Marlin_main.cpp 400 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. //-//
  45. #include "Configuration.h"
  46. #include "Marlin.h"
  47. #include "config.h"
  48. #include "macros.h"
  49. #ifdef ENABLE_AUTO_BED_LEVELING
  50. #include "vector_3.h"
  51. #ifdef AUTO_BED_LEVELING_GRID
  52. #include "qr_solve.h"
  53. #endif
  54. #endif // ENABLE_AUTO_BED_LEVELING
  55. #ifdef MESH_BED_LEVELING
  56. #include "mesh_bed_leveling.h"
  57. #include "mesh_bed_calibration.h"
  58. #endif
  59. #include "printers.h"
  60. #include "menu.h"
  61. #include "ultralcd.h"
  62. #include "conv2str.h"
  63. #include "backlight.h"
  64. #include "planner.h"
  65. #include "stepper.h"
  66. #include "temperature.h"
  67. #include "fancheck.h"
  68. #include "motion_control.h"
  69. #include "cardreader.h"
  70. #include "ConfigurationStore.h"
  71. #include "language.h"
  72. #include "pins_arduino.h"
  73. #include "math.h"
  74. #include "util.h"
  75. #include "Timer.h"
  76. #include <avr/wdt.h>
  77. #include <avr/pgmspace.h>
  78. #include "Dcodes.h"
  79. #include "AutoDeplete.h"
  80. #ifndef LA_NOCOMPAT
  81. #include "la10compat.h"
  82. #endif
  83. #include "spi.h"
  84. #ifdef FILAMENT_SENSOR
  85. #include "fsensor.h"
  86. #ifdef IR_SENSOR
  87. #include "pat9125.h" // for pat9125_probe
  88. #endif
  89. #endif //FILAMENT_SENSOR
  90. #ifdef TMC2130
  91. #include "tmc2130.h"
  92. #endif //TMC2130
  93. #ifdef XFLASH
  94. #include "xflash.h"
  95. #include "optiboot_xflash.h"
  96. #endif //XFLASH
  97. #include "xflash_dump.h"
  98. #ifdef BLINKM
  99. #include "BlinkM.h"
  100. #include "Wire.h"
  101. #endif
  102. #ifdef ULTRALCD
  103. #include "ultralcd.h"
  104. #endif
  105. #if NUM_SERVOS > 0
  106. #include "Servo.h"
  107. #endif
  108. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  109. #include <SPI.h>
  110. #endif
  111. #include "mmu.h"
  112. #define VERSION_STRING "1.0.2"
  113. #include "ultralcd.h"
  114. #include "sound.h"
  115. #include "cmdqueue.h"
  116. //Macro for print fan speed
  117. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  118. //filament types
  119. #define FILAMENT_DEFAULT 0
  120. #define FILAMENT_FLEX 1
  121. #define FILAMENT_PVA 2
  122. #define FILAMENT_UNDEFINED 255
  123. //Stepper Movement Variables
  124. //===========================================================================
  125. //=============================imported variables============================
  126. //===========================================================================
  127. //===========================================================================
  128. //=============================public variables=============================
  129. //===========================================================================
  130. #ifdef SDSUPPORT
  131. CardReader card;
  132. #endif
  133. unsigned long PingTime = _millis();
  134. uint8_t mbl_z_probe_nr = 3; //numer of Z measurements for each point in mesh bed leveling calibration
  135. //used for PINDA temp calibration and pause print
  136. #define DEFAULT_RETRACTION 1
  137. #define DEFAULT_RETRACTION_MM 4 //MM
  138. float default_retraction = DEFAULT_RETRACTION;
  139. float homing_feedrate[] = HOMING_FEEDRATE;
  140. //Although this flag and many others like this could be represented with a struct/bitfield for each axis (more readable and efficient code), the implementation
  141. //would not be standard across all platforms. That being said, the code will continue to use bitmasks for independent axis.
  142. //Moreover, according to C/C++ standard, the ordering of bits is platform/compiler dependent and the compiler is allowed to align the bits arbitrarily,
  143. //thus bit operations like shifting and masking may stop working and will be very hard to fix.
  144. uint8_t axis_relative_modes = 0;
  145. int feedmultiply=100; //100->1 200->2
  146. int extrudemultiply=100; //100->1 200->2
  147. int extruder_multiply[EXTRUDERS] = {100
  148. #if EXTRUDERS > 1
  149. , 100
  150. #if EXTRUDERS > 2
  151. , 100
  152. #endif
  153. #endif
  154. };
  155. bool homing_flag = false;
  156. int8_t lcd_change_fil_state = 0;
  157. unsigned long pause_time = 0;
  158. unsigned long start_pause_print = _millis();
  159. unsigned long t_fan_rising_edge = _millis();
  160. LongTimer safetyTimer;
  161. static LongTimer crashDetTimer;
  162. //unsigned long load_filament_time;
  163. bool mesh_bed_leveling_flag = false;
  164. #ifdef PRUSA_M28
  165. bool prusa_sd_card_upload = false;
  166. #endif
  167. uint8_t status_number = 0;
  168. unsigned long total_filament_used;
  169. HeatingStatus heating_status;
  170. uint8_t heating_status_counter;
  171. bool loading_flag = false;
  172. #define XY_NO_RESTORE_FLAG (mesh_bed_leveling_flag || homing_flag)
  173. bool fan_state[2];
  174. int fan_edge_counter[2];
  175. int fan_speed[2];
  176. float extruder_multiplier[EXTRUDERS] = {1.0
  177. #if EXTRUDERS > 1
  178. , 1.0
  179. #if EXTRUDERS > 2
  180. , 1.0
  181. #endif
  182. #endif
  183. };
  184. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  185. //shortcuts for more readable code
  186. #define _x current_position[X_AXIS]
  187. #define _y current_position[Y_AXIS]
  188. #define _z current_position[Z_AXIS]
  189. #define _e current_position[E_AXIS]
  190. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  191. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  192. bool axis_known_position[3] = {false, false, false};
  193. // Extruder offset
  194. #if EXTRUDERS > 1
  195. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  196. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  197. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  198. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  199. #endif
  200. };
  201. #endif
  202. uint8_t active_extruder = 0;
  203. int fanSpeed=0;
  204. uint8_t newFanSpeed = 0;
  205. #ifdef FWRETRACT
  206. bool retracted[EXTRUDERS]={false
  207. #if EXTRUDERS > 1
  208. , false
  209. #if EXTRUDERS > 2
  210. , false
  211. #endif
  212. #endif
  213. };
  214. bool retracted_swap[EXTRUDERS]={false
  215. #if EXTRUDERS > 1
  216. , false
  217. #if EXTRUDERS > 2
  218. , false
  219. #endif
  220. #endif
  221. };
  222. float retract_length_swap = RETRACT_LENGTH_SWAP;
  223. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  224. #endif
  225. #ifdef PS_DEFAULT_OFF
  226. bool powersupply = false;
  227. #else
  228. bool powersupply = true;
  229. #endif
  230. bool cancel_heatup = false;
  231. int8_t busy_state = NOT_BUSY;
  232. static long prev_busy_signal_ms = -1;
  233. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  234. const char errormagic[] PROGMEM = "Error:";
  235. const char echomagic[] PROGMEM = "echo:";
  236. const char G28W0[] PROGMEM = "G28 W0";
  237. bool no_response = false;
  238. uint8_t important_status;
  239. uint8_t saved_filament_type;
  240. // Define some coordinates outside the clamp limits (making them invalid past the parsing stage) so
  241. // that they can be used later for various logical checks
  242. #define X_COORD_INVALID (X_MIN_POS-1)
  243. #define Y_COORD_INVALID (Y_MIN_POS-1)
  244. #define SAVED_TARGET_UNSET X_COORD_INVALID
  245. float saved_target[NUM_AXIS] = {SAVED_TARGET_UNSET, 0, 0, 0};
  246. // save/restore printing in case that mmu was not responding
  247. bool mmu_print_saved = false;
  248. // storing estimated time to end of print counted by slicer
  249. uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  250. uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  251. uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  252. uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  253. uint16_t print_time_to_change_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining time to next change in minutes
  254. uint16_t print_time_to_change_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining time to next change in minutes
  255. uint32_t IP_address = 0;
  256. //===========================================================================
  257. //=============================Private Variables=============================
  258. //===========================================================================
  259. #define MSG_BED_LEVELING_FAILED_TIMEOUT 30
  260. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  261. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  262. // For tracing an arc
  263. static float offset[3] = {0.0, 0.0, 0.0};
  264. // Current feedrate
  265. float feedrate = 1500.0;
  266. // Feedrate for the next move
  267. static float next_feedrate;
  268. // Original feedrate saved during homing moves
  269. static float saved_feedrate;
  270. const int8_t sensitive_pins[] PROGMEM = SENSITIVE_PINS; // Sensitive pin list for M42
  271. //static float tt = 0;
  272. //static float bt = 0;
  273. //Inactivity shutdown variables
  274. static LongTimer previous_millis_cmd;
  275. unsigned long max_inactive_time = 0;
  276. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  277. static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
  278. unsigned long starttime=0;
  279. unsigned long stoptime=0;
  280. ShortTimer usb_timer;
  281. bool Stopped=false;
  282. #if NUM_SERVOS > 0
  283. Servo servos[NUM_SERVOS];
  284. #endif
  285. bool target_direction;
  286. //Insert variables if CHDK is defined
  287. #ifdef CHDK
  288. unsigned long chdkHigh = 0;
  289. bool chdkActive = false;
  290. #endif
  291. //! @name RAM save/restore printing
  292. //! @{
  293. bool saved_printing = false; //!< Print is paused and saved in RAM
  294. static uint32_t saved_sdpos = 0; //!< SD card position, or line number in case of USB printing
  295. uint8_t saved_printing_type = PRINTING_TYPE_SD;
  296. static float saved_pos[4] = { X_COORD_INVALID, 0, 0, 0 };
  297. static uint16_t saved_feedrate2 = 0; //!< Default feedrate (truncated from float)
  298. static int saved_feedmultiply2 = 0;
  299. static uint8_t saved_active_extruder = 0;
  300. float saved_extruder_temperature = 0.0; //!< Active extruder temperature
  301. float saved_bed_temperature = 0.0; //!< Bed temperature
  302. static bool saved_extruder_relative_mode = false;
  303. int saved_fan_speed = 0; //!< Print fan speed
  304. //! @}
  305. static int saved_feedmultiply_mm = 100;
  306. class AutoReportFeatures {
  307. union {
  308. struct {
  309. uint8_t temp : 1; //Temperature flag
  310. uint8_t fans : 1; //Fans flag
  311. uint8_t pos: 1; //Position flag
  312. uint8_t ar4 : 1; //Unused
  313. uint8_t ar5 : 1; //Unused
  314. uint8_t ar6 : 1; //Unused
  315. uint8_t ar7 : 1; //Unused
  316. } __attribute__((packed)) bits;
  317. uint8_t byte;
  318. } arFunctionsActive;
  319. uint8_t auto_report_period;
  320. public:
  321. LongTimer auto_report_timer;
  322. AutoReportFeatures():auto_report_period(0){
  323. #if defined(AUTO_REPORT)
  324. arFunctionsActive.byte = 0xff;
  325. #else
  326. arFunctionsActive.byte = 0;
  327. #endif //AUTO_REPORT
  328. }
  329. inline bool Temp()const { return arFunctionsActive.bits.temp != 0; }
  330. inline void SetTemp(uint8_t v){ arFunctionsActive.bits.temp = v; }
  331. inline bool Fans()const { return arFunctionsActive.bits.fans != 0; }
  332. inline void SetFans(uint8_t v){ arFunctionsActive.bits.fans = v; }
  333. inline bool Pos()const { return arFunctionsActive.bits.pos != 0; }
  334. inline void SetPos(uint8_t v){ arFunctionsActive.bits.pos = v; }
  335. inline void SetMask(uint8_t mask){ arFunctionsActive.byte = mask; }
  336. /// sets the autoreporting timer's period
  337. /// setting it to zero stops the timer
  338. void SetPeriod(uint8_t p){
  339. auto_report_period = p;
  340. if (auto_report_period != 0){
  341. auto_report_timer.start();
  342. } else{
  343. auto_report_timer.stop();
  344. }
  345. }
  346. inline void TimerStart() { auto_report_timer.start(); }
  347. inline bool TimerRunning()const { return auto_report_timer.running(); }
  348. inline bool TimerExpired() { return auto_report_timer.expired(auto_report_period * 1000ul); }
  349. };
  350. AutoReportFeatures autoReportFeatures;
  351. //===========================================================================
  352. //=============================Routines======================================
  353. //===========================================================================
  354. static void get_arc_coordinates();
  355. static bool setTargetedHotend(int code, uint8_t &extruder);
  356. static void print_time_remaining_init();
  357. static void wait_for_heater(long codenum, uint8_t extruder);
  358. static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
  359. static void gcode_M105(uint8_t extruder);
  360. #ifndef PINDA_THERMISTOR
  361. static void temp_compensation_start();
  362. static void temp_compensation_apply();
  363. #endif
  364. #ifdef PRUSA_SN_SUPPORT
  365. static uint8_t get_PRUSA_SN(char* SN);
  366. #endif //PRUSA_SN_SUPPORT
  367. uint16_t gcode_in_progress = 0;
  368. uint16_t mcode_in_progress = 0;
  369. void serial_echopair_P(const char *s_P, float v)
  370. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  371. void serial_echopair_P(const char *s_P, double v)
  372. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  373. void serial_echopair_P(const char *s_P, unsigned long v)
  374. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  375. void serialprintPGM(const char *str) {
  376. while(uint8_t ch = pgm_read_byte(str)) {
  377. MYSERIAL.write((char)ch);
  378. ++str;
  379. }
  380. }
  381. void serialprintlnPGM(const char *str) {
  382. serialprintPGM(str);
  383. MYSERIAL.println();
  384. }
  385. #ifdef SDSUPPORT
  386. #include "SdFatUtil.h"
  387. int freeMemory() { return SdFatUtil::FreeRam(); }
  388. #else
  389. extern "C" {
  390. extern unsigned int __bss_end;
  391. extern unsigned int __heap_start;
  392. extern void *__brkval;
  393. int freeMemory() {
  394. int free_memory;
  395. if ((int)__brkval == 0)
  396. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  397. else
  398. free_memory = ((int)&free_memory) - ((int)__brkval);
  399. return free_memory;
  400. }
  401. }
  402. #endif //!SDSUPPORT
  403. void setup_killpin()
  404. {
  405. #if defined(KILL_PIN) && KILL_PIN > -1
  406. SET_INPUT(KILL_PIN);
  407. WRITE(KILL_PIN,HIGH);
  408. #endif
  409. }
  410. // Set home pin
  411. void setup_homepin(void)
  412. {
  413. #if defined(HOME_PIN) && HOME_PIN > -1
  414. SET_INPUT(HOME_PIN);
  415. WRITE(HOME_PIN,HIGH);
  416. #endif
  417. }
  418. void setup_photpin()
  419. {
  420. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  421. SET_OUTPUT(PHOTOGRAPH_PIN);
  422. WRITE(PHOTOGRAPH_PIN, LOW);
  423. #endif
  424. }
  425. void setup_powerhold()
  426. {
  427. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  428. SET_OUTPUT(SUICIDE_PIN);
  429. WRITE(SUICIDE_PIN, HIGH);
  430. #endif
  431. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  432. SET_OUTPUT(PS_ON_PIN);
  433. #if defined(PS_DEFAULT_OFF)
  434. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  435. #else
  436. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  437. #endif
  438. #endif
  439. }
  440. void suicide()
  441. {
  442. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  443. SET_OUTPUT(SUICIDE_PIN);
  444. WRITE(SUICIDE_PIN, LOW);
  445. #endif
  446. }
  447. void servo_init()
  448. {
  449. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  450. servos[0].attach(SERVO0_PIN);
  451. #endif
  452. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  453. servos[1].attach(SERVO1_PIN);
  454. #endif
  455. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  456. servos[2].attach(SERVO2_PIN);
  457. #endif
  458. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  459. servos[3].attach(SERVO3_PIN);
  460. #endif
  461. #if (NUM_SERVOS >= 5)
  462. #error "TODO: enter initalisation code for more servos"
  463. #endif
  464. }
  465. bool printer_active()
  466. {
  467. return PRINTER_ACTIVE;
  468. }
  469. bool fans_check_enabled = true;
  470. #ifdef TMC2130
  471. void crashdet_stop_and_save_print()
  472. {
  473. stop_and_save_print_to_ram(10, -default_retraction); //XY - no change, Z 10mm up, E -1mm retract
  474. }
  475. void crashdet_restore_print_and_continue()
  476. {
  477. restore_print_from_ram_and_continue(default_retraction); //XYZ = orig, E +1mm unretract
  478. // babystep_apply();
  479. }
  480. void crashdet_fmt_error(char* buf, uint8_t mask)
  481. {
  482. if(mask & X_AXIS_MASK) *buf++ = axis_codes[X_AXIS];
  483. if(mask & Y_AXIS_MASK) *buf++ = axis_codes[Y_AXIS];
  484. *buf++ = ' ';
  485. strcpy_P(buf, _T(MSG_CRASH_DETECTED));
  486. }
  487. void crashdet_detected(uint8_t mask)
  488. {
  489. st_synchronize();
  490. static uint8_t crashDet_counter = 0;
  491. static uint8_t crashDet_axes = 0;
  492. bool automatic_recovery_after_crash = true;
  493. char msg[LCD_WIDTH+1] = "";
  494. if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)) {
  495. crashDet_counter = 0;
  496. }
  497. if(++crashDet_counter >= CRASHDET_COUNTER_MAX) {
  498. automatic_recovery_after_crash = false;
  499. }
  500. crashDetTimer.start();
  501. crashDet_axes |= mask;
  502. lcd_update_enable(true);
  503. lcd_clear();
  504. lcd_update(2);
  505. if (mask & X_AXIS_MASK)
  506. {
  507. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  508. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  509. }
  510. if (mask & Y_AXIS_MASK)
  511. {
  512. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  513. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  514. }
  515. lcd_update_enable(true);
  516. lcd_update(2);
  517. // prepare the status message with the _current_ axes status
  518. crashdet_fmt_error(msg, mask);
  519. lcd_setstatus(msg);
  520. gcode_G28(true, true, false); //home X and Y
  521. st_synchronize();
  522. if (automatic_recovery_after_crash) {
  523. enquecommand_P(PSTR("CRASH_RECOVER"));
  524. }else{
  525. setTargetHotend(0, active_extruder);
  526. // notify the user of *all* the axes previously affected, not just the last one
  527. lcd_update_enable(false);
  528. lcd_clear();
  529. crashdet_fmt_error(msg, crashDet_axes);
  530. crashDet_axes = 0;
  531. lcd_print(msg);
  532. // ask whether to resume printing
  533. lcd_set_cursor(0, 1);
  534. lcd_puts_P(_T(MSG_RESUME_PRINT));
  535. lcd_putc('?');
  536. bool yesno = lcd_show_yes_no_and_wait(false);
  537. lcd_update_enable(true);
  538. if (yesno)
  539. {
  540. enquecommand_P(PSTR("CRASH_RECOVER"));
  541. }
  542. else
  543. {
  544. enquecommand_P(PSTR("CRASH_CANCEL"));
  545. }
  546. }
  547. }
  548. void crashdet_recover()
  549. {
  550. crashdet_restore_print_and_continue();
  551. if (lcd_crash_detect_enabled()) tmc2130_sg_stop_on_crash = true;
  552. }
  553. void crashdet_cancel()
  554. {
  555. saved_printing = false;
  556. tmc2130_sg_stop_on_crash = true;
  557. if (saved_printing_type == PRINTING_TYPE_SD) {
  558. lcd_print_stop();
  559. }else if(saved_printing_type == PRINTING_TYPE_USB){
  560. SERIAL_ECHOLNRPGM(MSG_OCTOPRINT_CANCEL); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
  561. cmdqueue_reset();
  562. }
  563. }
  564. #endif //TMC2130
  565. void failstats_reset_print()
  566. {
  567. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  568. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  569. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  570. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  571. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  572. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  573. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  574. fsensor_softfail = 0;
  575. #endif
  576. }
  577. void softReset()
  578. {
  579. cli();
  580. wdt_enable(WDTO_15MS);
  581. while(1);
  582. }
  583. #ifdef MESH_BED_LEVELING
  584. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  585. #endif
  586. static void factory_reset_stats(){
  587. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  588. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  589. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  590. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  591. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  592. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  593. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  594. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  595. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  596. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  597. eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
  598. eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
  599. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  600. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  601. }
  602. // Factory reset function
  603. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  604. // Level input parameter sets depth of reset
  605. static void factory_reset(char level)
  606. {
  607. lcd_clear();
  608. Sound_MakeCustom(100,0,false);
  609. switch (level) {
  610. case 0: // Level 0: Language reset
  611. lang_reset();
  612. break;
  613. case 1: //Level 1: Reset statistics
  614. factory_reset_stats();
  615. lcd_menu_statistics();
  616. break;
  617. case 2: // Level 2: Prepare for shipping
  618. factory_reset_stats();
  619. // FALLTHRU
  620. case 3: // Level 3: Preparation after being serviced
  621. // Force language selection at the next boot up.
