Marlin_main.cpp 310 KB

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  1. /* -*- c++ -*- */
  2. /**
  3. * @file
  4. */
  5. /**
  6. * @mainpage Reprap 3D printer firmware based on Sprinter and grbl.
  7. *
  8. * @section intro_sec Introduction
  9. *
  10. * This firmware is a mashup between Sprinter and grbl.
  11. * https://github.com/kliment/Sprinter
  12. * https://github.com/simen/grbl/tree
  13. *
  14. * It has preliminary support for Matthew Roberts advance algorithm
  15. * http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  16. *
  17. * Prusa Research s.r.o. https://www.prusa3d.cz
  18. *
  19. * @section copyright_sec Copyright
  20. *
  21. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  22. *
  23. * This program is free software: you can redistribute it and/or modify
  24. * it under the terms of the GNU General Public License as published by
  25. * the Free Software Foundation, either version 3 of the License, or
  26. * (at your option) any later version.
  27. *
  28. * This program is distributed in the hope that it will be useful,
  29. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  30. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  31. * GNU General Public License for more details.
  32. *
  33. * You should have received a copy of the GNU General Public License
  34. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  35. *
  36. * @section notes_sec Notes
  37. *
  38. * * Do not create static objects in global functions.
  39. * Otherwise constructor guard against concurrent calls is generated costing
  40. * about 8B RAM and 14B flash.
  41. *
  42. *
  43. */
  44. #include "Marlin.h"
  45. #ifdef ENABLE_AUTO_BED_LEVELING
  46. #include "vector_3.h"
  47. #ifdef AUTO_BED_LEVELING_GRID
  48. #include "qr_solve.h"
  49. #endif
  50. #endif // ENABLE_AUTO_BED_LEVELING
  51. #ifdef MESH_BED_LEVELING
  52. #include "mesh_bed_leveling.h"
  53. #include "mesh_bed_calibration.h"
  54. #endif
  55. #include "printers.h"
  56. #include "menu.h"
  57. #include "ultralcd.h"
  58. #include "planner.h"
  59. #include "stepper.h"
  60. #include "temperature.h"
  61. #include "motion_control.h"
  62. #include "cardreader.h"
  63. #include "ConfigurationStore.h"
  64. #include "language.h"
  65. #include "pins_arduino.h"
  66. #include "math.h"
  67. #include "util.h"
  68. #include "Timer.h"
  69. #include "uart2.h"
  70. #include <avr/wdt.h>
  71. #include <avr/pgmspace.h>
  72. #include "Dcodes.h"
  73. #ifdef SWSPI
  74. #include "swspi.h"
  75. #endif //SWSPI
  76. #include "spi.h"
  77. #ifdef SWI2C
  78. #include "swi2c.h"
  79. #endif //SWI2C
  80. #ifdef FILAMENT_SENSOR
  81. #include "fsensor.h"
  82. #endif //FILAMENT_SENSOR
  83. #ifdef TMC2130
  84. #include "tmc2130.h"
  85. #endif //TMC2130
  86. #ifdef W25X20CL
  87. #include "w25x20cl.h"
  88. #include "optiboot_w25x20cl.h"
  89. #endif //W25X20CL
  90. #ifdef BLINKM
  91. #include "BlinkM.h"
  92. #include "Wire.h"
  93. #endif
  94. #ifdef ULTRALCD
  95. #include "ultralcd.h"
  96. #endif
  97. #if NUM_SERVOS > 0
  98. #include "Servo.h"
  99. #endif
  100. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  101. #include <SPI.h>
  102. #endif
  103. #include "mmu.h"
  104. #define VERSION_STRING "1.0.2"
  105. #include "ultralcd.h"
  106. #include "sound.h"
  107. #include "cmdqueue.h"
  108. // Macros for bit masks
  109. #define BIT(b) (1<<(b))
  110. #define TEST(n,b) (((n)&BIT(b))!=0)
  111. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  112. //Macro for print fan speed
  113. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  114. #define PRINTING_TYPE_SD 0
  115. #define PRINTING_TYPE_USB 1
  116. //filament types
  117. #define FILAMENT_DEFAULT 0
  118. #define FILAMENT_FLEX 1
  119. #define FILAMENT_PVA 2
  120. #define FILAMENT_UNDEFINED 255
  121. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  122. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  123. //Implemented Codes
  124. //-------------------
  125. // PRUSA CODES
  126. // P F - Returns FW versions
  127. // P R - Returns revision of printer
  128. // G0 -> G1
  129. // G1 - Coordinated Movement X Y Z E
  130. // G2 - CW ARC
  131. // G3 - CCW ARC
  132. // G4 - Dwell S<seconds> or P<milliseconds>
  133. // G10 - retract filament according to settings of M207
  134. // G11 - retract recover filament according to settings of M208
  135. // G28 - Home all Axis
  136. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  137. // G30 - Single Z Probe, probes bed at current XY location.
  138. // G31 - Dock sled (Z_PROBE_SLED only)
  139. // G32 - Undock sled (Z_PROBE_SLED only)
  140. // G80 - Automatic mesh bed leveling
  141. // G81 - Print bed profile
  142. // G90 - Use Absolute Coordinates
  143. // G91 - Use Relative Coordinates
  144. // G92 - Set current position to coordinates given
  145. // M Codes
  146. // M0 - Unconditional stop - Wait for user to press a button on the LCD
  147. // M1 - Same as M0
  148. // M17 - Enable/Power all stepper motors
  149. // M18 - Disable all stepper motors; same as M84
  150. // M20 - List SD card
  151. // M21 - Init SD card
  152. // M22 - Release SD card
  153. // M23 - Select SD file (M23 filename.g)
  154. // M24 - Start/resume SD print
  155. // M25 - Pause SD print
  156. // M26 - Set SD position in bytes (M26 S12345)
  157. // M27 - Report SD print status
  158. // M28 - Start SD write (M28 filename.g)
  159. // M29 - Stop SD write
  160. // M30 - Delete file from SD (M30 filename.g)
  161. // M31 - Output time since last M109 or SD card start to serial
  162. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  163. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  164. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  165. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  166. // 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.
  167. // M73 - Show percent done and print time remaining
  168. // M80 - Turn on Power Supply
  169. // M81 - Turn off Power Supply
  170. // M82 - Set E codes absolute (default)
  171. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  172. // M84 - Disable steppers until next move,
  173. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  174. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  175. // M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
  176. // M92 - Set axis_steps_per_unit - same syntax as G92
  177. // M104 - Set extruder target temp
  178. // M105 - Read current temp
  179. // M106 - Fan on
  180. // M107 - Fan off
  181. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  182. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  183. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  184. // M112 - Emergency stop
  185. // M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  186. // M114 - Output current position to serial port
  187. // M115 - Capabilities string
  188. // M117 - display message
  189. // M119 - Output Endstop status to serial port
  190. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  191. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  192. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  193. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  194. // M140 - Set bed target temp
  195. // 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.
  196. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  197. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  198. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  199. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  200. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  201. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  202. // 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
  203. // 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
  204. // M206 - set additional homing offset
  205. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  206. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  207. // 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.
  208. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  209. // M220 S<factor in percent>- set speed factor override percentage
  210. // M221 S<factor in percent>- set extrude factor override percentage
  211. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  212. // M240 - Trigger a camera to take a photograph
  213. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  214. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  215. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  216. // M301 - Set PID parameters P I and D
  217. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  218. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  219. // M304 - Set bed PID parameters P I and D
  220. // M400 - Finish all moves
  221. // M401 - Lower z-probe if present
  222. // M402 - Raise z-probe if present
  223. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  224. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  225. // M406 - Turn off Filament Sensor extrusion control
  226. // M407 - Displays measured filament diameter
  227. // M500 - stores parameters in EEPROM
  228. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  229. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  230. // M503 - print the current settings (from memory not from EEPROM)
  231. // M509 - force language selection on next restart
  232. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  233. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  234. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  235. // M860 - Wait for PINDA thermistor to reach target temperature.
  236. // M861 - Set / Read PINDA temperature compensation offsets
  237. // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  238. // M907 - Set digital trimpot motor current using axis codes.
  239. // M908 - Control digital trimpot directly.
  240. // M350 - Set microstepping mode.
  241. // M351 - Toggle MS1 MS2 pins directly.
  242. // M928 - Start SD logging (M928 filename.g) - ended by M29
  243. // M999 - Restart after being stopped by error
  244. //Stepper Movement Variables
  245. //===========================================================================
  246. //=============================imported variables============================
  247. //===========================================================================
  248. //===========================================================================
  249. //=============================public variables=============================
  250. //===========================================================================
  251. #ifdef SDSUPPORT
  252. CardReader card;
  253. #endif
  254. unsigned long PingTime = millis();
  255. unsigned long NcTime;
  256. //used for PINDA temp calibration and pause print
  257. #define DEFAULT_RETRACTION 1
  258. #define DEFAULT_RETRACTION_MM 4 //MM
  259. float default_retraction = DEFAULT_RETRACTION;
  260. float homing_feedrate[] = HOMING_FEEDRATE;
  261. // Currently only the extruder axis may be switched to a relative mode.
  262. // Other axes are always absolute or relative based on the common relative_mode flag.
  263. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  264. int feedmultiply=100; //100->1 200->2
  265. int saved_feedmultiply;
  266. int extrudemultiply=100; //100->1 200->2
  267. int extruder_multiply[EXTRUDERS] = {100
  268. #if EXTRUDERS > 1
  269. , 100
  270. #if EXTRUDERS > 2
  271. , 100
  272. #endif
  273. #endif
  274. };
  275. int bowden_length[4] = {385, 385, 385, 385};
  276. bool is_usb_printing = false;
  277. bool homing_flag = false;
  278. bool temp_cal_active = false;
  279. unsigned long kicktime = millis()+100000;
  280. unsigned int usb_printing_counter;
  281. int8_t lcd_change_fil_state = 0;
  282. int feedmultiplyBckp = 100;
  283. float HotendTempBckp = 0;
  284. int fanSpeedBckp = 0;
  285. float pause_lastpos[4];
  286. unsigned long pause_time = 0;
  287. unsigned long start_pause_print = millis();
  288. unsigned long t_fan_rising_edge = millis();
  289. static LongTimer safetyTimer;
  290. static LongTimer crashDetTimer;
  291. //unsigned long load_filament_time;
  292. bool mesh_bed_leveling_flag = false;
  293. bool mesh_bed_run_from_menu = false;
  294. int8_t FarmMode = 0;
  295. bool prusa_sd_card_upload = false;
  296. unsigned int status_number = 0;
  297. unsigned long total_filament_used;
  298. unsigned int heating_status;
  299. unsigned int heating_status_counter;
  300. bool custom_message;
  301. bool loading_flag = false;
  302. unsigned int custom_message_type;
  303. unsigned int custom_message_state;
  304. char snmm_filaments_used = 0;
  305. bool fan_state[2];
  306. int fan_edge_counter[2];
  307. int fan_speed[2];
  308. char dir_names[3][9];
  309. bool sortAlpha = false;
  310. bool volumetric_enabled = false;
  311. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  312. #if EXTRUDERS > 1
  313. , DEFAULT_NOMINAL_FILAMENT_DIA
  314. #if EXTRUDERS > 2
  315. , DEFAULT_NOMINAL_FILAMENT_DIA
  316. #endif
  317. #endif
  318. };
  319. float extruder_multiplier[EXTRUDERS] = {1.0
  320. #if EXTRUDERS > 1
  321. , 1.0
  322. #if EXTRUDERS > 2
  323. , 1.0
  324. #endif
  325. #endif
  326. };
  327. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  328. //shortcuts for more readable code
  329. #define _x current_position[X_AXIS]
  330. #define _y current_position[Y_AXIS]
  331. #define _z current_position[Z_AXIS]
  332. #define _e current_position[E_AXIS]
  333. float add_homing[3]={0,0,0};
  334. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  335. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  336. bool axis_known_position[3] = {false, false, false};
  337. float zprobe_zoffset;
  338. // Extruder offset
  339. #if EXTRUDERS > 1
  340. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  341. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  342. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  343. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  344. #endif
  345. };
  346. #endif
  347. uint8_t active_extruder = 0;
  348. int fanSpeed=0;
  349. #ifdef FWRETRACT
  350. bool autoretract_enabled=false;
  351. bool retracted[EXTRUDERS]={false
  352. #if EXTRUDERS > 1
  353. , false
  354. #if EXTRUDERS > 2
  355. , false
  356. #endif
  357. #endif
  358. };
  359. bool retracted_swap[EXTRUDERS]={false
  360. #if EXTRUDERS > 1
  361. , false
  362. #if EXTRUDERS > 2
  363. , false
  364. #endif
  365. #endif
  366. };
  367. float retract_length = RETRACT_LENGTH;
  368. float retract_length_swap = RETRACT_LENGTH_SWAP;
  369. float retract_feedrate = RETRACT_FEEDRATE;
  370. float retract_zlift = RETRACT_ZLIFT;
  371. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  372. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  373. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  374. #endif
  375. #ifdef PS_DEFAULT_OFF
  376. bool powersupply = false;
  377. #else
  378. bool powersupply = true;
  379. #endif
  380. bool cancel_heatup = false ;
  381. #ifdef HOST_KEEPALIVE_FEATURE
  382. int busy_state = NOT_BUSY;
  383. static long prev_busy_signal_ms = -1;
  384. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  385. #else
  386. #define host_keepalive();
  387. #define KEEPALIVE_STATE(n);
  388. #endif
  389. const char errormagic[] PROGMEM = "Error:";
  390. const char echomagic[] PROGMEM = "echo:";
  391. bool no_response = false;
  392. uint8_t important_status;
  393. uint8_t saved_filament_type;
  394. // save/restore printing
  395. bool saved_printing = false;
  396. // save/restore printing in case that mmu was not responding
  397. bool mmu_print_saved = false;
  398. // storing estimated time to end of print counted by slicer
  399. uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  400. uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  401. uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  402. uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  403. //===========================================================================
  404. //=============================Private Variables=============================
  405. //===========================================================================
  406. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  407. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  408. // For tracing an arc
  409. static float offset[3] = {0.0, 0.0, 0.0};
  410. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  411. // Determines Absolute or Relative Coordinates.
  412. // Also there is bool axis_relative_modes[] per axis flag.
  413. static bool relative_mode = false;
  414. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  415. //static float tt = 0;
  416. //static float bt = 0;
  417. //Inactivity shutdown variables
  418. static unsigned long previous_millis_cmd = 0;
  419. unsigned long max_inactive_time = 0;
  420. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  421. static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
  422. unsigned long starttime=0;
  423. unsigned long stoptime=0;
  424. unsigned long _usb_timer = 0;
  425. static uint8_t tmp_extruder;
  426. bool extruder_under_pressure = true;
  427. bool Stopped=false;
  428. #if NUM_SERVOS > 0
  429. Servo servos[NUM_SERVOS];
  430. #endif
  431. bool CooldownNoWait = true;
  432. bool target_direction;
  433. //Insert variables if CHDK is defined
  434. #ifdef CHDK
  435. unsigned long chdkHigh = 0;
  436. boolean chdkActive = false;
  437. #endif
  438. // save/restore printing
  439. static uint32_t saved_sdpos = 0;
  440. static uint8_t saved_printing_type = PRINTING_TYPE_SD;
  441. static float saved_pos[4] = { 0, 0, 0, 0 };
  442. // Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  443. static float saved_feedrate2 = 0;
  444. static uint8_t saved_active_extruder = 0;
  445. static bool saved_extruder_under_pressure = false;
  446. static bool saved_extruder_relative_mode = false;
  447. //===========================================================================
  448. //=============================Routines======================================
  449. //===========================================================================
  450. static void get_arc_coordinates();
  451. static bool setTargetedHotend(int code);
  452. static void print_time_remaining_init();
  453. uint16_t gcode_in_progress = 0;
  454. uint16_t mcode_in_progress = 0;
  455. void serial_echopair_P(const char *s_P, float v)
  456. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  457. void serial_echopair_P(const char *s_P, double v)
  458. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  459. void serial_echopair_P(const char *s_P, unsigned long v)
  460. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  461. #ifdef SDSUPPORT
  462. #include "SdFatUtil.h"
  463. int freeMemory() { return SdFatUtil::FreeRam(); }
  464. #else
  465. extern "C" {
  466. extern unsigned int __bss_end;
  467. extern unsigned int __heap_start;
  468. extern void *__brkval;
  469. int freeMemory() {
  470. int free_memory;
  471. if ((int)__brkval == 0)
  472. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  473. else
  474. free_memory = ((int)&free_memory) - ((int)__brkval);
  475. return free_memory;
  476. }
  477. }
  478. #endif //!SDSUPPORT
  479. void setup_killpin()
  480. {
  481. #if defined(KILL_PIN) && KILL_PIN > -1
  482. SET_INPUT(KILL_PIN);
  483. WRITE(KILL_PIN,HIGH);
  484. #endif
  485. }
  486. // Set home pin
  487. void setup_homepin(void)
  488. {
  489. #if defined(HOME_PIN) && HOME_PIN > -1
  490. SET_INPUT(HOME_PIN);
  491. WRITE(HOME_PIN,HIGH);
  492. #endif
  493. }
  494. void setup_photpin()
  495. {
  496. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  497. SET_OUTPUT(PHOTOGRAPH_PIN);
  498. WRITE(PHOTOGRAPH_PIN, LOW);
  499. #endif
  500. }
  501. void setup_powerhold()
  502. {
  503. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  504. SET_OUTPUT(SUICIDE_PIN);
  505. WRITE(SUICIDE_PIN, HIGH);
  506. #endif
  507. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  508. SET_OUTPUT(PS_ON_PIN);
  509. #if defined(PS_DEFAULT_OFF)
  510. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  511. #else
  512. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  513. #endif
  514. #endif
  515. }
  516. void suicide()
  517. {
  518. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  519. SET_OUTPUT(SUICIDE_PIN);
  520. WRITE(SUICIDE_PIN, LOW);
  521. #endif
  522. }
  523. void servo_init()
  524. {
  525. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  526. servos[0].attach(SERVO0_PIN);
  527. #endif
  528. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  529. servos[1].attach(SERVO1_PIN);
  530. #endif
  531. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  532. servos[2].attach(SERVO2_PIN);
  533. #endif
  534. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  535. servos[3].attach(SERVO3_PIN);
  536. #endif
  537. #if (NUM_SERVOS >= 5)
  538. #error "TODO: enter initalisation code for more servos"
  539. #endif
  540. }
  541. void stop_and_save_print_to_ram(float z_move, float e_move);
  542. void restore_print_from_ram_and_continue(float e_move);
  543. bool fans_check_enabled = true;
  544. #ifdef TMC2130
  545. extern int8_t CrashDetectMenu;
  546. void crashdet_enable()
  547. {
  548. tmc2130_sg_stop_on_crash = true;
  549. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
  550. CrashDetectMenu = 1;
  551. }
  552. void crashdet_disable()
  553. {
  554. tmc2130_sg_stop_on_crash = false;
  555. tmc2130_sg_crash = 0;
  556. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
  557. CrashDetectMenu = 0;
  558. }
  559. void crashdet_stop_and_save_print()
  560. {
  561. stop_and_save_print_to_ram(10, -default_retraction); //XY - no change, Z 10mm up, E -1mm retract
  562. }
  563. void crashdet_restore_print_and_continue()
  564. {
  565. restore_print_from_ram_and_continue(default_retraction); //XYZ = orig, E +1mm unretract
  566. // babystep_apply();
  567. }
  568. void crashdet_stop_and_save_print2()
  569. {
  570. cli();
  571. planner_abort_hard(); //abort printing
  572. cmdqueue_reset(); //empty cmdqueue
  573. card.sdprinting = false;
  574. card.closefile();
  575. // Reset and re-enable the stepper timer just before the global interrupts are enabled.
  576. st_reset_timer();
  577. sei();
  578. }
  579. void crashdet_detected(uint8_t mask)
  580. {
  581. st_synchronize();
  582. static uint8_t crashDet_counter = 0;
  583. bool automatic_recovery_after_crash = true;
  584. if (crashDet_counter++ == 0) {
  585. crashDetTimer.start();
  586. }
  587. else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
  588. crashDetTimer.stop();
  589. crashDet_counter = 0;
  590. }
  591. else if(crashDet_counter == CRASHDET_COUNTER_MAX){
  592. automatic_recovery_after_crash = false;
  593. crashDetTimer.stop();
  594. crashDet_counter = 0;
  595. }
  596. else {
  597. crashDetTimer.start();
  598. }
  599. lcd_update_enable(true);
  600. lcd_clear();
  601. lcd_update(2);
  602. if (mask & X_AXIS_MASK)
  603. {
  604. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  605. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  606. }
  607. if (mask & Y_AXIS_MASK)
  608. {
  609. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  610. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  611. }
  612. lcd_update_enable(true);
  613. lcd_update(2);
  614. lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
  615. gcode_G28(true, true, false); //home X and Y
  616. st_synchronize();
  617. if (automatic_recovery_after_crash) {
  618. enquecommand_P(PSTR("CRASH_RECOVER"));
  619. }else{
  620. HotendTempBckp = degTargetHotend(active_extruder);
  621. setTargetHotend(0, active_extruder);
  622. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
  623. lcd_update_enable(true);
  624. if (yesno)
  625. {
  626. char cmd1[10];
  627. strcpy(cmd1, "M109 S");
  628. strcat(cmd1, ftostr3(HotendTempBckp));
  629. enquecommand(cmd1);
  630. enquecommand_P(PSTR("CRASH_RECOVER"));
  631. }
  632. else
  633. {
  634. enquecommand_P(PSTR("CRASH_CANCEL"));
  635. }
  636. }
  637. }
  638. void crashdet_recover()
  639. {
  640. crashdet_restore_print_and_continue();
  641. tmc2130_sg_stop_on_crash = true;
  642. }
  643. void crashdet_cancel()
  644. {
  645. tmc2130_sg_stop_on_crash = true;
  646. if (saved_printing_type == PRINTING_TYPE_SD) {
  647. lcd_print_stop();
  648. }else if(saved_printing_type == PRINTING_TYPE_USB){
  649. SERIAL_ECHOLNPGM("// action:cancel"); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
  650. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  651. }
  652. }
  653. #endif //TMC2130
  654. void failstats_reset_print()
  655. {
  656. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  657. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  658. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  659. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  660. }
  661. #ifdef MESH_BED_LEVELING
  662. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  663. #endif
  664. // Factory reset function
  665. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  666. // Level input parameter sets depth of reset
  667. // Quiet parameter masks all waitings for user interact.
  668. int er_progress = 0;
  669. void factory_reset(char level, bool quiet)
  670. {
  671. lcd_clear();
  672. switch (level) {
  673. // Level 0: Language reset
  674. case 0:
  675. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  676. WRITE(BEEPER, HIGH);
  677. _delay_ms(100);
  678. WRITE(BEEPER, LOW);
  679. lang_reset();
  680. break;
  681. //Level 1: Reset statistics
  682. case 1:
  683. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  684. WRITE(BEEPER, HIGH);
  685. _delay_ms(100);
  686. WRITE(BEEPER, LOW);
  687. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  688. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  689. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  690. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  691. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  692. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  693. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  694. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  695. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  696. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  697. lcd_menu_statistics();
  698. break;
  699. // Level 2: Prepare for shipping
  700. case 2:
  701. //lcd_puts_P(PSTR("Factory RESET"));
  702. //lcd_puts_at_P(1,2,PSTR("Shipping prep"));
  703. // Force language selection at the next boot up.
  704. lang_reset();
  705. // Force the "Follow calibration flow" message at the next boot up.
  706. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  707. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  708. farm_no = 0;
  709. farm_mode = false;
  710. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  711. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  712. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  713. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  714. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  715. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  716. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  717. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  718. #ifdef FILAMENT_SENSOR
  719. fsensor_enable();
  720. fsensor_autoload_set(true);
  721. #endif //FILAMENT_SENSOR
  722. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  723. WRITE(BEEPER, HIGH);
  724. _delay_ms(100);
  725. WRITE(BEEPER, LOW);
  726. //_delay_ms(2000);
  727. break;
  728. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  729. case 3:
  730. lcd_puts_P(PSTR("Factory RESET"));
  731. lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
  732. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  733. WRITE(BEEPER, HIGH);
  734. _delay_ms(100);
  735. WRITE(BEEPER, LOW);
  736. er_progress = 0;
  737. lcd_puts_at_P(3, 3, PSTR(" "));
  738. lcd_set_cursor(3, 3);
  739. lcd_print(er_progress);
  740. // Erase EEPROM
  741. for (int i = 0; i < 4096; i++) {
  742. eeprom_write_byte((uint8_t*)i, 0xFF);
  743. if (i % 41 == 0) {
  744. er_progress++;
  745. lcd_puts_at_P(3, 3, PSTR(" "));
  746. lcd_set_cursor(3, 3);
  747. lcd_print(er_progress);
  748. lcd_puts_P(PSTR("%"));
  749. }
  750. }
  751. break;
  752. case 4:
  753. bowden_menu();
  754. break;
  755. default:
  756. break;
  757. }
  758. }
  759. FILE _uartout; //= {0}; Global variable is always zero initialized. No need to explicitly state this.
  760. int uart_putchar(char c, FILE *stream)
  761. {
  762. MYSERIAL.write(c);
  763. return 0;
  764. }
  765. void lcd_splash()
  766. {
  767. // lcd_puts_at_P(0, 1, PSTR(" Original Prusa "));
  768. // lcd_puts_at_P(0, 2, PSTR(" 3D Printers "));
  769. // lcd_puts_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
  770. // fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
  771. lcd_puts_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"));
  772. // lcd_printf_P(_N(ESC_2J "x:%.3f\ny:%.3f\nz:%.3f\ne:%.3f"), _x, _y, _z, _e);
  773. }
  774. void factory_reset()
  775. {
  776. KEEPALIVE_STATE(PAUSED_FOR_USER);
  777. if (!READ(BTN_ENC))
  778. {
  779. _delay_ms(1000);
  780. if (!READ(BTN_ENC))
  781. {
  782. lcd_clear();
  783. lcd_puts_P(PSTR("Factory RESET"));
  784. SET_OUTPUT(BEEPER);
  785. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  786. WRITE(BEEPER, HIGH);
  787. while (!READ(BTN_ENC));
  788. WRITE(BEEPER, LOW);
  789. _delay_ms(2000);
  790. char level = reset_menu();
  791. factory_reset(level, false);
  792. switch (level) {
  793. case 0: _delay_ms(0); break;
  794. case 1: _delay_ms(0); break;
  795. case 2: _delay_ms(0); break;
  796. case 3: _delay_ms(0); break;
  797. }
  798. // _delay_ms(100);
  799. /*
  800. #ifdef MESH_BED_LEVELING
  801. _delay_ms(2000);
  802. if (!READ(BTN_ENC))
  803. {
  804. WRITE(BEEPER, HIGH);
  805. _delay_ms(100);
  806. WRITE(BEEPER, LOW);
  807. _delay_ms(200);
  808. WRITE(BEEPER, HIGH);
  809. _delay_ms(100);
  810. WRITE(BEEPER, LOW);
  811. int _z = 0;
  812. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  813. EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
  814. EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
  815. EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
  816. }
  817. else
  818. {
  819. WRITE(BEEPER, HIGH);
  820. _delay_ms(100);
  821. WRITE(BEEPER, LOW);
  822. }
  823. #endif // mesh */
  824. }
  825. }
  826. else
  827. {
  828. //_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
  829. }
  830. KEEPALIVE_STATE(IN_HANDLER);
  831. }
  832. void show_fw_version_warnings() {
  833. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  834. switch (FW_DEV_VERSION) {
  835. 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
  836. 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
  837. case(FW_VERSION_DEVEL):
  838. case(FW_VERSION_DEBUG):
  839. lcd_update_enable(false);
  840. lcd_clear();
  841. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  842. lcd_puts_at_P(0, 0, PSTR("Development build !!"));
  843. #else
  844. lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
  845. #endif
  846. lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
  847. lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
  848. lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
  849. lcd_wait_for_click();
  850. break;
  851. // 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
  852. }
  853. lcd_update_enable(true);
  854. }
  855. uint8_t check_printer_version()
  856. {
  857. uint8_t version_changed = 0;
  858. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  859. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  860. if (printer_type != PRINTER_TYPE) {
  861. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  862. else version_changed |= 0b10;
  863. }
  864. if (motherboard != MOTHERBOARD) {
  865. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  866. else version_changed |= 0b01;
  867. }
  868. return version_changed;
  869. }
  870. void erase_eeprom_section(uint16_t offset, uint16_t bytes)
  871. {
  872. for (unsigned int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
  873. }
  874. #ifdef BOOTAPP
  875. #include "bootapp.h" //bootloader support
  876. #endif //BOOTAPP
  877. #if (LANG_MODE != 0) //secondary language support
  878. #ifdef W25X20CL
  879. // language update from external flash
  880. #define LANGBOOT_BLOCKSIZE 0x1000u
  881. #define LANGBOOT_RAMBUFFER 0x0800
  882. void update_sec_lang_from_external_flash()
  883. {
  884. if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
  885. {
  886. uint8_t lang = boot_reserved >> 4;
  887. uint8_t state = boot_reserved & 0xf;
  888. lang_table_header_t header;
  889. uint32_t src_addr;
  890. if (lang_get_header(lang, &header, &src_addr))
  891. {
  892. fputs_P(PSTR(ESC_H(1,3) "Language update."), lcdout);
  893. for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
  894. delay(100);
  895. boot_reserved = (state + 1) | (lang << 4);
  896. if ((state * LANGBOOT_BLOCKSIZE) < header.size)
  897. {
  898. cli();
  899. uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
  900. if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
  901. w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
  902. if (state == 0)
  903. {
  904. //TODO - check header integrity
  905. }
  906. bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
  907. }
  908. else
  909. {
  910. //TODO - check sec lang data integrity
  911. eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
  912. }
  913. }
  914. }
  915. boot_app_flags &= ~BOOT_APP_FLG_USER0;
  916. }
  917. #ifdef DEBUG_W25X20CL
  918. uint8_t lang_xflash_enum_codes(uint16_t* codes)
  919. {
  920. lang_table_header_t header;
  921. uint8_t count = 0;
  922. uint32_t addr = 0x00000;
  923. while (1)
  924. {
  925. printf_P(_n("LANGTABLE%d:"), count);
  926. w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
  927. if (header.magic != LANG_MAGIC)
  928. {
  929. printf_P(_n("NG!\n"));
  930. break;
  931. }
  932. printf_P(_n("OK\n"));
  933. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  934. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  935. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  936. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  937. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  938. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  939. addr += header.size;
  940. codes[count] = header.code;
  941. count ++;
  942. }
  943. return count;
  944. }
  945. void list_sec_lang_from_external_flash()
  946. {
  947. uint16_t codes[8];
  948. uint8_t count = lang_xflash_enum_codes(codes);
  949. printf_P(_n("XFlash lang count = %hhd\n"), count);
  950. }
  951. #endif //DEBUG_W25X20CL
  952. #endif //W25X20CL
  953. #endif //(LANG_MODE != 0)
  954. // "Setup" function is called by the Arduino framework on startup.
  955. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  956. // are initialized by the main() routine provided by the Arduino framework.
  957. void setup()
  958. {
  959. ultralcd_init();
  960. spi_init();
  961. lcd_splash();
  962. Sound_Init(); // also guarantee "SET_OUTPUT(BEEPER)"
  963. #ifdef W25X20CL
  964. if (!w25x20cl_init())
  965. kill(_i("External SPI flash W25X20CL not responding."));
  966. // Enter an STK500 compatible Optiboot boot loader waiting for flashing the languages to an external flash memory.
