 's')
  3491. strchr_pointer++; // skip 2nd char (~ 'e')
  3492. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  3493. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
  3494. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
  3495. }
  3496. else SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
  3497. //-// !!! SupportMenu
  3498. /*
  3499. // musi byt PRED "PRUSA model"
  3500. } else if (code_seen("smodel")) { //! PRUSA smodel
  3501. size_t nOffset;
  3502. // ! -> "l"
  3503. strchr_pointer+=5*sizeof(*strchr_pointer); // skip 1st - 5th char (~ 'smode')
  3504. nOffset=strspn(strchr_pointer+1," \t\n\r\v\f");
  3505. if(*(strchr_pointer+1+nOffset))
  3506. printer_smodel_check(strchr_pointer);
  3507. else SERIAL_PROTOCOLLN(PRINTER_NAME);
  3508. } else if (code_seen("model")) { //! PRUSA model
  3509. uint16_t nPrinterModel;
  3510. strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'mode')
  3511. nPrinterModel=(uint16_t)code_value_long();
  3512. if(nPrinterModel!=0)
  3513. printer_model_check(nPrinterModel);
  3514. else SERIAL_PROTOCOLLN(PRINTER_TYPE);
  3515. } else if (code_seen("version")) { //! PRUSA version
  3516. strchr_pointer+=7*sizeof(*strchr_pointer); // skip 1st - 7th char (~ 'version')
  3517. while(*strchr_pointer==' ') // skip leading spaces
  3518. strchr_pointer++;
  3519. if(*strchr_pointer!=0)
  3520. fw_version_check(strchr_pointer);
  3521. else SERIAL_PROTOCOLLN(FW_VERSION);
  3522. } else if (code_seen("gcode")) { //! PRUSA gcode
  3523. uint16_t nGcodeLevel;
  3524. strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'gcod')
  3525. nGcodeLevel=(uint16_t)code_value_long();
  3526. if(nGcodeLevel!=0)
  3527. gcode_level_check(nGcodeLevel);
  3528. else SERIAL_PROTOCOLLN(GCODE_LEVEL);
  3529. */
  3530. }
  3531. //else if (code_seen('Cal')) {
  3532. // lcd_calibration();
  3533. // }
  3534. }
  3535. // This prevents reading files with "^" in their names.
  3536. // Since it is unclear, if there is some usage of this construct,
  3537. // it will be deprecated in 3.9 alpha a possibly completely removed in the future:
  3538. // else if (code_seen('^')) {
  3539. // // nothing, this is a version line
  3540. // }
  3541. else if(code_seen('G'))
  3542. {
  3543. gcode_in_progress = (int)code_value();
  3544. // printf_P(_N("BEGIN G-CODE=%u\n"), gcode_in_progress);
  3545. switch (gcode_in_progress)
  3546. {
  3547. /*!
  3548. ---------------------------------------------------------------------------------
  3549. # G Codes
  3550. ### G0, G1 - Coordinated movement X Y Z E <a href="https://reprap.org/wiki/G-code#G0_.26_G1:_Move">G0 & G1: Move</a>
  3551. In Prusa Firmware G0 and G1 are the same.
  3552. #### Usage
  3553. G0 [ X | Y | Z | E | F | S ]
  3554. G1 [ X | Y | Z | E | F | S ]
  3555. #### Parameters
  3556. - `X` - The position to move to on the X axis
  3557. - `Y` - The position to move to on the Y axis
  3558. - `Z` - The position to move to on the Z axis
  3559. - `E` - The amount to extrude between the starting point and ending point
  3560. - `F` - The feedrate per minute of the move between the starting point and ending point (if supplied)
  3561. */
  3562. case 0: // G0 -> G1
  3563. case 1: // G1
  3564. if(Stopped == false) {
  3565. #ifdef FILAMENT_RUNOUT_SUPPORT
  3566. if(READ(FR_SENS)){
  3567. int feedmultiplyBckp=feedmultiply;
  3568. float target[4];
  3569. float lastpos[4];
  3570. target[X_AXIS]=current_position[X_AXIS];
  3571. target[Y_AXIS]=current_position[Y_AXIS];
  3572. target[Z_AXIS]=current_position[Z_AXIS];
  3573. target[E_AXIS]=current_position[E_AXIS];
  3574. lastpos[X_AXIS]=current_position[X_AXIS];
  3575. lastpos[Y_AXIS]=current_position[Y_AXIS];
  3576. lastpos[Z_AXIS]=current_position[Z_AXIS];
  3577. lastpos[E_AXIS]=current_position[E_AXIS];
  3578. //retract by E
  3579. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  3580. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3581. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  3582. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  3583. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  3584. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  3585. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  3586. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  3587. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3588. //finish moves
  3589. st_synchronize();
  3590. //disable extruder steppers so filament can be removed
  3591. disable_e0();
  3592. disable_e1();
  3593. disable_e2();
  3594. _delay(100);
  3595. //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
  3596. uint8_t cnt=0;
  3597. int counterBeep = 0;
  3598. lcd_wait_interact();
  3599. while(!lcd_clicked()){
  3600. cnt++;
  3601. manage_heater();
  3602. manage_inactivity(true);
  3603. //lcd_update(0);
  3604. if(cnt==0)
  3605. {
  3606. #if BEEPER > 0
  3607. if (counterBeep== 500){
  3608. counterBeep = 0;
  3609. }
  3610. SET_OUTPUT(BEEPER);
  3611. if (counterBeep== 0){
  3612. if(eSoundMode!=e_SOUND_MODE_SILENT)
  3613. WRITE(BEEPER,HIGH);
  3614. }
  3615. if (counterBeep== 20){
  3616. WRITE(BEEPER,LOW);
  3617. }
  3618. counterBeep++;
  3619. #else
  3620. #endif
  3621. }
  3622. }
  3623. WRITE(BEEPER,LOW);
  3624. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3625. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3626. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3627. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3628. lcd_change_fil_state = 0;
  3629. lcd_loading_filament();
  3630. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  3631. lcd_change_fil_state = 0;
  3632. lcd_alright();
  3633. switch(lcd_change_fil_state){
  3634. case 2:
  3635. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3636. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3637. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3638. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3639. lcd_loading_filament();
  3640. break;
  3641. case 3:
  3642. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3643. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3644. lcd_loading_color();
  3645. break;
  3646. default:
  3647. lcd_change_success();
  3648. break;
  3649. }
  3650. }
  3651. target[E_AXIS]+= 5;
  3652. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3653. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  3654. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3655. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3656. //plan_set_e_position(current_position[E_AXIS]);
  3657. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  3658. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  3659. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  3660. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  3661. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  3662. plan_set_e_position(lastpos[E_AXIS]);
  3663. feedmultiply=feedmultiplyBckp;
  3664. char cmd[9];
  3665. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  3666. enquecommand(cmd);
  3667. }
  3668. #endif
  3669. get_coordinates(); // For X Y Z E F
  3670. // When recovering from a previous print move, restore the originally
  3671. // calculated target position on the first USB/SD command. This accounts
  3672. // properly for relative moves
  3673. if ((saved_target[0] != SAVED_TARGET_UNSET) &&
  3674. ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_SDCARD) ||
  3675. (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)))
  3676. {
  3677. memcpy(destination, saved_target, sizeof(destination));
  3678. saved_target[0] = SAVED_TARGET_UNSET;
  3679. }
  3680. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  3681. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  3682. }
  3683. #ifdef FWRETRACT
  3684. if(cs.autoretract_enabled)
  3685. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  3686. float echange=destination[E_AXIS]-current_position[E_AXIS];
  3687. if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
  3688. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  3689. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  3690. retract(!retracted[active_extruder]);
  3691. return;
  3692. }
  3693. }
  3694. #endif //FWRETRACT
  3695. prepare_move();
  3696. //ClearToSend();
  3697. }
  3698. break;
  3699. /*!
  3700. ### G2, G3 - Controlled Arc Move <a href="https://reprap.org/wiki/G-code#G2_.26_G3:_Controlled_Arc_Move">G2 & G3: Controlled Arc Move</a>
  3701. These commands don't propperly work with MBL enabled. The compensation only happens at the end of the move, so avoid long arcs.
  3702. #### Usage
  3703. G2 [ X | Y | I | E | F ] (Clockwise Arc)
  3704. G3 [ X | Y | I | E | F ] (Counter-Clockwise Arc)
  3705. #### Parameters
  3706. - `X` - The position to move to on the X axis
  3707. - `Y` - The position to move to on the Y axis
  3708. - `I` - The point in X space from the current X position to maintain a constant distance from
  3709. - `J` - The point in Y space from the current Y position to maintain a constant distance from
  3710. - `E` - The amount to extrude between the starting point and ending point
  3711. - `F` - The feedrate per minute of the move between the starting point and ending point (if supplied)
  3712. */
  3713. case 2:
  3714. if(Stopped == false) {
  3715. get_arc_coordinates();
  3716. prepare_arc_move(true);
  3717. }
  3718. break;
  3719. // -------------------------------
  3720. case 3:
  3721. if(Stopped == false) {
  3722. get_arc_coordinates();
  3723. prepare_arc_move(false);
  3724. }
  3725. break;
  3726. /*!
  3727. ### G4 - Dwell <a href="https://reprap.org/wiki/G-code#G4:_Dwell">G4: Dwell</a>
  3728. Pause the machine for a period of time.
  3729. #### Usage
  3730. G4 [ P | S ]
  3731. #### Parameters
  3732. - `P` - Time to wait, in milliseconds
  3733. - `S` - Time to wait, in seconds
  3734. */
  3735. case 4:
  3736. codenum = 0;
  3737. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  3738. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  3739. if(codenum != 0) LCD_MESSAGERPGM(_n("Sleep..."));////MSG_DWELL
  3740. st_synchronize();
  3741. codenum += _millis(); // keep track of when we started waiting
  3742. previous_millis_cmd = _millis();
  3743. while(_millis() < codenum) {
  3744. manage_heater();
  3745. manage_inactivity();
  3746. lcd_update(0);
  3747. }
  3748. break;
  3749. #ifdef FWRETRACT
  3750. /*!
  3751. ### G10 - Retract <a href="https://reprap.org/wiki/G-code#G10:_Retract">G10: Retract</a>
  3752. Retracts filament according to settings of `M207`
  3753. */
  3754. case 10:
  3755. #if EXTRUDERS > 1
  3756. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  3757. retract(true,retracted_swap[active_extruder]);
  3758. #else
  3759. retract(true);
  3760. #endif
  3761. break;
  3762. /*!
  3763. ### G11 - Retract recover <a href="https://reprap.org/wiki/G-code#G11:_Unretract">G11: Unretract</a>
  3764. Unretracts/recovers filament according to settings of `M208`
  3765. */
  3766. case 11:
  3767. #if EXTRUDERS > 1
  3768. retract(false,retracted_swap[active_extruder]);
  3769. #else
  3770. retract(false);
  3771. #endif
  3772. break;
  3773. #endif //FWRETRACT
  3774. /*!
  3775. ### G21 - Sets Units to Millimters <a href="https://reprap.org/wiki/G-code#G21:_Set_Units_to_Millimeters">G21: Set Units to Millimeters</a>
  3776. Units are in millimeters. Prusa doesn't support inches.
  3777. */
  3778. case 21:
  3779. break; //Doing nothing. This is just to prevent serial UNKOWN warnings.
  3780. /*!
  3781. ### G28 - Home all Axes one at a time <a href="https://reprap.org/wiki/G-code#G28:_Move_to_Origin_.28Home.29">G28: Move to Origin (Home)</a>
  3782. Using `G28` without any parameters will perfom homing of all axes AND mesh bed leveling, while `G28 W` will just home all axes (no mesh bed leveling).
  3783. #### Usage
  3784. G28 [ X | Y | Z | W | C ]
  3785. #### Parameters
  3786. - `X` - Flag to go back to the X axis origin
  3787. - `Y` - Flag to go back to the Y axis origin
  3788. - `Z` - Flag to go back to the Z axis origin
  3789. - `W` - Suppress mesh bed leveling if `X`, `Y` or `Z` are not provided
  3790. - `C` - Calibrate X and Y origin (home) - Only on MK3/s
  3791. */
  3792. case 28:
  3793. {
  3794. long home_x_value = 0;
  3795. long home_y_value = 0;
  3796. long home_z_value = 0;
  3797. // Which axes should be homed?
  3798. bool home_x = code_seen(axis_codes[X_AXIS]);
  3799. home_x_value = code_value_long();
  3800. bool home_y = code_seen(axis_codes[Y_AXIS]);
  3801. home_y_value = code_value_long();
  3802. bool home_z = code_seen(axis_codes[Z_AXIS]);
  3803. home_z_value = code_value_long();
  3804. bool without_mbl = code_seen('W');
  3805. // calibrate?
  3806. #ifdef TMC2130
  3807. bool calib = code_seen('C');
  3808. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
  3809. #else
  3810. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, without_mbl);
  3811. #endif //TMC2130
  3812. if ((home_x || home_y || without_mbl || home_z) == false) {
  3813. // Push the commands to the front of the message queue in the reverse order!
  3814. // There shall be always enough space reserved for these commands.
  3815. goto case_G80;
  3816. }
  3817. break;
  3818. }
  3819. #ifdef ENABLE_AUTO_BED_LEVELING
  3820. /*!
  3821. ### G29 - Detailed Z-Probe <a href="https://reprap.org/wiki/G-code#G29:_Detailed_Z-Probe">G29: Detailed Z-Probe</a>
  3822. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  3823. See `G81`
  3824. */
  3825. case 29:
  3826. {
  3827. #if Z_MIN_PIN == -1
  3828. #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."
  3829. #endif
  3830. // Prevent user from running a G29 without first homing in X and Y
  3831. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  3832. {
  3833. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  3834. SERIAL_ECHO_START;
  3835. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  3836. break; // abort G29, since we don't know where we are
  3837. }
  3838. st_synchronize();
  3839. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  3840. //vector_3 corrected_position = plan_get_position_mm();
  3841. //corrected_position.debug("position before G29");
  3842. plan_bed_level_matrix.set_to_identity();
  3843. vector_3 uncorrected_position = plan_get_position();
  3844. //uncorrected_position.debug("position durring G29");
  3845. current_position[X_AXIS] = uncorrected_position.x;
  3846. current_position[Y_AXIS] = uncorrected_position.y;
  3847. current_position[Z_AXIS] = uncorrected_position.z;
  3848. plan_set_position_curposXYZE();
  3849. int l_feedmultiply = setup_for_endstop_move();
  3850. feedrate = homing_feedrate[Z_AXIS];
  3851. #ifdef AUTO_BED_LEVELING_GRID
  3852. // probe at the points of a lattice grid
  3853. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3854. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3855. // solve the plane equation ax + by + d = z
  3856. // A is the matrix with rows [x y 1] for all the probed points
  3857. // B is the vector of the Z positions
  3858. // 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
  3859. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3860. // "A" matrix of the linear system of equations
  3861. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  3862. // "B" vector of Z points
  3863. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  3864. int probePointCounter = 0;
  3865. bool zig = true;
  3866. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  3867. {
  3868. int xProbe, xInc;
  3869. if (zig)
  3870. {
  3871. xProbe = LEFT_PROBE_BED_POSITION;
  3872. //xEnd = RIGHT_PROBE_BED_POSITION;
  3873. xInc = xGridSpacing;
  3874. zig = false;
  3875. } else // zag
  3876. {
  3877. xProbe = RIGHT_PROBE_BED_POSITION;
  3878. //xEnd = LEFT_PROBE_BED_POSITION;
  3879. xInc = -xGridSpacing;
  3880. zig = true;
  3881. }
  3882. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  3883. {
  3884. float z_before;
  3885. if (probePointCounter == 0)
  3886. {
  3887. // raise before probing
  3888. z_before = Z_RAISE_BEFORE_PROBING;
  3889. } else
  3890. {
  3891. // raise extruder
  3892. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  3893. }
  3894. float measured_z = probe_pt(xProbe, yProbe, z_before);
  3895. eqnBVector[probePointCounter] = measured_z;
  3896. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  3897. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  3898. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  3899. probePointCounter++;
  3900. xProbe += xInc;
  3901. }
  3902. }
  3903. clean_up_after_endstop_move(l_feedmultiply);
  3904. // solve lsq problem
  3905. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  3906. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3907. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  3908. SERIAL_PROTOCOLPGM(" b: ");
  3909. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  3910. SERIAL_PROTOCOLPGM(" d: ");
  3911. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  3912. set_bed_level_equation_lsq(plane_equation_coefficients);
  3913. free(plane_equation_coefficients);
  3914. #else // AUTO_BED_LEVELING_GRID not defined
  3915. // Probe at 3 arbitrary points
  3916. // probe 1
  3917. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  3918. // probe 2
  3919. 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);
  3920. // probe 3
  3921. 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);
  3922. clean_up_after_endstop_move(l_feedmultiply);
  3923. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  3924. #endif // AUTO_BED_LEVELING_GRID
  3925. st_synchronize();
  3926. // The following code correct the Z height difference from z-probe position and hotend tip position.
  3927. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  3928. // When the bed is uneven, this height must be corrected.
  3929. real_z = float(st_get_position(Z_AXIS))/cs.axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
  3930. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  3931. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3932. z_tmp = current_position[Z_AXIS];
  3933. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  3934. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  3935. plan_set_position_curposXYZE();
  3936. }
  3937. break;
  3938. #ifndef Z_PROBE_SLED
  3939. /*!
  3940. ### G30 - Single Z Probe <a href="https://reprap.org/wiki/G-code#G30:_Single_Z-Probe">G30: Single Z-Probe</a>
  3941. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  3942. */
  3943. case 30:
  3944. {
  3945. st_synchronize();
  3946. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3947. int l_feedmultiply = setup_for_endstop_move();
  3948. feedrate = homing_feedrate[Z_AXIS];
  3949. run_z_probe();
  3950. SERIAL_PROTOCOLPGM(_T(MSG_BED));
  3951. SERIAL_PROTOCOLPGM(" X: ");
  3952. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3953. SERIAL_PROTOCOLPGM(" Y: ");
  3954. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3955. SERIAL_PROTOCOLPGM(" Z: ");
  3956. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3957. SERIAL_PROTOCOLPGM("\n");
  3958. clean_up_after_endstop_move(l_feedmultiply);
  3959. }
  3960. break;
  3961. #else
  3962. /*!
  3963. ### G31 - Dock the sled <a href="https://reprap.org/wiki/G-code#G31:_Dock_Z_Probe_sled">G31: Dock Z Probe sled</a>
  3964. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  3965. */
  3966. case 31:
  3967. dock_sled(true);
  3968. break;
  3969. /*!
  3970. ### G32 - Undock the sled <a href="https://reprap.org/wiki/G-code#G32:_Undock_Z_Probe_sled">G32: Undock Z Probe sled</a>
  3971. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  3972. */
  3973. case 32:
  3974. dock_sled(false);
  3975. break;
  3976. #endif // Z_PROBE_SLED
  3977. #endif // ENABLE_AUTO_BED_LEVELING
  3978. #ifdef MESH_BED_LEVELING
  3979. /*!
  3980. ### G30 - Single Z Probe <a href="https://reprap.org/wiki/G-code#G30:_Single_Z-Probe">G30: Single Z-Probe</a>
  3981. Sensor must be over the bed.
  3982. The maximum travel distance before an error is triggered is 10mm.
  3983. */
  3984. case 30:
  3985. {
  3986. st_synchronize();
  3987. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3988. int l_feedmultiply = setup_for_endstop_move();
  3989. feedrate = homing_feedrate[Z_AXIS];
  3990. find_bed_induction_sensor_point_z(-10.f, 3);
  3991. printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
  3992. clean_up_after_endstop_move(l_feedmultiply);
  3993. }
  3994. break;
  3995. /*!
  3996. ### G75 - Print temperature interpolation <a href="https://reprap.org/wiki/G-code#G75:_Print_temperature_interpolation">G75: Print temperature interpolation</a>
  3997. Show/print PINDA temperature interpolating.
  3998. */
  3999. case 75:
  4000. {
  4001. for (int i = 40; i <= 110; i++)
  4002. printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
  4003. }
  4004. break;
  4005. /*!
  4006. ### G76 - PINDA probe temperature calibration <a href="https://reprap.org/wiki/G-code#G76:_PINDA_probe_temperature_calibration">G76: PINDA probe temperature calibration</a>
  4007. This G-code is used to calibrate the temperature drift of the PINDA (inductive Sensor).
  4008. The PINDAv2 sensor has a built-in thermistor which has the advantage that the calibration can be done once for all materials.
  4009. The Original i3 Prusa MK2/s uses PINDAv1 and this calibration improves the temperature drift, but not as good as the PINDAv2.
  4010. superPINDA sensor has internal temperature compensation and no thermistor output. There is no point of doing temperature calibration in such case.
  4011. If PINDA_THERMISTOR and SUPERPINDA_SUPPORT is defined during compilation, calibration is skipped with serial message "No PINDA thermistor".
  4012. This can be caused also if PINDA thermistor connection is broken or PINDA temperature is lower than PINDA_MINTEMP.
  4013. #### Example
  4014. ```
  4015. G76
  4016. echo PINDA probe calibration start
  4017. echo start temperature: 35.0°
  4018. echo ...
  4019. echo PINDA temperature -- Z shift (mm): 0.---
  4020. ```
  4021. */
  4022. case 76:
  4023. {
  4024. #ifdef PINDA_THERMISTOR
  4025. if (!has_temperature_compensation())
  4026. {
  4027. SERIAL_ECHOLNPGM("No PINDA thermistor");
  4028. break;
  4029. }
  4030. if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
  4031. //we need to know accurate position of first calibration point
  4032. //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
  4033. lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
  4034. break;
  4035. }
  4036. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  4037. {
  4038. // We don't know where we are! HOME!
  4039. // Push the commands to the front of the message queue in the reverse order!
  4040. // There shall be always enough space reserved for these commands.
  4041. repeatcommand_front(); // repeat G76 with all its parameters
  4042. enquecommand_front_P((PSTR("G28 W0")));
  4043. break;
  4044. }
  4045. 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
  4046. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  4047. if (result)
  4048. {
  4049. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4050. plan_buffer_line_curposXYZE(3000 / 60);
  4051. current_position[Z_AXIS] = 50;
  4052. current_position[Y_AXIS] = 180;
  4053. plan_buffer_line_curposXYZE(3000 / 60);
  4054. st_synchronize();
  4055. lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  4056. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4057. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4058. plan_buffer_line_curposXYZE(3000 / 60);
  4059. st_synchronize();
  4060. gcode_G28(false, false, true);
  4061. }
  4062. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  4063. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  4064. current_position[Z_AXIS] = 100;
  4065. plan_buffer_line_curposXYZE(3000 / 60);
  4066. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  4067. lcd_temp_cal_show_result(false);
  4068. break;
  4069. }
  4070. }
  4071. lcd_update_enable(true);
  4072. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  4073. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  4074. float zero_z;
  4075. int z_shift = 0; //unit: steps
  4076. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  4077. if (start_temp < 35) start_temp = 35;
  4078. if (start_temp < current_temperature_pinda) start_temp += 5;
  4079. printf_P(_N("start temperature: %.1f\n"), start_temp);
  4080. // setTargetHotend(200, 0);
  4081. setTargetBed(70 + (start_temp - 30));
  4082. custom_message_type = CustomMsg::TempCal;
  4083. custom_message_state = 1;
  4084. lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
  4085. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4086. plan_buffer_line_curposXYZE(3000 / 60);
  4087. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4088. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4089. plan_buffer_line_curposXYZE(3000 / 60);
  4090. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4091. plan_buffer_line_curposXYZE(3000 / 60);
  4092. st_synchronize();
  4093. while (current_temperature_pinda < start_temp)
  4094. {
  4095. delay_keep_alive(1000);
  4096. serialecho_temperatures();
  4097. }
  4098. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  4099. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4100. plan_buffer_line_curposXYZE(3000 / 60);
  4101. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4102. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4103. plan_buffer_line_curposXYZE(3000 / 60);
  4104. st_synchronize();
  4105. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  4106. if (find_z_result == false) {
  4107. lcd_temp_cal_show_result(find_z_result);
  4108. break;
  4109. }
  4110. zero_z = current_position[Z_AXIS];
  4111. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  4112. int i = -1; for (; i < 5; i++)
  4113. {
  4114. float temp = (40 + i * 5);
  4115. printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
  4116. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  4117. if (start_temp <= temp) break;
  4118. }
  4119. for (i++; i < 5; i++)
  4120. {
  4121. float temp = (40 + i * 5);
  4122. printf_P(_N("\nStep: %d/6\n"), i + 2);
  4123. custom_message_state = i + 2;
  4124. setTargetBed(50 + 10 * (temp - 30) / 5);
  4125. // setTargetHotend(255, 0);
  4126. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4127. plan_buffer_line_curposXYZE(3000 / 60);
  4128. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4129. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4130. plan_buffer_line_curposXYZE(3000 / 60);
  4131. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4132. plan_buffer_line_curposXYZE(3000 / 60);
  4133. st_synchronize();
  4134. while (current_temperature_pinda < temp)
  4135. {
  4136. delay_keep_alive(1000);
  4137. serialecho_temperatures();
  4138. }
  4139. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4140. plan_buffer_line_curposXYZE(3000 / 60);
  4141. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4142. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4143. plan_buffer_line_curposXYZE(3000 / 60);
  4144. st_synchronize();
  4145. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  4146. if (find_z_result == false) {
  4147. lcd_temp_cal_show_result(find_z_result);
  4148. break;
  4149. }
  4150. z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
  4151. printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
  4152. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  4153. }
  4154. lcd_temp_cal_show_result(true);
  4155. #else //PINDA_THERMISTOR
  4156. setTargetBed(PINDA_MIN_T);
  4157. float zero_z;
  4158. int z_shift = 0; //unit: steps
  4159. int t_c; // temperature
  4160. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  4161. // We don't know where we are! HOME!
  4162. // Push the commands to the front of the message queue in the reverse order!
  4163. // There shall be always enough space reserved for these commands.
  4164. repeatcommand_front(); // repeat G76 with all its parameters
  4165. enquecommand_front_P((PSTR("G28 W0")));
  4166. break;
  4167. }
  4168. puts_P(_N("PINDA probe calibration start"));
  4169. custom_message_type = CustomMsg::TempCal;
  4170. custom_message_state = 1;
  4171. lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
  4172. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4173. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4174. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4175. plan_buffer_line_curposXYZE(3000 / 60);
  4176. st_synchronize();
  4177. while (abs(degBed() - PINDA_MIN_T) > 1) {
  4178. delay_keep_alive(1000);
  4179. serialecho_temperatures();
  4180. }
  4181. //enquecommand_P(PSTR("M190 S50"));
  4182. for (int i = 0; i < PINDA_HEAT_T; i++) {
  4183. delay_keep_alive(1000);
  4184. serialecho_temperatures();
  4185. }
  4186. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  4187. current_position[Z_AXIS] = 5;
  4188. plan_buffer_line_curposXYZE(3000 / 60);
  4189. current_position[X_AXIS] = BED_X0;
  4190. current_position[Y_AXIS] = BED_Y0;
  4191. plan_buffer_line_curposXYZE(3000 / 60);
  4192. st_synchronize();
  4193. find_bed_induction_sensor_point_z(-1.f);
  4194. zero_z = current_position[Z_AXIS];
  4195. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  4196. for (int i = 0; i<5; i++) {
  4197. printf_P(_N("\nStep: %d/6\n"), i + 2);
  4198. custom_message_state = i + 2;
  4199. t_c = 60 + i * 10;
  4200. setTargetBed(t_c);
  4201. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4202. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4203. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4204. plan_buffer_line_curposXYZE(3000 / 60);
  4205. st_synchronize();
  4206. while (degBed() < t_c) {
  4207. delay_keep_alive(1000);
  4208. serialecho_temperatures();
  4209. }
  4210. for (int i = 0; i < PINDA_HEAT_T; i++) {
  4211. delay_keep_alive(1000);
  4212. serialecho_temperatures();
  4213. }
  4214. current_position[Z_AXIS] = 5;
  4215. plan_buffer_line_curposXYZE(3000 / 60);
  4216. current_position[X_AXIS] = BED_X0;
  4217. current_position[Y_AXIS] = BED_Y0;
  4218. plan_buffer_line_curposXYZE(3000 / 60);
  4219. st_synchronize();
  4220. find_bed_induction_sensor_point_z(-1.f);
  4221. z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
  4222. printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
  4223. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  4224. }
  4225. custom_message_type = CustomMsg::Status;
  4226. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  4227. puts_P(_N("Temperature calibration done."));
  4228. disable_x();
  4229. disable_y();
  4230. disable_z();
  4231. disable_e0();
  4232. disable_e1();
  4233. disable_e2();
  4234. setTargetBed(0); //set bed target temperature back to 0
  4235. lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
  4236. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  4237. lcd_update_enable(true);
  4238. lcd_update(2);
  4239. #endif //PINDA_THERMISTOR
  4240. }
  4241. break;
  4242. /*!
  4243. ### G80 - Mesh-based Z probe <a href="https://reprap.org/wiki/G-code#G80:_Mesh-based_Z_probe">G80: Mesh-based Z probe</a>
  4244. Default 3x3 grid can be changed on MK2.5/s and MK3/s to 7x7 grid.
  4245. #### Usage
  4246. G80 [ N | R | V | L | R | F | B ]
  4247. #### Parameters
  4248. - `N` - Number of mesh points on x axis. Default is 3. Valid values are 3 and 7.
  4249. - `R` - Probe retries. Default 3 max. 10
  4250. - `V` - Verbosity level 1=low, 10=mid, 20=high. It only can be used if the firmware has been compiled with SUPPORT_VERBOSITY active.
  4251. Using the following parameters enables additional "manual" bed leveling correction. Valid values are -100 microns to 100 microns.
  4252. #### Additional Parameters
  4253. - `L` - Left Bed Level correct value in um.
  4254. - `R` - Right Bed Level correct value in um.
  4255. - `F` - Front Bed Level correct value in um.
  4256. - `B` - Back Bed Level correct value in um.
  4257. */
  4258. /*
  4259. * Probes a grid and produces a mesh to compensate for variable bed height
  4260. * The S0 report the points as below
  4261. * +----> X-axis
  4262. * |
  4263. * |
  4264. * v Y-axis
  4265. */
  4266. case 80:
  4267. #ifdef MK1BP
  4268. break;
  4269. #endif //MK1BP
  4270. case_G80:
  4271. {
  4272. mesh_bed_leveling_flag = true;
  4273. #ifndef PINDA_THERMISTOR
  4274. static bool run = false; // thermistor-less PINDA temperature compensation is running
  4275. #endif // ndef PINDA_THERMISTOR
  4276. #ifdef SUPPORT_VERBOSITY
  4277. int8_t verbosity_level = 0;
  4278. if (code_seen('V')) {
  4279. // Just 'V' without a number counts as V1.
  4280. char c = strchr_pointer[1];
  4281. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4282. }
  4283. #endif //SUPPORT_VERBOSITY
  4284. // Firstly check if we know where we are
  4285. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  4286. // We don't know where we are! HOME!
  4287. // Push the commands to the front of the message queue in the reverse order!
  4288. // There shall be always enough space reserved for these commands.
  4289. repeatcommand_front(); // repeat G80 with all its parameters
  4290. enquecommand_front_P((PSTR("G28 W0")));
  4291. break;
  4292. }
  4293. uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS;
  4294. if (code_seen('N')) {
  4295. nMeasPoints = code_value_uint8();
  4296. if (nMeasPoints != 7) {
  4297. nMeasPoints = 3;
  4298. }
  4299. }
  4300. else {
  4301. nMeasPoints = eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
  4302. }
  4303. uint8_t nProbeRetry = 3;
  4304. if (code_seen('R')) {
  4305. nProbeRetry = code_value_uint8();
  4306. if (nProbeRetry > 10) {
  4307. nProbeRetry = 10;
  4308. }
  4309. }
  4310. else {
  4311. nProbeRetry = eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR);
  4312. }
  4313. bool magnet_elimination = (eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION) > 0);
  4314. #ifndef PINDA_THERMISTOR
  4315. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50)
  4316. {
  4317. temp_compensation_start();
  4318. run = true;
  4319. repeatcommand_front(); // repeat G80 with all its parameters
  4320. enquecommand_front_P((PSTR("G28 W0")));
  4321. break;
  4322. }
  4323. run = false;
  4324. #endif //PINDA_THERMISTOR
  4325. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  4326. CustomMsg custom_message_type_old = custom_message_type;
  4327. unsigned int custom_message_state_old = custom_message_state;
  4328. custom_message_type = CustomMsg::MeshBedLeveling;
  4329. custom_message_state = (nMeasPoints * nMeasPoints) + 10;
  4330. lcd_update(1);
  4331. mbl.reset(); //reset mesh bed leveling
  4332. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  4333. // consumed during the first movements following this statement.
  4334. babystep_undo();
  4335. // Cycle through all points and probe them
  4336. // First move up. During this first movement, the babystepping will be reverted.
  4337. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4338. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
  4339. // The move to the first calibration point.
  4340. current_position[X_AXIS] = BED_X0;
  4341. current_position[Y_AXIS] = BED_Y0;
  4342. #ifdef SUPPORT_VERBOSITY
  4343. if (verbosity_level >= 1)
  4344. {
  4345. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4346. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  4347. }
  4348. #else //SUPPORT_VERBOSITY
  4349. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4350. #endif //SUPPORT_VERBOSITY
  4351. plan_buffer_line_curposXYZE(homing_feedrate[X_AXIS] / 30);
  4352. // Wait until the move is finished.