  622. lang_reset();
  623. // Force the "Follow calibration flow" message at the next boot up.
  624. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  625. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 2); //run wizard
  626. farm_mode = false;
  627. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  628. #ifdef FILAMENT_SENSOR
  629. fsensor_enable();
  630. fsensor_autoload_set(true);
  631. #endif //FILAMENT_SENSOR
  632. break;
  633. case 4:
  634. menu_progressbar_init(EEPROM_TOP, PSTR("ERASING all data"));
  635. // Erase EEPROM
  636. for (uint16_t i = 0; i < EEPROM_TOP; i++) {
  637. eeprom_update_byte((uint8_t*)i, 0xFF);
  638. menu_progressbar_update(i);
  639. }
  640. menu_progressbar_finish();
  641. softReset();
  642. break;
  643. default:
  644. break;
  645. }
  646. }
  647. extern "C" {
  648. FILE _uartout; //= {0}; Global variable is always zero initialized. No need to explicitly state this.
  649. }
  650. int uart_putchar(char c, FILE *)
  651. {
  652. MYSERIAL.write(c);
  653. return 0;
  654. }
  655. void lcd_splash()
  656. {
  657. lcd_clear(); // clears display and homes screen
  658. lcd_puts_P(PSTR("\n Original Prusa i3\n Prusa Research"));
  659. }
  660. void factory_reset()
  661. {
  662. KEEPALIVE_STATE(PAUSED_FOR_USER);
  663. if (!READ(BTN_ENC))
  664. {
  665. _delay_ms(1000);
  666. if (!READ(BTN_ENC))
  667. {
  668. lcd_clear();
  669. lcd_puts_P(PSTR("Factory RESET"));
  670. SET_OUTPUT(BEEPER);
  671. if(eSoundMode!=e_SOUND_MODE_SILENT)
  672. WRITE(BEEPER, HIGH);
  673. while (!READ(BTN_ENC));
  674. WRITE(BEEPER, LOW);
  675. _delay_ms(2000);
  676. char level = reset_menu();
  677. factory_reset(level);
  678. switch (level) {
  679. case 0:
  680. case 1:
  681. case 2:
  682. case 3:
  683. case 4: _delay_ms(0); break;
  684. }
  685. }
  686. }
  687. KEEPALIVE_STATE(IN_HANDLER);
  688. }
  689. void show_fw_version_warnings() {
  690. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  691. switch (FW_DEV_VERSION) {
  692. 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
  693. 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
  694. case(FW_VERSION_DEVEL):
  695. case(FW_VERSION_DEBUG):
  696. lcd_update_enable(false);
  697. lcd_clear();
  698. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  699. lcd_puts_at_P(0, 0, PSTR("Development build !!"));
  700. #else
  701. lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
  702. #endif
  703. lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
  704. lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
  705. lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
  706. lcd_wait_for_click();
  707. break;
  708. // 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
  709. }
  710. lcd_update_enable(true);
  711. }
  712. //! @brief try to check if firmware is on right type of printer
  713. static void check_if_fw_is_on_right_printer(){
  714. #ifdef FILAMENT_SENSOR
  715. if((PRINTER_TYPE == PRINTER_MK3) || (PRINTER_TYPE == PRINTER_MK3S)){
  716. #ifdef IR_SENSOR
  717. if (pat9125_probe()){
  718. lcd_show_fullscreen_message_and_wait_P(_i("MK3S firmware detected on MK3 printer"));}////MSG_MK3S_FIRMWARE_ON_MK3 c=20 r=4
  719. #endif //IR_SENSOR
  720. #ifdef PAT9125
  721. //will return 1 only if IR can detect filament in bondtech extruder so this may fail even when we have IR sensor
  722. const uint8_t ir_detected = !READ(IR_SENSOR_PIN);
  723. if (ir_detected){
  724. lcd_show_fullscreen_message_and_wait_P(_i("MK3 firmware detected on MK3S printer"));}////MSG_MK3_FIRMWARE_ON_MK3S c=20 r=4
  725. #endif //PAT9125
  726. }
  727. #endif //FILAMENT_SENSOR
  728. }
  729. uint8_t check_printer_version()
  730. {
  731. uint8_t version_changed = 0;
  732. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  733. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  734. if (printer_type != PRINTER_TYPE) {
  735. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  736. else version_changed |= 0b10;
  737. }
  738. if (motherboard != MOTHERBOARD) {
  739. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  740. else version_changed |= 0b01;
  741. }
  742. return version_changed;
  743. }
  744. #ifdef BOOTAPP
  745. #include "bootapp.h" //bootloader support
  746. #endif //BOOTAPP
  747. #if (LANG_MODE != 0) //secondary language support
  748. #ifdef XFLASH
  749. // language update from external flash
  750. #define LANGBOOT_BLOCKSIZE 0x1000u
  751. #define LANGBOOT_RAMBUFFER 0x0800
  752. void update_sec_lang_from_external_flash()
  753. {
  754. if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
  755. {
  756. uint8_t lang = boot_reserved >> 3;
  757. uint8_t state = boot_reserved & 0x07;
  758. lang_table_header_t header;
  759. uint32_t src_addr;
  760. if (lang_get_header(lang, &header, &src_addr))
  761. {
  762. lcd_puts_at_P(1,3,PSTR("Language update."));
  763. for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
  764. _delay(100);
  765. boot_reserved = (boot_reserved & 0xF8) | ((state + 1) & 0x07);
  766. if ((state * LANGBOOT_BLOCKSIZE) < header.size)
  767. {
  768. cli();
  769. uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
  770. if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
  771. xflash_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
  772. if (state == 0)
  773. {
  774. //TODO - check header integrity
  775. }
  776. bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
  777. }
  778. else
  779. {
  780. //TODO - check sec lang data integrity
  781. eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
  782. }
  783. }
  784. }
  785. boot_app_flags &= ~BOOT_APP_FLG_USER0;
  786. }
  787. #ifdef DEBUG_XFLASH
  788. uint8_t lang_xflash_enum_codes(uint16_t* codes)
  789. {
  790. lang_table_header_t header;
  791. uint8_t count = 0;
  792. uint32_t addr = 0x00000;
  793. while (1)
  794. {
  795. printf_P(_n("LANGTABLE%d:"), count);
  796. xflash_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
  797. if (header.magic != LANG_MAGIC)
  798. {
  799. puts_P(_n("NG!"));
  800. break;
  801. }
  802. puts_P(_n("OK"));
  803. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  804. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  805. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  806. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  807. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  808. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  809. addr += header.size;
  810. codes[count] = header.code;
  811. count ++;
  812. }
  813. return count;
  814. }
  815. void list_sec_lang_from_external_flash()
  816. {
  817. uint16_t codes[8];
  818. uint8_t count = lang_xflash_enum_codes(codes);
  819. printf_P(_n("XFlash lang count = %hhd\n"), count);
  820. }
  821. #endif //DEBUG_XFLASH
  822. #endif //XFLASH
  823. #endif //(LANG_MODE != 0)
  824. static void fw_crash_init()
  825. {
  826. #ifdef XFLASH_DUMP
  827. dump_crash_reason crash_reason;
  828. if(xfdump_check_state(&crash_reason))
  829. {
  830. // always signal to the host that a dump is available for retrieval
  831. puts_P(_N("// action:dump_available"));
  832. #ifdef EMERGENCY_DUMP
  833. if(crash_reason != dump_crash_reason::manual &&
  834. eeprom_read_byte((uint8_t*)EEPROM_FW_CRASH_FLAG) != 0xFF)
  835. {
  836. lcd_show_fullscreen_message_and_wait_P(
  837. _n("FW crash detected! "
  838. "You can continue printing. "
  839. "Debug data available for analysis. "
  840. "Contact support to submit details."));
  841. }
  842. #endif
  843. }
  844. #else //XFLASH_DUMP
  845. dump_crash_reason crash_reason = (dump_crash_reason)eeprom_read_byte((uint8_t*)EEPROM_FW_CRASH_FLAG);
  846. if(crash_reason != dump_crash_reason::manual && (uint8_t)crash_reason != 0xFF)
  847. {
  848. lcd_beeper_quick_feedback();
  849. lcd_clear();
  850. lcd_puts_P(_n("FIRMWARE CRASH!\nCrash reason:\n"));
  851. switch(crash_reason)
  852. {
  853. case dump_crash_reason::stack_error:
  854. lcd_puts_P(_n("Static memory has\nbeen overwritten"));
  855. break;
  856. case dump_crash_reason::watchdog:
  857. lcd_puts_P(_n("Watchdog timeout"));
  858. break;
  859. case dump_crash_reason::bad_isr:
  860. lcd_puts_P(_n("Bad interrupt"));
  861. break;
  862. default:
  863. lcd_print((uint8_t)crash_reason);
  864. break;
  865. }
  866. lcd_wait_for_click();
  867. }
  868. #endif //XFLASH_DUMP
  869. // prevent crash prompts to reappear once acknowledged
  870. eeprom_update_byte((uint8_t*)EEPROM_FW_CRASH_FLAG, 0xFF);
  871. }
  872. static void xflash_err_msg()
  873. {
  874. puts_P(_n("XFLASH not responding."));
  875. lcd_show_fullscreen_message_and_wait_P(_n("External SPI flash\nXFLASH is not res-\nponding. Language\nswitch unavailable."));
  876. }
  877. // "Setup" function is called by the Arduino framework on startup.
  878. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  879. // are initialized by the main() routine provided by the Arduino framework.
  880. void setup()
  881. {
  882. timer2_init(); // enables functional millis
  883. mmu_init();
  884. ultralcd_init();
  885. spi_init();
  886. lcd_splash();
  887. Sound_Init(); // also guarantee "SET_OUTPUT(BEEPER)"
  888. selectedSerialPort = eeprom_read_byte((uint8_t *)EEPROM_SECOND_SERIAL_ACTIVE);
  889. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  890. eeprom_update_byte((uint8_t *)EEPROM_SECOND_SERIAL_ACTIVE, selectedSerialPort);
  891. MYSERIAL.begin(BAUDRATE);
  892. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  893. stdout = uartout;
  894. #ifdef XFLASH
  895. bool xflash_success = xflash_init();
  896. uint8_t optiboot_status = 1;
  897. if (xflash_success)
  898. {
  899. optiboot_status = optiboot_xflash_enter();
  900. #if (LANG_MODE != 0) //secondary language support
  901. update_sec_lang_from_external_flash();
  902. #endif //(LANG_MODE != 0)
  903. }
  904. #else
  905. const bool xflash_success = true;
  906. #endif //XFLASH
  907. setup_killpin();
  908. setup_powerhold();
  909. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  910. if (farm_mode == 0xFF) {
  911. 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
  912. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  913. } else if (farm_mode) {
  914. no_response = true; //we need confirmation by recieving PRUSA thx
  915. important_status = 8;
  916. prusa_statistics(8);
  917. #ifdef HAS_SECOND_SERIAL_PORT
  918. selectedSerialPort = 1;
  919. #endif //HAS_SECOND_SERIAL_PORT
  920. MYSERIAL.begin(BAUDRATE);
  921. #ifdef FILAMENT_SENSOR
  922. //disabled filament autoload (PFW360)
  923. fsensor_autoload_set(false);
  924. #endif //FILAMENT_SENSOR
  925. // ~ FanCheck -> on
  926. eeprom_update_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED, true);
  927. }
  928. #ifdef TMC2130
  929. if( FarmOrUserECool() ){
  930. //increased extruder current (PFW363)
  931. tmc2130_current_h[E_AXIS] = TMC2130_CURRENTS_FARM;
  932. tmc2130_current_r[E_AXIS] = TMC2130_CURRENTS_FARM;
  933. }
  934. #endif //TMC2130
  935. #ifdef PRUSA_SN_SUPPORT
  936. //Check for valid SN in EEPROM. Try to retrieve it in case it's invalid.
  937. //SN is valid only if it is NULL terminated and starts with "CZPX".
  938. {
  939. char SN[20];
  940. eeprom_read_block(SN, (uint8_t*)EEPROM_PRUSA_SN, 20);
  941. if (SN[19] || strncmp_P(SN, PSTR("CZPX"), 4))
  942. {
  943. if (!get_PRUSA_SN(SN))
  944. {
  945. eeprom_update_block(SN, (uint8_t*)EEPROM_PRUSA_SN, 20);
  946. puts_P(PSTR("SN updated"));
  947. }
  948. else
  949. puts_P(PSTR("SN update failed"));
  950. }
  951. }
  952. #endif //PRUSA_SN_SUPPORT
  953. #ifndef XFLASH
  954. SERIAL_PROTOCOLLNPGM("start");
  955. #else
  956. if ((optiboot_status != 0) || (selectedSerialPort != 0))
  957. SERIAL_PROTOCOLLNPGM("start");
  958. #endif
  959. SERIAL_ECHO_START;
  960. puts_P(PSTR(" " FW_VERSION_FULL));
  961. //SERIAL_ECHOPAIR("Active sheet before:", static_cast<unsigned long int>(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet))));
  962. #ifdef DEBUG_SEC_LANG
  963. lang_table_header_t header;
  964. uint32_t src_addr = 0x00000;
  965. if (lang_get_header(1, &header, &src_addr))
  966. {
  967. printf_P(
  968. _n(
  969. " _src_addr = 0x%08lx\n"
  970. " _lt_magic = 0x%08lx %S\n"
  971. " _lt_size = 0x%04x (%d)\n"
  972. " _lt_count = 0x%04x (%d)\n"
  973. " _lt_chsum = 0x%04x\n"
  974. " _lt_code = 0x%04x (%c%c)\n"
  975. " _lt_resv1 = 0x%08lx\n"
  976. ),
  977. src_addr,
  978. header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
  979. header.size, header.size,
  980. header.count, header.count,
  981. header.checksum,
  982. header.code, header.code >> 8, header.code & 0xff,
  983. header.signature
  984. );
  985. #if 0
  986. xflash_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
  987. for (uint16_t i = 0; i < 1024; i++)
  988. {
  989. if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
  990. printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
  991. if ((i % 16) == 15) putchar('\n');
  992. }
  993. #endif
  994. uint16_t sum = 0;
  995. for (uint16_t i = 0; i < header.size; i++)
  996. sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
  997. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  998. sum -= header.checksum; //subtract checksum
  999. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1000. sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
  1001. if (sum == header.checksum)
  1002. puts_P(_n("Checksum OK"));
  1003. else
  1004. puts_P(_n("Checksum NG"));
  1005. }
  1006. else
  1007. puts_P(_n("lang_get_header failed!"));
  1008. #if 0
  1009. for (uint16_t i = 0; i < 1024*10; i++)
  1010. {
  1011. if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
  1012. printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
  1013. if ((i % 16) == 15) putchar('\n');
  1014. }
  1015. #endif
  1016. #if 0
  1017. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  1018. for (int i = 0; i < 4096; ++i) {
  1019. int b = eeprom_read_byte((unsigned char*)i);
  1020. if (b != 255) {
  1021. SERIAL_ECHO(i);
  1022. SERIAL_ECHO(":");
  1023. SERIAL_ECHO(b);
  1024. SERIAL_ECHOLN("");
  1025. }
  1026. }
  1027. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  1028. #endif
  1029. #endif //DEBUG_SEC_LANG
  1030. // Check startup - does nothing if bootloader sets MCUSR to 0
  1031. byte mcu = MCUSR;
  1032. /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  1033. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  1034. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  1035. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  1036. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  1037. if (mcu & 1) puts_P(MSG_POWERUP);
  1038. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  1039. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  1040. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  1041. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  1042. MCUSR = 0;
  1043. //SERIAL_ECHORPGM(MSG_MARLIN);
  1044. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  1045. #ifdef STRING_VERSION_CONFIG_H
  1046. #ifdef STRING_CONFIG_H_AUTHOR
  1047. SERIAL_ECHO_START;
  1048. SERIAL_ECHORPGM(_n(" Last Updated: "));////MSG_CONFIGURATION_VER
  1049. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  1050. SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR
  1051. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  1052. SERIAL_ECHOPGM("Compiled: ");
  1053. SERIAL_ECHOLNPGM(__DATE__);
  1054. #endif
  1055. #endif
  1056. SERIAL_ECHO_START;
  1057. SERIAL_ECHORPGM(_n(" Free Memory: "));////MSG_FREE_MEMORY
  1058. SERIAL_ECHO(freeMemory());
  1059. SERIAL_ECHORPGM(_n(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES
  1060. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  1061. //lcd_update_enable(false); // why do we need this?? - andre
  1062. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  1063. bool previous_settings_retrieved = false;
  1064. uint8_t hw_changed = check_printer_version();
  1065. 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
  1066. previous_settings_retrieved = Config_RetrieveSettings();
  1067. }
  1068. else { //printer version was changed so use default settings
  1069. Config_ResetDefault();
  1070. }
  1071. // writes a magic number at the end of static variables to monitor against incorrect overwriting
  1072. // of static memory by stack (this needs to be done before soft_pwm_init, since the check is
  1073. // performed inside the soft_pwm_isr)
  1074. SdFatUtil::set_stack_guard();
  1075. // Initialize pwm/temperature loops
  1076. soft_pwm_init();
  1077. temp_mgr_init();
  1078. #ifdef EXTRUDER_ALTFAN_DETECT
  1079. SERIAL_ECHORPGM(_n("Extruder fan type: "));
  1080. if (extruder_altfan_detect())
  1081. SERIAL_ECHOLNRPGM(PSTR("ALTFAN"));
  1082. else
  1083. SERIAL_ECHOLNRPGM(PSTR("NOCTUA"));
  1084. #endif //EXTRUDER_ALTFAN_DETECT
  1085. plan_init(); // Initialize planner;
  1086. factory_reset();
  1087. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1088. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff)
  1089. {
  1090. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1091. // where all the EEPROM entries are set to 0x0ff.
  1092. // Once a firmware boots up, it forces at least a language selection, which changes
  1093. // EEPROM_LANG to number lower than 0x0ff.
  1094. // 1) Set a high power mode.
  1095. eeprom_update_byte((uint8_t*)EEPROM_SILENT, SILENT_MODE_OFF);
  1096. #ifdef TMC2130
  1097. tmc2130_mode = TMC2130_MODE_NORMAL;
  1098. #endif //TMC2130
  1099. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  1100. }
  1101. lcd_encoder_diff=0;
  1102. #ifdef TMC2130
  1103. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1104. if (silentMode == 0xff) silentMode = 0;
  1105. tmc2130_mode = TMC2130_MODE_NORMAL;
  1106. if (lcd_crash_detect_enabled() && !farm_mode)
  1107. {
  1108. lcd_crash_detect_enable();
  1109. puts_P(_N("CrashDetect ENABLED!"));
  1110. }
  1111. else
  1112. {
  1113. lcd_crash_detect_disable();
  1114. puts_P(_N("CrashDetect DISABLED"));
  1115. }
  1116. #ifdef TMC2130_LINEARITY_CORRECTION
  1117. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  1118. tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  1119. tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  1120. tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  1121. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  1122. tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
  1123. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  1124. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  1125. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  1126. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  1127. #endif //TMC2130_LINEARITY_CORRECTION
  1128. #ifdef TMC2130_VARIABLE_RESOLUTION
  1129. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[X_AXIS]);
  1130. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Y_AXIS]);
  1131. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Z_AXIS]);
  1132. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[E_AXIS]);
  1133. #else //TMC2130_VARIABLE_RESOLUTION
  1134. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1135. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1136. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1137. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1138. #endif //TMC2130_VARIABLE_RESOLUTION
  1139. #endif //TMC2130
  1140. st_init(); // Initialize stepper, this enables interrupts!