  967. optiboot_w25x20cl_enter();
  968. #endif
  969. #if (LANG_MODE != 0) //secondary language support
  970. #ifdef W25X20CL
  971. if (w25x20cl_init())
  972. update_sec_lang_from_external_flash();
  973. #endif //W25X20CL
  974. #endif //(LANG_MODE != 0)
  975. setup_killpin();
  976. setup_powerhold();
  977. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  978. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  979. if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
  980. 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
  981. if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
  982. selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
  983. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  984. if (farm_mode)
  985. {
  986. no_response = true; //we need confirmation by recieving PRUSA thx
  987. important_status = 8;
  988. prusa_statistics(8);
  989. selectedSerialPort = 1;
  990. #ifdef TMC2130
  991. //increased extruder current (PFW363)
  992. tmc2130_current_h[E_AXIS] = 36;
  993. tmc2130_current_r[E_AXIS] = 36;
  994. #endif //TMC2130
  995. #ifdef FILAMENT_SENSOR
  996. //disabled filament autoload (PFW360)
  997. fsensor_autoload_set(false);
  998. #endif //FILAMENT_SENSOR
  999. }
  1000. MYSERIAL.begin(BAUDRATE);
  1001. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  1002. stdout = uartout;
  1003. SERIAL_PROTOCOLLNPGM("start");
  1004. SERIAL_ECHO_START;
  1005. printf_P(PSTR(" " FW_VERSION_FULL "\n"));
  1006. uart2_init();
  1007. #ifdef DEBUG_SEC_LANG
  1008. lang_table_header_t header;
  1009. uint32_t src_addr = 0x00000;
  1010. if (lang_get_header(1, &header, &src_addr))
  1011. {
  1012. //this is comparsion of some printing-methods regarding to flash space usage and code size/readability
  1013. #define LT_PRINT_TEST 2
  1014. // flash usage
  1015. // total p.test
  1016. //0 252718 t+c text code
  1017. //1 253142 424 170 254
  1018. //2 253040 322 164 158
  1019. //3 253248 530 135 395
  1020. #if (LT_PRINT_TEST==1) //not optimized printf
  1021. printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
  1022. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  1023. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  1024. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  1025. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  1026. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  1027. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  1028. #elif (LT_PRINT_TEST==2) //optimized printf
  1029. printf_P(
  1030. _n(
  1031. " _src_addr = 0x%08lx\n"
  1032. " _lt_magic = 0x%08lx %S\n"
  1033. " _lt_size = 0x%04x (%d)\n"
  1034. " _lt_count = 0x%04x (%d)\n"
  1035. " _lt_chsum = 0x%04x\n"
  1036. " _lt_code = 0x%04x (%c%c)\n"
  1037. " _lt_resv1 = 0x%08lx\n"
  1038. ),
  1039. src_addr,
  1040. header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
  1041. header.size, header.size,
  1042. header.count, header.count,
  1043. header.checksum,
  1044. header.code, header.code >> 8, header.code & 0xff,
  1045. header.signature
  1046. );
  1047. #elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
  1048. MYSERIAL.print(" _src_addr = 0x");
  1049. MYSERIAL.println(src_addr, 16);
  1050. MYSERIAL.print(" _lt_magic = 0x");
  1051. MYSERIAL.print(header.magic, 16);
  1052. MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
  1053. MYSERIAL.print(" _lt_size = 0x");
  1054. MYSERIAL.print(header.size, 16);
  1055. MYSERIAL.print(" (");
  1056. MYSERIAL.print(header.size, 10);
  1057. MYSERIAL.println(")");
  1058. MYSERIAL.print(" _lt_count = 0x");
  1059. MYSERIAL.print(header.count, 16);
  1060. MYSERIAL.print(" (");
  1061. MYSERIAL.print(header.count, 10);
  1062. MYSERIAL.println(")");
  1063. MYSERIAL.print(" _lt_chsum = 0x");
  1064. MYSERIAL.println(header.checksum, 16);
  1065. MYSERIAL.print(" _lt_code = 0x");
  1066. MYSERIAL.print(header.code, 16);
  1067. MYSERIAL.print(" (");
  1068. MYSERIAL.print((char)(header.code >> 8), 0);
  1069. MYSERIAL.print((char)(header.code & 0xff), 0);
  1070. MYSERIAL.println(")");
  1071. MYSERIAL.print(" _lt_resv1 = 0x");
  1072. MYSERIAL.println(header.signature, 16);
  1073. #endif //(LT_PRINT_TEST==)
  1074. #undef LT_PRINT_TEST
  1075. #if 0
  1076. w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
  1077. for (uint16_t i = 0; i < 1024; i++)
  1078. {
  1079. if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
  1080. printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
  1081. if ((i % 16) == 15) putchar('\n');
  1082. }
  1083. #endif
  1084. uint16_t sum = 0;
  1085. for (uint16_t i = 0; i < header.size; i++)
  1086. sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
  1087. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1088. sum -= header.checksum; //subtract checksum
  1089. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1090. sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
  1091. if (sum == header.checksum)
  1092. printf_P(_n("Checksum OK\n"), sum);
  1093. else
  1094. printf_P(_n("Checksum NG\n"), sum);
  1095. }
  1096. else
  1097. printf_P(_n("lang_get_header failed!\n"));
  1098. #if 0
  1099. for (uint16_t i = 0; i < 1024*10; i++)
  1100. {
  1101. if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
  1102. printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
  1103. if ((i % 16) == 15) putchar('\n');
  1104. }
  1105. #endif
  1106. #if 0
  1107. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  1108. for (int i = 0; i < 4096; ++i) {
  1109. int b = eeprom_read_byte((unsigned char*)i);
  1110. if (b != 255) {
  1111. SERIAL_ECHO(i);
  1112. SERIAL_ECHO(":");
  1113. SERIAL_ECHO(b);
  1114. SERIAL_ECHOLN("");
  1115. }
  1116. }
  1117. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  1118. #endif
  1119. #endif //DEBUG_SEC_LANG
  1120. // Check startup - does nothing if bootloader sets MCUSR to 0
  1121. byte mcu = MCUSR;
  1122. /* if (mcu & 1) SERIAL_ECHOLNRPGM(_T(MSG_POWERUP));
  1123. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  1124. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  1125. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  1126. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  1127. if (mcu & 1) puts_P(_T(MSG_POWERUP));
  1128. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  1129. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  1130. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  1131. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  1132. MCUSR = 0;
  1133. //SERIAL_ECHORPGM(MSG_MARLIN);
  1134. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  1135. #ifdef STRING_VERSION_CONFIG_H
  1136. #ifdef STRING_CONFIG_H_AUTHOR
  1137. SERIAL_ECHO_START;
  1138. SERIAL_ECHORPGM(_i(" Last Updated: "));////MSG_CONFIGURATION_VER c=0 r=0
  1139. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  1140. SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR c=0 r=0
  1141. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  1142. SERIAL_ECHOPGM("Compiled: ");
  1143. SERIAL_ECHOLNPGM(__DATE__);
  1144. #endif
  1145. #endif
  1146. SERIAL_ECHO_START;
  1147. SERIAL_ECHORPGM(_i(" Free Memory: "));////MSG_FREE_MEMORY c=0 r=0
  1148. SERIAL_ECHO(freeMemory());
  1149. SERIAL_ECHORPGM(_i(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES c=0 r=0
  1150. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  1151. //lcd_update_enable(false); // why do we need this?? - andre
  1152. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  1153. bool previous_settings_retrieved = false;
  1154. uint8_t hw_changed = check_printer_version();
  1155. 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
  1156. previous_settings_retrieved = Config_RetrieveSettings(EEPROM_OFFSET);
  1157. }
  1158. else { //printer version was changed so use default settings
  1159. Config_ResetDefault();
  1160. }
  1161. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  1162. tp_init(); // Initialize temperature loop
  1163. lcd_splash(); // we need to do this again, because tp_init() kills lcd
  1164. plan_init(); // Initialize planner;
  1165. factory_reset();
  1166. #ifdef TMC2130
  1167. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1168. if (silentMode == 0xff) silentMode = 0;
  1169. tmc2130_mode = TMC2130_MODE_NORMAL;
  1170. uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
  1171. if (crashdet && !farm_mode)
  1172. {
  1173. crashdet_enable();
  1174. puts_P(_N("CrashDetect ENABLED!"));
  1175. }
  1176. else
  1177. {
  1178. crashdet_disable();
  1179. puts_P(_N("CrashDetect DISABLED"));
  1180. }
  1181. #ifdef TMC2130_LINEARITY_CORRECTION
  1182. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  1183. tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  1184. tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  1185. tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  1186. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  1187. tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
  1188. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  1189. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  1190. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  1191. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  1192. #endif //TMC2130_LINEARITY_CORRECTION
  1193. #ifdef TMC2130_VARIABLE_RESOLUTION
  1194. tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
  1195. tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
  1196. tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
  1197. tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
  1198. if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1199. if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1200. if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1201. if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1202. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
  1203. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
  1204. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
  1205. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
  1206. #else //TMC2130_VARIABLE_RESOLUTION
  1207. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1208. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1209. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1210. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1211. #endif //TMC2130_VARIABLE_RESOLUTION
  1212. #endif //TMC2130
  1213. st_init(); // Initialize stepper, this enables interrupts!
  1214. #ifdef TMC2130
  1215. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1216. update_mode_profile();
  1217. tmc2130_init();
  1218. #endif //TMC2130
  1219. setup_photpin();
  1220. servo_init();
  1221. // Reset the machine correction matrix.
  1222. // It does not make sense to load the correction matrix until the machine is homed.
  1223. world2machine_reset();
  1224. #ifdef FILAMENT_SENSOR
  1225. fsensor_init();
  1226. #endif //FILAMENT_SENSOR
  1227. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  1228. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  1229. #endif
  1230. setup_homepin();
  1231. #ifdef TMC2130
  1232. if (1) {
  1233. // try to run to zero phase before powering the Z motor.
  1234. // Move in negative direction
  1235. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  1236. // Round the current micro-micro steps to micro steps.
  1237. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
  1238. // Until the phase counter is reset to zero.
  1239. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  1240. delay(2);
  1241. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  1242. delay(2);
  1243. }
  1244. }
  1245. #endif //TMC2130
  1246. #if defined(Z_AXIS_ALWAYS_ON)
  1247. enable_z();
  1248. #endif
  1249. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  1250. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  1251. 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
  1252. if (farm_no == static_cast<int>(0xFFFF)) farm_no = 0;
  1253. if (farm_mode)
  1254. {
  1255. prusa_statistics(8);
  1256. }
  1257. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1258. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1259. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1260. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
  1261. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1262. // where all the EEPROM entries are set to 0x0ff.
  1263. // Once a firmware boots up, it forces at least a language selection, which changes
  1264. // EEPROM_LANG to number lower than 0x0ff.
  1265. // 1) Set a high power mode.
  1266. #ifdef TMC2130
  1267. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  1268. tmc2130_mode = TMC2130_MODE_NORMAL;
  1269. #endif //TMC2130
  1270. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  1271. }
  1272. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1273. // but this times out if a blocking dialog is shown in setup().
  1274. card.initsd();
  1275. #ifdef DEBUG_SD_SPEED_TEST
  1276. if (card.cardOK)
  1277. {
  1278. uint8_t* buff = (uint8_t*)block_buffer;
  1279. uint32_t block = 0;
  1280. uint32_t sumr = 0;
  1281. uint32_t sumw = 0;
  1282. for (int i = 0; i < 1024; i++)
  1283. {
  1284. uint32_t u = micros();
  1285. bool res = card.card.readBlock(i, buff);
  1286. u = micros() - u;
  1287. if (res)
  1288. {
  1289. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1290. sumr += u;
  1291. u = micros();
  1292. res = card.card.writeBlock(i, buff);
  1293. u = micros() - u;
  1294. if (res)
  1295. {
  1296. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1297. sumw += u;
  1298. }
  1299. else
  1300. {
  1301. printf_P(PSTR("writeBlock %4d error\n"), i);
  1302. break;
  1303. }
  1304. }
  1305. else
  1306. {
  1307. printf_P(PSTR("readBlock %4d error\n"), i);
  1308. break;
  1309. }
  1310. }
  1311. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1312. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1313. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1314. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1315. }
  1316. else
  1317. printf_P(PSTR("Card NG!\n"));
  1318. #endif //DEBUG_SD_SPEED_TEST
  1319. if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
  1320. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
  1321. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
  1322. if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
  1323. if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
  1324. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
  1325. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
  1326. if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
  1327. #ifdef SNMM
  1328. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1329. int _z = BOWDEN_LENGTH;
  1330. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1331. }
  1332. #endif
  1333. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1334. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1335. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1336. #if (LANG_MODE != 0) //secondary language support
  1337. #ifdef DEBUG_W25X20CL
  1338. W25X20CL_SPI_ENTER();
  1339. uint8_t uid[8]; // 64bit unique id
  1340. w25x20cl_rd_uid(uid);
  1341. puts_P(_n("W25X20CL UID="));
  1342. for (uint8_t i = 0; i < 8; i ++)
  1343. printf_P(PSTR("%02hhx"), uid[i]);
  1344. putchar('\n');
  1345. list_sec_lang_from_external_flash();
  1346. #endif //DEBUG_W25X20CL
  1347. // lang_reset();
  1348. if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
  1349. lcd_language();
  1350. #ifdef DEBUG_SEC_LANG
  1351. uint16_t sec_lang_code = lang_get_code(1);
  1352. uint16_t ui = _SEC_LANG_TABLE; //table pointer
  1353. 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);
  1354. // lang_print_sec_lang(uartout);
  1355. #endif //DEBUG_SEC_LANG
  1356. #endif //(LANG_MODE != 0)
  1357. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1358. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1359. temp_cal_active = false;
  1360. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  1361. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1362. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1363. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1364. int16_t z_shift = 0;
  1365. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  1366. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1367. temp_cal_active = false;
  1368. }
  1369. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1370. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1371. }
  1372. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1373. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1374. }
  1375. check_babystep(); //checking if Z babystep is in allowed range
  1376. #ifdef UVLO_SUPPORT
  1377. setup_uvlo_interrupt();
  1378. #endif //UVLO_SUPPORT
  1379. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1380. setup_fan_interrupt();
  1381. #endif //DEBUG_DISABLE_FANCHECK
  1382. #ifdef FILAMENT_SENSOR
  1383. fsensor_setup_interrupt();
  1384. #endif //FILAMENT_SENSOR
  1385. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1386. #ifndef DEBUG_DISABLE_STARTMSGS
  1387. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1388. show_fw_version_warnings();
  1389. switch (hw_changed) {
  1390. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1391. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1392. case(0b01):
  1393. lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
  1394. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1395. break;
  1396. case(0b10):
  1397. lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
  1398. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1399. break;
  1400. case(0b11):
  1401. lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
  1402. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1403. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1404. break;
  1405. default: break; //no change, show no message
  1406. }
  1407. if (!previous_settings_retrieved) {
  1408. lcd_show_fullscreen_message_and_wait_P(_i("Old settings found. Default PID, Esteps etc. will be set.")); //if EEPROM version or printer type was changed, inform user that default setting were loaded////MSG_DEFAULT_SETTINGS_LOADED c=20 r=4
  1409. erase_eeprom_section(EEPROM_OFFSET, 156); //erase M500 part of eeprom
  1410. }
  1411. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  1412. lcd_wizard(0);
  1413. }
  1414. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1415. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1416. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1417. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1418. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1419. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1420. // Show the message.
  1421. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1422. }
  1423. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1424. // Show the message.
  1425. lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  1426. lcd_update_enable(true);
  1427. }
  1428. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  1429. //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
  1430. lcd_update_enable(true);
  1431. }
  1432. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1433. // Show the message.
  1434. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1435. }
  1436. }
  1437. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1438. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1439. lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
  1440. update_current_firmware_version_to_eeprom();
  1441. lcd_selftest();
  1442. }
  1443. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1444. KEEPALIVE_STATE(IN_PROCESS);
  1445. #endif //DEBUG_DISABLE_STARTMSGS
  1446. lcd_update_enable(true);
  1447. lcd_clear();
  1448. lcd_update(2);
  1449. // Store the currently running firmware into an eeprom,
  1450. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1451. update_current_firmware_version_to_eeprom();
  1452. #ifdef TMC2130
  1453. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1454. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1455. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1456. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1457. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1458. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1459. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1460. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1461. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1462. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1463. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1464. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1465. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1466. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1467. #endif //TMC2130
  1468. #ifdef UVLO_SUPPORT
  1469. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != 0) { //previous print was terminated by UVLO
  1470. /*
  1471. if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
  1472. else {
  1473. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1474. lcd_update_enable(true);
  1475. lcd_update(2);
  1476. lcd_setstatuspgm(_T(WELCOME_MSG));
  1477. }
  1478. */
  1479. manage_heater(); // Update temperatures
  1480. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1481. 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))
  1482. #endif
  1483. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1484. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1485. puts_P(_N("Automatic recovery!"));
  1486. #endif
  1487. recover_print(1);
  1488. }
  1489. else{
  1490. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1491. puts_P(_N("Normal recovery!"));
  1492. #endif
  1493. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
  1494. else {
  1495. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1496. lcd_update_enable(true);
  1497. lcd_update(2);
  1498. lcd_setstatuspgm(_T(WELCOME_MSG));
  1499. }
  1500. }
  1501. }
  1502. #endif //UVLO_SUPPORT
  1503. KEEPALIVE_STATE(NOT_BUSY);
  1504. #ifdef WATCHDOG
  1505. wdt_enable(WDTO_4S);
  1506. #endif //WATCHDOG
  1507. }
  1508. void trace();
  1509. #define CHUNK_SIZE 64 // bytes
  1510. #define SAFETY_MARGIN 1
  1511. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1512. int chunkHead = 0;
  1513. void serial_read_stream() {
  1514. setAllTargetHotends(0);
  1515. setTargetBed(0);
  1516. lcd_clear();
  1517. lcd_puts_P(PSTR(" Upload in progress"));
  1518. // first wait for how many bytes we will receive
  1519. uint32_t bytesToReceive;
  1520. // receive the four bytes
  1521. char bytesToReceiveBuffer[4];
  1522. for (int i=0; i<4; i++) {
  1523. int data;
  1524. while ((data = MYSERIAL.read()) == -1) {};
  1525. bytesToReceiveBuffer[i] = data;
  1526. }
  1527. // make it a uint32
  1528. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1529. // we're ready, notify the sender
  1530. MYSERIAL.write('+');
  1531. // lock in the routine
  1532. uint32_t receivedBytes = 0;
  1533. while (prusa_sd_card_upload) {
  1534. int i;
  1535. for (i=0; i<CHUNK_SIZE; i++) {
  1536. int data;
  1537. // check if we're not done
  1538. if (receivedBytes == bytesToReceive) {
  1539. break;
  1540. }
  1541. // read the next byte
  1542. while ((data = MYSERIAL.read()) == -1) {};
  1543. receivedBytes++;
  1544. // save it to the chunk
  1545. chunk[i] = data;
  1546. }
  1547. // write the chunk to SD
  1548. card.write_command_no_newline(&chunk[0]);
  1549. // notify the sender we're ready for more data
  1550. MYSERIAL.write('+');
  1551. // for safety
  1552. manage_heater();
  1553. // check if we're done
  1554. if(receivedBytes == bytesToReceive) {
  1555. trace(); // beep
  1556. card.closefile();
  1557. prusa_sd_card_upload = false;
  1558. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1559. }
  1560. }
  1561. }
  1562. #ifdef HOST_KEEPALIVE_FEATURE
  1563. /**
  1564. * Output a "busy" message at regular intervals
  1565. * while the machine is not accepting commands.
  1566. */
  1567. void host_keepalive() {
  1568. if (farm_mode) return;
  1569. long ms = millis();
  1570. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1571. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1572. switch (busy_state) {
  1573. case IN_HANDLER:
  1574. case IN_PROCESS:
  1575. SERIAL_ECHO_START;
  1576. SERIAL_ECHOLNPGM("busy: processing");
  1577. break;
  1578. case PAUSED_FOR_USER:
  1579. SERIAL_ECHO_START;
  1580. SERIAL_ECHOLNPGM("busy: paused for user");
  1581. break;
  1582. case PAUSED_FOR_INPUT:
  1583. SERIAL_ECHO_START;
  1584. SERIAL_ECHOLNPGM("busy: paused for input");
  1585. break;
  1586. default:
  1587. break;
  1588. }
  1589. }
  1590. prev_busy_signal_ms = ms;
  1591. }
  1592. #endif
  1593. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1594. // Before loop(), the setup() function is called by the main() routine.
  1595. void loop()
  1596. {
  1597. KEEPALIVE_STATE(NOT_BUSY);
  1598. if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
  1599. {
  1600. is_usb_printing = true;
  1601. usb_printing_counter--;
  1602. _usb_timer = millis();
  1603. }
  1604. if (usb_printing_counter == 0)
  1605. {
  1606. is_usb_printing = false;
  1607. }
  1608. if (prusa_sd_card_upload)
  1609. {
  1610. //we read byte-by byte
  1611. serial_read_stream();
  1612. } else
  1613. {
  1614. get_command();
  1615. #ifdef SDSUPPORT
  1616. card.checkautostart(false);
  1617. #endif
  1618. if(buflen)
  1619. {
  1620. cmdbuffer_front_already_processed = false;
  1621. #ifdef SDSUPPORT
  1622. if(card.saving)
  1623. {
  1624. // Saving a G-code file onto an SD-card is in progress.
  1625. // Saving starts with M28, saving until M29 is seen.
  1626. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1627. card.write_command(CMDBUFFER_CURRENT_STRING);
  1628. if(card.logging)
  1629. process_commands();
  1630. else
  1631. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  1632. } else {
  1633. card.closefile();
  1634. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1635. }
  1636. } else {
  1637. process_commands();
  1638. }
  1639. #else
  1640. process_commands();
  1641. #endif //SDSUPPORT
  1642. if (! cmdbuffer_front_already_processed && buflen)
  1643. {
  1644. // ptr points to the start of the block currently being processed.
  1645. // The first character in the block is the block type.
  1646. char *ptr = cmdbuffer + bufindr;
  1647. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1648. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1649. union {
  1650. struct {
  1651. char lo;
  1652. char hi;
  1653. } lohi;
  1654. uint16_t value;
  1655. } sdlen;
  1656. sdlen.value = 0;
  1657. {
  1658. // This block locks the interrupts globally for 3.25 us,
  1659. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1660. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1661. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1662. cli();
  1663. // Reset the command to something, which will be ignored by the power panic routine,
  1664. // so this buffer length will not be counted twice.
  1665. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1666. // Extract the current buffer length.
  1667. sdlen.lohi.lo = *ptr ++;
  1668. sdlen.lohi.hi = *ptr;
  1669. // and pass it to the planner queue.
  1670. planner_add_sd_length(sdlen.value);
  1671. sei();
  1672. }
  1673. }
  1674. else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
  1675. cli();
  1676. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1677. // and one for each command to previous block in the planner queue.
  1678. planner_add_sd_length(1);
  1679. sei();
  1680. }
  1681. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1682. // this block's SD card length will not be counted twice as its command type has been replaced
  1683. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1684. cmdqueue_pop_front();
  1685. }
  1686. host_keepalive();
  1687. }
  1688. }
  1689. //check heater every n milliseconds
  1690. manage_heater();
  1691. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1692. checkHitEndstops();
  1693. lcd_update(0);
  1694. #ifdef FILAMENT_SENSOR
  1695. if (mcode_in_progress != 600) //M600 not in progress
  1696. fsensor_update();
  1697. #endif //FILAMENT_SENSOR
  1698. #ifdef TMC2130
  1699. tmc2130_check_overtemp();
  1700. if (tmc2130_sg_crash)
  1701. {
  1702. uint8_t crash = tmc2130_sg_crash;
  1703. tmc2130_sg_crash = 0;
  1704. // crashdet_stop_and_save_print();
  1705. switch (crash)
  1706. {
  1707. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1708. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1709. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1710. }
  1711. }
  1712. #endif //TMC2130
  1713. }
  1714. #define DEFINE_PGM_READ_ANY(type, reader) \
  1715. static inline type pgm_read_any(const type *p) \
  1716. { return pgm_read_##reader##_near(p); }
  1717. DEFINE_PGM_READ_ANY(float, float);
  1718. DEFINE_PGM_READ_ANY(signed char, byte);
  1719. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1720. static const PROGMEM type array##_P[3] = \
  1721. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1722. static inline type array(int axis) \
  1723. { return pgm_read_any(&array##_P[axis]); } \
  1724. type array##_ext(int axis) \
  1725. { return pgm_read_any(&array##_P[axis]); }
  1726. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1727. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1728. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1729. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1730. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1731. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1732. static void axis_is_at_home(int axis) {
  1733. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1734. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1735. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1736. }
  1737. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1738. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1739. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1740. saved_feedrate = feedrate;
  1741. saved_feedmultiply = feedmultiply;
  1742. feedmultiply = 100;
  1743. previous_millis_cmd = millis();
  1744. enable_endstops(enable_endstops_now);
  1745. }
  1746. static void clean_up_after_endstop_move() {
  1747. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1748. enable_endstops(false);
  1749. #endif
  1750. feedrate = saved_feedrate;
  1751. feedmultiply = saved_feedmultiply;
  1752. previous_millis_cmd = millis();
  1753. }
  1754. #ifdef ENABLE_AUTO_BED_LEVELING
  1755. #ifdef AUTO_BED_LEVELING_GRID
  1756. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1757. {
  1758. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1759. planeNormal.debug("planeNormal");
  1760. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1761. //bedLevel.debug("bedLevel");
  1762. //plan_bed_level_matrix.debug("bed level before");
  1763. //vector_3 uncorrected_position = plan_get_position_mm();
  1764. //uncorrected_position.debug("position before");
  1765. vector_3 corrected_position = plan_get_position();
  1766. // corrected_position.debug("position after");
  1767. current_position[X_AXIS] = corrected_position.x;
  1768. current_position[Y_AXIS] = corrected_position.y;
  1769. current_position[Z_AXIS] = corrected_position.z;
  1770. // put the bed at 0 so we don't go below it.
  1771. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1772. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1773. }
  1774. #else // not AUTO_BED_LEVELING_GRID
  1775. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1776. plan_bed_level_matrix.set_to_identity();
  1777. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1778. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1779. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1780. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1781. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1782. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1783. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1784. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1785. vector_3 corrected_position = plan_get_position();
  1786. current_position[X_AXIS] = corrected_position.x;
  1787. current_position[Y_AXIS] = corrected_position.y;
  1788. current_position[Z_AXIS] = corrected_position.z;
  1789. // put the bed at 0 so we don't go below it.
  1790. current_position[Z_AXIS] = zprobe_zoffset;
  1791. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1792. }
  1793. #endif // AUTO_BED_LEVELING_GRID
  1794. static void run_z_probe() {
  1795. plan_bed_level_matrix.set_to_identity();
  1796. feedrate = homing_feedrate[Z_AXIS];
  1797. // move down until you find the bed
  1798. float zPosition = -10;
  1799. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1800. st_synchronize();
  1801. // we have to let the planner know where we are right now as it is not where we said to go.
  1802. zPosition = st_get_position_mm(Z_AXIS);
  1803. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1804. // move up the retract distance
  1805. zPosition += home_retract_mm(Z_AXIS);
  1806. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1807. st_synchronize();
  1808. // move back down slowly to find bed
  1809. feedrate = homing_feedrate[Z_AXIS]/4;
  1810. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1811. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1812. st_synchronize();
  1813. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1814. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1815. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1816. }
  1817. static void do_blocking_move_to(float x, float y, float z) {
  1818. float oldFeedRate = feedrate;
  1819. feedrate = homing_feedrate[Z_AXIS];
  1820. current_position[Z_AXIS] = z;
  1821. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1822. st_synchronize();
  1823. feedrate = XY_TRAVEL_SPEED;
  1824. current_position[X_AXIS] = x;
  1825. current_position[Y_AXIS] = y;
  1826. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1827. st_synchronize();
  1828. feedrate = oldFeedRate;
  1829. }
  1830. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1831. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1832. }
  1833. /// Probe bed height at position (x,y), returns the measured z value
  1834. static float probe_pt(float x, float y, float z_before) {
  1835. // move to right place
  1836. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1837. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1838. run_z_probe();
  1839. float measured_z = current_position[Z_AXIS];
  1840. SERIAL_PROTOCOLRPGM(_T(MSG_BED));
  1841. SERIAL_PROTOCOLPGM(" x: ");
  1842. SERIAL_PROTOCOL(x);
  1843. SERIAL_PROTOCOLPGM(" y: ");
  1844. SERIAL_PROTOCOL(y);
  1845. SERIAL_PROTOCOLPGM(" z: ");
  1846. SERIAL_PROTOCOL(measured_z);
  1847. SERIAL_PROTOCOLPGM("\n");
  1848. return measured_z;
  1849. }
  1850. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1851. #ifdef LIN_ADVANCE
  1852. /**
  1853. * M900: Set and/or Get advance K factor and WH/D ratio
  1854. *
  1855. * K<factor> Set advance K factor
  1856. * R<ratio> Set ratio directly (overrides WH/D)
  1857. * W<width> H<height> D<diam> Set ratio from WH/D
  1858. */
  1859. inline void gcode_M900() {
  1860. st_synchronize();
  1861. const float newK = code_seen('K') ? code_value_float() : -1;
  1862. if (newK >= 0) extruder_advance_k = newK;
  1863. float newR = code_seen('R') ? code_value_float() : -1;
  1864. if (newR < 0) {
  1865. const float newD = code_seen('D') ? code_value_float() : -1,
  1866. newW = code_seen('W') ? code_value_float() : -1,
  1867. newH = code_seen('H') ? code_value_float() : -1;
  1868. if (newD >= 0 && newW >= 0 && newH >= 0)
  1869. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1870. }
  1871. if (newR >= 0) advance_ed_ratio = newR;
  1872. SERIAL_ECHO_START;
  1873. SERIAL_ECHOPGM("Advance K=");
  1874. SERIAL_ECHOLN(extruder_advance_k);
  1875. SERIAL_ECHOPGM(" E/D=");
  1876. const float ratio = advance_ed_ratio;
  1877. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1878. }
  1879. #endif // LIN_ADVANCE
  1880. bool check_commands() {
  1881. bool end_command_found = false;
  1882. while (buflen)
  1883. {
  1884. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1885. if (!cmdbuffer_front_already_processed)
  1886. cmdqueue_pop_front();
  1887. cmdbuffer_front_already_processed = false;
  1888. }
  1889. return end_command_found;
  1890. }
  1891. #ifdef TMC2130
  1892. bool calibrate_z_auto()
  1893. {
  1894. //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
  1895. lcd_clear();
  1896. lcd_puts_at_P(0,1, _T(MSG_CALIBRATE_Z_AUTO));
  1897. bool endstops_enabled = enable_endstops(true);
  1898. int axis_up_dir = -home_dir(Z_AXIS);
  1899. tmc2130_home_enter(Z_AXIS_MASK);
  1900. current_position[Z_AXIS] = 0;
  1901. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1902. set_destination_to_current();
  1903. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1904. feedrate = homing_feedrate[Z_AXIS];
  1905. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1906. st_synchronize();
  1907. // current_position[axis] = 0;
  1908. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1909. tmc2130_home_exit();
  1910. enable_endstops(false);
  1911. current_position[Z_AXIS] = 0;
  1912. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1913. set_destination_to_current();
  1914. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1915. feedrate = homing_feedrate[Z_AXIS] / 2;
  1916. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1917. st_synchronize();
  1918. enable_endstops(endstops_enabled);
  1919. current_position[Z_AXIS] = Z_MAX_POS+2.0;
  1920. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1921. return true;
  1922. }
  1923. #endif //TMC2130
  1924. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1925. {
  1926. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1927. #define HOMEAXIS_DO(LETTER) \
  1928. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1929. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1930. {
  1931. int axis_home_dir = home_dir(axis);
  1932. feedrate = homing_feedrate[axis];
  1933. #ifdef TMC2130
  1934. tmc2130_home_enter(X_AXIS_MASK << axis);
  1935. #endif //TMC2130
  1936. // Move away a bit, so that the print head does not touch the end position,
  1937. // and the following movement to endstop has a chance to achieve the required velocity
  1938. // for the stall guard to work.
  1939. current_position[axis] = 0;
  1940. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1941. set_destination_to_current();
  1942. // destination[axis] = 11.f;
  1943. destination[axis] = -3.f * axis_home_dir;
  1944. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1945. st_synchronize();
  1946. // Move away from the possible collision with opposite endstop with the collision detection disabled.
  1947. endstops_hit_on_purpose();
  1948. enable_endstops(false);
  1949. current_position[axis] = 0;
  1950. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1951. destination[axis] = 1. * axis_home_dir;
  1952. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1953. st_synchronize();
  1954. // Now continue to move up to the left end stop with the collision detection enabled.
  1955. enable_endstops(true);
  1956. destination[axis] = 1.1 * axis_home_dir * max_length(axis);
  1957. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1958. st_synchronize();
  1959. for (uint8_t i = 0; i < cnt; i++)
  1960. {
  1961. // Move away from the collision to a known distance from the left end stop with the collision detection disabled.
  1962. endstops_hit_on_purpose();
  1963. enable_endstops(false);
  1964. current_position[axis] = 0;
  1965. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1966. destination[axis] = -10.f * axis_home_dir;
  1967. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1968. st_synchronize();
  1969. endstops_hit_on_purpose();
  1970. // Now move left up to the collision, this time with a repeatable velocity.