  4353. st_synchronize();
  4354. uint8_t mesh_point = 0; //index number of calibration point
  4355. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  4356. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  4357. 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)
  4358. #ifdef SUPPORT_VERBOSITY
  4359. if (verbosity_level >= 1) {
  4360. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  4361. }
  4362. #endif // SUPPORT_VERBOSITY
  4363. int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  4364. while (mesh_point != nMeasPoints * nMeasPoints) {
  4365. // Get coords of a measuring point.
  4366. uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
  4367. uint8_t iy = mesh_point / nMeasPoints;
  4368. /*if (!mbl_point_measurement_valid(ix, iy, nMeasPoints, true)) {
  4369. printf_P(PSTR("Skipping point [%d;%d] \n"), ix, iy);
  4370. custom_message_state--;
  4371. mesh_point++;
  4372. continue; //skip
  4373. }*/
  4374. if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
  4375. if (nMeasPoints == 7) //if we have 7x7 mesh, compare with Z-calibration for points which are in 3x3 mesh
  4376. {
  4377. has_z = ((ix % 3 == 0) && (iy % 3 == 0)) && is_bed_z_jitter_data_valid();
  4378. }
  4379. float z0 = 0.f;
  4380. if (has_z && (mesh_point > 0)) {
  4381. uint16_t z_offset_u = 0;
  4382. if (nMeasPoints == 7) {
  4383. z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1)));
  4384. }
  4385. else {
  4386. z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  4387. }
  4388. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  4389. #ifdef SUPPORT_VERBOSITY
  4390. if (verbosity_level >= 1) {
  4391. printf_P(PSTR("Bed leveling, point: %d, calibration Z stored in eeprom: %d, calibration z: %f \n"), mesh_point, z_offset_u, z0);
  4392. }
  4393. #endif // SUPPORT_VERBOSITY
  4394. }
  4395. // Move Z up to MESH_HOME_Z_SEARCH.
  4396. if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4397. else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
  4398. float init_z_bckp = current_position[Z_AXIS];
  4399. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  4400. st_synchronize();
  4401. // Move to XY position of the sensor point.
  4402. current_position[X_AXIS] = BED_X(ix, nMeasPoints);
  4403. current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
  4404. //printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  4405. #ifdef SUPPORT_VERBOSITY
  4406. if (verbosity_level >= 1) {
  4407. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4408. SERIAL_PROTOCOL(mesh_point);
  4409. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  4410. }
  4411. #else //SUPPORT_VERBOSITY
  4412. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4413. #endif // SUPPORT_VERBOSITY
  4414. //printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  4415. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
  4416. st_synchronize();
  4417. // Go down until endstop is hit
  4418. const float Z_CALIBRATION_THRESHOLD = 1.f;
  4419. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  4420. printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  4421. break;
  4422. }
  4423. if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
  4424. //printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
  4425. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4426. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  4427. st_synchronize();
  4428. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  4429. printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  4430. break;
  4431. }
  4432. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  4433. printf_P(PSTR("Bed leveling failed. Sensor disconnected or cable broken.\n"));
  4434. break;
  4435. }
  4436. }
  4437. 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
  4438. printf_P(PSTR("Bed leveling failed. Sensor triggered too high.\n"));
  4439. break;
  4440. }
  4441. #ifdef SUPPORT_VERBOSITY
  4442. if (verbosity_level >= 10) {
  4443. SERIAL_ECHOPGM("X: ");
  4444. MYSERIAL.print(current_position[X_AXIS], 5);
  4445. SERIAL_ECHOLNPGM("");
  4446. SERIAL_ECHOPGM("Y: ");
  4447. MYSERIAL.print(current_position[Y_AXIS], 5);
  4448. SERIAL_PROTOCOLPGM("\n");
  4449. }
  4450. #endif // SUPPORT_VERBOSITY
  4451. float offset_z = 0;
  4452. #ifdef PINDA_THERMISTOR
  4453. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  4454. #endif //PINDA_THERMISTOR
  4455. // #ifdef SUPPORT_VERBOSITY
  4456. /* if (verbosity_level >= 1)
  4457. {
  4458. SERIAL_ECHOPGM("mesh bed leveling: ");
  4459. MYSERIAL.print(current_position[Z_AXIS], 5);
  4460. SERIAL_ECHOPGM(" offset: ");
  4461. MYSERIAL.print(offset_z, 5);
  4462. SERIAL_ECHOLNPGM("");
  4463. }*/
  4464. // #endif // SUPPORT_VERBOSITY
  4465. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  4466. custom_message_state--;
  4467. mesh_point++;
  4468. lcd_update(1);
  4469. }
  4470. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4471. #ifdef SUPPORT_VERBOSITY
  4472. if (verbosity_level >= 20) {
  4473. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  4474. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  4475. MYSERIAL.print(current_position[Z_AXIS], 5);
  4476. }
  4477. #endif // SUPPORT_VERBOSITY
  4478. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  4479. st_synchronize();
  4480. if (mesh_point != nMeasPoints * nMeasPoints) {
  4481. Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
  4482. bool bState;
  4483. do { // repeat until Z-leveling o.k.
  4484. lcd_display_message_fullscreen_P(_i("Some problem encountered, Z-leveling enforced ..."));
  4485. #ifdef TMC2130
  4486. lcd_wait_for_click_delay(MSG_BED_LEVELING_FAILED_TIMEOUT);
  4487. calibrate_z_auto(); // Z-leveling (X-assembly stay up!!!)
  4488. #else // TMC2130
  4489. lcd_wait_for_click_delay(0); // ~ no timeout
  4490. lcd_calibrate_z_end_stop_manual(true); // Z-leveling (X-assembly stay up!!!)
  4491. #endif // TMC2130
  4492. // ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
  4493. bState=enable_z_endstop(false);
  4494. current_position[Z_AXIS] -= 1;
  4495. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  4496. st_synchronize();
  4497. enable_z_endstop(true);
  4498. #ifdef TMC2130
  4499. tmc2130_home_enter(Z_AXIS_MASK);
  4500. #endif // TMC2130
  4501. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4502. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  4503. st_synchronize();
  4504. #ifdef TMC2130
  4505. tmc2130_home_exit();
  4506. #endif // TMC2130
  4507. enable_z_endstop(bState);
  4508. } while (st_get_position_mm(Z_AXIS) > MESH_HOME_Z_SEARCH); // i.e. Z-leveling not o.k.
  4509. // plan_set_z_position(MESH_HOME_Z_SEARCH); // is not necessary ('do-while' loop always ends at the expected Z-position)
  4510. custom_message_type=CustomMsg::Status; // display / status-line recovery
  4511. lcd_update_enable(true); // display / status-line recovery
  4512. gcode_G28(true, true, true); // X & Y & Z-homing (must be after individual Z-homing (problem with spool-holder)!)
  4513. repeatcommand_front(); // re-run (i.e. of "G80")
  4514. break;
  4515. }
  4516. clean_up_after_endstop_move(l_feedmultiply);
  4517. // SERIAL_ECHOLNPGM("clean up finished ");
  4518. #ifndef PINDA_THERMISTOR
  4519. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  4520. #endif
  4521. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  4522. // SERIAL_ECHOLNPGM("babystep applied");
  4523. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  4524. #ifdef SUPPORT_VERBOSITY
  4525. if (verbosity_level >= 1) {
  4526. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  4527. }
  4528. #endif // SUPPORT_VERBOSITY
  4529. for (uint8_t i = 0; i < 4; ++i) {
  4530. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  4531. long correction = 0;
  4532. if (code_seen(codes[i]))
  4533. correction = code_value_long();
  4534. else if (eeprom_bed_correction_valid) {
  4535. unsigned char *addr = (i < 2) ?
  4536. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  4537. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  4538. correction = eeprom_read_int8(addr);
  4539. }
  4540. if (correction == 0)
  4541. continue;
  4542. if (labs(correction) > BED_ADJUSTMENT_UM_MAX) {
  4543. SERIAL_ERROR_START;
  4544. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  4545. SERIAL_ECHO(correction);
  4546. SERIAL_ECHOLNPGM(" microns");
  4547. }
  4548. else {
  4549. float offset = float(correction) * 0.001f;
  4550. switch (i) {
  4551. case 0:
  4552. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  4553. for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
  4554. mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
  4555. }
  4556. }
  4557. break;
  4558. case 1:
  4559. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  4560. for (uint8_t col = 1; col < nMeasPoints; ++col) {
  4561. mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
  4562. }
  4563. }
  4564. break;
  4565. case 2:
  4566. for (uint8_t col = 0; col < nMeasPoints; ++col) {
  4567. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  4568. mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
  4569. }
  4570. }
  4571. break;
  4572. case 3:
  4573. for (uint8_t col = 0; col < nMeasPoints; ++col) {
  4574. for (uint8_t row = 1; row < nMeasPoints; ++row) {
  4575. mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
  4576. }
  4577. }
  4578. break;
  4579. }
  4580. }
  4581. }
  4582. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  4583. if (nMeasPoints == 3) {
  4584. mbl.upsample_3x3(); //interpolation from 3x3 to 7x7 points using largrangian polynomials while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
  4585. }
  4586. /*
  4587. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4588. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4589. SERIAL_PROTOCOLPGM(",");
  4590. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4591. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4592. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4593. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4594. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  4595. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  4596. SERIAL_PROTOCOLPGM(" ");
  4597. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4598. }
  4599. SERIAL_PROTOCOLPGM("\n");
  4600. }
  4601. */
  4602. if (nMeasPoints == 7 && magnet_elimination) {
  4603. mbl_interpolation(nMeasPoints);
  4604. }
  4605. /*
  4606. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4607. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4608. SERIAL_PROTOCOLPGM(",");
  4609. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4610. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4611. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4612. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4613. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  4614. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  4615. SERIAL_PROTOCOLPGM(" ");
  4616. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4617. }
  4618. SERIAL_PROTOCOLPGM("\n");
  4619. }
  4620. */
  4621. // SERIAL_ECHOLNPGM("Upsample finished");
  4622. mbl.active = 1; //activate mesh bed leveling
  4623. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  4624. go_home_with_z_lift();
  4625. // SERIAL_ECHOLNPGM("Go home finished");
  4626. //unretract (after PINDA preheat retraction)
  4627. if ((degHotend(active_extruder) > EXTRUDE_MINTEMP) && eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() && (target_temperature_bed >= 50)) {
  4628. current_position[E_AXIS] += default_retraction;
  4629. plan_buffer_line_curposXYZE(400);
  4630. }
  4631. KEEPALIVE_STATE(NOT_BUSY);
  4632. // Restore custom message state
  4633. lcd_setstatuspgm(_T(WELCOME_MSG));
  4634. custom_message_type = custom_message_type_old;
  4635. custom_message_state = custom_message_state_old;
  4636. mesh_bed_leveling_flag = false;
  4637. mesh_bed_run_from_menu = false;
  4638. lcd_update(2);
  4639. }
  4640. break;
  4641. /*!
  4642. ### G81 - Mesh bed leveling status <a href="https://reprap.org/wiki/G-code#G81:_Mesh_bed_leveling_status">G81: Mesh bed leveling status</a>
  4643. Prints mesh bed leveling status and bed profile if activated.
  4644. */
  4645. case 81:
  4646. if (mbl.active) {
  4647. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4648. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4649. SERIAL_PROTOCOL(',');
  4650. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4651. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4652. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4653. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4654. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  4655. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  4656. SERIAL_PROTOCOLPGM(" ");
  4657. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4658. }
  4659. SERIAL_PROTOCOLLN();
  4660. }
  4661. }
  4662. else
  4663. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  4664. break;
  4665. #if 0
  4666. /*!
  4667. ### G82: Single Z probe at current location - Not active <a href="https://reprap.org/wiki/G-code#G82:_Single_Z_probe_at_current_location">G82: Single Z probe at current location</a>
  4668. WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  4669. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4670. */
  4671. case 82:
  4672. SERIAL_PROTOCOLLNPGM("Finding bed ");
  4673. int l_feedmultiply = setup_for_endstop_move();
  4674. find_bed_induction_sensor_point_z();
  4675. clean_up_after_endstop_move(l_feedmultiply);
  4676. SERIAL_PROTOCOLPGM("Bed found at: ");
  4677. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  4678. SERIAL_PROTOCOLPGM("\n");
  4679. break;
  4680. /*!
  4681. ### G83: Babystep in Z and store to EEPROM - Not active <a href="https://reprap.org/wiki/G-code#G83:_Babystep_in_Z_and_store_to_EEPROM">G83: Babystep in Z and store to EEPROM</a>
  4682. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4683. */
  4684. case 83:
  4685. {
  4686. int babystepz = code_seen('S') ? code_value() : 0;
  4687. int BabyPosition = code_seen('P') ? code_value() : 0;
  4688. if (babystepz != 0) {
  4689. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  4690. // Is the axis indexed starting with zero or one?
  4691. if (BabyPosition > 4) {
  4692. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  4693. }else{
  4694. // Save it to the eeprom
  4695. babystepLoadZ = babystepz;
  4696. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  4697. // adjust the Z
  4698. babystepsTodoZadd(babystepLoadZ);
  4699. }
  4700. }
  4701. }
  4702. break;
  4703. /*!
  4704. ### G84: UNDO Babystep Z (move Z axis back) - Not active <a href="https://reprap.org/wiki/G-code#G84:_UNDO_Babystep_Z_.28move_Z_axis_back.29">G84: UNDO Babystep Z (move Z axis back)</a>
  4705. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4706. */
  4707. case 84:
  4708. babystepsTodoZsubtract(babystepLoadZ);
  4709. // babystepLoadZ = 0;
  4710. break;
  4711. /*!
  4712. ### G85: Pick best babystep - Not active <a href="https://reprap.org/wiki/G-code#G85:_Pick_best_babystep">G85: Pick best babystep</a>
  4713. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4714. */
  4715. case 85:
  4716. lcd_pick_babystep();
  4717. break;
  4718. #endif
  4719. /*!
  4720. ### G86 - Disable babystep correction after home <a href="https://reprap.org/wiki/G-code#G86:_Disable_babystep_correction_after_home">G86: Disable babystep correction after home</a>
  4721. This G-code will be performed at the start of a calibration script.
  4722. (Prusa3D specific)
  4723. */
  4724. case 86:
  4725. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  4726. break;
  4727. /*!
  4728. ### G87 - Enable babystep correction after home <a href="https://reprap.org/wiki/G-code#G87:_Enable_babystep_correction_after_home">G87: Enable babystep correction after home</a>
  4729. This G-code will be performed at the end of a calibration script.
  4730. (Prusa3D specific)
  4731. */
  4732. case 87:
  4733. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  4734. break;
  4735. /*!
  4736. ### G88 - Reserved <a href="https://reprap.org/wiki/G-code#G88:_Reserved">G88: Reserved</a>
  4737. Currently has no effect.
  4738. */
  4739. // Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  4740. case 88:
  4741. break;
  4742. #endif // ENABLE_MESH_BED_LEVELING
  4743. /*!
  4744. ### G90 - Switch off relative mode <a href="https://reprap.org/wiki/G-code#G90:_Set_to_Absolute_Positioning">G90: Set to Absolute Positioning</a>
  4745. All coordinates from now on are absolute relative to the origin of the machine. E axis is left intact.
  4746. */
  4747. case 90: {
  4748. axis_relative_modes &= ~(X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK);
  4749. }
  4750. break;
  4751. /*!
  4752. ### G91 - Switch on relative mode <a href="https://reprap.org/wiki/G-code#G91:_Set_to_Relative_Positioning">G91: Set to Relative Positioning</a>
  4753. All coordinates from now on are relative to the last position. E axis is left intact.
  4754. */
  4755. case 91: {
  4756. axis_relative_modes |= X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK;
  4757. }
  4758. break;
  4759. /*!
  4760. ### G92 - Set position <a href="https://reprap.org/wiki/G-code#G92:_Set_Position">G92: Set Position</a>
  4761. It is used for setting the current position of each axis. The parameters are always absolute to the origin.
  4762. If a parameter is omitted, that axis will not be affected.
  4763. If `X`, `Y`, or `Z` axis are specified, the move afterwards might stutter because of Mesh Bed Leveling. `E` axis is not affected if the target position is 0 (`G92 E0`).
  4764. A G92 without coordinates will reset all axes to zero on some firmware. This is not the case for Prusa-Firmware!
  4765. #### Usage
  4766. G92 [ X | Y | Z | E ]
  4767. #### Parameters
  4768. - `X` - new X axis position
  4769. - `Y` - new Y axis position
  4770. - `Z` - new Z axis position
  4771. - `E` - new extruder position
  4772. */
  4773. case 92: {
  4774. gcode_G92();
  4775. }
  4776. break;
  4777. /*!
  4778. ### G98 - Activate farm mode <a href="https://reprap.org/wiki/G-code#G98:_Activate_farm_mode">G98: Activate farm mode</a>
  4779. Enable Prusa-specific Farm functions and g-code.
  4780. See Internal Prusa commands.
  4781. */
  4782. case 98:
  4783. farm_mode = 1;
  4784. PingTime = _millis();
  4785. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4786. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  4787. SilentModeMenu = SILENT_MODE_OFF;
  4788. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  4789. fCheckModeInit(); // alternatively invoke printer reset
  4790. break;
  4791. /*! ### G99 - Deactivate farm mode <a href="https://reprap.org/wiki/G-code#G99:_Deactivate_farm_mode">G99: Deactivate farm mode</a>
  4792. Disables Prusa-specific Farm functions and g-code.
  4793. */
  4794. case 99:
  4795. farm_mode = 0;
  4796. lcd_printer_connected();
  4797. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4798. lcd_update(2);
  4799. fCheckModeInit(); // alternatively invoke printer reset
  4800. break;
  4801. default:
  4802. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4803. }
  4804. // printf_P(_N("END G-CODE=%u\n"), gcode_in_progress);
  4805. gcode_in_progress = 0;
  4806. } // end if(code_seen('G'))
  4807. /*!
  4808. ### End of G-Codes
  4809. */
  4810. /*!
  4811. ---------------------------------------------------------------------------------
  4812. # M Commands
  4813. */
  4814. else if(code_seen('M'))
  4815. {
  4816. int index;
  4817. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  4818. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  4819. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  4820. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4821. } else
  4822. {
  4823. mcode_in_progress = (int)code_value();
  4824. // printf_P(_N("BEGIN M-CODE=%u\n"), mcode_in_progress);
  4825. switch(mcode_in_progress)
  4826. {
  4827. /*!
  4828. ### M0, M1 - Stop the printer <a href="https://reprap.org/wiki/G-code#M0:_Stop_or_Unconditional_stop">M0: Stop or Unconditional stop</a>
  4829. */
  4830. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  4831. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  4832. {
  4833. char *src = strchr_pointer + 2;
  4834. codenum = 0;
  4835. bool hasP = false, hasS = false;
  4836. if (code_seen('P')) {
  4837. codenum = code_value(); // milliseconds to wait
  4838. hasP = codenum > 0;
  4839. }
  4840. if (code_seen('S')) {
  4841. codenum = code_value() * 1000; // seconds to wait
  4842. hasS = codenum > 0;
  4843. }
  4844. starpos = strchr(src, '*');
  4845. if (starpos != NULL) *(starpos) = '\0';
  4846. while (*src == ' ') ++src;
  4847. if (!hasP && !hasS && *src != '\0') {
  4848. lcd_setstatus(src);
  4849. } else {
  4850. LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT
  4851. }
  4852. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  4853. st_synchronize();
  4854. previous_millis_cmd = _millis();
  4855. if (codenum > 0){
  4856. codenum += _millis(); // keep track of when we started waiting
  4857. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4858. while(_millis() < codenum && !lcd_clicked()){
  4859. manage_heater();
  4860. manage_inactivity(true);
  4861. lcd_update(0);
  4862. }
  4863. KEEPALIVE_STATE(IN_HANDLER);
  4864. lcd_ignore_click(false);
  4865. }else{
  4866. marlin_wait_for_click();
  4867. }
  4868. if (IS_SD_PRINTING)
  4869. LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
  4870. else
  4871. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4872. }
  4873. break;
  4874. /*!
  4875. ### M17 - Enable all axes <a href="https://reprap.org/wiki/G-code#M17:_Enable.2FPower_all_stepper_motors">M17: Enable/Power all stepper motors</a>
  4876. */
  4877. case 17:
  4878. LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE
  4879. enable_x();
  4880. enable_y();
  4881. enable_z();
  4882. enable_e0();
  4883. enable_e1();
  4884. enable_e2();
  4885. break;
  4886. #ifdef SDSUPPORT
  4887. /*!
  4888. ### M20 - SD Card file list <a href="https://reprap.org/wiki/G-code#M20:_List_SD_card">M20: List SD card</a>
  4889. */
  4890. case 20:
  4891. SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST
  4892. card.ls();
  4893. SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST
  4894. break;
  4895. /*!
  4896. ### M21 - Init SD card <a href="https://reprap.org/wiki/G-code#M21:_Initialize_SD_card">M21: Initialize SD card</a>
  4897. */
  4898. case 21:
  4899. card.initsd();
  4900. break;
  4901. /*!
  4902. ### M22 - Release SD card <a href="https://reprap.org/wiki/G-code#M22:_Release_SD_card">M22: Release SD card</a>
  4903. */
  4904. case 22:
  4905. card.release();
  4906. break;
  4907. /*!
  4908. ### M23 - Select file <a href="https://reprap.org/wiki/G-code#M23:_Select_SD_file">M23: Select SD file</a>
  4909. #### Usage
  4910. M23 [filename]
  4911. */
  4912. case 23:
  4913. starpos = (strchr(strchr_pointer + 4,'*'));
  4914. if(starpos!=NULL)
  4915. *(starpos)='\0';
  4916. card.openFile(strchr_pointer + 4,true);
  4917. break;
  4918. /*!
  4919. ### M24 - Start SD print <a href="https://reprap.org/wiki/G-code#M24:_Start.2Fresume_SD_print">M24: Start/resume SD print</a>
  4920. */
  4921. case 24:
  4922. if (isPrintPaused)
  4923. lcd_resume_print();
  4924. else
  4925. {
  4926. if (!card.get_sdpos())
  4927. {
  4928. // A new print has started from scratch, reset stats
  4929. failstats_reset_print();
  4930. #ifndef LA_NOCOMPAT
  4931. la10c_reset();
  4932. #endif
  4933. }
  4934. card.startFileprint();
  4935. starttime=_millis();
  4936. }
  4937. break;
  4938. /*!
  4939. ### M26 - Set SD index <a href="https://reprap.org/wiki/G-code#M26:_Set_SD_position">M26: Set SD position</a>
  4940. Set position in SD card file to index in bytes.
  4941. This command is expected to be called after M23 and before M24.
  4942. Otherwise effect of this command is undefined.
  4943. #### Usage
  4944. M26 [ S ]
  4945. #### Parameters
  4946. - `S` - Index in bytes
  4947. */
  4948. case 26:
  4949. if(card.cardOK && code_seen('S')) {
  4950. long index = code_value_long();
  4951. card.setIndex(index);
  4952. // We don't disable interrupt during update of sdpos_atomic
  4953. // as we expect, that SD card print is not active in this moment
  4954. sdpos_atomic = index;
  4955. }
  4956. break;
  4957. /*!
  4958. ### M27 - Get SD status <a href="https://reprap.org/wiki/G-code#M27:_Report_SD_print_status">M27: Report SD print status</a>
  4959. */
  4960. case 27:
  4961. card.getStatus();
  4962. break;
  4963. /*!
  4964. ### M28 - Start SD write <a href="https://reprap.org/wiki/G-code#M28:_Begin_write_to_SD_card">M28: Begin write to SD card</a>
  4965. */
  4966. case 28:
  4967. starpos = (strchr(strchr_pointer + 4,'*'));
  4968. if(starpos != NULL){
  4969. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4970. strchr_pointer = strchr(npos,' ') + 1;
  4971. *(starpos) = '\0';
  4972. }
  4973. card.openFile(strchr_pointer+4,false);
  4974. break;
  4975. /*! ### M29 - Stop SD write <a href="https://reprap.org/wiki/G-code#M29:_Stop_writing_to_SD_card">M29: Stop writing to SD card</a>
  4976. Stops writing to the SD file signaling the end of the uploaded file. It is processed very early and it's not written to the card.
  4977. */
  4978. case 29:
  4979. //processed in write to file routine above
  4980. //card,saving = false;
  4981. break;
  4982. /*!
  4983. ### M30 - Delete file <a href="https://reprap.org/wiki/G-code#M30:_Delete_a_file_on_the_SD_card">M30: Delete a file on the SD card</a>
  4984. #### Usage
  4985. M30 [filename]
  4986. */
  4987. case 30:
  4988. if (card.cardOK){
  4989. card.closefile();
  4990. starpos = (strchr(strchr_pointer + 4,'*'));
  4991. if(starpos != NULL){
  4992. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4993. strchr_pointer = strchr(npos,' ') + 1;
  4994. *(starpos) = '\0';
  4995. }
  4996. card.removeFile(strchr_pointer + 4);
  4997. }
  4998. break;
  4999. /*!
  5000. ### M32 - Select file and start SD print <a href="https://reprap.org/wiki/G-code#M32:_Select_file_and_start_SD_print">M32: Select file and start SD print</a>
  5001. @todo What are the parameters P and S for in M32?
  5002. */
  5003. case 32:
  5004. {
  5005. if(card.sdprinting) {
  5006. st_synchronize();
  5007. }
  5008. starpos = (strchr(strchr_pointer + 4,'*'));
  5009. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  5010. if(namestartpos==NULL)
  5011. {
  5012. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  5013. }
  5014. else
  5015. namestartpos++; //to skip the '!'
  5016. if(starpos!=NULL)
  5017. *(starpos)='\0';
  5018. bool call_procedure=(code_seen('P'));
  5019. if(strchr_pointer>namestartpos)
  5020. call_procedure=false; //false alert, 'P' found within filename
  5021. if( card.cardOK )
  5022. {
  5023. card.openFile(namestartpos,true,!call_procedure);
  5024. if(code_seen('S'))
  5025. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  5026. card.setIndex(code_value_long());
  5027. card.startFileprint();
  5028. if(!call_procedure)
  5029. {
  5030. if(!card.get_sdpos())
  5031. {
  5032. // A new print has started from scratch, reset stats
  5033. failstats_reset_print();
  5034. #ifndef LA_NOCOMPAT
  5035. la10c_reset();
  5036. #endif
  5037. }
  5038. starttime=_millis(); // procedure calls count as normal print time.
  5039. }
  5040. }
  5041. } break;
  5042. /*!
  5043. ### M928 - Start SD logging <a href="https://reprap.org/wiki/G-code#M928:_Start_SD_logging">M928: Start SD logging</a>
  5044. #### Usage
  5045. M928 [filename]
  5046. */
  5047. case 928:
  5048. starpos = (strchr(strchr_pointer + 5,'*'));
  5049. if(starpos != NULL){
  5050. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  5051. strchr_pointer = strchr(npos,' ') + 1;
  5052. *(starpos) = '\0';
  5053. }
  5054. card.openLogFile(strchr_pointer+5);
  5055. break;
  5056. #endif //SDSUPPORT
  5057. /*!
  5058. ### M31 - Report current print time <a href="https://reprap.org/wiki/G-code#M31:_Output_time_since_last_M109_or_SD_card_start_to_serial">M31: Output time since last M109 or SD card start to serial</a>
  5059. */
  5060. case 31: //M31 take time since the start of the SD print or an M109 command
  5061. {
  5062. stoptime=_millis();
  5063. char time[30];
  5064. unsigned long t=(stoptime-starttime)/1000;
  5065. int sec,min;
  5066. min=t/60;
  5067. sec=t%60;
  5068. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  5069. SERIAL_ECHO_START;
  5070. SERIAL_ECHOLN(time);
  5071. lcd_setstatus(time);
  5072. autotempShutdown();
  5073. }
  5074. break;
  5075. /*!
  5076. ### M42 - Set pin state <a href="https://reprap.org/wiki/G-code#M42:_Switch_I.2FO_pin">M42: Switch I/O pin</a>
  5077. #### Usage
  5078. M42 [ P | S ]
  5079. #### Parameters
  5080. - `P` - Pin number.
  5081. - `S` - Pin value. If the pin is analog, values are from 0 to 255. If the pin is digital, values are from 0 to 1.
  5082. */
  5083. case 42:
  5084. if (code_seen('S'))
  5085. {
  5086. int pin_status = code_value();
  5087. int pin_number = LED_PIN;
  5088. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  5089. pin_number = code_value();
  5090. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  5091. {
  5092. if (sensitive_pins[i] == pin_number)
  5093. {
  5094. pin_number = -1;
  5095. break;
  5096. }
  5097. }
  5098. #if defined(FAN_PIN) && FAN_PIN > -1
  5099. if (pin_number == FAN_PIN)
  5100. fanSpeed = pin_status;
  5101. #endif
  5102. if (pin_number > -1)
  5103. {
  5104. pinMode(pin_number, OUTPUT);
  5105. digitalWrite(pin_number, pin_status);
  5106. analogWrite(pin_number, pin_status);
  5107. }
  5108. }
  5109. break;
  5110. /*!
  5111. ### M44 - Reset the bed skew and offset calibration <a href="https://reprap.org/wiki/G-code#M44:_Reset_the_bed_skew_and_offset_calibration">M44: Reset the bed skew and offset calibration</a>
  5112. */
  5113. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  5114. // Reset the baby step value and the baby step applied flag.
  5115. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  5116. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  5117. // Reset the skew and offset in both RAM and EEPROM.
  5118. reset_bed_offset_and_skew();
  5119. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  5120. // the planner will not perform any adjustments in the XY plane.
  5121. // Wait for the motors to stop and update the current position with the absolute values.
  5122. world2machine_revert_to_uncorrected();
  5123. break;
  5124. /*!
  5125. ### M45 - Bed skew and offset with manual Z up <a href="https://reprap.org/wiki/G-code#M45:_Bed_skew_and_offset_with_manual_Z_up">M45: Bed skew and offset with manual Z up</a>
  5126. #### Usage
  5127. M45 [ V ]
  5128. #### Parameters
  5129. - `V` - Verbosity level 1, 10 and 20 (low, mid, high). Only when SUPPORT_VERBOSITY is defined. Optional.
  5130. - `Z` - If it is provided, only Z calibration will run. Otherwise full calibration is executed.
  5131. */
  5132. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  5133. {
  5134. int8_t verbosity_level = 0;
  5135. bool only_Z = code_seen('Z');
  5136. #ifdef SUPPORT_VERBOSITY
  5137. if (code_seen('V'))
  5138. {
  5139. // Just 'V' without a number counts as V1.
  5140. char c = strchr_pointer[1];
  5141. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  5142. }
  5143. #endif //SUPPORT_VERBOSITY
  5144. gcode_M45(only_Z, verbosity_level);
  5145. }
  5146. break;
  5147. /*!
  5148. ### M46 - Show the assigned IP address <a href="https://reprap.org/wiki/G-code#M46:_Show_the_assigned_IP_address">M46: Show the assigned IP address.</a>
  5149. */
  5150. /*
  5151. case 46:
  5152. {
  5153. // M46: Prusa3D: Show the assigned IP address.
  5154. uint8_t ip[4];
  5155. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  5156. if (hasIP) {
  5157. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  5158. SERIAL_ECHO(int(ip[0]));
  5159. SERIAL_ECHOPGM(".");
  5160. SERIAL_ECHO(int(ip[1]));
  5161. SERIAL_ECHOPGM(".");
  5162. SERIAL_ECHO(int(ip[2]));
  5163. SERIAL_ECHOPGM(".");
  5164. SERIAL_ECHO(int(ip[3]));
  5165. SERIAL_ECHOLNPGM("");
  5166. } else {
  5167. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  5168. }
  5169. break;
  5170. }
  5171. */
  5172. /*!
  5173. ### M47 - Show end stops dialog on the display <a href="https://reprap.org/wiki/G-code#M47:_Show_end_stops_dialog_on_the_display">M47: Show end stops dialog on the display</a>
  5174. */
  5175. case 47:
  5176. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5177. lcd_diag_show_end_stops();
  5178. KEEPALIVE_STATE(IN_HANDLER);
  5179. break;
  5180. #if 0
  5181. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  5182. {
  5183. // Disable the default update procedure of the display. We will do a modal dialog.
  5184. lcd_update_enable(false);
  5185. // Let the planner use the uncorrected coordinates.
  5186. mbl.reset();
  5187. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  5188. // the planner will not perform any adjustments in the XY plane.
  5189. // Wait for the motors to stop and update the current position with the absolute values.
  5190. world2machine_revert_to_uncorrected();
  5191. // Move the print head close to the bed.
  5192. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  5193. 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);
  5194. st_synchronize();
  5195. // Home in the XY plane.
  5196. set_destination_to_current();
  5197. int l_feedmultiply = setup_for_endstop_move();
  5198. home_xy();
  5199. int8_t verbosity_level = 0;
  5200. if (code_seen('V')) {
  5201. // Just 'V' without a number counts as V1.
  5202. char c = strchr_pointer[1];
  5203. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  5204. }
  5205. bool success = scan_bed_induction_points(verbosity_level);
  5206. clean_up_after_endstop_move(l_feedmultiply);
  5207. // Print head up.