  1141. #ifdef TMC2130
  1142. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1143. update_mode_profile();
  1144. tmc2130_init(TMCInitParams(false, FarmOrUserECool() ));
  1145. #endif //TMC2130
  1146. #ifdef PSU_Delta
  1147. init_force_z(); // ! important for correct Z-axis initialization
  1148. #endif // PSU_Delta
  1149. setup_photpin();
  1150. #if 0
  1151. servo_init();
  1152. #endif
  1153. // Reset the machine correction matrix.
  1154. // It does not make sense to load the correction matrix until the machine is homed.
  1155. world2machine_reset();
  1156. // Initialize current_position accounting for software endstops to
  1157. // avoid unexpected initial shifts on the first move
  1158. clamp_to_software_endstops(current_position);
  1159. plan_set_position_curposXYZE();
  1160. // Show the xflash error message now that serial, lcd and encoder are available
  1161. if (!xflash_success)
  1162. xflash_err_msg();
  1163. #ifdef FILAMENT_SENSOR
  1164. fsensor_init();
  1165. #endif //FILAMENT_SENSOR
  1166. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  1167. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  1168. #endif
  1169. setup_homepin();
  1170. #if defined(Z_AXIS_ALWAYS_ON)
  1171. enable_z();
  1172. #endif
  1173. if (farm_mode) {
  1174. // The farm monitoring SW may accidentally expect
  1175. // 2 messages of "printer started" to consider a printer working.
  1176. prusa_statistics(8);
  1177. }
  1178. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1179. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1180. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1181. // but this times out if a blocking dialog is shown in setup().
  1182. card.initsd();
  1183. #ifdef DEBUG_SD_SPEED_TEST
  1184. if (card.cardOK)
  1185. {
  1186. uint8_t* buff = (uint8_t*)block_buffer;
  1187. uint32_t block = 0;
  1188. uint32_t sumr = 0;
  1189. uint32_t sumw = 0;
  1190. for (int i = 0; i < 1024; i++)
  1191. {
  1192. uint32_t u = _micros();
  1193. bool res = card.card.readBlock(i, buff);
  1194. u = _micros() - u;
  1195. if (res)
  1196. {
  1197. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1198. sumr += u;
  1199. u = _micros();
  1200. res = card.card.writeBlock(i, buff);
  1201. u = _micros() - u;
  1202. if (res)
  1203. {
  1204. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1205. sumw += u;
  1206. }
  1207. else
  1208. {
  1209. printf_P(PSTR("writeBlock %4d error\n"), i);
  1210. break;
  1211. }
  1212. }
  1213. else
  1214. {
  1215. printf_P(PSTR("readBlock %4d error\n"), i);
  1216. break;
  1217. }
  1218. }
  1219. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1220. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1221. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1222. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1223. }
  1224. else
  1225. printf_P(PSTR("Card NG!\n"));
  1226. #endif //DEBUG_SD_SPEED_TEST
  1227. eeprom_init();
  1228. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1229. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1230. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1231. #if (LANG_MODE != 0) //secondary language support
  1232. #ifdef DEBUG_XFLASH
  1233. XFLASH_SPI_ENTER();
  1234. uint8_t uid[8]; // 64bit unique id
  1235. xflash_rd_uid(uid);
  1236. puts_P(_n("XFLASH UID="));
  1237. for (uint8_t i = 0; i < 8; i ++)
  1238. printf_P(PSTR("%02x"), uid[i]);
  1239. putchar('\n');
  1240. list_sec_lang_from_external_flash();
  1241. #endif //DEBUG_XFLASH
  1242. // lang_reset();
  1243. if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
  1244. lcd_language();
  1245. #ifdef DEBUG_SEC_LANG
  1246. uint16_t sec_lang_code = lang_get_code(1);
  1247. uint16_t ui = _SEC_LANG_TABLE; //table pointer
  1248. 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);
  1249. lang_print_sec_lang(uartout);
  1250. #endif //DEBUG_SEC_LANG
  1251. #endif //(LANG_MODE != 0)
  1252. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1253. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1254. }
  1255. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1256. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1257. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1258. int16_t z_shift = 0;
  1259. for (uint8_t i = 0; i < 5; i++) {
  1260. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + i, z_shift);
  1261. }
  1262. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1263. }
  1264. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1265. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1266. }
  1267. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1268. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1269. }
  1270. //mbl_mode_init();
  1271. mbl_settings_init();
  1272. SilentModeMenu_MMU = eeprom_read_byte((uint8_t*)EEPROM_MMU_STEALTH);
  1273. if (SilentModeMenu_MMU == 255) {
  1274. SilentModeMenu_MMU = 1;
  1275. eeprom_write_byte((uint8_t*)EEPROM_MMU_STEALTH, SilentModeMenu_MMU);
  1276. }
  1277. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1278. setup_fan_interrupt();
  1279. #endif //DEBUG_DISABLE_FANCHECK
  1280. #ifdef PAT9125
  1281. fsensor_setup_interrupt();
  1282. #endif //PAT9125
  1283. #ifndef DEBUG_DISABLE_STARTMSGS
  1284. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1285. if (!farm_mode) {
  1286. check_if_fw_is_on_right_printer();
  1287. show_fw_version_warnings();
  1288. }
  1289. switch (hw_changed) {
  1290. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1291. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1292. case(0b01):
  1293. lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
  1294. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1295. break;
  1296. case(0b10):
  1297. lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
  1298. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1299. break;
  1300. case(0b11):
  1301. lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
  1302. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1303. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1304. break;
  1305. default: break; //no change, show no message
  1306. }
  1307. if (!previous_settings_retrieved) {
  1308. 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=6
  1309. Config_StoreSettings();
  1310. }
  1311. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) >= 1) {
  1312. lcd_wizard(WizState::Run);
  1313. }
  1314. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1315. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1316. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1317. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1318. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1319. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  1320. // Show the message.
  1321. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1322. }
  1323. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1324. // Show the message.
  1325. lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  1326. lcd_update_enable(true);
  1327. }
  1328. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() == false) {
  1329. //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
  1330. lcd_update_enable(true);
  1331. }
  1332. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1333. // Show the message.
  1334. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_Z_CALIBRATION_FLOW));
  1335. }
  1336. }
  1337. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1338. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1339. lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
  1340. update_current_firmware_version_to_eeprom();
  1341. lcd_selftest();
  1342. }
  1343. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1344. KEEPALIVE_STATE(IN_PROCESS);
  1345. #endif //DEBUG_DISABLE_STARTMSGS
  1346. lcd_update_enable(true);
  1347. lcd_clear();
  1348. lcd_update(2);
  1349. // Store the currently running firmware into an eeprom,
  1350. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1351. update_current_firmware_version_to_eeprom();
  1352. #ifdef TMC2130
  1353. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1354. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1355. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1356. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1357. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1358. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1359. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1360. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1361. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1362. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1363. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1364. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1365. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1366. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1367. #endif //TMC2130
  1368. // report crash failures
  1369. fw_crash_init();
  1370. #ifdef UVLO_SUPPORT
  1371. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != 0) { //previous print was terminated by UVLO
  1372. /*
  1373. if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
  1374. else {
  1375. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1376. lcd_update_enable(true);
  1377. lcd_update(2);
  1378. lcd_setstatuspgm(MSG_WELCOME);
  1379. }
  1380. */
  1381. manage_heater(); // Update temperatures
  1382. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1383. 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));
  1384. #endif
  1385. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1386. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1387. puts_P(_N("Automatic recovery!"));
  1388. #endif
  1389. recover_print(1);
  1390. }
  1391. else{
  1392. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1393. puts_P(_N("Normal recovery!"));
  1394. #endif
  1395. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
  1396. else {
  1397. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1398. lcd_update_enable(true);
  1399. lcd_update(2);
  1400. lcd_setstatuspgm(MSG_WELCOME);
  1401. }
  1402. }
  1403. }
  1404. // Only arm the uvlo interrupt _after_ a recovering print has been initialized and
  1405. // the entire state machine initialized.
  1406. setup_uvlo_interrupt();
  1407. #endif //UVLO_SUPPORT
  1408. fCheckModeInit();
  1409. fSetMmuMode(mmu_enabled);
  1410. KEEPALIVE_STATE(NOT_BUSY);
  1411. #ifdef WATCHDOG
  1412. wdt_enable(WDTO_4S);
  1413. #ifdef EMERGENCY_HANDLERS
  1414. WDTCSR |= (1 << WDIE);
  1415. #endif //EMERGENCY_HANDLERS
  1416. #endif //WATCHDOG
  1417. }
  1418. static inline void crash_and_burn(dump_crash_reason reason)
  1419. {
  1420. WRITE(BEEPER, HIGH);
  1421. eeprom_update_byte((uint8_t*)EEPROM_FW_CRASH_FLAG, (uint8_t)reason);
  1422. #ifdef EMERGENCY_DUMP
  1423. xfdump_full_dump_and_reset(reason);
  1424. #elif defined(EMERGENCY_SERIAL_DUMP)
  1425. if(emergency_serial_dump)
  1426. serial_dump_and_reset(reason);
  1427. #endif
  1428. softReset();
  1429. }
  1430. #ifdef EMERGENCY_HANDLERS
  1431. #ifdef WATCHDOG
  1432. ISR(WDT_vect)
  1433. {
  1434. crash_and_burn(dump_crash_reason::watchdog);
  1435. }
  1436. #endif
  1437. ISR(BADISR_vect)
  1438. {
  1439. crash_and_burn(dump_crash_reason::bad_isr);
  1440. }
  1441. #endif //EMERGENCY_HANDLERS
  1442. void stack_error() {
  1443. crash_and_burn(dump_crash_reason::stack_error);
  1444. }
  1445. #ifdef PRUSA_M28
  1446. void trace();
  1447. #define CHUNK_SIZE 64 // bytes
  1448. #define SAFETY_MARGIN 1
  1449. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1450. void serial_read_stream() {
  1451. setAllTargetHotends(0);
  1452. setTargetBed(0);
  1453. lcd_clear();
  1454. lcd_puts_P(PSTR(" Upload in progress"));
  1455. // first wait for how many bytes we will receive
  1456. uint32_t bytesToReceive;
  1457. // receive the four bytes
  1458. char bytesToReceiveBuffer[4];
  1459. for (int i=0; i<4; i++) {
  1460. int data;
  1461. while ((data = MYSERIAL.read()) == -1) {};
  1462. bytesToReceiveBuffer[i] = data;
  1463. }
  1464. // make it a uint32
  1465. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1466. // we're ready, notify the sender
  1467. MYSERIAL.write('+');
  1468. // lock in the routine
  1469. uint32_t receivedBytes = 0;
  1470. while (prusa_sd_card_upload) {
  1471. int i;
  1472. for (i=0; i<CHUNK_SIZE; i++) {
  1473. int data;
  1474. // check if we're not done
  1475. if (receivedBytes == bytesToReceive) {
  1476. break;
  1477. }
  1478. // read the next byte
  1479. while ((data = MYSERIAL.read()) == -1) {};
  1480. receivedBytes++;
  1481. // save it to the chunk
  1482. chunk[i] = data;
  1483. }
  1484. // write the chunk to SD
  1485. card.write_command_no_newline(&chunk[0]);
  1486. // notify the sender we're ready for more data
  1487. MYSERIAL.write('+');
  1488. // for safety
  1489. manage_heater();
  1490. // check if we're done
  1491. if(receivedBytes == bytesToReceive) {
  1492. trace(); // beep
  1493. card.closefile();
  1494. prusa_sd_card_upload = false;
  1495. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1496. }
  1497. }
  1498. }
  1499. #endif //PRUSA_M28
  1500. /**
  1501. * Output autoreport values according to features requested in M155
  1502. */
  1503. #if defined(AUTO_REPORT)
  1504. void host_autoreport()
  1505. {
  1506. if (autoReportFeatures.TimerExpired())
  1507. {
  1508. if(autoReportFeatures.Temp()){
  1509. gcode_M105(active_extruder);
  1510. }
  1511. if(autoReportFeatures.Pos()){
  1512. gcode_M114();
  1513. }
  1514. #if defined(AUTO_REPORT) && (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  1515. if(autoReportFeatures.Fans()){
  1516. gcode_M123();
  1517. }
  1518. #endif //AUTO_REPORT and (FANCHECK and TACH_0 or TACH_1)
  1519. autoReportFeatures.TimerStart();
  1520. }
  1521. }
  1522. #endif //AUTO_REPORT
  1523. /**
  1524. * Output a "busy" message at regular intervals
  1525. * while the machine is not accepting commands.
  1526. */
  1527. void host_keepalive() {
  1528. #ifndef HOST_KEEPALIVE_FEATURE
  1529. return;
  1530. #endif //HOST_KEEPALIVE_FEATURE
  1531. if (farm_mode) return;
  1532. long ms = _millis();
  1533. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1534. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1535. switch (busy_state) {
  1536. case IN_HANDLER:
  1537. case IN_PROCESS:
  1538. SERIAL_ECHO_START;
  1539. SERIAL_ECHOLNPGM("busy: processing");
  1540. break;
  1541. case PAUSED_FOR_USER:
  1542. SERIAL_ECHO_START;
  1543. SERIAL_ECHOLNPGM("busy: paused for user");
  1544. break;
  1545. case PAUSED_FOR_INPUT:
  1546. SERIAL_ECHO_START;
  1547. SERIAL_ECHOLNPGM("busy: paused for input");
  1548. break;
  1549. default:
  1550. break;
  1551. }
  1552. }
  1553. prev_busy_signal_ms = ms;
  1554. }
  1555. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1556. // Before loop(), the setup() function is called by the main() routine.
  1557. void loop()
  1558. {
  1559. // Reset a previously aborted command, we can now start processing motion again
  1560. planner_aborted = false;
  1561. if(Stopped) {
  1562. // Currently Stopped (possibly due to an error) and not accepting new serial commands.
  1563. // Signal to the host that we're currently busy waiting for supervision.
  1564. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1565. } else {
  1566. // Printer is available for processing, reset state
  1567. KEEPALIVE_STATE(NOT_BUSY);
  1568. }
  1569. if (isPrintPaused && saved_printing_type == PRINTING_TYPE_USB) { //keep believing that usb is being printed. Prevents accessing dangerous menus while pausing.
  1570. usb_timer.start();
  1571. }
  1572. else if (usb_timer.expired(10000)) { //just need to check if it expired. Nothing else is needed to be done.
  1573. ;
  1574. }
  1575. #ifdef PRUSA_M28
  1576. if (prusa_sd_card_upload)
  1577. {
  1578. //we read byte-by byte
  1579. serial_read_stream();
  1580. }
  1581. else
  1582. #endif
  1583. {
  1584. get_command();
  1585. #ifdef SDSUPPORT
  1586. card.checkautostart(false);
  1587. #endif
  1588. if(buflen)
  1589. {
  1590. cmdbuffer_front_already_processed = false;
  1591. #ifdef SDSUPPORT
  1592. if(card.saving)
  1593. {
  1594. // Saving a G-code file onto an SD-card is in progress.
  1595. // Saving starts with M28, saving until M29 is seen.
  1596. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1597. card.write_command(CMDBUFFER_CURRENT_STRING);
  1598. if(card.logging)
  1599. process_commands();
  1600. else
  1601. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1602. } else {
  1603. card.closefile();
  1604. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1605. }
  1606. } else {
  1607. process_commands();
  1608. }
  1609. #else
  1610. process_commands();
  1611. #endif //SDSUPPORT
  1612. if (! cmdbuffer_front_already_processed && buflen)
  1613. {
  1614. // ptr points to the start of the block currently being processed.
  1615. // The first character in the block is the block type.
  1616. char *ptr = cmdbuffer + bufindr;
  1617. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1618. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1619. union {
  1620. struct {
  1621. char lo;
  1622. char hi;
  1623. } lohi;
  1624. uint16_t value;
  1625. } sdlen;
  1626. sdlen.value = 0;
  1627. {
  1628. // This block locks the interrupts globally for 3.25 us,
  1629. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1630. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1631. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1632. cli();
  1633. // Reset the command to something, which will be ignored by the power panic routine,
  1634. // so this buffer length will not be counted twice.
  1635. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1636. // Extract the current buffer length.
  1637. sdlen.lohi.lo = *ptr ++;
  1638. sdlen.lohi.hi = *ptr;
  1639. // and pass it to the planner queue.
  1640. planner_add_sd_length(sdlen.value);
  1641. sei();
  1642. }
  1643. }
  1644. else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
  1645. cli();
  1646. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1647. // and one for each command to previous block in the planner queue.
  1648. planner_add_sd_length(1);
  1649. sei();
  1650. }
  1651. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1652. // this block's SD card length will not be counted twice as its command type has been replaced
  1653. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1654. cmdqueue_pop_front();
  1655. }
  1656. host_keepalive();
  1657. }
  1658. }
  1659. //check heater every n milliseconds
  1660. manage_heater();
  1661. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1662. checkHitEndstops();
  1663. lcd_update(0);
  1664. #ifdef TMC2130
  1665. tmc2130_check_overtemp();
  1666. if (tmc2130_sg_crash)
  1667. {
  1668. uint8_t crash = tmc2130_sg_crash;
  1669. tmc2130_sg_crash = 0;
  1670. // crashdet_stop_and_save_print();
  1671. switch (crash)
  1672. {
  1673. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1674. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1675. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1676. }
  1677. }
  1678. #endif //TMC2130
  1679. mmu_loop();
  1680. }
  1681. #define DEFINE_PGM_READ_ANY(type, reader) \
  1682. static inline type pgm_read_any(const type *p) \
  1683. { return pgm_read_##reader##_near(p); }
  1684. DEFINE_PGM_READ_ANY(float, float);
  1685. DEFINE_PGM_READ_ANY(signed char, byte);
  1686. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1687. static const PROGMEM type array##_P[3] = \
  1688. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1689. static inline type array(uint8_t axis) \
  1690. { return pgm_read_any(&array##_P[axis]); } \
  1691. type array##_ext(uint8_t axis) \
  1692. { return pgm_read_any(&array##_P[axis]); }
  1693. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1694. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1695. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1696. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1697. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1698. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1699. static void axis_is_at_home(uint8_t axis) {
  1700. current_position[axis] = base_home_pos(axis) + cs.add_homing[axis];
  1701. min_pos[axis] = base_min_pos(axis) + cs.add_homing[axis];
  1702. max_pos[axis] = base_max_pos(axis) + cs.add_homing[axis];
  1703. }
  1704. //! @return original feedmultiply
  1705. static int setup_for_endstop_move(bool enable_endstops_now = true) {
  1706. saved_feedrate = feedrate;
  1707. int l_feedmultiply = feedmultiply;
  1708. feedmultiply = 100;
  1709. previous_millis_cmd.start();
  1710. enable_endstops(enable_endstops_now);
  1711. return l_feedmultiply;
  1712. }
  1713. //! @param original_feedmultiply feedmultiply to restore
  1714. static void clean_up_after_endstop_move(int original_feedmultiply) {
  1715. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1716. enable_endstops(false);
  1717. #endif
  1718. feedrate = saved_feedrate;
  1719. feedmultiply = original_feedmultiply;
  1720. previous_millis_cmd.start();
  1721. }
  1722. #ifdef ENABLE_AUTO_BED_LEVELING
  1723. #ifdef AUTO_BED_LEVELING_GRID
  1724. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1725. {
  1726. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1727. planeNormal.debug("planeNormal");
  1728. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1729. //bedLevel.debug("bedLevel");
  1730. //plan_bed_level_matrix.debug("bed level before");
  1731. //vector_3 uncorrected_position = plan_get_position_mm();
  1732. //uncorrected_position.debug("position before");
  1733. vector_3 corrected_position = plan_get_position();
  1734. // corrected_position.debug("position after");
  1735. current_position[X_AXIS] = corrected_position.x;
  1736. current_position[Y_AXIS] = corrected_position.y;
  1737. current_position[Z_AXIS] = corrected_position.z;
  1738. // put the bed at 0 so we don't go below it.