  1971. enable_endstops(true);
  1972. destination[axis] = 11.f * axis_home_dir;
  1973. #ifdef TMC2130
  1974. feedrate = homing_feedrate[axis];
  1975. #else //TMC2130
  1976. feedrate = homing_feedrate[axis] / 2;
  1977. #endif //TMC2130
  1978. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1979. st_synchronize();
  1980. #ifdef TMC2130
  1981. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  1982. if (pstep) pstep[i] = mscnt >> 4;
  1983. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  1984. #endif //TMC2130
  1985. }
  1986. endstops_hit_on_purpose();
  1987. enable_endstops(false);
  1988. #ifdef TMC2130
  1989. uint8_t orig = tmc2130_home_origin[axis];
  1990. uint8_t back = tmc2130_home_bsteps[axis];
  1991. if (tmc2130_home_enabled && (orig <= 63))
  1992. {
  1993. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  1994. if (back > 0)
  1995. tmc2130_do_steps(axis, back, -axis_home_dir, 1000);
  1996. }
  1997. else
  1998. tmc2130_do_steps(axis, 8, -axis_home_dir, 1000);
  1999. tmc2130_home_exit();
  2000. #endif //TMC2130
  2001. axis_is_at_home(axis);
  2002. axis_known_position[axis] = true;
  2003. // Move from minimum
  2004. #ifdef TMC2130
  2005. float dist = - axis_home_dir * 0.01f * tmc2130_home_fsteps[axis];
  2006. #else //TMC2130
  2007. float dist = - axis_home_dir * 0.01f * 64;
  2008. #endif //TMC2130
  2009. current_position[axis] -= dist;
  2010. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2011. current_position[axis] += dist;
  2012. destination[axis] = current_position[axis];
  2013. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
  2014. st_synchronize();
  2015. feedrate = 0.0;
  2016. }
  2017. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  2018. {
  2019. #ifdef TMC2130
  2020. FORCE_HIGH_POWER_START;
  2021. #endif
  2022. int axis_home_dir = home_dir(axis);
  2023. current_position[axis] = 0;
  2024. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2025. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  2026. feedrate = homing_feedrate[axis];
  2027. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2028. st_synchronize();
  2029. #ifdef TMC2130
  2030. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  2031. FORCE_HIGH_POWER_END;
  2032. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2033. return;
  2034. }
  2035. #endif //TMC2130
  2036. current_position[axis] = 0;
  2037. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2038. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  2039. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2040. st_synchronize();
  2041. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  2042. feedrate = homing_feedrate[axis]/2 ;
  2043. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2044. st_synchronize();
  2045. #ifdef TMC2130
  2046. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  2047. FORCE_HIGH_POWER_END;
  2048. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2049. return;
  2050. }
  2051. #endif //TMC2130
  2052. axis_is_at_home(axis);
  2053. destination[axis] = current_position[axis];
  2054. feedrate = 0.0;
  2055. endstops_hit_on_purpose();
  2056. axis_known_position[axis] = true;
  2057. #ifdef TMC2130
  2058. FORCE_HIGH_POWER_END;
  2059. #endif
  2060. }
  2061. enable_endstops(endstops_enabled);
  2062. }
  2063. /**/
  2064. void home_xy()
  2065. {
  2066. set_destination_to_current();
  2067. homeaxis(X_AXIS);
  2068. homeaxis(Y_AXIS);
  2069. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2070. endstops_hit_on_purpose();
  2071. }
  2072. void refresh_cmd_timeout(void)
  2073. {
  2074. previous_millis_cmd = millis();
  2075. }
  2076. #ifdef FWRETRACT
  2077. void retract(bool retracting, bool swapretract = false) {
  2078. if(retracting && !retracted[active_extruder]) {
  2079. destination[X_AXIS]=current_position[X_AXIS];
  2080. destination[Y_AXIS]=current_position[Y_AXIS];
  2081. destination[Z_AXIS]=current_position[Z_AXIS];
  2082. destination[E_AXIS]=current_position[E_AXIS];
  2083. current_position[E_AXIS]+=(swapretract?retract_length_swap:retract_length)*float(extrudemultiply)*0.01f;
  2084. plan_set_e_position(current_position[E_AXIS]);
  2085. float oldFeedrate = feedrate;
  2086. feedrate=retract_feedrate*60;
  2087. retracted[active_extruder]=true;
  2088. prepare_move();
  2089. current_position[Z_AXIS]-=retract_zlift;
  2090. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2091. prepare_move();
  2092. feedrate = oldFeedrate;
  2093. } else if(!retracting && retracted[active_extruder]) {
  2094. destination[X_AXIS]=current_position[X_AXIS];
  2095. destination[Y_AXIS]=current_position[Y_AXIS];
  2096. destination[Z_AXIS]=current_position[Z_AXIS];
  2097. destination[E_AXIS]=current_position[E_AXIS];
  2098. current_position[Z_AXIS]+=retract_zlift;
  2099. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2100. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(retract_length+retract_recover_length))*float(extrudemultiply)*0.01f;
  2101. plan_set_e_position(current_position[E_AXIS]);
  2102. float oldFeedrate = feedrate;
  2103. feedrate=retract_recover_feedrate*60;
  2104. retracted[active_extruder]=false;
  2105. prepare_move();
  2106. feedrate = oldFeedrate;
  2107. }
  2108. } //retract
  2109. #endif //FWRETRACT
  2110. void trace() {
  2111. //if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  2112. tone(BEEPER, 440);
  2113. delay(25);
  2114. noTone(BEEPER);
  2115. delay(20);
  2116. }
  2117. /*
  2118. void ramming() {
  2119. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  2120. if (current_temperature[0] < 230) {
  2121. //PLA
  2122. max_feedrate[E_AXIS] = 50;
  2123. //current_position[E_AXIS] -= 8;
  2124. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2125. //current_position[E_AXIS] += 8;
  2126. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2127. current_position[E_AXIS] += 5.4;
  2128. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  2129. current_position[E_AXIS] += 3.2;
  2130. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2131. current_position[E_AXIS] += 3;
  2132. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  2133. st_synchronize();
  2134. max_feedrate[E_AXIS] = 80;
  2135. current_position[E_AXIS] -= 82;
  2136. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  2137. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2138. current_position[E_AXIS] -= 20;
  2139. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  2140. current_position[E_AXIS] += 5;
  2141. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  2142. current_position[E_AXIS] += 5;
  2143. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2144. current_position[E_AXIS] -= 10;
  2145. st_synchronize();
  2146. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2147. current_position[E_AXIS] += 10;
  2148. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2149. current_position[E_AXIS] -= 10;
  2150. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2151. current_position[E_AXIS] += 10;
  2152. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2153. current_position[E_AXIS] -= 10;
  2154. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2155. st_synchronize();
  2156. }
  2157. else {
  2158. //ABS
  2159. max_feedrate[E_AXIS] = 50;
  2160. //current_position[E_AXIS] -= 8;
  2161. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2162. //current_position[E_AXIS] += 8;
  2163. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2164. current_position[E_AXIS] += 3.1;
  2165. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  2166. current_position[E_AXIS] += 3.1;
  2167. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  2168. current_position[E_AXIS] += 4;
  2169. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2170. st_synchronize();
  2171. //current_position[X_AXIS] += 23; //delay
  2172. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  2173. //current_position[X_AXIS] -= 23; //delay
  2174. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  2175. delay(4700);
  2176. max_feedrate[E_AXIS] = 80;
  2177. current_position[E_AXIS] -= 92;
  2178. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  2179. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2180. current_position[E_AXIS] -= 5;
  2181. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2182. current_position[E_AXIS] += 5;
  2183. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  2184. current_position[E_AXIS] -= 5;
  2185. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2186. st_synchronize();
  2187. current_position[E_AXIS] += 5;
  2188. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2189. current_position[E_AXIS] -= 5;
  2190. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2191. current_position[E_AXIS] += 5;
  2192. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2193. current_position[E_AXIS] -= 5;
  2194. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2195. st_synchronize();
  2196. }
  2197. }
  2198. */
  2199. #ifdef TMC2130
  2200. void force_high_power_mode(bool start_high_power_section) {
  2201. uint8_t silent;
  2202. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  2203. if (silent == 1) {
  2204. //we are in silent mode, set to normal mode to enable crash detection
  2205. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  2206. st_synchronize();
  2207. cli();
  2208. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  2209. update_mode_profile();
  2210. tmc2130_init();
  2211. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  2212. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  2213. st_reset_timer();
  2214. sei();
  2215. }
  2216. }
  2217. #endif //TMC2130
  2218. void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis) {
  2219. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
  2220. }
  2221. 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) {
  2222. st_synchronize();
  2223. #if 0
  2224. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2225. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2226. #endif
  2227. // Flag for the display update routine and to disable the print cancelation during homing.
  2228. homing_flag = true;
  2229. // Which axes should be homed?
  2230. bool home_x = home_x_axis;
  2231. bool home_y = home_y_axis;
  2232. bool home_z = home_z_axis;
  2233. // Either all X,Y,Z codes are present, or none of them.
  2234. bool home_all_axes = home_x == home_y && home_x == home_z;
  2235. if (home_all_axes)
  2236. // No X/Y/Z code provided means to home all axes.
  2237. home_x = home_y = home_z = true;
  2238. //if we are homing all axes, first move z higher to protect heatbed/steel sheet
  2239. if (home_all_axes) {
  2240. current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
  2241. feedrate = homing_feedrate[Z_AXIS];
  2242. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  2243. st_synchronize();
  2244. }
  2245. #ifdef ENABLE_AUTO_BED_LEVELING
  2246. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2247. #endif //ENABLE_AUTO_BED_LEVELING
  2248. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2249. // the planner will not perform any adjustments in the XY plane.
  2250. // Wait for the motors to stop and update the current position with the absolute values.
  2251. world2machine_revert_to_uncorrected();
  2252. // For mesh bed leveling deactivate the matrix temporarily.
  2253. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2254. // in a single axis only.
  2255. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2256. #ifdef MESH_BED_LEVELING
  2257. uint8_t mbl_was_active = mbl.active;
  2258. mbl.active = 0;
  2259. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2260. #endif
  2261. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2262. // consumed during the first movements following this statement.
  2263. if (home_z)
  2264. babystep_undo();
  2265. saved_feedrate = feedrate;
  2266. saved_feedmultiply = feedmultiply;
  2267. feedmultiply = 100;
  2268. previous_millis_cmd = millis();
  2269. enable_endstops(true);
  2270. memcpy(destination, current_position, sizeof(destination));
  2271. feedrate = 0.0;
  2272. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2273. if(home_z)
  2274. homeaxis(Z_AXIS);
  2275. #endif
  2276. #ifdef QUICK_HOME
  2277. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2278. if(home_x && home_y) //first diagonal move
  2279. {
  2280. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2281. int x_axis_home_dir = home_dir(X_AXIS);
  2282. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2283. 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);
  2284. feedrate = homing_feedrate[X_AXIS];
  2285. if(homing_feedrate[Y_AXIS]<feedrate)
  2286. feedrate = homing_feedrate[Y_AXIS];
  2287. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2288. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2289. } else {
  2290. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2291. }
  2292. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2293. st_synchronize();
  2294. axis_is_at_home(X_AXIS);
  2295. axis_is_at_home(Y_AXIS);
  2296. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2297. destination[X_AXIS] = current_position[X_AXIS];
  2298. destination[Y_AXIS] = current_position[Y_AXIS];
  2299. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2300. feedrate = 0.0;
  2301. st_synchronize();
  2302. endstops_hit_on_purpose();
  2303. current_position[X_AXIS] = destination[X_AXIS];
  2304. current_position[Y_AXIS] = destination[Y_AXIS];
  2305. current_position[Z_AXIS] = destination[Z_AXIS];
  2306. }
  2307. #endif /* QUICK_HOME */
  2308. #ifdef TMC2130
  2309. if(home_x)
  2310. {
  2311. if (!calib)
  2312. homeaxis(X_AXIS);
  2313. else
  2314. tmc2130_home_calibrate(X_AXIS);
  2315. }
  2316. if(home_y)
  2317. {
  2318. if (!calib)
  2319. homeaxis(Y_AXIS);
  2320. else
  2321. tmc2130_home_calibrate(Y_AXIS);
  2322. }
  2323. #endif //TMC2130
  2324. if(home_x_axis && home_x_value != 0)
  2325. current_position[X_AXIS]=home_x_value+add_homing[X_AXIS];
  2326. if(home_y_axis && home_y_value != 0)
  2327. current_position[Y_AXIS]=home_y_value+add_homing[Y_AXIS];
  2328. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2329. #ifndef Z_SAFE_HOMING
  2330. if(home_z) {
  2331. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2332. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2333. feedrate = max_feedrate[Z_AXIS];
  2334. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2335. st_synchronize();
  2336. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2337. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
  2338. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2339. {
  2340. homeaxis(X_AXIS);
  2341. homeaxis(Y_AXIS);
  2342. }
  2343. // 1st mesh bed leveling measurement point, corrected.
  2344. world2machine_initialize();
  2345. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2346. world2machine_reset();
  2347. if (destination[Y_AXIS] < Y_MIN_POS)
  2348. destination[Y_AXIS] = Y_MIN_POS;
  2349. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2350. feedrate = homing_feedrate[Z_AXIS]/10;
  2351. current_position[Z_AXIS] = 0;
  2352. enable_endstops(false);
  2353. #ifdef DEBUG_BUILD
  2354. SERIAL_ECHOLNPGM("plan_set_position()");
  2355. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2356. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2357. #endif
  2358. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2359. #ifdef DEBUG_BUILD
  2360. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2361. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2362. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2363. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2364. #endif
  2365. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2366. st_synchronize();
  2367. current_position[X_AXIS] = destination[X_AXIS];
  2368. current_position[Y_AXIS] = destination[Y_AXIS];
  2369. enable_endstops(true);
  2370. endstops_hit_on_purpose();
  2371. homeaxis(Z_AXIS);
  2372. #else // MESH_BED_LEVELING
  2373. homeaxis(Z_AXIS);
  2374. #endif // MESH_BED_LEVELING
  2375. }
  2376. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2377. if(home_all_axes) {
  2378. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2379. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2380. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2381. feedrate = XY_TRAVEL_SPEED/60;
  2382. current_position[Z_AXIS] = 0;
  2383. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2384. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2385. st_synchronize();
  2386. current_position[X_AXIS] = destination[X_AXIS];
  2387. current_position[Y_AXIS] = destination[Y_AXIS];
  2388. homeaxis(Z_AXIS);
  2389. }
  2390. // Let's see if X and Y are homed and probe is inside bed area.
  2391. if(home_z) {
  2392. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2393. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2394. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2395. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2396. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2397. current_position[Z_AXIS] = 0;
  2398. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2399. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2400. feedrate = max_feedrate[Z_AXIS];
  2401. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2402. st_synchronize();
  2403. homeaxis(Z_AXIS);
  2404. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2405. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2406. SERIAL_ECHO_START;
  2407. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2408. } else {
  2409. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2410. SERIAL_ECHO_START;
  2411. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2412. }
  2413. }
  2414. #endif // Z_SAFE_HOMING
  2415. #endif // Z_HOME_DIR < 0
  2416. if(home_z_axis && home_z_value != 0)
  2417. current_position[Z_AXIS]=home_z_value+add_homing[Z_AXIS];
  2418. #ifdef ENABLE_AUTO_BED_LEVELING
  2419. if(home_z)
  2420. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2421. #endif
  2422. // Set the planner and stepper routine positions.
  2423. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2424. // contains the machine coordinates.
  2425. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2426. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2427. enable_endstops(false);
  2428. #endif
  2429. feedrate = saved_feedrate;
  2430. feedmultiply = saved_feedmultiply;
  2431. previous_millis_cmd = millis();
  2432. endstops_hit_on_purpose();
  2433. #ifndef MESH_BED_LEVELING
  2434. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2435. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2436. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2437. lcd_adjust_z();
  2438. #endif
  2439. // Load the machine correction matrix
  2440. world2machine_initialize();
  2441. // and correct the current_position XY axes to match the transformed coordinate system.
  2442. world2machine_update_current();
  2443. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2444. if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
  2445. {
  2446. if (! home_z && mbl_was_active) {
  2447. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2448. mbl.active = true;
  2449. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2450. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2451. }
  2452. }
  2453. else
  2454. {
  2455. st_synchronize();
  2456. homing_flag = false;
  2457. }
  2458. #endif
  2459. if (farm_mode) { prusa_statistics(20); };
  2460. homing_flag = false;
  2461. #if 0
  2462. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2463. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2464. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2465. #endif
  2466. }
  2467. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  2468. {
  2469. bool final_result = false;
  2470. #ifdef TMC2130
  2471. FORCE_HIGH_POWER_START;
  2472. #endif // TMC2130
  2473. // Only Z calibration?
  2474. if (!onlyZ)
  2475. {
  2476. setTargetBed(0);
  2477. setAllTargetHotends(0);
  2478. adjust_bed_reset(); //reset bed level correction
  2479. }
  2480. // Disable the default update procedure of the display. We will do a modal dialog.
  2481. lcd_update_enable(false);
  2482. // Let the planner use the uncorrected coordinates.
  2483. mbl.reset();
  2484. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2485. // the planner will not perform any adjustments in the XY plane.
  2486. // Wait for the motors to stop and update the current position with the absolute values.
  2487. world2machine_revert_to_uncorrected();
  2488. // Reset the baby step value applied without moving the axes.
  2489. babystep_reset();
  2490. // Mark all axes as in a need for homing.
  2491. memset(axis_known_position, 0, sizeof(axis_known_position));
  2492. // Home in the XY plane.
  2493. //set_destination_to_current();
  2494. setup_for_endstop_move();
  2495. lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
  2496. home_xy();
  2497. enable_endstops(false);
  2498. current_position[X_AXIS] += 5;
  2499. current_position[Y_AXIS] += 5;
  2500. 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);
  2501. st_synchronize();
  2502. // Let the user move the Z axes up to the end stoppers.
  2503. #ifdef TMC2130
  2504. if (calibrate_z_auto())
  2505. {
  2506. #else //TMC2130
  2507. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  2508. {
  2509. #endif //TMC2130
  2510. refresh_cmd_timeout();
  2511. #ifndef STEEL_SHEET
  2512. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  2513. {
  2514. lcd_wait_for_cool_down();
  2515. }
  2516. #endif //STEEL_SHEET
  2517. if(!onlyZ)
  2518. {
  2519. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2520. #ifdef STEEL_SHEET
  2521. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  2522. if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  2523. #endif //STEEL_SHEET
  2524. lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
  2525. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2526. KEEPALIVE_STATE(IN_HANDLER);
  2527. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2528. lcd_set_cursor(0, 2);
  2529. lcd_print(1);
  2530. lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2531. }
  2532. // Move the print head close to the bed.
  2533. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2534. bool endstops_enabled = enable_endstops(true);
  2535. #ifdef TMC2130
  2536. tmc2130_home_enter(Z_AXIS_MASK);
  2537. #endif //TMC2130
  2538. 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);
  2539. st_synchronize();
  2540. #ifdef TMC2130
  2541. tmc2130_home_exit();
  2542. #endif //TMC2130
  2543. enable_endstops(endstops_enabled);
  2544. if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
  2545. {
  2546. if (onlyZ)
  2547. {
  2548. clean_up_after_endstop_move();
  2549. // Z only calibration.
  2550. // Load the machine correction matrix
  2551. world2machine_initialize();
  2552. // and correct the current_position to match the transformed coordinate system.
  2553. world2machine_update_current();
  2554. //FIXME
  2555. bool result = sample_mesh_and_store_reference();
  2556. if (result)
  2557. {
  2558. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  2559. // Shipped, the nozzle height has been set already. The user can start printing now.
  2560. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2561. final_result = true;
  2562. // babystep_apply();
  2563. }
  2564. }
  2565. else
  2566. {
  2567. // Reset the baby step value and the baby step applied flag.
  2568. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  2569. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  2570. // Complete XYZ calibration.
  2571. uint8_t point_too_far_mask = 0;
  2572. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  2573. clean_up_after_endstop_move();
  2574. // Print head up.
  2575. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2576. 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);
  2577. st_synchronize();
  2578. //#ifndef NEW_XYZCAL
  2579. if (result >= 0)
  2580. {
  2581. #ifdef HEATBED_V2
  2582. sample_z();
  2583. #else //HEATBED_V2
  2584. point_too_far_mask = 0;
  2585. // Second half: The fine adjustment.
  2586. // Let the planner use the uncorrected coordinates.
  2587. mbl.reset();
  2588. world2machine_reset();
  2589. // Home in the XY plane.
  2590. setup_for_endstop_move();
  2591. home_xy();
  2592. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  2593. clean_up_after_endstop_move();
  2594. // Print head up.
  2595. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2596. 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);
  2597. st_synchronize();
  2598. // if (result >= 0) babystep_apply();
  2599. #endif //HEATBED_V2
  2600. }
  2601. //#endif //NEW_XYZCAL
  2602. lcd_update_enable(true);
  2603. lcd_update(2);
  2604. lcd_bed_calibration_show_result(result, point_too_far_mask);
  2605. if (result >= 0)
  2606. {
  2607. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  2608. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2609. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  2610. final_result = true;
  2611. }
  2612. }
  2613. #ifdef TMC2130
  2614. tmc2130_home_exit();
  2615. #endif
  2616. }
  2617. else
  2618. {
  2619. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  2620. final_result = false;
  2621. }
  2622. }
  2623. else
  2624. {
  2625. // Timeouted.
  2626. }
  2627. lcd_update_enable(true);
  2628. #ifdef TMC2130
  2629. FORCE_HIGH_POWER_END;
  2630. #endif // TMC2130
  2631. return final_result;
  2632. }
  2633. void gcode_M114()
  2634. {
  2635. SERIAL_PROTOCOLPGM("X:");
  2636. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2637. SERIAL_PROTOCOLPGM(" Y:");
  2638. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2639. SERIAL_PROTOCOLPGM(" Z:");
  2640. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2641. SERIAL_PROTOCOLPGM(" E:");
  2642. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2643. SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
  2644. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
  2645. SERIAL_PROTOCOLPGM(" Y:");
  2646. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
  2647. SERIAL_PROTOCOLPGM(" Z:");
  2648. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
  2649. SERIAL_PROTOCOLPGM(" E:");
  2650. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
  2651. SERIAL_PROTOCOLLN("");
  2652. }
  2653. void gcode_M600(bool automatic, float x_position, float y_position, float z_shift, float e_shift, float e_shift_late) {
  2654. st_synchronize();
  2655. float lastpos[4];
  2656. if (farm_mode)
  2657. {
  2658. prusa_statistics(22);
  2659. }
  2660. //First backup current position and settings
  2661. feedmultiplyBckp=feedmultiply;
  2662. HotendTempBckp = degTargetHotend(active_extruder);
  2663. fanSpeedBckp = fanSpeed;
  2664. lastpos[X_AXIS]=current_position[X_AXIS];
  2665. lastpos[Y_AXIS]=current_position[Y_AXIS];
  2666. lastpos[Z_AXIS]=current_position[Z_AXIS];
  2667. lastpos[E_AXIS]=current_position[E_AXIS];
  2668. //Retract E
  2669. current_position[E_AXIS]+= e_shift;
  2670. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  2671. st_synchronize();
  2672. //Lift Z
  2673. current_position[Z_AXIS]+= z_shift;
  2674. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  2675. st_synchronize();
  2676. //Move XY to side
  2677. current_position[X_AXIS]= x_position;
  2678. current_position[Y_AXIS]= y_position;
  2679. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  2680. st_synchronize();
  2681. //Beep, manage nozzle heater and wait for user to start unload filament
  2682. if(!automatic) M600_wait_for_user();
  2683. lcd_change_fil_state = 0;
  2684. // Unload filament
  2685. if (mmu_enabled)
  2686. extr_unload(); //unload just current filament for multimaterial printers (used also in M702)
  2687. else
  2688. unload_filament(); //unload filament for single material (used also in M702)
  2689. //finish moves
  2690. st_synchronize();
  2691. if (!mmu_enabled)
  2692. {
  2693. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2694. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"), false, true);////MSG_UNLOAD_SUCCESSFUL c=20 r=2
  2695. if (lcd_change_fil_state == 0) lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
  2696. lcd_update_enable(true);
  2697. }
  2698. if (mmu_enabled)
  2699. mmu_M600_load_filament(automatic);
  2700. else
  2701. M600_load_filament();
  2702. if(!automatic) M600_check_state();
  2703. //Not let's go back to print
  2704. fanSpeed = fanSpeedBckp;
  2705. //Feed a little of filament to stabilize pressure
  2706. if (!automatic) {
  2707. current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
  2708. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  2709. }
  2710. //Move XY back
  2711. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  2712. st_synchronize();
  2713. //Move Z back
  2714. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  2715. st_synchronize();
  2716. //Unretract
  2717. current_position[E_AXIS]= current_position[E_AXIS] - e_shift;
  2718. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  2719. st_synchronize();
  2720. //Set E position to original
  2721. plan_set_e_position(lastpos[E_AXIS]);
  2722. memcpy(current_position, lastpos, sizeof(lastpos));
  2723. memcpy(destination, current_position, sizeof(current_position));
  2724. //Recover feed rate
  2725. feedmultiply=feedmultiplyBckp;
  2726. char cmd[9];
  2727. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2728. enquecommand(cmd);
  2729. lcd_setstatuspgm(_T(WELCOME_MSG));
  2730. custom_message = false;
  2731. custom_message_type = 0;
  2732. }
  2733. void gcode_M701()
  2734. {
  2735. printf_P(PSTR("gcode_M701 begin\n"));
  2736. if (mmu_enabled)
  2737. extr_adj(snmm_extruder);//loads current extruder
  2738. else
  2739. {
  2740. enable_z();
  2741. custom_message = true;
  2742. custom_message_type = 2;
  2743. #ifdef FILAMENT_SENSOR
  2744. fsensor_oq_meassure_start(40);
  2745. #endif //FILAMENT_SENSOR
  2746. lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
  2747. current_position[E_AXIS] += 40;
  2748. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
  2749. st_synchronize();
  2750. if (current_position[Z_AXIS] < 20) current_position[Z_AXIS] += 30;
  2751. current_position[E_AXIS] += 30;
  2752. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
  2753. st_synchronize();
  2754. current_position[E_AXIS] += 25;
  2755. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
  2756. st_synchronize();
  2757. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE)) tone(BEEPER, 500);
  2758. delay_keep_alive(50);
  2759. noTone(BEEPER);
  2760. if (!farm_mode && loading_flag) {
  2761. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
  2762. while (!clean) {
  2763. lcd_update_enable(true);
  2764. lcd_update(2);
  2765. current_position[E_AXIS] += 25;
  2766. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
  2767. st_synchronize();
  2768. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
  2769. }
  2770. }
  2771. lcd_update_enable(true);
  2772. lcd_update(2);
  2773. lcd_setstatuspgm(_T(WELCOME_MSG));
  2774. disable_z();
  2775. loading_flag = false;
  2776. custom_message = false;
  2777. custom_message_type = 0;
  2778. #ifdef FILAMENT_SENSOR
  2779. fsensor_oq_meassure_stop();
  2780. if (!fsensor_oq_result())
  2781. {
  2782. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  2783. lcd_update_enable(true);
  2784. lcd_update(2);
  2785. if (disable)
  2786. fsensor_disable();
  2787. }
  2788. #endif //FILAMENT_SENSOR
  2789. }
  2790. }
  2791. /**
  2792. * @brief Get serial number from 32U2 processor
  2793. *
  2794. * Typical format of S/N is:CZPX0917X003XC13518
  2795. *
  2796. * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
  2797. *
  2798. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  2799. * reply is transmitted to serial port 1 character by character.
  2800. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  2801. * it is interrupted, so less, or no characters are retransmitted, only newline character is send
  2802. * in any case.
  2803. */
  2804. static void gcode_PRUSA_SN()
  2805. {
  2806. if (farm_mode) {
  2807. selectedSerialPort = 0;
  2808. putchar(';');
  2809. putchar('S');
  2810. int numbersRead = 0;
  2811. ShortTimer timeout;
  2812. timeout.start();
  2813. while (numbersRead < 19) {
  2814. while (MSerial.available() > 0) {
  2815. uint8_t serial_char = MSerial.read();
  2816. selectedSerialPort = 1;
  2817. putchar(serial_char);
  2818. numbersRead++;
  2819. selectedSerialPort = 0;
  2820. }
  2821. if (timeout.expired(100u)) break;
  2822. }
  2823. selectedSerialPort = 1;
  2824. putchar('\n');
  2825. #if 0
  2826. for (int b = 0; b < 3; b++) {
  2827. tone(BEEPER, 110);
  2828. delay(50);
  2829. noTone(BEEPER);
  2830. delay(50);
  2831. }
  2832. #endif
  2833. } else {
  2834. puts_P(_N("Not in farm mode."));
  2835. }
  2836. }
  2837. #ifdef BACKLASH_X
  2838. extern uint8_t st_backlash_x;
  2839. #endif //BACKLASH_X
  2840. #ifdef BACKLASH_Y
  2841. extern uint8_t st_backlash_y;
  2842. #endif //BACKLASH_Y
  2843. void process_commands()
  2844. {
  2845. if (!buflen) return; //empty command
  2846. #ifdef FILAMENT_RUNOUT_SUPPORT
  2847. SET_INPUT(FR_SENS);
  2848. #endif
  2849. #ifdef CMDBUFFER_DEBUG
  2850. SERIAL_ECHOPGM("Processing a GCODE command: ");
  2851. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  2852. SERIAL_ECHOLNPGM("");
  2853. SERIAL_ECHOPGM("In cmdqueue: ");
  2854. SERIAL_ECHO(buflen);
  2855. SERIAL_ECHOLNPGM("");
  2856. #endif /* CMDBUFFER_DEBUG */
  2857. unsigned long codenum; //throw away variable
  2858. char *starpos = NULL;
  2859. #ifdef ENABLE_AUTO_BED_LEVELING
  2860. float x_tmp, y_tmp, z_tmp, real_z;
  2861. #endif
  2862. // PRUSA GCODES
  2863. KEEPALIVE_STATE(IN_HANDLER);
  2864. #ifdef SNMM
  2865. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  2866. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  2867. int8_t SilentMode;
  2868. #endif
  2869. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  2870. starpos = (strchr(strchr_pointer + 5, '*'));
  2871. if (starpos != NULL)
  2872. *(starpos) = '\0';
  2873. lcd_setstatus(strchr_pointer + 5);
  2874. }
  2875. #ifdef TMC2130
  2876. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  2877. {
  2878. if(code_seen("CRASH_DETECTED"))
  2879. {
  2880. uint8_t mask = 0;
  2881. if (code_seen('X')) mask |= X_AXIS_MASK;
  2882. if (code_seen('Y')) mask |= Y_AXIS_MASK;
  2883. crashdet_detected(mask);
  2884. }
  2885. else if(code_seen("CRASH_RECOVER"))
  2886. crashdet_recover();
  2887. else if(code_seen("CRASH_CANCEL"))
  2888. crashdet_cancel();
  2889. }
  2890. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  2891. {
  2892. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
  2893. {
  2894. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2895. axis = (axis == 'E')?3:(axis - 'X');
  2896. if (axis < 4)
  2897. {
  2898. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2899. tmc2130_set_wave(axis, 247, fac);
  2900. }
  2901. }
  2902. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
  2903. {
  2904. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2905. axis = (axis == 'E')?3:(axis - 'X');
  2906. if (axis < 4)
  2907. {
  2908. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2909. uint16_t res = tmc2130_get_res(axis);
  2910. tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
  2911. }
  2912. }
  2913. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
  2914. {
  2915. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2916. axis = (axis == 'E')?3:(axis - 'X');
  2917. if (axis < 4)
  2918. {
  2919. uint8_t chop0 = tmc2130_chopper_config[axis].toff;
  2920. uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
  2921. uint8_t chop2 = tmc2130_chopper_config[axis].hend;
  2922. uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
  2923. char* str_end = 0;
  2924. if (CMDBUFFER_CURRENT_STRING[14])
  2925. {
  2926. chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
  2927. if (str_end && *str_end)
  2928. {
  2929. chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
  2930. if (str_end && *str_end)
  2931. {
  2932. chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
  2933. if (str_end && *str_end)
  2934. chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
  2935. }
  2936. }
  2937. }
  2938. tmc2130_chopper_config[axis].toff = chop0;
  2939. tmc2130_chopper_config[axis].hstr = chop1 & 7;
  2940. tmc2130_chopper_config[axis].hend = chop2 & 15;
  2941. tmc2130_chopper_config[axis].tbl = chop3 & 3;
  2942. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  2943. //printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
  2944. }
  2945. }
  2946. }
  2947. #ifdef BACKLASH_X
  2948. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
  2949. {
  2950. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  2951. st_backlash_x = bl;
  2952. printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
  2953. }
  2954. #endif //BACKLASH_X
  2955. #ifdef BACKLASH_Y
  2956. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
  2957. {
  2958. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  2959. st_backlash_y = bl;
  2960. printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
  2961. }
  2962. #endif //BACKLASH_Y
  2963. #endif //TMC2130
  2964. else if(code_seen("PRUSA")){
  2965. if (code_seen("Ping")) { //PRUSA Ping
  2966. if (farm_mode) {
  2967. PingTime = millis();
  2968. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  2969. }
  2970. }
  2971. else if (code_seen("PRN")) {
  2972. printf_P(_N("%d"), status_number);
  2973. }else if (code_seen("FAN")) {
  2974. printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
  2975. }else if (code_seen("fn")) {
  2976. if (farm_mode) {
  2977. printf_P(_N("%d"), farm_no);
  2978. }
  2979. else {
  2980. puts_P(_N("Not in farm mode."));
  2981. }
  2982. }
  2983. else if (code_seen("thx")) {
  2984. no_response = false;
  2985. }
  2986. else if (code_seen("uvlo")) {
  2987. eeprom_update_byte((uint8_t*)EEPROM_UVLO,0);
  2988. enquecommand_P(PSTR("M24"));
  2989. }
  2990. else if (code_seen("MMURES")) {
  2991. printf_P(PSTR("X0\n"));
  2992. fprintf_P(uart2io, PSTR("X0\n"));
  2993. }
  2994. else if (code_seen("RESET")) {
  2995. // careful!