  5208. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  5209. 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);
  5210. st_synchronize();
  5211. lcd_update_enable(true);
  5212. break;
  5213. }
  5214. #endif
  5215. #ifdef ENABLE_AUTO_BED_LEVELING
  5216. #ifdef Z_PROBE_REPEATABILITY_TEST
  5217. /*!
  5218. ### M48 - Z-Probe repeatability measurement function <a href="https://reprap.org/wiki/G-code#M48:_Measure_Z-Probe_repeatability">M48: Measure Z-Probe repeatability</a>
  5219. This function assumes the bed has been homed. Specifically, that a G28 command as been issued prior to invoking the M48 Z-Probe repeatability measurement function. Any information generated by a prior G29 Bed leveling command will be lost and needs to be regenerated.
  5220. The number of samples will default to 10 if not specified. You can use upper or lower case letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital N for its communication protocol and will get horribly confused if you send it a capital N.
  5221. @todo Why would you check for both uppercase and lowercase? Seems wasteful.
  5222. #### Usage
  5223. M48 [ n | X | Y | V | L ]
  5224. #### Parameters
  5225. - `n` - Number of samples. Valid values 4-50
  5226. - `X` - X position for samples
  5227. - `Y` - Y position for samples
  5228. - `V` - Verbose level. Valid values 1-4
  5229. - `L` - Legs of movementprior to doing probe. Valid values 1-15
  5230. */
  5231. case 48: // M48 Z-Probe repeatability
  5232. {
  5233. #if Z_MIN_PIN == -1
  5234. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  5235. #endif
  5236. double sum=0.0;
  5237. double mean=0.0;
  5238. double sigma=0.0;
  5239. double sample_set[50];
  5240. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  5241. double X_current, Y_current, Z_current;
  5242. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  5243. if (code_seen('V') || code_seen('v')) {
  5244. verbose_level = code_value();
  5245. if (verbose_level<0 || verbose_level>4 ) {
  5246. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  5247. goto Sigma_Exit;
  5248. }
  5249. }
  5250. if (verbose_level > 0) {
  5251. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  5252. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  5253. }
  5254. if (code_seen('n')) {
  5255. n_samples = code_value();
  5256. if (n_samples<4 || n_samples>50 ) {
  5257. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  5258. goto Sigma_Exit;
  5259. }
  5260. }
  5261. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  5262. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  5263. Z_current = st_get_position_mm(Z_AXIS);
  5264. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  5265. ext_position = st_get_position_mm(E_AXIS);
  5266. if (code_seen('X') || code_seen('x') ) {
  5267. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  5268. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  5269. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  5270. goto Sigma_Exit;
  5271. }
  5272. }
  5273. if (code_seen('Y') || code_seen('y') ) {
  5274. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  5275. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  5276. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  5277. goto Sigma_Exit;
  5278. }
  5279. }
  5280. if (code_seen('L') || code_seen('l') ) {
  5281. n_legs = code_value();
  5282. if ( n_legs==1 )
  5283. n_legs = 2;
  5284. if ( n_legs<0 || n_legs>15 ) {
  5285. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  5286. goto Sigma_Exit;
  5287. }
  5288. }
  5289. //
  5290. // Do all the preliminary setup work. First raise the probe.
  5291. //
  5292. st_synchronize();
  5293. plan_bed_level_matrix.set_to_identity();
  5294. plan_buffer_line( X_current, Y_current, Z_start_location,
  5295. ext_position,
  5296. homing_feedrate[Z_AXIS]/60,
  5297. active_extruder);
  5298. st_synchronize();
  5299. //
  5300. // Now get everything to the specified probe point So we can safely do a probe to
  5301. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  5302. // use that as a starting point for each probe.
  5303. //
  5304. if (verbose_level > 2)
  5305. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  5306. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5307. ext_position,
  5308. homing_feedrate[X_AXIS]/60,
  5309. active_extruder);
  5310. st_synchronize();
  5311. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  5312. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  5313. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5314. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  5315. //
  5316. // OK, do the inital probe to get us close to the bed.
  5317. // Then retrace the right amount and use that in subsequent probes
  5318. //
  5319. int l_feedmultiply = setup_for_endstop_move();
  5320. run_z_probe();
  5321. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5322. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  5323. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5324. ext_position,
  5325. homing_feedrate[X_AXIS]/60,
  5326. active_extruder);
  5327. st_synchronize();
  5328. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5329. for( n=0; n<n_samples; n++) {
  5330. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  5331. if ( n_legs) {
  5332. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  5333. int rotational_direction, l;
  5334. rotational_direction = (unsigned long) _millis() & 0x0001; // clockwise or counter clockwise
  5335. radius = (unsigned long) _millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  5336. theta = (float) ((unsigned long) _millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  5337. //SERIAL_ECHOPAIR("starting radius: ",radius);
  5338. //SERIAL_ECHOPAIR(" theta: ",theta);
  5339. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  5340. //SERIAL_PROTOCOLLNPGM("");
  5341. for( l=0; l<n_legs-1; l++) {
  5342. if (rotational_direction==1)
  5343. theta += (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  5344. else
  5345. theta -= (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  5346. radius += (float) ( ((long) ((unsigned long) _millis() % (long) 10)) - 5);
  5347. if ( radius<0.0 )
  5348. radius = -radius;
  5349. X_current = X_probe_location + cos(theta) * radius;
  5350. Y_current = Y_probe_location + sin(theta) * radius;
  5351. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  5352. X_current = X_MIN_POS;
  5353. if ( X_current>X_MAX_POS)
  5354. X_current = X_MAX_POS;
  5355. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  5356. Y_current = Y_MIN_POS;
  5357. if ( Y_current>Y_MAX_POS)
  5358. Y_current = Y_MAX_POS;
  5359. if (verbose_level>3 ) {
  5360. SERIAL_ECHOPAIR("x: ", X_current);
  5361. SERIAL_ECHOPAIR("y: ", Y_current);
  5362. SERIAL_PROTOCOLLNPGM("");
  5363. }
  5364. do_blocking_move_to( X_current, Y_current, Z_current );
  5365. }
  5366. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  5367. }
  5368. int l_feedmultiply = setup_for_endstop_move();
  5369. run_z_probe();
  5370. sample_set[n] = current_position[Z_AXIS];
  5371. //
  5372. // Get the current mean for the data points we have so far
  5373. //
  5374. sum=0.0;
  5375. for( j=0; j<=n; j++) {
  5376. sum = sum + sample_set[j];
  5377. }
  5378. mean = sum / (double (n+1));
  5379. //
  5380. // Now, use that mean to calculate the standard deviation for the
  5381. // data points we have so far
  5382. //
  5383. sum=0.0;
  5384. for( j=0; j<=n; j++) {
  5385. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  5386. }
  5387. sigma = sqrt( sum / (double (n+1)) );
  5388. if (verbose_level > 1) {
  5389. SERIAL_PROTOCOL(n+1);
  5390. SERIAL_PROTOCOL(" of ");
  5391. SERIAL_PROTOCOL(n_samples);
  5392. SERIAL_PROTOCOLPGM(" z: ");
  5393. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  5394. }
  5395. if (verbose_level > 2) {
  5396. SERIAL_PROTOCOL(" mean: ");
  5397. SERIAL_PROTOCOL_F(mean,6);
  5398. SERIAL_PROTOCOL(" sigma: ");
  5399. SERIAL_PROTOCOL_F(sigma,6);
  5400. }
  5401. if (verbose_level > 0)
  5402. SERIAL_PROTOCOLPGM("\n");
  5403. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5404. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  5405. st_synchronize();
  5406. }
  5407. _delay(1000);
  5408. clean_up_after_endstop_move(l_feedmultiply);
  5409. // enable_endstops(true);
  5410. if (verbose_level > 0) {
  5411. SERIAL_PROTOCOLPGM("Mean: ");
  5412. SERIAL_PROTOCOL_F(mean, 6);
  5413. SERIAL_PROTOCOLPGM("\n");
  5414. }
  5415. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  5416. SERIAL_PROTOCOL_F(sigma, 6);
  5417. SERIAL_PROTOCOLPGM("\n\n");
  5418. Sigma_Exit:
  5419. break;
  5420. }
  5421. #endif // Z_PROBE_REPEATABILITY_TEST
  5422. #endif // ENABLE_AUTO_BED_LEVELING
  5423. /*!
  5424. ### M73 - Set/get print progress <a href="https://reprap.org/wiki/G-code#M73:_Set.2FGet_build_percentage">M73: Set/Get build percentage</a>
  5425. #### Usage
  5426. M73 [ P | R | Q | S ]
  5427. #### Parameters
  5428. - `P` - Percent in normal mode
  5429. - `R` - Time remaining in normal mode
  5430. - `Q` - Percent in silent mode
  5431. - `S` - Time in silent mode
  5432. */
  5433. case 73: //M73 show percent done and time remaining
  5434. if(code_seen('P')) print_percent_done_normal = code_value();
  5435. if(code_seen('R')) print_time_remaining_normal = code_value();
  5436. if(code_seen('Q')) print_percent_done_silent = code_value();
  5437. if(code_seen('S')) print_time_remaining_silent = code_value();
  5438. {
  5439. const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
  5440. printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
  5441. printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
  5442. }
  5443. break;
  5444. /*!
  5445. ### M104 - Set hotend temperature <a href="https://reprap.org/wiki/G-code#M104:_Set_Extruder_Temperature">M104: Set Extruder Temperature</a>
  5446. #### Usage
  5447. M104 [ S ]
  5448. #### Parameters
  5449. - `S` - Target temperature
  5450. */
  5451. case 104: // M104
  5452. {
  5453. uint8_t extruder;
  5454. if(setTargetedHotend(104,extruder)){
  5455. break;
  5456. }
  5457. if (code_seen('S'))
  5458. {
  5459. setTargetHotendSafe(code_value(), extruder);
  5460. }
  5461. break;
  5462. }
  5463. /*!
  5464. ### M112 - Emergency stop <a href="https://reprap.org/wiki/G-code#M112:_Full_.28Emergency.29_Stop">M112: Full (Emergency) Stop</a>
  5465. It is processed much earlier as to bypass the cmdqueue.
  5466. */
  5467. case 112:
  5468. kill(MSG_M112_KILL, 3);
  5469. break;
  5470. /*!
  5471. ### M140 - Set bed temperature <a href="https://reprap.org/wiki/G-code#M140:_Set_Bed_Temperature_.28Fast.29">M140: Set Bed Temperature (Fast)</a>
  5472. #### Usage
  5473. M140 [ S ]
  5474. #### Parameters
  5475. - `S` - Target temperature
  5476. */
  5477. case 140:
  5478. if (code_seen('S')) setTargetBed(code_value());
  5479. break;
  5480. /*!
  5481. ### M105 - Report temperatures <a href="https://reprap.org/wiki/G-code#M105:_Get_Extruder_Temperature">M105: Get Extruder Temperature</a>
  5482. Prints temperatures:
  5483. - `T:` - Hotend (actual / target)
  5484. - `B:` - Bed (actual / target)
  5485. - `Tx:` - x Tool (actual / target)
  5486. - `@:` - Hotend power
  5487. - `B@:` - Bed power
  5488. - `P:` - PINDAv2 actual (only MK2.5/s and MK3/s)
  5489. - `A:` - Ambient actual (only MK3/s)
  5490. _Example:_
  5491. ok T:20.2 /0.0 B:19.1 /0.0 T0:20.2 /0.0 @:0 B@:0 P:19.8 A:26.4
  5492. */
  5493. case 105:
  5494. {
  5495. uint8_t extruder;
  5496. if(setTargetedHotend(105, extruder)){
  5497. break;
  5498. }
  5499. SERIAL_PROTOCOLPGM("ok ");
  5500. gcode_M105(extruder);
  5501. cmdqueue_pop_front(); //prevent an ok after the command since this command uses an ok at the beginning.
  5502. break;
  5503. }
  5504. #ifdef AUTO_REPORT_TEMPERATURES
  5505. /*!
  5506. ### M155 - Automatically send temperatures <a href="https://reprap.org/wiki/G-code#M155:_Automatically_send_temperatures">M155: Automatically send temperatures</a>
  5507. #### Usage
  5508. M155 [ S ]
  5509. #### Parameters
  5510. - `S` - Set temperature autoreporting interval in seconds. 0 to disable. Maximum: 255
  5511. */
  5512. case 155:
  5513. {
  5514. if (code_seen('S'))
  5515. {
  5516. auto_report_temp_period = code_value_uint8();
  5517. if (auto_report_temp_period != 0)
  5518. auto_report_temp_timer.start();
  5519. else
  5520. auto_report_temp_timer.stop();
  5521. }
  5522. }
  5523. break;
  5524. #endif //AUTO_REPORT_TEMPERATURES
  5525. /*!
  5526. ### M109 - Wait for extruder temperature <a href="https://reprap.org/wiki/G-code#M109:_Set_Extruder_Temperature_and_Wait">M109: Set Extruder Temperature and Wait</a>
  5527. #### Usage
  5528. M104 [ B | R | S ]
  5529. #### Parameters (not mandatory)
  5530. - `S` - Set extruder temperature
  5531. - `R` - Set extruder temperature
  5532. - `B` - Set max. extruder temperature, while `S` is min. temperature. Not active in default, only if AUTOTEMP is defined in source code.
  5533. Parameters S and R are treated identically.
  5534. Command always waits for both cool down and heat up.
  5535. If no parameters are supplied waits for previously set extruder temperature.
  5536. */
  5537. case 109:
  5538. {
  5539. uint8_t extruder;
  5540. if(setTargetedHotend(109, extruder)){
  5541. break;
  5542. }
  5543. LCD_MESSAGERPGM(_T(MSG_HEATING));
  5544. heating_status = 1;
  5545. if (farm_mode) { prusa_statistics(1); };
  5546. #ifdef AUTOTEMP
  5547. autotemp_enabled=false;
  5548. #endif
  5549. if (code_seen('S')) {
  5550. setTargetHotendSafe(code_value(), extruder);
  5551. } else if (code_seen('R')) {
  5552. setTargetHotendSafe(code_value(), extruder);
  5553. }
  5554. #ifdef AUTOTEMP
  5555. if (code_seen('S')) autotemp_min=code_value();
  5556. if (code_seen('B')) autotemp_max=code_value();
  5557. if (code_seen('F'))
  5558. {
  5559. autotemp_factor=code_value();
  5560. autotemp_enabled=true;
  5561. }
  5562. #endif
  5563. codenum = _millis();
  5564. /* See if we are heating up or cooling down */
  5565. target_direction = isHeatingHotend(extruder); // true if heating, false if cooling
  5566. KEEPALIVE_STATE(NOT_BUSY);
  5567. cancel_heatup = false;
  5568. wait_for_heater(codenum, extruder); //loops until target temperature is reached
  5569. LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
  5570. KEEPALIVE_STATE(IN_HANDLER);
  5571. heating_status = 2;
  5572. if (farm_mode) { prusa_statistics(2); };
  5573. //starttime=_millis();
  5574. previous_millis_cmd = _millis();
  5575. }
  5576. break;
  5577. /*!
  5578. ### M190 - Wait for bed temperature <a href="https://reprap.org/wiki/G-code#M190:_Wait_for_bed_temperature_to_reach_target_temp">M190: Wait for bed temperature to reach target temp</a>
  5579. #### Usage
  5580. M190 [ R | S ]
  5581. #### Parameters (not mandatory)
  5582. - `S` - Set extruder temperature and wait for heating
  5583. - `R` - Set extruder temperature and wait for heating or cooling
  5584. If no parameter is supplied, waits for heating or cooling to previously set temperature.
  5585. */
  5586. case 190:
  5587. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5588. {
  5589. bool CooldownNoWait = false;
  5590. LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
  5591. heating_status = 3;
  5592. if (farm_mode) { prusa_statistics(1); };
  5593. if (code_seen('S'))
  5594. {
  5595. setTargetBed(code_value());
  5596. CooldownNoWait = true;
  5597. }
  5598. else if (code_seen('R'))
  5599. {
  5600. setTargetBed(code_value());
  5601. }
  5602. codenum = _millis();
  5603. cancel_heatup = false;
  5604. target_direction = isHeatingBed(); // true if heating, false if cooling
  5605. KEEPALIVE_STATE(NOT_BUSY);
  5606. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  5607. {
  5608. if(( _millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  5609. {
  5610. if (!farm_mode) {
  5611. float tt = degHotend(active_extruder);
  5612. SERIAL_PROTOCOLPGM("T:");
  5613. SERIAL_PROTOCOL(tt);
  5614. SERIAL_PROTOCOLPGM(" E:");
  5615. SERIAL_PROTOCOL((int)active_extruder);
  5616. SERIAL_PROTOCOLPGM(" B:");
  5617. SERIAL_PROTOCOL_F(degBed(), 1);
  5618. SERIAL_PROTOCOLLN("");
  5619. }
  5620. codenum = _millis();
  5621. }
  5622. manage_heater();
  5623. manage_inactivity();
  5624. lcd_update(0);
  5625. }
  5626. LCD_MESSAGERPGM(_T(MSG_BED_DONE));
  5627. KEEPALIVE_STATE(IN_HANDLER);
  5628. heating_status = 4;
  5629. previous_millis_cmd = _millis();
  5630. }
  5631. #endif
  5632. break;
  5633. #if defined(FAN_PIN) && FAN_PIN > -1
  5634. /*!
  5635. ### M106 - Set fan speed <a href="https://reprap.org/wiki/G-code#M106:_Fan_On">M106: Fan On</a>
  5636. #### Usage
  5637. M106 [ S ]
  5638. #### Parameters
  5639. - `S` - Specifies the duty cycle of the print fan. Allowed values are 0-255. If it's omitted, a value of 255 is used.
  5640. */
  5641. case 106: // M106 Sxxx Fan On S<speed> 0 .. 255
  5642. if (code_seen('S')){
  5643. fanSpeed=constrain(code_value(),0,255);
  5644. }
  5645. else {
  5646. fanSpeed=255;
  5647. }
  5648. break;
  5649. /*!
  5650. ### M107 - Fan off <a href="https://reprap.org/wiki/G-code#M107:_Fan_Off">M107: Fan Off</a>
  5651. */
  5652. case 107:
  5653. fanSpeed = 0;
  5654. break;
  5655. #endif //FAN_PIN
  5656. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  5657. /*!
  5658. ### M80 - Turn on the Power Supply <a href="https://reprap.org/wiki/G-code#M80:_ATX_Power_On">M80: ATX Power On</a>
  5659. Only works if the firmware is compiled with PS_ON_PIN defined.
  5660. */
  5661. case 80:
  5662. SET_OUTPUT(PS_ON_PIN); //GND
  5663. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  5664. // If you have a switch on suicide pin, this is useful
  5665. // if you want to start another print with suicide feature after
  5666. // a print without suicide...
  5667. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  5668. SET_OUTPUT(SUICIDE_PIN);
  5669. WRITE(SUICIDE_PIN, HIGH);
  5670. #endif
  5671. powersupply = true;
  5672. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  5673. lcd_update(0);
  5674. break;
  5675. /*!
  5676. ### M81 - Turn off Power Supply <a href="https://reprap.org/wiki/G-code#M81:_ATX_Power_Off">M81: ATX Power Off</a>
  5677. Only works if the firmware is compiled with PS_ON_PIN defined.
  5678. */
  5679. case 81:
  5680. disable_heater();
  5681. st_synchronize();
  5682. disable_e0();
  5683. disable_e1();
  5684. disable_e2();
  5685. finishAndDisableSteppers();
  5686. fanSpeed = 0;
  5687. _delay(1000); // Wait a little before to switch off
  5688. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  5689. st_synchronize();
  5690. suicide();
  5691. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  5692. SET_OUTPUT(PS_ON_PIN);
  5693. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  5694. #endif
  5695. powersupply = false;
  5696. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
  5697. lcd_update(0);
  5698. break;
  5699. #endif
  5700. /*!
  5701. ### M82 - Set E axis to absolute mode <a href="https://reprap.org/wiki/G-code#M82:_Set_extruder_to_absolute_mode">M82: Set extruder to absolute mode</a>
  5702. Makes the extruder interpret extrusion as absolute positions.
  5703. */
  5704. case 82:
  5705. axis_relative_modes &= ~E_AXIS_MASK;
  5706. break;
  5707. /*!
  5708. ### M83 - Set E axis to relative mode <a href="https://reprap.org/wiki/G-code#M83:_Set_extruder_to_relative_mode">M83: Set extruder to relative mode</a>
  5709. Makes the extruder interpret extrusion values as relative positions.
  5710. */
  5711. case 83:
  5712. axis_relative_modes |= E_AXIS_MASK;
  5713. break;
  5714. /*!
  5715. ### M84 - Disable steppers <a href="https://reprap.org/wiki/G-code#M84:_Stop_idle_hold">M84: Stop idle hold</a>
  5716. This command can be used to set the stepper inactivity timeout (`S`) or to disable steppers (`X`,`Y`,`Z`,`E`)
  5717. This command can be used without any additional parameters. In that case all steppers are disabled.
  5718. The file completeness check uses this parameter to detect an incomplete file. It has to be present at the end of a file with no parameters.
  5719. M84 [ S | X | Y | Z | E ]
  5720. - `S` - Seconds
  5721. - `X` - X axis
  5722. - `Y` - Y axis
  5723. - `Z` - Z axis
  5724. - `E` - Exruder
  5725. ### M18 - Disable steppers <a href="https://reprap.org/wiki/G-code#M18:_Disable_all_stepper_motors">M18: Disable all stepper motors</a>
  5726. Equal to M84 (compatibility)
  5727. */
  5728. case 18: //compatibility
  5729. case 84: // M84
  5730. if(code_seen('S')){
  5731. stepper_inactive_time = code_value() * 1000;
  5732. }
  5733. else
  5734. {
  5735. 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])));
  5736. if(all_axis)
  5737. {
  5738. st_synchronize();
  5739. disable_e0();
  5740. disable_e1();
  5741. disable_e2();
  5742. finishAndDisableSteppers();
  5743. }
  5744. else
  5745. {
  5746. st_synchronize();
  5747. if (code_seen('X')) disable_x();
  5748. if (code_seen('Y')) disable_y();
  5749. if (code_seen('Z')) disable_z();
  5750. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  5751. if (code_seen('E')) {
  5752. disable_e0();
  5753. disable_e1();
  5754. disable_e2();
  5755. }
  5756. #endif
  5757. }
  5758. }
  5759. //in the end of print set estimated time to end of print and extruders used during print to default values for next print
  5760. print_time_remaining_init();
  5761. snmm_filaments_used = 0;
  5762. break;
  5763. /*!
  5764. ### M85 - Set max inactive time <a href="https://reprap.org/wiki/G-code#M85:_Set_Inactivity_Shutdown_Timer">M85: Set Inactivity Shutdown Timer</a>
  5765. #### Usage
  5766. M85 [ S ]
  5767. #### Parameters
  5768. - `S` - specifies the time in seconds. If a value of 0 is specified, the timer is disabled.
  5769. */
  5770. case 85: // M85
  5771. if(code_seen('S')) {
  5772. max_inactive_time = code_value() * 1000;
  5773. }
  5774. break;
  5775. #ifdef SAFETYTIMER
  5776. /*!
  5777. ### M86 - Set safety timer expiration time <a href="https://reprap.org/wiki/G-code#M86:_Set_Safety_Timer_expiration_time">M86: Set Safety Timer expiration time</a>
  5778. When safety timer expires, heatbed and nozzle target temperatures are set to zero.
  5779. #### Usage
  5780. M86 [ S ]
  5781. #### Parameters
  5782. - `S` - specifies the time in seconds. If a value of 0 is specified, the timer is disabled.
  5783. */
  5784. case 86:
  5785. if (code_seen('S')) {
  5786. safetytimer_inactive_time = code_value() * 1000;
  5787. safetyTimer.start();
  5788. }
  5789. break;
  5790. #endif
  5791. /*!
  5792. ### M92 Set Axis steps-per-unit <a href="https://reprap.org/wiki/G-code#M92:_Set_axis_steps_per_unit">M92: Set axis_steps_per_unit</a>
  5793. Allows programming of steps per unit (usually mm) for motor drives. These values are reset to firmware defaults on power on, unless saved to EEPROM if available (M500 in Marlin)
  5794. #### Usage
  5795. M92 [ X | Y | Z | E ]
  5796. #### Parameters
  5797. - `X` - Steps per unit for the X drive
  5798. - `Y` - Steps per unit for the Y drive
  5799. - `Z` - Steps per unit for the Z drive
  5800. - `E` - Steps per unit for the extruder drive
  5801. */
  5802. case 92:
  5803. for(int8_t i=0; i < NUM_AXIS; i++)
  5804. {
  5805. if(code_seen(axis_codes[i]))
  5806. {
  5807. if(i == E_AXIS) { // E
  5808. float value = code_value();
  5809. if(value < 20.0) {
  5810. float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  5811. cs.max_jerk[E_AXIS] *= factor;
  5812. max_feedrate[i] *= factor;
  5813. axis_steps_per_sqr_second[i] *= factor;
  5814. }
  5815. cs.axis_steps_per_unit[i] = value;
  5816. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  5817. fsensor_set_axis_steps_per_unit(value);
  5818. #endif
  5819. }
  5820. else {
  5821. cs.axis_steps_per_unit[i] = code_value();
  5822. }
  5823. }
  5824. }
  5825. break;
  5826. /*!
  5827. ### M110 - Set Line number <a href="https://reprap.org/wiki/G-code#M110:_Set_Current_Line_Number">M110: Set Current Line Number</a>
  5828. Sets the line number in G-code
  5829. #### Usage
  5830. M110 [ N ]
  5831. #### Parameters
  5832. - `N` - Line number
  5833. */
  5834. case 110:
  5835. if (code_seen('N'))
  5836. gcode_LastN = code_value_long();
  5837. break;
  5838. /*!
  5839. ### M113 - Get or set host keep-alive interval <a href="https://reprap.org/wiki/G-code#M113:_Host_Keepalive">M113: Host Keepalive</a>
  5840. During some lengthy processes, such as G29, Marlin may appear to the host to have “gone away.” The “host keepalive” feature will send messages to the host when Marlin is busy or waiting for user response so the host won’t try to reconnect (or disconnect).
  5841. #### Usage
  5842. M113 [ S ]
  5843. #### Parameters
  5844. - `S` - Seconds. Default is 2 seconds between "busy" messages
  5845. */
  5846. case 113:
  5847. if (code_seen('S')) {
  5848. host_keepalive_interval = (uint8_t)code_value_short();
  5849. // NOMORE(host_keepalive_interval, 60);
  5850. }
  5851. else {
  5852. SERIAL_ECHO_START;
  5853. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  5854. SERIAL_PROTOCOLLN("");
  5855. }
  5856. break;
  5857. /*!
  5858. ### M115 - Firmware info <a href="https://reprap.org/wiki/G-code#M115:_Get_Firmware_Version_and_Capabilities">M115: Get Firmware Version and Capabilities</a>
  5859. Print the firmware info and capabilities
  5860. Without any arguments, prints Prusa firmware version number, machine type, extruder count and UUID.
  5861. `M115 U` Checks the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware, it will pause the print for 30s and ask the user to upgrade the firmware.
  5862. _Examples:_
  5863. `M115` results:
  5864. `FIRMWARE_NAME:Prusa-Firmware 3.8.1 based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:1.0 MACHINE_TYPE:Prusa i3 MK3S EXTRUDER_COUNT:1 UUID:00000000-0000-0000-0000-000000000000`
  5865. `M115 V` results:
  5866. `3.8.1`
  5867. `M115 U3.8.2-RC1` results on LCD display for 30s or user interaction:
  5868. `New firmware version available: 3.8.2-RC1 Please upgrade.`
  5869. #### Usage
  5870. M115 [ V | U ]
  5871. #### Parameters
  5872. - V - Report current installed firmware version
  5873. - U - Firmware version provided by G-code to be compared to current one.
  5874. */
  5875. case 115: // M115
  5876. if (code_seen('V')) {
  5877. // Report the Prusa version number.
  5878. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  5879. } else if (code_seen('U')) {
  5880. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  5881. // pause the print for 30s and ask the user to upgrade the firmware.
  5882. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  5883. } else {
  5884. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  5885. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  5886. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  5887. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  5888. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  5889. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  5890. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  5891. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  5892. SERIAL_ECHOPGM(" UUID:");
  5893. SERIAL_ECHOLNPGM(MACHINE_UUID);
  5894. #ifdef EXTENDED_CAPABILITIES_REPORT
  5895. extended_capabilities_report();
  5896. #endif //EXTENDED_CAPABILITIES_REPORT
  5897. }
  5898. break;
  5899. /*!
  5900. ### M114 - Get current position <a href="https://reprap.org/wiki/G-code#M114:_Get_Current_Position">M114: Get Current Position</a>
  5901. */
  5902. case 114:
  5903. gcode_M114();
  5904. break;
  5905. /*
  5906. M117 moved up to get the high priority
  5907. case 117: // M117 display message
  5908. starpos = (strchr(strchr_pointer + 5,'*'));
  5909. if(starpos!=NULL)
  5910. *(starpos)='\0';
  5911. lcd_setstatus(strchr_pointer + 5);
  5912. break;*/
  5913. /*!
  5914. ### M120 - Enable endstops <a href="https://reprap.org/wiki/G-code#M120:_Enable_endstop_detection">M120: Enable endstop detection</a>
  5915. */
  5916. case 120:
  5917. enable_endstops(false) ;
  5918. break;
  5919. /*!
  5920. ### M121 - Disable endstops <a href="https://reprap.org/wiki/G-code#M121:_Disable_endstop_detection">M121: Disable endstop detection</a>
  5921. */
  5922. case 121:
  5923. enable_endstops(true) ;
  5924. break;
  5925. /*!
  5926. ### M119 - Get endstop states <a href="https://reprap.org/wiki/G-code#M119:_Get_Endstop_Status">M119: Get Endstop Status</a>
  5927. Returns the current state of the configured X, Y, Z endstops. Takes into account any 'inverted endstop' settings, so one can confirm that the machine is interpreting the endstops correctly.
  5928. */
  5929. case 119:
  5930. SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT
  5931. SERIAL_PROTOCOLLN("");
  5932. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  5933. SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN
  5934. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  5935. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5936. }else{
  5937. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5938. }
  5939. SERIAL_PROTOCOLLN("");
  5940. #endif
  5941. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  5942. SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX
  5943. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  5944. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5945. }else{
  5946. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5947. }
  5948. SERIAL_PROTOCOLLN("");
  5949. #endif
  5950. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  5951. SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN
  5952. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  5953. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5954. }else{
  5955. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5956. }
  5957. SERIAL_PROTOCOLLN("");
  5958. #endif
  5959. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  5960. SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX
  5961. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  5962. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5963. }else{
  5964. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5965. }
  5966. SERIAL_PROTOCOLLN("");
  5967. #endif
  5968. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  5969. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  5970. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  5971. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5972. }else{
  5973. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5974. }
  5975. SERIAL_PROTOCOLLN("");
  5976. #endif
  5977. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  5978. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  5979. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  5980. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5981. }else{
  5982. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5983. }
  5984. SERIAL_PROTOCOLLN("");
  5985. #endif
  5986. break;
  5987. //!@todo update for all axes, use for loop
  5988. #ifdef BLINKM
  5989. /*!
  5990. ### M150 - Set RGB(W) Color <a href="https://reprap.org/wiki/G-code#M150:_Set_LED_color">M150: Set LED color</a>
  5991. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code by defining BLINKM and its dependencies.
  5992. #### Usage
  5993. M150 [ R | U | B ]
  5994. #### Parameters
  5995. - `R` - Red color value
  5996. - `U` - Green color value. It is NOT `G`!
  5997. - `B` - Blue color value
  5998. */
  5999. case 150:
  6000. {
  6001. byte red;
  6002. byte grn;
  6003. byte blu;
  6004. if(code_seen('R')) red = code_value();
  6005. if(code_seen('U')) grn = code_value();
  6006. if(code_seen('B')) blu = code_value();
  6007. SendColors(red,grn,blu);
  6008. }
  6009. break;
  6010. #endif //BLINKM
  6011. /*!
  6012. ### M200 - Set filament diameter <a href="https://reprap.org/wiki/G-code#M200:_Set_filament_diameter">M200: Set filament diameter</a>
  6013. #### Usage
  6014. M200 [ D | T ]
  6015. #### Parameters
  6016. - `D` - Diameter in mm
  6017. - `T` - Number of extruder (MMUs)
  6018. */
  6019. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  6020. {
  6021. uint8_t extruder = active_extruder;
  6022. if(code_seen('T')) {
  6023. extruder = code_value();
  6024. if(extruder >= EXTRUDERS) {
  6025. SERIAL_ECHO_START;
  6026. SERIAL_ECHO(_n("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER
  6027. break;
  6028. }
  6029. }
  6030. if(code_seen('D')) {
  6031. float diameter = (float)code_value();
  6032. if (diameter == 0.0) {
  6033. // setting any extruder filament size disables volumetric on the assumption that
  6034. // slicers either generate in extruder values as cubic mm or as as filament feeds
  6035. // for all extruders
  6036. cs.volumetric_enabled = false;
  6037. } else {
  6038. cs.filament_size[extruder] = (float)code_value();
  6039. // make sure all extruders have some sane value for the filament size
  6040. cs.filament_size[0] = (cs.filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[0]);
  6041. #if EXTRUDERS > 1
  6042. cs.filament_size[1] = (cs.filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[1]);
  6043. #if EXTRUDERS > 2
  6044. cs.filament_size[2] = (cs.filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[2]);
  6045. #endif
  6046. #endif
  6047. cs.volumetric_enabled = true;
  6048. }
  6049. } else {
  6050. //reserved for setting filament diameter via UFID or filament measuring device
  6051. break;
  6052. }
  6053. calculate_extruder_multipliers();
  6054. }
  6055. break;
  6056. /*!