  1739. current_position[Z_AXIS] = cs.zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1740. plan_set_position_curposXYZE();
  1741. }
  1742. #else // not AUTO_BED_LEVELING_GRID
  1743. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1744. plan_bed_level_matrix.set_to_identity();
  1745. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1746. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1747. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1748. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1749. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1750. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1751. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1752. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1753. vector_3 corrected_position = plan_get_position();
  1754. current_position[X_AXIS] = corrected_position.x;
  1755. current_position[Y_AXIS] = corrected_position.y;
  1756. current_position[Z_AXIS] = corrected_position.z;
  1757. // put the bed at 0 so we don't go below it.
  1758. current_position[Z_AXIS] = cs.zprobe_zoffset;
  1759. plan_set_position_curposXYZE();
  1760. }
  1761. #endif // AUTO_BED_LEVELING_GRID
  1762. static void run_z_probe() {
  1763. plan_bed_level_matrix.set_to_identity();
  1764. feedrate = homing_feedrate[Z_AXIS];
  1765. // move down until you find the bed
  1766. float zPosition = -10;
  1767. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1768. st_synchronize();
  1769. // we have to let the planner know where we are right now as it is not where we said to go.
  1770. zPosition = st_get_position_mm(Z_AXIS);
  1771. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1772. // move up the retract distance
  1773. zPosition += home_retract_mm(Z_AXIS);
  1774. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1775. st_synchronize();
  1776. // move back down slowly to find bed
  1777. feedrate = homing_feedrate[Z_AXIS]/4;
  1778. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1779. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1780. st_synchronize();
  1781. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1782. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1783. plan_set_position_curposXYZE();
  1784. }
  1785. static void do_blocking_move_to(float x, float y, float z) {
  1786. float oldFeedRate = feedrate;
  1787. feedrate = homing_feedrate[Z_AXIS];
  1788. current_position[Z_AXIS] = z;
  1789. plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
  1790. st_synchronize();
  1791. feedrate = XY_TRAVEL_SPEED;
  1792. current_position[X_AXIS] = x;
  1793. current_position[Y_AXIS] = y;
  1794. plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
  1795. st_synchronize();
  1796. feedrate = oldFeedRate;
  1797. }
  1798. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1799. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1800. }
  1801. /// Probe bed height at position (x,y), returns the measured z value
  1802. static float probe_pt(float x, float y, float z_before) {
  1803. // move to right place
  1804. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1805. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1806. run_z_probe();
  1807. float measured_z = current_position[Z_AXIS];
  1808. SERIAL_PROTOCOLRPGM(_T(MSG_BED));
  1809. SERIAL_PROTOCOLPGM(" x: ");
  1810. SERIAL_PROTOCOL(x);
  1811. SERIAL_PROTOCOLPGM(" y: ");
  1812. SERIAL_PROTOCOL(y);
  1813. SERIAL_PROTOCOLPGM(" z: ");
  1814. SERIAL_PROTOCOL(measured_z);
  1815. SERIAL_PROTOCOLPGM("\n");
  1816. return measured_z;
  1817. }
  1818. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1819. #ifdef LIN_ADVANCE
  1820. /**
  1821. * M900: Set and/or Get advance K factor
  1822. *
  1823. * K<factor> Set advance K factor
  1824. */
  1825. inline void gcode_M900() {
  1826. float newK = code_seen('K') ? code_value_float() : -2;
  1827. #ifdef LA_NOCOMPAT
  1828. if (newK >= 0 && newK < LA_K_MAX)
  1829. extruder_advance_K = newK;
  1830. else
  1831. SERIAL_ECHOLNPGM("K out of allowed range!");
  1832. #else
  1833. if (newK == 0)
  1834. {
  1835. extruder_advance_K = 0;
  1836. la10c_reset();
  1837. }
  1838. else
  1839. {
  1840. newK = la10c_value(newK);
  1841. if (newK < 0)
  1842. SERIAL_ECHOLNPGM("K out of allowed range!");
  1843. else
  1844. extruder_advance_K = newK;
  1845. }
  1846. #endif
  1847. SERIAL_ECHO_START;
  1848. SERIAL_ECHOPGM("Advance K=");
  1849. SERIAL_ECHOLN(extruder_advance_K);
  1850. }
  1851. #endif // LIN_ADVANCE
  1852. bool check_commands() {
  1853. bool end_command_found = false;
  1854. while (buflen)
  1855. {
  1856. if ((code_seen_P(PSTR("M84"))) || (code_seen_P(PSTR("M 84")))) end_command_found = true;
  1857. if (!cmdbuffer_front_already_processed)
  1858. cmdqueue_pop_front();
  1859. cmdbuffer_front_already_processed = false;
  1860. }
  1861. return end_command_found;
  1862. }
  1863. // raise_z_above: slowly raise Z to the requested height
  1864. //
  1865. // contrarily to a simple move, this function will carefully plan a move
  1866. // when the current Z position is unknown. In such cases, stallguard is
  1867. // enabled and will prevent prolonged pushing against the Z tops
  1868. void raise_z_above(float target, bool plan)
  1869. {
  1870. if (current_position[Z_AXIS] >= target)
  1871. return;
  1872. // Z needs raising
  1873. current_position[Z_AXIS] = target;
  1874. clamp_to_software_endstops(current_position);
  1875. #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
  1876. bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  1877. #else
  1878. bool z_min_endstop = false;
  1879. #endif
  1880. if (axis_known_position[Z_AXIS] || z_min_endstop)
  1881. {
  1882. // current position is known or very low, it's safe to raise Z
  1883. if(plan) plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
  1884. return;
  1885. }
  1886. // ensure Z is powered in normal mode to overcome initial load
  1887. enable_z();
  1888. st_synchronize();
  1889. // rely on crashguard to limit damage
  1890. bool z_endstop_enabled = enable_z_endstop(true);
  1891. #ifdef TMC2130
  1892. tmc2130_home_enter(Z_AXIS_MASK);
  1893. #endif //TMC2130
  1894. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
  1895. st_synchronize();
  1896. #ifdef TMC2130
  1897. if (endstop_z_hit_on_purpose())
  1898. {
  1899. // not necessarily exact, but will avoid further vertical moves
  1900. current_position[Z_AXIS] = max_pos[Z_AXIS];
  1901. plan_set_position_curposXYZE();
  1902. }
  1903. tmc2130_home_exit();
  1904. #endif //TMC2130
  1905. enable_z_endstop(z_endstop_enabled);
  1906. }
  1907. #ifdef TMC2130
  1908. bool calibrate_z_auto()
  1909. {
  1910. //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
  1911. lcd_clear();
  1912. lcd_puts_at_P(0, 1, _T(MSG_CALIBRATE_Z_AUTO));
  1913. bool endstops_enabled = enable_endstops(true);
  1914. int axis_up_dir = -home_dir(Z_AXIS);
  1915. tmc2130_home_enter(Z_AXIS_MASK);
  1916. current_position[Z_AXIS] = 0;
  1917. plan_set_position_curposXYZE();
  1918. set_destination_to_current();
  1919. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1920. feedrate = homing_feedrate[Z_AXIS];
  1921. plan_buffer_line_destinationXYZE(feedrate / 60);
  1922. st_synchronize();
  1923. // current_position[axis] = 0;
  1924. // plan_set_position_curposXYZE();
  1925. tmc2130_home_exit();
  1926. enable_endstops(false);
  1927. current_position[Z_AXIS] = 0;
  1928. plan_set_position_curposXYZE();
  1929. set_destination_to_current();
  1930. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1931. feedrate = homing_feedrate[Z_AXIS] / 2;
  1932. plan_buffer_line_destinationXYZE(feedrate / 60);
  1933. st_synchronize();
  1934. enable_endstops(endstops_enabled);
  1935. if (PRINTER_TYPE == PRINTER_MK3) {
  1936. current_position[Z_AXIS] = Z_MAX_POS + 2.0;
  1937. }
  1938. else {
  1939. current_position[Z_AXIS] = Z_MAX_POS + 9.0;
  1940. }
  1941. plan_set_position_curposXYZE();
  1942. return true;
  1943. }
  1944. #endif //TMC2130
  1945. #ifdef TMC2130
  1946. static void check_Z_crash(void)
  1947. {
  1948. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  1949. FORCE_HIGH_POWER_END;
  1950. current_position[Z_AXIS] = 0;
  1951. plan_set_position_curposXYZE();
  1952. current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
  1953. plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
  1954. st_synchronize();
  1955. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  1956. }
  1957. }
  1958. #endif //TMC2130
  1959. #ifdef TMC2130
  1960. void homeaxis(uint8_t axis, uint8_t cnt, uint8_t* pstep)
  1961. #else
  1962. void homeaxis(uint8_t axis, uint8_t cnt)
  1963. #endif //TMC2130
  1964. {
  1965. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1966. #define HOMEAXIS_DO(LETTER) \
  1967. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1968. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1969. {
  1970. int axis_home_dir = home_dir(axis);
  1971. feedrate = homing_feedrate[axis];
  1972. #ifdef TMC2130
  1973. tmc2130_home_enter(X_AXIS_MASK << axis);
  1974. #endif //TMC2130
  1975. // Move away a bit, so that the print head does not touch the end position,
  1976. // and the following movement to endstop has a chance to achieve the required velocity
  1977. // for the stall guard to work.
  1978. current_position[axis] = 0;
  1979. plan_set_position_curposXYZE();
  1980. set_destination_to_current();
  1981. // destination[axis] = 11.f;
  1982. destination[axis] = -3.f * axis_home_dir;
  1983. plan_buffer_line_destinationXYZE(feedrate/60);
  1984. st_synchronize();
  1985. // Move away from the possible collision with opposite endstop with the collision detection disabled.
  1986. endstops_hit_on_purpose();
  1987. enable_endstops(false);
  1988. current_position[axis] = 0;
  1989. plan_set_position_curposXYZE();
  1990. destination[axis] = 1. * axis_home_dir;
  1991. plan_buffer_line_destinationXYZE(feedrate/60);
  1992. st_synchronize();
  1993. // Now continue to move up to the left end stop with the collision detection enabled.
  1994. enable_endstops(true);
  1995. destination[axis] = 1.1 * axis_home_dir * max_length(axis);
  1996. plan_buffer_line_destinationXYZE(feedrate/60);
  1997. st_synchronize();
  1998. for (uint8_t i = 0; i < cnt; i++)
  1999. {
  2000. // Move away from the collision to a known distance from the left end stop with the collision detection disabled.
  2001. endstops_hit_on_purpose();
  2002. enable_endstops(false);
  2003. current_position[axis] = 0;
  2004. plan_set_position_curposXYZE();
  2005. destination[axis] = -10.f * axis_home_dir;
  2006. plan_buffer_line_destinationXYZE(feedrate/60);
  2007. st_synchronize();
  2008. endstops_hit_on_purpose();
  2009. // Now move left up to the collision, this time with a repeatable velocity.
  2010. enable_endstops(true);
  2011. destination[axis] = 11.f * axis_home_dir;
  2012. #ifdef TMC2130
  2013. feedrate = homing_feedrate[axis];
  2014. #else //TMC2130
  2015. feedrate = homing_feedrate[axis] / 2;
  2016. #endif //TMC2130
  2017. plan_buffer_line_destinationXYZE(feedrate/60);
  2018. st_synchronize();
  2019. #ifdef TMC2130
  2020. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  2021. if (pstep) pstep[i] = mscnt >> 4;
  2022. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  2023. #endif //TMC2130
  2024. }
  2025. endstops_hit_on_purpose();
  2026. enable_endstops(false);
  2027. #ifdef TMC2130
  2028. uint8_t orig = tmc2130_home_origin[axis];
  2029. uint8_t back = tmc2130_home_bsteps[axis];
  2030. if (tmc2130_home_enabled && (orig <= 63))
  2031. {
  2032. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  2033. if (back > 0)
  2034. tmc2130_do_steps(axis, back, -axis_home_dir, 1000);
  2035. }
  2036. else
  2037. tmc2130_do_steps(axis, 8, -axis_home_dir, 1000);
  2038. tmc2130_home_exit();
  2039. #endif //TMC2130
  2040. axis_is_at_home(axis);
  2041. axis_known_position[axis] = true;
  2042. // Move from minimum
  2043. #ifdef TMC2130
  2044. float dist = - axis_home_dir * 0.01f * tmc2130_home_fsteps[axis];
  2045. #else //TMC2130
  2046. float dist = - axis_home_dir * 0.01f * 64;
  2047. #endif //TMC2130
  2048. current_position[axis] -= dist;
  2049. plan_set_position_curposXYZE();
  2050. current_position[axis] += dist;
  2051. destination[axis] = current_position[axis];
  2052. plan_buffer_line_destinationXYZE(0.5f*feedrate/60);
  2053. st_synchronize();
  2054. feedrate = 0.0;
  2055. }
  2056. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  2057. {
  2058. #ifdef TMC2130
  2059. FORCE_HIGH_POWER_START;
  2060. #endif
  2061. int axis_home_dir = home_dir(axis);
  2062. current_position[axis] = 0;
  2063. plan_set_position_curposXYZE();
  2064. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  2065. feedrate = homing_feedrate[axis];
  2066. plan_buffer_line_destinationXYZE(feedrate/60);
  2067. st_synchronize();
  2068. #ifdef TMC2130
  2069. check_Z_crash();
  2070. #endif //TMC2130
  2071. current_position[axis] = 0;
  2072. plan_set_position_curposXYZE();
  2073. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  2074. plan_buffer_line_destinationXYZE(feedrate/60);
  2075. st_synchronize();
  2076. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  2077. feedrate = homing_feedrate[axis]/2 ;
  2078. plan_buffer_line_destinationXYZE(feedrate/60);
  2079. st_synchronize();
  2080. #ifdef TMC2130
  2081. check_Z_crash();
  2082. #endif //TMC2130
  2083. axis_is_at_home(axis);
  2084. destination[axis] = current_position[axis];
  2085. feedrate = 0.0;
  2086. endstops_hit_on_purpose();
  2087. axis_known_position[axis] = true;
  2088. #ifdef TMC2130
  2089. FORCE_HIGH_POWER_END;
  2090. #endif
  2091. }
  2092. enable_endstops(endstops_enabled);
  2093. }
  2094. /**/
  2095. void home_xy()
  2096. {
  2097. set_destination_to_current();
  2098. homeaxis(X_AXIS);
  2099. homeaxis(Y_AXIS);
  2100. plan_set_position_curposXYZE();
  2101. endstops_hit_on_purpose();
  2102. }
  2103. void refresh_cmd_timeout(void)
  2104. {
  2105. previous_millis_cmd.start();
  2106. }
  2107. #ifdef FWRETRACT
  2108. void retract(bool retracting, bool swapretract = false) {
  2109. // Perform FW retraction, just if needed, but behave as if the move has never took place in
  2110. // order to keep E/Z coordinates unchanged. This is done by manipulating the internal planner
  2111. // position, which requires a sync
  2112. if(retracting && !retracted[active_extruder]) {
  2113. st_synchronize();
  2114. set_destination_to_current();
  2115. current_position[E_AXIS]+=(swapretract?retract_length_swap:cs.retract_length)*float(extrudemultiply)*0.01f;
  2116. plan_set_e_position(current_position[E_AXIS]);
  2117. float oldFeedrate = feedrate;
  2118. feedrate=cs.retract_feedrate*60;
  2119. retracted[active_extruder]=true;
  2120. prepare_move();
  2121. if(cs.retract_zlift) {
  2122. st_synchronize();
  2123. current_position[Z_AXIS]-=cs.retract_zlift;
  2124. plan_set_position_curposXYZE();
  2125. prepare_move();
  2126. }
  2127. feedrate = oldFeedrate;
  2128. } else if(!retracting && retracted[active_extruder]) {
  2129. st_synchronize();
  2130. set_destination_to_current();
  2131. float oldFeedrate = feedrate;
  2132. feedrate=cs.retract_recover_feedrate*60;
  2133. if(cs.retract_zlift) {
  2134. current_position[Z_AXIS]+=cs.retract_zlift;
  2135. plan_set_position_curposXYZE();
  2136. prepare_move();
  2137. st_synchronize();
  2138. }
  2139. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f;
  2140. plan_set_e_position(current_position[E_AXIS]);
  2141. retracted[active_extruder]=false;
  2142. prepare_move();
  2143. feedrate = oldFeedrate;
  2144. }
  2145. } //retract
  2146. #endif //FWRETRACT
  2147. #ifdef PRUSA_M28
  2148. void trace() {
  2149. Sound_MakeCustom(25,440,true);
  2150. }
  2151. #endif
  2152. /*
  2153. void ramming() {
  2154. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  2155. if (current_temperature[0] < 230) {
  2156. //PLA
  2157. max_feedrate[E_AXIS] = 50;
  2158. //current_position[E_AXIS] -= 8;
  2159. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2160. //current_position[E_AXIS] += 8;
  2161. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2162. current_position[E_AXIS] += 5.4;
  2163. plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
  2164. current_position[E_AXIS] += 3.2;
  2165. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  2166. current_position[E_AXIS] += 3;
  2167. plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
  2168. st_synchronize();
  2169. max_feedrate[E_AXIS] = 80;
  2170. current_position[E_AXIS] -= 82;
  2171. plan_buffer_line_curposXYZE(9500 / 60, active_extruder);
  2172. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2173. current_position[E_AXIS] -= 20;
  2174. plan_buffer_line_curposXYZE(1200 / 60, active_extruder);
  2175. current_position[E_AXIS] += 5;
  2176. plan_buffer_line_curposXYZE(400 / 60, active_extruder);
  2177. current_position[E_AXIS] += 5;
  2178. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2179. current_position[E_AXIS] -= 10;
  2180. st_synchronize();
  2181. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2182. current_position[E_AXIS] += 10;
  2183. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2184. current_position[E_AXIS] -= 10;
  2185. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2186. current_position[E_AXIS] += 10;
  2187. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2188. current_position[E_AXIS] -= 10;
  2189. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2190. st_synchronize();
  2191. }
  2192. else {
  2193. //ABS
  2194. max_feedrate[E_AXIS] = 50;
  2195. //current_position[E_AXIS] -= 8;
  2196. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2197. //current_position[E_AXIS] += 8;
  2198. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2199. current_position[E_AXIS] += 3.1;
  2200. plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
  2201. current_position[E_AXIS] += 3.1;
  2202. plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
  2203. current_position[E_AXIS] += 4;
  2204. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  2205. st_synchronize();
  2206. //current_position[X_AXIS] += 23; //delay
  2207. //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
  2208. //current_position[X_AXIS] -= 23; //delay
  2209. //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
  2210. _delay(4700);
  2211. max_feedrate[E_AXIS] = 80;
  2212. current_position[E_AXIS] -= 92;
  2213. plan_buffer_line_curposXYZE(9900 / 60, active_extruder);
  2214. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2215. current_position[E_AXIS] -= 5;
  2216. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2217. current_position[E_AXIS] += 5;
  2218. plan_buffer_line_curposXYZE(400 / 60, active_extruder);
  2219. current_position[E_AXIS] -= 5;
  2220. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2221. st_synchronize();
  2222. current_position[E_AXIS] += 5;
  2223. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2224. current_position[E_AXIS] -= 5;
  2225. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2226. current_position[E_AXIS] += 5;
  2227. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2228. current_position[E_AXIS] -= 5;
  2229. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2230. st_synchronize();
  2231. }
  2232. }
  2233. */
  2234. #ifdef TMC2130
  2235. void force_high_power_mode(bool start_high_power_section) {
  2236. #ifdef PSU_Delta
  2237. if (start_high_power_section == true) enable_force_z();
  2238. #endif //PSU_Delta
  2239. uint8_t silent;
  2240. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  2241. if (silent == 1) {
  2242. //we are in silent mode, set to normal mode to enable crash detection
  2243. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  2244. st_synchronize();
  2245. cli();
  2246. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  2247. update_mode_profile();
  2248. tmc2130_init(TMCInitParams(FarmOrUserECool()));
  2249. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  2250. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  2251. st_reset_timer();
  2252. sei();
  2253. }
  2254. }
  2255. #endif //TMC2130
  2256. void gcode_M105(uint8_t extruder)
  2257. {
  2258. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  2259. SERIAL_PROTOCOLPGM("T:");
  2260. SERIAL_PROTOCOL_F(degHotend(extruder),1);
  2261. SERIAL_PROTOCOLPGM(" /");
  2262. SERIAL_PROTOCOL_F(degTargetHotend(extruder),1);
  2263. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2264. SERIAL_PROTOCOLPGM(" B:");
  2265. SERIAL_PROTOCOL_F(degBed(),1);
  2266. SERIAL_PROTOCOLPGM(" /");
  2267. SERIAL_PROTOCOL_F(degTargetBed(),1);
  2268. #endif //TEMP_BED_PIN
  2269. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2270. SERIAL_PROTOCOLPGM(" T");
  2271. SERIAL_PROTOCOL(cur_extruder);
  2272. SERIAL_PROTOCOL(':');
  2273. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2274. SERIAL_PROTOCOLPGM(" /");
  2275. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  2276. }
  2277. #else
  2278. SERIAL_ERROR_START;
  2279. SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS
  2280. #endif
  2281. SERIAL_PROTOCOLPGM(" @:");
  2282. #ifdef EXTRUDER_WATTS
  2283. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  2284. SERIAL_PROTOCOLPGM("W");
  2285. #else
  2286. SERIAL_PROTOCOL(getHeaterPower(extruder));
  2287. #endif
  2288. SERIAL_PROTOCOLPGM(" B@:");
  2289. #ifdef BED_WATTS
  2290. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  2291. SERIAL_PROTOCOLPGM("W");
  2292. #else
  2293. SERIAL_PROTOCOL(getHeaterPower(-1));
  2294. #endif
  2295. #ifdef PINDA_THERMISTOR
  2296. SERIAL_PROTOCOLPGM(" P:");
  2297. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  2298. #endif //PINDA_THERMISTOR
  2299. #ifdef AMBIENT_THERMISTOR
  2300. SERIAL_PROTOCOLPGM(" A:");
  2301. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  2302. #endif //AMBIENT_THERMISTOR
  2303. #ifdef SHOW_TEMP_ADC_VALUES
  2304. {
  2305. float raw = 0.0;
  2306. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2307. SERIAL_PROTOCOLPGM(" ADC B:");
  2308. SERIAL_PROTOCOL_F(degBed(),1);
  2309. SERIAL_PROTOCOLPGM("C->");
  2310. raw = rawBedTemp();
  2311. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  2312. SERIAL_PROTOCOLPGM(" Rb->");
  2313. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  2314. SERIAL_PROTOCOLPGM(" Rxb->");
  2315. SERIAL_PROTOCOL_F(raw, 5);
  2316. #endif
  2317. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2318. SERIAL_PROTOCOLPGM(" T");
  2319. SERIAL_PROTOCOL(cur_extruder);
  2320. SERIAL_PROTOCOLPGM(":");
  2321. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2322. SERIAL_PROTOCOLPGM("C->");
  2323. raw = rawHotendTemp(cur_extruder);
  2324. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  2325. SERIAL_PROTOCOLPGM(" Rt");
  2326. SERIAL_PROTOCOL(cur_extruder);
  2327. SERIAL_PROTOCOLPGM("->");
  2328. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  2329. SERIAL_PROTOCOLPGM(" Rx");
  2330. SERIAL_PROTOCOL(cur_extruder);
  2331. SERIAL_PROTOCOLPGM("->");
  2332. SERIAL_PROTOCOL_F(raw, 5);
  2333. }
  2334. }
  2335. #endif
  2336. SERIAL_PROTOCOLLN();
  2337. }
  2338. #ifdef TMC2130
  2339. static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl)
  2340. #else
  2341. static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool without_mbl)
  2342. #endif //TMC2130
  2343. {
  2344. // Flag for the display update routine and to disable the print cancelation during homing.