  2996. if (farm_mode) {
  2997. #ifdef WATCHDOG
  2998. boot_app_magic = BOOT_APP_MAGIC;
  2999. boot_app_flags = BOOT_APP_FLG_RUN;
  3000. wdt_enable(WDTO_15MS);
  3001. cli();
  3002. while(1);
  3003. #else //WATCHDOG
  3004. asm volatile("jmp 0x3E000");
  3005. #endif //WATCHDOG
  3006. }
  3007. else {
  3008. MYSERIAL.println("Not in farm mode.");
  3009. }
  3010. }else if (code_seen("fv")) {
  3011. // get file version
  3012. #ifdef SDSUPPORT
  3013. card.openFile(strchr_pointer + 3,true);
  3014. while (true) {
  3015. uint16_t readByte = card.get();
  3016. MYSERIAL.write(readByte);
  3017. if (readByte=='\n') {
  3018. break;
  3019. }
  3020. }
  3021. card.closefile();
  3022. #endif // SDSUPPORT
  3023. } else if (code_seen("M28")) {
  3024. trace();
  3025. prusa_sd_card_upload = true;
  3026. card.openFile(strchr_pointer+4,false);
  3027. } else if (code_seen("SN")) {
  3028. gcode_PRUSA_SN();
  3029. } else if(code_seen("Fir")){
  3030. SERIAL_PROTOCOLLN(FW_VERSION_FULL);
  3031. } else if(code_seen("Rev")){
  3032. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  3033. } else if(code_seen("Lang")) {
  3034. lang_reset();
  3035. } else if(code_seen("Lz")) {
  3036. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  3037. } else if(code_seen("Beat")) {
  3038. // Kick farm link timer
  3039. kicktime = millis();
  3040. } else if(code_seen("FR")) {
  3041. // Factory full reset
  3042. factory_reset(0,true);
  3043. }
  3044. //else if (code_seen('Cal')) {
  3045. // lcd_calibration();
  3046. // }
  3047. }
  3048. else if (code_seen('^')) {
  3049. // nothing, this is a version line
  3050. } else if(code_seen('G'))
  3051. {
  3052. gcode_in_progress = (int)code_value();
  3053. // printf_P(_N("BEGIN G-CODE=%u\n"), gcode_in_progress);
  3054. switch (gcode_in_progress)
  3055. {
  3056. case 0: // G0 -> G1
  3057. case 1: // G1
  3058. if(Stopped == false) {
  3059. #ifdef FILAMENT_RUNOUT_SUPPORT
  3060. if(READ(FR_SENS)){
  3061. feedmultiplyBckp=feedmultiply;
  3062. float target[4];
  3063. float lastpos[4];
  3064. target[X_AXIS]=current_position[X_AXIS];
  3065. target[Y_AXIS]=current_position[Y_AXIS];
  3066. target[Z_AXIS]=current_position[Z_AXIS];
  3067. target[E_AXIS]=current_position[E_AXIS];
  3068. lastpos[X_AXIS]=current_position[X_AXIS];
  3069. lastpos[Y_AXIS]=current_position[Y_AXIS];
  3070. lastpos[Z_AXIS]=current_position[Z_AXIS];
  3071. lastpos[E_AXIS]=current_position[E_AXIS];
  3072. //retract by E
  3073. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  3074. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3075. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  3076. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  3077. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  3078. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  3079. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  3080. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  3081. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3082. //finish moves
  3083. st_synchronize();
  3084. //disable extruder steppers so filament can be removed
  3085. disable_e0();
  3086. disable_e1();
  3087. disable_e2();
  3088. delay(100);
  3089. //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
  3090. uint8_t cnt=0;
  3091. int counterBeep = 0;
  3092. lcd_wait_interact();
  3093. while(!lcd_clicked()){
  3094. cnt++;
  3095. manage_heater();
  3096. manage_inactivity(true);
  3097. //lcd_update(0);
  3098. if(cnt==0)
  3099. {
  3100. #if BEEPER > 0
  3101. if (counterBeep== 500){
  3102. counterBeep = 0;
  3103. }
  3104. SET_OUTPUT(BEEPER);
  3105. if (counterBeep== 0){
  3106. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  3107. WRITE(BEEPER,HIGH);
  3108. }
  3109. if (counterBeep== 20){
  3110. WRITE(BEEPER,LOW);
  3111. }
  3112. counterBeep++;
  3113. #else
  3114. #endif
  3115. }
  3116. }
  3117. WRITE(BEEPER,LOW);
  3118. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3119. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3120. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3121. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3122. lcd_change_fil_state = 0;
  3123. lcd_loading_filament();
  3124. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  3125. lcd_change_fil_state = 0;
  3126. lcd_alright();
  3127. switch(lcd_change_fil_state){
  3128. case 2:
  3129. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3130. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3131. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3132. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3133. lcd_loading_filament();
  3134. break;
  3135. case 3:
  3136. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3137. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3138. lcd_loading_color();
  3139. break;
  3140. default:
  3141. lcd_change_success();
  3142. break;
  3143. }
  3144. }
  3145. target[E_AXIS]+= 5;
  3146. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3147. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  3148. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3149. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3150. //plan_set_e_position(current_position[E_AXIS]);
  3151. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  3152. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  3153. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  3154. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  3155. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  3156. plan_set_e_position(lastpos[E_AXIS]);
  3157. feedmultiply=feedmultiplyBckp;
  3158. char cmd[9];
  3159. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  3160. enquecommand(cmd);
  3161. }
  3162. #endif
  3163. get_coordinates(); // For X Y Z E F
  3164. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  3165. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  3166. }
  3167. #ifdef FWRETRACT
  3168. if(autoretract_enabled)
  3169. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  3170. float echange=destination[E_AXIS]-current_position[E_AXIS];
  3171. if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
  3172. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  3173. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  3174. retract(!retracted[active_extruder]);
  3175. return;
  3176. }
  3177. }
  3178. #endif //FWRETRACT
  3179. prepare_move();
  3180. //ClearToSend();
  3181. }
  3182. break;
  3183. case 2: // G2 - CW ARC
  3184. if(Stopped == false) {
  3185. get_arc_coordinates();
  3186. prepare_arc_move(true);
  3187. }
  3188. break;
  3189. case 3: // G3 - CCW ARC
  3190. if(Stopped == false) {
  3191. get_arc_coordinates();
  3192. prepare_arc_move(false);
  3193. }
  3194. break;
  3195. case 4: // G4 dwell
  3196. codenum = 0;
  3197. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  3198. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  3199. if(codenum != 0) LCD_MESSAGERPGM(_i("Sleep..."));////MSG_DWELL c=0 r=0
  3200. st_synchronize();
  3201. codenum += millis(); // keep track of when we started waiting
  3202. previous_millis_cmd = millis();
  3203. while(millis() < codenum) {
  3204. manage_heater();
  3205. manage_inactivity();
  3206. lcd_update(0);
  3207. }
  3208. break;
  3209. #ifdef FWRETRACT
  3210. case 10: // G10 retract
  3211. #if EXTRUDERS > 1
  3212. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  3213. retract(true,retracted_swap[active_extruder]);
  3214. #else
  3215. retract(true);
  3216. #endif
  3217. break;
  3218. case 11: // G11 retract_recover
  3219. #if EXTRUDERS > 1
  3220. retract(false,retracted_swap[active_extruder]);
  3221. #else
  3222. retract(false);
  3223. #endif
  3224. break;
  3225. #endif //FWRETRACT
  3226. case 28: //G28 Home all Axis one at a time
  3227. {
  3228. long home_x_value = 0;
  3229. long home_y_value = 0;
  3230. long home_z_value = 0;
  3231. // Which axes should be homed?
  3232. bool home_x = code_seen(axis_codes[X_AXIS]);
  3233. home_x_value = code_value_long();
  3234. bool home_y = code_seen(axis_codes[Y_AXIS]);
  3235. home_y_value = code_value_long();
  3236. bool home_z = code_seen(axis_codes[Z_AXIS]);
  3237. home_z_value = code_value_long();
  3238. bool without_mbl = code_seen('W');
  3239. // calibrate?
  3240. bool calib = code_seen('C');
  3241. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
  3242. if ((home_x || home_y || without_mbl || home_z) == false) {
  3243. // Push the commands to the front of the message queue in the reverse order!
  3244. // There shall be always enough space reserved for these commands.
  3245. goto case_G80;
  3246. }
  3247. break;
  3248. }
  3249. #ifdef ENABLE_AUTO_BED_LEVELING
  3250. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  3251. {
  3252. #if Z_MIN_PIN == -1
  3253. #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature! Z_MIN_PIN must point to a valid hardware pin."
  3254. #endif
  3255. // Prevent user from running a G29 without first homing in X and Y
  3256. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  3257. {
  3258. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  3259. SERIAL_ECHO_START;
  3260. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  3261. break; // abort G29, since we don't know where we are
  3262. }
  3263. st_synchronize();
  3264. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  3265. //vector_3 corrected_position = plan_get_position_mm();
  3266. //corrected_position.debug("position before G29");
  3267. plan_bed_level_matrix.set_to_identity();
  3268. vector_3 uncorrected_position = plan_get_position();
  3269. //uncorrected_position.debug("position durring G29");
  3270. current_position[X_AXIS] = uncorrected_position.x;
  3271. current_position[Y_AXIS] = uncorrected_position.y;
  3272. current_position[Z_AXIS] = uncorrected_position.z;
  3273. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3274. setup_for_endstop_move();
  3275. feedrate = homing_feedrate[Z_AXIS];
  3276. #ifdef AUTO_BED_LEVELING_GRID
  3277. // probe at the points of a lattice grid
  3278. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3279. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3280. // solve the plane equation ax + by + d = z
  3281. // A is the matrix with rows [x y 1] for all the probed points
  3282. // B is the vector of the Z positions
  3283. // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  3284. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3285. // "A" matrix of the linear system of equations
  3286. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  3287. // "B" vector of Z points
  3288. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  3289. int probePointCounter = 0;
  3290. bool zig = true;
  3291. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  3292. {
  3293. int xProbe, xInc;
  3294. if (zig)
  3295. {
  3296. xProbe = LEFT_PROBE_BED_POSITION;
  3297. //xEnd = RIGHT_PROBE_BED_POSITION;
  3298. xInc = xGridSpacing;
  3299. zig = false;
  3300. } else // zag
  3301. {
  3302. xProbe = RIGHT_PROBE_BED_POSITION;
  3303. //xEnd = LEFT_PROBE_BED_POSITION;
  3304. xInc = -xGridSpacing;
  3305. zig = true;
  3306. }
  3307. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  3308. {
  3309. float z_before;
  3310. if (probePointCounter == 0)
  3311. {
  3312. // raise before probing
  3313. z_before = Z_RAISE_BEFORE_PROBING;
  3314. } else
  3315. {
  3316. // raise extruder
  3317. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  3318. }
  3319. float measured_z = probe_pt(xProbe, yProbe, z_before);
  3320. eqnBVector[probePointCounter] = measured_z;
  3321. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  3322. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  3323. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  3324. probePointCounter++;
  3325. xProbe += xInc;
  3326. }
  3327. }
  3328. clean_up_after_endstop_move();
  3329. // solve lsq problem
  3330. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  3331. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3332. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  3333. SERIAL_PROTOCOLPGM(" b: ");
  3334. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  3335. SERIAL_PROTOCOLPGM(" d: ");
  3336. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  3337. set_bed_level_equation_lsq(plane_equation_coefficients);
  3338. free(plane_equation_coefficients);
  3339. #else // AUTO_BED_LEVELING_GRID not defined
  3340. // Probe at 3 arbitrary points
  3341. // probe 1
  3342. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  3343. // probe 2
  3344. float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
  3345. // probe 3
  3346. float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
  3347. clean_up_after_endstop_move();
  3348. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  3349. #endif // AUTO_BED_LEVELING_GRID
  3350. st_synchronize();
  3351. // The following code correct the Z height difference from z-probe position and hotend tip position.
  3352. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  3353. // When the bed is uneven, this height must be corrected.
  3354. real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
  3355. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  3356. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3357. z_tmp = current_position[Z_AXIS];
  3358. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  3359. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  3360. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3361. }
  3362. break;
  3363. #ifndef Z_PROBE_SLED
  3364. case 30: // G30 Single Z Probe
  3365. {
  3366. st_synchronize();
  3367. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3368. setup_for_endstop_move();
  3369. feedrate = homing_feedrate[Z_AXIS];
  3370. run_z_probe();
  3371. SERIAL_PROTOCOLPGM(_T(MSG_BED));
  3372. SERIAL_PROTOCOLPGM(" X: ");
  3373. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3374. SERIAL_PROTOCOLPGM(" Y: ");
  3375. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3376. SERIAL_PROTOCOLPGM(" Z: ");
  3377. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3378. SERIAL_PROTOCOLPGM("\n");
  3379. clean_up_after_endstop_move();
  3380. }
  3381. break;
  3382. #else
  3383. case 31: // dock the sled
  3384. dock_sled(true);
  3385. break;
  3386. case 32: // undock the sled
  3387. dock_sled(false);
  3388. break;
  3389. #endif // Z_PROBE_SLED
  3390. #endif // ENABLE_AUTO_BED_LEVELING
  3391. #ifdef MESH_BED_LEVELING
  3392. case 30: // G30 Single Z Probe
  3393. {
  3394. st_synchronize();
  3395. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3396. setup_for_endstop_move();
  3397. feedrate = homing_feedrate[Z_AXIS];
  3398. find_bed_induction_sensor_point_z(-10.f, 3);
  3399. printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
  3400. clean_up_after_endstop_move();
  3401. }
  3402. break;
  3403. case 75:
  3404. {
  3405. for (int i = 40; i <= 110; i++)
  3406. printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
  3407. }
  3408. break;
  3409. case 76: //PINDA probe temperature calibration
  3410. {
  3411. #ifdef PINDA_THERMISTOR
  3412. if (true)
  3413. {
  3414. if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
  3415. //we need to know accurate position of first calibration point
  3416. //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
  3417. lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
  3418. break;
  3419. }
  3420. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  3421. {
  3422. // We don't know where we are! HOME!
  3423. // Push the commands to the front of the message queue in the reverse order!
  3424. // There shall be always enough space reserved for these commands.
  3425. repeatcommand_front(); // repeat G76 with all its parameters
  3426. enquecommand_front_P((PSTR("G28 W0")));
  3427. break;
  3428. }
  3429. lcd_show_fullscreen_message_and_wait_P(_i("Stable ambient temperature 21-26C is needed a rigid stand is required."));////MSG_TEMP_CAL_WARNING c=20 r=4
  3430. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  3431. if (result)
  3432. {
  3433. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3434. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3435. current_position[Z_AXIS] = 50;
  3436. current_position[Y_AXIS] = 180;
  3437. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3438. st_synchronize();
  3439. lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  3440. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3441. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3442. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3443. st_synchronize();
  3444. gcode_G28(false, false, true);
  3445. }
  3446. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  3447. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  3448. current_position[Z_AXIS] = 100;
  3449. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3450. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  3451. lcd_temp_cal_show_result(false);
  3452. break;
  3453. }
  3454. }
  3455. lcd_update_enable(true);
  3456. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  3457. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  3458. float zero_z;
  3459. int z_shift = 0; //unit: steps
  3460. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  3461. if (start_temp < 35) start_temp = 35;
  3462. if (start_temp < current_temperature_pinda) start_temp += 5;
  3463. printf_P(_N("start temperature: %.1f\n"), start_temp);
  3464. // setTargetHotend(200, 0);
  3465. setTargetBed(70 + (start_temp - 30));
  3466. custom_message = true;
  3467. custom_message_type = 4;
  3468. custom_message_state = 1;
  3469. custom_message = _T(MSG_TEMP_CALIBRATION);
  3470. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3471. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3472. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3473. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3474. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3475. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3476. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3477. st_synchronize();
  3478. while (current_temperature_pinda < start_temp)
  3479. {
  3480. delay_keep_alive(1000);
  3481. serialecho_temperatures();
  3482. }
  3483. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3484. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3485. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3486. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3487. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3488. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3489. st_synchronize();
  3490. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3491. if (find_z_result == false) {
  3492. lcd_temp_cal_show_result(find_z_result);
  3493. break;
  3494. }
  3495. zero_z = current_position[Z_AXIS];
  3496. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3497. int i = -1; for (; i < 5; i++)
  3498. {
  3499. float temp = (40 + i * 5);
  3500. printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
  3501. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3502. if (start_temp <= temp) break;
  3503. }
  3504. for (i++; i < 5; i++)
  3505. {
  3506. float temp = (40 + i * 5);
  3507. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3508. custom_message_state = i + 2;
  3509. setTargetBed(50 + 10 * (temp - 30) / 5);
  3510. // setTargetHotend(255, 0);
  3511. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3512. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3513. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3514. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3515. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3516. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3517. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3518. st_synchronize();
  3519. while (current_temperature_pinda < temp)
  3520. {
  3521. delay_keep_alive(1000);
  3522. serialecho_temperatures();
  3523. }
  3524. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3525. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3526. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3527. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3528. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3529. st_synchronize();
  3530. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3531. if (find_z_result == false) {
  3532. lcd_temp_cal_show_result(find_z_result);
  3533. break;
  3534. }
  3535. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3536. printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
  3537. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3538. }
  3539. lcd_temp_cal_show_result(true);
  3540. break;
  3541. }
  3542. #endif //PINDA_THERMISTOR
  3543. setTargetBed(PINDA_MIN_T);
  3544. float zero_z;
  3545. int z_shift = 0; //unit: steps
  3546. int t_c; // temperature
  3547. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3548. // We don't know where we are! HOME!
  3549. // Push the commands to the front of the message queue in the reverse order!
  3550. // There shall be always enough space reserved for these commands.
  3551. repeatcommand_front(); // repeat G76 with all its parameters
  3552. enquecommand_front_P((PSTR("G28 W0")));
  3553. break;
  3554. }
  3555. puts_P(_N("PINDA probe calibration start"));
  3556. custom_message = true;
  3557. custom_message_type = 4;
  3558. custom_message_state = 1;
  3559. custom_message = _T(MSG_TEMP_CALIBRATION);
  3560. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3561. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3562. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3563. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3564. st_synchronize();
  3565. while (abs(degBed() - PINDA_MIN_T) > 1) {
  3566. delay_keep_alive(1000);
  3567. serialecho_temperatures();
  3568. }
  3569. //enquecommand_P(PSTR("M190 S50"));
  3570. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3571. delay_keep_alive(1000);
  3572. serialecho_temperatures();
  3573. }
  3574. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3575. current_position[Z_AXIS] = 5;
  3576. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3577. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3578. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3579. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3580. st_synchronize();
  3581. find_bed_induction_sensor_point_z(-1.f);
  3582. zero_z = current_position[Z_AXIS];
  3583. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3584. for (int i = 0; i<5; i++) {
  3585. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3586. custom_message_state = i + 2;
  3587. t_c = 60 + i * 10;
  3588. setTargetBed(t_c);
  3589. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3590. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3591. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3592. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3593. st_synchronize();
  3594. while (degBed() < t_c) {
  3595. delay_keep_alive(1000);
  3596. serialecho_temperatures();
  3597. }
  3598. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3599. delay_keep_alive(1000);
  3600. serialecho_temperatures();
  3601. }
  3602. current_position[Z_AXIS] = 5;
  3603. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3604. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3605. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3606. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3607. st_synchronize();
  3608. find_bed_induction_sensor_point_z(-1.f);
  3609. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3610. printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
  3611. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  3612. }
  3613. custom_message_type = 0;
  3614. custom_message = false;
  3615. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  3616. puts_P(_N("Temperature calibration done."));
  3617. disable_x();
  3618. disable_y();
  3619. disable_z();
  3620. disable_e0();
  3621. disable_e1();
  3622. disable_e2();
  3623. setTargetBed(0); //set bed target temperature back to 0
  3624. lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
  3625. temp_cal_active = true;
  3626. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  3627. lcd_update_enable(true);
  3628. lcd_update(2);
  3629. }
  3630. break;
  3631. #ifdef DIS
  3632. case 77:
  3633. {
  3634. //G77 X200 Y150 XP100 YP15 XO10 Y015
  3635. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  3636. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  3637. float dimension_x = 40;
  3638. float dimension_y = 40;
  3639. int points_x = 40;
  3640. int points_y = 40;
  3641. float offset_x = 74;
  3642. float offset_y = 33;
  3643. if (code_seen('X')) dimension_x = code_value();
  3644. if (code_seen('Y')) dimension_y = code_value();
  3645. if (code_seen("XP")) { strchr_pointer+=1; points_x = code_value(); }
  3646. if (code_seen("YP")) { strchr_pointer+=1; points_y = code_value(); }
  3647. if (code_seen("XO")) { strchr_pointer+=1; offset_x = code_value(); }
  3648. if (code_seen("YO")) { strchr_pointer+=1; offset_y = code_value(); }
  3649. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  3650. } break;
  3651. #endif
  3652. case 79: {
  3653. for (int i = 255; i > 0; i = i - 5) {
  3654. fanSpeed = i;
  3655. //delay_keep_alive(2000);
  3656. for (int j = 0; j < 100; j++) {
  3657. delay_keep_alive(100);
  3658. }
  3659. printf_P(_N("%d: %d\n"), i, fan_speed[1]);
  3660. }
  3661. }break;
  3662. /**
  3663. * G80: Mesh-based Z probe, probes a grid and produces a
  3664. * mesh to compensate for variable bed height
  3665. *
  3666. * The S0 report the points as below
  3667. *
  3668. * +----> X-axis
  3669. * |
  3670. * |
  3671. * v Y-axis
  3672. *
  3673. */
  3674. case 80:
  3675. #ifdef MK1BP
  3676. break;
  3677. #endif //MK1BP
  3678. case_G80:
  3679. {
  3680. mesh_bed_leveling_flag = true;
  3681. static bool run = false;
  3682. #ifdef SUPPORT_VERBOSITY
  3683. int8_t verbosity_level = 0;
  3684. if (code_seen('V')) {
  3685. // Just 'V' without a number counts as V1.
  3686. char c = strchr_pointer[1];
  3687. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3688. }
  3689. #endif //SUPPORT_VERBOSITY
  3690. // Firstly check if we know where we are
  3691. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3692. // We don't know where we are! HOME!
  3693. // Push the commands to the front of the message queue in the reverse order!
  3694. // There shall be always enough space reserved for these commands.
  3695. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3696. repeatcommand_front(); // repeat G80 with all its parameters
  3697. enquecommand_front_P((PSTR("G28 W0")));
  3698. }
  3699. else {
  3700. mesh_bed_leveling_flag = false;
  3701. }
  3702. break;
  3703. }
  3704. bool temp_comp_start = true;
  3705. #ifdef PINDA_THERMISTOR
  3706. temp_comp_start = false;
  3707. #endif //PINDA_THERMISTOR
  3708. if (temp_comp_start)
  3709. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3710. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3711. temp_compensation_start();
  3712. run = true;
  3713. repeatcommand_front(); // repeat G80 with all its parameters
  3714. enquecommand_front_P((PSTR("G28 W0")));
  3715. }
  3716. else {
  3717. mesh_bed_leveling_flag = false;
  3718. }
  3719. break;
  3720. }
  3721. run = false;
  3722. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  3723. mesh_bed_leveling_flag = false;
  3724. break;
  3725. }
  3726. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  3727. bool custom_message_old = custom_message;
  3728. unsigned int custom_message_type_old = custom_message_type;
  3729. unsigned int custom_message_state_old = custom_message_state;
  3730. custom_message = true;
  3731. custom_message_type = 1;
  3732. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  3733. lcd_update(1);
  3734. mbl.reset(); //reset mesh bed leveling
  3735. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  3736. // consumed during the first movements following this statement.
  3737. babystep_undo();
  3738. // Cycle through all points and probe them
  3739. // First move up. During this first movement, the babystepping will be reverted.
  3740. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3741. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
  3742. // The move to the first calibration point.
  3743. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3744. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3745. #ifdef SUPPORT_VERBOSITY
  3746. if (verbosity_level >= 1)
  3747. {
  3748. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3749. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  3750. }
  3751. #endif //SUPPORT_VERBOSITY
  3752. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  3753. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder);
  3754. // Wait until the move is finished.
  3755. st_synchronize();
  3756. int mesh_point = 0; //index number of calibration point
  3757. int ix = 0;
  3758. int iy = 0;
  3759. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  3760. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  3761. 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)
  3762. #ifdef SUPPORT_VERBOSITY
  3763. if (verbosity_level >= 1) {
  3764. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  3765. }
  3766. #endif // SUPPORT_VERBOSITY
  3767. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  3768. const char *kill_message = NULL;
  3769. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3770. // Get coords of a measuring point.
  3771. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  3772. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  3773. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  3774. float z0 = 0.f;
  3775. if (has_z && mesh_point > 0) {
  3776. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  3777. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  3778. //#if 0
  3779. #ifdef SUPPORT_VERBOSITY
  3780. if (verbosity_level >= 1) {
  3781. SERIAL_ECHOLNPGM("");
  3782. SERIAL_ECHOPGM("Bed leveling, point: ");
  3783. MYSERIAL.print(mesh_point);
  3784. SERIAL_ECHOPGM(", calibration z: ");
  3785. MYSERIAL.print(z0, 5);
  3786. SERIAL_ECHOLNPGM("");
  3787. }
  3788. #endif // SUPPORT_VERBOSITY
  3789. //#endif
  3790. }
  3791. // Move Z up to MESH_HOME_Z_SEARCH.
  3792. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3793. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3794. st_synchronize();
  3795. // Move to XY position of the sensor point.
  3796. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  3797. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  3798. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3799. #ifdef SUPPORT_VERBOSITY
  3800. if (verbosity_level >= 1) {
  3801. SERIAL_PROTOCOL(mesh_point);
  3802. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  3803. }
  3804. #endif // SUPPORT_VERBOSITY
  3805. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  3806. st_synchronize();
  3807. // Go down until endstop is hit
  3808. const float Z_CALIBRATION_THRESHOLD = 1.f;
  3809. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  3810. kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW);
  3811. break;
  3812. }
  3813. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  3814. kill_message = _i("Bed leveling failed. Sensor disconnected or cable broken. Waiting for reset.");////MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED c=20 r=4
  3815. break;
  3816. }
  3817. 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
  3818. kill_message = _i("Bed leveling failed. Sensor triggered too high. Waiting for reset.");////MSG_BED_LEVELING_FAILED_POINT_HIGH c=20 r=4
  3819. break;
  3820. }
  3821. #ifdef SUPPORT_VERBOSITY
  3822. if (verbosity_level >= 10) {
  3823. SERIAL_ECHOPGM("X: ");
  3824. MYSERIAL.print(current_position[X_AXIS], 5);
  3825. SERIAL_ECHOLNPGM("");
  3826. SERIAL_ECHOPGM("Y: ");
  3827. MYSERIAL.print(current_position[Y_AXIS], 5);
  3828. SERIAL_PROTOCOLPGM("\n");
  3829. }
  3830. #endif // SUPPORT_VERBOSITY
  3831. float offset_z = 0;
  3832. #ifdef PINDA_THERMISTOR
  3833. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  3834. #endif //PINDA_THERMISTOR
  3835. // #ifdef SUPPORT_VERBOSITY
  3836. /* if (verbosity_level >= 1)
  3837. {
  3838. SERIAL_ECHOPGM("mesh bed leveling: ");
  3839. MYSERIAL.print(current_position[Z_AXIS], 5);
  3840. SERIAL_ECHOPGM(" offset: ");
  3841. MYSERIAL.print(offset_z, 5);
  3842. SERIAL_ECHOLNPGM("");
  3843. }*/
  3844. // #endif // SUPPORT_VERBOSITY
  3845. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  3846. custom_message_state--;
  3847. mesh_point++;
  3848. lcd_update(1);
  3849. }
  3850. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3851. #ifdef SUPPORT_VERBOSITY
  3852. if (verbosity_level >= 20) {
  3853. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  3854. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  3855. MYSERIAL.print(current_position[Z_AXIS], 5);
  3856. }
  3857. #endif // SUPPORT_VERBOSITY
  3858. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3859. st_synchronize();
  3860. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3861. kill(kill_message);
  3862. SERIAL_ECHOLNPGM("killed");
  3863. }
  3864. clean_up_after_endstop_move();
  3865. // SERIAL_ECHOLNPGM("clean up finished ");
  3866. bool apply_temp_comp = true;
  3867. #ifdef PINDA_THERMISTOR
  3868. apply_temp_comp = false;
  3869. #endif
  3870. if (apply_temp_comp)
  3871. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  3872. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  3873. // SERIAL_ECHOLNPGM("babystep applied");
  3874. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  3875. #ifdef SUPPORT_VERBOSITY
  3876. if (verbosity_level >= 1) {
  3877. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  3878. }
  3879. #endif // SUPPORT_VERBOSITY
  3880. for (uint8_t i = 0; i < 4; ++i) {
  3881. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  3882. long correction = 0;
  3883. if (code_seen(codes[i]))
  3884. correction = code_value_long();
  3885. else if (eeprom_bed_correction_valid) {
  3886. unsigned char *addr = (i < 2) ?
  3887. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  3888. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  3889. correction = eeprom_read_int8(addr);
  3890. }
  3891. if (correction == 0)
  3892. continue;
  3893. float offset = float(correction) * 0.001f;
  3894. if (fabs(offset) > 0.101f) {
  3895. SERIAL_ERROR_START;
  3896. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  3897. SERIAL_ECHO(offset);
  3898. SERIAL_ECHOLNPGM(" microns");
  3899. }
  3900. else {
  3901. switch (i) {
  3902. case 0:
  3903. for (uint8_t row = 0; row < 3; ++row) {
  3904. mbl.z_values[row][1] += 0.5f * offset;
  3905. mbl.z_values[row][0] += offset;
  3906. }
  3907. break;
  3908. case 1:
  3909. for (uint8_t row = 0; row < 3; ++row) {
  3910. mbl.z_values[row][1] += 0.5f * offset;
  3911. mbl.z_values[row][2] += offset;
  3912. }
  3913. break;
  3914. case 2:
  3915. for (uint8_t col = 0; col < 3; ++col) {
  3916. mbl.z_values[1][col] += 0.5f * offset;
  3917. mbl.z_values[0][col] += offset;
  3918. }
  3919. break;
  3920. case 3:
  3921. for (uint8_t col = 0; col < 3; ++col) {
  3922. mbl.z_values[1][col] += 0.5f * offset;
  3923. mbl.z_values[2][col] += offset;
  3924. }
  3925. break;
  3926. }
  3927. }
  3928. }
  3929. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  3930. mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
  3931. // SERIAL_ECHOLNPGM("Upsample finished");
  3932. mbl.active = 1; //activate mesh bed leveling
  3933. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  3934. go_home_with_z_lift();
  3935. // SERIAL_ECHOLNPGM("Go home finished");
  3936. //unretract (after PINDA preheat retraction)
  3937. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3938. current_position[E_AXIS] += default_retraction;
  3939. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  3940. }
  3941. KEEPALIVE_STATE(NOT_BUSY);
  3942. // Restore custom message state
  3943. lcd_setstatuspgm(_T(WELCOME_MSG));
  3944. custom_message = custom_message_old;
  3945. custom_message_type = custom_message_type_old;
  3946. custom_message_state = custom_message_state_old;
  3947. mesh_bed_leveling_flag = false;
  3948. mesh_bed_run_from_menu = false;
  3949. lcd_update(2);
  3950. }
  3951. break;
  3952. /**
  3953. * G81: Print mesh bed leveling status and bed profile if activated
  3954. */
  3955. case 81:
  3956. if (mbl.active) {
  3957. SERIAL_PROTOCOLPGM("Num X,Y: ");
  3958. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  3959. SERIAL_PROTOCOLPGM(",");
  3960. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  3961. SERIAL_PROTOCOLPGM("\nZ search height: ");
  3962. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  3963. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3964. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  3965. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  3966. SERIAL_PROTOCOLPGM(" ");
  3967. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  3968. }
  3969. SERIAL_PROTOCOLPGM("\n");
  3970. }
  3971. }
  3972. else
  3973. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3974. break;
  3975. #if 0
  3976. /**
  3977. * G82: Single Z probe at current location
  3978. *
  3979. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  3980. *
  3981. */
  3982. case 82:
  3983. SERIAL_PROTOCOLLNPGM("Finding bed ");
  3984. setup_for_endstop_move();
  3985. find_bed_induction_sensor_point_z();
  3986. clean_up_after_endstop_move();
  3987. SERIAL_PROTOCOLPGM("Bed found at: ");
  3988. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  3989. SERIAL_PROTOCOLPGM("\n");
  3990. break;
  3991. /**
  3992. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  3993. */
  3994. case 83:
  3995. {
  3996. int babystepz = code_seen('S') ? code_value() : 0;
  3997. int BabyPosition = code_seen('P') ? code_value() : 0;
  3998. if (babystepz != 0) {
  3999. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  4000. // Is the axis indexed starting with zero or one?
  4001. if (BabyPosition > 4) {
  4002. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  4003. }else{
  4004. // Save it to the eeprom
  4005. babystepLoadZ = babystepz;
  4006. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  4007. // adjust the Z
  4008. babystepsTodoZadd(babystepLoadZ);
  4009. }
  4010. }
  4011. }
  4012. break;
  4013. /**
  4014. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  4015. */
  4016. case 84:
  4017. babystepsTodoZsubtract(babystepLoadZ);
  4018. // babystepLoadZ = 0;
  4019. break;
  4020. /**
  4021. * G85: Prusa3D specific: Pick best babystep
  4022. */
  4023. case 85:
  4024. lcd_pick_babystep();
  4025. break;
  4026. #endif
  4027. /**
  4028. * G86: Prusa3D specific: Disable babystep correction after home.
  4029. * This G-code will be performed at the start of a calibration script.
  4030. */
  4031. case 86:
  4032. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  4033. break;
  4034. /**
  4035. * G87: Prusa3D specific: Enable babystep correction after home
  4036. * This G-code will be performed at the end of a calibration script.