  6057. ### M201 - Set Print Max Acceleration <a href="https://reprap.org/wiki/G-code#M201:_Set_max_printing_acceleration">M201: Set max printing acceleration</a>
  6058. For each axis individually.
  6059. */
  6060. case 201:
  6061. for (int8_t i = 0; i < NUM_AXIS; i++)
  6062. {
  6063. if (code_seen(axis_codes[i]))
  6064. {
  6065. unsigned long val = code_value();
  6066. #ifdef TMC2130
  6067. unsigned long val_silent = val;
  6068. if ((i == X_AXIS) || (i == Y_AXIS))
  6069. {
  6070. if (val > NORMAL_MAX_ACCEL_XY)
  6071. val = NORMAL_MAX_ACCEL_XY;
  6072. if (val_silent > SILENT_MAX_ACCEL_XY)
  6073. val_silent = SILENT_MAX_ACCEL_XY;
  6074. }
  6075. cs.max_acceleration_units_per_sq_second_normal[i] = val;
  6076. cs.max_acceleration_units_per_sq_second_silent[i] = val_silent;
  6077. #else //TMC2130
  6078. max_acceleration_units_per_sq_second[i] = val;
  6079. #endif //TMC2130
  6080. }
  6081. }
  6082. // 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)
  6083. reset_acceleration_rates();
  6084. break;
  6085. #if 0 // Not used for Sprinter/grbl gen6
  6086. case 202: // M202
  6087. for(int8_t i=0; i < NUM_AXIS; i++) {
  6088. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * cs.axis_steps_per_unit[i];
  6089. }
  6090. break;
  6091. #endif
  6092. /*!
  6093. ### M203 - Set Max Feedrate <a href="https://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate">M203: Set maximum feedrate</a>
  6094. For each axis individually.
  6095. */
  6096. case 203: // M203 max feedrate mm/sec
  6097. for (int8_t i = 0; i < NUM_AXIS; i++)
  6098. {
  6099. if (code_seen(axis_codes[i]))
  6100. {
  6101. float val = code_value();
  6102. #ifdef TMC2130
  6103. float val_silent = val;
  6104. if ((i == X_AXIS) || (i == Y_AXIS))
  6105. {
  6106. if (val > NORMAL_MAX_FEEDRATE_XY)
  6107. val = NORMAL_MAX_FEEDRATE_XY;
  6108. if (val_silent > SILENT_MAX_FEEDRATE_XY)
  6109. val_silent = SILENT_MAX_FEEDRATE_XY;
  6110. }
  6111. cs.max_feedrate_normal[i] = val;
  6112. cs.max_feedrate_silent[i] = val_silent;
  6113. #else //TMC2130
  6114. max_feedrate[i] = val;
  6115. #endif //TMC2130
  6116. }
  6117. }
  6118. break;
  6119. /*!
  6120. ### M204 - Acceleration settings <a href="https://reprap.org/wiki/G-code#M204:_Set_default_acceleration">M204: Set default acceleration</a>
  6121. #### Old format:
  6122. ##### Usage
  6123. M204 [ S | T ]
  6124. ##### Parameters
  6125. - `S` - normal moves
  6126. - `T` - filmanent only moves
  6127. #### New format:
  6128. ##### Usage
  6129. M204 [ P | R | T ]
  6130. ##### Parameters
  6131. - `P` - printing moves
  6132. - `R` - filmanent only moves
  6133. - `T` - travel moves (as of now T is ignored)
  6134. */
  6135. case 204:
  6136. {
  6137. if(code_seen('S')) {
  6138. // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
  6139. // and it is also generated by Slic3r to control acceleration per extrusion type
  6140. // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
  6141. cs.acceleration = code_value();
  6142. // Interpret the T value as retract acceleration in the old Marlin format.
  6143. if(code_seen('T'))
  6144. cs.retract_acceleration = code_value();
  6145. } else {
  6146. // New acceleration format, compatible with the upstream Marlin.
  6147. if(code_seen('P'))
  6148. cs.acceleration = code_value();
  6149. if(code_seen('R'))
  6150. cs.retract_acceleration = code_value();
  6151. if(code_seen('T')) {
  6152. // Interpret the T value as the travel acceleration in the new Marlin format.
  6153. /*!
  6154. @todo Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
  6155. */
  6156. // travel_acceleration = code_value();
  6157. }
  6158. }
  6159. }
  6160. break;
  6161. /*!
  6162. ### M205 - Set advanced settings <a href="https://reprap.org/wiki/G-code#M205:_Advanced_settings">M205: Advanced settings</a>
  6163. Set some advanced settings related to movement.
  6164. #### Usage
  6165. M205 [ S | T | B | X | Y | Z | E ]
  6166. #### Parameters
  6167. - `S` - Minimum feedrate for print moves (unit/s)
  6168. - `T` - Minimum feedrate for travel moves (units/s)
  6169. - `B` - Minimum segment time (us)
  6170. - `X` - Maximum X jerk (units/s)
  6171. - `Y` - Maximum Y jerk (units/s)
  6172. - `Z` - Maximum Z jerk (units/s)
  6173. - `E` - Maximum E jerk (units/s)
  6174. */
  6175. case 205:
  6176. {
  6177. if(code_seen('S')) cs.minimumfeedrate = code_value();
  6178. if(code_seen('T')) cs.mintravelfeedrate = code_value();
  6179. if(code_seen('B')) cs.minsegmenttime = code_value() ;
  6180. if(code_seen('X')) cs.max_jerk[X_AXIS] = cs.max_jerk[Y_AXIS] = code_value();
  6181. if(code_seen('Y')) cs.max_jerk[Y_AXIS] = code_value();
  6182. if(code_seen('Z')) cs.max_jerk[Z_AXIS] = code_value();
  6183. if(code_seen('E'))
  6184. {
  6185. float e = code_value();
  6186. #ifndef LA_NOCOMPAT
  6187. e = la10c_jerk(e);
  6188. #endif
  6189. cs.max_jerk[E_AXIS] = e;
  6190. }
  6191. if (cs.max_jerk[X_AXIS] > DEFAULT_XJERK) cs.max_jerk[X_AXIS] = DEFAULT_XJERK;
  6192. if (cs.max_jerk[Y_AXIS] > DEFAULT_YJERK) cs.max_jerk[Y_AXIS] = DEFAULT_YJERK;
  6193. }
  6194. break;
  6195. /*!
  6196. ### M206 - Set additional homing offsets <a href="https://reprap.org/wiki/G-code#M206:_Offset_axes">M206: Offset axes</a>
  6197. #### Usage
  6198. M206 [ X | Y | Z ]
  6199. #### Parameters
  6200. - `X` - X axis offset
  6201. - `Y` - Y axis offset
  6202. - `Z` - Z axis offset
  6203. */
  6204. case 206:
  6205. for(int8_t i=0; i < 3; i++)
  6206. {
  6207. if(code_seen(axis_codes[i])) cs.add_homing[i] = code_value();
  6208. }
  6209. break;
  6210. #ifdef FWRETRACT
  6211. /*!
  6212. ### M207 - Set firmware retraction <a href="https://reprap.org/wiki/G-code#M207:_Set_retract_length">M207: Set retract length</a>
  6213. #### Usage
  6214. M207 [ S | F | Z ]
  6215. #### Parameters
  6216. - `S` - positive length to retract, in mm
  6217. - `F` - retraction feedrate, in mm/min
  6218. - `Z` - additional zlift/hop
  6219. */
  6220. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  6221. {
  6222. if(code_seen('S'))
  6223. {
  6224. cs.retract_length = code_value() ;
  6225. }
  6226. if(code_seen('F'))
  6227. {
  6228. cs.retract_feedrate = code_value()/60 ;
  6229. }
  6230. if(code_seen('Z'))
  6231. {
  6232. cs.retract_zlift = code_value() ;
  6233. }
  6234. }break;
  6235. /*!
  6236. ### M208 - Set retract recover length <a href="https://reprap.org/wiki/G-code#M208:_Set_unretract_length">M208: Set unretract length</a>
  6237. #### Usage
  6238. M208 [ S | F ]
  6239. #### Parameters
  6240. - `S` - positive length surplus to the M207 Snnn, in mm
  6241. - `F` - feedrate, in mm/sec
  6242. */
  6243. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  6244. {
  6245. if(code_seen('S'))
  6246. {
  6247. cs.retract_recover_length = code_value() ;
  6248. }
  6249. if(code_seen('F'))
  6250. {
  6251. cs.retract_recover_feedrate = code_value()/60 ;
  6252. }
  6253. }break;
  6254. /*!
  6255. ### M209 - Enable/disable automatict retract <a href="https://reprap.org/wiki/G-code#M209:_Enable_automatic_retract">M209: Enable automatic retract</a>
  6256. This boolean value S 1=true or 0=false enables automatic retract detect if the slicer did not support G10/G11: every normal extrude-only move will be classified as retract depending on the direction.
  6257. #### Usage
  6258. M209 [ S ]
  6259. #### Parameters
  6260. - `S` - 1=true or 0=false
  6261. */
  6262. 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.
  6263. {
  6264. if(code_seen('S'))
  6265. {
  6266. int t= code_value() ;
  6267. switch(t)
  6268. {
  6269. case 0:
  6270. {
  6271. cs.autoretract_enabled=false;
  6272. retracted[0]=false;
  6273. #if EXTRUDERS > 1
  6274. retracted[1]=false;
  6275. #endif
  6276. #if EXTRUDERS > 2
  6277. retracted[2]=false;
  6278. #endif
  6279. }break;
  6280. case 1:
  6281. {
  6282. cs.autoretract_enabled=true;
  6283. retracted[0]=false;
  6284. #if EXTRUDERS > 1
  6285. retracted[1]=false;
  6286. #endif
  6287. #if EXTRUDERS > 2
  6288. retracted[2]=false;
  6289. #endif
  6290. }break;
  6291. default:
  6292. SERIAL_ECHO_START;
  6293. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  6294. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  6295. SERIAL_ECHOLNPGM("\"(1)");
  6296. }
  6297. }
  6298. }break;
  6299. #endif // FWRETRACT
  6300. #if EXTRUDERS > 1
  6301. /*!
  6302. ### M218 - Set hotend offset <a href="https://reprap.org/wiki/G-code#M218:_Set_Hotend_Offset">M218: Set Hotend Offset</a>
  6303. In Prusa Firmware this G-code is only active if `EXTRUDERS` is higher then 1 in the source code. On Original i3 Prusa MK2/s MK2.5/s MK3/s it is not active.
  6304. #### Usage
  6305. M218 [ X | Y ]
  6306. #### Parameters
  6307. - `X` - X offset
  6308. - `Y` - Y offset
  6309. */
  6310. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  6311. {
  6312. uint8_t extruder;
  6313. if(setTargetedHotend(218, extruder)){
  6314. break;
  6315. }
  6316. if(code_seen('X'))
  6317. {
  6318. extruder_offset[X_AXIS][extruder] = code_value();
  6319. }
  6320. if(code_seen('Y'))
  6321. {
  6322. extruder_offset[Y_AXIS][extruder] = code_value();
  6323. }
  6324. SERIAL_ECHO_START;
  6325. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  6326. for(extruder = 0; extruder < EXTRUDERS; extruder++)
  6327. {
  6328. SERIAL_ECHO(" ");
  6329. SERIAL_ECHO(extruder_offset[X_AXIS][extruder]);
  6330. SERIAL_ECHO(",");
  6331. SERIAL_ECHO(extruder_offset[Y_AXIS][extruder]);
  6332. }
  6333. SERIAL_ECHOLN("");
  6334. }break;
  6335. #endif
  6336. /*!
  6337. ### M220 Set feedrate percentage <a href="https://reprap.org/wiki/G-code#M220:_Set_speed_factor_override_percentage">M220: Set speed factor override percentage</a>
  6338. #### Usage
  6339. M220 [ B | S | R ]
  6340. #### Parameters
  6341. - `B` - Backup current speed factor
  6342. - `S` - Speed factor override percentage (0..100 or higher)
  6343. - `R` - Restore previous speed factor
  6344. */
  6345. case 220: // M220 S<factor in percent>- set speed factor override percentage
  6346. {
  6347. bool codesWereSeen = false;
  6348. if (code_seen('B')) //backup current speed factor
  6349. {
  6350. saved_feedmultiply_mm = feedmultiply;
  6351. codesWereSeen = true;
  6352. }
  6353. if (code_seen('S'))
  6354. {
  6355. feedmultiply = code_value();
  6356. codesWereSeen = true;
  6357. }
  6358. if (code_seen('R')) //restore previous feedmultiply
  6359. {
  6360. feedmultiply = saved_feedmultiply_mm;
  6361. codesWereSeen = true;
  6362. }
  6363. if (!codesWereSeen)
  6364. {
  6365. printf_P(PSTR("%i%%\n"), feedmultiply);
  6366. }
  6367. }
  6368. break;
  6369. /*!
  6370. ### M221 - Set extrude factor override percentage <a href="https://reprap.org/wiki/G-code#M221:_Set_extrude_factor_override_percentage">M221: Set extrude factor override percentage</a>
  6371. #### Usage
  6372. M221 [ S | T ]
  6373. #### Parameters
  6374. - `S` - Extrude factor override percentage (0..100 or higher), default 100%
  6375. - `T` - Extruder drive number (Prusa Firmware only), default 0 if not set.
  6376. */
  6377. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  6378. {
  6379. if (code_seen('S'))
  6380. {
  6381. int tmp_code = code_value();
  6382. if (code_seen('T'))
  6383. {
  6384. uint8_t extruder;
  6385. if (setTargetedHotend(221, extruder))
  6386. break;
  6387. extruder_multiply[extruder] = tmp_code;
  6388. }
  6389. else
  6390. {
  6391. extrudemultiply = tmp_code ;
  6392. }
  6393. }
  6394. else
  6395. {
  6396. printf_P(PSTR("%i%%\n"), extrudemultiply);
  6397. }
  6398. calculate_extruder_multipliers();
  6399. }
  6400. break;
  6401. /*!
  6402. ### M226 - Wait for Pin state <a href="https://reprap.org/wiki/G-code#M226:_Wait_for_pin_state">M226: Wait for pin state</a>
  6403. Wait until the specified pin reaches the state required
  6404. #### Usage
  6405. M226 [ P | S ]
  6406. #### Parameters
  6407. - `P` - pin number
  6408. - `S` - pin state
  6409. */
  6410. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  6411. {
  6412. if(code_seen('P')){
  6413. int pin_number = code_value(); // pin number
  6414. int pin_state = -1; // required pin state - default is inverted
  6415. if(code_seen('S')) pin_state = code_value(); // required pin state
  6416. if(pin_state >= -1 && pin_state <= 1){
  6417. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  6418. {
  6419. if (sensitive_pins[i] == pin_number)
  6420. {
  6421. pin_number = -1;
  6422. break;
  6423. }
  6424. }
  6425. if (pin_number > -1)
  6426. {
  6427. int target = LOW;
  6428. st_synchronize();
  6429. pinMode(pin_number, INPUT);
  6430. switch(pin_state){
  6431. case 1:
  6432. target = HIGH;
  6433. break;
  6434. case 0:
  6435. target = LOW;
  6436. break;
  6437. case -1:
  6438. target = !digitalRead(pin_number);
  6439. break;
  6440. }
  6441. while(digitalRead(pin_number) != target){
  6442. manage_heater();
  6443. manage_inactivity();
  6444. lcd_update(0);
  6445. }
  6446. }
  6447. }
  6448. }
  6449. }
  6450. break;
  6451. #if NUM_SERVOS > 0
  6452. /*!
  6453. ### M280 - Set/Get servo position <a href="https://reprap.org/wiki/G-code#M280:_Set_servo_position">M280: Set servo position</a>
  6454. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  6455. #### Usage
  6456. M280 [ P | S ]
  6457. #### Parameters
  6458. - `P` - Servo index (id)
  6459. - `S` - Target position
  6460. */
  6461. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  6462. {
  6463. int servo_index = -1;
  6464. int servo_position = 0;
  6465. if (code_seen('P'))
  6466. servo_index = code_value();
  6467. if (code_seen('S')) {
  6468. servo_position = code_value();
  6469. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  6470. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  6471. servos[servo_index].attach(0);
  6472. #endif
  6473. servos[servo_index].write(servo_position);
  6474. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  6475. _delay(PROBE_SERVO_DEACTIVATION_DELAY);
  6476. servos[servo_index].detach();
  6477. #endif
  6478. }
  6479. else {
  6480. SERIAL_ECHO_START;
  6481. SERIAL_ECHO("Servo ");
  6482. SERIAL_ECHO(servo_index);
  6483. SERIAL_ECHOLN(" out of range");
  6484. }
  6485. }
  6486. else if (servo_index >= 0) {
  6487. SERIAL_PROTOCOL(MSG_OK);
  6488. SERIAL_PROTOCOL(" Servo ");
  6489. SERIAL_PROTOCOL(servo_index);
  6490. SERIAL_PROTOCOL(": ");
  6491. SERIAL_PROTOCOL(servos[servo_index].read());
  6492. SERIAL_PROTOCOLLN("");
  6493. }
  6494. }
  6495. break;
  6496. #endif // NUM_SERVOS > 0
  6497. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  6498. /*!
  6499. ### M300 - Play tone <a href="https://reprap.org/wiki/G-code#M300:_Play_beep_sound">M300: Play beep sound</a>
  6500. In Prusa Firmware the defaults are `100Hz` and `1000ms`, so that `M300` without parameters will beep for a second.
  6501. #### Usage
  6502. M300 [ S | P ]
  6503. #### Parameters
  6504. - `S` - frequency in Hz. Not all firmware versions support this parameter
  6505. - `P` - duration in milliseconds
  6506. */
  6507. case 300: // M300
  6508. {
  6509. int beepS = code_seen('S') ? code_value() : 110;
  6510. int beepP = code_seen('P') ? code_value() : 1000;
  6511. if (beepS > 0)
  6512. {
  6513. #if BEEPER > 0
  6514. Sound_MakeCustom(beepP,beepS,false);
  6515. #endif
  6516. }
  6517. else
  6518. {
  6519. _delay(beepP);
  6520. }
  6521. }
  6522. break;
  6523. #endif // M300
  6524. #ifdef PIDTEMP
  6525. /*!
  6526. ### M301 - Set hotend PID <a href="https://reprap.org/wiki/G-code#M301:_Set_PID_parameters">M301: Set PID parameters</a>
  6527. Sets Proportional (P), Integral (I) and Derivative (D) values for hot end.
  6528. See also <a href="https://reprap.org/wiki/PID_Tuning">PID Tuning.</a>
  6529. #### Usage
  6530. M301 [ P | I | D | C ]
  6531. #### Parameters
  6532. - `P` - proportional (Kp)
  6533. - `I` - integral (Ki)
  6534. - `D` - derivative (Kd)
  6535. - `C` - heating power=Kc*(e_speed0)
  6536. */
  6537. case 301:
  6538. {
  6539. if(code_seen('P')) cs.Kp = code_value();
  6540. if(code_seen('I')) cs.Ki = scalePID_i(code_value());
  6541. if(code_seen('D')) cs.Kd = scalePID_d(code_value());
  6542. #ifdef PID_ADD_EXTRUSION_RATE
  6543. if(code_seen('C')) Kc = code_value();
  6544. #endif
  6545. updatePID();
  6546. SERIAL_PROTOCOLRPGM(MSG_OK);
  6547. SERIAL_PROTOCOL(" p:");
  6548. SERIAL_PROTOCOL(cs.Kp);
  6549. SERIAL_PROTOCOL(" i:");
  6550. SERIAL_PROTOCOL(unscalePID_i(cs.Ki));
  6551. SERIAL_PROTOCOL(" d:");
  6552. SERIAL_PROTOCOL(unscalePID_d(cs.Kd));
  6553. #ifdef PID_ADD_EXTRUSION_RATE
  6554. SERIAL_PROTOCOL(" c:");
  6555. //Kc does not have scaling applied above, or in resetting defaults
  6556. SERIAL_PROTOCOL(Kc);
  6557. #endif
  6558. SERIAL_PROTOCOLLN("");
  6559. }
  6560. break;
  6561. #endif //PIDTEMP
  6562. #ifdef PIDTEMPBED
  6563. /*!
  6564. ### M304 - Set bed PID <a href="https://reprap.org/wiki/G-code#M304:_Set_PID_parameters_-_Bed">M304: Set PID parameters - Bed</a>
  6565. Sets Proportional (P), Integral (I) and Derivative (D) values for bed.
  6566. See also <a href="https://reprap.org/wiki/PID_Tuning">PID Tuning.</a>
  6567. #### Usage
  6568. M304 [ P | I | D ]
  6569. #### Parameters
  6570. - `P` - proportional (Kp)
  6571. - `I` - integral (Ki)
  6572. - `D` - derivative (Kd)
  6573. */
  6574. case 304:
  6575. {
  6576. if(code_seen('P')) cs.bedKp = code_value();
  6577. if(code_seen('I')) cs.bedKi = scalePID_i(code_value());
  6578. if(code_seen('D')) cs.bedKd = scalePID_d(code_value());
  6579. updatePID();
  6580. SERIAL_PROTOCOLRPGM(MSG_OK);
  6581. SERIAL_PROTOCOL(" p:");
  6582. SERIAL_PROTOCOL(cs.bedKp);
  6583. SERIAL_PROTOCOL(" i:");
  6584. SERIAL_PROTOCOL(unscalePID_i(cs.bedKi));
  6585. SERIAL_PROTOCOL(" d:");
  6586. SERIAL_PROTOCOL(unscalePID_d(cs.bedKd));
  6587. SERIAL_PROTOCOLLN("");
  6588. }
  6589. break;
  6590. #endif //PIDTEMP
  6591. /*!
  6592. ### M240 - Trigger camera <a href="https://reprap.org/wiki/G-code#M240:_Trigger_camera">M240: Trigger camera</a>
  6593. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  6594. You need to (re)define and assign `CHDK` or `PHOTOGRAPH_PIN` the correct pin number to be able to use the feature.
  6595. */
  6596. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  6597. {
  6598. #ifdef CHDK
  6599. SET_OUTPUT(CHDK);
  6600. WRITE(CHDK, HIGH);
  6601. chdkHigh = _millis();
  6602. chdkActive = true;
  6603. #else
  6604. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  6605. const uint8_t NUM_PULSES=16;
  6606. const float PULSE_LENGTH=0.01524;
  6607. for(int i=0; i < NUM_PULSES; i++) {
  6608. WRITE(PHOTOGRAPH_PIN, HIGH);
  6609. _delay_ms(PULSE_LENGTH);
  6610. WRITE(PHOTOGRAPH_PIN, LOW);
  6611. _delay_ms(PULSE_LENGTH);
  6612. }
  6613. _delay(7.33);
  6614. for(int i=0; i < NUM_PULSES; i++) {
  6615. WRITE(PHOTOGRAPH_PIN, HIGH);
  6616. _delay_ms(PULSE_LENGTH);
  6617. WRITE(PHOTOGRAPH_PIN, LOW);
  6618. _delay_ms(PULSE_LENGTH);
  6619. }
  6620. #endif
  6621. #endif //chdk end if
  6622. }
  6623. break;
  6624. #ifdef PREVENT_DANGEROUS_EXTRUDE
  6625. /*!
  6626. ### M302 - Allow cold extrude, or set minimum extrude temperature <a href="https://reprap.org/wiki/G-code#M302:_Allow_cold_extrudes">M302: Allow cold extrudes</a>
  6627. This tells the printer to allow movement of the extruder motor above a certain temperature, or if disabled, to allow extruder movement when the hotend is below a safe printing temperature.
  6628. #### Usage
  6629. M302 [ S ]
  6630. #### Parameters
  6631. - `S` - Cold extrude minimum temperature
  6632. */
  6633. case 302:
  6634. {
  6635. float temp = .0;
  6636. if (code_seen('S')) temp=code_value();
  6637. set_extrude_min_temp(temp);
  6638. }
  6639. break;
  6640. #endif
  6641. /*!
  6642. ### M303 - PID autotune <a href="https://reprap.org/wiki/G-code#M303:_Run_PID_tuning">M303: Run PID tuning</a>
  6643. PID Tuning refers to a control algorithm used in some repraps to tune heating behavior for hot ends and heated beds. This command generates Proportional (Kp), Integral (Ki), and Derivative (Kd) values for the hotend or bed. Send the appropriate code and wait for the output to update the firmware values.
  6644. #### Usage
  6645. M303 [ E | S | C ]
  6646. #### Parameters
  6647. - `E` - Extruder, default `E0`. Use `E-1` to calibrate the bed PID
  6648. - `S` - Target temperature, default `210°C` for hotend, 70 for bed
  6649. - `C` - Cycles, default `5`
  6650. */
  6651. case 303:
  6652. {
  6653. float temp = 150.0;
  6654. int e=0;
  6655. int c=5;
  6656. if (code_seen('E')) e=code_value();
  6657. if (e<0)
  6658. temp=70;
  6659. if (code_seen('S')) temp=code_value();
  6660. if (code_seen('C')) c=code_value();
  6661. PID_autotune(temp, e, c);
  6662. }
  6663. break;
  6664. /*!
  6665. ### M400 - Wait for all moves to finish <a href="https://reprap.org/wiki/G-code#M400:_Wait_for_current_moves_to_finish">M400: Wait for current moves to finish</a>
  6666. Finishes all current moves and and thus clears the buffer.
  6667. Equivalent to `G4` with no parameters.
  6668. */
  6669. case 400:
  6670. {
  6671. st_synchronize();
  6672. }
  6673. break;
  6674. /*!
  6675. ### M403 - Set filament type (material) for particular extruder and notify the MMU <a href="https://reprap.org/wiki/G-code#M403:_Set_filament_type_.28material.29_for_particular_extruder_and_notify_the_MMU.">M403 - Set filament type (material) for particular extruder and notify the MMU</a>
  6676. Currently three different materials are needed (default, flex and PVA).
  6677. And storing this information for different load/unload profiles etc. in the future firmware does not have to wait for "ok" from MMU.
  6678. #### Usage
  6679. M403 [ E | F ]
  6680. #### Parameters
  6681. - `E` - Extruder number. 0-indexed.
  6682. - `F` - Filament type
  6683. */
  6684. case 403:
  6685. {
  6686. // currently three different materials are needed (default, flex and PVA)
  6687. // add storing this information for different load/unload profiles etc. in the future
  6688. // firmware does not wait for "ok" from mmu
  6689. if (mmu_enabled)
  6690. {
  6691. uint8_t extruder = 255;
  6692. uint8_t filament = FILAMENT_UNDEFINED;
  6693. if(code_seen('E')) extruder = code_value();
  6694. if(code_seen('F')) filament = code_value();
  6695. mmu_set_filament_type(extruder, filament);
  6696. }
  6697. }
  6698. break;
  6699. /*!
  6700. ### M500 - Store settings in EEPROM <a href="https://reprap.org/wiki/G-code#M500:_Store_parameters_in_non-volatile_storage">M500: Store parameters in non-volatile storage</a>
  6701. Save current parameters to EEPROM.
  6702. */
  6703. case 500:
  6704. {
  6705. Config_StoreSettings();
  6706. }
  6707. break;
  6708. /*!
  6709. ### M501 - Read settings from EEPROM <a href="https://reprap.org/wiki/G-code#M501:_Read_parameters_from_EEPROM">M501: Read parameters from EEPROM</a>
  6710. Set the active parameters to those stored in the EEPROM. This is useful to revert parameters after experimenting with them.
  6711. */
  6712. case 501:
  6713. {
  6714. Config_RetrieveSettings();
  6715. }
  6716. break;
  6717. /*!
  6718. ### M502 - Revert all settings to factory default <a href="https://reprap.org/wiki/G-code#M502:_Restore_Default_Settings">M502: Restore Default Settings</a>
  6719. This command resets all tunable parameters to their default values, as set in the firmware's configuration files. This doesn't reset any parameters stored in the EEPROM, so it must be followed by M500 to write the default settings.
  6720. */
  6721. case 502:
  6722. {
  6723. Config_ResetDefault();
  6724. }
  6725. break;
  6726. /*!
  6727. ### M503 - Repport all settings currently in memory <a href="https://reprap.org/wiki/G-code#M503:_Report_Current_Settings">M503: Report Current Settings</a>
  6728. This command asks the firmware to reply with the current print settings as set in memory. Settings will differ from EEPROM contents if changed since the last load / save. The reply output includes the G-Code commands to produce each setting. For example, Steps-Per-Unit values are displayed as an M92 command.
  6729. */
  6730. case 503:
  6731. {
  6732. Config_PrintSettings();
  6733. }
  6734. break;
  6735. /*!
  6736. ### M509 - Force language selection <a href="https://reprap.org/wiki/G-code#M509:_Force_language_selection">M509: Force language selection</a>
  6737. Resets the language to English.
  6738. Only on Original Prusa i3 MK2.5/s and MK3/s with multiple languages.
  6739. */
  6740. case 509:
  6741. {
  6742. lang_reset();
  6743. SERIAL_ECHO_START;
  6744. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  6745. }
  6746. break;
  6747. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  6748. /*!
  6749. ### M540 - Abort print on endstop hit (enable/disable) <a href="https://reprap.org/wiki/G-code#M540_in_Marlin:_Enable.2FDisable_.22Stop_SD_Print_on_Endstop_Hit.22">M540 in Marlin: Enable/Disable "Stop SD Print on Endstop Hit"</a>
  6750. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code. You must define `ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED`.
  6751. #### Usage
  6752. M540 [ S ]
  6753. #### Parameters
  6754. - `S` - disabled=0, enabled=1
  6755. */
  6756. case 540:
  6757. {
  6758. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  6759. }
  6760. break;
  6761. #endif
  6762. /*!
  6763. ### M851 - Set Z-Probe Offset <a href="https://reprap.org/wiki/G-code#M851:_Set_Z-Probe_Offset">M851: Set Z-Probe Offset"</a>
  6764. Sets the Z-probe Z offset. This offset is used to determine the actual Z position of the nozzle when using a probe to home Z with G28. This value may also be used by G81 (Prusa) / G29 (Marlin) to apply correction to the Z position.
  6765. This value represents the distance from nozzle to the bed surface at the point where the probe is triggered. This value will be negative for typical switch probes, inductive probes, and setups where the nozzle makes a circuit with a raised metal contact. This setting will be greater than zero on machines where the nozzle itself is used as the probe, pressing down on the bed to press a switch. (This is a common setup on delta machines.)
  6766. #### Usage
  6767. M851 [ Z ]
  6768. #### Parameters
  6769. - `Z` - Z offset probe to nozzle.
  6770. */
  6771. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  6772. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  6773. {
  6774. float value;
  6775. if (code_seen('Z'))
  6776. {
  6777. value = code_value();
  6778. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  6779. {
  6780. cs.zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  6781. SERIAL_ECHO_START;
  6782. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  6783. SERIAL_PROTOCOLLN("");
  6784. }
  6785. else
  6786. {
  6787. SERIAL_ECHO_START;
  6788. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  6789. SERIAL_ECHORPGM(MSG_Z_MIN);
  6790. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  6791. SERIAL_ECHORPGM(MSG_Z_MAX);
  6792. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  6793. SERIAL_PROTOCOLLN("");
  6794. }
  6795. }
  6796. else
  6797. {
  6798. SERIAL_ECHO_START;
  6799. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  6800. SERIAL_ECHO(-cs.zprobe_zoffset);
  6801. SERIAL_PROTOCOLLN("");
  6802. }
  6803. break;
  6804. }
  6805. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  6806. #ifdef FILAMENTCHANGEENABLE
  6807. /*!
  6808. ### M600 - Initiate Filament change procedure <a href="https://reprap.org/wiki/G-code#M600:_Filament_change_pause">M600: Filament change pause</a>
  6809. Initiates Filament change, it is also used during Filament Runout Sensor process.
  6810. If the `M600` is triggered under 25mm it will do a Z-lift of 25mm to prevent a filament blob.
  6811. #### Usage
  6812. M600 [ X | Y | Z | E | L | AUTO ]
  6813. - `X` - X position, default 211
  6814. - `Y` - Y position, default 0
  6815. - `Z` - relative lift Z, default 2.
  6816. - `E` - initial retract, default -2
  6817. - `L` - later retract distance for removal, default -80
  6818. - `AUTO` - Automatically (only with MMU)
  6819. */
  6820. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  6821. {
  6822. st_synchronize();
  6823. float x_position = current_position[X_AXIS];
  6824. float y_position = current_position[Y_AXIS];
  6825. float z_shift = 0; // is it necessary to be a float?