  2345. st_synchronize();
  2346. homing_flag = true;
  2347. #if 0
  2348. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2349. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2350. #endif
  2351. // Which axes should be homed?
  2352. bool home_x = home_x_axis;
  2353. bool home_y = home_y_axis;
  2354. bool home_z = home_z_axis;
  2355. // Either all X,Y,Z codes are present, or none of them.
  2356. bool home_all_axes = home_x == home_y && home_x == home_z;
  2357. if (home_all_axes)
  2358. // No X/Y/Z code provided means to home all axes.
  2359. home_x = home_y = home_z = true;
  2360. //if we are homing all axes, first move z higher to protect heatbed/steel sheet
  2361. if (home_all_axes) {
  2362. raise_z_above(MESH_HOME_Z_SEARCH);
  2363. st_synchronize();
  2364. }
  2365. #ifdef ENABLE_AUTO_BED_LEVELING
  2366. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2367. #endif //ENABLE_AUTO_BED_LEVELING
  2368. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2369. // the planner will not perform any adjustments in the XY plane.
  2370. // Wait for the motors to stop and update the current position with the absolute values.
  2371. world2machine_revert_to_uncorrected();
  2372. // For mesh bed leveling deactivate the matrix temporarily.
  2373. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2374. // in a single axis only.
  2375. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2376. #ifdef MESH_BED_LEVELING
  2377. uint8_t mbl_was_active = mbl.active;
  2378. mbl.active = 0;
  2379. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2380. #endif
  2381. // Reset baby stepping to zero, if the babystepping has already been loaded before.
  2382. if (home_z)
  2383. babystep_undo();
  2384. int l_feedmultiply = setup_for_endstop_move();
  2385. set_destination_to_current();
  2386. feedrate = 0.0;
  2387. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2388. if(home_z)
  2389. homeaxis(Z_AXIS);
  2390. #endif
  2391. #ifdef QUICK_HOME
  2392. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2393. if(home_x && home_y) //first diagonal move
  2394. {
  2395. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2396. uint8_t x_axis_home_dir = home_dir(X_AXIS);
  2397. plan_set_position_curposXYZE();
  2398. 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);
  2399. feedrate = homing_feedrate[X_AXIS];
  2400. if(homing_feedrate[Y_AXIS]<feedrate)
  2401. feedrate = homing_feedrate[Y_AXIS];
  2402. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2403. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2404. } else {
  2405. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2406. }
  2407. plan_buffer_line_destinationXYZE(feedrate/60);
  2408. st_synchronize();
  2409. axis_is_at_home(X_AXIS);
  2410. axis_is_at_home(Y_AXIS);
  2411. plan_set_position_curposXYZE();
  2412. destination[X_AXIS] = current_position[X_AXIS];
  2413. destination[Y_AXIS] = current_position[Y_AXIS];
  2414. plan_buffer_line_destinationXYZE(feedrate/60);
  2415. feedrate = 0.0;
  2416. st_synchronize();
  2417. endstops_hit_on_purpose();
  2418. current_position[X_AXIS] = destination[X_AXIS];
  2419. current_position[Y_AXIS] = destination[Y_AXIS];
  2420. current_position[Z_AXIS] = destination[Z_AXIS];
  2421. }
  2422. #endif /* QUICK_HOME */
  2423. #ifdef TMC2130
  2424. if(home_x)
  2425. {
  2426. if (!calib)
  2427. homeaxis(X_AXIS);
  2428. else
  2429. tmc2130_home_calibrate(X_AXIS);
  2430. }
  2431. if(home_y)
  2432. {
  2433. if (!calib)
  2434. homeaxis(Y_AXIS);
  2435. else
  2436. tmc2130_home_calibrate(Y_AXIS);
  2437. }
  2438. #else //TMC2130
  2439. if(home_x) homeaxis(X_AXIS);
  2440. if(home_y) homeaxis(Y_AXIS);
  2441. #endif //TMC2130
  2442. if(home_x_axis && home_x_value != 0)
  2443. current_position[X_AXIS]=home_x_value+cs.add_homing[X_AXIS];
  2444. if(home_y_axis && home_y_value != 0)
  2445. current_position[Y_AXIS]=home_y_value+cs.add_homing[Y_AXIS];
  2446. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2447. #ifndef Z_SAFE_HOMING
  2448. if(home_z) {
  2449. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2450. raise_z_above(Z_RAISE_BEFORE_HOMING);
  2451. st_synchronize();
  2452. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2453. #ifdef MESH_BED_LEVELING // If Mesh bed leveling, move X&Y to safe position for home
  2454. raise_z_above(MESH_HOME_Z_SEARCH);
  2455. st_synchronize();
  2456. if (!axis_known_position[X_AXIS]) homeaxis(X_AXIS);
  2457. if (!axis_known_position[Y_AXIS]) homeaxis(Y_AXIS);
  2458. // 1st mesh bed leveling measurement point, corrected.
  2459. world2machine_initialize();
  2460. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2461. world2machine_reset();
  2462. if (destination[Y_AXIS] < Y_MIN_POS)
  2463. destination[Y_AXIS] = Y_MIN_POS;
  2464. feedrate = homing_feedrate[X_AXIS] / 20;
  2465. enable_endstops(false);
  2466. #ifdef DEBUG_BUILD
  2467. SERIAL_ECHOLNPGM("plan_set_position()");
  2468. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2469. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2470. #endif
  2471. plan_set_position_curposXYZE();
  2472. #ifdef DEBUG_BUILD
  2473. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2474. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2475. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2476. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2477. #endif
  2478. plan_buffer_line_destinationXYZE(feedrate);
  2479. st_synchronize();
  2480. current_position[X_AXIS] = destination[X_AXIS];
  2481. current_position[Y_AXIS] = destination[Y_AXIS];
  2482. enable_endstops(true);
  2483. endstops_hit_on_purpose();
  2484. homeaxis(Z_AXIS);
  2485. #else // MESH_BED_LEVELING
  2486. homeaxis(Z_AXIS);
  2487. #endif // MESH_BED_LEVELING
  2488. }
  2489. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2490. if(home_all_axes) {
  2491. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2492. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2493. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2494. feedrate = XY_TRAVEL_SPEED/60;
  2495. current_position[Z_AXIS] = 0;
  2496. plan_set_position_curposXYZE();
  2497. plan_buffer_line_destinationXYZE(feedrate);
  2498. st_synchronize();
  2499. current_position[X_AXIS] = destination[X_AXIS];
  2500. current_position[Y_AXIS] = destination[Y_AXIS];
  2501. homeaxis(Z_AXIS);
  2502. }
  2503. // Let's see if X and Y are homed and probe is inside bed area.
  2504. if(home_z) {
  2505. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2506. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2507. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2508. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2509. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2510. current_position[Z_AXIS] = 0;
  2511. plan_set_position_curposXYZE();
  2512. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2513. feedrate = max_feedrate[Z_AXIS];
  2514. plan_buffer_line_destinationXYZE(feedrate);
  2515. st_synchronize();
  2516. homeaxis(Z_AXIS);
  2517. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2518. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2519. SERIAL_ECHO_START;
  2520. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2521. } else {
  2522. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2523. SERIAL_ECHO_START;
  2524. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2525. }
  2526. }
  2527. #endif // Z_SAFE_HOMING
  2528. #endif // Z_HOME_DIR < 0
  2529. if(home_z_axis && home_z_value != 0)
  2530. current_position[Z_AXIS]=home_z_value+cs.add_homing[Z_AXIS];
  2531. #ifdef ENABLE_AUTO_BED_LEVELING
  2532. if(home_z)
  2533. current_position[Z_AXIS] += cs.zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2534. #endif
  2535. // Set the planner and stepper routine positions.
  2536. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2537. // contains the machine coordinates.
  2538. plan_set_position_curposXYZE();
  2539. clean_up_after_endstop_move(l_feedmultiply);
  2540. endstops_hit_on_purpose();
  2541. #ifndef MESH_BED_LEVELING
  2542. //-// Oct 2019 :: this part of code is (from) now probably un-compilable
  2543. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2544. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2545. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2546. lcd_adjust_z();
  2547. #endif
  2548. // Load the machine correction matrix
  2549. world2machine_initialize();
  2550. // and correct the current_position XY axes to match the transformed coordinate system.
  2551. world2machine_update_current();
  2552. #ifdef MESH_BED_LEVELING
  2553. if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
  2554. {
  2555. if (! home_z && mbl_was_active) {
  2556. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2557. mbl.active = true;
  2558. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2559. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2560. }
  2561. }
  2562. #endif
  2563. if (farm_mode) { prusa_statistics(20); };
  2564. st_synchronize();
  2565. homing_flag = false;
  2566. #if 0
  2567. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2568. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2569. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2570. #endif
  2571. }
  2572. static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis)
  2573. {
  2574. #ifdef TMC2130
  2575. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
  2576. #else
  2577. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, true);
  2578. #endif //TMC2130
  2579. }
  2580. // G80 - Automatic mesh bed leveling
  2581. static void gcode_G80()
  2582. {
  2583. st_synchronize();
  2584. if (planner_aborted)
  2585. return;
  2586. mesh_bed_leveling_flag = true;
  2587. #ifndef PINDA_THERMISTOR
  2588. static bool run = false; // thermistor-less PINDA temperature compensation is running
  2589. #endif // ndef PINDA_THERMISTOR
  2590. #ifdef SUPPORT_VERBOSITY
  2591. int8_t verbosity_level = 0;
  2592. if (code_seen('V')) {
  2593. // Just 'V' without a number counts as V1.
  2594. char c = strchr_pointer[1];
  2595. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2596. }
  2597. #endif //SUPPORT_VERBOSITY
  2598. // Firstly check if we know where we are
  2599. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2600. // We don't know where we are! HOME!
  2601. // Push the commands to the front of the message queue in the reverse order!
  2602. // There shall be always enough space reserved for these commands.
  2603. repeatcommand_front(); // repeat G80 with all its parameters
  2604. enquecommand_front_P(G28W0);
  2605. return;
  2606. }
  2607. uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS;
  2608. if (code_seen('N')) {
  2609. nMeasPoints = code_value_uint8();
  2610. if (nMeasPoints != 7) {
  2611. nMeasPoints = 3;
  2612. }
  2613. }
  2614. else {
  2615. nMeasPoints = eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
  2616. }
  2617. uint8_t nProbeRetry = 3;
  2618. if (code_seen('R')) {
  2619. nProbeRetry = code_value_uint8();
  2620. if (nProbeRetry > 10) {
  2621. nProbeRetry = 10;
  2622. }
  2623. }
  2624. else {
  2625. nProbeRetry = eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR);
  2626. }
  2627. bool magnet_elimination = (eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION) > 0);
  2628. #ifndef PINDA_THERMISTOR
  2629. if (run == false && eeprom_read_byte((uint8_t *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() == true && target_temperature_bed >= 50)
  2630. {
  2631. temp_compensation_start();
  2632. run = true;
  2633. repeatcommand_front(); // repeat G80 with all its parameters
  2634. enquecommand_front_P(G28W0);
  2635. break;
  2636. }
  2637. run = false;
  2638. #endif //PINDA_THERMISTOR
  2639. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  2640. CustomMsg custom_message_type_old = custom_message_type;
  2641. uint8_t custom_message_state_old = custom_message_state;
  2642. custom_message_type = CustomMsg::MeshBedLeveling;
  2643. custom_message_state = (nMeasPoints * nMeasPoints) + 10;
  2644. lcd_update(1);
  2645. mbl.reset(); //reset mesh bed leveling
  2646. // Reset baby stepping to zero, if the babystepping has already been loaded before.
  2647. babystep_undo();
  2648. // Cycle through all points and probe them
  2649. // First move up. During this first movement, the babystepping will be reverted.
  2650. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2651. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
  2652. // The move to the first calibration point.
  2653. current_position[X_AXIS] = BED_X0;
  2654. current_position[Y_AXIS] = BED_Y0;
  2655. #ifdef SUPPORT_VERBOSITY
  2656. if (verbosity_level >= 1)
  2657. {
  2658. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2659. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  2660. }
  2661. #else //SUPPORT_VERBOSITY
  2662. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2663. #endif //SUPPORT_VERBOSITY
  2664. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  2665. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
  2666. // Wait until the move is finished.
  2667. st_synchronize();
  2668. if (planner_aborted)
  2669. {
  2670. custom_message_type = custom_message_type_old;
  2671. custom_message_state = custom_message_state_old;
  2672. return;
  2673. }
  2674. uint8_t mesh_point = 0; //index number of calibration point
  2675. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  2676. 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)
  2677. #ifdef SUPPORT_VERBOSITY
  2678. if (verbosity_level >= 1) {
  2679. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  2680. }
  2681. #endif // SUPPORT_VERBOSITY
  2682. int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  2683. while (mesh_point != nMeasPoints * nMeasPoints) {
  2684. // Get coords of a measuring point.
  2685. uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
  2686. uint8_t iy = mesh_point / nMeasPoints;
  2687. /*if (!mbl_point_measurement_valid(ix, iy, nMeasPoints, true)) {
  2688. printf_P(PSTR("Skipping point [%d;%d] \n"), ix, iy);
  2689. custom_message_state--;
  2690. mesh_point++;
  2691. continue; //skip
  2692. }*/
  2693. if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
  2694. if (nMeasPoints == 7) //if we have 7x7 mesh, compare with Z-calibration for points which are in 3x3 mesh
  2695. {
  2696. has_z = ((ix % 3 == 0) && (iy % 3 == 0)) && is_bed_z_jitter_data_valid();
  2697. }
  2698. float z0 = 0.f;
  2699. if (has_z && (mesh_point > 0)) {
  2700. uint16_t z_offset_u = 0;
  2701. if (nMeasPoints == 7) {
  2702. z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1)));
  2703. }
  2704. else {
  2705. z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  2706. }
  2707. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  2708. #ifdef SUPPORT_VERBOSITY
  2709. if (verbosity_level >= 1) {
  2710. printf_P(PSTR("Bed leveling, point: %d, calibration Z stored in eeprom: %d, calibration z: %f \n"), mesh_point, z_offset_u, z0);
  2711. }
  2712. #endif // SUPPORT_VERBOSITY
  2713. }
  2714. // Move Z up to MESH_HOME_Z_SEARCH.
  2715. if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2716. else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
  2717. float init_z_bckp = current_position[Z_AXIS];
  2718. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  2719. st_synchronize();
  2720. // Move to XY position of the sensor point.
  2721. current_position[X_AXIS] = BED_X(ix, nMeasPoints);
  2722. current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
  2723. //printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  2724. #ifdef SUPPORT_VERBOSITY
  2725. if (verbosity_level >= 1) {
  2726. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2727. SERIAL_PROTOCOL(mesh_point);
  2728. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  2729. }
  2730. #else //SUPPORT_VERBOSITY
  2731. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2732. #endif // SUPPORT_VERBOSITY
  2733. //printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  2734. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
  2735. st_synchronize();
  2736. if (planner_aborted)
  2737. {
  2738. custom_message_type = custom_message_type_old;
  2739. custom_message_state = custom_message_state_old;
  2740. return;
  2741. }
  2742. // Go down until endstop is hit
  2743. const float Z_CALIBRATION_THRESHOLD = 1.f;
  2744. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  2745. printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2746. break;
  2747. }
  2748. if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
  2749. //printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
  2750. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2751. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  2752. st_synchronize();
  2753. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  2754. printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2755. break;
  2756. }
  2757. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  2758. puts_P(PSTR("Bed leveling failed. Sensor disconnected or cable broken."));
  2759. break;
  2760. }
  2761. }
  2762. 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
  2763. puts_P(PSTR("Bed leveling failed. Sensor triggered too high."));
  2764. break;
  2765. }
  2766. #ifdef SUPPORT_VERBOSITY
  2767. if (verbosity_level >= 10) {
  2768. SERIAL_ECHOPGM("X: ");
  2769. MYSERIAL.print(current_position[X_AXIS], 5);
  2770. SERIAL_ECHOLNPGM("");
  2771. SERIAL_ECHOPGM("Y: ");
  2772. MYSERIAL.print(current_position[Y_AXIS], 5);
  2773. SERIAL_PROTOCOLPGM("\n");
  2774. }
  2775. #endif // SUPPORT_VERBOSITY
  2776. float offset_z = 0;
  2777. #ifdef PINDA_THERMISTOR
  2778. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  2779. #endif //PINDA_THERMISTOR
  2780. // #ifdef SUPPORT_VERBOSITY
  2781. /* if (verbosity_level >= 1)
  2782. {
  2783. SERIAL_ECHOPGM("mesh bed leveling: ");
  2784. MYSERIAL.print(current_position[Z_AXIS], 5);
  2785. SERIAL_ECHOPGM(" offset: ");
  2786. MYSERIAL.print(offset_z, 5);
  2787. SERIAL_ECHOLNPGM("");
  2788. }*/
  2789. // #endif // SUPPORT_VERBOSITY
  2790. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  2791. custom_message_state--;
  2792. mesh_point++;
  2793. lcd_update(1);
  2794. }
  2795. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2796. #ifdef SUPPORT_VERBOSITY
  2797. if (verbosity_level >= 20) {
  2798. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  2799. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  2800. MYSERIAL.print(current_position[Z_AXIS], 5);
  2801. }
  2802. #endif // SUPPORT_VERBOSITY
  2803. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  2804. st_synchronize();
  2805. if (mesh_point != nMeasPoints * nMeasPoints) {
  2806. Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
  2807. bool bState;
  2808. do { // repeat until Z-leveling o.k.