  4037. */
  4038. case 87:
  4039. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  4040. break;
  4041. /**
  4042. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  4043. */
  4044. case 88:
  4045. break;
  4046. #endif // ENABLE_MESH_BED_LEVELING
  4047. case 90: // G90
  4048. relative_mode = false;
  4049. break;
  4050. case 91: // G91
  4051. relative_mode = true;
  4052. break;
  4053. case 92: // G92
  4054. if(!code_seen(axis_codes[E_AXIS]))
  4055. st_synchronize();
  4056. for(int8_t i=0; i < NUM_AXIS; i++) {
  4057. if(code_seen(axis_codes[i])) {
  4058. if(i == E_AXIS) {
  4059. current_position[i] = code_value();
  4060. plan_set_e_position(current_position[E_AXIS]);
  4061. }
  4062. else {
  4063. current_position[i] = code_value()+add_homing[i];
  4064. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  4065. }
  4066. }
  4067. }
  4068. break;
  4069. case 98: // G98 (activate farm mode)
  4070. farm_mode = 1;
  4071. PingTime = millis();
  4072. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4073. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  4074. SilentModeMenu = SILENT_MODE_OFF;
  4075. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  4076. break;
  4077. case 99: // G99 (deactivate farm mode)
  4078. farm_mode = 0;
  4079. lcd_printer_connected();
  4080. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4081. lcd_update(2);
  4082. break;
  4083. default:
  4084. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4085. }
  4086. // printf_P(_N("END G-CODE=%u\n"), gcode_in_progress);
  4087. gcode_in_progress = 0;
  4088. } // end if(code_seen('G'))
  4089. else if(code_seen('M'))
  4090. {
  4091. int index;
  4092. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  4093. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  4094. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  4095. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4096. } else
  4097. {
  4098. mcode_in_progress = (int)code_value();
  4099. // printf_P(_N("BEGIN M-CODE=%u\n"), mcode_in_progress);
  4100. switch(mcode_in_progress)
  4101. {
  4102. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  4103. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  4104. {
  4105. char *src = strchr_pointer + 2;
  4106. codenum = 0;
  4107. bool hasP = false, hasS = false;
  4108. if (code_seen('P')) {
  4109. codenum = code_value(); // milliseconds to wait
  4110. hasP = codenum > 0;
  4111. }
  4112. if (code_seen('S')) {
  4113. codenum = code_value() * 1000; // seconds to wait
  4114. hasS = codenum > 0;
  4115. }
  4116. starpos = strchr(src, '*');
  4117. if (starpos != NULL) *(starpos) = '\0';
  4118. while (*src == ' ') ++src;
  4119. if (!hasP && !hasS && *src != '\0') {
  4120. lcd_setstatus(src);
  4121. } else {
  4122. LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT c=0 r=0
  4123. }
  4124. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  4125. st_synchronize();
  4126. previous_millis_cmd = millis();
  4127. if (codenum > 0){
  4128. codenum += millis(); // keep track of when we started waiting
  4129. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4130. while(millis() < codenum && !lcd_clicked()){
  4131. manage_heater();
  4132. manage_inactivity(true);
  4133. lcd_update(0);
  4134. }
  4135. KEEPALIVE_STATE(IN_HANDLER);
  4136. lcd_ignore_click(false);
  4137. }else{
  4138. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4139. while(!lcd_clicked()){
  4140. manage_heater();
  4141. manage_inactivity(true);
  4142. lcd_update(0);
  4143. }
  4144. KEEPALIVE_STATE(IN_HANDLER);
  4145. }
  4146. if (IS_SD_PRINTING)
  4147. LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
  4148. else
  4149. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4150. }
  4151. break;
  4152. case 17:
  4153. LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE c=0 r=0
  4154. enable_x();
  4155. enable_y();
  4156. enable_z();
  4157. enable_e0();
  4158. enable_e1();
  4159. enable_e2();
  4160. break;
  4161. #ifdef SDSUPPORT
  4162. case 20: // M20 - list SD card
  4163. SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST c=0 r=0
  4164. card.ls();
  4165. SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST c=0 r=0
  4166. break;
  4167. case 21: // M21 - init SD card
  4168. card.initsd();
  4169. break;
  4170. case 22: //M22 - release SD card
  4171. card.release();
  4172. break;
  4173. case 23: //M23 - Select file
  4174. starpos = (strchr(strchr_pointer + 4,'*'));
  4175. if(starpos!=NULL)
  4176. *(starpos)='\0';
  4177. card.openFile(strchr_pointer + 4,true);
  4178. break;
  4179. case 24: //M24 - Start SD print
  4180. if (!card.paused)
  4181. failstats_reset_print();
  4182. card.startFileprint();
  4183. starttime=millis();
  4184. break;
  4185. case 25: //M25 - Pause SD print
  4186. card.pauseSDPrint();
  4187. break;
  4188. case 26: //M26 - Set SD index
  4189. if(card.cardOK && code_seen('S')) {
  4190. card.setIndex(code_value_long());
  4191. }
  4192. break;
  4193. case 27: //M27 - Get SD status
  4194. card.getStatus();
  4195. break;
  4196. case 28: //M28 - Start SD write
  4197. starpos = (strchr(strchr_pointer + 4,'*'));
  4198. if(starpos != NULL){
  4199. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4200. strchr_pointer = strchr(npos,' ') + 1;
  4201. *(starpos) = '\0';
  4202. }
  4203. card.openFile(strchr_pointer+4,false);
  4204. break;
  4205. case 29: //M29 - Stop SD write
  4206. //processed in write to file routine above
  4207. //card,saving = false;
  4208. break;
  4209. case 30: //M30 <filename> Delete File
  4210. if (card.cardOK){
  4211. card.closefile();
  4212. starpos = (strchr(strchr_pointer + 4,'*'));
  4213. if(starpos != NULL){
  4214. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4215. strchr_pointer = strchr(npos,' ') + 1;
  4216. *(starpos) = '\0';
  4217. }
  4218. card.removeFile(strchr_pointer + 4);
  4219. }
  4220. break;
  4221. case 32: //M32 - Select file and start SD print
  4222. {
  4223. if(card.sdprinting) {
  4224. st_synchronize();
  4225. }
  4226. starpos = (strchr(strchr_pointer + 4,'*'));
  4227. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  4228. if(namestartpos==NULL)
  4229. {
  4230. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  4231. }
  4232. else
  4233. namestartpos++; //to skip the '!'
  4234. if(starpos!=NULL)
  4235. *(starpos)='\0';
  4236. bool call_procedure=(code_seen('P'));
  4237. if(strchr_pointer>namestartpos)
  4238. call_procedure=false; //false alert, 'P' found within filename
  4239. if( card.cardOK )
  4240. {
  4241. card.openFile(namestartpos,true,!call_procedure);
  4242. if(code_seen('S'))
  4243. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  4244. card.setIndex(code_value_long());
  4245. card.startFileprint();
  4246. if(!call_procedure)
  4247. starttime=millis(); //procedure calls count as normal print time.
  4248. }
  4249. } break;
  4250. case 928: //M928 - Start SD write
  4251. starpos = (strchr(strchr_pointer + 5,'*'));
  4252. if(starpos != NULL){
  4253. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4254. strchr_pointer = strchr(npos,' ') + 1;
  4255. *(starpos) = '\0';
  4256. }
  4257. card.openLogFile(strchr_pointer+5);
  4258. break;
  4259. #endif //SDSUPPORT
  4260. case 31: //M31 take time since the start of the SD print or an M109 command
  4261. {
  4262. stoptime=millis();
  4263. char time[30];
  4264. unsigned long t=(stoptime-starttime)/1000;
  4265. int sec,min;
  4266. min=t/60;
  4267. sec=t%60;
  4268. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  4269. SERIAL_ECHO_START;
  4270. SERIAL_ECHOLN(time);
  4271. lcd_setstatus(time);
  4272. autotempShutdown();
  4273. }
  4274. break;
  4275. case 42: //M42 -Change pin status via gcode
  4276. if (code_seen('S'))
  4277. {
  4278. int pin_status = code_value();
  4279. int pin_number = LED_PIN;
  4280. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  4281. pin_number = code_value();
  4282. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4283. {
  4284. if (sensitive_pins[i] == pin_number)
  4285. {
  4286. pin_number = -1;
  4287. break;
  4288. }
  4289. }
  4290. #if defined(FAN_PIN) && FAN_PIN > -1
  4291. if (pin_number == FAN_PIN)
  4292. fanSpeed = pin_status;
  4293. #endif
  4294. if (pin_number > -1)
  4295. {
  4296. pinMode(pin_number, OUTPUT);
  4297. digitalWrite(pin_number, pin_status);
  4298. analogWrite(pin_number, pin_status);
  4299. }
  4300. }
  4301. break;
  4302. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  4303. // Reset the baby step value and the baby step applied flag.
  4304. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  4305. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  4306. // Reset the skew and offset in both RAM and EEPROM.
  4307. reset_bed_offset_and_skew();
  4308. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4309. // the planner will not perform any adjustments in the XY plane.
  4310. // Wait for the motors to stop and update the current position with the absolute values.
  4311. world2machine_revert_to_uncorrected();
  4312. break;
  4313. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  4314. {
  4315. int8_t verbosity_level = 0;
  4316. bool only_Z = code_seen('Z');
  4317. #ifdef SUPPORT_VERBOSITY
  4318. if (code_seen('V'))
  4319. {
  4320. // Just 'V' without a number counts as V1.
  4321. char c = strchr_pointer[1];
  4322. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4323. }
  4324. #endif //SUPPORT_VERBOSITY
  4325. gcode_M45(only_Z, verbosity_level);
  4326. }
  4327. break;
  4328. /*
  4329. case 46:
  4330. {
  4331. // M46: Prusa3D: Show the assigned IP address.
  4332. uint8_t ip[4];
  4333. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  4334. if (hasIP) {
  4335. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  4336. SERIAL_ECHO(int(ip[0]));
  4337. SERIAL_ECHOPGM(".");
  4338. SERIAL_ECHO(int(ip[1]));
  4339. SERIAL_ECHOPGM(".");
  4340. SERIAL_ECHO(int(ip[2]));
  4341. SERIAL_ECHOPGM(".");
  4342. SERIAL_ECHO(int(ip[3]));
  4343. SERIAL_ECHOLNPGM("");
  4344. } else {
  4345. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  4346. }
  4347. break;
  4348. }
  4349. */
  4350. case 47:
  4351. // M47: Prusa3D: Show end stops dialog on the display.
  4352. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4353. lcd_diag_show_end_stops();
  4354. KEEPALIVE_STATE(IN_HANDLER);
  4355. break;
  4356. #if 0
  4357. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  4358. {
  4359. // Disable the default update procedure of the display. We will do a modal dialog.
  4360. lcd_update_enable(false);
  4361. // Let the planner use the uncorrected coordinates.
  4362. mbl.reset();
  4363. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4364. // the planner will not perform any adjustments in the XY plane.
  4365. // Wait for the motors to stop and update the current position with the absolute values.
  4366. world2machine_revert_to_uncorrected();
  4367. // Move the print head close to the bed.
  4368. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4369. 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);
  4370. st_synchronize();
  4371. // Home in the XY plane.
  4372. set_destination_to_current();
  4373. setup_for_endstop_move();
  4374. home_xy();
  4375. int8_t verbosity_level = 0;
  4376. if (code_seen('V')) {
  4377. // Just 'V' without a number counts as V1.
  4378. char c = strchr_pointer[1];
  4379. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4380. }
  4381. bool success = scan_bed_induction_points(verbosity_level);
  4382. clean_up_after_endstop_move();
  4383. // Print head up.
  4384. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4385. 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);
  4386. st_synchronize();
  4387. lcd_update_enable(true);
  4388. break;
  4389. }
  4390. #endif
  4391. // M48 Z-Probe repeatability measurement function.
  4392. //
  4393. // Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <L legs_of_movement_prior_to_doing_probe>
  4394. //
  4395. // This function assumes the bed has been homed. Specificaly, that a G28 command
  4396. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  4397. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  4398. // regenerated.
  4399. //
  4400. // The number of samples will default to 10 if not specified. You can use upper or lower case
  4401. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  4402. // N for its communication protocol and will get horribly confused if you send it a capital N.
  4403. //
  4404. #ifdef ENABLE_AUTO_BED_LEVELING
  4405. #ifdef Z_PROBE_REPEATABILITY_TEST
  4406. case 48: // M48 Z-Probe repeatability
  4407. {
  4408. #if Z_MIN_PIN == -1
  4409. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  4410. #endif
  4411. double sum=0.0;
  4412. double mean=0.0;
  4413. double sigma=0.0;
  4414. double sample_set[50];
  4415. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  4416. double X_current, Y_current, Z_current;
  4417. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  4418. if (code_seen('V') || code_seen('v')) {
  4419. verbose_level = code_value();
  4420. if (verbose_level<0 || verbose_level>4 ) {
  4421. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  4422. goto Sigma_Exit;
  4423. }
  4424. }
  4425. if (verbose_level > 0) {
  4426. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  4427. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  4428. }
  4429. if (code_seen('n')) {
  4430. n_samples = code_value();
  4431. if (n_samples<4 || n_samples>50 ) {
  4432. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  4433. goto Sigma_Exit;
  4434. }
  4435. }
  4436. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  4437. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  4438. Z_current = st_get_position_mm(Z_AXIS);
  4439. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4440. ext_position = st_get_position_mm(E_AXIS);
  4441. if (code_seen('X') || code_seen('x') ) {
  4442. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  4443. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  4444. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  4445. goto Sigma_Exit;
  4446. }
  4447. }
  4448. if (code_seen('Y') || code_seen('y') ) {
  4449. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  4450. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  4451. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  4452. goto Sigma_Exit;
  4453. }
  4454. }
  4455. if (code_seen('L') || code_seen('l') ) {
  4456. n_legs = code_value();
  4457. if ( n_legs==1 )
  4458. n_legs = 2;
  4459. if ( n_legs<0 || n_legs>15 ) {
  4460. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  4461. goto Sigma_Exit;
  4462. }
  4463. }
  4464. //
  4465. // Do all the preliminary setup work. First raise the probe.
  4466. //
  4467. st_synchronize();
  4468. plan_bed_level_matrix.set_to_identity();
  4469. plan_buffer_line( X_current, Y_current, Z_start_location,
  4470. ext_position,
  4471. homing_feedrate[Z_AXIS]/60,
  4472. active_extruder);
  4473. st_synchronize();
  4474. //
  4475. // Now get everything to the specified probe point So we can safely do a probe to
  4476. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  4477. // use that as a starting point for each probe.
  4478. //
  4479. if (verbose_level > 2)
  4480. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  4481. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4482. ext_position,
  4483. homing_feedrate[X_AXIS]/60,
  4484. active_extruder);
  4485. st_synchronize();
  4486. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  4487. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  4488. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4489. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  4490. //
  4491. // OK, do the inital probe to get us close to the bed.
  4492. // Then retrace the right amount and use that in subsequent probes
  4493. //
  4494. setup_for_endstop_move();
  4495. run_z_probe();
  4496. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4497. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4498. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4499. ext_position,
  4500. homing_feedrate[X_AXIS]/60,
  4501. active_extruder);
  4502. st_synchronize();
  4503. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4504. for( n=0; n<n_samples; n++) {
  4505. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  4506. if ( n_legs) {
  4507. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  4508. int rotational_direction, l;
  4509. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  4510. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  4511. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  4512. //SERIAL_ECHOPAIR("starting radius: ",radius);
  4513. //SERIAL_ECHOPAIR(" theta: ",theta);
  4514. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  4515. //SERIAL_PROTOCOLLNPGM("");
  4516. for( l=0; l<n_legs-1; l++) {
  4517. if (rotational_direction==1)
  4518. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4519. else
  4520. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4521. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  4522. if ( radius<0.0 )
  4523. radius = -radius;
  4524. X_current = X_probe_location + cos(theta) * radius;
  4525. Y_current = Y_probe_location + sin(theta) * radius;
  4526. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  4527. X_current = X_MIN_POS;
  4528. if ( X_current>X_MAX_POS)
  4529. X_current = X_MAX_POS;
  4530. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  4531. Y_current = Y_MIN_POS;
  4532. if ( Y_current>Y_MAX_POS)
  4533. Y_current = Y_MAX_POS;
  4534. if (verbose_level>3 ) {
  4535. SERIAL_ECHOPAIR("x: ", X_current);
  4536. SERIAL_ECHOPAIR("y: ", Y_current);
  4537. SERIAL_PROTOCOLLNPGM("");
  4538. }
  4539. do_blocking_move_to( X_current, Y_current, Z_current );
  4540. }
  4541. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  4542. }
  4543. setup_for_endstop_move();
  4544. run_z_probe();
  4545. sample_set[n] = current_position[Z_AXIS];
  4546. //
  4547. // Get the current mean for the data points we have so far
  4548. //
  4549. sum=0.0;
  4550. for( j=0; j<=n; j++) {
  4551. sum = sum + sample_set[j];
  4552. }
  4553. mean = sum / (double (n+1));
  4554. //
  4555. // Now, use that mean to calculate the standard deviation for the
  4556. // data points we have so far
  4557. //
  4558. sum=0.0;
  4559. for( j=0; j<=n; j++) {
  4560. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  4561. }
  4562. sigma = sqrt( sum / (double (n+1)) );
  4563. if (verbose_level > 1) {
  4564. SERIAL_PROTOCOL(n+1);
  4565. SERIAL_PROTOCOL(" of ");
  4566. SERIAL_PROTOCOL(n_samples);
  4567. SERIAL_PROTOCOLPGM(" z: ");
  4568. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  4569. }
  4570. if (verbose_level > 2) {
  4571. SERIAL_PROTOCOL(" mean: ");
  4572. SERIAL_PROTOCOL_F(mean,6);
  4573. SERIAL_PROTOCOL(" sigma: ");
  4574. SERIAL_PROTOCOL_F(sigma,6);
  4575. }
  4576. if (verbose_level > 0)
  4577. SERIAL_PROTOCOLPGM("\n");
  4578. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4579. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  4580. st_synchronize();
  4581. }
  4582. delay(1000);
  4583. clean_up_after_endstop_move();
  4584. // enable_endstops(true);
  4585. if (verbose_level > 0) {
  4586. SERIAL_PROTOCOLPGM("Mean: ");
  4587. SERIAL_PROTOCOL_F(mean, 6);
  4588. SERIAL_PROTOCOLPGM("\n");
  4589. }
  4590. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  4591. SERIAL_PROTOCOL_F(sigma, 6);
  4592. SERIAL_PROTOCOLPGM("\n\n");
  4593. Sigma_Exit:
  4594. break;
  4595. }
  4596. #endif // Z_PROBE_REPEATABILITY_TEST
  4597. #endif // ENABLE_AUTO_BED_LEVELING
  4598. case 73: //M73 show percent done and time remaining
  4599. if(code_seen('P')) print_percent_done_normal = code_value();
  4600. if(code_seen('R')) print_time_remaining_normal = code_value();
  4601. if(code_seen('Q')) print_percent_done_silent = code_value();
  4602. if(code_seen('S')) print_time_remaining_silent = code_value();
  4603. {
  4604. const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
  4605. printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
  4606. printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
  4607. }
  4608. break;
  4609. case 104: // M104
  4610. if(setTargetedHotend(104)){
  4611. break;
  4612. }
  4613. if (code_seen('S'))
  4614. {
  4615. setTargetHotendSafe(code_value(), tmp_extruder);
  4616. }
  4617. setWatch();
  4618. break;
  4619. case 112: // M112 -Emergency Stop
  4620. kill(_n(""), 3);
  4621. break;
  4622. case 140: // M140 set bed temp
  4623. if (code_seen('S')) setTargetBed(code_value());
  4624. break;
  4625. case 105 : // M105
  4626. if(setTargetedHotend(105)){
  4627. break;
  4628. }
  4629. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  4630. SERIAL_PROTOCOLPGM("ok T:");
  4631. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  4632. SERIAL_PROTOCOLPGM(" /");
  4633. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  4634. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4635. SERIAL_PROTOCOLPGM(" B:");
  4636. SERIAL_PROTOCOL_F(degBed(),1);
  4637. SERIAL_PROTOCOLPGM(" /");
  4638. SERIAL_PROTOCOL_F(degTargetBed(),1);
  4639. #endif //TEMP_BED_PIN
  4640. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4641. SERIAL_PROTOCOLPGM(" T");
  4642. SERIAL_PROTOCOL(cur_extruder);
  4643. SERIAL_PROTOCOLPGM(":");
  4644. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4645. SERIAL_PROTOCOLPGM(" /");
  4646. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  4647. }
  4648. #else
  4649. SERIAL_ERROR_START;
  4650. SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS c=0 r=0
  4651. #endif
  4652. SERIAL_PROTOCOLPGM(" @:");
  4653. #ifdef EXTRUDER_WATTS
  4654. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  4655. SERIAL_PROTOCOLPGM("W");
  4656. #else
  4657. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  4658. #endif
  4659. SERIAL_PROTOCOLPGM(" B@:");
  4660. #ifdef BED_WATTS
  4661. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  4662. SERIAL_PROTOCOLPGM("W");
  4663. #else
  4664. SERIAL_PROTOCOL(getHeaterPower(-1));
  4665. #endif
  4666. #ifdef PINDA_THERMISTOR
  4667. SERIAL_PROTOCOLPGM(" P:");
  4668. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  4669. #endif //PINDA_THERMISTOR
  4670. #ifdef AMBIENT_THERMISTOR
  4671. SERIAL_PROTOCOLPGM(" A:");
  4672. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  4673. #endif //AMBIENT_THERMISTOR
  4674. #ifdef SHOW_TEMP_ADC_VALUES
  4675. {float raw = 0.0;
  4676. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4677. SERIAL_PROTOCOLPGM(" ADC B:");
  4678. SERIAL_PROTOCOL_F(degBed(),1);
  4679. SERIAL_PROTOCOLPGM("C->");
  4680. raw = rawBedTemp();
  4681. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4682. SERIAL_PROTOCOLPGM(" Rb->");
  4683. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4684. SERIAL_PROTOCOLPGM(" Rxb->");
  4685. SERIAL_PROTOCOL_F(raw, 5);
  4686. #endif
  4687. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4688. SERIAL_PROTOCOLPGM(" T");
  4689. SERIAL_PROTOCOL(cur_extruder);
  4690. SERIAL_PROTOCOLPGM(":");
  4691. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4692. SERIAL_PROTOCOLPGM("C->");
  4693. raw = rawHotendTemp(cur_extruder);
  4694. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4695. SERIAL_PROTOCOLPGM(" Rt");
  4696. SERIAL_PROTOCOL(cur_extruder);
  4697. SERIAL_PROTOCOLPGM("->");
  4698. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4699. SERIAL_PROTOCOLPGM(" Rx");
  4700. SERIAL_PROTOCOL(cur_extruder);
  4701. SERIAL_PROTOCOLPGM("->");
  4702. SERIAL_PROTOCOL_F(raw, 5);
  4703. }}
  4704. #endif
  4705. SERIAL_PROTOCOLLN("");
  4706. KEEPALIVE_STATE(NOT_BUSY);
  4707. return;
  4708. break;
  4709. case 109:
  4710. {// M109 - Wait for extruder heater to reach target.
  4711. if(setTargetedHotend(109)){
  4712. break;
  4713. }
  4714. LCD_MESSAGERPGM(_T(MSG_HEATING));
  4715. heating_status = 1;
  4716. if (farm_mode) { prusa_statistics(1); };
  4717. #ifdef AUTOTEMP
  4718. autotemp_enabled=false;
  4719. #endif
  4720. if (code_seen('S')) {
  4721. setTargetHotendSafe(code_value(), tmp_extruder);
  4722. CooldownNoWait = true;
  4723. } else if (code_seen('R')) {
  4724. setTargetHotendSafe(code_value(), tmp_extruder);
  4725. CooldownNoWait = false;
  4726. }
  4727. #ifdef AUTOTEMP
  4728. if (code_seen('S')) autotemp_min=code_value();
  4729. if (code_seen('B')) autotemp_max=code_value();
  4730. if (code_seen('F'))
  4731. {
  4732. autotemp_factor=code_value();
  4733. autotemp_enabled=true;
  4734. }
  4735. #endif
  4736. setWatch();
  4737. codenum = millis();
  4738. /* See if we are heating up or cooling down */
  4739. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  4740. KEEPALIVE_STATE(NOT_BUSY);
  4741. cancel_heatup = false;
  4742. wait_for_heater(codenum); //loops until target temperature is reached
  4743. LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
  4744. KEEPALIVE_STATE(IN_HANDLER);
  4745. heating_status = 2;
  4746. if (farm_mode) { prusa_statistics(2); };
  4747. //starttime=millis();
  4748. previous_millis_cmd = millis();
  4749. }
  4750. break;
  4751. case 190: // M190 - Wait for bed heater to reach target.
  4752. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4753. LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
  4754. heating_status = 3;
  4755. if (farm_mode) { prusa_statistics(1); };
  4756. if (code_seen('S'))
  4757. {
  4758. setTargetBed(code_value());
  4759. CooldownNoWait = true;
  4760. }
  4761. else if (code_seen('R'))
  4762. {
  4763. setTargetBed(code_value());
  4764. CooldownNoWait = false;
  4765. }
  4766. codenum = millis();
  4767. cancel_heatup = false;
  4768. target_direction = isHeatingBed(); // true if heating, false if cooling
  4769. KEEPALIVE_STATE(NOT_BUSY);
  4770. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  4771. {
  4772. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  4773. {
  4774. if (!farm_mode) {
  4775. float tt = degHotend(active_extruder);
  4776. SERIAL_PROTOCOLPGM("T:");
  4777. SERIAL_PROTOCOL(tt);
  4778. SERIAL_PROTOCOLPGM(" E:");
  4779. SERIAL_PROTOCOL((int)active_extruder);
  4780. SERIAL_PROTOCOLPGM(" B:");
  4781. SERIAL_PROTOCOL_F(degBed(), 1);
  4782. SERIAL_PROTOCOLLN("");
  4783. }
  4784. codenum = millis();
  4785. }
  4786. manage_heater();
  4787. manage_inactivity();
  4788. lcd_update(0);
  4789. }
  4790. LCD_MESSAGERPGM(_T(MSG_BED_DONE));
  4791. KEEPALIVE_STATE(IN_HANDLER);
  4792. heating_status = 4;
  4793. previous_millis_cmd = millis();
  4794. #endif
  4795. break;
  4796. #if defined(FAN_PIN) && FAN_PIN > -1
  4797. case 106: //M106 Fan On
  4798. if (code_seen('S')){
  4799. fanSpeed=constrain(code_value(),0,255);
  4800. }
  4801. else {
  4802. fanSpeed=255;
  4803. }
  4804. break;
  4805. case 107: //M107 Fan Off
  4806. fanSpeed = 0;
  4807. break;
  4808. #endif //FAN_PIN
  4809. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  4810. case 80: // M80 - Turn on Power Supply
  4811. SET_OUTPUT(PS_ON_PIN); //GND
  4812. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  4813. // If you have a switch on suicide pin, this is useful
  4814. // if you want to start another print with suicide feature after
  4815. // a print without suicide...
  4816. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  4817. SET_OUTPUT(SUICIDE_PIN);
  4818. WRITE(SUICIDE_PIN, HIGH);
  4819. #endif
  4820. powersupply = true;
  4821. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4822. lcd_update(0);
  4823. break;
  4824. #endif
  4825. case 81: // M81 - Turn off Power Supply
  4826. disable_heater();
  4827. st_synchronize();
  4828. disable_e0();
  4829. disable_e1();
  4830. disable_e2();
  4831. finishAndDisableSteppers();
  4832. fanSpeed = 0;
  4833. delay(1000); // Wait a little before to switch off
  4834. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  4835. st_synchronize();
  4836. suicide();
  4837. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  4838. SET_OUTPUT(PS_ON_PIN);
  4839. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4840. #endif
  4841. powersupply = false;
  4842. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
  4843. lcd_update(0);
  4844. break;
  4845. case 82:
  4846. axis_relative_modes[3] = false;
  4847. break;
  4848. case 83:
  4849. axis_relative_modes[3] = true;
  4850. break;
  4851. case 18: //compatibility
  4852. case 84: // M84
  4853. if(code_seen('S')){
  4854. stepper_inactive_time = code_value() * 1000;
  4855. }
  4856. else
  4857. {
  4858. 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])));
  4859. if(all_axis)
  4860. {
  4861. st_synchronize();
  4862. disable_e0();
  4863. disable_e1();
  4864. disable_e2();
  4865. finishAndDisableSteppers();
  4866. }
  4867. else
  4868. {
  4869. st_synchronize();
  4870. if (code_seen('X')) disable_x();
  4871. if (code_seen('Y')) disable_y();
  4872. if (code_seen('Z')) disable_z();
  4873. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4874. if (code_seen('E')) {
  4875. disable_e0();
  4876. disable_e1();
  4877. disable_e2();
  4878. }
  4879. #endif
  4880. }
  4881. }
  4882. //in the end of print set estimated time to end of print and extruders used during print to default values for next print
  4883. print_time_remaining_init();
  4884. snmm_filaments_used = 0;
  4885. break;
  4886. case 85: // M85
  4887. if(code_seen('S')) {
  4888. max_inactive_time = code_value() * 1000;
  4889. }
  4890. break;
  4891. #ifdef SAFETYTIMER
  4892. case 86: // M86 - set safety timer expiration time in seconds; M86 S0 will disable safety timer
  4893. //when safety timer expires heatbed and nozzle target temperatures are set to zero
  4894. if (code_seen('S')) {
  4895. safetytimer_inactive_time = code_value() * 1000;
  4896. safetyTimer.start();
  4897. }
  4898. break;
  4899. #endif
  4900. case 92: // M92
  4901. for(int8_t i=0; i < NUM_AXIS; i++)
  4902. {
  4903. if(code_seen(axis_codes[i]))
  4904. {
  4905. if(i == 3) { // E
  4906. float value = code_value();
  4907. if(value < 20.0) {
  4908. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  4909. max_jerk[E_AXIS] *= factor;
  4910. max_feedrate[i] *= factor;
  4911. axis_steps_per_sqr_second[i] *= factor;
  4912. }
  4913. axis_steps_per_unit[i] = value;
  4914. }
  4915. else {
  4916. axis_steps_per_unit[i] = code_value();
  4917. }
  4918. }
  4919. }
  4920. break;
  4921. case 110: // M110 - reset line pos
  4922. if (code_seen('N'))
  4923. gcode_LastN = code_value_long();
  4924. break;
  4925. #ifdef HOST_KEEPALIVE_FEATURE
  4926. case 113: // M113 - Get or set Host Keepalive interval
  4927. if (code_seen('S')) {
  4928. host_keepalive_interval = (uint8_t)code_value_short();
  4929. // NOMORE(host_keepalive_interval, 60);
  4930. }
  4931. else {
  4932. SERIAL_ECHO_START;
  4933. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4934. SERIAL_PROTOCOLLN("");
  4935. }
  4936. break;
  4937. #endif
  4938. case 115: // M115
  4939. if (code_seen('V')) {
  4940. // Report the Prusa version number.
  4941. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  4942. } else if (code_seen('U')) {
  4943. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  4944. // pause the print and ask the user to upgrade the firmware.
  4945. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  4946. } else {
  4947. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  4948. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  4949. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  4950. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  4951. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  4952. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  4953. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  4954. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  4955. SERIAL_ECHOPGM(" UUID:");
  4956. SERIAL_ECHOLNPGM(MACHINE_UUID);
  4957. }
  4958. break;
  4959. /* case 117: // M117 display message
  4960. starpos = (strchr(strchr_pointer + 5,'*'));
  4961. if(starpos!=NULL)
  4962. *(starpos)='\0';
  4963. lcd_setstatus(strchr_pointer + 5);
  4964. break;*/
  4965. case 114: // M114
  4966. gcode_M114();
  4967. break;
  4968. case 120: // M120
  4969. enable_endstops(false) ;
  4970. break;
  4971. case 121: // M121
  4972. enable_endstops(true) ;
  4973. break;
  4974. case 119: // M119
  4975. SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT c=0 r=0
  4976. SERIAL_PROTOCOLLN("");
  4977. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  4978. SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN c=0 r=0
  4979. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  4980. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4981. }else{
  4982. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4983. }
  4984. SERIAL_PROTOCOLLN("");
  4985. #endif
  4986. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  4987. SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX c=0 r=0
  4988. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  4989. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4990. }else{
  4991. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4992. }
  4993. SERIAL_PROTOCOLLN("");
  4994. #endif
  4995. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  4996. SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN c=0 r=0
  4997. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  4998. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4999. }else{
  5000. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  5001. }
  5002. SERIAL_PROTOCOLLN("");
  5003. #endif
  5004. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  5005. SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX c=0 r=0
  5006. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  5007. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  5008. }else{
  5009. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  5010. }
  5011. SERIAL_PROTOCOLLN("");
  5012. #endif
  5013. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  5014. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  5015. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  5016. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  5017. }else{
  5018. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  5019. }
  5020. SERIAL_PROTOCOLLN("");
  5021. #endif
  5022. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  5023. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  5024. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  5025. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  5026. }else{
  5027. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  5028. }
  5029. SERIAL_PROTOCOLLN("");
  5030. #endif
  5031. break;
  5032. //TODO: update for all axis, use for loop
  5033. #ifdef BLINKM
  5034. case 150: // M150
  5035. {
  5036. byte red;
  5037. byte grn;
  5038. byte blu;
  5039. if(code_seen('R')) red = code_value();
  5040. if(code_seen('U')) grn = code_value();
  5041. if(code_seen('B')) blu = code_value();
  5042. SendColors(red,grn,blu);
  5043. }
  5044. break;
  5045. #endif //BLINKM
  5046. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  5047. {
  5048. tmp_extruder = active_extruder;
  5049. if(code_seen('T')) {
  5050. tmp_extruder = code_value();
  5051. if(tmp_extruder >= EXTRUDERS) {
  5052. SERIAL_ECHO_START;
  5053. SERIAL_ECHO(_i("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER c=0 r=0
  5054. break;
  5055. }
  5056. }
  5057. if(code_seen('D')) {
  5058. float diameter = (float)code_value();
  5059. if (diameter == 0.0) {
  5060. // setting any extruder filament size disables volumetric on the assumption that
  5061. // slicers either generate in extruder values as cubic mm or as as filament feeds
  5062. // for all extruders
  5063. volumetric_enabled = false;
  5064. } else {
  5065. filament_size[tmp_extruder] = (float)code_value();
  5066. // make sure all extruders have some sane value for the filament size
  5067. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  5068. #if EXTRUDERS > 1
  5069. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  5070. #if EXTRUDERS > 2
  5071. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  5072. #endif
  5073. #endif
  5074. volumetric_enabled = true;
  5075. }
  5076. } else {
  5077. //reserved for setting filament diameter via UFID or filament measuring device
  5078. break;
  5079. }
  5080. calculate_extruder_multipliers();
  5081. }
  5082. break;
  5083. case 201: // M201
  5084. for (int8_t i = 0; i < NUM_AXIS; i++)
  5085. {
  5086. if (code_seen(axis_codes[i]))
  5087. {
  5088. unsigned long val = code_value();
  5089. #ifdef TMC2130
  5090. unsigned long val_silent = val;
  5091. if ((i == X_AXIS) || (i == Y_AXIS))
  5092. {
  5093. if (val > NORMAL_MAX_ACCEL_XY)
  5094. val = NORMAL_MAX_ACCEL_XY;
  5095. if (val_silent > SILENT_MAX_ACCEL_XY)
  5096. val_silent = SILENT_MAX_ACCEL_XY;
  5097. }
  5098. max_acceleration_units_per_sq_second_normal[i] = val;
  5099. max_acceleration_units_per_sq_second_silent[i] = val_silent;
  5100. #else //TMC2130
  5101. max_acceleration_units_per_sq_second[i] = val;
  5102. #endif //TMC2130
  5103. }
  5104. }
  5105. // 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)
  5106. reset_acceleration_rates();
  5107. break;
  5108. #if 0 // Not used for Sprinter/grbl gen6
  5109. case 202: // M202
  5110. for(int8_t i=0; i < NUM_AXIS; i++) {
  5111. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  5112. }
  5113. break;
  5114. #endif
  5115. case 203: // M203 max feedrate mm/sec
  5116. for (int8_t i = 0; i < NUM_AXIS; i++)
  5117. {
  5118. if (code_seen(axis_codes[i]))
  5119. {
  5120. float val = code_value();
  5121. #ifdef TMC2130
  5122. float val_silent = val;
  5123. if ((i == X_AXIS) || (i == Y_AXIS))
  5124. {
  5125. if (val > NORMAL_MAX_FEEDRATE_XY)
  5126. val = NORMAL_MAX_FEEDRATE_XY;
  5127. if (val_silent > SILENT_MAX_FEEDRATE_XY)
  5128. val_silent = SILENT_MAX_FEEDRATE_XY;
  5129. }
  5130. max_feedrate_normal[i] = val;
  5131. max_feedrate_silent[i] = val_silent;
  5132. #else //TMC2130
  5133. max_feedrate[i] = val;
  5134. #endif //TMC2130
  5135. }
  5136. }
  5137. break;
  5138. case 204:
  5139. // M204 acclereration settings.