  6826. float e_shift_init = 0;
  6827. float e_shift_late = 0;
  6828. bool automatic = false;
  6829. //Retract extruder
  6830. if(code_seen('E'))
  6831. {
  6832. e_shift_init = code_value();
  6833. }
  6834. else
  6835. {
  6836. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  6837. e_shift_init = FILAMENTCHANGE_FIRSTRETRACT ;
  6838. #endif
  6839. }
  6840. //currently don't work as we are using the same unload sequence as in M702, needs re-work
  6841. if (code_seen('L'))
  6842. {
  6843. e_shift_late = code_value();
  6844. }
  6845. else
  6846. {
  6847. #ifdef FILAMENTCHANGE_FINALRETRACT
  6848. e_shift_late = FILAMENTCHANGE_FINALRETRACT;
  6849. #endif
  6850. }
  6851. //Lift Z
  6852. if(code_seen('Z'))
  6853. {
  6854. z_shift = code_value();
  6855. }
  6856. else
  6857. {
  6858. z_shift = gcode_M600_filament_change_z_shift<uint8_t>();
  6859. }
  6860. //Move XY to side
  6861. if(code_seen('X'))
  6862. {
  6863. x_position = code_value();
  6864. }
  6865. else
  6866. {
  6867. #ifdef FILAMENTCHANGE_XPOS
  6868. x_position = FILAMENTCHANGE_XPOS;
  6869. #endif
  6870. }
  6871. if(code_seen('Y'))
  6872. {
  6873. y_position = code_value();
  6874. }
  6875. else
  6876. {
  6877. #ifdef FILAMENTCHANGE_YPOS
  6878. y_position = FILAMENTCHANGE_YPOS ;
  6879. #endif
  6880. }
  6881. if (mmu_enabled && code_seen("AUTO"))
  6882. automatic = true;
  6883. gcode_M600(automatic, x_position, y_position, z_shift, e_shift_init, e_shift_late);
  6884. }
  6885. break;
  6886. #endif //FILAMENTCHANGEENABLE
  6887. /*!
  6888. ### M601 - Pause print <a href="https://reprap.org/wiki/G-code#M601:_Pause_print">M601: Pause print</a>
  6889. */
  6890. /*!
  6891. ### M125 - Pause print (TODO: not implemented)
  6892. */
  6893. /*!
  6894. ### M25 - Pause SD print <a href="https://reprap.org/wiki/G-code#M25:_Pause_SD_print">M25: Pause SD print</a>
  6895. */
  6896. case 25:
  6897. case 601:
  6898. {
  6899. if (!isPrintPaused)
  6900. {
  6901. st_synchronize();
  6902. ClearToSend(); //send OK even before the command finishes executing because we want to make sure it is not skipped because of cmdqueue_pop_front();
  6903. cmdqueue_pop_front(); //trick because we want skip this command (M601) after restore
  6904. lcd_pause_print();
  6905. }
  6906. }
  6907. break;
  6908. /*!
  6909. ### M602 - Resume print <a href="https://reprap.org/wiki/G-code#M602:_Resume_print">M602: Resume print</a>
  6910. */
  6911. case 602: {
  6912. if (isPrintPaused)
  6913. lcd_resume_print();
  6914. }
  6915. break;
  6916. /*!
  6917. ### M603 - Stop print <a href="https://reprap.org/wiki/G-code#M603:_Stop_print">M603: Stop print</a>
  6918. */
  6919. case 603: {
  6920. lcd_print_stop();
  6921. }
  6922. break;
  6923. #ifdef PINDA_THERMISTOR
  6924. /*!
  6925. ### M860 - Wait for extruder temperature (PINDA) <a href="https://reprap.org/wiki/G-code#M860_Wait_for_Probe_Temperature">M860 Wait for Probe Temperature</a>
  6926. Wait for PINDA thermistor to reach target temperature
  6927. #### Usage
  6928. M860 [ S ]
  6929. #### Parameters
  6930. - `S` - Target temperature
  6931. */
  6932. case 860:
  6933. {
  6934. int set_target_pinda = 0;
  6935. if (code_seen('S')) {
  6936. set_target_pinda = code_value();
  6937. }
  6938. else {
  6939. break;
  6940. }
  6941. LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
  6942. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  6943. SERIAL_PROTOCOL(set_target_pinda);
  6944. SERIAL_PROTOCOLLN("");
  6945. codenum = _millis();
  6946. cancel_heatup = false;
  6947. bool is_pinda_cooling = false;
  6948. if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
  6949. is_pinda_cooling = true;
  6950. }
  6951. while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
  6952. if ((_millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  6953. {
  6954. SERIAL_PROTOCOLPGM("P:");
  6955. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  6956. SERIAL_PROTOCOL('/');
  6957. SERIAL_PROTOCOLLN(set_target_pinda);
  6958. codenum = _millis();
  6959. }
  6960. manage_heater();
  6961. manage_inactivity();
  6962. lcd_update(0);
  6963. }
  6964. LCD_MESSAGERPGM(MSG_OK);
  6965. break;
  6966. }
  6967. /*!
  6968. ### M861 - Set/Get PINDA temperature compensation offsets <a href="https://reprap.org/wiki/G-code#M861_Set_Probe_Thermal_Compensation">M861 Set Probe Thermal Compensation</a>
  6969. Set compensation ustep value `S` for compensation table index `I`.
  6970. #### Usage
  6971. M861 [ ? | ! | Z | S | I ]
  6972. #### Parameters
  6973. - `?` - Print current EEPROM offset values
  6974. - `!` - Set factory default values
  6975. - `Z` - Set all values to 0 (effectively disabling PINDA temperature compensation)
  6976. - `S` - Microsteps
  6977. - `I` - Table index
  6978. */
  6979. case 861:
  6980. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  6981. uint8_t cal_status = calibration_status_pinda();
  6982. int16_t usteps = 0;
  6983. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  6984. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  6985. for (uint8_t i = 0; i < 6; i++)
  6986. {
  6987. if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
  6988. float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
  6989. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  6990. SERIAL_PROTOCOLPGM(", ");
  6991. SERIAL_PROTOCOL(35 + (i * 5));
  6992. SERIAL_PROTOCOLPGM(", ");
  6993. SERIAL_PROTOCOL(usteps);
  6994. SERIAL_PROTOCOLPGM(", ");
  6995. SERIAL_PROTOCOL(mm * 1000);
  6996. SERIAL_PROTOCOLLN("");
  6997. }
  6998. }
  6999. else if (code_seen('!')) { // ! - Set factory default values
  7000. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  7001. int16_t z_shift = 8; //40C - 20um - 8usteps
  7002. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
  7003. z_shift = 24; //45C - 60um - 24usteps
  7004. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
  7005. z_shift = 48; //50C - 120um - 48usteps
  7006. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
  7007. z_shift = 80; //55C - 200um - 80usteps
  7008. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
  7009. z_shift = 120; //60C - 300um - 120usteps
  7010. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
  7011. SERIAL_PROTOCOLLN("factory restored");
  7012. }
  7013. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  7014. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  7015. int16_t z_shift = 0;
  7016. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  7017. SERIAL_PROTOCOLLN("zerorized");
  7018. }
  7019. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  7020. int16_t usteps = code_value();
  7021. if (code_seen('I')) {
  7022. uint8_t index = code_value();
  7023. if (index < 5) {
  7024. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
  7025. SERIAL_PROTOCOLLN("OK");
  7026. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  7027. for (uint8_t i = 0; i < 6; i++)
  7028. {
  7029. usteps = 0;
  7030. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
  7031. float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
  7032. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  7033. SERIAL_PROTOCOLPGM(", ");
  7034. SERIAL_PROTOCOL(35 + (i * 5));
  7035. SERIAL_PROTOCOLPGM(", ");
  7036. SERIAL_PROTOCOL(usteps);
  7037. SERIAL_PROTOCOLPGM(", ");
  7038. SERIAL_PROTOCOL(mm * 1000);
  7039. SERIAL_PROTOCOLLN("");
  7040. }
  7041. }
  7042. }
  7043. }
  7044. else {
  7045. SERIAL_PROTOCOLPGM("no valid command");
  7046. }
  7047. break;
  7048. #endif //PINDA_THERMISTOR
  7049. /*!
  7050. ### M862 - Print checking <a href="https://reprap.org/wiki/G-code#M862:_Print_checking">M862: Print checking</a>
  7051. Checks the parameters of the printer and gcode and performs compatibility check
  7052. - M862.1 { P<nozzle_diameter> | Q } 0.25/0.40/0.60
  7053. - M862.2 { P<model_code> | Q }
  7054. - M862.3 { P"<model_name>" | Q }
  7055. - M862.4 { P<fw_version> | Q }
  7056. - M862.5 { P<gcode_level> | Q }
  7057. When run with P<> argument, the check is performed against the input value.
  7058. When run with Q argument, the current value is shown.
  7059. M862.3 accepts text identifiers of printer types too.
  7060. The syntax of M862.3 is (note the quotes around the type):
  7061. M862.3 P "MK3S"
  7062. Accepted printer type identifiers and their numeric counterparts:
  7063. - MK1 (100)
  7064. - MK2 (200)
  7065. - MK2MM (201)
  7066. - MK2S (202)
  7067. - MK2SMM (203)
  7068. - MK2.5 (250)
  7069. - MK2.5MMU2 (20250)
  7070. - MK2.5S (252)
  7071. - MK2.5SMMU2S (20252)
  7072. - MK3 (300)
  7073. - MK3MMU2 (20300)
  7074. - MK3S (302)
  7075. - MK3SMMU2S (20302)
  7076. */
  7077. case 862: // M862: print checking
  7078. float nDummy;
  7079. uint8_t nCommand;
  7080. nCommand=(uint8_t)(modff(code_value_float(),&nDummy)*10.0+0.5);
  7081. switch((ClPrintChecking)nCommand)
  7082. {
  7083. case ClPrintChecking::_Nozzle: // ~ .1
  7084. uint16_t nDiameter;
  7085. if(code_seen('P'))
  7086. {
  7087. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  7088. nozzle_diameter_check(nDiameter);
  7089. }
  7090. /*
  7091. else if(code_seen('S')&&farm_mode)
  7092. {
  7093. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  7094. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
  7095. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
  7096. }
  7097. */
  7098. else if(code_seen('Q'))
  7099. SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
  7100. break;
  7101. case ClPrintChecking::_Model: // ~ .2
  7102. if(code_seen('P'))
  7103. {
  7104. uint16_t nPrinterModel;
  7105. nPrinterModel=(uint16_t)code_value_long();
  7106. printer_model_check(nPrinterModel);
  7107. }
  7108. else if(code_seen('Q'))
  7109. SERIAL_PROTOCOLLN(nPrinterType);
  7110. break;
  7111. case ClPrintChecking::_Smodel: // ~ .3
  7112. if(code_seen('P'))
  7113. printer_smodel_check(strchr_pointer);
  7114. else if(code_seen('Q'))
  7115. SERIAL_PROTOCOLLNRPGM(sPrinterName);
  7116. break;
  7117. case ClPrintChecking::_Version: // ~ .4
  7118. if(code_seen('P'))
  7119. fw_version_check(++strchr_pointer);
  7120. else if(code_seen('Q'))
  7121. SERIAL_PROTOCOLLN(FW_VERSION);
  7122. break;
  7123. case ClPrintChecking::_Gcode: // ~ .5
  7124. if(code_seen('P'))
  7125. {
  7126. uint16_t nGcodeLevel;
  7127. nGcodeLevel=(uint16_t)code_value_long();
  7128. gcode_level_check(nGcodeLevel);
  7129. }
  7130. else if(code_seen('Q'))
  7131. SERIAL_PROTOCOLLN(GCODE_LEVEL);
  7132. break;
  7133. }
  7134. break;
  7135. #ifdef LIN_ADVANCE
  7136. /*!
  7137. ### M900 - Set Linear advance options <a href="https://reprap.org/wiki/G-code#M900_Set_Linear_Advance_Scaling_Factors">M900 Set Linear Advance Scaling Factors</a>
  7138. Sets the advance extrusion factors for Linear Advance. If any of the R, W, H, or D parameters are set to zero the ratio will be computed dynamically during printing.
  7139. #### Usage
  7140. M900 [ K | R | W | H | D]
  7141. #### Parameters
  7142. - `K` - Advance K factor
  7143. - `R` - Set ratio directly (overrides WH/D)
  7144. - `W` - Width
  7145. - `H` - Height
  7146. - `D` - Diameter Set ratio from WH/D
  7147. */
  7148. case 900:
  7149. gcode_M900();
  7150. break;
  7151. #endif
  7152. /*!
  7153. ### M907 - Set digital trimpot motor current in mA using axis codes <a href="https://reprap.org/wiki/G-code#M907:_Set_digital_trimpot_motor">M907: Set digital trimpot motor</a>
  7154. Set digital trimpot motor current using axis codes (X, Y, Z, E, B, S).
  7155. #### Usage
  7156. M907 [ X | Y | Z | E | B | S ]
  7157. #### Parameters
  7158. - `X` - X motor driver
  7159. - `Y` - Y motor driver
  7160. - `Z` - Z motor driver
  7161. - `E` - Extruder motor driver
  7162. - `B` - Second Extruder motor driver
  7163. - `S` - All motors
  7164. */
  7165. case 907:
  7166. {
  7167. #ifdef TMC2130
  7168. // See tmc2130_cur2val() for translation to 0 .. 63 range
  7169. for (int i = 0; i < NUM_AXIS; i++)
  7170. if(code_seen(axis_codes[i]))
  7171. {
  7172. long cur_mA = code_value_long();
  7173. uint8_t val = tmc2130_cur2val(cur_mA);
  7174. tmc2130_set_current_h(i, val);
  7175. tmc2130_set_current_r(i, val);
  7176. //if (i == E_AXIS) printf_P(PSTR("E-axis current=%ldmA\n"), cur_mA);
  7177. }
  7178. #else //TMC2130
  7179. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  7180. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  7181. if(code_seen('B')) st_current_set(4,code_value());
  7182. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  7183. #endif
  7184. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  7185. if(code_seen('X')) st_current_set(0, code_value());
  7186. #endif
  7187. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  7188. if(code_seen('Z')) st_current_set(1, code_value());
  7189. #endif
  7190. #ifdef MOTOR_CURRENT_PWM_E_PIN
  7191. if(code_seen('E')) st_current_set(2, code_value());
  7192. #endif
  7193. #endif //TMC2130
  7194. }
  7195. break;
  7196. /*!
  7197. ### M908 - Control digital trimpot directly <a href="https://reprap.org/wiki/G-code#M908:_Control_digital_trimpot_directly">M908: Control digital trimpot directly</a>
  7198. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code. Not usable on Prusa printers.
  7199. #### Usage
  7200. M908 [ P | S ]
  7201. #### Parameters
  7202. - `P` - channel
  7203. - `S` - current
  7204. */
  7205. case 908:
  7206. {
  7207. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  7208. uint8_t channel,current;
  7209. if(code_seen('P')) channel=code_value();
  7210. if(code_seen('S')) current=code_value();
  7211. digitalPotWrite(channel, current);
  7212. #endif
  7213. }
  7214. break;
  7215. #ifdef TMC2130_SERVICE_CODES_M910_M918
  7216. /*!
  7217. ### M910 - TMC2130 init <a href="https://reprap.org/wiki/G-code#M910:_TMC2130_init">M910: TMC2130 init</a>
  7218. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7219. */
  7220. case 910:
  7221. {
  7222. tmc2130_init();
  7223. }
  7224. break;
  7225. /*!
  7226. ### M911 - Set TMC2130 holding currents <a href="https://reprap.org/wiki/G-code#M911:_Set_TMC2130_holding_currents">M911: Set TMC2130 holding currents</a>
  7227. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7228. #### Usage
  7229. M911 [ X | Y | Z | E ]
  7230. #### Parameters
  7231. - `X` - X stepper driver holding current value
  7232. - `Y` - Y stepper driver holding current value
  7233. - `Z` - Z stepper driver holding current value
  7234. - `E` - Extruder stepper driver holding current value
  7235. */
  7236. case 911:
  7237. {
  7238. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  7239. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  7240. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  7241. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  7242. }
  7243. break;
  7244. /*!
  7245. ### M912 - Set TMC2130 running currents <a href="https://reprap.org/wiki/G-code#M912:_Set_TMC2130_running_currents">M912: Set TMC2130 running currents</a>
  7246. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7247. #### Usage
  7248. M912 [ X | Y | Z | E ]
  7249. #### Parameters
  7250. - `X` - X stepper driver running current value
  7251. - `Y` - Y stepper driver running current value
  7252. - `Z` - Z stepper driver running current value
  7253. - `E` - Extruder stepper driver running current value
  7254. */
  7255. case 912:
  7256. {
  7257. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  7258. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  7259. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  7260. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  7261. }
  7262. break;
  7263. /*!
  7264. ### M913 - Print TMC2130 currents <a href="https://reprap.org/wiki/G-code#M913:_Print_TMC2130_currents">M913: Print TMC2130 currents</a>
  7265. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7266. Shows TMC2130 currents.
  7267. */
  7268. case 913:
  7269. {
  7270. tmc2130_print_currents();
  7271. }
  7272. break;
  7273. /*!
  7274. ### M914 - Set TMC2130 normal mode <a href="https://reprap.org/wiki/G-code#M914:_Set_TMC2130_normal_mode">M914: Set TMC2130 normal mode</a>
  7275. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7276. */
  7277. case 914:
  7278. {
  7279. tmc2130_mode = TMC2130_MODE_NORMAL;
  7280. update_mode_profile();
  7281. tmc2130_init();
  7282. }
  7283. break;
  7284. /*!
  7285. ### M915 - Set TMC2130 silent mode <a href="https://reprap.org/wiki/G-code#M915:_Set_TMC2130_silent_mode">M915: Set TMC2130 silent mode</a>
  7286. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7287. */
  7288. case 915:
  7289. {
  7290. tmc2130_mode = TMC2130_MODE_SILENT;
  7291. update_mode_profile();
  7292. tmc2130_init();
  7293. }
  7294. break;
  7295. /*!
  7296. ### M916 - Set TMC2130 Stallguard sensitivity threshold <a href="https://reprap.org/wiki/G-code#M916:_Set_TMC2130_Stallguard_sensitivity_threshold">M916: Set TMC2130 Stallguard sensitivity threshold</a>
  7297. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7298. #### Usage
  7299. M916 [ X | Y | Z | E ]
  7300. #### Parameters
  7301. - `X` - X stepper driver stallguard sensitivity threshold value
  7302. - `Y` - Y stepper driver stallguard sensitivity threshold value
  7303. - `Z` - Z stepper driver stallguard sensitivity threshold value
  7304. - `E` - Extruder stepper driver stallguard sensitivity threshold value
  7305. */
  7306. case 916:
  7307. {
  7308. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  7309. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  7310. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  7311. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  7312. for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
  7313. printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
  7314. }
  7315. break;
  7316. /*!
  7317. ### M917 - Set TMC2130 PWM amplitude offset (pwm_ampl) <a href="https://reprap.org/wiki/G-code#M917:_Set_TMC2130_PWM_amplitude_offset_.28pwm_ampl.29">M917: Set TMC2130 PWM amplitude offset (pwm_ampl)</a>
  7318. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7319. #### Usage
  7320. M917 [ X | Y | Z | E ]
  7321. #### Parameters
  7322. - `X` - X stepper driver PWM amplitude offset value
  7323. - `Y` - Y stepper driver PWM amplitude offset value
  7324. - `Z` - Z stepper driver PWM amplitude offset value
  7325. - `E` - Extruder stepper driver PWM amplitude offset value
  7326. */
  7327. case 917:
  7328. {
  7329. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  7330. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  7331. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  7332. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  7333. }
  7334. break;
  7335. /*!
  7336. ### M918 - Set TMC2130 PWM amplitude gradient (pwm_grad) <a href="https://reprap.org/wiki/G-code#M918:_Set_TMC2130_PWM_amplitude_gradient_.28pwm_grad.29">M918: Set TMC2130 PWM amplitude gradient (pwm_grad)</a>
  7337. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7338. #### Usage
  7339. M918 [ X | Y | Z | E ]
  7340. #### Parameters
  7341. - `X` - X stepper driver PWM amplitude gradient value
  7342. - `Y` - Y stepper driver PWM amplitude gradient value
  7343. - `Z` - Z stepper driver PWM amplitude gradient value
  7344. - `E` - Extruder stepper driver PWM amplitude gradient value
  7345. */
  7346. case 918:
  7347. {
  7348. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  7349. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  7350. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  7351. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  7352. }
  7353. break;
  7354. #endif //TMC2130_SERVICE_CODES_M910_M918
  7355. /*!
  7356. ### M350 - Set microstepping mode <a href="https://reprap.org/wiki/G-code#M350:_Set_microstepping_mode">M350: Set microstepping mode</a>
  7357. Printers with TMC2130 drivers have `X`, `Y`, `Z` and `E` as options. The steps-per-unit value is updated accordingly. Not all resolutions are valid!
  7358. Printers without TMC2130 drivers also have `B` and `S` options. In this case, the steps-per-unit value in not changed!
  7359. #### Usage
  7360. M350 [ X | Y | Z | E | B | S ]
  7361. #### Parameters
  7362. - `X` - X new resolution
  7363. - `Y` - Y new resolution
  7364. - `Z` - Z new resolution
  7365. - `E` - E new resolution
  7366. Only valid for MK2.5(S) or printers without TMC2130 drivers
  7367. - `B` - Second extruder new resolution
  7368. - `S` - All axes new resolution
  7369. */
  7370. case 350:
  7371. {
  7372. #ifdef TMC2130
  7373. for (int i=0; i<NUM_AXIS; i++)
  7374. {
  7375. if(code_seen(axis_codes[i]))
  7376. {
  7377. uint16_t res_new = code_value();
  7378. bool res_valid = (res_new == 8) || (res_new == 16) || (res_new == 32); // resolutions valid for all axis
  7379. res_valid |= (i != E_AXIS) && ((res_new == 1) || (res_new == 2) || (res_new == 4)); // resolutions valid for X Y Z only
  7380. res_valid |= (i == E_AXIS) && ((res_new == 64) || (res_new == 128)); // resolutions valid for E only
  7381. if (res_valid)
  7382. {
  7383. st_synchronize();
  7384. uint16_t res = tmc2130_get_res(i);
  7385. tmc2130_set_res(i, res_new);
  7386. cs.axis_ustep_resolution[i] = res_new;
  7387. if (res_new > res)
  7388. {
  7389. uint16_t fac = (res_new / res);
  7390. cs.axis_steps_per_unit[i] *= fac;
  7391. position[i] *= fac;
  7392. }
  7393. else
  7394. {
  7395. uint16_t fac = (res / res_new);
  7396. cs.axis_steps_per_unit[i] /= fac;
  7397. position[i] /= fac;
  7398. }
  7399. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  7400. if (i == E_AXIS)
  7401. fsensor_set_axis_steps_per_unit(cs.axis_steps_per_unit[i]);
  7402. #endif
  7403. }
  7404. }
  7405. }
  7406. #else //TMC2130
  7407. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  7408. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  7409. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  7410. if(code_seen('B')) microstep_mode(4,code_value());
  7411. microstep_readings();
  7412. #endif
  7413. #endif //TMC2130
  7414. }
  7415. break;
  7416. /*!
  7417. ### M351 - Toggle Microstep Pins <a href="https://reprap.org/wiki/G-code#M351:_Toggle_MS1_MS2_pins_directly">M351: Toggle MS1 MS2 pins directly</a>
  7418. Toggle MS1 MS2 pins directly.
  7419. #### Usage
  7420. M351 [B<0|1>] [E<0|1>] S<1|2> [X<0|1>] [Y<0|1>] [Z<0|1>]
  7421. #### Parameters
  7422. - `X` - Update X axis
  7423. - `Y` - Update Y axis
  7424. - `Z` - Update Z axis
  7425. - `E` - Update E axis
  7426. - `S` - which MSx pin to toggle
  7427. - `B` - new pin value
  7428. */
  7429. case 351:
  7430. {
  7431. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  7432. if(code_seen('S')) switch((int)code_value())
  7433. {
  7434. case 1:
  7435. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  7436. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  7437. break;
  7438. case 2:
  7439. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  7440. if(code_seen('B')) microstep_ms(4,-1,code_value());
  7441. break;
  7442. }
  7443. microstep_readings();
  7444. #endif
  7445. }
  7446. break;
  7447. /*!
  7448. ### M701 - Load filament <a href="https://reprap.org/wiki/G-code#M701:_Load_filament">M701: Load filament</a>
  7449. */
  7450. case 701:
  7451. {
  7452. if (mmu_enabled && code_seen('E'))
  7453. tmp_extruder = code_value();
  7454. gcode_M701();
  7455. }
  7456. break;
  7457. /*!
  7458. ### M702 - Unload filament <a href="https://reprap.org/wiki/G-code#M702:_Unload_filament">G32: Undock Z Probe sled</a>
  7459. #### Usage
  7460. M702 [ U | C ]
  7461. #### Parameters
  7462. - `U` - Unload all filaments used in current print
  7463. - `C` - Unload just current filament
  7464. - without any parameters unload all filaments
  7465. */
  7466. case 702:
  7467. {
  7468. #ifdef SNMM
  7469. if (code_seen('U'))
  7470. extr_unload_used(); //! if "U" unload all filaments which were used in current print
  7471. else if (code_seen('C'))
  7472. extr_unload(); //! if "C" unload just current filament
  7473. else
  7474. extr_unload_all(); //! otherwise unload all filaments
  7475. #else
  7476. if (code_seen('C')) {
  7477. if(mmu_enabled) extr_unload(); //! if "C" unload current filament; if mmu is not present no action is performed
  7478. }
  7479. else {
  7480. if(mmu_enabled) extr_unload(); //! unload current filament
  7481. else unload_filament();
  7482. }
  7483. #endif //SNMM
  7484. }
  7485. break;
  7486. /*!
  7487. ### M999 - Restart after being stopped <a href="https://reprap.org/wiki/G-code#M999:_Restart_after_being_stopped_by_error">M999: Restart after being stopped by error</a>
  7488. @todo Usually doesn't work. Should be fixed or removed. Most of the time, if `Stopped` it set, the print fails and is unrecoverable.
  7489. */
  7490. case 999:
  7491. Stopped = false;
  7492. lcd_reset_alert_level();
  7493. gcode_LastN = Stopped_gcode_LastN;
  7494. FlushSerialRequestResend();
  7495. break;
  7496. /*!
  7497. #### End of M-Commands
  7498. */
  7499. default:
  7500. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  7501. }
  7502. // printf_P(_N("END M-CODE=%u\n"), mcode_in_progress);
  7503. mcode_in_progress = 0;
  7504. }
  7505. }
  7506. // end if(code_seen('M')) (end of M codes)
  7507. /*!
  7508. -----------------------------------------------------------------------------------------
  7509. # T Codes
  7510. T<extruder nr.> - select extruder in case of multi extruder printer. select filament in case of MMU_V2.
  7511. #### For MMU_V2:
  7512. T<n> Gcode to extrude at least 38.10 mm at feedrate 19.02 mm/s must follow immediately to load to extruder wheels.
  7513. @n T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
  7514. @n Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
  7515. @n Tc Load to nozzle after filament was prepared by Tc and extruder nozzle is already heated.
  7516. */
  7517. else if(code_seen('T'))
  7518. {
  7519. int index;
  7520. bool load_to_nozzle = false;
  7521. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  7522. *(strchr_pointer + index) = tolower(*(strchr_pointer + index));
  7523. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '4') && *(strchr_pointer + index) != '?' && *(strchr_pointer + index) != 'x' && *(strchr_pointer + index) != 'c') {
  7524. SERIAL_ECHOLNPGM("Invalid T code.");
  7525. }
  7526. else if (*(strchr_pointer + index) == 'x'){ //load to bondtech gears; if mmu is not present do nothing
  7527. if (mmu_enabled)
  7528. {
  7529. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
  7530. if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
  7531. {
  7532. printf_P(PSTR("Duplicate T-code ignored.\n"));
  7533. }
  7534. else
  7535. {
  7536. st_synchronize();
  7537. mmu_command(MmuCmd::T0 + tmp_extruder);
  7538. manage_response(true, true, MMU_TCODE_MOVE);
  7539. }
  7540. }
  7541. }
  7542. else if (*(strchr_pointer + index) == 'c') { //load to from bondtech gears to nozzle (nozzle should be preheated)
  7543. if (mmu_enabled)
  7544. {
  7545. st_synchronize();
  7546. mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
  7547. mmu_extruder = tmp_extruder; //filament change is finished
  7548. mmu_load_to_nozzle();
  7549. }
  7550. }
  7551. else {
  7552. if (*(strchr_pointer + index) == '?')
  7553. {
  7554. if(mmu_enabled)
  7555. {
  7556. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
  7557. load_to_nozzle = true;
  7558. } else
  7559. {
  7560. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_EXTRUDER), _T(MSG_EXTRUDER));
  7561. }
  7562. }
  7563. else {
  7564. tmp_extruder = code_value();
  7565. if (mmu_enabled && lcd_autoDepleteEnabled())
  7566. {
  7567. tmp_extruder = ad_getAlternative(tmp_extruder);
  7568. }
  7569. }
  7570. st_synchronize();
  7571. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  7572. if (mmu_enabled)
  7573. {
  7574. if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
  7575. {
  7576. printf_P(PSTR("Duplicate T-code ignored.\n"));
  7577. }
  7578. else
  7579. {
  7580. #if defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
  7581. if (EEPROM_MMU_CUTTER_ENABLED_always == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
  7582. {
  7583. mmu_command(MmuCmd::K0 + tmp_extruder);
  7584. manage_response(true, true, MMU_UNLOAD_MOVE);
  7585. }
  7586. #endif //defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
  7587. mmu_command(MmuCmd::T0 + tmp_extruder);
  7588. manage_response(true, true, MMU_TCODE_MOVE);
  7589. mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
  7590. mmu_extruder = tmp_extruder; //filament change is finished
  7591. if (load_to_nozzle)// for single material usage with mmu
  7592. {
  7593. mmu_load_to_nozzle();
  7594. }
  7595. }
  7596. }
  7597. else
  7598. {
  7599. #ifdef SNMM
  7600. mmu_extruder = tmp_extruder;
  7601. _delay(100);
  7602. disable_e0();
  7603. disable_e1();
  7604. disable_e2();
  7605. pinMode(E_MUX0_PIN, OUTPUT);
  7606. pinMode(E_MUX1_PIN, OUTPUT);
  7607. _delay(100);
  7608. SERIAL_ECHO_START;
  7609. SERIAL_ECHO("T:");
  7610. SERIAL_ECHOLN((int)tmp_extruder);
  7611. switch (tmp_extruder) {
  7612. case 1:
  7613. WRITE(E_MUX0_PIN, HIGH);
  7614. WRITE(E_MUX1_PIN, LOW);
  7615. break;
  7616. case 2:
  7617. WRITE(E_MUX0_PIN, LOW);
  7618. WRITE(E_MUX1_PIN, HIGH);
  7619. break;
  7620. case 3:
  7621. WRITE(E_MUX0_PIN, HIGH);
  7622. WRITE(E_MUX1_PIN, HIGH);
  7623. break;
  7624. default:
  7625. WRITE(E_MUX0_PIN, LOW);
  7626. WRITE(E_MUX1_PIN, LOW);
  7627. break;
  7628. }
  7629. _delay(100);
  7630. #else //SNMM
  7631. if (tmp_extruder >= EXTRUDERS) {
  7632. SERIAL_ECHO_START;
  7633. SERIAL_ECHO('T');
  7634. SERIAL_PROTOCOLLN((int)tmp_extruder);
  7635. SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER
  7636. }
  7637. else {
  7638. #if EXTRUDERS > 1
  7639. boolean make_move = false;
  7640. #endif
  7641. if (code_seen('F')) {
  7642. #if EXTRUDERS > 1
  7643. make_move = true;
  7644. #endif
  7645. next_feedrate = code_value();
  7646. if (next_feedrate > 0.0) {
  7647. feedrate = next_feedrate;
  7648. }
  7649. }
  7650. #if EXTRUDERS > 1
  7651. if (tmp_extruder != active_extruder) {
  7652. // Save current position to return to after applying extruder offset
  7653. memcpy(destination, current_position, sizeof(destination));
  7654. // Offset extruder (only by XY)
  7655. int i;
  7656. for (i = 0; i < 2; i++) {
  7657. current_position[i] = current_position[i] -
  7658. extruder_offset[i][active_extruder] +
  7659. extruder_offset[i][tmp_extruder];
  7660. }
  7661. // Set the new active extruder and position
  7662. active_extruder = tmp_extruder;
  7663. plan_set_position_curposXYZE();
  7664. // Move to the old position if 'F' was in the parameters
  7665. if (make_move && Stopped == false) {
  7666. prepare_move();
  7667. }
  7668. }
  7669. #endif
  7670. SERIAL_ECHO_START;
  7671. SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER
  7672. SERIAL_PROTOCOLLN((int)active_extruder);
  7673. }
  7674. #endif //SNMM
  7675. }
  7676. }
  7677. } // end if(code_seen('T')) (end of T codes)
  7678. /*!
  7679. #### End of T-Codes
  7680. */
  7681. /**
  7682. *---------------------------------------------------------------------------------
  7683. *# D codes
  7684. */
  7685. else if (code_seen('D')) // D codes (debug)
  7686. {
  7687. switch((int)code_value())
  7688. {
  7689. /*!
  7690. ### D-1 - Endless Loop <a href="https://reprap.org/wiki/G-code#D-1:_Endless_Loop">D-1: Endless Loop</a>
  7691. */
  7692. case -1:
  7693. dcode__1(); break;
  7694. #ifdef DEBUG_DCODES
  7695. /*!
  7696. ### D0 - Reset <a href="https://reprap.org/wiki/G-code#D0:_Reset">D0: Reset</a>
  7697. #### Usage
  7698. D0 [ B ]
  7699. #### Parameters
  7700. - `B` - Bootloader
  7701. */
  7702. case 0:
  7703. dcode_0(); break;
  7704. /*!