  2809. lcd_display_message_fullscreen_P(_i("Some problem encountered, Z-leveling enforced ...")); ////MSG_ZLEVELING_ENFORCED c=20 r=4
  2810. #ifdef TMC2130
  2811. lcd_wait_for_click_delay(MSG_BED_LEVELING_FAILED_TIMEOUT);
  2812. calibrate_z_auto(); // Z-leveling (X-assembly stay up!!!)
  2813. #else // TMC2130
  2814. lcd_wait_for_click_delay(0); // ~ no timeout
  2815. lcd_calibrate_z_end_stop_manual(true); // Z-leveling (X-assembly stay up!!!)
  2816. #endif // TMC2130
  2817. // ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
  2818. bState=enable_z_endstop(false);
  2819. current_position[Z_AXIS] -= 1;
  2820. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2821. st_synchronize();
  2822. enable_z_endstop(true);
  2823. #ifdef TMC2130
  2824. tmc2130_home_enter(Z_AXIS_MASK);
  2825. #endif // TMC2130
  2826. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2827. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2828. st_synchronize();
  2829. #ifdef TMC2130
  2830. tmc2130_home_exit();
  2831. #endif // TMC2130
  2832. enable_z_endstop(bState);
  2833. } while (st_get_position_mm(Z_AXIS) > MESH_HOME_Z_SEARCH); // i.e. Z-leveling not o.k.
  2834. // plan_set_z_position(MESH_HOME_Z_SEARCH); // is not necessary ('do-while' loop always ends at the expected Z-position)
  2835. custom_message_type = custom_message_type_old;
  2836. custom_message_state = custom_message_state_old;
  2837. lcd_update_enable(true); // display / status-line recovery
  2838. gcode_G28(true, true, true); // X & Y & Z-homing (must be after individual Z-homing (problem with spool-holder)!)
  2839. repeatcommand_front(); // re-run (i.e. of "G80")
  2840. return;
  2841. }
  2842. clean_up_after_endstop_move(l_feedmultiply);
  2843. // SERIAL_ECHOLNPGM("clean up finished ");
  2844. #ifndef PINDA_THERMISTOR
  2845. if(eeprom_read_byte((uint8_t *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  2846. #endif
  2847. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  2848. // SERIAL_ECHOLNPGM("babystep applied");
  2849. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  2850. #ifdef SUPPORT_VERBOSITY
  2851. if (verbosity_level >= 1) {
  2852. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  2853. }
  2854. #endif // SUPPORT_VERBOSITY
  2855. for (uint8_t i = 0; i < 4; ++i) {
  2856. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  2857. long correction = 0;
  2858. if (code_seen(codes[i]))
  2859. correction = code_value_long();
  2860. else if (eeprom_bed_correction_valid) {
  2861. unsigned char *addr = (i < 2) ?
  2862. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  2863. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  2864. correction = eeprom_read_int8(addr);
  2865. }
  2866. if (correction == 0)
  2867. continue;
  2868. if (labs(correction) > BED_ADJUSTMENT_UM_MAX) {
  2869. SERIAL_ERROR_START;
  2870. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  2871. SERIAL_ECHO(correction);
  2872. SERIAL_ECHOLNPGM(" microns");
  2873. }
  2874. else {
  2875. float offset = float(correction) * 0.001f;
  2876. switch (i) {
  2877. case 0:
  2878. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  2879. for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
  2880. mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
  2881. }
  2882. }
  2883. break;
  2884. case 1:
  2885. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  2886. for (uint8_t col = 1; col < nMeasPoints; ++col) {
  2887. mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
  2888. }
  2889. }
  2890. break;
  2891. case 2:
  2892. for (uint8_t col = 0; col < nMeasPoints; ++col) {
  2893. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  2894. mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
  2895. }
  2896. }
  2897. break;
  2898. case 3:
  2899. for (uint8_t col = 0; col < nMeasPoints; ++col) {
  2900. for (uint8_t row = 1; row < nMeasPoints; ++row) {
  2901. mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
  2902. }
  2903. }
  2904. break;
  2905. }
  2906. }
  2907. }
  2908. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  2909. if (nMeasPoints == 3) {
  2910. mbl.upsample_3x3(); //interpolation from 3x3 to 7x7 points using largrangian polynomials while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
  2911. }
  2912. /*
  2913. SERIAL_PROTOCOLPGM("Num X,Y: ");
  2914. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  2915. SERIAL_PROTOCOLPGM(",");
  2916. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  2917. SERIAL_PROTOCOLPGM("\nZ search height: ");
  2918. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  2919. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  2920. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  2921. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  2922. SERIAL_PROTOCOLPGM(" ");
  2923. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  2924. }
  2925. SERIAL_PROTOCOLPGM("\n");
  2926. }
  2927. */
  2928. if (nMeasPoints == 7 && magnet_elimination) {
  2929. mbl_interpolation(nMeasPoints);
  2930. }
  2931. /*
  2932. SERIAL_PROTOCOLPGM("Num X,Y: ");
  2933. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  2934. SERIAL_PROTOCOLPGM(",");
  2935. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  2936. SERIAL_PROTOCOLPGM("\nZ search height: ");
  2937. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  2938. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  2939. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  2940. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  2941. SERIAL_PROTOCOLPGM(" ");
  2942. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  2943. }
  2944. SERIAL_PROTOCOLPGM("\n");
  2945. }
  2946. */
  2947. // SERIAL_ECHOLNPGM("Upsample finished");
  2948. mbl.active = 1; //activate mesh bed leveling
  2949. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  2950. go_home_with_z_lift();
  2951. // SERIAL_ECHOLNPGM("Go home finished");
  2952. //unretract (after PINDA preheat retraction)
  2953. if (((int)degHotend(active_extruder) > extrude_min_temp) && eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() && (target_temperature_bed >= 50)) {
  2954. current_position[E_AXIS] += default_retraction;
  2955. plan_buffer_line_curposXYZE(400);
  2956. }
  2957. KEEPALIVE_STATE(NOT_BUSY);
  2958. // Restore custom message state
  2959. lcd_setstatuspgm(MSG_WELCOME);
  2960. custom_message_type = custom_message_type_old;
  2961. custom_message_state = custom_message_state_old;
  2962. lcd_update(2);
  2963. st_synchronize();
  2964. mesh_bed_leveling_flag = false;
  2965. }
  2966. void adjust_bed_reset()
  2967. {
  2968. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
  2969. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT, 0);
  2970. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, 0);
  2971. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT, 0);
  2972. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR, 0);
  2973. }
  2974. //! @brief Calibrate XYZ
  2975. //! @param onlyZ if true, calibrate only Z axis
  2976. //! @param verbosity_level
  2977. //! @retval true Succeeded
  2978. //! @retval false Failed
  2979. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  2980. {
  2981. bool final_result = false;
  2982. #ifdef TMC2130
  2983. FORCE_HIGH_POWER_START;
  2984. #endif // TMC2130
  2985. FORCE_BL_ON_START;
  2986. // Only Z calibration?
  2987. if (!onlyZ)
  2988. {
  2989. setTargetBed(0);
  2990. setAllTargetHotends(0);
  2991. adjust_bed_reset(); //reset bed level correction
  2992. }
  2993. // Disable the default update procedure of the display. We will do a modal dialog.
  2994. lcd_update_enable(false);
  2995. // Let the planner use the uncorrected coordinates.
  2996. mbl.reset();
  2997. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2998. // the planner will not perform any adjustments in the XY plane.
  2999. // Wait for the motors to stop and update the current position with the absolute values.
  3000. world2machine_revert_to_uncorrected();
  3001. // Reset the baby step value applied without moving the axes.
  3002. babystep_reset();
  3003. // Mark all axes as in a need for homing.
  3004. memset(axis_known_position, 0, sizeof(axis_known_position));
  3005. // Home in the XY plane.
  3006. //set_destination_to_current();
  3007. int l_feedmultiply = setup_for_endstop_move();
  3008. lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
  3009. raise_z_above(MESH_HOME_Z_SEARCH);
  3010. st_synchronize();
  3011. home_xy();
  3012. enable_endstops(false);
  3013. current_position[X_AXIS] += 5;
  3014. current_position[Y_AXIS] += 5;
  3015. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  3016. st_synchronize();
  3017. // Let the user move the Z axes up to the end stoppers.
  3018. #ifdef TMC2130
  3019. if (calibrate_z_auto())
  3020. {
  3021. #else //TMC2130
  3022. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  3023. {
  3024. #endif //TMC2130
  3025. lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
  3026. if(onlyZ){
  3027. lcd_display_message_fullscreen_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1));
  3028. lcd_puts_at_P(0,3,_n("1/9"));
  3029. }else{
  3030. //lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  3031. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  3032. lcd_puts_at_P(0,3,_n("1/4"));
  3033. }
  3034. refresh_cmd_timeout();
  3035. #ifndef STEEL_SHEET
  3036. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  3037. {
  3038. lcd_wait_for_cool_down();
  3039. }
  3040. #endif //STEEL_SHEET
  3041. if(!onlyZ)
  3042. {
  3043. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3044. #ifdef STEEL_SHEET
  3045. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  3046. if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  3047. #endif //STEEL_SHEET
  3048. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  3049. KEEPALIVE_STATE(IN_HANDLER);
  3050. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  3051. lcd_puts_at_P(0,3,_n("1/4"));
  3052. }
  3053. bool endstops_enabled = enable_endstops(false);
  3054. current_position[Z_AXIS] -= 1; //move 1mm down with disabled endstop
  3055. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  3056. st_synchronize();
  3057. // Move the print head close to the bed.
  3058. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3059. enable_endstops(true);
  3060. #ifdef TMC2130
  3061. tmc2130_home_enter(Z_AXIS_MASK);
  3062. #endif //TMC2130
  3063. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  3064. st_synchronize();
  3065. #ifdef TMC2130
  3066. tmc2130_home_exit();
  3067. #endif //TMC2130
  3068. enable_endstops(endstops_enabled);
  3069. if ((st_get_position_mm(Z_AXIS) <= (MESH_HOME_Z_SEARCH + HOME_Z_SEARCH_THRESHOLD)) &&
  3070. (st_get_position_mm(Z_AXIS) >= (MESH_HOME_Z_SEARCH - HOME_Z_SEARCH_THRESHOLD)))
  3071. {
  3072. if (onlyZ)
  3073. {
  3074. clean_up_after_endstop_move(l_feedmultiply);
  3075. // Z only calibration.
  3076. // Load the machine correction matrix
  3077. world2machine_initialize();
  3078. // and correct the current_position to match the transformed coordinate system.
  3079. world2machine_update_current();
  3080. //FIXME
  3081. bool result = sample_mesh_and_store_reference();
  3082. if (result)
  3083. {
  3084. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  3085. {
  3086. // Shipped, the nozzle height has been set already. The user can start printing now.
  3087. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3088. }
  3089. final_result = true;
  3090. // babystep_apply();
  3091. }
  3092. }
  3093. else
  3094. {
  3095. // Reset the baby step value and the baby step applied flag.
  3096. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  3097. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  3098. // Complete XYZ calibration.
  3099. uint8_t point_too_far_mask = 0;
  3100. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  3101. clean_up_after_endstop_move(l_feedmultiply);
  3102. // Print head up.
  3103. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3104. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  3105. st_synchronize();
  3106. //#ifndef NEW_XYZCAL
  3107. if (result >= 0)
  3108. {
  3109. #ifdef HEATBED_V2
  3110. sample_z();
  3111. #else //HEATBED_V2
  3112. point_too_far_mask = 0;
  3113. // Second half: The fine adjustment.
  3114. // Let the planner use the uncorrected coordinates.
  3115. mbl.reset();
  3116. world2machine_reset();
  3117. // Home in the XY plane.
  3118. int l_feedmultiply = setup_for_endstop_move();
  3119. home_xy();
  3120. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  3121. clean_up_after_endstop_move(l_feedmultiply);
  3122. // Print head up.
  3123. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3124. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  3125. st_synchronize();
  3126. // if (result >= 0) babystep_apply();
  3127. #endif //HEATBED_V2
  3128. }
  3129. //#endif //NEW_XYZCAL
  3130. lcd_update_enable(true);
  3131. lcd_update(2);
  3132. lcd_bed_calibration_show_result(result, point_too_far_mask);
  3133. if (result >= 0)
  3134. {
  3135. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  3136. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3137. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  3138. final_result = true;
  3139. }
  3140. }
  3141. #ifdef TMC2130
  3142. tmc2130_home_exit();
  3143. #endif
  3144. }
  3145. else
  3146. {
  3147. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  3148. final_result = false;
  3149. }
  3150. }
  3151. else
  3152. {
  3153. // Timeouted.
  3154. }
  3155. lcd_update_enable(true);
  3156. #ifdef TMC2130
  3157. FORCE_HIGH_POWER_END;
  3158. #endif // TMC2130
  3159. FORCE_BL_ON_END;
  3160. return final_result;
  3161. }
  3162. void gcode_M114()
  3163. {
  3164. SERIAL_PROTOCOLPGM("X:");
  3165. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3166. SERIAL_PROTOCOLPGM(" Y:");
  3167. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3168. SERIAL_PROTOCOLPGM(" Z:");
  3169. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3170. SERIAL_PROTOCOLPGM(" E:");
  3171. SERIAL_PROTOCOL(current_position[E_AXIS]);
  3172. SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X
  3173. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / cs.axis_steps_per_unit[X_AXIS]);
  3174. SERIAL_PROTOCOLPGM(" Y:");
  3175. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / cs.axis_steps_per_unit[Y_AXIS]);
  3176. SERIAL_PROTOCOLPGM(" Z:");
  3177. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / cs.axis_steps_per_unit[Z_AXIS]);
  3178. SERIAL_PROTOCOLPGM(" E:");
  3179. SERIAL_PROTOCOLLN(float(st_get_position(E_AXIS)) / cs.axis_steps_per_unit[E_AXIS]);
  3180. }
  3181. #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  3182. void gcode_M123()
  3183. {
  3184. printf_P(_N("E0:%d RPM PRN1:%d RPM E0@:%u PRN1@:%d\n"), 60*fan_speed[active_extruder], 60*fan_speed[1], newFanSpeed, fanSpeed);
  3185. }
  3186. #endif //FANCHECK and TACH_0 or TACH_1
  3187. //! extracted code to compute z_shift for M600 in case of filament change operation
  3188. //! requested from fsensors.
  3189. //! The function ensures, that the printhead lifts to at least 25mm above the heat bed
  3190. //! unlike the previous implementation, which was adding 25mm even when the head was
  3191. //! printing at e.g. 24mm height.
  3192. //! A safety margin of FILAMENTCHANGE_ZADD is added in all cases to avoid touching
  3193. //! the printout.
  3194. //! This function is templated to enable fast change of computation data type.
  3195. //! @return new z_shift value
  3196. template<typename T>
  3197. static T gcode_M600_filament_change_z_shift()
  3198. {
  3199. #ifdef FILAMENTCHANGE_ZADD
  3200. static_assert(Z_MAX_POS < (255 - FILAMENTCHANGE_ZADD), "Z-range too high, change the T type from uint8_t to uint16_t");
  3201. // avoid floating point arithmetics when not necessary - results in shorter code
  3202. T z_shift = T(FILAMENTCHANGE_ZADD); // always move above printout
  3203. T ztmp = T( current_position[Z_AXIS] );
  3204. if((ztmp + z_shift) < T(MIN_Z_FOR_SWAP)){
  3205. z_shift = T(MIN_Z_FOR_SWAP) - ztmp; // make sure to be at least 25mm above the heat bed
  3206. }
  3207. return z_shift;
  3208. #else
  3209. return T(0);
  3210. #endif
  3211. }
  3212. static void gcode_M600(bool automatic, float x_position, float y_position, float z_shift, float e_shift, float /*e_shift_late*/)
  3213. {
  3214. st_synchronize();
  3215. float lastpos[4];
  3216. if (farm_mode)
  3217. {
  3218. prusa_statistics(22);
  3219. }
  3220. //First backup current position and settings
  3221. int feedmultiplyBckp = feedmultiply;
  3222. float HotendTempBckp = degTargetHotend(active_extruder);
  3223. int fanSpeedBckp = fanSpeed;
  3224. lastpos[X_AXIS] = current_position[X_AXIS];
  3225. lastpos[Y_AXIS] = current_position[Y_AXIS];
  3226. lastpos[Z_AXIS] = current_position[Z_AXIS];
  3227. lastpos[E_AXIS] = current_position[E_AXIS];
  3228. //Retract E
  3229. current_position[E_AXIS] += e_shift;
  3230. plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED);
  3231. st_synchronize();
  3232. //Lift Z
  3233. current_position[Z_AXIS] += z_shift;
  3234. clamp_to_software_endstops(current_position);
  3235. plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED);
  3236. st_synchronize();
  3237. //Move XY to side
  3238. current_position[X_AXIS] = x_position;
  3239. current_position[Y_AXIS] = y_position;
  3240. plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED);
  3241. st_synchronize();
  3242. //Beep, manage nozzle heater and wait for user to start unload filament
  3243. if(!mmu_enabled) M600_wait_for_user(HotendTempBckp);
  3244. lcd_change_fil_state = 0;
  3245. // Unload filament
  3246. if (mmu_enabled) extr_unload(); //unload just current filament for multimaterial printers (used also in M702)
  3247. else unload_filament(true); //unload filament for single material (used also in M702)
  3248. //finish moves
  3249. st_synchronize();
  3250. if (!mmu_enabled)
  3251. {
  3252. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3253. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(
  3254. _i("Was filament unload successful?"), ////MSG_UNLOAD_SUCCESSFUL c=20 r=2
  3255. false, true);
  3256. if (lcd_change_fil_state == 0)
  3257. {
  3258. lcd_clear();
  3259. lcd_puts_at_P(0, 2, _T(MSG_PLEASE_WAIT));
  3260. current_position[X_AXIS] -= 100;
  3261. plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED);
  3262. st_synchronize();
  3263. lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=5
  3264. }
  3265. }
  3266. if (mmu_enabled)
  3267. {
  3268. if (!automatic) {
  3269. if (saved_printing) mmu_eject_filament(mmu_extruder, false); //if M600 was invoked by filament senzor (FINDA) eject filament so user can easily remove it
  3270. mmu_M600_wait_and_beep();
  3271. if (saved_printing) {
  3272. lcd_clear();
  3273. lcd_puts_at_P(0, 2, _T(MSG_PLEASE_WAIT));
  3274. mmu_command(MmuCmd::R0);
  3275. manage_response(false, false);
  3276. }
  3277. }
  3278. mmu_M600_load_filament(automatic, HotendTempBckp);
  3279. }
  3280. else
  3281. M600_load_filament();
  3282. if (!automatic) M600_check_state(HotendTempBckp);
  3283. lcd_update_enable(true);
  3284. //Not let's go back to print
  3285. fanSpeed = fanSpeedBckp;
  3286. //Feed a little of filament to stabilize pressure
  3287. if (!automatic)
  3288. {
  3289. current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
  3290. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED);
  3291. }
  3292. //Move XY back
  3293. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  3294. FILAMENTCHANGE_XYFEED, active_extruder);
  3295. st_synchronize();
  3296. //Move Z back
  3297. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS],
  3298. FILAMENTCHANGE_ZFEED, active_extruder);
  3299. st_synchronize();
  3300. //Set E position to original
  3301. plan_set_e_position(lastpos[E_AXIS]);
  3302. memcpy(current_position, lastpos, sizeof(lastpos));
  3303. set_destination_to_current();
  3304. //Recover feed rate
  3305. feedmultiply = feedmultiplyBckp;
  3306. char cmd[9];
  3307. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  3308. enquecommand(cmd);
  3309. #ifdef IR_SENSOR
  3310. //this will set fsensor_watch_autoload to correct value and prevent possible M701 gcode enqueuing when M600 is finished
  3311. fsensor_check_autoload();
  3312. #endif //IR_SENSOR
  3313. lcd_setstatuspgm(MSG_WELCOME);
  3314. custom_message_type = CustomMsg::Status;
  3315. }
  3316. void gcode_M701()
  3317. {
  3318. printf_P(PSTR("gcode_M701 begin\n"));
  3319. if (farm_mode)
  3320. {
  3321. prusa_statistics(22);
  3322. }
  3323. if (mmu_enabled)
  3324. {
  3325. extr_adj(tmp_extruder);//loads current extruder
  3326. mmu_extruder = tmp_extruder;
  3327. }
  3328. else
  3329. {
  3330. enable_z();
  3331. custom_message_type = CustomMsg::FilamentLoading;
  3332. #ifdef FSENSOR_QUALITY
  3333. fsensor_oq_meassure_start(40);
  3334. #endif //FSENSOR_QUALITY
  3335. lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
  3336. current_position[E_AXIS] += 40;
  3337. plan_buffer_line_curposXYZE(400 / 60); //fast sequence
  3338. st_synchronize();
  3339. raise_z_above(MIN_Z_FOR_LOAD, false);
  3340. current_position[E_AXIS] += 30;
  3341. plan_buffer_line_curposXYZE(400 / 60); //fast sequence
  3342. load_filament_final_feed(); //slow sequence
  3343. st_synchronize();
  3344. Sound_MakeCustom(50,500,false);
  3345. if (!farm_mode && loading_flag) {
  3346. lcd_load_filament_color_check();
  3347. }
  3348. lcd_update_enable(true);
  3349. lcd_update(2);
  3350. lcd_setstatuspgm(MSG_WELCOME);
  3351. disable_z();
  3352. loading_flag = false;
  3353. custom_message_type = CustomMsg::Status;
  3354. #ifdef FSENSOR_QUALITY
  3355. fsensor_oq_meassure_stop();
  3356. if (!fsensor_oq_result())
  3357. {
  3358. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  3359. lcd_update_enable(true);
  3360. lcd_update(2);
  3361. if (disable)
  3362. fsensor_disable();
  3363. }
  3364. #endif //FSENSOR_QUALITY
  3365. }
  3366. }
  3367. /**
  3368. * @brief Get serial number from 32U2 processor
  3369. *
  3370. * Typical format of S/N is:CZPX0917X003XC13518
  3371. *
  3372. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  3373. * reply is stored in *SN.