  5140. // Supporting old format: M204 S[normal moves] T[filmanent only moves]
  5141. // and new format: M204 P[printing moves] R[filmanent only moves] T[travel moves] (as of now T is ignored)
  5142. {
  5143. if(code_seen('S')) {
  5144. // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
  5145. // and it is also generated by Slic3r to control acceleration per extrusion type
  5146. // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
  5147. acceleration = code_value();
  5148. // Interpret the T value as retract acceleration in the old Marlin format.
  5149. if(code_seen('T'))
  5150. retract_acceleration = code_value();
  5151. } else {
  5152. // New acceleration format, compatible with the upstream Marlin.
  5153. if(code_seen('P'))
  5154. acceleration = code_value();
  5155. if(code_seen('R'))
  5156. retract_acceleration = code_value();
  5157. if(code_seen('T')) {
  5158. // Interpret the T value as the travel acceleration in the new Marlin format.
  5159. //FIXME Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
  5160. // travel_acceleration = code_value();
  5161. }
  5162. }
  5163. }
  5164. break;
  5165. case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
  5166. {
  5167. if(code_seen('S')) minimumfeedrate = code_value();
  5168. if(code_seen('T')) mintravelfeedrate = code_value();
  5169. if(code_seen('B')) minsegmenttime = code_value() ;
  5170. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  5171. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  5172. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  5173. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  5174. if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
  5175. if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
  5176. }
  5177. break;
  5178. case 206: // M206 additional homing offset
  5179. for(int8_t i=0; i < 3; i++)
  5180. {
  5181. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  5182. }
  5183. break;
  5184. #ifdef FWRETRACT
  5185. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  5186. {
  5187. if(code_seen('S'))
  5188. {
  5189. retract_length = code_value() ;
  5190. }
  5191. if(code_seen('F'))
  5192. {
  5193. retract_feedrate = code_value()/60 ;
  5194. }
  5195. if(code_seen('Z'))
  5196. {
  5197. retract_zlift = code_value() ;
  5198. }
  5199. }break;
  5200. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  5201. {
  5202. if(code_seen('S'))
  5203. {
  5204. retract_recover_length = code_value() ;
  5205. }
  5206. if(code_seen('F'))
  5207. {
  5208. retract_recover_feedrate = code_value()/60 ;
  5209. }
  5210. }break;
  5211. 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.
  5212. {
  5213. if(code_seen('S'))
  5214. {
  5215. int t= code_value() ;
  5216. switch(t)
  5217. {
  5218. case 0:
  5219. {
  5220. autoretract_enabled=false;
  5221. retracted[0]=false;
  5222. #if EXTRUDERS > 1
  5223. retracted[1]=false;
  5224. #endif
  5225. #if EXTRUDERS > 2
  5226. retracted[2]=false;
  5227. #endif
  5228. }break;
  5229. case 1:
  5230. {
  5231. autoretract_enabled=true;
  5232. retracted[0]=false;
  5233. #if EXTRUDERS > 1
  5234. retracted[1]=false;
  5235. #endif
  5236. #if EXTRUDERS > 2
  5237. retracted[2]=false;
  5238. #endif
  5239. }break;
  5240. default:
  5241. SERIAL_ECHO_START;
  5242. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5243. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5244. SERIAL_ECHOLNPGM("\"(1)");
  5245. }
  5246. }
  5247. }break;
  5248. #endif // FWRETRACT
  5249. #if EXTRUDERS > 1
  5250. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  5251. {
  5252. if(setTargetedHotend(218)){
  5253. break;
  5254. }
  5255. if(code_seen('X'))
  5256. {
  5257. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  5258. }
  5259. if(code_seen('Y'))
  5260. {
  5261. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  5262. }
  5263. SERIAL_ECHO_START;
  5264. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  5265. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  5266. {
  5267. SERIAL_ECHO(" ");
  5268. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  5269. SERIAL_ECHO(",");
  5270. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  5271. }
  5272. SERIAL_ECHOLN("");
  5273. }break;
  5274. #endif
  5275. case 220: // M220 S<factor in percent>- set speed factor override percentage
  5276. {
  5277. if(code_seen('S'))
  5278. {
  5279. feedmultiply = code_value() ;
  5280. }
  5281. }
  5282. break;
  5283. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  5284. {
  5285. if(code_seen('S'))
  5286. {
  5287. int tmp_code = code_value();
  5288. if (code_seen('T'))
  5289. {
  5290. if(setTargetedHotend(221)){
  5291. break;
  5292. }
  5293. extruder_multiply[tmp_extruder] = tmp_code;
  5294. }
  5295. else
  5296. {
  5297. extrudemultiply = tmp_code ;
  5298. }
  5299. }
  5300. calculate_extruder_multipliers();
  5301. }
  5302. break;
  5303. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  5304. {
  5305. if(code_seen('P')){
  5306. int pin_number = code_value(); // pin number
  5307. int pin_state = -1; // required pin state - default is inverted
  5308. if(code_seen('S')) pin_state = code_value(); // required pin state
  5309. if(pin_state >= -1 && pin_state <= 1){
  5310. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  5311. {
  5312. if (sensitive_pins[i] == pin_number)
  5313. {
  5314. pin_number = -1;
  5315. break;
  5316. }
  5317. }
  5318. if (pin_number > -1)
  5319. {
  5320. int target = LOW;
  5321. st_synchronize();
  5322. pinMode(pin_number, INPUT);
  5323. switch(pin_state){
  5324. case 1:
  5325. target = HIGH;
  5326. break;
  5327. case 0:
  5328. target = LOW;
  5329. break;
  5330. case -1:
  5331. target = !digitalRead(pin_number);
  5332. break;
  5333. }
  5334. while(digitalRead(pin_number) != target){
  5335. manage_heater();
  5336. manage_inactivity();
  5337. lcd_update(0);
  5338. }
  5339. }
  5340. }
  5341. }
  5342. }
  5343. break;
  5344. #if NUM_SERVOS > 0
  5345. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  5346. {
  5347. int servo_index = -1;
  5348. int servo_position = 0;
  5349. if (code_seen('P'))
  5350. servo_index = code_value();
  5351. if (code_seen('S')) {
  5352. servo_position = code_value();
  5353. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  5354. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5355. servos[servo_index].attach(0);
  5356. #endif
  5357. servos[servo_index].write(servo_position);
  5358. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5359. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  5360. servos[servo_index].detach();
  5361. #endif
  5362. }
  5363. else {
  5364. SERIAL_ECHO_START;
  5365. SERIAL_ECHO("Servo ");
  5366. SERIAL_ECHO(servo_index);
  5367. SERIAL_ECHOLN(" out of range");
  5368. }
  5369. }
  5370. else if (servo_index >= 0) {
  5371. SERIAL_PROTOCOL(_T(MSG_OK));
  5372. SERIAL_PROTOCOL(" Servo ");
  5373. SERIAL_PROTOCOL(servo_index);
  5374. SERIAL_PROTOCOL(": ");
  5375. SERIAL_PROTOCOL(servos[servo_index].read());
  5376. SERIAL_PROTOCOLLN("");
  5377. }
  5378. }
  5379. break;
  5380. #endif // NUM_SERVOS > 0
  5381. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  5382. case 300: // M300
  5383. {
  5384. int beepS = code_seen('S') ? code_value() : 110;
  5385. int beepP = code_seen('P') ? code_value() : 1000;
  5386. if (beepS > 0)
  5387. {
  5388. #if BEEPER > 0
  5389. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  5390. tone(BEEPER, beepS);
  5391. delay(beepP);
  5392. noTone(BEEPER);
  5393. #endif
  5394. }
  5395. else
  5396. {
  5397. delay(beepP);
  5398. }
  5399. }
  5400. break;
  5401. #endif // M300
  5402. #ifdef PIDTEMP
  5403. case 301: // M301
  5404. {
  5405. if(code_seen('P')) Kp = code_value();
  5406. if(code_seen('I')) Ki = scalePID_i(code_value());
  5407. if(code_seen('D')) Kd = scalePID_d(code_value());
  5408. #ifdef PID_ADD_EXTRUSION_RATE
  5409. if(code_seen('C')) Kc = code_value();
  5410. #endif
  5411. updatePID();
  5412. SERIAL_PROTOCOLRPGM(_T(MSG_OK));
  5413. SERIAL_PROTOCOL(" p:");
  5414. SERIAL_PROTOCOL(Kp);
  5415. SERIAL_PROTOCOL(" i:");
  5416. SERIAL_PROTOCOL(unscalePID_i(Ki));
  5417. SERIAL_PROTOCOL(" d:");
  5418. SERIAL_PROTOCOL(unscalePID_d(Kd));
  5419. #ifdef PID_ADD_EXTRUSION_RATE
  5420. SERIAL_PROTOCOL(" c:");
  5421. //Kc does not have scaling applied above, or in resetting defaults
  5422. SERIAL_PROTOCOL(Kc);
  5423. #endif
  5424. SERIAL_PROTOCOLLN("");
  5425. }
  5426. break;
  5427. #endif //PIDTEMP
  5428. #ifdef PIDTEMPBED
  5429. case 304: // M304
  5430. {
  5431. if(code_seen('P')) bedKp = code_value();
  5432. if(code_seen('I')) bedKi = scalePID_i(code_value());
  5433. if(code_seen('D')) bedKd = scalePID_d(code_value());
  5434. updatePID();
  5435. SERIAL_PROTOCOLRPGM(_T(MSG_OK));
  5436. SERIAL_PROTOCOL(" p:");
  5437. SERIAL_PROTOCOL(bedKp);
  5438. SERIAL_PROTOCOL(" i:");
  5439. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  5440. SERIAL_PROTOCOL(" d:");
  5441. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  5442. SERIAL_PROTOCOLLN("");
  5443. }
  5444. break;
  5445. #endif //PIDTEMP
  5446. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  5447. {
  5448. #ifdef CHDK
  5449. SET_OUTPUT(CHDK);
  5450. WRITE(CHDK, HIGH);
  5451. chdkHigh = millis();
  5452. chdkActive = true;
  5453. #else
  5454. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  5455. const uint8_t NUM_PULSES=16;
  5456. const float PULSE_LENGTH=0.01524;
  5457. for(int i=0; i < NUM_PULSES; i++) {
  5458. WRITE(PHOTOGRAPH_PIN, HIGH);
  5459. _delay_ms(PULSE_LENGTH);
  5460. WRITE(PHOTOGRAPH_PIN, LOW);
  5461. _delay_ms(PULSE_LENGTH);
  5462. }
  5463. delay(7.33);
  5464. for(int i=0; i < NUM_PULSES; i++) {
  5465. WRITE(PHOTOGRAPH_PIN, HIGH);
  5466. _delay_ms(PULSE_LENGTH);
  5467. WRITE(PHOTOGRAPH_PIN, LOW);
  5468. _delay_ms(PULSE_LENGTH);
  5469. }
  5470. #endif
  5471. #endif //chdk end if
  5472. }
  5473. break;
  5474. #ifdef PREVENT_DANGEROUS_EXTRUDE
  5475. case 302: // allow cold extrudes, or set the minimum extrude temperature
  5476. {
  5477. float temp = .0;
  5478. if (code_seen('S')) temp=code_value();
  5479. set_extrude_min_temp(temp);
  5480. }
  5481. break;
  5482. #endif
  5483. case 303: // M303 PID autotune
  5484. {
  5485. float temp = 150.0;
  5486. int e=0;
  5487. int c=5;
  5488. if (code_seen('E')) e=code_value();
  5489. if (e<0)
  5490. temp=70;
  5491. if (code_seen('S')) temp=code_value();
  5492. if (code_seen('C')) c=code_value();
  5493. PID_autotune(temp, e, c);
  5494. }
  5495. break;
  5496. case 400: // M400 finish all moves
  5497. {
  5498. st_synchronize();
  5499. }
  5500. break;
  5501. case 403: //M403 set filament type (material) for particular extruder and send this information to mmu
  5502. {
  5503. //currently three different materials are needed (default, flex and PVA)
  5504. //add storing this information for different load/unload profiles etc. in the future
  5505. //firmware does not wait for "ok" from mmu
  5506. uint8_t extruder = 255;
  5507. uint8_t filament = FILAMENT_UNDEFINED;
  5508. if(code_seen('E')) extruder = code_value();
  5509. if(code_seen('F')) filament = code_value();
  5510. printf_P(PSTR("Extruder: %d; "), extruder);
  5511. switch (filament) {
  5512. case FILAMENT_FLEX: printf_P(PSTR("Flex\n")); break;
  5513. case FILAMENT_PVA: printf_P(PSTR("PVA\n")); break;
  5514. default: printf_P(PSTR("Default\n")); break;
  5515. }
  5516. printf_P(PSTR("F%d%d\n"), extruder, filament);
  5517. fprintf_P(uart2io, PSTR("F%d%d\n"), extruder, filament);
  5518. }
  5519. break;
  5520. case 500: // M500 Store settings in EEPROM
  5521. {
  5522. Config_StoreSettings(EEPROM_OFFSET);
  5523. }
  5524. break;
  5525. case 501: // M501 Read settings from EEPROM
  5526. {
  5527. Config_RetrieveSettings(EEPROM_OFFSET);
  5528. }
  5529. break;
  5530. case 502: // M502 Revert to default settings
  5531. {
  5532. Config_ResetDefault();
  5533. }
  5534. break;
  5535. case 503: // M503 print settings currently in memory
  5536. {
  5537. Config_PrintSettings();
  5538. }
  5539. break;
  5540. case 509: //M509 Force language selection
  5541. {
  5542. lang_reset();
  5543. SERIAL_ECHO_START;
  5544. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  5545. }
  5546. break;
  5547. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5548. case 540:
  5549. {
  5550. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  5551. }
  5552. break;
  5553. #endif
  5554. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5555. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  5556. {
  5557. float value;
  5558. if (code_seen('Z'))
  5559. {
  5560. value = code_value();
  5561. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  5562. {
  5563. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  5564. SERIAL_ECHO_START;
  5565. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", _T(MSG_OK),PSTR("")));
  5566. SERIAL_PROTOCOLLN("");
  5567. }
  5568. else
  5569. {
  5570. SERIAL_ECHO_START;
  5571. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  5572. SERIAL_ECHORPGM(MSG_Z_MIN);
  5573. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  5574. SERIAL_ECHORPGM(MSG_Z_MAX);
  5575. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  5576. SERIAL_PROTOCOLLN("");
  5577. }
  5578. }
  5579. else
  5580. {
  5581. SERIAL_ECHO_START;
  5582. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  5583. SERIAL_ECHO(-zprobe_zoffset);
  5584. SERIAL_PROTOCOLLN("");
  5585. }
  5586. break;
  5587. }
  5588. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5589. #ifdef FILAMENTCHANGEENABLE
  5590. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  5591. {
  5592. st_synchronize();
  5593. float x_position = current_position[X_AXIS];
  5594. float y_position = current_position[Y_AXIS];
  5595. float z_shift = 0;
  5596. float e_shift_init = 0;
  5597. float e_shift_late = 0;
  5598. bool automatic = false;
  5599. //Retract extruder
  5600. if(code_seen('E'))
  5601. {
  5602. e_shift_init = code_value();
  5603. }
  5604. else
  5605. {
  5606. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  5607. e_shift_init = FILAMENTCHANGE_FIRSTRETRACT ;
  5608. #endif
  5609. }
  5610. //currently don't work as we are using the same unload sequence as in M702, needs re-work
  5611. if (code_seen('L'))
  5612. {
  5613. e_shift_late = code_value();
  5614. }
  5615. else
  5616. {
  5617. #ifdef FILAMENTCHANGE_FINALRETRACT
  5618. e_shift_late = FILAMENTCHANGE_FINALRETRACT;
  5619. #endif
  5620. }
  5621. //Lift Z
  5622. if(code_seen('Z'))
  5623. {
  5624. z_shift = code_value();
  5625. }
  5626. else
  5627. {
  5628. #ifdef FILAMENTCHANGE_ZADD
  5629. z_shift= FILAMENTCHANGE_ZADD ;
  5630. if(current_position[Z_AXIS] < 25) z_shift+= 25 ;
  5631. #endif
  5632. }
  5633. //Move XY to side
  5634. if(code_seen('X'))
  5635. {
  5636. x_position = code_value();
  5637. }
  5638. else
  5639. {
  5640. #ifdef FILAMENTCHANGE_XPOS
  5641. x_position = FILAMENTCHANGE_XPOS;
  5642. #endif
  5643. }
  5644. if(code_seen('Y'))
  5645. {
  5646. y_position = code_value();
  5647. }
  5648. else
  5649. {
  5650. #ifdef FILAMENTCHANGE_YPOS
  5651. y_position = FILAMENTCHANGE_YPOS ;
  5652. #endif
  5653. }
  5654. if (mmu_enabled && code_seen("AUTO"))
  5655. automatic = true;
  5656. gcode_M600(automatic, x_position, y_position, z_shift, e_shift_init, e_shift_late);
  5657. }
  5658. break;
  5659. #endif //FILAMENTCHANGEENABLE
  5660. case 601: {
  5661. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  5662. }
  5663. break;
  5664. case 602: {
  5665. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  5666. }
  5667. break;
  5668. #ifdef PINDA_THERMISTOR
  5669. case 860: // M860 - Wait for PINDA thermistor to reach target temperature.
  5670. {
  5671. int set_target_pinda = 0;
  5672. if (code_seen('S')) {
  5673. set_target_pinda = code_value();
  5674. }
  5675. else {
  5676. break;
  5677. }
  5678. LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
  5679. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  5680. SERIAL_PROTOCOL(set_target_pinda);
  5681. SERIAL_PROTOCOLLN("");
  5682. codenum = millis();
  5683. cancel_heatup = false;
  5684. bool is_pinda_cooling = false;
  5685. if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
  5686. is_pinda_cooling = true;
  5687. }
  5688. while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
  5689. if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  5690. {
  5691. SERIAL_PROTOCOLPGM("P:");
  5692. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  5693. SERIAL_PROTOCOLPGM("/");
  5694. SERIAL_PROTOCOL(set_target_pinda);
  5695. SERIAL_PROTOCOLLN("");
  5696. codenum = millis();
  5697. }
  5698. manage_heater();
  5699. manage_inactivity();
  5700. lcd_update(0);
  5701. }
  5702. LCD_MESSAGERPGM(_T(MSG_OK));
  5703. break;
  5704. }
  5705. case 861: // M861 - Set/Read PINDA temperature compensation offsets
  5706. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  5707. uint8_t cal_status = calibration_status_pinda();
  5708. int16_t usteps = 0;
  5709. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  5710. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5711. for (uint8_t i = 0; i < 6; i++)
  5712. {
  5713. if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
  5714. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5715. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5716. SERIAL_PROTOCOLPGM(", ");
  5717. SERIAL_PROTOCOL(35 + (i * 5));
  5718. SERIAL_PROTOCOLPGM(", ");
  5719. SERIAL_PROTOCOL(usteps);
  5720. SERIAL_PROTOCOLPGM(", ");
  5721. SERIAL_PROTOCOL(mm * 1000);
  5722. SERIAL_PROTOCOLLN("");
  5723. }
  5724. }
  5725. else if (code_seen('!')) { // ! - Set factory default values
  5726. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5727. int16_t z_shift = 8; //40C - 20um - 8usteps
  5728. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
  5729. z_shift = 24; //45C - 60um - 24usteps
  5730. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
  5731. z_shift = 48; //50C - 120um - 48usteps
  5732. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
  5733. z_shift = 80; //55C - 200um - 80usteps
  5734. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
  5735. z_shift = 120; //60C - 300um - 120usteps
  5736. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
  5737. SERIAL_PROTOCOLLN("factory restored");
  5738. }
  5739. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  5740. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5741. int16_t z_shift = 0;
  5742. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  5743. SERIAL_PROTOCOLLN("zerorized");
  5744. }
  5745. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  5746. int16_t usteps = code_value();
  5747. if (code_seen('I')) {
  5748. byte index = code_value();
  5749. if ((index >= 0) && (index < 5)) {
  5750. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
  5751. SERIAL_PROTOCOLLN("OK");
  5752. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5753. for (uint8_t i = 0; i < 6; i++)
  5754. {
  5755. usteps = 0;
  5756. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
  5757. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5758. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5759. SERIAL_PROTOCOLPGM(", ");
  5760. SERIAL_PROTOCOL(35 + (i * 5));
  5761. SERIAL_PROTOCOLPGM(", ");
  5762. SERIAL_PROTOCOL(usteps);
  5763. SERIAL_PROTOCOLPGM(", ");
  5764. SERIAL_PROTOCOL(mm * 1000);
  5765. SERIAL_PROTOCOLLN("");
  5766. }
  5767. }
  5768. }
  5769. }
  5770. else {
  5771. SERIAL_PROTOCOLPGM("no valid command");
  5772. }
  5773. break;
  5774. #endif //PINDA_THERMISTOR
  5775. #ifdef LIN_ADVANCE
  5776. case 900: // M900: Set LIN_ADVANCE options.
  5777. gcode_M900();
  5778. break;
  5779. #endif
  5780. case 907: // M907 Set digital trimpot motor current using axis codes.
  5781. {
  5782. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5783. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  5784. if(code_seen('B')) st_current_set(4,code_value());
  5785. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  5786. #endif
  5787. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  5788. if(code_seen('X')) st_current_set(0, code_value());
  5789. #endif
  5790. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  5791. if(code_seen('Z')) st_current_set(1, code_value());
  5792. #endif
  5793. #ifdef MOTOR_CURRENT_PWM_E_PIN
  5794. if(code_seen('E')) st_current_set(2, code_value());
  5795. #endif
  5796. }
  5797. break;
  5798. case 908: // M908 Control digital trimpot directly.
  5799. {
  5800. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5801. uint8_t channel,current;
  5802. if(code_seen('P')) channel=code_value();
  5803. if(code_seen('S')) current=code_value();
  5804. digitalPotWrite(channel, current);
  5805. #endif
  5806. }
  5807. break;
  5808. #ifdef TMC2130
  5809. case 910: // M910 TMC2130 init
  5810. {
  5811. tmc2130_init();
  5812. }
  5813. break;
  5814. case 911: // M911 Set TMC2130 holding currents
  5815. {
  5816. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  5817. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  5818. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  5819. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  5820. }
  5821. break;
  5822. case 912: // M912 Set TMC2130 running currents
  5823. {
  5824. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  5825. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  5826. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  5827. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  5828. }
  5829. break;
  5830. case 913: // M913 Print TMC2130 currents
  5831. {
  5832. tmc2130_print_currents();
  5833. }
  5834. break;
  5835. case 914: // M914 Set normal mode
  5836. {
  5837. tmc2130_mode = TMC2130_MODE_NORMAL;
  5838. update_mode_profile();
  5839. tmc2130_init();
  5840. }
  5841. break;
  5842. case 915: // M915 Set silent mode
  5843. {
  5844. tmc2130_mode = TMC2130_MODE_SILENT;
  5845. update_mode_profile();
  5846. tmc2130_init();
  5847. }
  5848. break;
  5849. case 916: // M916 Set sg_thrs
  5850. {
  5851. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  5852. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  5853. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  5854. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  5855. for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
  5856. printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
  5857. }
  5858. break;
  5859. case 917: // M917 Set TMC2130 pwm_ampl
  5860. {
  5861. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  5862. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  5863. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  5864. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  5865. }
  5866. break;
  5867. case 918: // M918 Set TMC2130 pwm_grad
  5868. {
  5869. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  5870. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  5871. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  5872. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  5873. }
  5874. break;
  5875. #endif //TMC2130
  5876. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5877. {
  5878. #ifdef TMC2130
  5879. if(code_seen('E'))
  5880. {
  5881. uint16_t res_new = code_value();
  5882. if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
  5883. {
  5884. st_synchronize();
  5885. uint8_t axis = E_AXIS;
  5886. uint16_t res = tmc2130_get_res(axis);
  5887. tmc2130_set_res(axis, res_new);
  5888. if (res_new > res)
  5889. {
  5890. uint16_t fac = (res_new / res);
  5891. axis_steps_per_unit[axis] *= fac;
  5892. position[E_AXIS] *= fac;
  5893. }
  5894. else
  5895. {
  5896. uint16_t fac = (res / res_new);
  5897. axis_steps_per_unit[axis] /= fac;
  5898. position[E_AXIS] /= fac;
  5899. }
  5900. }
  5901. }
  5902. #else //TMC2130
  5903. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5904. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  5905. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  5906. if(code_seen('B')) microstep_mode(4,code_value());
  5907. microstep_readings();
  5908. #endif
  5909. #endif //TMC2130
  5910. }
  5911. break;
  5912. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  5913. {
  5914. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5915. if(code_seen('S')) switch((int)code_value())
  5916. {
  5917. case 1:
  5918. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  5919. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  5920. break;
  5921. case 2:
  5922. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  5923. if(code_seen('B')) microstep_ms(4,-1,code_value());
  5924. break;
  5925. }
  5926. microstep_readings();
  5927. #endif
  5928. }
  5929. break;
  5930. case 701: //M701: load filament
  5931. {
  5932. if (mmu_enabled && code_seen('E'))
  5933. snmm_extruder = code_value();
  5934. gcode_M701();
  5935. }
  5936. break;
  5937. case 702:
  5938. {
  5939. if (mmu_enabled)
  5940. {
  5941. if (code_seen('U'))
  5942. extr_unload_used(); //unload all filaments which were used in current print
  5943. else if (code_seen('C'))
  5944. extr_unload(); //unload just current filament
  5945. else
  5946. extr_unload_all(); //unload all filaments
  5947. }
  5948. else
  5949. unload_filament();
  5950. }
  5951. break;
  5952. case 999: // M999: Restart after being stopped
  5953. Stopped = false;
  5954. lcd_reset_alert_level();
  5955. gcode_LastN = Stopped_gcode_LastN;
  5956. FlushSerialRequestResend();
  5957. break;
  5958. default:
  5959. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  5960. }
  5961. // printf_P(_N("END M-CODE=%u\n"), mcode_in_progress);
  5962. mcode_in_progress = 0;
  5963. }
  5964. } // end if(code_seen('M')) (end of M codes)
  5965. else if(code_seen('T'))
  5966. {
  5967. int index;
  5968. st_synchronize();
  5969. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  5970. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
  5971. SERIAL_ECHOLNPGM("Invalid T code.");
  5972. }
  5973. else {
  5974. if (*(strchr_pointer + index) == '?') {
  5975. tmp_extruder = choose_extruder_menu();
  5976. }
  5977. else {
  5978. tmp_extruder = code_value();
  5979. }
  5980. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  5981. if (mmu_enabled)
  5982. {
  5983. printf_P(PSTR("T code: %d \n"), tmp_extruder);
  5984. fprintf_P(uart2io, PSTR("T%d\n"), tmp_extruder);
  5985. manage_response(true, true);
  5986. snmm_extruder = tmp_extruder; //filament change is finished
  5987. if (*(strchr_pointer + index) == '?')// for single material usage with mmu
  5988. mmu_load_to_nozzle();
  5989. }
  5990. else
  5991. {
  5992. #ifdef SNMM
  5993. #ifdef LIN_ADVANCE
  5994. if (snmm_extruder != tmp_extruder)
  5995. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  5996. #endif
  5997. snmm_extruder = tmp_extruder;
  5998. delay(100);
  5999. disable_e0();
  6000. disable_e1();
  6001. disable_e2();
  6002. pinMode(E_MUX0_PIN, OUTPUT);
  6003. pinMode(E_MUX1_PIN, OUTPUT);
  6004. delay(100);
  6005. SERIAL_ECHO_START;
  6006. SERIAL_ECHO("T:");
  6007. SERIAL_ECHOLN((int)tmp_extruder);
  6008. switch (tmp_extruder) {
  6009. case 1:
  6010. WRITE(E_MUX0_PIN, HIGH);
  6011. WRITE(E_MUX1_PIN, LOW);
  6012. break;
  6013. case 2:
  6014. WRITE(E_MUX0_PIN, LOW);
  6015. WRITE(E_MUX1_PIN, HIGH);
  6016. break;
  6017. case 3:
  6018. WRITE(E_MUX0_PIN, HIGH);
  6019. WRITE(E_MUX1_PIN, HIGH);
  6020. break;
  6021. default:
  6022. WRITE(E_MUX0_PIN, LOW);
  6023. WRITE(E_MUX1_PIN, LOW);
  6024. break;
  6025. }
  6026. delay(100);
  6027. #else //SNMM
  6028. if (tmp_extruder >= EXTRUDERS) {
  6029. SERIAL_ECHO_START;
  6030. SERIAL_ECHOPGM("T");
  6031. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6032. SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER c=0 r=0
  6033. }
  6034. else {
  6035. #if EXTRUDERS > 1
  6036. boolean make_move = false;
  6037. #endif
  6038. if (code_seen('F')) {
  6039. #if EXTRUDERS > 1
  6040. make_move = true;
  6041. #endif
  6042. next_feedrate = code_value();
  6043. if (next_feedrate > 0.0) {
  6044. feedrate = next_feedrate;
  6045. }
  6046. }
  6047. #if EXTRUDERS > 1
  6048. if (tmp_extruder != active_extruder) {
  6049. // Save current position to return to after applying extruder offset
  6050. memcpy(destination, current_position, sizeof(destination));
  6051. // Offset extruder (only by XY)
  6052. int i;
  6053. for (i = 0; i < 2; i++) {
  6054. current_position[i] = current_position[i] -
  6055. extruder_offset[i][active_extruder] +
  6056. extruder_offset[i][tmp_extruder];
  6057. }
  6058. // Set the new active extruder and position
  6059. active_extruder = tmp_extruder;
  6060. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6061. // Move to the old position if 'F' was in the parameters
  6062. if (make_move && Stopped == false) {
  6063. prepare_move();
  6064. }
  6065. }
  6066. #endif
  6067. SERIAL_ECHO_START;
  6068. SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER c=0 r=0
  6069. SERIAL_PROTOCOLLN((int)active_extruder);
  6070. }
  6071. #endif //SNMM
  6072. }
  6073. }
  6074. } // end if(code_seen('T')) (end of T codes)
  6075. else if (code_seen('D')) // D codes (debug)
  6076. {
  6077. switch((int)code_value())
  6078. {
  6079. #ifdef DEBUG_DCODES
  6080. case -1: // D-1 - Endless loop
  6081. dcode__1(); break;
  6082. case 0: // D0 - Reset
  6083. dcode_0(); break;
  6084. case 1: // D1 - Clear EEPROM
  6085. dcode_1(); break;
  6086. case 2: // D2 - Read/Write RAM
  6087. dcode_2(); break;
  6088. #endif //DEBUG_DCODES
  6089. #ifdef DEBUG_DCODE3
  6090. case 3: // D3 - Read/Write EEPROM
  6091. dcode_3(); break;
  6092. #endif //DEBUG_DCODE3
  6093. #ifdef DEBUG_DCODES
  6094. case 4: // D4 - Read/Write PIN
  6095. dcode_4(); break;
  6096. case 5: // D5 - Read/Write FLASH
  6097. // dcode_5(); break;
  6098. break;
  6099. case 6: // D6 - Read/Write external FLASH
  6100. dcode_6(); break;
  6101. case 7: // D7 - Read/Write Bootloader
  6102. dcode_7(); break;
  6103. case 8: // D8 - Read/Write PINDA
  6104. dcode_8(); break;
  6105. case 9: // D9 - Read/Write ADC
  6106. dcode_9(); break;
  6107. case 10: // D10 - XYZ calibration = OK
  6108. dcode_10(); break;
  6109. #ifdef TMC2130
  6110. case 2130: // D9125 - TMC2130
  6111. dcode_2130(); break;
  6112. #endif //TMC2130
  6113. #ifdef FILAMENT_SENSOR
  6114. case 9125: // D9125 - FILAMENT_SENSOR
  6115. dcode_9125(); break;
  6116. #endif //FILAMENT_SENSOR
  6117. #endif //DEBUG_DCODES
  6118. }
  6119. }
  6120. else
  6121. {
  6122. SERIAL_ECHO_START;
  6123. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  6124. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  6125. SERIAL_ECHOLNPGM("\"(2)");
  6126. }
  6127. KEEPALIVE_STATE(NOT_BUSY);
  6128. ClearToSend();
  6129. }
  6130. void FlushSerialRequestResend()
  6131. {
  6132. //char cmdbuffer[bufindr][100]="Resend:";
  6133. MYSERIAL.flush();
  6134. printf_P(_N("%S: %ld\n%S\n"), _i("Resend"), gcode_LastN + 1, _T(MSG_OK));
  6135. }
  6136. // Confirm the execution of a command, if sent from a serial line.