  7705. *
  7706. ### D1 - Clear EEPROM and RESET <a href="https://reprap.org/wiki/G-code#D1:_Clear_EEPROM_and_RESET">D1: Clear EEPROM and RESET</a>
  7707. D1
  7708. *
  7709. */
  7710. case 1:
  7711. dcode_1(); break;
  7712. /*!
  7713. ### D2 - Read/Write RAM <a href="https://reprap.org/wiki/G-code#D2:_Read.2FWrite_RAM">D3: Read/Write RAM</a>
  7714. This command can be used without any additional parameters. It will read the entire RAM.
  7715. #### Usage
  7716. D2 [ A | C | X ]
  7717. #### Parameters
  7718. - `A` - Address (x0000-x1fff)
  7719. - `C` - Count (1-8192)
  7720. - `X` - Data
  7721. #### Notes
  7722. - The hex address needs to be lowercase without the 0 before the x
  7723. - Count is decimal
  7724. - The hex data needs to be lowercase
  7725. */
  7726. case 2:
  7727. dcode_2(); break;
  7728. #endif //DEBUG_DCODES
  7729. #if defined DEBUG_DCODE3 || defined DEBUG_DCODES
  7730. /*!
  7731. ### D3 - Read/Write EEPROM <a href="https://reprap.org/wiki/G-code#D3:_Read.2FWrite_EEPROM">D3: Read/Write EEPROM</a>
  7732. This command can be used without any additional parameters. It will read the entire eeprom.
  7733. #### Usage
  7734. D3 [ A | C | X ]
  7735. #### Parameters
  7736. - `A` - Address (x0000-x0fff)
  7737. - `C` - Count (1-4096)
  7738. - `X` - Data (hex)
  7739. #### Notes
  7740. - The hex address needs to be lowercase without the 0 before the x
  7741. - Count is decimal
  7742. - The hex data needs to be lowercase
  7743. */
  7744. case 3:
  7745. dcode_3(); break;
  7746. #endif //DEBUG_DCODE3
  7747. #ifdef DEBUG_DCODES
  7748. /*!
  7749. ### D4 - Read/Write PIN <a href="https://reprap.org/wiki/G-code#D4:_Read.2FWrite_PIN">D4: Read/Write PIN</a>
  7750. To read the digital value of a pin you need only to define the pin number.
  7751. #### Usage
  7752. D4 [ P | F | V ]
  7753. #### Parameters
  7754. - `P` - Pin (0-255)
  7755. - `F` - Function in/out (0/1)
  7756. - `V` - Value (0/1)
  7757. */
  7758. case 4:
  7759. dcode_4(); break;
  7760. #endif //DEBUG_DCODES
  7761. #if defined DEBUG_DCODE5 || defined DEBUG_DCODES
  7762. /*!
  7763. ### D5 - Read/Write FLASH <a href="https://reprap.org/wiki/G-code#D5:_Read.2FWrite_FLASH">D5: Read/Write Flash</a>
  7764. This command can be used without any additional parameters. It will read the 1kb FLASH.
  7765. #### Usage
  7766. D5 [ A | C | X | E ]
  7767. #### Parameters
  7768. - `A` - Address (x00000-x3ffff)
  7769. - `C` - Count (1-8192)
  7770. - `X` - Data (hex)
  7771. - `E` - Erase
  7772. #### Notes
  7773. - The hex address needs to be lowercase without the 0 before the x
  7774. - Count is decimal
  7775. - The hex data needs to be lowercase
  7776. */
  7777. case 5:
  7778. dcode_5(); break;
  7779. #endif //DEBUG_DCODE5
  7780. #ifdef DEBUG_DCODES
  7781. /*!
  7782. ### D6 - Read/Write external FLASH <a href="https://reprap.org/wiki/G-code#D6:_Read.2FWrite_external_FLASH">D6: Read/Write external Flash</a>
  7783. Reserved
  7784. */
  7785. case 6:
  7786. dcode_6(); break;
  7787. /*!
  7788. ### D7 - Read/Write Bootloader <a href="https://reprap.org/wiki/G-code#D7:_Read.2FWrite_Bootloader">D7: Read/Write Bootloader</a>
  7789. Reserved
  7790. */
  7791. case 7:
  7792. dcode_7(); break;
  7793. /*!
  7794. ### D8 - Read/Write PINDA <a href="https://reprap.org/wiki/G-code#D8:_Read.2FWrite_PINDA">D8: Read/Write PINDA</a>
  7795. #### Usage
  7796. D8 [ ? | ! | P | Z ]
  7797. #### Parameters
  7798. - `?` - Read PINDA temperature shift values
  7799. - `!` - Reset PINDA temperature shift values to default
  7800. - `P` - Pinda temperature [C]
  7801. - `Z` - Z Offset [mm]
  7802. */
  7803. case 8:
  7804. dcode_8(); break;
  7805. /*!
  7806. ### D9 - Read ADC <a href="https://reprap.org/wiki/G-code#D9:_Read.2FWrite_ADC">D9: Read ADC</a>
  7807. #### Usage
  7808. D9 [ I | V ]
  7809. #### Parameters
  7810. - `I` - ADC channel index
  7811. - `0` - Heater 0 temperature
  7812. - `1` - Heater 1 temperature
  7813. - `2` - Bed temperature
  7814. - `3` - PINDA temperature
  7815. - `4` - PWR voltage
  7816. - `5` - Ambient temperature
  7817. - `6` - BED voltage
  7818. - `V` Value to be written as simulated
  7819. */
  7820. case 9:
  7821. dcode_9(); break;
  7822. /*!
  7823. ### D10 - Set XYZ calibration = OK <a href="https://reprap.org/wiki/G-code#D10:_Set_XYZ_calibration_.3D_OK">D10: Set XYZ calibration = OK</a>
  7824. */
  7825. case 10:
  7826. dcode_10(); break;
  7827. /*!
  7828. ### D12 - Time <a href="https://reprap.org/wiki/G-code#D12:_Time">D12: Time</a>
  7829. Writes the current time in the log file.
  7830. */
  7831. #endif //DEBUG_DCODES
  7832. #ifdef HEATBED_ANALYSIS
  7833. /*!
  7834. ### D80 - Bed check <a href="https://reprap.org/wiki/G-code#D80:_Bed_check">D80: Bed check</a>
  7835. This command will log data to SD card file "mesh.txt".
  7836. #### Usage
  7837. D80 [ E | F | G | H | I | J ]
  7838. #### Parameters
  7839. - `E` - Dimension X (default 40)
  7840. - `F` - Dimention Y (default 40)
  7841. - `G` - Points X (default 40)
  7842. - `H` - Points Y (default 40)
  7843. - `I` - Offset X (default 74)
  7844. - `J` - Offset Y (default 34)
  7845. */
  7846. case 80:
  7847. dcode_80(); break;
  7848. /*!
  7849. ### D81 - Bed analysis <a href="https://reprap.org/wiki/G-code#D81:_Bed_analysis">D80: Bed analysis</a>
  7850. This command will log data to SD card file "wldsd.txt".
  7851. #### Usage
  7852. D81 [ E | F | G | H | I | J ]
  7853. #### Parameters
  7854. - `E` - Dimension X (default 40)
  7855. - `F` - Dimention Y (default 40)
  7856. - `G` - Points X (default 40)
  7857. - `H` - Points Y (default 40)
  7858. - `I` - Offset X (default 74)
  7859. - `J` - Offset Y (default 34)
  7860. */
  7861. case 81:
  7862. dcode_81(); break;
  7863. #endif //HEATBED_ANALYSIS
  7864. #ifdef DEBUG_DCODES
  7865. /*!
  7866. ### D106 - Print measured fan speed for different pwm values <a href="https://reprap.org/wiki/G-code#D106:_Print_measured_fan_speed_for_different_pwm_values">D106: Print measured fan speed for different pwm values</a>
  7867. */
  7868. case 106:
  7869. dcode_106(); break;
  7870. #ifdef TMC2130
  7871. /*!
  7872. ### D2130 - Trinamic stepper controller <a href="https://reprap.org/wiki/G-code#D2130:_Trinamic_stepper_controller">D2130: Trinamic stepper controller</a>
  7873. @todo Please review by owner of the code. RepRap Wiki Gcode needs to be updated after review of owner as well.
  7874. #### Usage
  7875. D2130 [ Axis | Command | Subcommand | Value ]
  7876. #### Parameters
  7877. - Axis
  7878. - `X` - X stepper driver
  7879. - `Y` - Y stepper driver
  7880. - `Z` - Z stepper driver
  7881. - `E` - Extruder stepper driver
  7882. - Commands
  7883. - `0` - Current off
  7884. - `1` - Current on
  7885. - `+` - Single step
  7886. - `-` - Single step oposite direction
  7887. - `NNN` - Value sereval steps
  7888. - `?` - Read register
  7889. - Subcommands for read register
  7890. - `mres` - Micro step resolution. More information in datasheet '5.5.2 CHOPCONF – Chopper Configuration'
  7891. - `step` - Step
  7892. - `mscnt` - Microstep counter. More information in datasheet '5.5 Motor Driver Registers'
  7893. - `mscuract` - Actual microstep current for motor. More information in datasheet '5.5 Motor Driver Registers'
  7894. - `wave` - Microstep linearity compensation curve
  7895. - `!` - Set register
  7896. - Subcommands for set register
  7897. - `mres` - Micro step resolution
  7898. - `step` - Step
  7899. - `wave` - Microstep linearity compensation curve
  7900. - Values for set register
  7901. - `0, 180 --> 250` - Off
  7902. - `0.9 --> 1.25` - Valid values (recommended is 1.1)
  7903. - `@` - Home calibrate axis
  7904. Examples:
  7905. D2130E?wave
  7906. Print extruder microstep linearity compensation curve
  7907. D2130E!wave0
  7908. Disable extruder linearity compensation curve, (sine curve is used)
  7909. D2130E!wave220
  7910. (sin(x))^1.1 extruder microstep compensation curve used
  7911. Notes:
  7912. For more information see https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
  7913. *
  7914. */
  7915. case 2130:
  7916. dcode_2130(); break;
  7917. #endif //TMC2130
  7918. #if (defined (FILAMENT_SENSOR) && defined(PAT9125))
  7919. /*!
  7920. ### D9125 - PAT9125 filament sensor <a href="https://reprap.org/wiki/G-code#D9:_Read.2FWrite_ADC">D9125: PAT9125 filament sensor</a>
  7921. #### Usage
  7922. D9125 [ ? | ! | R | X | Y | L ]
  7923. #### Parameters
  7924. - `?` - Print values
  7925. - `!` - Print values
  7926. - `R` - Resolution. Not active in code
  7927. - `X` - X values
  7928. - `Y` - Y values
  7929. - `L` - Activate filament sensor log
  7930. */
  7931. case 9125:
  7932. dcode_9125(); break;
  7933. #endif //FILAMENT_SENSOR
  7934. #endif //DEBUG_DCODES
  7935. }
  7936. }
  7937. else
  7938. {
  7939. SERIAL_ECHO_START;
  7940. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  7941. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  7942. SERIAL_ECHOLNPGM("\"(2)");
  7943. }
  7944. KEEPALIVE_STATE(NOT_BUSY);
  7945. ClearToSend();
  7946. }
  7947. /*!
  7948. #### End of D-Codes
  7949. */
  7950. /** @defgroup GCodes G-Code List
  7951. */
  7952. // ---------------------------------------------------
  7953. void FlushSerialRequestResend()
  7954. {
  7955. //char cmdbuffer[bufindr][100]="Resend:";
  7956. MYSERIAL.flush();
  7957. printf_P(_N("%S: %ld\n%S\n"), _n("Resend"), gcode_LastN + 1, MSG_OK);
  7958. }
  7959. // Confirm the execution of a command, if sent from a serial line.
  7960. // Execution of a command from a SD card will not be confirmed.
  7961. void ClearToSend()
  7962. {
  7963. previous_millis_cmd = _millis();
  7964. if (buflen && ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)))
  7965. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  7966. }
  7967. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  7968. void update_currents() {
  7969. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  7970. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  7971. float tmp_motor[3];
  7972. //SERIAL_ECHOLNPGM("Currents updated: ");
  7973. if (destination[Z_AXIS] < Z_SILENT) {
  7974. //SERIAL_ECHOLNPGM("LOW");
  7975. for (uint8_t i = 0; i < 3; i++) {
  7976. st_current_set(i, current_low[i]);
  7977. /*MYSERIAL.print(int(i));
  7978. SERIAL_ECHOPGM(": ");
  7979. MYSERIAL.println(current_low[i]);*/
  7980. }
  7981. }
  7982. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  7983. //SERIAL_ECHOLNPGM("HIGH");
  7984. for (uint8_t i = 0; i < 3; i++) {
  7985. st_current_set(i, current_high[i]);
  7986. /*MYSERIAL.print(int(i));
  7987. SERIAL_ECHOPGM(": ");
  7988. MYSERIAL.println(current_high[i]);*/
  7989. }
  7990. }
  7991. else {
  7992. for (uint8_t i = 0; i < 3; i++) {
  7993. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  7994. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  7995. st_current_set(i, tmp_motor[i]);
  7996. /*MYSERIAL.print(int(i));
  7997. SERIAL_ECHOPGM(": ");
  7998. MYSERIAL.println(tmp_motor[i]);*/
  7999. }
  8000. }
  8001. }
  8002. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8003. void get_coordinates()
  8004. {
  8005. bool seen[4]={false,false,false,false};
  8006. for(int8_t i=0; i < NUM_AXIS; i++) {
  8007. if(code_seen(axis_codes[i]))
  8008. {
  8009. bool relative = axis_relative_modes & (1 << i);
  8010. destination[i] = (float)code_value();
  8011. if (i == E_AXIS) {
  8012. float emult = extruder_multiplier[active_extruder];
  8013. if (emult != 1.) {
  8014. if (! relative) {
  8015. destination[i] -= current_position[i];
  8016. relative = true;
  8017. }
  8018. destination[i] *= emult;
  8019. }
  8020. }
  8021. if (relative)
  8022. destination[i] += current_position[i];
  8023. seen[i]=true;
  8024. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8025. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  8026. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8027. }
  8028. else destination[i] = current_position[i]; //Are these else lines really needed?
  8029. }
  8030. if(code_seen('F')) {
  8031. next_feedrate = code_value();
  8032. #ifdef MAX_SILENT_FEEDRATE
  8033. if (tmc2130_mode == TMC2130_MODE_SILENT)
  8034. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  8035. #endif //MAX_SILENT_FEEDRATE
  8036. if(next_feedrate > 0.0) feedrate = next_feedrate;
  8037. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  8038. {
  8039. // float e_max_speed =
  8040. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  8041. }
  8042. }
  8043. }
  8044. void get_arc_coordinates()
  8045. {
  8046. #ifdef SF_ARC_FIX
  8047. bool relative_mode_backup = relative_mode;
  8048. relative_mode = true;
  8049. #endif
  8050. get_coordinates();
  8051. #ifdef SF_ARC_FIX
  8052. relative_mode=relative_mode_backup;
  8053. #endif
  8054. if(code_seen('I')) {
  8055. offset[0] = code_value();
  8056. }
  8057. else {
  8058. offset[0] = 0.0;
  8059. }
  8060. if(code_seen('J')) {
  8061. offset[1] = code_value();
  8062. }
  8063. else {
  8064. offset[1] = 0.0;
  8065. }
  8066. }
  8067. void clamp_to_software_endstops(float target[3])
  8068. {
  8069. #ifdef DEBUG_DISABLE_SWLIMITS
  8070. return;
  8071. #endif //DEBUG_DISABLE_SWLIMITS
  8072. world2machine_clamp(target[0], target[1]);
  8073. // Clamp the Z coordinate.
  8074. if (min_software_endstops) {
  8075. float negative_z_offset = 0;
  8076. #ifdef ENABLE_AUTO_BED_LEVELING
  8077. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  8078. if (cs.add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + cs.add_homing[Z_AXIS];
  8079. #endif
  8080. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  8081. }
  8082. if (max_software_endstops) {
  8083. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  8084. }
  8085. }
  8086. #ifdef MESH_BED_LEVELING
  8087. 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) {
  8088. float dx = x - current_position[X_AXIS];
  8089. float dy = y - current_position[Y_AXIS];
  8090. int n_segments = 0;
  8091. if (mbl.active) {
  8092. float len = abs(dx) + abs(dy);
  8093. if (len > 0)
  8094. // Split to 3cm segments or shorter.
  8095. n_segments = int(ceil(len / 30.f));
  8096. }
  8097. if (n_segments > 1) {
  8098. // In a multi-segment move explicitly set the final target in the plan
  8099. // as the move will be recalculated in it's entirety
  8100. float gcode_target[NUM_AXIS];
  8101. gcode_target[X_AXIS] = x;
  8102. gcode_target[Y_AXIS] = y;
  8103. gcode_target[Z_AXIS] = z;
  8104. gcode_target[E_AXIS] = e;
  8105. float dz = z - current_position[Z_AXIS];
  8106. float de = e - current_position[E_AXIS];
  8107. for (int i = 1; i < n_segments; ++ i) {
  8108. float t = float(i) / float(n_segments);
  8109. plan_buffer_line(current_position[X_AXIS] + t * dx,
  8110. current_position[Y_AXIS] + t * dy,
  8111. current_position[Z_AXIS] + t * dz,
  8112. current_position[E_AXIS] + t * de,
  8113. feed_rate, extruder, gcode_target);
  8114. if (waiting_inside_plan_buffer_line_print_aborted)
  8115. return;
  8116. }
  8117. }
  8118. // The rest of the path.
  8119. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  8120. }
  8121. #endif // MESH_BED_LEVELING
  8122. void prepare_move()
  8123. {
  8124. clamp_to_software_endstops(destination);
  8125. previous_millis_cmd = _millis();
  8126. // Do not use feedmultiply for E or Z only moves
  8127. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  8128. plan_buffer_line_destinationXYZE(feedrate/60);
  8129. }
  8130. else {
  8131. #ifdef MESH_BED_LEVELING
  8132. 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);
  8133. #else
  8134. plan_buffer_line_destinationXYZE(feedrate*feedmultiply*(1./(60.f*100.f)));
  8135. #endif
  8136. }
  8137. set_current_to_destination();
  8138. }
  8139. void prepare_arc_move(char isclockwise) {
  8140. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  8141. // Trace the arc
  8142. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  8143. // As far as the parser is concerned, the position is now == target. In reality the
  8144. // motion control system might still be processing the action and the real tool position
  8145. // in any intermediate location.
  8146. for(int8_t i=0; i < NUM_AXIS; i++) {
  8147. current_position[i] = destination[i];
  8148. }
  8149. previous_millis_cmd = _millis();
  8150. }
  8151. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  8152. #if defined(FAN_PIN)
  8153. #if CONTROLLERFAN_PIN == FAN_PIN
  8154. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  8155. #endif
  8156. #endif
  8157. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  8158. unsigned long lastMotorCheck = 0;
  8159. void controllerFan()
  8160. {
  8161. if ((_millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  8162. {
  8163. lastMotorCheck = _millis();
  8164. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  8165. #if EXTRUDERS > 2
  8166. || !READ(E2_ENABLE_PIN)
  8167. #endif
  8168. #if EXTRUDER > 1
  8169. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  8170. || !READ(X2_ENABLE_PIN)
  8171. #endif
  8172. || !READ(E1_ENABLE_PIN)
  8173. #endif
  8174. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  8175. {
  8176. lastMotor = _millis(); //... set time to NOW so the fan will turn on
  8177. }
  8178. if ((_millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  8179. {
  8180. digitalWrite(CONTROLLERFAN_PIN, 0);
  8181. analogWrite(CONTROLLERFAN_PIN, 0);
  8182. }
  8183. else
  8184. {
  8185. // allows digital or PWM fan output to be used (see M42 handling)
  8186. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  8187. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  8188. }
  8189. }
  8190. }
  8191. #endif
  8192. #ifdef TEMP_STAT_LEDS
  8193. static bool blue_led = false;
  8194. static bool red_led = false;
  8195. static uint32_t stat_update = 0;
  8196. void handle_status_leds(void) {
  8197. float max_temp = 0.0;
  8198. if(_millis() > stat_update) {
  8199. stat_update += 500; // Update every 0.5s
  8200. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  8201. max_temp = max(max_temp, degHotend(cur_extruder));
  8202. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  8203. }
  8204. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  8205. max_temp = max(max_temp, degTargetBed());
  8206. max_temp = max(max_temp, degBed());
  8207. #endif
  8208. if((max_temp > 55.0) && (red_led == false)) {
  8209. digitalWrite(STAT_LED_RED, 1);
  8210. digitalWrite(STAT_LED_BLUE, 0);
  8211. red_led = true;
  8212. blue_led = false;
  8213. }
  8214. if((max_temp < 54.0) && (blue_led == false)) {
  8215. digitalWrite(STAT_LED_RED, 0);
  8216. digitalWrite(STAT_LED_BLUE, 1);
  8217. red_led = false;
  8218. blue_led = true;
  8219. }
  8220. }
  8221. }
  8222. #endif
  8223. #ifdef SAFETYTIMER
  8224. /**
  8225. * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
  8226. *
  8227. * Full screen blocking notification message is shown after heater turning off.
  8228. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  8229. * damage print.
  8230. *
  8231. * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
  8232. */
  8233. static void handleSafetyTimer()
  8234. {
  8235. #if (EXTRUDERS > 1)
  8236. #error Implemented only for one extruder.
  8237. #endif //(EXTRUDERS > 1)
  8238. if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
  8239. {
  8240. safetyTimer.stop();
  8241. }
  8242. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  8243. {
  8244. safetyTimer.start();
  8245. }
  8246. else if (safetyTimer.expired(farm_mode?FARM_DEFAULT_SAFETYTIMER_TIME_ms:safetytimer_inactive_time))
  8247. {
  8248. setTargetBed(0);
  8249. setAllTargetHotends(0);
  8250. lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED
  8251. }
  8252. }
  8253. #endif //SAFETYTIMER
  8254. #ifdef IR_SENSOR_ANALOG
  8255. #define FS_CHECK_COUNT 16
  8256. /// Switching mechanism of the fsensor type.
  8257. /// Called from 2 spots which have a very similar behavior
  8258. /// 1: ClFsensorPCB::_Old -> ClFsensorPCB::_Rev04 and print _i("FS v0.4 or newer")
  8259. /// 2: ClFsensorPCB::_Rev04 -> oFsensorPCB=ClFsensorPCB::_Old and print _i("FS v0.3 or older")
  8260. void manage_inactivity_IR_ANALOG_Check(uint16_t &nFSCheckCount, ClFsensorPCB isVersion, ClFsensorPCB switchTo, const char *statusLineTxt_P) {
  8261. bool bTemp = (!CHECK_ALL_HEATERS);
  8262. bTemp = bTemp && (menu_menu == lcd_status_screen);
  8263. bTemp = bTemp && ((oFsensorPCB == isVersion) || (oFsensorPCB == ClFsensorPCB::_Undef));
  8264. bTemp = bTemp && fsensor_enabled;
  8265. if (bTemp) {
  8266. nFSCheckCount++;
  8267. if (nFSCheckCount > FS_CHECK_COUNT) {
  8268. nFSCheckCount = 0; // not necessary
  8269. oFsensorPCB = switchTo;
  8270. eeprom_update_byte((uint8_t *)EEPROM_FSENSOR_PCB, (uint8_t)oFsensorPCB);
  8271. printf_IRSensorAnalogBoardChange();
  8272. lcd_setstatuspgm(statusLineTxt_P);
  8273. }
  8274. } else {
  8275. nFSCheckCount = 0;
  8276. }
  8277. }
  8278. #endif
  8279. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  8280. {
  8281. #ifdef FILAMENT_SENSOR
  8282. bool bInhibitFlag;
  8283. #ifdef IR_SENSOR_ANALOG
  8284. static uint16_t nFSCheckCount=0;
  8285. #endif // IR_SENSOR_ANALOG
  8286. if (mmu_enabled == false)
  8287. {
  8288. //-// if (mcode_in_progress != 600) //M600 not in progress
  8289. #ifdef PAT9125
  8290. bInhibitFlag=(menu_menu==lcd_menu_extruder_info); // Support::ExtruderInfo menu active
  8291. #endif // PAT9125
  8292. #ifdef IR_SENSOR
  8293. bInhibitFlag=(menu_menu==lcd_menu_show_sensors_state); // Support::SensorInfo menu active
  8294. #ifdef IR_SENSOR_ANALOG
  8295. bInhibitFlag=bInhibitFlag||bMenuFSDetect; // Settings::HWsetup::FSdetect menu active
  8296. #endif // IR_SENSOR_ANALOG
  8297. #endif // IR_SENSOR
  8298. if ((mcode_in_progress != 600) && (eFilamentAction != FilamentAction::AutoLoad) && (!bInhibitFlag)) //M600 not in progress, preHeat @ autoLoad menu not active, Support::ExtruderInfo/SensorInfo menu not active
  8299. {
  8300. if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LcdCommands::Layer1Cal) && ! eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE))
  8301. {
  8302. #ifdef IR_SENSOR_ANALOG
  8303. static uint16_t minVolt = Voltage2Raw(6.F), maxVolt = 0;
  8304. // detect min-max, some long term sliding window for filtration may be added
  8305. // avoiding floating point operations, thus computing in raw
  8306. if( current_voltage_raw_IR > maxVolt )maxVolt = current_voltage_raw_IR;
  8307. if( current_voltage_raw_IR < minVolt )minVolt = current_voltage_raw_IR;
  8308. #if 0 // Start: IR Sensor debug info
  8309. { // debug print
  8310. static uint16_t lastVolt = ~0U;
  8311. if( current_voltage_raw_IR != lastVolt ){
  8312. printf_P(PSTR("fs volt=%4.2fV (min=%4.2f max=%4.2f)\n"), Raw2Voltage(current_voltage_raw_IR), Raw2Voltage(minVolt), Raw2Voltage(maxVolt) );
  8313. lastVolt = current_voltage_raw_IR;
  8314. }
  8315. }
  8316. #endif // End: IR Sensor debug info
  8317. //! The trouble is, I can hold the filament in the hole in such a way, that it creates the exact voltage
  8318. //! to be detected as the new fsensor
  8319. //! We can either fake it by extending the detection window to a looooong time
  8320. //! or do some other countermeasures
  8321. //! what we want to detect:
  8322. //! if minvolt gets below ~0.3V, it means there is an old fsensor
  8323. //! if maxvolt gets above 4.6V, it means we either have an old fsensor or broken cables/fsensor
  8324. //! So I'm waiting for a situation, when minVolt gets to range <0, 1.5> and maxVolt gets into range <3.0, 5>
  8325. //! If and only if minVolt is in range <0.3, 1.5> and maxVolt is in range <3.0, 4.6>, I'm considering a situation with the new fsensor
  8326. if( minVolt >= IRsensor_Ldiode_TRESHOLD && minVolt <= IRsensor_Lmax_TRESHOLD
  8327. && maxVolt >= IRsensor_Hmin_TRESHOLD && maxVolt <= IRsensor_Hopen_TRESHOLD
  8328. ){
  8329. manage_inactivity_IR_ANALOG_Check(nFSCheckCount, ClFsensorPCB::_Old, ClFsensorPCB::_Rev04, _i("FS v0.4 or newer") ); ////c=18
  8330. }
  8331. //! If and only if minVolt is in range <0.0, 0.3> and maxVolt is in range <4.6, 5.0V>, I'm considering a situation with the old fsensor
  8332. //! Note, we are not relying on one voltage here - getting just +5V can mean an old fsensor or a broken new sensor - that's why
  8333. //! we need to have both voltages detected correctly to allow switching back to the old fsensor.
  8334. else if( minVolt < IRsensor_Ldiode_TRESHOLD
  8335. && maxVolt > IRsensor_Hopen_TRESHOLD && maxVolt <= IRsensor_VMax_TRESHOLD
  8336. ){
  8337. manage_inactivity_IR_ANALOG_Check(nFSCheckCount, ClFsensorPCB::_Rev04, oFsensorPCB=ClFsensorPCB::_Old, _i("FS v0.3 or older")); ////c=18
  8338. }
  8339. #endif // IR_SENSOR_ANALOG
  8340. if (fsensor_check_autoload())
  8341. {
  8342. #ifdef PAT9125
  8343. fsensor_autoload_check_stop();
  8344. #endif //PAT9125
  8345. //-// if (degHotend0() > EXTRUDE_MINTEMP)
  8346. if(0)
  8347. {
  8348. Sound_MakeCustom(50,1000,false);
  8349. loading_flag = true;
  8350. enquecommand_front_P((PSTR("M701")));
  8351. }
  8352. else
  8353. {
  8354. /*
  8355. lcd_update_enable(false);
  8356. show_preheat_nozzle_warning();
  8357. lcd_update_enable(true);
  8358. */
  8359. eFilamentAction=FilamentAction::AutoLoad;
  8360. bFilamentFirstRun=false;
  8361. if(target_temperature[0]>=EXTRUDE_MINTEMP){
  8362. bFilamentPreheatState=true;
  8363. // mFilamentItem(target_temperature[0],target_temperature_bed);
  8364. menu_submenu(mFilamentItemForce);
  8365. } else {
  8366. menu_submenu(lcd_generic_preheat_menu);
  8367. lcd_timeoutToStatus.start();
  8368. }
  8369. }
  8370. }
  8371. }
  8372. else
  8373. {
  8374. #ifdef PAT9125
  8375. fsensor_autoload_check_stop();
  8376. #endif //PAT9125
  8377. if (fsensor_enabled && !saved_printing)
  8378. fsensor_update();
  8379. }
  8380. }
  8381. }
  8382. #endif //FILAMENT_SENSOR
  8383. #ifdef SAFETYTIMER
  8384. handleSafetyTimer();
  8385. #endif //SAFETYTIMER
  8386. #if defined(KILL_PIN) && KILL_PIN > -1
  8387. static int killCount = 0; // make the inactivity button a bit less responsive
  8388. const int KILL_DELAY = 10000;
  8389. #endif
  8390. if(buflen < (BUFSIZE-1)){
  8391. get_command();
  8392. }
  8393. if( (_millis() - previous_millis_cmd) > max_inactive_time )
  8394. if(max_inactive_time)
  8395. kill(_n("Inactivity Shutdown"), 4);
  8396. if(stepper_inactive_time) {
  8397. if( (_millis() - previous_millis_cmd) > stepper_inactive_time )
  8398. {
  8399. if(blocks_queued() == false && ignore_stepper_queue == false) {
  8400. disable_x();
  8401. disable_y();
  8402. disable_z();
  8403. disable_e0();
  8404. disable_e1();
  8405. disable_e2();
  8406. }
  8407. }
  8408. }
  8409. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  8410. if (chdkActive && (_millis() - chdkHigh > CHDK_DELAY))
  8411. {
  8412. chdkActive = false;
  8413. WRITE(CHDK, LOW);
  8414. }
  8415. #endif
  8416. #if defined(KILL_PIN) && KILL_PIN > -1
  8417. // Check if the kill button was pressed and wait just in case it was an accidental
  8418. // key kill key press
  8419. // -------------------------------------------------------------------------------
  8420. if( 0 == READ(KILL_PIN) )
  8421. {
  8422. killCount++;
  8423. }
  8424. else if (killCount > 0)
  8425. {
  8426. killCount--;
  8427. }
  8428. // Exceeded threshold and we can confirm that it was not accidental
  8429. // KILL the machine
  8430. // ----------------------------------------------------------------
  8431. if ( killCount >= KILL_DELAY)
  8432. {
  8433. kill(NULL, 5);
  8434. }
  8435. #endif
  8436. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  8437. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  8438. #endif
  8439. #ifdef EXTRUDER_RUNOUT_PREVENT
  8440. if( (_millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  8441. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  8442. {
  8443. bool oldstatus=READ(E0_ENABLE_PIN);
  8444. enable_e0();
  8445. float oldepos=current_position[E_AXIS];
  8446. float oldedes=destination[E_AXIS];
  8447. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  8448. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS],
  8449. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS], active_extruder);
  8450. current_position[E_AXIS]=oldepos;
  8451. destination[E_AXIS]=oldedes;
  8452. plan_set_e_position(oldepos);
  8453. previous_millis_cmd=_millis();
  8454. st_synchronize();
  8455. WRITE(E0_ENABLE_PIN,oldstatus);
  8456. }
  8457. #endif
  8458. #ifdef TEMP_STAT_LEDS
  8459. handle_status_leds();
  8460. #endif
  8461. check_axes_activity();
  8462. mmu_loop();
  8463. }
  8464. void kill(const char *full_screen_message, unsigned char id)
  8465. {
  8466. printf_P(_N("KILL: %d\n"), id);
  8467. //return;
  8468. cli(); // Stop interrupts
  8469. disable_heater();
  8470. disable_x();
  8471. // SERIAL_ECHOLNPGM("kill - disable Y");
  8472. disable_y();
  8473. poweroff_z();
  8474. disable_e0();
  8475. disable_e1();
  8476. disable_e2();
  8477. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  8478. pinMode(PS_ON_PIN,INPUT);
  8479. #endif
  8480. SERIAL_ERROR_START;
  8481. SERIAL_ERRORLNRPGM(_n("Printer halted. kill() called!"));////MSG_ERR_KILLED
  8482. if (full_screen_message != NULL) {
  8483. SERIAL_ERRORLNRPGM(full_screen_message);
  8484. lcd_display_message_fullscreen_P(full_screen_message);
  8485. } else {
  8486. LCD_ALERTMESSAGERPGM(_n("KILLED. "));////MSG_KILLED
  8487. }
  8488. // FMC small patch to update the LCD before ending
  8489. sei(); // enable interrupts
  8490. for ( int i=5; i--; lcd_update(0))
  8491. {
  8492. _delay(200);
  8493. }
  8494. cli(); // disable interrupts
  8495. suicide();
  8496. while(1)
  8497. {
  8498. #ifdef WATCHDOG
  8499. wdt_reset();
  8500. #endif //WATCHDOG
  8501. /* Intentionally left empty */
  8502. } // Wait for reset
  8503. }
  8504. // Stop: Emergency stop used by overtemp functions which allows recovery
  8505. //
  8506. // In addition to stopping the print, this prevents subsequent G[0-3] commands to be
  8507. // processed via USB (using "Stopped") until the print is resumed via M999 or
  8508. // manually started from scratch with the LCD.