  3374. * Operation takes typically 23 ms. If no valid SN can be retrieved within the 250ms window, the function aborts
  3375. * and returns a general failure flag.
  3376. * The command will fail if the 32U2 processor is unpowered via USB since it is isolated from the rest of the electronics.
  3377. * In that case the value that is stored in the EEPROM should be used instead.
  3378. *
  3379. * @return 0 on success
  3380. * @return 1 on general failure
  3381. */
  3382. #ifdef PRUSA_SN_SUPPORT
  3383. static uint8_t get_PRUSA_SN(char* SN)
  3384. {
  3385. uint8_t selectedSerialPort_bak = selectedSerialPort;
  3386. uint8_t rxIndex;
  3387. bool SN_valid = false;
  3388. ShortTimer timeout;
  3389. selectedSerialPort = 0;
  3390. timeout.start();
  3391. while (!SN_valid)
  3392. {
  3393. rxIndex = 0;
  3394. _delay(50);
  3395. MYSERIAL.flush(); //clear RX buffer
  3396. SERIAL_ECHOLNRPGM(PSTR(";S"));
  3397. while (rxIndex < 19)
  3398. {
  3399. if (timeout.expired(250u))
  3400. goto exit;
  3401. if (MYSERIAL.available() > 0)
  3402. {
  3403. SN[rxIndex] = MYSERIAL.read();
  3404. rxIndex++;
  3405. }
  3406. }
  3407. SN[rxIndex] = 0;
  3408. // printf_P(PSTR("SN:%s\n"), SN);
  3409. SN_valid = (strncmp_P(SN, PSTR("CZPX"), 4) == 0);
  3410. }
  3411. exit:
  3412. selectedSerialPort = selectedSerialPort_bak;
  3413. return !SN_valid;
  3414. }
  3415. #endif //PRUSA_SN_SUPPORT
  3416. //! Detection of faulty RAMBo 1.1b boards equipped with bigger capacitors
  3417. //! at the TACH_1 pin, which causes bad detection of print fan speed.
  3418. //! Warning: This function is not to be used by ordinary users, it is here only for automated testing purposes,
  3419. //! it may even interfere with other functions of the printer! You have been warned!
  3420. //! The test idea is to measure the time necessary to charge the capacitor.
  3421. //! So the algorithm is as follows:
  3422. //! 1. Set TACH_1 pin to INPUT mode and LOW
  3423. //! 2. Wait a few ms
  3424. //! 3. disable interrupts and measure the time until the TACH_1 pin reaches HIGH
  3425. //! Repeat 1.-3. several times
  3426. //! Good RAMBo's times are in the range of approx. 260-320 us
  3427. //! Bad RAMBo's times are approx. 260-1200 us
  3428. //! So basically we are interested in maximum time, the minima are mostly the same.
  3429. //! May be that's why the bad RAMBo's still produce some fan RPM reading, but not corresponding to reality
  3430. static void gcode_PRUSA_BadRAMBoFanTest(){
  3431. //printf_P(PSTR("Enter fan pin test\n"));
  3432. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  3433. fan_measuring = false; // prevent EXTINT7 breaking into the measurement
  3434. unsigned long tach1max = 0;
  3435. uint8_t tach1cntr = 0;
  3436. for( /* nothing */; tach1cntr < 100; ++tach1cntr){
  3437. //printf_P(PSTR("TACH_1: %d\n"), tach1cntr);
  3438. SET_OUTPUT(TACH_1);
  3439. WRITE(TACH_1, LOW);
  3440. _delay(20); // the delay may be lower
  3441. unsigned long tachMeasure = _micros();
  3442. cli();
  3443. SET_INPUT(TACH_1);
  3444. // just wait brutally in an endless cycle until we reach HIGH
  3445. // if this becomes a problem it may be improved to non-endless cycle
  3446. while( READ(TACH_1) == 0 ) ;
  3447. sei();
  3448. tachMeasure = _micros() - tachMeasure;
  3449. if( tach1max < tachMeasure )
  3450. tach1max = tachMeasure;
  3451. //printf_P(PSTR("TACH_1: %d: capacitor check time=%lu us\n"), (int)tach1cntr, tachMeasure);
  3452. }
  3453. //printf_P(PSTR("TACH_1: max=%lu us\n"), tach1max);
  3454. SERIAL_PROTOCOLPGM("RAMBo FAN ");
  3455. if( tach1max > 500 ){
  3456. // bad RAMBo
  3457. SERIAL_PROTOCOLLNPGM("BAD");
  3458. } else {
  3459. SERIAL_PROTOCOLLNPGM("OK");
  3460. }
  3461. // cleanup after the test function
  3462. SET_INPUT(TACH_1);
  3463. WRITE(TACH_1, HIGH);
  3464. #endif
  3465. }
  3466. // G92 - Set current position to coordinates given
  3467. static void gcode_G92()
  3468. {
  3469. bool codes[NUM_AXIS];
  3470. float values[NUM_AXIS];
  3471. // Check which axes need to be set
  3472. for(uint8_t i = 0; i < NUM_AXIS; ++i)
  3473. {
  3474. codes[i] = code_seen(axis_codes[i]);
  3475. if(codes[i])
  3476. values[i] = code_value();
  3477. }
  3478. if((codes[E_AXIS] && values[E_AXIS] == 0) &&
  3479. (!codes[X_AXIS] && !codes[Y_AXIS] && !codes[Z_AXIS]))
  3480. {
  3481. // As a special optimization, when _just_ clearing the E position
  3482. // we schedule a flag asynchronously along with the next block to
  3483. // reset the starting E position instead of stopping the planner
  3484. current_position[E_AXIS] = 0;
  3485. plan_reset_next_e();
  3486. }
  3487. else
  3488. {
  3489. // In any other case we're forced to synchronize
  3490. st_synchronize();
  3491. for(uint8_t i = 0; i < 3; ++i)
  3492. {
  3493. if(codes[i])
  3494. current_position[i] = values[i] + cs.add_homing[i];
  3495. }
  3496. if(codes[E_AXIS])
  3497. current_position[E_AXIS] = values[E_AXIS];
  3498. // Set all at once
  3499. plan_set_position_curposXYZE();
  3500. }
  3501. }
  3502. #ifdef EXTENDED_CAPABILITIES_REPORT
  3503. static void cap_line(const char* name, bool ena = false) {
  3504. printf_P(PSTR("Cap:%S:%c\n"), name, (char)ena + '0');
  3505. }
  3506. static void extended_capabilities_report()
  3507. {
  3508. // AUTOREPORT_TEMP (M155)
  3509. cap_line(PSTR("AUTOREPORT_TEMP"), ENABLED(AUTO_REPORT));
  3510. #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  3511. // AUTOREPORT_FANS (M123)
  3512. cap_line(PSTR("AUTOREPORT_FANS"), ENABLED(AUTO_REPORT));
  3513. #endif //FANCHECK and TACH_0 or TACH_1
  3514. // AUTOREPORT_POSITION (M114)
  3515. cap_line(PSTR("AUTOREPORT_POSITION"), ENABLED(AUTO_REPORT));
  3516. // EXTENDED_M20 (support for L and T parameters)
  3517. cap_line(PSTR("EXTENDED_M20"), 1);
  3518. cap_line(PSTR("PRUSA_MMU2"), 1); //this will soon change to ENABLED(PRUSA_MMU2_SUPPORT)
  3519. }
  3520. #endif //EXTENDED_CAPABILITIES_REPORT
  3521. #ifdef BACKLASH_X
  3522. extern uint8_t st_backlash_x;
  3523. #endif //BACKLASH_X
  3524. #ifdef BACKLASH_Y
  3525. extern uint8_t st_backlash_y;
  3526. #endif //BACKLASH_Y
  3527. //! \ingroup marlin_main
  3528. //! @brief Parse and process commands
  3529. //!
  3530. //! look here for descriptions of G-codes: https://reprap.org/wiki/G-code
  3531. //!
  3532. //!
  3533. //! Implemented Codes
  3534. //! -------------------
  3535. //!
  3536. //! * _This list is not updated. Current documentation is maintained inside the process_cmd function._
  3537. //!
  3538. //!@n PRUSA CODES
  3539. //!@n P F - Returns FW versions
  3540. //!@n P R - Returns revision of printer
  3541. //!
  3542. //!@n G0 -> G1
  3543. //!@n G1 - Coordinated Movement X Y Z E
  3544. //!@n G2 - CW ARC
  3545. //!@n G3 - CCW ARC
  3546. //!@n G4 - Dwell S<seconds> or P<milliseconds>
  3547. //!@n G10 - retract filament according to settings of M207
  3548. //!@n G11 - retract recover filament according to settings of M208
  3549. //!@n G28 - Home all Axes
  3550. //!@n G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  3551. //!@n G30 - Single Z Probe, probes bed at current XY location.
  3552. //!@n G31 - Dock sled (Z_PROBE_SLED only)
  3553. //!@n G32 - Undock sled (Z_PROBE_SLED only)
  3554. //!@n G80 - Automatic mesh bed leveling
  3555. //!@n G81 - Print bed profile
  3556. //!@n G90 - Use Absolute Coordinates
  3557. //!@n G91 - Use Relative Coordinates
  3558. //!@n G92 - Set current position to coordinates given
  3559. //!
  3560. //!@n M Codes
  3561. //!@n M0 - Unconditional stop - Wait for user to press a button on the LCD
  3562. //!@n M1 - Same as M0
  3563. //!@n M17 - Enable/Power all stepper motors
  3564. //!@n M18 - Disable all stepper motors; same as M84
  3565. //!@n M20 - List SD card
  3566. //!@n M21 - Init SD card
  3567. //!@n M22 - Release SD card
  3568. //!@n M23 - Select SD file (M23 filename.g)
  3569. //!@n M24 - Start/resume SD print
  3570. //!@n M25 - Pause SD print
  3571. //!@n M26 - Set SD position in bytes (M26 S12345)
  3572. //!@n M27 - Report SD print status
  3573. //!@n M28 - Start SD write (M28 filename.g)
  3574. //!@n M29 - Stop SD write
  3575. //!@n M30 - Delete file from SD (M30 filename.g)
  3576. //!@n M31 - Output time since last M109 or SD card start to serial
  3577. //!@n M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  3578. //! syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  3579. //! Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  3580. //! The '#' is necessary when calling from within sd files, as it stops buffer prereading
  3581. //!@n M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
  3582. //!@n M73 - Show percent done and print time remaining
  3583. //!@n M80 - Turn on Power Supply
  3584. //!@n M81 - Turn off Power Supply
  3585. //!@n M82 - Set E codes absolute (default)
  3586. //!@n M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  3587. //!@n M84 - Disable steppers until next move,
  3588. //! or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  3589. //!@n M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  3590. //!@n M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
  3591. //!@n M92 - Set axis_steps_per_unit - same syntax as G92
  3592. //!@n M104 - Set extruder target temp
  3593. //!@n M105 - Read current temp
  3594. //!@n M106 - Fan on
  3595. //!@n M107 - Fan off
  3596. //!@n M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  3597. //! Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  3598. //! IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  3599. //!@n M112 - Emergency stop
  3600. //!@n M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  3601. //!@n M114 - Output current position to serial port
  3602. //!@n M115 - Capabilities string
  3603. //!@n M117 - display message
  3604. //!@n M119 - Output Endstop status to serial port
  3605. //!@n M123 - Tachometer value
  3606. //!@n M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  3607. //!@n M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  3608. //!@n M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  3609. //!@n M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  3610. //!@n M140 - Set bed target temp
  3611. //!@n M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
  3612. //!@n M155 - Automatically send temperatures, fan speeds, position
  3613. //!@n M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  3614. //! Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  3615. //!@n M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  3616. //!@n M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  3617. //!@n M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  3618. //!@n M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  3619. //!@n M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  3620. //!@n M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
  3621. //!@n M206 - set additional homing offset
  3622. //!@n M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  3623. //!@n M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  3624. //!@n M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  3625. //!@n M214 - Set Arc Parameters (Use M500 to store in eeprom) P<MM_PER_ARC_SEGMENT> S<MIN_MM_PER_ARC_SEGMENT> R<MIN_ARC_SEGMENTS> F<ARC_SEGMENTS_PER_SEC>
  3626. //!@n M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  3627. //!@n M220 S<factor in percent>- set speed factor override percentage
  3628. //!@n M221 S<factor in percent>- set extrude factor override percentage
  3629. //!@n M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  3630. //!@n M240 - Trigger a camera to take a photograph
  3631. //!@n M250 - Set LCD contrast C<contrast value> (value 0..63)
  3632. //!@n M280 - set servo position absolute. P: servo index, S: angle or microseconds
  3633. //!@n M300 - Play beep sound S<frequency Hz> P<duration ms>
  3634. //!@n M301 - Set PID parameters P I and D
  3635. //!@n M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  3636. //!@n M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  3637. //!@n M304 - Set bed PID parameters P I and D
  3638. //!@n M310 - Temperature model settings
  3639. //!@n M400 - Finish all moves
  3640. //!@n M401 - Lower z-probe if present
  3641. //!@n M402 - Raise z-probe if present
  3642. //!@n M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  3643. //!@n M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  3644. //!@n M406 - Turn off Filament Sensor extrusion control
  3645. //!@n M407 - Displays measured filament diameter
  3646. //!@n M500 - stores parameters in EEPROM
  3647. //!@n M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  3648. //!@n M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  3649. //!@n M503 - print the current settings (from memory not from EEPROM)
  3650. //!@n M509 - force language selection on next restart
  3651. //!@n M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  3652. //!@n M552 - Set IP address
  3653. //!@n M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  3654. //!@n M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  3655. //!@n M860 - Wait for PINDA thermistor to reach target temperature.
  3656. //!@n M861 - Set / Read PINDA temperature compensation offsets
  3657. //!@n M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  3658. //!@n M907 - Set digital trimpot motor current using axis codes.
  3659. //!@n M908 - Control digital trimpot directly.
  3660. //!@n M350 - Set microstepping mode.
  3661. //!@n M351 - Toggle MS1 MS2 pins directly.
  3662. //!
  3663. //!@n M928 - Start SD logging (M928 filename.g) - ended by M29
  3664. //!@n M999 - Restart after being stopped by error
  3665. //! <br><br>
  3666. /** @defgroup marlin_main Marlin main */
  3667. /** \ingroup GCodes */
  3668. //! _This is a list of currently implemented G Codes in Prusa firmware (dynamically generated from doxygen)._
  3669. /**
  3670. They are shown in order of appearance in the code.
  3671. There are reasons why some G Codes aren't in numerical order.
  3672. */
  3673. void process_commands()
  3674. {
  3675. if (!buflen) return; //empty command
  3676. #ifdef CMDBUFFER_DEBUG
  3677. SERIAL_ECHOPGM("Processing a GCODE command: ");
  3678. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  3679. SERIAL_ECHOLNPGM("");
  3680. SERIAL_ECHOPGM("In cmdqueue: ");
  3681. SERIAL_ECHO(buflen);
  3682. SERIAL_ECHOLNPGM("");
  3683. #endif /* CMDBUFFER_DEBUG */
  3684. unsigned long codenum; //throw away variable
  3685. char *starpos = NULL;
  3686. #ifdef ENABLE_AUTO_BED_LEVELING
  3687. float x_tmp, y_tmp, z_tmp, real_z;
  3688. #endif
  3689. // PRUSA GCODES
  3690. KEEPALIVE_STATE(IN_HANDLER);
  3691. /*!
  3692. ---------------------------------------------------------------------------------
  3693. ### M117 - Display Message <a href="https://reprap.org/wiki/G-code#M117:_Display_Message">M117: Display Message</a>
  3694. This causes the given message to be shown in the status line on an attached LCD.
  3695. It is processed early as to allow printing messages that contain G, M, N or T.
  3696. ---------------------------------------------------------------------------------
  3697. ### Special internal commands
  3698. These are used by internal functions to process certain actions in the right order. Some of these are also usable by the user.
  3699. They are processed early as the commands are complex (strings).
  3700. These are only available on the MK3(S) as these require TMC2130 drivers:
  3701. - CRASH DETECTED
  3702. - CRASH RECOVER
  3703. - CRASH_CANCEL
  3704. - TMC_SET_WAVE
  3705. - TMC_SET_STEP
  3706. - TMC_SET_CHOP
  3707. */
  3708. if (code_seen_P(PSTR("M117"))) //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  3709. {
  3710. starpos = (strchr(strchr_pointer + 5, '*'));
  3711. if (starpos != NULL)
  3712. *(starpos) = '\0';
  3713. lcd_setstatus(strchr_pointer + 5);
  3714. custom_message_type = CustomMsg::M117;
  3715. }
  3716. /*!
  3717. ### M0, M1 - Stop the printer <a href="https://reprap.org/wiki/G-code#M0:_Stop_or_Unconditional_stop">M0: Stop or Unconditional stop</a>
  3718. #### Usage
  3719. M0 [P<ms<] [S<sec>] [string]
  3720. M1 [P<ms>] [S<sec>] [string]
  3721. #### Parameters
  3722. - `P<ms>` - Expire time, in milliseconds
  3723. - `S<sec>` - Expire time, in seconds
  3724. - `string` - Must for M1 and optional for M0 message to display on the LCD
  3725. */
  3726. else if (code_seen_P(PSTR("M0")) || code_seen_P(PSTR("M1 "))) {// M0 and M1 - (Un)conditional stop - Wait for user button press on LCD
  3727. char *src = strchr_pointer + 2;
  3728. codenum = 0;
  3729. bool hasP = false, hasS = false;
  3730. if (code_seen('P')) {
  3731. codenum = code_value_long(); // milliseconds to wait
  3732. hasP = codenum > 0;
  3733. }
  3734. if (code_seen('S')) {
  3735. codenum = code_value_long() * 1000; // seconds to wait
  3736. hasS = codenum > 0;
  3737. }
  3738. starpos = strchr(src, '*');
  3739. if (starpos != NULL) *(starpos) = '\0';
  3740. while (*src == ' ') ++src;
  3741. custom_message_type = CustomMsg::M0Wait;
  3742. if (!hasP && !hasS && *src != '\0') {
  3743. lcd_setstatus(src);
  3744. } else {
  3745. // farmers want to abuse a bug from the previous firmware releases
  3746. // - they need to see the filename on the status screen instead of "Wait for user..."