  6137. // Execution of a command from a SD card will not be confirmed.
  6138. void ClearToSend()
  6139. {
  6140. previous_millis_cmd = millis();
  6141. if ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR))
  6142. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  6143. }
  6144. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6145. void update_currents() {
  6146. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  6147. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  6148. float tmp_motor[3];
  6149. //SERIAL_ECHOLNPGM("Currents updated: ");
  6150. if (destination[Z_AXIS] < Z_SILENT) {
  6151. //SERIAL_ECHOLNPGM("LOW");
  6152. for (uint8_t i = 0; i < 3; i++) {
  6153. st_current_set(i, current_low[i]);
  6154. /*MYSERIAL.print(int(i));
  6155. SERIAL_ECHOPGM(": ");
  6156. MYSERIAL.println(current_low[i]);*/
  6157. }
  6158. }
  6159. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  6160. //SERIAL_ECHOLNPGM("HIGH");
  6161. for (uint8_t i = 0; i < 3; i++) {
  6162. st_current_set(i, current_high[i]);
  6163. /*MYSERIAL.print(int(i));
  6164. SERIAL_ECHOPGM(": ");
  6165. MYSERIAL.println(current_high[i]);*/
  6166. }
  6167. }
  6168. else {
  6169. for (uint8_t i = 0; i < 3; i++) {
  6170. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  6171. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  6172. st_current_set(i, tmp_motor[i]);
  6173. /*MYSERIAL.print(int(i));
  6174. SERIAL_ECHOPGM(": ");
  6175. MYSERIAL.println(tmp_motor[i]);*/
  6176. }
  6177. }
  6178. }
  6179. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6180. void get_coordinates()
  6181. {
  6182. bool seen[4]={false,false,false,false};
  6183. for(int8_t i=0; i < NUM_AXIS; i++) {
  6184. if(code_seen(axis_codes[i]))
  6185. {
  6186. bool relative = axis_relative_modes[i] || relative_mode;
  6187. destination[i] = (float)code_value();
  6188. if (i == E_AXIS) {
  6189. float emult = extruder_multiplier[active_extruder];
  6190. if (emult != 1.) {
  6191. if (! relative) {
  6192. destination[i] -= current_position[i];
  6193. relative = true;
  6194. }
  6195. destination[i] *= emult;
  6196. }
  6197. }
  6198. if (relative)
  6199. destination[i] += current_position[i];
  6200. seen[i]=true;
  6201. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6202. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  6203. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6204. }
  6205. else destination[i] = current_position[i]; //Are these else lines really needed?
  6206. }
  6207. if(code_seen('F')) {
  6208. next_feedrate = code_value();
  6209. #ifdef MAX_SILENT_FEEDRATE
  6210. if (tmc2130_mode == TMC2130_MODE_SILENT)
  6211. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  6212. #endif //MAX_SILENT_FEEDRATE
  6213. if(next_feedrate > 0.0) feedrate = next_feedrate;
  6214. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  6215. {
  6216. // float e_max_speed =
  6217. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  6218. }
  6219. }
  6220. }
  6221. void get_arc_coordinates()
  6222. {
  6223. #ifdef SF_ARC_FIX
  6224. bool relative_mode_backup = relative_mode;
  6225. relative_mode = true;
  6226. #endif
  6227. get_coordinates();
  6228. #ifdef SF_ARC_FIX
  6229. relative_mode=relative_mode_backup;
  6230. #endif
  6231. if(code_seen('I')) {
  6232. offset[0] = code_value();
  6233. }
  6234. else {
  6235. offset[0] = 0.0;
  6236. }
  6237. if(code_seen('J')) {
  6238. offset[1] = code_value();
  6239. }
  6240. else {
  6241. offset[1] = 0.0;
  6242. }
  6243. }
  6244. void clamp_to_software_endstops(float target[3])
  6245. {
  6246. #ifdef DEBUG_DISABLE_SWLIMITS
  6247. return;
  6248. #endif //DEBUG_DISABLE_SWLIMITS
  6249. world2machine_clamp(target[0], target[1]);
  6250. // Clamp the Z coordinate.
  6251. if (min_software_endstops) {
  6252. float negative_z_offset = 0;
  6253. #ifdef ENABLE_AUTO_BED_LEVELING
  6254. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  6255. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  6256. #endif
  6257. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  6258. }
  6259. if (max_software_endstops) {
  6260. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  6261. }
  6262. }
  6263. #ifdef MESH_BED_LEVELING
  6264. 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) {
  6265. float dx = x - current_position[X_AXIS];
  6266. float dy = y - current_position[Y_AXIS];
  6267. float dz = z - current_position[Z_AXIS];
  6268. int n_segments = 0;
  6269. if (mbl.active) {
  6270. float len = abs(dx) + abs(dy);
  6271. if (len > 0)
  6272. // Split to 3cm segments or shorter.
  6273. n_segments = int(ceil(len / 30.f));
  6274. }
  6275. if (n_segments > 1) {
  6276. float de = e - current_position[E_AXIS];
  6277. for (int i = 1; i < n_segments; ++ i) {
  6278. float t = float(i) / float(n_segments);
  6279. if (saved_printing || (mbl.active == false)) return;
  6280. plan_buffer_line(
  6281. current_position[X_AXIS] + t * dx,
  6282. current_position[Y_AXIS] + t * dy,
  6283. current_position[Z_AXIS] + t * dz,
  6284. current_position[E_AXIS] + t * de,
  6285. feed_rate, extruder);
  6286. }
  6287. }
  6288. // The rest of the path.
  6289. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  6290. current_position[X_AXIS] = x;
  6291. current_position[Y_AXIS] = y;
  6292. current_position[Z_AXIS] = z;
  6293. current_position[E_AXIS] = e;
  6294. }
  6295. #endif // MESH_BED_LEVELING
  6296. void prepare_move()
  6297. {
  6298. clamp_to_software_endstops(destination);
  6299. previous_millis_cmd = millis();
  6300. // Do not use feedmultiply for E or Z only moves
  6301. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  6302. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  6303. }
  6304. else {
  6305. #ifdef MESH_BED_LEVELING
  6306. 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);
  6307. #else
  6308. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  6309. #endif
  6310. }
  6311. for(int8_t i=0; i < NUM_AXIS; i++) {
  6312. current_position[i] = destination[i];
  6313. }
  6314. }
  6315. void prepare_arc_move(char isclockwise) {
  6316. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  6317. // Trace the arc
  6318. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  6319. // As far as the parser is concerned, the position is now == target. In reality the
  6320. // motion control system might still be processing the action and the real tool position
  6321. // in any intermediate location.
  6322. for(int8_t i=0; i < NUM_AXIS; i++) {
  6323. current_position[i] = destination[i];
  6324. }
  6325. previous_millis_cmd = millis();
  6326. }
  6327. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6328. #if defined(FAN_PIN)
  6329. #if CONTROLLERFAN_PIN == FAN_PIN
  6330. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  6331. #endif
  6332. #endif
  6333. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  6334. unsigned long lastMotorCheck = 0;
  6335. void controllerFan()
  6336. {
  6337. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  6338. {
  6339. lastMotorCheck = millis();
  6340. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  6341. #if EXTRUDERS > 2
  6342. || !READ(E2_ENABLE_PIN)
  6343. #endif
  6344. #if EXTRUDER > 1
  6345. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  6346. || !READ(X2_ENABLE_PIN)
  6347. #endif
  6348. || !READ(E1_ENABLE_PIN)
  6349. #endif
  6350. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  6351. {
  6352. lastMotor = millis(); //... set time to NOW so the fan will turn on
  6353. }
  6354. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  6355. {
  6356. digitalWrite(CONTROLLERFAN_PIN, 0);
  6357. analogWrite(CONTROLLERFAN_PIN, 0);
  6358. }
  6359. else
  6360. {
  6361. // allows digital or PWM fan output to be used (see M42 handling)
  6362. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6363. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6364. }
  6365. }
  6366. }
  6367. #endif
  6368. #ifdef TEMP_STAT_LEDS
  6369. static bool blue_led = false;
  6370. static bool red_led = false;
  6371. static uint32_t stat_update = 0;
  6372. void handle_status_leds(void) {
  6373. float max_temp = 0.0;
  6374. if(millis() > stat_update) {
  6375. stat_update += 500; // Update every 0.5s
  6376. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  6377. max_temp = max(max_temp, degHotend(cur_extruder));
  6378. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  6379. }
  6380. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  6381. max_temp = max(max_temp, degTargetBed());
  6382. max_temp = max(max_temp, degBed());
  6383. #endif
  6384. if((max_temp > 55.0) && (red_led == false)) {
  6385. digitalWrite(STAT_LED_RED, 1);
  6386. digitalWrite(STAT_LED_BLUE, 0);
  6387. red_led = true;
  6388. blue_led = false;
  6389. }
  6390. if((max_temp < 54.0) && (blue_led == false)) {
  6391. digitalWrite(STAT_LED_RED, 0);
  6392. digitalWrite(STAT_LED_BLUE, 1);
  6393. red_led = false;
  6394. blue_led = true;
  6395. }
  6396. }
  6397. }
  6398. #endif
  6399. #ifdef SAFETYTIMER
  6400. /**
  6401. * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
  6402. *
  6403. * Full screen blocking notification message is shown after heater turning off.
  6404. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  6405. * damage print.
  6406. *
  6407. * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
  6408. */
  6409. static void handleSafetyTimer()
  6410. {
  6411. #if (EXTRUDERS > 1)
  6412. #error Implemented only for one extruder.
  6413. #endif //(EXTRUDERS > 1)
  6414. if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
  6415. {
  6416. safetyTimer.stop();
  6417. }
  6418. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  6419. {
  6420. safetyTimer.start();
  6421. }
  6422. else if (safetyTimer.expired(safetytimer_inactive_time))
  6423. {
  6424. setTargetBed(0);
  6425. setAllTargetHotends(0);
  6426. lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
  6427. }
  6428. }
  6429. #endif //SAFETYTIMER
  6430. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  6431. {
  6432. #ifdef FILAMENT_SENSOR
  6433. if (mcode_in_progress != 600) //M600 not in progress
  6434. {
  6435. if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
  6436. {
  6437. if (fsensor_check_autoload())
  6438. {
  6439. fsensor_autoload_check_stop();
  6440. if (degHotend0() > EXTRUDE_MINTEMP)
  6441. {
  6442. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  6443. tone(BEEPER, 1000);
  6444. delay_keep_alive(50);
  6445. noTone(BEEPER);
  6446. loading_flag = true;
  6447. enquecommand_front_P((PSTR("M701")));
  6448. }
  6449. else
  6450. {
  6451. lcd_update_enable(false);
  6452. lcd_clear();
  6453. lcd_set_cursor(0, 0);
  6454. lcd_puts_P(_T(MSG_ERROR));
  6455. lcd_set_cursor(0, 2);
  6456. lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
  6457. delay(2000);
  6458. lcd_clear();
  6459. lcd_update_enable(true);
  6460. }
  6461. }
  6462. }
  6463. else
  6464. fsensor_autoload_check_stop();
  6465. }
  6466. #endif //FILAMENT_SENSOR
  6467. #ifdef SAFETYTIMER
  6468. handleSafetyTimer();
  6469. #endif //SAFETYTIMER
  6470. #if defined(KILL_PIN) && KILL_PIN > -1
  6471. static int killCount = 0; // make the inactivity button a bit less responsive
  6472. const int KILL_DELAY = 10000;
  6473. #endif
  6474. if(buflen < (BUFSIZE-1)){
  6475. get_command();
  6476. }
  6477. if( (millis() - previous_millis_cmd) > max_inactive_time )
  6478. if(max_inactive_time)
  6479. kill(_n(""), 4);
  6480. if(stepper_inactive_time) {
  6481. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  6482. {
  6483. if(blocks_queued() == false && ignore_stepper_queue == false) {
  6484. disable_x();
  6485. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  6486. disable_y();
  6487. disable_z();
  6488. disable_e0();
  6489. disable_e1();
  6490. disable_e2();
  6491. }
  6492. }
  6493. }
  6494. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  6495. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  6496. {
  6497. chdkActive = false;
  6498. WRITE(CHDK, LOW);
  6499. }
  6500. #endif
  6501. #if defined(KILL_PIN) && KILL_PIN > -1
  6502. // Check if the kill button was pressed and wait just in case it was an accidental
  6503. // key kill key press
  6504. // -------------------------------------------------------------------------------
  6505. if( 0 == READ(KILL_PIN) )
  6506. {
  6507. killCount++;
  6508. }
  6509. else if (killCount > 0)
  6510. {
  6511. killCount--;
  6512. }
  6513. // Exceeded threshold and we can confirm that it was not accidental
  6514. // KILL the machine
  6515. // ----------------------------------------------------------------
  6516. if ( killCount >= KILL_DELAY)
  6517. {
  6518. kill("", 5);
  6519. }
  6520. #endif
  6521. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6522. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  6523. #endif
  6524. #ifdef EXTRUDER_RUNOUT_PREVENT
  6525. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  6526. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  6527. {
  6528. bool oldstatus=READ(E0_ENABLE_PIN);
  6529. enable_e0();
  6530. float oldepos=current_position[E_AXIS];
  6531. float oldedes=destination[E_AXIS];
  6532. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  6533. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  6534. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  6535. current_position[E_AXIS]=oldepos;
  6536. destination[E_AXIS]=oldedes;
  6537. plan_set_e_position(oldepos);
  6538. previous_millis_cmd=millis();
  6539. st_synchronize();
  6540. WRITE(E0_ENABLE_PIN,oldstatus);
  6541. }
  6542. #endif
  6543. #ifdef TEMP_STAT_LEDS
  6544. handle_status_leds();
  6545. #endif
  6546. check_axes_activity();
  6547. }
  6548. void kill(const char *full_screen_message, unsigned char id)
  6549. {
  6550. printf_P(_N("KILL: %d\n"), id);
  6551. //return;
  6552. cli(); // Stop interrupts
  6553. disable_heater();
  6554. disable_x();
  6555. // SERIAL_ECHOLNPGM("kill - disable Y");
  6556. disable_y();
  6557. disable_z();
  6558. disable_e0();
  6559. disable_e1();
  6560. disable_e2();
  6561. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  6562. pinMode(PS_ON_PIN,INPUT);
  6563. #endif
  6564. SERIAL_ERROR_START;
  6565. SERIAL_ERRORLNRPGM(_i("Printer halted. kill() called!"));////MSG_ERR_KILLED c=0 r=0
  6566. if (full_screen_message != NULL) {
  6567. SERIAL_ERRORLNRPGM(full_screen_message);
  6568. lcd_display_message_fullscreen_P(full_screen_message);
  6569. } else {
  6570. LCD_ALERTMESSAGERPGM(_i("KILLED. "));////MSG_KILLED c=0 r=0
  6571. }
  6572. // FMC small patch to update the LCD before ending
  6573. sei(); // enable interrupts
  6574. for ( int i=5; i--; lcd_update(0))
  6575. {
  6576. delay(200);
  6577. }
  6578. cli(); // disable interrupts
  6579. suicide();
  6580. while(1)
  6581. {
  6582. #ifdef WATCHDOG
  6583. wdt_reset();
  6584. #endif //WATCHDOG
  6585. /* Intentionally left empty */
  6586. } // Wait for reset
  6587. }
  6588. void Stop()
  6589. {
  6590. disable_heater();
  6591. if(Stopped == false) {
  6592. Stopped = true;
  6593. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  6594. SERIAL_ERROR_START;
  6595. SERIAL_ERRORLNRPGM(_T(MSG_ERR_STOPPED));
  6596. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  6597. }
  6598. }
  6599. bool IsStopped() { return Stopped; };
  6600. #ifdef FAST_PWM_FAN
  6601. void setPwmFrequency(uint8_t pin, int val)
  6602. {
  6603. val &= 0x07;
  6604. switch(digitalPinToTimer(pin))
  6605. {
  6606. #if defined(TCCR0A)
  6607. case TIMER0A:
  6608. case TIMER0B:
  6609. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  6610. // TCCR0B |= val;
  6611. break;
  6612. #endif
  6613. #if defined(TCCR1A)
  6614. case TIMER1A:
  6615. case TIMER1B:
  6616. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6617. // TCCR1B |= val;
  6618. break;
  6619. #endif
  6620. #if defined(TCCR2)
  6621. case TIMER2:
  6622. case TIMER2:
  6623. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6624. TCCR2 |= val;
  6625. break;
  6626. #endif
  6627. #if defined(TCCR2A)
  6628. case TIMER2A:
  6629. case TIMER2B:
  6630. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  6631. TCCR2B |= val;
  6632. break;
  6633. #endif
  6634. #if defined(TCCR3A)
  6635. case TIMER3A:
  6636. case TIMER3B:
  6637. case TIMER3C:
  6638. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  6639. TCCR3B |= val;
  6640. break;
  6641. #endif
  6642. #if defined(TCCR4A)
  6643. case TIMER4A:
  6644. case TIMER4B:
  6645. case TIMER4C:
  6646. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  6647. TCCR4B |= val;
  6648. break;
  6649. #endif
  6650. #if defined(TCCR5A)
  6651. case TIMER5A:
  6652. case TIMER5B:
  6653. case TIMER5C:
  6654. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  6655. TCCR5B |= val;
  6656. break;
  6657. #endif
  6658. }
  6659. }
  6660. #endif //FAST_PWM_FAN
  6661. bool setTargetedHotend(int code){
  6662. tmp_extruder = active_extruder;
  6663. if(code_seen('T')) {
  6664. tmp_extruder = code_value();
  6665. if(tmp_extruder >= EXTRUDERS) {
  6666. SERIAL_ECHO_START;
  6667. switch(code){
  6668. case 104:
  6669. SERIAL_ECHORPGM(_i("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER c=0 r=0
  6670. break;
  6671. case 105:
  6672. SERIAL_ECHO(_i("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER c=0 r=0
  6673. break;
  6674. case 109:
  6675. SERIAL_ECHO(_i("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER c=0 r=0
  6676. break;
  6677. case 218:
  6678. SERIAL_ECHO(_i("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER c=0 r=0
  6679. break;
  6680. case 221:
  6681. SERIAL_ECHO(_i("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER c=0 r=0
  6682. break;
  6683. }
  6684. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6685. return true;
  6686. }
  6687. }
  6688. return false;
  6689. }
  6690. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  6691. {
  6692. 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)
  6693. {
  6694. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  6695. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  6696. }
  6697. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  6698. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  6699. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  6700. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  6701. total_filament_used = 0;
  6702. }
  6703. float calculate_extruder_multiplier(float diameter) {
  6704. float out = 1.f;
  6705. if (volumetric_enabled && diameter > 0.f) {
  6706. float area = M_PI * diameter * diameter * 0.25;
  6707. out = 1.f / area;
  6708. }
  6709. if (extrudemultiply != 100)
  6710. out *= float(extrudemultiply) * 0.01f;
  6711. return out;
  6712. }
  6713. void calculate_extruder_multipliers() {
  6714. extruder_multiplier[0] = calculate_extruder_multiplier(filament_size[0]);
  6715. #if EXTRUDERS > 1
  6716. extruder_multiplier[1] = calculate_extruder_multiplier(filament_size[1]);
  6717. #if EXTRUDERS > 2
  6718. extruder_multiplier[2] = calculate_extruder_multiplier(filament_size[2]);
  6719. #endif
  6720. #endif
  6721. }
  6722. void delay_keep_alive(unsigned int ms)
  6723. {
  6724. for (;;) {
  6725. manage_heater();
  6726. // Manage inactivity, but don't disable steppers on timeout.
  6727. manage_inactivity(true);
  6728. lcd_update(0);
  6729. if (ms == 0)
  6730. break;
  6731. else if (ms >= 50) {
  6732. delay(50);
  6733. ms -= 50;
  6734. } else {
  6735. delay(ms);
  6736. ms = 0;
  6737. }
  6738. }
  6739. }
  6740. void wait_for_heater(long codenum) {
  6741. #ifdef TEMP_RESIDENCY_TIME
  6742. long residencyStart;
  6743. residencyStart = -1;
  6744. /* continue to loop until we have reached the target temp
  6745. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  6746. while ((!cancel_heatup) && ((residencyStart == -1) ||
  6747. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  6748. #else
  6749. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  6750. #endif //TEMP_RESIDENCY_TIME
  6751. if ((millis() - codenum) > 1000UL)
  6752. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  6753. if (!farm_mode) {
  6754. SERIAL_PROTOCOLPGM("T:");
  6755. SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
  6756. SERIAL_PROTOCOLPGM(" E:");
  6757. SERIAL_PROTOCOL((int)tmp_extruder);
  6758. #ifdef TEMP_RESIDENCY_TIME
  6759. SERIAL_PROTOCOLPGM(" W:");
  6760. if (residencyStart > -1)
  6761. {
  6762. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  6763. SERIAL_PROTOCOLLN(codenum);
  6764. }
  6765. else
  6766. {
  6767. SERIAL_PROTOCOLLN("?");
  6768. }
  6769. }
  6770. #else
  6771. SERIAL_PROTOCOLLN("");
  6772. #endif
  6773. codenum = millis();
  6774. }
  6775. manage_heater();
  6776. manage_inactivity();
  6777. lcd_update(0);
  6778. #ifdef TEMP_RESIDENCY_TIME
  6779. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  6780. or when current temp falls outside the hysteresis after target temp was reached */
  6781. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
  6782. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
  6783. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
  6784. {
  6785. residencyStart = millis();
  6786. }
  6787. #endif //TEMP_RESIDENCY_TIME
  6788. }
  6789. }
  6790. void check_babystep() {
  6791. int babystep_z;
  6792. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6793. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  6794. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  6795. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  6796. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6797. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  6798. lcd_update_enable(true);
  6799. }
  6800. }
  6801. #ifdef DIS
  6802. void d_setup()
  6803. {
  6804. pinMode(D_DATACLOCK, INPUT_PULLUP);
  6805. pinMode(D_DATA, INPUT_PULLUP);
  6806. pinMode(D_REQUIRE, OUTPUT);
  6807. digitalWrite(D_REQUIRE, HIGH);
  6808. }
  6809. float d_ReadData()
  6810. {
  6811. int digit[13];
  6812. String mergeOutput;
  6813. float output;
  6814. digitalWrite(D_REQUIRE, HIGH);
  6815. for (int i = 0; i<13; i++)
  6816. {
  6817. for (int j = 0; j < 4; j++)
  6818. {
  6819. while (digitalRead(D_DATACLOCK) == LOW) {}
  6820. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6821. bitWrite(digit[i], j, digitalRead(D_DATA));
  6822. }
  6823. }
  6824. digitalWrite(D_REQUIRE, LOW);
  6825. mergeOutput = "";
  6826. output = 0;
  6827. for (int r = 5; r <= 10; r++) //Merge digits
  6828. {
  6829. mergeOutput += digit[r];
  6830. }
  6831. output = mergeOutput.toFloat();
  6832. if (digit[4] == 8) //Handle sign
  6833. {
  6834. output *= -1;
  6835. }
  6836. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6837. {
  6838. output /= 10;
  6839. }
  6840. return output;
  6841. }
  6842. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  6843. int t1 = 0;
  6844. int t_delay = 0;
  6845. int digit[13];
  6846. int m;
  6847. char str[3];
  6848. //String mergeOutput;
  6849. char mergeOutput[15];
  6850. float output;
  6851. int mesh_point = 0; //index number of calibration point
  6852. 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
  6853. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  6854. float mesh_home_z_search = 4;
  6855. float row[x_points_num];
  6856. int ix = 0;
  6857. int iy = 0;
  6858. const char* filename_wldsd = "wldsd.txt";
  6859. char data_wldsd[70];
  6860. char numb_wldsd[10];
  6861. d_setup();
  6862. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  6863. // We don't know where we are! HOME!
  6864. // Push the commands to the front of the message queue in the reverse order!
  6865. // There shall be always enough space reserved for these commands.
  6866. repeatcommand_front(); // repeat G80 with all its parameters
  6867. enquecommand_front_P((PSTR("G28 W0")));
  6868. enquecommand_front_P((PSTR("G1 Z5")));
  6869. return;
  6870. }
  6871. bool custom_message_old = custom_message;
  6872. unsigned int custom_message_type_old = custom_message_type;
  6873. unsigned int custom_message_state_old = custom_message_state;
  6874. custom_message = true;
  6875. custom_message_type = 1;
  6876. custom_message_state = (x_points_num * y_points_num) + 10;
  6877. lcd_update(1);
  6878. mbl.reset();
  6879. babystep_undo();
  6880. card.openFile(filename_wldsd, false);
  6881. current_position[Z_AXIS] = mesh_home_z_search;
  6882. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
  6883. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  6884. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  6885. setup_for_endstop_move(false);
  6886. SERIAL_PROTOCOLPGM("Num X,Y: ");
  6887. SERIAL_PROTOCOL(x_points_num);
  6888. SERIAL_PROTOCOLPGM(",");
  6889. SERIAL_PROTOCOL(y_points_num);
  6890. SERIAL_PROTOCOLPGM("\nZ search height: ");
  6891. SERIAL_PROTOCOL(mesh_home_z_search);
  6892. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  6893. SERIAL_PROTOCOL(x_dimension);
  6894. SERIAL_PROTOCOLPGM(",");
  6895. SERIAL_PROTOCOL(y_dimension);
  6896. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  6897. while (mesh_point != x_points_num * y_points_num) {
  6898. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  6899. iy = mesh_point / x_points_num;
  6900. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  6901. float z0 = 0.f;
  6902. current_position[Z_AXIS] = mesh_home_z_search;
  6903. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  6904. st_synchronize();
  6905. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  6906. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  6907. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  6908. st_synchronize();
  6909. 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
  6910. break;
  6911. card.closefile();
  6912. }
  6913. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6914. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  6915. //strcat(data_wldsd, numb_wldsd);
  6916. //MYSERIAL.println(data_wldsd);
  6917. //delay(1000);
  6918. //delay(3000);
  6919. //t1 = millis();
  6920. //while (digitalRead(D_DATACLOCK) == LOW) {}
  6921. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  6922. memset(digit, 0, sizeof(digit));
  6923. //cli();
  6924. digitalWrite(D_REQUIRE, LOW);
  6925. for (int i = 0; i<13; i++)
  6926. {
  6927. //t1 = millis();
  6928. for (int j = 0; j < 4; j++)
  6929. {
  6930. while (digitalRead(D_DATACLOCK) == LOW) {}
  6931. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6932. bitWrite(digit[i], j, digitalRead(D_DATA));
  6933. }
  6934. //t_delay = (millis() - t1);
  6935. //SERIAL_PROTOCOLPGM(" ");
  6936. //SERIAL_PROTOCOL_F(t_delay, 5);
  6937. //SERIAL_PROTOCOLPGM(" ");
  6938. }
  6939. //sei();
  6940. digitalWrite(D_REQUIRE, HIGH);
  6941. mergeOutput[0] = '\0';
  6942. output = 0;
  6943. for (int r = 5; r <= 10; r++) //Merge digits
  6944. {
  6945. sprintf(str, "%d", digit[r]);
  6946. strcat(mergeOutput, str);
  6947. }
  6948. output = atof(mergeOutput);
  6949. if (digit[4] == 8) //Handle sign
  6950. {
  6951. output *= -1;
  6952. }
  6953. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6954. {
  6955. output *= 0.1;
  6956. }
  6957. //output = d_ReadData();
  6958. //row[ix] = current_position[Z_AXIS];
  6959. memset(data_wldsd, 0, sizeof(data_wldsd));
  6960. for (int i = 0; i <3; i++) {
  6961. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6962. dtostrf(current_position[i], 8, 5, numb_wldsd);
  6963. strcat(data_wldsd, numb_wldsd);
  6964. strcat(data_wldsd, ";");
  6965. }
  6966. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6967. dtostrf(output, 8, 5, numb_wldsd);
  6968. strcat(data_wldsd, numb_wldsd);
  6969. //strcat(data_wldsd, ";");
  6970. card.write_command(data_wldsd);
  6971. //row[ix] = d_ReadData();
  6972. row[ix] = output; // current_position[Z_AXIS];
  6973. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  6974. for (int i = 0; i < x_points_num; i++) {
  6975. SERIAL_PROTOCOLPGM(" ");
  6976. SERIAL_PROTOCOL_F(row[i], 5);
  6977. }
  6978. SERIAL_PROTOCOLPGM("\n");
  6979. }
  6980. custom_message_state--;
  6981. mesh_point++;
  6982. lcd_update(1);
  6983. }
  6984. card.closefile();
  6985. }
  6986. #endif
  6987. void temp_compensation_start() {
  6988. custom_message = true;
  6989. custom_message_type = 5;
  6990. custom_message_state = PINDA_HEAT_T + 1;
  6991. lcd_update(2);
  6992. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  6993. current_position[E_AXIS] -= default_retraction;
  6994. }
  6995. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  6996. current_position[X_AXIS] = PINDA_PREHEAT_X;
  6997. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  6998. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  6999. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  7000. st_synchronize();
  7001. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  7002. for (int i = 0; i < PINDA_HEAT_T; i++) {
  7003. delay_keep_alive(1000);
  7004. custom_message_state = PINDA_HEAT_T - i;
  7005. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  7006. else lcd_update(1);
  7007. }
  7008. custom_message_type = 0;
  7009. custom_message_state = 0;
  7010. custom_message = false;
  7011. }
  7012. void temp_compensation_apply() {
  7013. int i_add;
  7014. int z_shift = 0;
  7015. float z_shift_mm;
  7016. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  7017. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  7018. i_add = (target_temperature_bed - 60) / 10;
  7019. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  7020. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  7021. }else {
  7022. //interpolation
  7023. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  7024. }
  7025. printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
  7026. 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);
  7027. st_synchronize();
  7028. plan_set_z_position(current_position[Z_AXIS]);
  7029. }
  7030. else {
  7031. //we have no temp compensation data
  7032. }
  7033. }
  7034. float temp_comp_interpolation(float inp_temperature) {
  7035. //cubic spline interpolation
  7036. int n, i, j;
  7037. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  7038. int shift[10];
  7039. int temp_C[10];
  7040. n = 6; //number of measured points
  7041. shift[0] = 0;
  7042. for (i = 0; i < n; i++) {
  7043. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  7044. temp_C[i] = 50 + i * 10; //temperature in C
  7045. #ifdef PINDA_THERMISTOR
  7046. temp_C[i] = 35 + i * 5; //temperature in C
  7047. #else
  7048. temp_C[i] = 50 + i * 10; //temperature in C
  7049. #endif
  7050. x[i] = (float)temp_C[i];
  7051. f[i] = (float)shift[i];
  7052. }
  7053. if (inp_temperature < x[0]) return 0;
  7054. for (i = n - 1; i>0; i--) {
  7055. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  7056. h[i - 1] = x[i] - x[i - 1];
  7057. }
  7058. //*********** formation of h, s , f matrix **************
  7059. for (i = 1; i<n - 1; i++) {
  7060. m[i][i] = 2 * (h[i - 1] + h[i]);
  7061. if (i != 1) {
  7062. m[i][i - 1] = h[i - 1];
  7063. m[i - 1][i] = h[i - 1];
  7064. }
  7065. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  7066. }
  7067. //*********** forward elimination **************
  7068. for (i = 1; i<n - 2; i++) {
  7069. temp = (m[i + 1][i] / m[i][i]);
  7070. for (j = 1; j <= n - 1; j++)
  7071. m[i + 1][j] -= temp*m[i][j];
  7072. }
  7073. //*********** backward substitution *********
  7074. for (i = n - 2; i>0; i--) {
  7075. sum = 0;
  7076. for (j = i; j <= n - 2; j++)
  7077. sum += m[i][j] * s[j];
  7078. s[i] = (m[i][n - 1] - sum) / m[i][i];
  7079. }
  7080. for (i = 0; i<n - 1; i++)
  7081. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  7082. a = (s[i + 1] - s[i]) / (6 * h[i]);
  7083. b = s[i] / 2;
  7084. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  7085. d = f[i];
  7086. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  7087. }
  7088. return sum;
  7089. }
  7090. #ifdef PINDA_THERMISTOR
  7091. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  7092. {
  7093. if (!temp_cal_active) return 0;
  7094. if (!calibration_status_pinda()) return 0;
  7095. return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
  7096. }
  7097. #endif //PINDA_THERMISTOR
  7098. void long_pause() //long pause print
  7099. {
  7100. st_synchronize();
  7101. //save currently set parameters to global variables
  7102. saved_feedmultiply = feedmultiply;
  7103. HotendTempBckp = degTargetHotend(active_extruder);
  7104. fanSpeedBckp = fanSpeed;
  7105. start_pause_print = millis();
  7106. //save position
  7107. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  7108. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  7109. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  7110. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  7111. //retract
  7112. current_position[E_AXIS] -= default_retraction;
  7113. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7114. //lift z
  7115. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  7116. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  7117. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  7118. //set nozzle target temperature to 0
  7119. setAllTargetHotends(0);
  7120. //Move XY to side
  7121. current_position[X_AXIS] = X_PAUSE_POS;
  7122. current_position[Y_AXIS] = Y_PAUSE_POS;
  7123. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  7124. // Turn off the print fan
  7125. fanSpeed = 0;
  7126. st_synchronize();
  7127. }
  7128. void serialecho_temperatures() {
  7129. float tt = degHotend(active_extruder);
  7130. SERIAL_PROTOCOLPGM("T:");
  7131. SERIAL_PROTOCOL(tt);
  7132. SERIAL_PROTOCOLPGM(" E:");
  7133. SERIAL_PROTOCOL((int)active_extruder);
  7134. SERIAL_PROTOCOLPGM(" B:");
  7135. SERIAL_PROTOCOL_F(degBed(), 1);
  7136. SERIAL_PROTOCOLLN("");
  7137. }
  7138. extern uint32_t sdpos_atomic;
  7139. #ifdef UVLO_SUPPORT
  7140. void uvlo_()
  7141. {
  7142. unsigned long time_start = millis();
  7143. bool sd_print = card.sdprinting;
  7144. // Conserve power as soon as possible.