  8509. //
  8510. // Note that the current instruction is completely discarded, so resuming from Stop()
  8511. // will introduce either over/under extrusion on the current segment, and will not
  8512. // survive a power panic. Switching Stop() to use the pause machinery instead (with
  8513. // the addition of disabling the headers) could allow true recovery in the future.
  8514. void Stop()
  8515. {
  8516. disable_heater();
  8517. if(Stopped == false) {
  8518. Stopped = true;
  8519. lcd_print_stop();
  8520. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  8521. SERIAL_ERROR_START;
  8522. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  8523. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  8524. }
  8525. }
  8526. bool IsStopped() { return Stopped; };
  8527. void finishAndDisableSteppers()
  8528. {
  8529. st_synchronize();
  8530. disable_x();
  8531. disable_y();
  8532. disable_z();
  8533. disable_e0();
  8534. disable_e1();
  8535. disable_e2();
  8536. #ifndef LA_NOCOMPAT
  8537. // Steppers are disabled both when a print is stopped and also via M84 (which is additionally
  8538. // checked-for to indicate a complete file), so abuse this function to reset the LA detection
  8539. // state for the next print.
  8540. la10c_reset();
  8541. #endif
  8542. }
  8543. #ifdef FAST_PWM_FAN
  8544. void setPwmFrequency(uint8_t pin, int val)
  8545. {
  8546. val &= 0x07;
  8547. switch(digitalPinToTimer(pin))
  8548. {
  8549. #if defined(TCCR0A)
  8550. case TIMER0A:
  8551. case TIMER0B:
  8552. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  8553. // TCCR0B |= val;
  8554. break;
  8555. #endif
  8556. #if defined(TCCR1A)
  8557. case TIMER1A:
  8558. case TIMER1B:
  8559. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  8560. // TCCR1B |= val;
  8561. break;
  8562. #endif
  8563. #if defined(TCCR2)
  8564. case TIMER2:
  8565. case TIMER2:
  8566. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  8567. TCCR2 |= val;
  8568. break;
  8569. #endif
  8570. #if defined(TCCR2A)
  8571. case TIMER2A:
  8572. case TIMER2B:
  8573. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  8574. TCCR2B |= val;
  8575. break;
  8576. #endif
  8577. #if defined(TCCR3A)
  8578. case TIMER3A:
  8579. case TIMER3B:
  8580. case TIMER3C:
  8581. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  8582. TCCR3B |= val;
  8583. break;
  8584. #endif
  8585. #if defined(TCCR4A)
  8586. case TIMER4A:
  8587. case TIMER4B:
  8588. case TIMER4C:
  8589. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  8590. TCCR4B |= val;
  8591. break;
  8592. #endif
  8593. #if defined(TCCR5A)
  8594. case TIMER5A:
  8595. case TIMER5B:
  8596. case TIMER5C:
  8597. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  8598. TCCR5B |= val;
  8599. break;
  8600. #endif
  8601. }
  8602. }
  8603. #endif //FAST_PWM_FAN
  8604. //! @brief Get and validate extruder number
  8605. //!
  8606. //! If it is not specified, active_extruder is returned in parameter extruder.
  8607. //! @param [in] code M code number
  8608. //! @param [out] extruder
  8609. //! @return error
  8610. //! @retval true Invalid extruder specified in T code
  8611. //! @retval false Valid extruder specified in T code, or not specifiead
  8612. bool setTargetedHotend(int code, uint8_t &extruder)
  8613. {
  8614. extruder = active_extruder;
  8615. if(code_seen('T')) {
  8616. extruder = code_value();
  8617. if(extruder >= EXTRUDERS) {
  8618. SERIAL_ECHO_START;
  8619. switch(code){
  8620. case 104:
  8621. SERIAL_ECHORPGM(_n("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER
  8622. break;
  8623. case 105:
  8624. SERIAL_ECHO(_n("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER
  8625. break;
  8626. case 109:
  8627. SERIAL_ECHO(_n("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER
  8628. break;
  8629. case 218:
  8630. SERIAL_ECHO(_n("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER
  8631. break;
  8632. case 221:
  8633. SERIAL_ECHO(_n("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER
  8634. break;
  8635. }
  8636. SERIAL_PROTOCOLLN((int)extruder);
  8637. return true;
  8638. }
  8639. }
  8640. return false;
  8641. }
  8642. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  8643. {
  8644. 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)
  8645. {
  8646. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  8647. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  8648. }
  8649. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  8650. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  8651. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  8652. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  8653. total_filament_used = 0;
  8654. }
  8655. float calculate_extruder_multiplier(float diameter) {
  8656. float out = 1.f;
  8657. if (cs.volumetric_enabled && diameter > 0.f) {
  8658. float area = M_PI * diameter * diameter * 0.25;
  8659. out = 1.f / area;
  8660. }
  8661. if (extrudemultiply != 100)
  8662. out *= float(extrudemultiply) * 0.01f;
  8663. return out;
  8664. }
  8665. void calculate_extruder_multipliers() {
  8666. extruder_multiplier[0] = calculate_extruder_multiplier(cs.filament_size[0]);
  8667. #if EXTRUDERS > 1
  8668. extruder_multiplier[1] = calculate_extruder_multiplier(cs.filament_size[1]);
  8669. #if EXTRUDERS > 2
  8670. extruder_multiplier[2] = calculate_extruder_multiplier(cs.filament_size[2]);
  8671. #endif
  8672. #endif
  8673. }
  8674. void delay_keep_alive(unsigned int ms)
  8675. {
  8676. for (;;) {
  8677. manage_heater();
  8678. // Manage inactivity, but don't disable steppers on timeout.
  8679. manage_inactivity(true);
  8680. lcd_update(0);
  8681. if (ms == 0)
  8682. break;
  8683. else if (ms >= 50) {
  8684. _delay(50);
  8685. ms -= 50;
  8686. } else {
  8687. _delay(ms);
  8688. ms = 0;
  8689. }
  8690. }
  8691. }
  8692. static void wait_for_heater(long codenum, uint8_t extruder) {
  8693. if (!degTargetHotend(extruder))
  8694. return;
  8695. #ifdef TEMP_RESIDENCY_TIME
  8696. long residencyStart;
  8697. residencyStart = -1;
  8698. /* continue to loop until we have reached the target temp
  8699. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  8700. cancel_heatup = false;
  8701. while ((!cancel_heatup) && ((residencyStart == -1) ||
  8702. (residencyStart >= 0 && (((unsigned int)(_millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  8703. #else
  8704. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  8705. #endif //TEMP_RESIDENCY_TIME
  8706. if ((_millis() - codenum) > 1000UL)
  8707. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  8708. if (!farm_mode) {
  8709. SERIAL_PROTOCOLPGM("T:");
  8710. SERIAL_PROTOCOL_F(degHotend(extruder), 1);
  8711. SERIAL_PROTOCOLPGM(" E:");
  8712. SERIAL_PROTOCOL((int)extruder);
  8713. #ifdef TEMP_RESIDENCY_TIME
  8714. SERIAL_PROTOCOLPGM(" W:");
  8715. if (residencyStart > -1)
  8716. {
  8717. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (_millis() - residencyStart)) / 1000UL;
  8718. SERIAL_PROTOCOLLN(codenum);
  8719. }
  8720. else
  8721. {
  8722. SERIAL_PROTOCOLLN('?');
  8723. }
  8724. }
  8725. #else
  8726. SERIAL_PROTOCOLLN("");
  8727. #endif
  8728. codenum = _millis();
  8729. }
  8730. manage_heater();
  8731. manage_inactivity(true); //do not disable steppers
  8732. lcd_update(0);
  8733. #ifdef TEMP_RESIDENCY_TIME
  8734. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  8735. or when current temp falls outside the hysteresis after target temp was reached */
  8736. if ((residencyStart == -1 && target_direction && (degHotend(extruder) >= (degTargetHotend(extruder) - TEMP_WINDOW))) ||
  8737. (residencyStart == -1 && !target_direction && (degHotend(extruder) <= (degTargetHotend(extruder) + TEMP_WINDOW))) ||
  8738. (residencyStart > -1 && labs(degHotend(extruder) - degTargetHotend(extruder)) > TEMP_HYSTERESIS))
  8739. {
  8740. residencyStart = _millis();
  8741. }
  8742. #endif //TEMP_RESIDENCY_TIME
  8743. }
  8744. }
  8745. void check_babystep()
  8746. {
  8747. int babystep_z = eeprom_read_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
  8748. s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)));
  8749. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  8750. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  8751. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  8752. eeprom_write_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
  8753. s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),
  8754. babystep_z);
  8755. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  8756. lcd_update_enable(true);
  8757. }
  8758. }
  8759. #ifdef HEATBED_ANALYSIS
  8760. void d_setup()
  8761. {
  8762. pinMode(D_DATACLOCK, INPUT_PULLUP);
  8763. pinMode(D_DATA, INPUT_PULLUP);
  8764. pinMode(D_REQUIRE, OUTPUT);
  8765. digitalWrite(D_REQUIRE, HIGH);
  8766. }
  8767. float d_ReadData()
  8768. {
  8769. int digit[13];
  8770. String mergeOutput;
  8771. float output;
  8772. digitalWrite(D_REQUIRE, HIGH);
  8773. for (int i = 0; i<13; i++)
  8774. {
  8775. for (int j = 0; j < 4; j++)
  8776. {
  8777. while (digitalRead(D_DATACLOCK) == LOW) {}
  8778. while (digitalRead(D_DATACLOCK) == HIGH) {}
  8779. bitWrite(digit[i], j, digitalRead(D_DATA));
  8780. }
  8781. }
  8782. digitalWrite(D_REQUIRE, LOW);
  8783. mergeOutput = "";
  8784. output = 0;
  8785. for (int r = 5; r <= 10; r++) //Merge digits
  8786. {
  8787. mergeOutput += digit[r];
  8788. }
  8789. output = mergeOutput.toFloat();
  8790. if (digit[4] == 8) //Handle sign
  8791. {
  8792. output *= -1;
  8793. }
  8794. for (int i = digit[11]; i > 0; i--) //Handle floating point
  8795. {
  8796. output /= 10;
  8797. }
  8798. return output;
  8799. }
  8800. void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  8801. int t1 = 0;
  8802. int t_delay = 0;
  8803. int digit[13];
  8804. int m;
  8805. char str[3];
  8806. //String mergeOutput;
  8807. char mergeOutput[15];
  8808. float output;
  8809. int mesh_point = 0; //index number of calibration point
  8810. 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
  8811. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  8812. float mesh_home_z_search = 4;
  8813. float measure_z_height = 0.2f;
  8814. float row[x_points_num];
  8815. int ix = 0;
  8816. int iy = 0;
  8817. const char* filename_wldsd = "mesh.txt";
  8818. char data_wldsd[x_points_num * 7 + 1]; //6 chars(" -A.BCD")for each measurement + null
  8819. char numb_wldsd[8]; // (" -A.BCD" + null)
  8820. #ifdef MICROMETER_LOGGING
  8821. d_setup();
  8822. #endif //MICROMETER_LOGGING
  8823. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  8824. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  8825. unsigned int custom_message_type_old = custom_message_type;
  8826. unsigned int custom_message_state_old = custom_message_state;
  8827. custom_message_type = CustomMsg::MeshBedLeveling;
  8828. custom_message_state = (x_points_num * y_points_num) + 10;
  8829. lcd_update(1);
  8830. //mbl.reset();
  8831. babystep_undo();
  8832. card.openFile(filename_wldsd, false);
  8833. /*destination[Z_AXIS] = mesh_home_z_search;
  8834. //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  8835. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  8836. for(int8_t i=0; i < NUM_AXIS; i++) {
  8837. current_position[i] = destination[i];
  8838. }
  8839. st_synchronize();
  8840. */
  8841. destination[Z_AXIS] = measure_z_height;
  8842. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  8843. for(int8_t i=0; i < NUM_AXIS; i++) {
  8844. current_position[i] = destination[i];
  8845. }
  8846. st_synchronize();
  8847. /*int l_feedmultiply = */setup_for_endstop_move(false);
  8848. SERIAL_PROTOCOLPGM("Num X,Y: ");
  8849. SERIAL_PROTOCOL(x_points_num);
  8850. SERIAL_PROTOCOLPGM(",");
  8851. SERIAL_PROTOCOL(y_points_num);
  8852. SERIAL_PROTOCOLPGM("\nZ search height: ");
  8853. SERIAL_PROTOCOL(mesh_home_z_search);
  8854. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  8855. SERIAL_PROTOCOL(x_dimension);
  8856. SERIAL_PROTOCOLPGM(",");
  8857. SERIAL_PROTOCOL(y_dimension);
  8858. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  8859. while (mesh_point != x_points_num * y_points_num) {
  8860. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  8861. iy = mesh_point / x_points_num;
  8862. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  8863. float z0 = 0.f;
  8864. /*destination[Z_AXIS] = mesh_home_z_search;
  8865. //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  8866. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  8867. for(int8_t i=0; i < NUM_AXIS; i++) {
  8868. current_position[i] = destination[i];
  8869. }
  8870. st_synchronize();*/
  8871. //current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  8872. //current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  8873. destination[X_AXIS] = ix * (x_dimension / (x_points_num - 1)) + shift_x;
  8874. destination[Y_AXIS] = iy * (y_dimension / (y_points_num - 1)) + shift_y;
  8875. mesh_plan_buffer_line_destinationXYZE(XY_AXIS_FEEDRATE/6);
  8876. set_current_to_destination();
  8877. st_synchronize();
  8878. // printf_P(PSTR("X = %f; Y= %f \n"), current_position[X_AXIS], current_position[Y_AXIS]);
  8879. delay_keep_alive(1000);
  8880. #ifdef MICROMETER_LOGGING
  8881. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  8882. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  8883. //strcat(data_wldsd, numb_wldsd);
  8884. //MYSERIAL.println(data_wldsd);
  8885. //delay(1000);
  8886. //delay(3000);
  8887. //t1 = millis();
  8888. //while (digitalRead(D_DATACLOCK) == LOW) {}
  8889. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  8890. memset(digit, 0, sizeof(digit));
  8891. //cli();
  8892. digitalWrite(D_REQUIRE, LOW);
  8893. for (int i = 0; i<13; i++)
  8894. {
  8895. //t1 = millis();
  8896. for (int j = 0; j < 4; j++)
  8897. {
  8898. while (digitalRead(D_DATACLOCK) == LOW) {}
  8899. while (digitalRead(D_DATACLOCK) == HIGH) {}
  8900. //printf_P(PSTR("Done %d\n"), j);
  8901. bitWrite(digit[i], j, digitalRead(D_DATA));
  8902. }
  8903. //t_delay = (millis() - t1);
  8904. //SERIAL_PROTOCOLPGM(" ");
  8905. //SERIAL_PROTOCOL_F(t_delay, 5);
  8906. //SERIAL_PROTOCOLPGM(" ");
  8907. }
  8908. //sei();
  8909. digitalWrite(D_REQUIRE, HIGH);
  8910. mergeOutput[0] = '\0';
  8911. output = 0;
  8912. for (int r = 5; r <= 10; r++) //Merge digits
  8913. {
  8914. sprintf(str, "%d", digit[r]);
  8915. strcat(mergeOutput, str);
  8916. }
  8917. output = atof(mergeOutput);
  8918. if (digit[4] == 8) //Handle sign
  8919. {
  8920. output *= -1;
  8921. }
  8922. for (int i = digit[11]; i > 0; i--) //Handle floating point
  8923. {
  8924. output *= 0.1;
  8925. }
  8926. //output = d_ReadData();
  8927. //row[ix] = current_position[Z_AXIS];
  8928. //row[ix] = d_ReadData();
  8929. row[ix] = output;
  8930. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  8931. memset(data_wldsd, 0, sizeof(data_wldsd));
  8932. for (int i = 0; i < x_points_num; i++) {
  8933. SERIAL_PROTOCOLPGM(" ");
  8934. SERIAL_PROTOCOL_F(row[i], 5);
  8935. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  8936. dtostrf(row[i], 7, 3, numb_wldsd);
  8937. strcat(data_wldsd, numb_wldsd);
  8938. }
  8939. card.write_command(data_wldsd);
  8940. SERIAL_PROTOCOLPGM("\n");
  8941. }
  8942. custom_message_state--;
  8943. mesh_point++;
  8944. lcd_update(1);
  8945. }
  8946. #endif //MICROMETER_LOGGING
  8947. card.closefile();
  8948. //clean_up_after_endstop_move(l_feedmultiply);
  8949. }
  8950. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  8951. int t1 = 0;
  8952. int t_delay = 0;
  8953. int digit[13];
  8954. int m;
  8955. char str[3];
  8956. //String mergeOutput;
  8957. char mergeOutput[15];
  8958. float output;
  8959. int mesh_point = 0; //index number of calibration point
  8960. 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
  8961. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  8962. float mesh_home_z_search = 4;
  8963. float row[x_points_num];
  8964. int ix = 0;
  8965. int iy = 0;
  8966. const char* filename_wldsd = "wldsd.txt";
  8967. char data_wldsd[70];
  8968. char numb_wldsd[10];
  8969. d_setup();
  8970. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  8971. // We don't know where we are! HOME!
  8972. // Push the commands to the front of the message queue in the reverse order!
  8973. // There shall be always enough space reserved for these commands.
  8974. repeatcommand_front(); // repeat G80 with all its parameters
  8975. enquecommand_front_P((PSTR("G28 W0")));
  8976. enquecommand_front_P((PSTR("G1 Z5")));
  8977. return;
  8978. }
  8979. unsigned int custom_message_type_old = custom_message_type;
  8980. unsigned int custom_message_state_old = custom_message_state;
  8981. custom_message_type = CustomMsg::MeshBedLeveling;
  8982. custom_message_state = (x_points_num * y_points_num) + 10;
  8983. lcd_update(1);
  8984. mbl.reset();
  8985. babystep_undo();
  8986. card.openFile(filename_wldsd, false);
  8987. current_position[Z_AXIS] = mesh_home_z_search;
  8988. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
  8989. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  8990. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  8991. int l_feedmultiply = setup_for_endstop_move(false);
  8992. SERIAL_PROTOCOLPGM("Num X,Y: ");
  8993. SERIAL_PROTOCOL(x_points_num);
  8994. SERIAL_PROTOCOLPGM(",");
  8995. SERIAL_PROTOCOL(y_points_num);
  8996. SERIAL_PROTOCOLPGM("\nZ search height: ");
  8997. SERIAL_PROTOCOL(mesh_home_z_search);
  8998. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  8999. SERIAL_PROTOCOL(x_dimension);
  9000. SERIAL_PROTOCOLPGM(",");
  9001. SERIAL_PROTOCOL(y_dimension);
  9002. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  9003. while (mesh_point != x_points_num * y_points_num) {
  9004. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  9005. iy = mesh_point / x_points_num;
  9006. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  9007. float z0 = 0.f;
  9008. current_position[Z_AXIS] = mesh_home_z_search;
  9009. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
  9010. st_synchronize();
  9011. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  9012. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  9013. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
  9014. st_synchronize();
  9015. 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
  9016. break;
  9017. card.closefile();
  9018. }
  9019. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9020. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  9021. //strcat(data_wldsd, numb_wldsd);
  9022. //MYSERIAL.println(data_wldsd);
  9023. //_delay(1000);
  9024. //_delay(3000);
  9025. //t1 = _millis();
  9026. //while (digitalRead(D_DATACLOCK) == LOW) {}
  9027. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  9028. memset(digit, 0, sizeof(digit));
  9029. //cli();
  9030. digitalWrite(D_REQUIRE, LOW);
  9031. for (int i = 0; i<13; i++)
  9032. {
  9033. //t1 = _millis();
  9034. for (int j = 0; j < 4; j++)
  9035. {
  9036. while (digitalRead(D_DATACLOCK) == LOW) {}
  9037. while (digitalRead(D_DATACLOCK) == HIGH) {}
  9038. bitWrite(digit[i], j, digitalRead(D_DATA));
  9039. }
  9040. //t_delay = (_millis() - t1);
  9041. //SERIAL_PROTOCOLPGM(" ");
  9042. //SERIAL_PROTOCOL_F(t_delay, 5);
  9043. //SERIAL_PROTOCOLPGM(" ");
  9044. }
  9045. //sei();
  9046. digitalWrite(D_REQUIRE, HIGH);
  9047. mergeOutput[0] = '\0';
  9048. output = 0;
  9049. for (int r = 5; r <= 10; r++) //Merge digits
  9050. {
  9051. sprintf(str, "%d", digit[r]);
  9052. strcat(mergeOutput, str);
  9053. }
  9054. output = atof(mergeOutput);
  9055. if (digit[4] == 8) //Handle sign
  9056. {
  9057. output *= -1;
  9058. }
  9059. for (int i = digit[11]; i > 0; i--) //Handle floating point
  9060. {
  9061. output *= 0.1;
  9062. }
  9063. //output = d_ReadData();
  9064. //row[ix] = current_position[Z_AXIS];
  9065. memset(data_wldsd, 0, sizeof(data_wldsd));
  9066. for (int i = 0; i <3; i++) {
  9067. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9068. dtostrf(current_position[i], 8, 5, numb_wldsd);
  9069. strcat(data_wldsd, numb_wldsd);
  9070. strcat(data_wldsd, ";");
  9071. }
  9072. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9073. dtostrf(output, 8, 5, numb_wldsd);
  9074. strcat(data_wldsd, numb_wldsd);
  9075. //strcat(data_wldsd, ";");
  9076. card.write_command(data_wldsd);
  9077. //row[ix] = d_ReadData();
  9078. row[ix] = output; // current_position[Z_AXIS];
  9079. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  9080. for (int i = 0; i < x_points_num; i++) {
  9081. SERIAL_PROTOCOLPGM(" ");
  9082. SERIAL_PROTOCOL_F(row[i], 5);
  9083. }
  9084. SERIAL_PROTOCOLPGM("\n");
  9085. }
  9086. custom_message_state--;
  9087. mesh_point++;
  9088. lcd_update(1);
  9089. }
  9090. card.closefile();
  9091. clean_up_after_endstop_move(l_feedmultiply);
  9092. }
  9093. #endif //HEATBED_ANALYSIS
  9094. #ifndef PINDA_THERMISTOR
  9095. static void temp_compensation_start() {
  9096. custom_message_type = CustomMsg::TempCompPreheat;
  9097. custom_message_state = PINDA_HEAT_T + 1;
  9098. lcd_update(2);
  9099. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  9100. current_position[E_AXIS] -= default_retraction;
  9101. }
  9102. plan_buffer_line_curposXYZE(400, active_extruder);
  9103. current_position[X_AXIS] = PINDA_PREHEAT_X;
  9104. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  9105. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  9106. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  9107. st_synchronize();
  9108. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  9109. for (int i = 0; i < PINDA_HEAT_T; i++) {
  9110. delay_keep_alive(1000);
  9111. custom_message_state = PINDA_HEAT_T - i;
  9112. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  9113. else lcd_update(1);
  9114. }
  9115. custom_message_type = CustomMsg::Status;
  9116. custom_message_state = 0;
  9117. }
  9118. static void temp_compensation_apply() {
  9119. int i_add;
  9120. int z_shift = 0;
  9121. float z_shift_mm;
  9122. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  9123. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  9124. i_add = (target_temperature_bed - 60) / 10;
  9125. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  9126. z_shift_mm = z_shift / cs.axis_steps_per_unit[Z_AXIS];
  9127. }else {
  9128. //interpolation
  9129. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / cs.axis_steps_per_unit[Z_AXIS];
  9130. }
  9131. printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
  9132. 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);
  9133. st_synchronize();
  9134. plan_set_z_position(current_position[Z_AXIS]);
  9135. }
  9136. else {
  9137. //we have no temp compensation data
  9138. }
  9139. }
  9140. #endif //ndef PINDA_THERMISTOR
  9141. float temp_comp_interpolation(float inp_temperature) {
  9142. //cubic spline interpolation
  9143. int n, i, j;
  9144. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  9145. int shift[10];
  9146. int temp_C[10];
  9147. n = 6; //number of measured points
  9148. shift[0] = 0;
  9149. for (i = 0; i < n; i++) {
  9150. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  9151. temp_C[i] = 50 + i * 10; //temperature in C
  9152. #ifdef PINDA_THERMISTOR
  9153. constexpr int start_compensating_temp = 35;
  9154. temp_C[i] = start_compensating_temp + i * 5; //temperature in degrees C
  9155. #ifdef SUPERPINDA_SUPPORT
  9156. static_assert(start_compensating_temp >= PINDA_MINTEMP, "Temperature compensation start point is lower than PINDA_MINTEMP.");
  9157. #endif //SUPERPINDA_SUPPORT
  9158. #else
  9159. temp_C[i] = 50 + i * 10; //temperature in C
  9160. #endif
  9161. x[i] = (float)temp_C[i];
  9162. f[i] = (float)shift[i];
  9163. }
  9164. if (inp_temperature < x[0]) return 0;
  9165. for (i = n - 1; i>0; i--) {
  9166. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  9167. h[i - 1] = x[i] - x[i - 1];
  9168. }
  9169. //*********** formation of h, s , f matrix **************
  9170. for (i = 1; i<n - 1; i++) {
  9171. m[i][i] = 2 * (h[i - 1] + h[i]);
  9172. if (i != 1) {
  9173. m[i][i - 1] = h[i - 1];
  9174. m[i - 1][i] = h[i - 1];
  9175. }
  9176. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  9177. }
  9178. //*********** forward elimination **************
  9179. for (i = 1; i<n - 2; i++) {
  9180. temp = (m[i + 1][i] / m[i][i]);
  9181. for (j = 1; j <= n - 1; j++)
  9182. m[i + 1][j] -= temp*m[i][j];
  9183. }
  9184. //*********** backward substitution *********
  9185. for (i = n - 2; i>0; i--) {
  9186. sum = 0;
  9187. for (j = i; j <= n - 2; j++)
  9188. sum += m[i][j] * s[j];
  9189. s[i] = (m[i][n - 1] - sum) / m[i][i];
  9190. }
  9191. for (i = 0; i<n - 1; i++)
  9192. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  9193. a = (s[i + 1] - s[i]) / (6 * h[i]);
  9194. b = s[i] / 2;
  9195. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  9196. d = f[i];
  9197. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  9198. }
  9199. return sum;
  9200. }
  9201. #ifdef PINDA_THERMISTOR
  9202. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  9203. {
  9204. if (!eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE)) return 0;
  9205. if (!calibration_status_pinda()) return 0;
  9206. return temp_comp_interpolation(temperature_pinda) / cs.axis_steps_per_unit[Z_AXIS];
  9207. }
  9208. #endif //PINDA_THERMISTOR
  9209. void long_pause() //long pause print
  9210. {
  9211. st_synchronize();
  9212. start_pause_print = _millis();
  9213. // Stop heaters
  9214. setAllTargetHotends(0);
  9215. //lift z
  9216. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  9217. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  9218. plan_buffer_line_curposXYZE(15);
  9219. //Move XY to side
  9220. current_position[X_AXIS] = X_PAUSE_POS;
  9221. current_position[Y_AXIS] = Y_PAUSE_POS;
  9222. plan_buffer_line_curposXYZE(50);
  9223. // Turn off the print fan
  9224. fanSpeed = 0;
  9225. }
  9226. void serialecho_temperatures() {
  9227. float tt = degHotend(active_extruder);
  9228. SERIAL_PROTOCOLPGM("T:");
  9229. SERIAL_PROTOCOL(tt);
  9230. SERIAL_PROTOCOLPGM(" E:");
  9231. SERIAL_PROTOCOL((int)active_extruder);
  9232. SERIAL_PROTOCOLPGM(" B:");
  9233. SERIAL_PROTOCOL_F(degBed(), 1);
  9234. SERIAL_PROTOCOLLN("");
  9235. }
  9236. #ifdef UVLO_SUPPORT
  9237. void uvlo_drain_reset()
  9238. {
  9239. // burn all that residual power
  9240. wdt_enable(WDTO_1S);
  9241. WRITE(BEEPER,HIGH);
  9242. lcd_clear();
  9243. lcd_puts_at_P(0, 1, MSG_POWERPANIC_DETECTED);
  9244. while(1);
  9245. }
  9246. void uvlo_()
  9247. {
  9248. unsigned long time_start = _millis();
  9249. bool sd_print = card.sdprinting;
  9250. // Conserve power as soon as possible.
  9251. #ifdef LCD_BL_PIN
  9252. backlightMode = BACKLIGHT_MODE_DIM;
  9253. backlightLevel_LOW = 0;
  9254. backlight_update();
  9255. #endif //LCD_BL_PIN
  9256. disable_x();
  9257. disable_y();
  9258. #ifdef TMC2130
  9259. tmc2130_set_current_h(Z_AXIS, 20);
  9260. tmc2130_set_current_r(Z_AXIS, 20);
  9261. tmc2130_set_current_h(E_AXIS, 20);
  9262. tmc2130_set_current_r(E_AXIS, 20);
  9263. #endif //TMC2130
  9264. // Stop all heaters
  9265. uint8_t saved_target_temperature_bed = target_temperature_bed;
  9266. uint16_t saved_target_temperature_ext = target_temperature[active_extruder];
  9267. setAllTargetHotends(0);
  9268. setTargetBed(0);
  9269. // Calculate the file position, from which to resume this print.
  9270. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  9271. {
  9272. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  9273. sd_position -= sdlen_planner;
  9274. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  9275. sd_position -= sdlen_cmdqueue;
  9276. if (sd_position < 0) sd_position = 0;
  9277. }
  9278. // save the global state at planning time
  9279. uint16_t feedrate_bckp;
  9280. if (current_block)
  9281. {
  9282. memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
  9283. feedrate_bckp = current_block->gcode_feedrate;
  9284. }
  9285. else
  9286. {
  9287. saved_target[0] = SAVED_TARGET_UNSET;
  9288. feedrate_bckp = feedrate;
  9289. }
  9290. // From this point on and up to the print recovery, Z should not move during X/Y travels and
  9291. // should be controlled precisely. Reset the MBL status before planner_abort_hard in order to
  9292. // get the physical Z for further manipulation.
  9293. bool mbl_was_active = mbl.active;
  9294. mbl.active = false;
  9295. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  9296. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  9297. // are in action.
  9298. planner_abort_hard();
  9299. // Store the print logical Z position, which we need to recover (a slight error here would be
  9300. // recovered on the next Gcode instruction, while a physical location error would not)
  9301. float logical_z = current_position[Z_AXIS];
  9302. if(mbl_was_active) logical_z -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  9303. eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z, logical_z);
  9304. // Store the print E position before we lose track
  9305. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), current_position[E_AXIS]);
  9306. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, (axis_relative_modes & E_AXIS_MASK)?0:1);
  9307. // Clean the input command queue, inhibit serial processing using saved_printing
  9308. cmdqueue_reset();
  9309. card.sdprinting = false;
  9310. saved_printing = true;
  9311. // Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
  9312. // command queues are empty, SD card printing is disabled, usb is inhibited.
  9313. sei();
  9314. // Retract
  9315. current_position[E_AXIS] -= default_retraction;
  9316. plan_buffer_line_curposXYZE(95);
  9317. st_synchronize();
  9318. disable_e0();
  9319. // Read out the current Z motor microstep counter to move the axis up towards
  9320. // a full step before powering off. NOTE: we need to ensure to schedule more
  9321. // than "dropsegments" steps in order to move (this is always the case here
  9322. // due to UVLO_Z_AXIS_SHIFT being used)
  9323. uint16_t z_res = tmc2130_get_res(Z_AXIS);
  9324. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9325. current_position[Z_AXIS] += float(1024 - z_microsteps)
  9326. / (z_res * cs.axis_steps_per_unit[Z_AXIS])
  9327. + UVLO_Z_AXIS_SHIFT;
  9328. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
  9329. st_synchronize();
  9330. poweroff_z();
  9331. // Write the file position.
  9332. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  9333. // Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
  9334. for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
  9335. uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  9336. uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
  9337. // Scale the z value to 1u resolution.
  9338. int16_t v = mbl_was_active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
  9339. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  9340. }
  9341. // Write the _final_ Z position and motor microstep counter (unused).
  9342. eeprom_update_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z, current_position[Z_AXIS]);
  9343. z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9344. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  9345. // Store the current position.