  7145. disable_x();
  7146. disable_y();
  7147. #ifdef TMC2130
  7148. tmc2130_set_current_h(Z_AXIS, 20);
  7149. tmc2130_set_current_r(Z_AXIS, 20);
  7150. tmc2130_set_current_h(E_AXIS, 20);
  7151. tmc2130_set_current_r(E_AXIS, 20);
  7152. #endif //TMC2130
  7153. // Indicate that the interrupt has been triggered.
  7154. // SERIAL_ECHOLNPGM("UVLO");
  7155. // Read out the current Z motor microstep counter. This will be later used
  7156. // for reaching the zero full step before powering off.
  7157. uint16_t z_microsteps = 0;
  7158. #ifdef TMC2130
  7159. z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  7160. #endif //TMC2130
  7161. // Calculate the file position, from which to resume this print.
  7162. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  7163. {
  7164. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7165. sd_position -= sdlen_planner;
  7166. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7167. sd_position -= sdlen_cmdqueue;
  7168. if (sd_position < 0) sd_position = 0;
  7169. }
  7170. // Backup the feedrate in mm/min.
  7171. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7172. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  7173. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  7174. // are in action.
  7175. planner_abort_hard();
  7176. // Store the current extruder position.
  7177. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  7178. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  7179. // Clean the input command queue.
  7180. cmdqueue_reset();
  7181. card.sdprinting = false;
  7182. // card.closefile();
  7183. // Enable stepper driver interrupt to move Z axis.
  7184. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  7185. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  7186. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  7187. sei();
  7188. plan_buffer_line(
  7189. current_position[X_AXIS],
  7190. current_position[Y_AXIS],
  7191. current_position[Z_AXIS],
  7192. current_position[E_AXIS] - default_retraction,
  7193. 95, active_extruder);
  7194. st_synchronize();
  7195. disable_e0();
  7196. plan_buffer_line(
  7197. current_position[X_AXIS],
  7198. current_position[Y_AXIS],
  7199. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7200. current_position[E_AXIS] - default_retraction,
  7201. 40, active_extruder);
  7202. st_synchronize();
  7203. disable_e0();
  7204. plan_buffer_line(
  7205. current_position[X_AXIS],
  7206. current_position[Y_AXIS],
  7207. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7208. current_position[E_AXIS] - default_retraction,
  7209. 40, active_extruder);
  7210. st_synchronize();
  7211. disable_e0();
  7212. disable_z();
  7213. // Move Z up to the next 0th full step.
  7214. // Write the file position.
  7215. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  7216. // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7217. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7218. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7219. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7220. // Scale the z value to 1u resolution.
  7221. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
  7222. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  7223. }
  7224. // Read out the current Z motor microstep counter. This will be later used
  7225. // for reaching the zero full step before powering off.
  7226. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  7227. // Store the current position.
  7228. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  7229. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  7230. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  7231. // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
  7232. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  7233. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  7234. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  7235. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  7236. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
  7237. #if EXTRUDERS > 1
  7238. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
  7239. #if EXTRUDERS > 2
  7240. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
  7241. #endif
  7242. #endif
  7243. eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
  7244. // Finaly store the "power outage" flag.
  7245. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  7246. st_synchronize();
  7247. printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
  7248. disable_z();
  7249. // Increment power failure counter
  7250. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  7251. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  7252. printf_P(_N("UVLO - end %d\n"), millis() - time_start);
  7253. #if 0
  7254. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  7255. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  7256. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  7257. st_synchronize();
  7258. #endif
  7259. wdt_enable(WDTO_500MS);
  7260. WRITE(BEEPER,HIGH);
  7261. while(1)
  7262. ;
  7263. }
  7264. void uvlo_tiny()
  7265. {
  7266. uint16_t z_microsteps=0;
  7267. // Conserve power as soon as possible.
  7268. disable_x();
  7269. disable_y();
  7270. disable_e0();
  7271. #ifdef TMC2130
  7272. tmc2130_set_current_h(Z_AXIS, 20);
  7273. tmc2130_set_current_r(Z_AXIS, 20);
  7274. #endif //TMC2130
  7275. // Read out the current Z motor microstep counter
  7276. #ifdef TMC2130
  7277. z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
  7278. #endif //TMC2130
  7279. planner_abort_hard();
  7280. sei();
  7281. plan_buffer_line(
  7282. current_position[X_AXIS],
  7283. current_position[Y_AXIS],
  7284. // current_position[Z_AXIS]+float((1024-z_microsteps+7)>>4)/axis_steps_per_unit[Z_AXIS],
  7285. current_position[Z_AXIS]+UVLO_Z_AXIS_SHIFT+float((1024-z_microsteps+7)>>4)/axis_steps_per_unit[Z_AXIS],
  7286. current_position[E_AXIS],
  7287. 40, active_extruder);
  7288. st_synchronize();
  7289. disable_z();
  7290. // Finaly store the "power outage" flag.
  7291. //if(sd_print)
  7292. eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
  7293. eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS),z_microsteps);
  7294. eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  7295. // Increment power failure counter
  7296. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  7297. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  7298. wdt_enable(WDTO_500MS);
  7299. WRITE(BEEPER,HIGH);
  7300. while(1)
  7301. ;
  7302. }
  7303. #endif //UVLO_SUPPORT
  7304. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  7305. void setup_fan_interrupt() {
  7306. //INT7
  7307. DDRE &= ~(1 << 7); //input pin
  7308. PORTE &= ~(1 << 7); //no internal pull-up
  7309. //start with sensing rising edge
  7310. EICRB &= ~(1 << 6);
  7311. EICRB |= (1 << 7);
  7312. //enable INT7 interrupt
  7313. EIMSK |= (1 << 7);
  7314. }
  7315. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  7316. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  7317. ISR(INT7_vect) {
  7318. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  7319. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  7320. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  7321. t_fan_rising_edge = millis_nc();
  7322. }
  7323. else { //interrupt was triggered by falling edge
  7324. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  7325. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  7326. }
  7327. }
  7328. EICRB ^= (1 << 6); //change edge
  7329. }
  7330. #endif
  7331. #ifdef UVLO_SUPPORT
  7332. void setup_uvlo_interrupt() {
  7333. DDRE &= ~(1 << 4); //input pin
  7334. PORTE &= ~(1 << 4); //no internal pull-up
  7335. //sensing falling edge
  7336. EICRB |= (1 << 0);
  7337. EICRB &= ~(1 << 1);
  7338. //enable INT4 interrupt
  7339. EIMSK |= (1 << 4);
  7340. }
  7341. ISR(INT4_vect) {
  7342. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  7343. SERIAL_ECHOLNPGM("INT4");
  7344. if(IS_SD_PRINTING && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO))) ) uvlo_();
  7345. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
  7346. }
  7347. void recover_print(uint8_t automatic) {
  7348. char cmd[30];
  7349. lcd_update_enable(true);
  7350. lcd_update(2);
  7351. lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
  7352. bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
  7353. recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers
  7354. // Lift the print head, so one may remove the excess priming material.
  7355. if(!bTiny&&(current_position[Z_AXIS]<25))
  7356. enquecommand_P(PSTR("G1 Z25 F800"));
  7357. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  7358. enquecommand_P(PSTR("G28 X Y"));
  7359. // Set the target bed and nozzle temperatures and wait.
  7360. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  7361. enquecommand(cmd);
  7362. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  7363. enquecommand(cmd);
  7364. enquecommand_P(PSTR("M83")); //E axis relative mode
  7365. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7366. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  7367. if(automatic == 0){
  7368. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7369. }
  7370. enquecommand_P(PSTR("G1 E" STRINGIFY(-default_retraction)" F480"));
  7371. 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]);
  7372. // Restart the print.
  7373. restore_print_from_eeprom();
  7374. printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
  7375. }
  7376. void recover_machine_state_after_power_panic(bool bTiny)
  7377. {
  7378. char cmd[30];
  7379. // 1) Recover the logical cordinates at the time of the power panic.
  7380. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  7381. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  7382. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  7383. // Recover the logical coordinate of the Z axis at the time of the power panic.
  7384. // The current position after power panic is moved to the next closest 0th full step.
  7385. if(bTiny)
  7386. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z)) +
  7387. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  7388. else
  7389. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  7390. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  7391. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
  7392. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7393. sprintf_P(cmd, PSTR("G92 E"));
  7394. dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
  7395. enquecommand(cmd);
  7396. }
  7397. memcpy(destination, current_position, sizeof(destination));
  7398. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7399. print_world_coordinates();
  7400. // 2) Initialize the logical to physical coordinate system transformation.
  7401. world2machine_initialize();
  7402. // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7403. mbl.active = false;
  7404. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7405. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7406. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7407. // Scale the z value to 10u resolution.
  7408. int16_t v;
  7409. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
  7410. if (v != 0)
  7411. mbl.active = true;
  7412. mbl.z_values[iy][ix] = float(v) * 0.001f;
  7413. }
  7414. if (mbl.active)
  7415. mbl.upsample_3x3();
  7416. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7417. // print_mesh_bed_leveling_table();
  7418. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  7419. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  7420. babystep_load();
  7421. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  7422. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  7423. // 6) Power up the motors, mark their positions as known.
  7424. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  7425. axis_known_position[X_AXIS] = true; enable_x();
  7426. axis_known_position[Y_AXIS] = true; enable_y();
  7427. axis_known_position[Z_AXIS] = true; enable_z();
  7428. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7429. print_physical_coordinates();
  7430. // 7) Recover the target temperatures.
  7431. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  7432. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  7433. // 8) Recover extruder multipilers
  7434. extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
  7435. #if EXTRUDERS > 1
  7436. extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
  7437. #if EXTRUDERS > 2
  7438. extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
  7439. #endif
  7440. #endif
  7441. extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
  7442. }
  7443. void restore_print_from_eeprom() {
  7444. int feedrate_rec;
  7445. uint8_t fan_speed_rec;
  7446. char cmd[30];
  7447. char filename[13];
  7448. uint8_t depth = 0;
  7449. char dir_name[9];
  7450. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  7451. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  7452. SERIAL_ECHOPGM("Feedrate:");
  7453. MYSERIAL.println(feedrate_rec);
  7454. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  7455. MYSERIAL.println(int(depth));
  7456. for (int i = 0; i < depth; i++) {
  7457. for (int j = 0; j < 8; j++) {
  7458. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  7459. }
  7460. dir_name[8] = '\0';
  7461. MYSERIAL.println(dir_name);
  7462. strcpy(dir_names[i], dir_name);
  7463. card.chdir(dir_name);
  7464. }
  7465. for (int i = 0; i < 8; i++) {
  7466. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  7467. }
  7468. filename[8] = '\0';
  7469. MYSERIAL.print(filename);
  7470. strcat_P(filename, PSTR(".gco"));
  7471. sprintf_P(cmd, PSTR("M23 %s"), filename);
  7472. enquecommand(cmd);
  7473. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  7474. SERIAL_ECHOPGM("Position read from eeprom:");
  7475. MYSERIAL.println(position);
  7476. // E axis relative mode.
  7477. enquecommand_P(PSTR("M83"));
  7478. // Move to the XY print position in logical coordinates, where the print has been killed.
  7479. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  7480. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  7481. strcat_P(cmd, PSTR(" F2000"));
  7482. enquecommand(cmd);
  7483. // Move the Z axis down to the print, in logical coordinates.
  7484. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  7485. enquecommand(cmd);
  7486. // Unretract.
  7487. enquecommand_P(PSTR("G1 E" STRINGIFY(2*default_retraction)" F480"));
  7488. // Set the feedrate saved at the power panic.
  7489. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  7490. enquecommand(cmd);
  7491. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  7492. {
  7493. enquecommand_P(PSTR("M82")); //E axis abslute mode
  7494. }
  7495. // Set the fan speed saved at the power panic.
  7496. strcpy_P(cmd, PSTR("M106 S"));
  7497. strcat(cmd, itostr3(int(fan_speed_rec)));
  7498. enquecommand(cmd);
  7499. // Set a position in the file.
  7500. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  7501. enquecommand(cmd);
  7502. enquecommand_P(PSTR("G4 S0"));
  7503. enquecommand_P(PSTR("PRUSA uvlo"));
  7504. }
  7505. #endif //UVLO_SUPPORT
  7506. ////////////////////////////////////////////////////////////////////////////////
  7507. // save/restore printing
  7508. void stop_and_save_print_to_ram(float z_move, float e_move)
  7509. {
  7510. if (saved_printing) return;
  7511. #if 0
  7512. unsigned char nplanner_blocks;
  7513. #endif
  7514. unsigned char nlines;
  7515. uint16_t sdlen_planner;
  7516. uint16_t sdlen_cmdqueue;
  7517. cli();
  7518. if (card.sdprinting) {
  7519. #if 0
  7520. nplanner_blocks = number_of_blocks();
  7521. #endif
  7522. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  7523. sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7524. saved_sdpos -= sdlen_planner;
  7525. sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7526. saved_sdpos -= sdlen_cmdqueue;
  7527. saved_printing_type = PRINTING_TYPE_SD;
  7528. }
  7529. else if (is_usb_printing) { //reuse saved_sdpos for storing line number
  7530. saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
  7531. //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
  7532. nlines = planner_calc_sd_length(); //number of lines of commands in planner
  7533. saved_sdpos -= nlines;
  7534. saved_sdpos -= buflen; //number of blocks in cmd buffer
  7535. saved_printing_type = PRINTING_TYPE_USB;
  7536. }
  7537. else {
  7538. //not sd printing nor usb printing
  7539. }
  7540. #if 0
  7541. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  7542. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  7543. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  7544. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  7545. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  7546. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  7547. //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  7548. {
  7549. card.setIndex(saved_sdpos);
  7550. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  7551. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  7552. MYSERIAL.print(char(card.get()));
  7553. SERIAL_ECHOLNPGM("Content of command buffer: ");
  7554. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  7555. MYSERIAL.print(char(card.get()));
  7556. SERIAL_ECHOLNPGM("End of command buffer");
  7557. }
  7558. {
  7559. // Print the content of the planner buffer, line by line:
  7560. card.setIndex(saved_sdpos);
  7561. int8_t iline = 0;
  7562. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  7563. SERIAL_ECHOPGM("Planner line (from file): ");
  7564. MYSERIAL.print(int(iline), DEC);
  7565. SERIAL_ECHOPGM(", length: ");
  7566. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  7567. SERIAL_ECHOPGM(", steps: (");
  7568. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  7569. SERIAL_ECHOPGM(",");
  7570. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  7571. SERIAL_ECHOPGM(",");
  7572. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  7573. SERIAL_ECHOPGM(",");
  7574. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  7575. SERIAL_ECHOPGM("), events: ");
  7576. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  7577. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  7578. MYSERIAL.print(char(card.get()));
  7579. }
  7580. }
  7581. {
  7582. // Print the content of the command buffer, line by line:
  7583. int8_t iline = 0;
  7584. union {
  7585. struct {
  7586. char lo;
  7587. char hi;
  7588. } lohi;
  7589. uint16_t value;
  7590. } sdlen_single;
  7591. int _bufindr = bufindr;
  7592. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  7593. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  7594. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  7595. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  7596. }
  7597. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  7598. MYSERIAL.print(int(iline), DEC);
  7599. SERIAL_ECHOPGM(", type: ");
  7600. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  7601. SERIAL_ECHOPGM(", len: ");
  7602. MYSERIAL.println(sdlen_single.value, DEC);
  7603. // Print the content of the buffer line.
  7604. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  7605. SERIAL_ECHOPGM("Buffer line (from file): ");
  7606. MYSERIAL.println(int(iline), DEC);
  7607. for (; sdlen_single.value > 0; -- sdlen_single.value)
  7608. MYSERIAL.print(char(card.get()));
  7609. if (-- _buflen == 0)
  7610. break;
  7611. // First skip the current command ID and iterate up to the end of the string.
  7612. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  7613. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  7614. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7615. // If the end of the buffer was empty,
  7616. if (_bufindr == sizeof(cmdbuffer)) {
  7617. // skip to the start and find the nonzero command.
  7618. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7619. }
  7620. }
  7621. }
  7622. #endif
  7623. #if 0
  7624. saved_feedrate2 = feedrate; //save feedrate
  7625. #else
  7626. // Try to deduce the feedrate from the first block of the planner.
  7627. // Speed is in mm/min.
  7628. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7629. #endif
  7630. planner_abort_hard(); //abort printing
  7631. memcpy(saved_pos, current_position, sizeof(saved_pos));
  7632. saved_active_extruder = active_extruder; //save active_extruder
  7633. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  7634. saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
  7635. cmdqueue_reset(); //empty cmdqueue
  7636. card.sdprinting = false;
  7637. // card.closefile();
  7638. saved_printing = true;
  7639. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  7640. st_reset_timer();
  7641. sei();
  7642. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  7643. #if 1
  7644. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  7645. char buf[48];
  7646. // First unretract (relative extrusion)
  7647. if(!saved_extruder_relative_mode){
  7648. strcpy_P(buf, PSTR("M83"));
  7649. enquecommand(buf, false);
  7650. }
  7651. //retract 45mm/s
  7652. strcpy_P(buf, PSTR("G1 E"));
  7653. dtostrf(e_move, 6, 3, buf + strlen(buf));
  7654. strcat_P(buf, PSTR(" F"));
  7655. dtostrf(2700, 8, 3, buf + strlen(buf));
  7656. enquecommand(buf, false);
  7657. // Then lift Z axis
  7658. strcpy_P(buf, PSTR("G1 Z"));
  7659. dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
  7660. strcat_P(buf, PSTR(" F"));
  7661. dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
  7662. // At this point the command queue is empty.
  7663. enquecommand(buf, false);
  7664. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  7665. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  7666. repeatcommand_front();
  7667. #else
  7668. 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);
  7669. st_synchronize(); //wait moving
  7670. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7671. memcpy(destination, current_position, sizeof(destination));
  7672. #endif
  7673. }
  7674. }
  7675. void restore_print_from_ram_and_continue(float e_move)
  7676. {
  7677. if (!saved_printing) return;
  7678. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  7679. // current_position[axis] = st_get_position_mm(axis);
  7680. active_extruder = saved_active_extruder; //restore active_extruder
  7681. feedrate = saved_feedrate2; //restore feedrate
  7682. axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
  7683. float e = saved_pos[E_AXIS] - e_move;
  7684. plan_set_e_position(e);
  7685. //first move print head in XY to the saved position:
  7686. 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);
  7687. st_synchronize();
  7688. //then move Z
  7689. 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);
  7690. st_synchronize();
  7691. //and finaly unretract (35mm/s)
  7692. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], 35, active_extruder);
  7693. st_synchronize();
  7694. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7695. memcpy(destination, current_position, sizeof(destination));
  7696. if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
  7697. card.setIndex(saved_sdpos);
  7698. sdpos_atomic = saved_sdpos;
  7699. card.sdprinting = true;
  7700. printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
  7701. }
  7702. else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
  7703. gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
  7704. serial_count = 0;
  7705. FlushSerialRequestResend();
  7706. }
  7707. else {
  7708. //not sd printing nor usb printing
  7709. }
  7710. lcd_setstatuspgm(_T(WELCOME_MSG));
  7711. saved_printing = false;
  7712. }
  7713. void print_world_coordinates()
  7714. {
  7715. printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  7716. }
  7717. void print_physical_coordinates()
  7718. {
  7719. 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));
  7720. }
  7721. void print_mesh_bed_leveling_table()
  7722. {
  7723. SERIAL_ECHOPGM("mesh bed leveling: ");
  7724. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  7725. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  7726. MYSERIAL.print(mbl.z_values[y][x], 3);
  7727. SERIAL_ECHOPGM(" ");
  7728. }
  7729. SERIAL_ECHOLNPGM("");
  7730. }
  7731. uint16_t print_time_remaining() {
  7732. uint16_t print_t = PRINT_TIME_REMAINING_INIT;
  7733. if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
  7734. else print_t = print_time_remaining_silent;
  7735. if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100 * print_t / feedmultiply;
  7736. return print_t;
  7737. }
  7738. uint8_t print_percent_done() {
  7739. //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
  7740. uint8_t percent_done = 0;
  7741. if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
  7742. percent_done = print_percent_done_normal;
  7743. }
  7744. else if (print_percent_done_silent <= 100) {
  7745. percent_done = print_percent_done_silent;
  7746. }
  7747. else {
  7748. percent_done = card.percentDone();
  7749. }
  7750. return percent_done;
  7751. }
  7752. static void print_time_remaining_init() {
  7753. print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
  7754. print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
  7755. print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  7756. print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  7757. }
  7758. bool mmu_get_response(bool timeout, bool clear) {
  7759. //waits for "ok" from mmu
  7760. //function returns true if "ok" was received
  7761. //if timeout is set to true function return false if there is no "ok" received before timeout
  7762. bool response = true;
  7763. LongTimer mmu_get_reponse_timeout;
  7764. if (clear) uart2_rx_clr();
  7765. KEEPALIVE_STATE(IN_PROCESS);
  7766. mmu_get_reponse_timeout.start();
  7767. while (!uart2_rx_ok())
  7768. {
  7769. delay_keep_alive(100);
  7770. if (timeout && mmu_get_reponse_timeout.expired(5 * 60 * 1000ul)) { //5 minutes timeout
  7771. response = false;
  7772. break;
  7773. }
  7774. }
  7775. return response;
  7776. }
  7777. void manage_response(bool move_axes, bool turn_off_nozzle) {
  7778. bool response = false;
  7779. mmu_print_saved = false;
  7780. bool lcd_update_was_enabled = false;
  7781. float hotend_temp_bckp = degTargetHotend(active_extruder);
  7782. float z_position_bckp = current_position[Z_AXIS];
  7783. float x_position_bckp = current_position[X_AXIS];
  7784. float y_position_bckp = current_position[Y_AXIS];
  7785. while(!response) {
  7786. response = mmu_get_response(true, !mmu_print_saved); //wait for "ok" from mmu
  7787. if (!response) { //no "ok" was received in reserved time frame, user will fix the issue on mmu unit
  7788. if (!mmu_print_saved) { //first occurence, we are saving current position, park print head in certain position and disable nozzle heater
  7789. if (lcd_update_enabled) {
  7790. lcd_update_was_enabled = true;
  7791. lcd_update_enable(false);
  7792. }
  7793. st_synchronize();
  7794. mmu_print_saved = true;
  7795. hotend_temp_bckp = degTargetHotend(active_extruder);
  7796. if (move_axes) {
  7797. z_position_bckp = current_position[Z_AXIS];
  7798. x_position_bckp = current_position[X_AXIS];
  7799. y_position_bckp = current_position[Y_AXIS];
  7800. //lift z
  7801. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  7802. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  7803. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  7804. st_synchronize();
  7805. //Move XY to side
  7806. current_position[X_AXIS] = X_PAUSE_POS;
  7807. current_position[Y_AXIS] = Y_PAUSE_POS;
  7808. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  7809. st_synchronize();
  7810. }
  7811. if (turn_off_nozzle) {
  7812. //set nozzle target temperature to 0
  7813. setAllTargetHotends(0);
  7814. printf_P(PSTR("MMU not responding\n"));
  7815. lcd_show_fullscreen_message_and_wait_P(_i("MMU needs user attention. Please press knob to resume nozzle target temperature."));
  7816. setTargetHotend(hotend_temp_bckp, active_extruder);
  7817. while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5) {
  7818. delay_keep_alive(1000);
  7819. lcd_wait_for_heater();
  7820. }
  7821. }
  7822. }
  7823. lcd_display_message_fullscreen_P(_i("Check MMU. Fix the issue and then press button on MMU unit."));
  7824. }
  7825. else if (mmu_print_saved) {
  7826. printf_P(PSTR("MMU start responding\n"));
  7827. lcd_clear();
  7828. lcd_display_message_fullscreen_P(_i("MMU OK. Resuming..."));
  7829. if (move_axes) {
  7830. current_position[X_AXIS] = x_position_bckp;
  7831. current_position[Y_AXIS] = y_position_bckp;
  7832. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  7833. st_synchronize();
  7834. current_position[Z_AXIS] = z_position_bckp;
  7835. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  7836. st_synchronize();
  7837. }
  7838. else {
  7839. delay_keep_alive(1000); //delay just for showing MMU OK message for a while in case that there are no xyz movements
  7840. }
  7841. }
  7842. }
  7843. if (lcd_update_was_enabled) lcd_update_enable(true);
  7844. }
  7845. void mmu_load_to_nozzle() {
  7846. st_synchronize();
  7847. bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
  7848. if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = true;
  7849. current_position[E_AXIS] += 7.2f;
  7850. float feedrate = 562;
  7851. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  7852. st_synchronize();
  7853. current_position[E_AXIS] += 14.4f;
  7854. feedrate = 871;
  7855. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  7856. st_synchronize();
  7857. current_position[E_AXIS] += 36.0f;
  7858. feedrate = 1393;
  7859. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  7860. st_synchronize();
  7861. current_position[E_AXIS] += 14.4f;
  7862. feedrate = 871;
  7863. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  7864. st_synchronize();
  7865. if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = false;
  7866. }
  7867. void mmu_switch_extruder(uint8_t extruder) {
  7868. }
  7869. void M600_check_state() {
  7870. //Wait for user to check the state
  7871. lcd_change_fil_state = 0;
  7872. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  7873. lcd_change_fil_state = 0;
  7874. KEEPALIVE_STATE(PAUSED_FOR_USER);
  7875. lcd_alright();
  7876. KEEPALIVE_STATE(IN_HANDLER);
  7877. switch(lcd_change_fil_state){
  7878. // Filament failed to load so load it again
  7879. case 2:
  7880. if (mmu_enabled)
  7881. mmu_M600_load_filament(false); //nonautomatic load; change to "wrong filament loaded" option?
  7882. else
  7883. M600_load_filament_movements();
  7884. break;
  7885. // Filament loaded properly but color is not clear
  7886. case 3:
  7887. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  7888. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2, active_extruder);
  7889. lcd_loading_color();
  7890. break;
  7891. // Everything good
  7892. default:
  7893. lcd_change_success();
  7894. lcd_update_enable(true);
  7895. break;
  7896. }
  7897. }
  7898. }
  7899. void M600_wait_for_user() {
  7900. //Beep, manage nozzle heater and wait for user to start unload filament
  7901. KEEPALIVE_STATE(PAUSED_FOR_USER);
  7902. int counterBeep = 0;
  7903. unsigned long waiting_start_time = millis();
  7904. uint8_t wait_for_user_state = 0;
  7905. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  7906. bool bFirst=true;
  7907. while (!(wait_for_user_state == 0 && lcd_clicked())){
  7908. manage_heater();
  7909. manage_inactivity(true);
  7910. #if BEEPER > 0
  7911. if (counterBeep == 500) {
  7912. counterBeep = 0;
  7913. }
  7914. SET_OUTPUT(BEEPER);
  7915. if (counterBeep == 0) {
  7916. if((eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
  7917. {
  7918. bFirst=false;
  7919. WRITE(BEEPER, HIGH);
  7920. }
  7921. }
  7922. if (counterBeep == 20) {
  7923. WRITE(BEEPER, LOW);
  7924. }
  7925. counterBeep++;
  7926. #endif //BEEPER > 0
  7927. switch (wait_for_user_state) {
  7928. case 0: //nozzle is hot, waiting for user to press the knob to unload filament
  7929. delay_keep_alive(4);
  7930. if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  7931. lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
  7932. wait_for_user_state = 1;
  7933. setAllTargetHotends(0);
  7934. st_synchronize();
  7935. disable_e0();
  7936. disable_e1();
  7937. disable_e2();
  7938. }
  7939. break;
  7940. case 1: //nozzle target temperature is set to zero, waiting for user to start nozzle preheat
  7941. delay_keep_alive(4);
  7942. if (lcd_clicked()) {
  7943. setTargetHotend(HotendTempBckp, active_extruder);
  7944. lcd_wait_for_heater();
  7945. wait_for_user_state = 2;
  7946. }
  7947. break;
  7948. case 2: //waiting for nozzle to reach target temperature
  7949. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  7950. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  7951. waiting_start_time = millis();
  7952. wait_for_user_state = 0;
  7953. }
  7954. else {
  7955. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  7956. lcd_set_cursor(1, 4);
  7957. lcd_print(ftostr3(degHotend(active_extruder)));
  7958. }
  7959. break;
  7960. }
  7961. }
  7962. WRITE(BEEPER, LOW);
  7963. }
  7964. void mmu_M600_load_filament(bool automatic)
  7965. {
  7966. //load filament for mmu v2
  7967. bool yes = false;
  7968. if (!automatic)
  7969. {
  7970. yes = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Do you want to switch extruder?"), false);
  7971. if (yes) tmp_extruder = choose_extruder_menu();
  7972. else tmp_extruder = snmm_extruder;
  7973. }
  7974. else
  7975. {
  7976. tmp_extruder = (tmp_extruder+1)%5;
  7977. }
  7978. lcd_update_enable(false);
  7979. lcd_clear();
  7980. lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
  7981. lcd_print(" ");
  7982. lcd_print(tmp_extruder + 1);
  7983. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  7984. printf_P(PSTR("T code: %d \n"), tmp_extruder);
  7985. fprintf_P(uart2io, PSTR("T%d\n"), tmp_extruder);
  7986. manage_response(false, true);
  7987. snmm_extruder = tmp_extruder; //filament change is finished
  7988. mmu_load_to_nozzle();
  7989. st_synchronize();
  7990. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  7991. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2, active_extruder);
  7992. }
  7993. void M600_load_filament_movements()
  7994. {
  7995. #ifdef SNMM
  7996. display_loading();
  7997. do
  7998. {
  7999. current_position[E_AXIS] += 0.002;
  8000. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  8001. delay_keep_alive(2);
  8002. }
  8003. while (!lcd_clicked());
  8004. st_synchronize();
  8005. current_position[E_AXIS] += bowden_length[snmm_extruder];
  8006. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000, active_extruder);
  8007. current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
  8008. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1400, active_extruder);
  8009. current_position[E_AXIS] += 40;
  8010. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  8011. current_position[E_AXIS] += 10;
  8012. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  8013. #else
  8014. current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  8015. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  8016. #endif
  8017. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  8018. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  8019. lcd_loading_filament();
  8020. }
  8021. void M600_load_filament() {
  8022. //load filament for single material and SNMM
  8023. lcd_wait_interact();
  8024. //load_filament_time = millis();
  8025. KEEPALIVE_STATE(PAUSED_FOR_USER);
  8026. #ifdef FILAMENT_SENSOR
  8027. fsensor_autoload_check_start();
  8028. #endif //FILAMENT_SENSOR
  8029. while(!lcd_clicked())
  8030. {
  8031. manage_heater();
  8032. manage_inactivity(true);
  8033. #ifdef FILAMENT_SENSOR
  8034. if (fsensor_check_autoload())
  8035. {
  8036. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  8037. tone(BEEPER, 1000);
  8038. delay_keep_alive(50);
  8039. noTone(BEEPER);
  8040. break;
  8041. }
  8042. #endif //FILAMENT_SENSOR
  8043. }
  8044. #ifdef FILAMENT_SENSOR
  8045. fsensor_autoload_check_stop();
  8046. #endif //FILAMENT_SENSOR
  8047. KEEPALIVE_STATE(IN_HANDLER);
  8048. #ifdef FILAMENT_SENSOR
  8049. fsensor_oq_meassure_start(70);
  8050. #endif //FILAMENT_SENSOR
  8051. M600_load_filament_movements();
  8052. if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
  8053. tone(BEEPER, 500);
  8054. delay_keep_alive(50);
  8055. noTone(BEEPER);
  8056. #ifdef FILAMENT_SENSOR
  8057. fsensor_oq_meassure_stop();
  8058. if (!fsensor_oq_result())
  8059. {
  8060. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  8061. lcd_update_enable(true);
  8062. lcd_update(2);
  8063. if (disable)
  8064. fsensor_disable();
  8065. }
  8066. #endif //FILAMENT_SENSOR
  8067. }
  8068. #define FIL_LOAD_LENGTH 60