  9346. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  9347. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  9348. // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
  9349. eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDRATE, feedrate_bckp);
  9350. eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY, feedmultiply);
  9351. eeprom_update_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND, saved_target_temperature_ext);
  9352. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, saved_target_temperature_bed);
  9353. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  9354. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
  9355. #if EXTRUDERS > 1
  9356. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
  9357. #if EXTRUDERS > 2
  9358. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
  9359. #endif
  9360. #endif
  9361. eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
  9362. // Store the saved target
  9363. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4), saved_target[X_AXIS]);
  9364. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4), saved_target[Y_AXIS]);
  9365. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4), saved_target[Z_AXIS]);
  9366. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4), saved_target[E_AXIS]);
  9367. #ifdef LIN_ADVANCE
  9368. eeprom_update_float((float*)(EEPROM_UVLO_LA_K), extruder_advance_K);
  9369. #endif
  9370. // Finaly store the "power outage" flag.
  9371. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  9372. // Increment power failure counter
  9373. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  9374. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  9375. printf_P(_N("UVLO - end %d\n"), _millis() - time_start);
  9376. WRITE(BEEPER,HIGH);
  9377. // All is set: with all the juice left, try to move extruder away to detach the nozzle completely from the print
  9378. poweron_z();
  9379. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  9380. plan_buffer_line_curposXYZE(500);
  9381. st_synchronize();
  9382. wdt_enable(WDTO_1S);
  9383. while(1);
  9384. }
  9385. void uvlo_tiny()
  9386. {
  9387. unsigned long time_start = _millis();
  9388. // Conserve power as soon as possible.
  9389. disable_x();
  9390. disable_y();
  9391. disable_e0();
  9392. #ifdef TMC2130
  9393. tmc2130_set_current_h(Z_AXIS, 20);
  9394. tmc2130_set_current_r(Z_AXIS, 20);
  9395. #endif //TMC2130
  9396. // Stop all heaters
  9397. setAllTargetHotends(0);
  9398. setTargetBed(0);
  9399. // When power is interrupted on the _first_ recovery an attempt can be made to raise the
  9400. // extruder, causing the Z position to change. Similarly, when recovering, the Z position is
  9401. // lowered. In such cases we cannot just save Z, we need to re-align the steppers to a fullstep.
  9402. // Disable MBL (if not already) to work with physical coordinates.
  9403. mbl.active = false;
  9404. planner_abort_hard();
  9405. // Allow for small roundoffs to be ignored
  9406. if(abs(current_position[Z_AXIS] - eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))) >= 1.f/cs.axis_steps_per_unit[Z_AXIS])
  9407. {
  9408. // Clean the input command queue, inhibit serial processing using saved_printing
  9409. cmdqueue_reset();
  9410. card.sdprinting = false;
  9411. saved_printing = true;
  9412. // Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
  9413. // command queues are empty, SD card printing is disabled, usb is inhibited.
  9414. sei();
  9415. // The axis was moved: adjust Z as done on a regular UVLO.
  9416. uint16_t z_res = tmc2130_get_res(Z_AXIS);
  9417. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9418. current_position[Z_AXIS] += float(1024 - z_microsteps)
  9419. / (z_res * cs.axis_steps_per_unit[Z_AXIS])
  9420. + UVLO_TINY_Z_AXIS_SHIFT;
  9421. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
  9422. st_synchronize();
  9423. poweroff_z();
  9424. // Update Z position
  9425. eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  9426. // Update the _final_ Z motor microstep counter (unused).
  9427. z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9428. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  9429. }
  9430. // Update the the "power outage" flag.
  9431. eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
  9432. // Increment power failure counter
  9433. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  9434. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  9435. printf_P(_N("UVLO_TINY - end %d\n"), _millis() - time_start);
  9436. uvlo_drain_reset();
  9437. }
  9438. #endif //UVLO_SUPPORT
  9439. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  9440. void setup_fan_interrupt() {
  9441. //INT7
  9442. DDRE &= ~(1 << 7); //input pin
  9443. PORTE &= ~(1 << 7); //no internal pull-up
  9444. //start with sensing rising edge
  9445. EICRB &= ~(1 << 6);
  9446. EICRB |= (1 << 7);
  9447. //enable INT7 interrupt
  9448. EIMSK |= (1 << 7);
  9449. }
  9450. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  9451. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  9452. ISR(INT7_vect) {
  9453. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  9454. #ifdef FAN_SOFT_PWM
  9455. if (!fan_measuring || (fanSpeedSoftPwm < MIN_PRINT_FAN_SPEED)) return;
  9456. #else //FAN_SOFT_PWM
  9457. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  9458. #endif //FAN_SOFT_PWM
  9459. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  9460. t_fan_rising_edge = millis_nc();
  9461. }
  9462. else { //interrupt was triggered by falling edge
  9463. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  9464. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  9465. }
  9466. }
  9467. EICRB ^= (1 << 6); //change edge
  9468. }
  9469. #endif
  9470. #ifdef UVLO_SUPPORT
  9471. void setup_uvlo_interrupt() {
  9472. DDRE &= ~(1 << 4); //input pin
  9473. PORTE &= ~(1 << 4); //no internal pull-up
  9474. // sensing falling edge
  9475. EICRB |= (1 << 0);
  9476. EICRB &= ~(1 << 1);
  9477. // enable INT4 interrupt
  9478. EIMSK |= (1 << 4);
  9479. // check if power was lost before we armed the interrupt
  9480. if(!(PINE & (1 << 4)) && eeprom_read_byte((uint8_t*)EEPROM_UVLO))
  9481. {
  9482. SERIAL_ECHOLNPGM("INT4");
  9483. uvlo_drain_reset();
  9484. }
  9485. }
  9486. ISR(INT4_vect) {
  9487. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  9488. SERIAL_ECHOLNPGM("INT4");
  9489. //fire normal uvlo only in case where EEPROM_UVLO is 0 or if IS_SD_PRINTING is 1.
  9490. if(PRINTER_ACTIVE && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))) uvlo_();
  9491. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
  9492. }
  9493. void recover_print(uint8_t automatic) {
  9494. char cmd[30];
  9495. lcd_update_enable(true);
  9496. lcd_update(2);
  9497. lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20
  9498. // Recover position, temperatures and extrude_multipliers
  9499. bool mbl_was_active = recover_machine_state_after_power_panic();
  9500. // Lift the print head 25mm, first to avoid collisions with oozed material with the print,
  9501. // and second also so one may remove the excess priming material.
  9502. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1)
  9503. {
  9504. sprintf_P(cmd, PSTR("G1 Z%.3f F800"), current_position[Z_AXIS] + 25);
  9505. enquecommand(cmd);
  9506. }
  9507. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine
  9508. // transformation status. G28 will not touch Z when MBL is off.
  9509. enquecommand_P(PSTR("G28 X Y"));
  9510. // Set the target bed and nozzle temperatures and wait.
  9511. sprintf_P(cmd, PSTR("M104 S%d"), target_temperature[active_extruder]);
  9512. enquecommand(cmd);
  9513. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  9514. enquecommand(cmd);
  9515. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  9516. enquecommand(cmd);
  9517. enquecommand_P(PSTR("M83")); //E axis relative mode
  9518. // If not automatically recoreverd (long power loss)
  9519. if(automatic == 0){
  9520. //Extrude some filament to stabilize the pressure
  9521. enquecommand_P(PSTR("G1 E5 F120"));
  9522. // Retract to be consistent with a short pause
  9523. sprintf_P(cmd, PSTR("G1 E%-0.3f F2700"), default_retraction);
  9524. enquecommand(cmd);
  9525. }
  9526. 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]);
  9527. // Restart the print.
  9528. restore_print_from_eeprom(mbl_was_active);
  9529. printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
  9530. }
  9531. bool recover_machine_state_after_power_panic()
  9532. {
  9533. // 1) Preset some dummy values for the XY axes
  9534. current_position[X_AXIS] = 0;
  9535. current_position[Y_AXIS] = 0;
  9536. // 2) Restore the mesh bed leveling offsets, but not the MBL status.
  9537. // This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
  9538. bool mbl_was_active = false;
  9539. for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
  9540. uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  9541. uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
  9542. // Scale the z value to 10u resolution.
  9543. int16_t v;
  9544. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
  9545. if (v != 0)
  9546. mbl_was_active = true;
  9547. mbl.z_values[iy][ix] = float(v) * 0.001f;
  9548. }
  9549. // Recover the physical coordinate of the Z axis at the time of the power panic.
  9550. // The current position after power panic is moved to the next closest 0th full step.
  9551. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z));
  9552. // Recover last E axis position
  9553. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  9554. memcpy(destination, current_position, sizeof(destination));
  9555. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  9556. print_world_coordinates();
  9557. // 3) Initialize the logical to physical coordinate system transformation.
  9558. world2machine_initialize();
  9559. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  9560. // print_mesh_bed_leveling_table();
  9561. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  9562. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  9563. babystep_load();
  9564. // 5) Set the physical positions from the logical positions using the world2machine transformation
  9565. // This is only done to inizialize Z/E axes with physical locations, since X/Y are unknown.
  9566. plan_set_position_curposXYZE();
  9567. // 6) Power up the Z motors, mark their positions as known.
  9568. axis_known_position[Z_AXIS] = true;
  9569. enable_z();
  9570. // 7) Recover the target temperatures.
  9571. target_temperature[active_extruder] = eeprom_read_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND);
  9572. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  9573. // 8) Recover extruder multipilers
  9574. extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
  9575. #if EXTRUDERS > 1
  9576. extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
  9577. #if EXTRUDERS > 2
  9578. extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
  9579. #endif
  9580. #endif
  9581. extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
  9582. // 9) Recover the saved target
  9583. saved_target[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4));
  9584. saved_target[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4));
  9585. saved_target[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4));
  9586. saved_target[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4));
  9587. #ifdef LIN_ADVANCE
  9588. extruder_advance_K = eeprom_read_float((float*)EEPROM_UVLO_LA_K);
  9589. #endif
  9590. return mbl_was_active;
  9591. }
  9592. void restore_print_from_eeprom(bool mbl_was_active) {
  9593. int feedrate_rec;
  9594. int feedmultiply_rec;
  9595. uint8_t fan_speed_rec;
  9596. char cmd[30];
  9597. char filename[13];
  9598. uint8_t depth = 0;
  9599. char dir_name[9];
  9600. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  9601. feedrate_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDRATE);
  9602. feedmultiply_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY);
  9603. SERIAL_ECHOPGM("Feedrate:");
  9604. MYSERIAL.print(feedrate_rec);
  9605. SERIAL_ECHOPGM(", feedmultiply:");
  9606. MYSERIAL.println(feedmultiply_rec);
  9607. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  9608. MYSERIAL.println(int(depth));
  9609. for (int i = 0; i < depth; i++) {
  9610. for (int j = 0; j < 8; j++) {
  9611. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  9612. }
  9613. dir_name[8] = '\0';
  9614. MYSERIAL.println(dir_name);
  9615. strcpy(dir_names[i], dir_name);
  9616. card.chdir(dir_name);
  9617. }
  9618. for (int i = 0; i < 8; i++) {
  9619. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  9620. }
  9621. filename[8] = '\0';
  9622. MYSERIAL.print(filename);
  9623. strcat_P(filename, PSTR(".gco"));
  9624. sprintf_P(cmd, PSTR("M23 %s"), filename);
  9625. enquecommand(cmd);
  9626. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  9627. SERIAL_ECHOPGM("Position read from eeprom:");
  9628. MYSERIAL.println(position);
  9629. // Move to the XY print position in logical coordinates, where the print has been killed, but
  9630. // without shifting Z along the way. This requires performing the move without mbl.
  9631. sprintf_P(cmd, PSTR("G1 X%f Y%f F3000"),
  9632. eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0)),
  9633. eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4)));
  9634. enquecommand(cmd);
  9635. // Enable MBL and switch to logical positioning
  9636. if (mbl_was_active)
  9637. enquecommand_P(PSTR("PRUSA MBL V1"));
  9638. // Move the Z axis down to the print, in logical coordinates.
  9639. sprintf_P(cmd, PSTR("G1 Z%f"), eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)));
  9640. enquecommand(cmd);
  9641. // Unretract.
  9642. sprintf_P(cmd, PSTR("G1 E%0.3f F2700"), default_retraction);
  9643. enquecommand(cmd);
  9644. // Recover final E axis position and mode
  9645. float pos_e = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  9646. sprintf_P(cmd, PSTR("G92 E"));
  9647. dtostrf(pos_e, 6, 3, cmd + strlen(cmd));
  9648. enquecommand(cmd);
  9649. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  9650. enquecommand_P(PSTR("M82")); //E axis abslute mode
  9651. // Set the feedrates saved at the power panic.
  9652. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  9653. enquecommand(cmd);
  9654. sprintf_P(cmd, PSTR("M220 S%d"), feedmultiply_rec);
  9655. enquecommand(cmd);
  9656. // Set the fan speed saved at the power panic.
  9657. strcpy_P(cmd, PSTR("M106 S"));
  9658. strcat(cmd, itostr3(int(fan_speed_rec)));
  9659. enquecommand(cmd);
  9660. // Set a position in the file.
  9661. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  9662. enquecommand(cmd);
  9663. enquecommand_P(PSTR("G4 S0"));
  9664. enquecommand_P(PSTR("PRUSA uvlo"));
  9665. }
  9666. #endif //UVLO_SUPPORT
  9667. //! @brief Immediately stop print moves
  9668. //!
  9669. //! Immediately stop print moves, save current extruder temperature and position to RAM.
  9670. //! If printing from sd card, position in file is saved.
  9671. //! If printing from USB, line number is saved.
  9672. //!
  9673. //! @param z_move
  9674. //! @param e_move
  9675. void stop_and_save_print_to_ram(float z_move, float e_move)
  9676. {
  9677. if (saved_printing) return;
  9678. #if 0
  9679. unsigned char nplanner_blocks;
  9680. #endif
  9681. unsigned char nlines;
  9682. uint16_t sdlen_planner;
  9683. uint16_t sdlen_cmdqueue;
  9684. cli();
  9685. if (card.sdprinting) {
  9686. #if 0
  9687. nplanner_blocks = number_of_blocks();
  9688. #endif
  9689. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  9690. sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  9691. saved_sdpos -= sdlen_planner;
  9692. sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  9693. saved_sdpos -= sdlen_cmdqueue;
  9694. saved_printing_type = PRINTING_TYPE_SD;
  9695. }
  9696. else if (is_usb_printing) { //reuse saved_sdpos for storing line number
  9697. saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
  9698. //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
  9699. nlines = planner_calc_sd_length(); //number of lines of commands in planner
  9700. saved_sdpos -= nlines;
  9701. saved_sdpos -= buflen; //number of blocks in cmd buffer
  9702. saved_printing_type = PRINTING_TYPE_USB;
  9703. }
  9704. else {
  9705. saved_printing_type = PRINTING_TYPE_NONE;
  9706. //not sd printing nor usb printing
  9707. }
  9708. #if 0
  9709. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  9710. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  9711. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  9712. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  9713. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  9714. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  9715. //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  9716. {
  9717. card.setIndex(saved_sdpos);
  9718. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  9719. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  9720. MYSERIAL.print(char(card.get()));
  9721. SERIAL_ECHOLNPGM("Content of command buffer: ");
  9722. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  9723. MYSERIAL.print(char(card.get()));
  9724. SERIAL_ECHOLNPGM("End of command buffer");
  9725. }
  9726. {
  9727. // Print the content of the planner buffer, line by line:
  9728. card.setIndex(saved_sdpos);
  9729. int8_t iline = 0;
  9730. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  9731. SERIAL_ECHOPGM("Planner line (from file): ");
  9732. MYSERIAL.print(int(iline), DEC);
  9733. SERIAL_ECHOPGM(", length: ");
  9734. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  9735. SERIAL_ECHOPGM(", steps: (");
  9736. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  9737. SERIAL_ECHOPGM(",");
  9738. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  9739. SERIAL_ECHOPGM(",");
  9740. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  9741. SERIAL_ECHOPGM(",");
  9742. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  9743. SERIAL_ECHOPGM("), events: ");
  9744. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  9745. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  9746. MYSERIAL.print(char(card.get()));
  9747. }
  9748. }
  9749. {
  9750. // Print the content of the command buffer, line by line:
  9751. int8_t iline = 0;
  9752. union {
  9753. struct {
  9754. char lo;
  9755. char hi;
  9756. } lohi;
  9757. uint16_t value;
  9758. } sdlen_single;
  9759. int _bufindr = bufindr;
  9760. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  9761. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  9762. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  9763. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  9764. }
  9765. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  9766. MYSERIAL.print(int(iline), DEC);
  9767. SERIAL_ECHOPGM(", type: ");
  9768. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  9769. SERIAL_ECHOPGM(", len: ");
  9770. MYSERIAL.println(sdlen_single.value, DEC);
  9771. // Print the content of the buffer line.
  9772. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  9773. SERIAL_ECHOPGM("Buffer line (from file): ");
  9774. MYSERIAL.println(int(iline), DEC);
  9775. for (; sdlen_single.value > 0; -- sdlen_single.value)
  9776. MYSERIAL.print(char(card.get()));
  9777. if (-- _buflen == 0)
  9778. break;
  9779. // First skip the current command ID and iterate up to the end of the string.
  9780. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  9781. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  9782. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  9783. // If the end of the buffer was empty,
  9784. if (_bufindr == sizeof(cmdbuffer)) {
  9785. // skip to the start and find the nonzero command.
  9786. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  9787. }
  9788. }
  9789. }
  9790. #endif
  9791. // save the global state at planning time
  9792. if (current_block)
  9793. {
  9794. memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
  9795. saved_feedrate2 = current_block->gcode_feedrate;
  9796. }
  9797. else
  9798. {
  9799. saved_target[0] = SAVED_TARGET_UNSET;
  9800. saved_feedrate2 = feedrate;
  9801. }
  9802. planner_abort_hard(); //abort printing
  9803. memcpy(saved_pos, current_position, sizeof(saved_pos));
  9804. saved_feedmultiply2 = feedmultiply; //save feedmultiply
  9805. saved_active_extruder = active_extruder; //save active_extruder
  9806. saved_extruder_temperature = degTargetHotend(active_extruder);
  9807. saved_extruder_relative_mode = axis_relative_modes & E_AXIS_MASK;
  9808. saved_fanSpeed = fanSpeed;
  9809. cmdqueue_reset(); //empty cmdqueue
  9810. card.sdprinting = false;
  9811. // card.closefile();
  9812. saved_printing = true;
  9813. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  9814. st_reset_timer();
  9815. sei();
  9816. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  9817. #if 1
  9818. // Rather than calling plan_buffer_line directly, push the move into the command queue so that
  9819. // the caller can continue processing. This is used during powerpanic to save the state as we
  9820. // move away from the print.
  9821. char buf[48];
  9822. if(e_move)
  9823. {
  9824. // First unretract (relative extrusion)
  9825. if(!saved_extruder_relative_mode){
  9826. enquecommand(PSTR("M83"), true);
  9827. }
  9828. //retract 45mm/s
  9829. // A single sprintf may not be faster, but is definitely 20B shorter
  9830. // than a sequence of commands building the string piece by piece
  9831. // A snprintf would have been a safer call, but since it is not used
  9832. // in the whole program, its implementation would bring more bytes to the total size
  9833. // The behavior of dtostrf 8,3 should be roughly the same as %-0.3
  9834. sprintf_P(buf, PSTR("G1 E%-0.3f F2700"), e_move);
  9835. enquecommand(buf, false);
  9836. }
  9837. if(z_move)
  9838. {
  9839. // Then lift Z axis
  9840. sprintf_P(buf, PSTR("G1 Z%-0.3f F%-0.3f"), saved_pos[Z_AXIS] + z_move, homing_feedrate[Z_AXIS]);
  9841. enquecommand(buf, false);
  9842. }
  9843. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  9844. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  9845. repeatcommand_front();
  9846. #else
  9847. 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);
  9848. st_synchronize(); //wait moving
  9849. memcpy(current_position, saved_pos, sizeof(saved_pos));
  9850. memcpy(destination, current_position, sizeof(destination));
  9851. #endif
  9852. waiting_inside_plan_buffer_line_print_aborted = true; //unroll the stack
  9853. }
  9854. }
  9855. //! @brief Restore print from ram
  9856. //!
  9857. //! Restore print saved by stop_and_save_print_to_ram(). Is blocking, restores
  9858. //! print fan speed, waits for extruder temperature restore, then restores
  9859. //! position and continues print moves.
  9860. //!
  9861. //! Internally lcd_update() is called by wait_for_heater().
  9862. //!
  9863. //! @param e_move
  9864. void restore_print_from_ram_and_continue(float e_move)
  9865. {
  9866. if (!saved_printing) return;
  9867. #ifdef FANCHECK
  9868. // Do not allow resume printing if fans are still not ok
  9869. if ((fan_check_error != EFCE_OK) && (fan_check_error != EFCE_FIXED)) return;
  9870. if (fan_check_error == EFCE_FIXED) fan_check_error = EFCE_OK; //reenable serial stream processing if printing from usb
  9871. #endif
  9872. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  9873. // current_position[axis] = st_get_position_mm(axis);
  9874. active_extruder = saved_active_extruder; //restore active_extruder
  9875. fanSpeed = saved_fanSpeed;
  9876. if (degTargetHotend(saved_active_extruder) != saved_extruder_temperature)
  9877. {
  9878. setTargetHotendSafe(saved_extruder_temperature, saved_active_extruder);
  9879. heating_status = 1;
  9880. wait_for_heater(_millis(), saved_active_extruder);
  9881. heating_status = 2;
  9882. }
  9883. axis_relative_modes ^= (-saved_extruder_relative_mode ^ axis_relative_modes) & E_AXIS_MASK;
  9884. float e = saved_pos[E_AXIS] - e_move;
  9885. plan_set_e_position(e);
  9886. #ifdef FANCHECK
  9887. fans_check_enabled = false;
  9888. #endif
  9889. //first move print head in XY to the saved position:
  9890. 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);
  9891. //then move Z
  9892. 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);
  9893. //and finaly unretract (35mm/s)
  9894. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  9895. st_synchronize();
  9896. #ifdef FANCHECK
  9897. fans_check_enabled = true;
  9898. #endif
  9899. // restore original feedrate/feedmultiply _after_ restoring the extruder position
  9900. feedrate = saved_feedrate2;
  9901. feedmultiply = saved_feedmultiply2;
  9902. memcpy(current_position, saved_pos, sizeof(saved_pos));
  9903. memcpy(destination, current_position, sizeof(destination));
  9904. if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
  9905. card.setIndex(saved_sdpos);
  9906. sdpos_atomic = saved_sdpos;
  9907. card.sdprinting = true;
  9908. }
  9909. else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
  9910. gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
  9911. serial_count = 0;
  9912. FlushSerialRequestResend();
  9913. }
  9914. else {
  9915. //not sd printing nor usb printing
  9916. }
  9917. lcd_setstatuspgm(_T(WELCOME_MSG));
  9918. saved_printing_type = PRINTING_TYPE_NONE;
  9919. saved_printing = false;
  9920. waiting_inside_plan_buffer_line_print_aborted = true; //unroll the stack
  9921. }
  9922. // Cancel the state related to a currently saved print
  9923. void cancel_saved_printing()
  9924. {
  9925. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  9926. saved_target[0] = SAVED_TARGET_UNSET;
  9927. saved_printing_type = PRINTING_TYPE_NONE;
  9928. saved_printing = false;
  9929. }
  9930. void print_world_coordinates()
  9931. {
  9932. printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  9933. }
  9934. void print_physical_coordinates()
  9935. {
  9936. 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));
  9937. }
  9938. void print_mesh_bed_leveling_table()
  9939. {
  9940. SERIAL_ECHOPGM("mesh bed leveling: ");
  9941. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  9942. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  9943. MYSERIAL.print(mbl.z_values[y][x], 3);
  9944. SERIAL_ECHO(' ');
  9945. }
  9946. SERIAL_ECHOLN();
  9947. }
  9948. uint16_t print_time_remaining() {
  9949. uint16_t print_t = PRINT_TIME_REMAINING_INIT;
  9950. #ifdef TMC2130
  9951. if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
  9952. else print_t = print_time_remaining_silent;
  9953. #else
  9954. print_t = print_time_remaining_normal;
  9955. #endif //TMC2130
  9956. if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100ul * print_t / feedmultiply;
  9957. return print_t;
  9958. }
  9959. uint8_t calc_percent_done()
  9960. {
  9961. //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
  9962. uint8_t percent_done = 0;
  9963. #ifdef TMC2130
  9964. if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
  9965. percent_done = print_percent_done_normal;
  9966. }
  9967. else if (print_percent_done_silent <= 100) {
  9968. percent_done = print_percent_done_silent;
  9969. }
  9970. #else
  9971. if (print_percent_done_normal <= 100) {
  9972. percent_done = print_percent_done_normal;
  9973. }
  9974. #endif //TMC2130
  9975. else {
  9976. percent_done = card.percentDone();
  9977. }
  9978. return percent_done;
  9979. }
  9980. static void print_time_remaining_init()
  9981. {
  9982. print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
  9983. print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
  9984. print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  9985. print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  9986. }
  9987. void load_filament_final_feed()
  9988. {
  9989. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED;
  9990. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FINAL);
  9991. }
  9992. //! @brief Wait for user to check the state
  9993. //! @par nozzle_temp nozzle temperature to load filament
  9994. void M600_check_state(float nozzle_temp)
  9995. {
  9996. lcd_change_fil_state = 0;
  9997. while (lcd_change_fil_state != 1)
  9998. {
  9999. lcd_change_fil_state = 0;
  10000. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10001. lcd_alright();
  10002. KEEPALIVE_STATE(IN_HANDLER);
  10003. switch(lcd_change_fil_state)
  10004. {
  10005. // Filament failed to load so load it again
  10006. case 2:
  10007. if (mmu_enabled)
  10008. mmu_M600_load_filament(false, nozzle_temp); //nonautomatic load; change to "wrong filament loaded" option?
  10009. else
  10010. M600_load_filament_movements();
  10011. break;
  10012. // Filament loaded properly but color is not clear
  10013. case 3:
  10014. st_synchronize();
  10015. load_filament_final_feed();
  10016. lcd_loading_color();
  10017. st_synchronize();
  10018. break;
  10019. // Everything good
  10020. default:
  10021. lcd_change_success();
  10022. break;
  10023. }
  10024. }
  10025. }
  10026. //! @brief Wait for user action
  10027. //!
  10028. //! Beep, manage nozzle heater and wait for user to start unload filament
  10029. //! If times out, active extruder temperature is set to 0.
  10030. //!
  10031. //! @param HotendTempBckp Temperature to be restored for active extruder, after user resolves MMU problem.
  10032. void M600_wait_for_user(float HotendTempBckp) {
  10033. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10034. int counterBeep = 0;
  10035. unsigned long waiting_start_time = _millis();
  10036. uint8_t wait_for_user_state = 0;
  10037. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  10038. bool bFirst=true;
  10039. while (!(wait_for_user_state == 0 && lcd_clicked())){
  10040. manage_heater();
  10041. manage_inactivity(true);
  10042. #if BEEPER > 0
  10043. if (counterBeep == 500) {
  10044. counterBeep = 0;
  10045. }
  10046. SET_OUTPUT(BEEPER);
  10047. if (counterBeep == 0) {
  10048. if((eSoundMode==e_SOUND_MODE_BLIND)|| (eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
  10049. {
  10050. bFirst=false;
  10051. WRITE(BEEPER, HIGH);
  10052. }
  10053. }
  10054. if (counterBeep == 20) {
  10055. WRITE(BEEPER, LOW);
  10056. }
  10057. counterBeep++;
  10058. #endif //BEEPER > 0
  10059. switch (wait_for_user_state) {
  10060. case 0: //nozzle is hot, waiting for user to press the knob to unload filament
  10061. delay_keep_alive(4);
  10062. if (_millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  10063. lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
  10064. wait_for_user_state = 1;
  10065. setAllTargetHotends(0);
  10066. st_synchronize();
  10067. disable_e0();
  10068. disable_e1();
  10069. disable_e2();
  10070. }
  10071. break;
  10072. case 1: //nozzle target temperature is set to zero, waiting for user to start nozzle preheat
  10073. delay_keep_alive(4);
  10074. if (lcd_clicked()) {
  10075. setTargetHotend(HotendTempBckp, active_extruder);
  10076. lcd_wait_for_heater();
  10077. wait_for_user_state = 2;
  10078. }
  10079. break;
  10080. case 2: //waiting for nozzle to reach target temperature
  10081. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  10082. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  10083. waiting_start_time = _millis();
  10084. wait_for_user_state = 0;
  10085. }
  10086. else {
  10087. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  10088. lcd_set_cursor(1, 4);
  10089. lcd_print(ftostr3(degHotend(active_extruder)));
  10090. }
  10091. break;
  10092. }
  10093. }
  10094. WRITE(BEEPER, LOW);
  10095. }
  10096. void M600_load_filament_movements()
  10097. {
  10098. #ifdef SNMM
  10099. display_loading();
  10100. do
  10101. {
  10102. current_position[E_AXIS] += 0.002;
  10103. plan_buffer_line_curposXYZE(500, active_extruder);
  10104. delay_keep_alive(2);
  10105. }
  10106. while (!lcd_clicked());
  10107. st_synchronize();
  10108. current_position[E_AXIS] += bowden_length[mmu_extruder];
  10109. plan_buffer_line_curposXYZE(3000, active_extruder);
  10110. current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
  10111. plan_buffer_line_curposXYZE(1400, active_extruder);
  10112. current_position[E_AXIS] += 40;
  10113. plan_buffer_line_curposXYZE(400, active_extruder);
  10114. current_position[E_AXIS] += 10;
  10115. plan_buffer_line_curposXYZE(50, active_extruder);
  10116. #else
  10117. current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  10118. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FIRST);
  10119. #endif
  10120. load_filament_final_feed();
  10121. lcd_loading_filament();
  10122. st_synchronize();
  10123. }
  10124. void M600_load_filament() {
  10125. //load filament for single material and SNMM
  10126. lcd_wait_interact();
  10127. //load_filament_time = _millis();
  10128. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10129. #ifdef PAT9125
  10130. fsensor_autoload_check_start();
  10131. #endif //PAT9125
  10132. while(!lcd_clicked())
  10133. {
  10134. manage_heater();
  10135. manage_inactivity(true);
  10136. #ifdef FILAMENT_SENSOR
  10137. if (fsensor_check_autoload())
  10138. {
  10139. Sound_MakeCustom(50,1000,false);
  10140. break;
  10141. }
  10142. #endif //FILAMENT_SENSOR
  10143. }
  10144. #ifdef PAT9125
  10145. fsensor_autoload_check_stop();
  10146. #endif //PAT9125
  10147. KEEPALIVE_STATE(IN_HANDLER);
  10148. #ifdef FSENSOR_QUALITY
  10149. fsensor_oq_meassure_start(70);
  10150. #endif //FSENSOR_QUALITY
  10151. M600_load_filament_movements();
  10152. Sound_MakeCustom(50,1000,false);
  10153. #ifdef FSENSOR_QUALITY
  10154. fsensor_oq_meassure_stop();
  10155. if (!fsensor_oq_result())
  10156. {
  10157. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  10158. lcd_update_enable(true);
  10159. lcd_update(2);
  10160. if (disable)
  10161. fsensor_disable();
  10162. }
  10163. #endif //FSENSOR_QUALITY
  10164. lcd_update_enable(false);
  10165. }
  10166. //! @brief Wait for click
  10167. //!
  10168. //! Set
  10169. void marlin_wait_for_click()
  10170. {
  10171. int8_t busy_state_backup = busy_state;
  10172. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10173. lcd_consume_click();
  10174. while(!lcd_clicked())
  10175. {
  10176. manage_heater();
  10177. manage_inactivity(true);
  10178. lcd_update(0);
  10179. }
  10180. KEEPALIVE_STATE(busy_state_backup);
  10181. }
  10182. #define FIL_LOAD_LENGTH 60
  10183. #ifdef PSU_Delta
  10184. bool bEnableForce_z;
  10185. void init_force_z()
  10186. {
  10187. WRITE(Z_ENABLE_PIN,Z_ENABLE_ON);
  10188. bEnableForce_z=true; // "true"-value enforce "disable_force_z()" executing
  10189. disable_force_z();
  10190. }
  10191. void check_force_z()
  10192. {
  10193. if(!(bEnableForce_z||eeprom_read_byte((uint8_t*)EEPROM_SILENT)))
  10194. init_force_z(); // causes enforced switching into disable-state
  10195. }
  10196. void disable_force_z()
  10197. {
  10198. if(!bEnableForce_z) return; // motor already disabled (may be ;-p )
  10199. bEnableForce_z=false;
  10200. // switching to silent mode
  10201. #ifdef TMC2130
  10202. tmc2130_mode=TMC2130_MODE_SILENT;
  10203. update_mode_profile();
  10204. tmc2130_init(true);
  10205. #endif // TMC2130
  10206. }
  10207. void enable_force_z()
  10208. {
  10209. if(bEnableForce_z)
  10210. return; // motor already enabled (may be ;-p )
  10211. bEnableForce_z=true;
  10212. // mode recovering
  10213. #ifdef TMC2130
  10214. tmc2130_mode=eeprom_read_byte((uint8_t*)EEPROM_SILENT)?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  10215. update_mode_profile();
  10216. tmc2130_init(true);
  10217. #endif // TMC2130
  10218. WRITE(Z_ENABLE_PIN,Z_ENABLE_ON); // slightly redundant ;-p
  10219. }
  10220. #endif // PSU_Delta