  3747. // So we won't update the message in farm mode...
  3748. if( ! farm_mode){
  3749. LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT c=20
  3750. } else {
  3751. custom_message_type = CustomMsg::Status; // let the lcd display the name of the printed G-code file in farm mode
  3752. }
  3753. }
  3754. lcd_ignore_click(); //call lcd_ignore_click also for else ???
  3755. st_synchronize();
  3756. previous_millis_cmd.start();
  3757. if (codenum > 0 ) {
  3758. codenum += _millis(); // keep track of when we started waiting
  3759. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3760. while(_millis() < codenum && !lcd_clicked()) {
  3761. manage_heater();
  3762. manage_inactivity(true);
  3763. lcd_update(0);
  3764. }
  3765. KEEPALIVE_STATE(IN_HANDLER);
  3766. lcd_ignore_click(false);
  3767. } else {
  3768. marlin_wait_for_click();
  3769. }
  3770. if (IS_SD_PRINTING)
  3771. custom_message_type = CustomMsg::Status;
  3772. else
  3773. LCD_MESSAGERPGM(MSG_WELCOME);
  3774. }
  3775. #ifdef TMC2130
  3776. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  3777. {
  3778. // ### CRASH_DETECTED - TMC2130
  3779. // ---------------------------------
  3780. if(code_seen_P(PSTR("CRASH_DETECTED")))
  3781. {
  3782. uint8_t mask = 0;
  3783. if (code_seen('X')) mask |= X_AXIS_MASK;
  3784. if (code_seen('Y')) mask |= Y_AXIS_MASK;
  3785. crashdet_detected(mask);
  3786. }
  3787. // ### CRASH_RECOVER - TMC2130
  3788. // ----------------------------------
  3789. else if(code_seen_P(PSTR("CRASH_RECOVER")))
  3790. crashdet_recover();
  3791. // ### CRASH_CANCEL - TMC2130
  3792. // ----------------------------------
  3793. else if(code_seen_P(PSTR("CRASH_CANCEL")))
  3794. crashdet_cancel();
  3795. }
  3796. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  3797. {
  3798. // ### TMC_SET_WAVE_
  3799. // --------------------
  3800. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
  3801. {
  3802. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3803. axis = (axis == 'E')?3:(axis - 'X');
  3804. if (axis < 4)
  3805. {
  3806. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  3807. tmc2130_set_wave(axis, 247, fac);
  3808. }
  3809. }
  3810. // ### TMC_SET_STEP_
  3811. // ------------------
  3812. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
  3813. {
  3814. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3815. axis = (axis == 'E')?3:(axis - 'X');
  3816. if (axis < 4)
  3817. {
  3818. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  3819. uint16_t res = tmc2130_get_res(axis);
  3820. tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
  3821. }
  3822. }
  3823. // ### TMC_SET_CHOP_
  3824. // -------------------
  3825. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
  3826. {
  3827. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3828. axis = (axis == 'E')?3:(axis - 'X');
  3829. if (axis < 4)
  3830. {
  3831. uint8_t chop0 = tmc2130_chopper_config[axis].toff;
  3832. uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
  3833. uint8_t chop2 = tmc2130_chopper_config[axis].hend;
  3834. uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
  3835. char* str_end = 0;
  3836. if (CMDBUFFER_CURRENT_STRING[14])
  3837. {
  3838. chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
  3839. if (str_end && *str_end)
  3840. {
  3841. chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
  3842. if (str_end && *str_end)
  3843. {
  3844. chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
  3845. if (str_end && *str_end)
  3846. chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
  3847. }
  3848. }
  3849. }
  3850. tmc2130_chopper_config[axis].toff = chop0;
  3851. tmc2130_chopper_config[axis].hstr = chop1 & 7;
  3852. tmc2130_chopper_config[axis].hend = chop2 & 15;
  3853. tmc2130_chopper_config[axis].tbl = chop3 & 3;
  3854. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  3855. //printf_P(_N("TMC_SET_CHOP_%c %d %d %d %d\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
  3856. }
  3857. }
  3858. }
  3859. #ifdef BACKLASH_X
  3860. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
  3861. {
  3862. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  3863. st_backlash_x = bl;
  3864. printf_P(_N("st_backlash_x = %d\n"), st_backlash_x);
  3865. }
  3866. #endif //BACKLASH_X
  3867. #ifdef BACKLASH_Y
  3868. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
  3869. {
  3870. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  3871. st_backlash_y = bl;
  3872. printf_P(_N("st_backlash_y = %d\n"), st_backlash_y);
  3873. }
  3874. #endif //BACKLASH_Y
  3875. #endif //TMC2130
  3876. else if(code_seen_P(PSTR("PRUSA"))){
  3877. /*!
  3878. ---------------------------------------------------------------------------------
  3879. ### PRUSA - Internal command set <a href="https://reprap.org/wiki/G-code#G98:_Activate_farm_mode">G98: Activate farm mode - Notes</a>
  3880. Set of internal PRUSA commands
  3881. #### Usage
  3882. PRUSA [ Ping | PRN | FAN | fn | thx | uvlo | MMURES | RESET | fv | M28 | SN | Fir | Rev | Lang | Lz | FR ]
  3883. #### Parameters
  3884. - `Ping`
  3885. - `PRN` - Prints revision of the printer
  3886. - `FAN` - Prints fan details
  3887. - `fn` - Prints farm no.
  3888. - `thx`
  3889. - `uvlo`
  3890. - `MMURES` - Reset MMU
  3891. - `RESET` - (Careful!)
  3892. - `fv` - ?
  3893. - `M28`
  3894. - `SN`
  3895. - `Fir` - Prints firmware version
  3896. - `Rev`- Prints filament size, elelectronics, nozzle type
  3897. - `Lang` - Reset the language
  3898. - `Lz`
  3899. - `FR` - Full factory reset
  3900. - `nozzle set <diameter>` - set nozzle diameter (farm mode only), e.g. `PRUSA nozzle set 0.4`
  3901. - `nozzle D<diameter>` - check the nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle D0.4`
  3902. - `nozzle` - prints nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle`
  3903. */
  3904. if (code_seen_P(PSTR("Ping"))) { // PRUSA Ping
  3905. if (farm_mode) {
  3906. PingTime = _millis();
  3907. }
  3908. }
  3909. else if (code_seen_P(PSTR("PRN"))) { // PRUSA PRN
  3910. printf_P(_N("%u"), status_number);
  3911. } else if( code_seen_P(PSTR("FANPINTST"))){
  3912. gcode_PRUSA_BadRAMBoFanTest();
  3913. }else if (code_seen_P(PSTR("FAN"))) { // PRUSA FAN
  3914. printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
  3915. }
  3916. else if (code_seen_P(PSTR("thx"))) // PRUSA thx
  3917. {
  3918. no_response = false;
  3919. }
  3920. else if (code_seen_P(PSTR("uvlo"))) // PRUSA uvlo
  3921. {
  3922. eeprom_update_byte((uint8_t*)EEPROM_UVLO,0);
  3923. enquecommand_P(PSTR("M24"));
  3924. }
  3925. else if (code_seen_P(PSTR("MMURES"))) // PRUSA MMURES
  3926. {
  3927. mmu_reset();
  3928. }
  3929. else if (code_seen_P(PSTR("RESET"))) { // PRUSA RESET
  3930. #ifdef WATCHDOG
  3931. #if defined(XFLASH) && defined(BOOTAPP)
  3932. boot_app_magic = BOOT_APP_MAGIC;
  3933. boot_app_flags = BOOT_APP_FLG_RUN;
  3934. #endif //defined(XFLASH) && defined(BOOTAPP)
  3935. softReset();
  3936. #elif defined(BOOTAPP) //this is a safety precaution. This is because the new bootloader turns off the heaters, but the old one doesn't. The watchdog should be used most of the time.
  3937. asm volatile("jmp 0x3E000");
  3938. #endif
  3939. } else if (code_seen_P(PSTR("fv"))) { // PRUSA fv
  3940. // get file version
  3941. #ifdef SDSUPPORT
  3942. card.openFileReadFilteredGcode(strchr_pointer + 3,true);
  3943. while (true) {
  3944. uint16_t readByte = card.getFilteredGcodeChar();
  3945. MYSERIAL.write(readByte);
  3946. if (readByte=='\n') {
  3947. break;
  3948. }
  3949. }
  3950. card.closefile();
  3951. #endif // SDSUPPORT
  3952. }
  3953. #ifdef PRUSA_M28
  3954. else if (code_seen_P(PSTR("M28"))) { // PRUSA M28
  3955. trace();
  3956. prusa_sd_card_upload = true;
  3957. card.openFileWrite(strchr_pointer+4);
  3958. }
  3959. #endif //PRUSA_M28
  3960. #ifdef PRUSA_SN_SUPPORT
  3961. else if (code_seen_P(PSTR("SN"))) { // PRUSA SN
  3962. char SN[20];
  3963. eeprom_read_block(SN, (uint8_t*)EEPROM_PRUSA_SN, 20);
  3964. if (SN[19])
  3965. puts_P(PSTR("SN invalid"));
  3966. else
  3967. puts(SN);
  3968. }
  3969. #endif //PRUSA_SN_SUPPORT
  3970. else if(code_seen_P(PSTR("Fir"))){ // PRUSA Fir
  3971. SERIAL_PROTOCOLLN(FW_VERSION_FULL);
  3972. } else if(code_seen_P(PSTR("Rev"))){ // PRUSA Rev
  3973. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  3974. } else if(code_seen_P(PSTR("Lang"))) { // PRUSA Lang
  3975. lang_reset();
  3976. } else if(code_seen_P(PSTR("Lz"))) { // PRUSA Lz
  3977. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  3978. } else if(code_seen_P(PSTR("FR"))) { // PRUSA FR
  3979. // Factory full reset
  3980. factory_reset(0);
  3981. } else if(code_seen_P(PSTR("MBL"))) { // PRUSA MBL
  3982. // Change the MBL status without changing the logical Z position.
  3983. if(code_seen('V')) {
  3984. bool value = code_value_short();
  3985. st_synchronize();
  3986. if(value != mbl.active) {
  3987. mbl.active = value;
  3988. // Use plan_set_z_position to reset the physical values
  3989. plan_set_z_position(current_position[Z_AXIS]);
  3990. }
  3991. }
  3992. //-//
  3993. /*
  3994. } else if(code_seen("rrr")) {
  3995. MYSERIAL.println("=== checking ===");
  3996. MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_CHECK_MODE),DEC);
  3997. MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER),DEC);
  3998. MYSERIAL.println(eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM),DEC);
  3999. MYSERIAL.println(farm_mode,DEC);
  4000. MYSERIAL.println(eCheckMode,DEC);
  4001. } else if(code_seen("www")) {
  4002. MYSERIAL.println("=== @ FF ===");
  4003. eeprom_update_byte((uint8_t*)EEPROM_CHECK_MODE,0xFF);
  4004. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,0xFF);
  4005. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,0xFFFF);
  4006. */
  4007. } else if (code_seen_P(PSTR("nozzle"))) { // PRUSA nozzle
  4008. uint16_t nDiameter;
  4009. if(code_seen('D'))
  4010. {
  4011. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  4012. nozzle_diameter_check(nDiameter);
  4013. }
  4014. else if(code_seen_P(PSTR("set")) && farm_mode)
  4015. {
  4016. strchr_pointer++; // skip 1st char (~ 's')
  4017. strchr_pointer++; // skip 2nd char (~ 'e')
  4018. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  4019. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
  4020. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
  4021. }
  4022. else SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
  4023. //-// !!! SupportMenu
  4024. /*
  4025. // musi byt PRED "PRUSA model"
  4026. } else if (code_seen("smodel")) { //! PRUSA smodel
  4027. size_t nOffset;
  4028. // ! -> "l"
  4029. strchr_pointer+=5*sizeof(*strchr_pointer); // skip 1st - 5th char (~ 'smode')
  4030. nOffset=strspn(strchr_pointer+1," \t\n\r\v\f");
  4031. if(*(strchr_pointer+1+nOffset))
  4032. printer_smodel_check(strchr_pointer);
  4033. else SERIAL_PROTOCOLLN(PRINTER_NAME);
  4034. } else if (code_seen("model")) { //! PRUSA model
  4035. uint16_t nPrinterModel;
  4036. strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'mode')
  4037. nPrinterModel=(uint16_t)code_value_long();
  4038. if(nPrinterModel!=0)
  4039. printer_model_check(nPrinterModel);
  4040. else SERIAL_PROTOCOLLN(PRINTER_TYPE);
  4041. } else if (code_seen("version")) { //! PRUSA version
  4042. strchr_pointer+=7*sizeof(*strchr_pointer); // skip 1st - 7th char (~ 'version')
  4043. while(*strchr_pointer==' ') // skip leading spaces
  4044. strchr_pointer++;
  4045. if(*strchr_pointer!=0)
  4046. fw_version_check(strchr_pointer);
  4047. else SERIAL_PROTOCOLLN(FW_VERSION);
  4048. } else if (code_seen("gcode")) { //! PRUSA gcode
  4049. uint16_t nGcodeLevel;
  4050. strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'gcod')
  4051. nGcodeLevel=(uint16_t)code_value_long();
  4052. if(nGcodeLevel!=0)
  4053. gcode_level_check(nGcodeLevel);
  4054. else SERIAL_PROTOCOLLN(GCODE_LEVEL);
  4055. */
  4056. }
  4057. //else if (code_seen('Cal')) {
  4058. // lcd_calibration();
  4059. // }
  4060. }
  4061. // This prevents reading files with "^" in their names.
  4062. // Since it is unclear, if there is some usage of this construct,
  4063. // it will be deprecated in 3.9 alpha a possibly completely removed in the future:
  4064. // else if (code_seen('^')) {
  4065. // // nothing, this is a version line
  4066. // }
  4067. else if(code_seen('G'))
  4068. {
  4069. gcode_in_progress = code_value_short();
  4070. // printf_P(_N("BEGIN G-CODE=%u\n"), gcode_in_progress);
  4071. switch (gcode_in_progress)
  4072. {
  4073. /*!
  4074. ---------------------------------------------------------------------------------
  4075. # G Codes
  4076. ### G0, G1 - Coordinated movement X Y Z E <a href="https://reprap.org/wiki/G-code#G0_.26_G1:_Move">G0 & G1: Move</a>
  4077. In Prusa Firmware G0 and G1 are the same.
  4078. #### Usage
  4079. G0 [ X | Y | Z | E | F | S ]
  4080. G1 [ X | Y | Z | E | F | S ]
  4081. #### Parameters
  4082. - `X` - The position to move to on the X axis
  4083. - `Y` - The position to move to on the Y axis
  4084. - `Z` - The position to move to on the Z axis
  4085. - `E` - The amount to extrude between the starting point and ending point
  4086. - `F` - The feedrate per minute of the move between the starting point and ending point (if supplied)
  4087. */
  4088. case 0: // G0 -> G1
  4089. case 1: // G1
  4090. {
  4091. get_coordinates(); // For X Y Z E F
  4092. // When recovering from a previous print move, restore the originally
  4093. // calculated target position on the first USB/SD command. This accounts
  4094. // properly for relative moves
  4095. if ((saved_target[0] != SAVED_TARGET_UNSET) &&
  4096. ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_SDCARD) ||
  4097. (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)))
  4098. {
  4099. memcpy(destination, saved_target, sizeof(destination));
  4100. saved_target[0] = SAVED_TARGET_UNSET;
  4101. }
  4102. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  4103. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  4104. }
  4105. #ifdef FWRETRACT
  4106. if(cs.autoretract_enabled) {
  4107. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  4108. float echange=destination[E_AXIS]-current_position[E_AXIS];
  4109. if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
  4110. st_synchronize();
  4111. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  4112. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  4113. retract(!retracted[active_extruder]);
  4114. return;
  4115. }
  4116. }
  4117. }
  4118. #endif //FWRETRACT
  4119. prepare_move();
  4120. //ClearToSend();
  4121. }
  4122. break;
  4123. /*!
  4124. ### G2, G3 - Controlled Arc Move <a href="https://reprap.org/wiki/G-code#G2_.26_G3:_Controlled_Arc_Move">G2 & G3: Controlled Arc Move</a>
  4125. These commands don't propperly work with MBL enabled. The compensation only happens at the end of the move, so avoid long arcs.
  4126. #### Usage
  4127. G2 [ X | Y | I | E | F ] (Clockwise Arc)
  4128. G3 [ X | Y | I | E | F ] (Counter-Clockwise Arc)
  4129. #### Parameters
  4130. - `X` - The position to move to on the X axis
  4131. - `Y` - The position to move to on the Y axis
  4132. - 'Z' - The position to move to on the Z axis
  4133. - `I` - The point in X space from the current X position to maintain a constant distance from
  4134. - `J` - The point in Y space from the current Y position to maintain a constant distance from
  4135. - `E` - The amount to extrude between the starting point and ending point
  4136. - `F` - The feedrate per minute of the move between the starting point and ending point (if supplied)
  4137. */
  4138. case 2:
  4139. {
  4140. get_arc_coordinates();
  4141. prepare_arc_move(true);
  4142. }
  4143. break;
  4144. // -------------------------------
  4145. case 3:
  4146. {
  4147. get_arc_coordinates();
  4148. prepare_arc_move(false);
  4149. }
  4150. break;
  4151. /*!
  4152. ### G4 - Dwell <a href="https://reprap.org/wiki/G-code#G4:_Dwell">G4: Dwell</a>
  4153. Pause the machine for a period of time.
  4154. #### Usage
  4155. G4 [ P | S ]
  4156. #### Parameters
  4157. - `P` - Time to wait, in milliseconds
  4158. - `S` - Time to wait, in seconds
  4159. */
  4160. case 4:
  4161. codenum = 0;
  4162. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  4163. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  4164. if(codenum != 0)
  4165. {
  4166. if(custom_message_type != CustomMsg::M117)
  4167. {
  4168. LCD_MESSAGERPGM(_n("Sleep..."));////MSG_DWELL
  4169. }
  4170. }
  4171. st_synchronize();
  4172. codenum += _millis(); // keep track of when we started waiting
  4173. previous_millis_cmd.start();
  4174. while(_millis() < codenum) {
  4175. manage_heater();
  4176. manage_inactivity();
  4177. lcd_update(0);
  4178. }
  4179. break;
  4180. #ifdef FWRETRACT
  4181. /*!
  4182. ### G10 - Retract <a href="https://reprap.org/wiki/G-code#G10:_Retract">G10: Retract</a>
  4183. Retracts filament according to settings of `M207`
  4184. */
  4185. case 10:
  4186. #if EXTRUDERS > 1
  4187. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  4188. retract(true,retracted_swap[active_extruder]);
  4189. #else
  4190. retract(true);
  4191. #endif
  4192. break;
  4193. /*!
  4194. ### G11 - Retract recover <a href="https://reprap.org/wiki/G-code#G11:_Unretract">G11: Unretract</a>
  4195. Unretracts/recovers filament according to settings of `M208`
  4196. */
  4197. case 11:
  4198. #if EXTRUDERS > 1
  4199. retract(false,retracted_swap[active_extruder]);
  4200. #else
  4201. retract(false);
  4202. #endif
  4203. break;
  4204. #endif //FWRETRACT
  4205. /*!
  4206. ### G21 - Sets Units to Millimters <a href="https://reprap.org/wiki/G-code#G21:_Set_Units_to_Millimeters">G21: Set Units to Millimeters</a>
  4207. Units are in millimeters. Prusa doesn't support inches.
  4208. */
  4209. case 21:
  4210. break; //Doing nothing. This is just to prevent serial UNKOWN warnings.
  4211. /*!
  4212. ### G28 - Home all Axes one at a time <a href="https://reprap.org/wiki/G-code#G28:_Move_to_Origin_.28Home.29">G28: Move to Origin (Home)</a>
  4213. Using `G28` without any parameters will perfom homing of all axes AND mesh bed leveling, while `G28 W` will just home all axes (no mesh bed leveling).
  4214. #### Usage
  4215. G28 [ X | Y | Z | W | C ]
  4216. #### Parameters
  4217. - `X` - Flag to go back to the X axis origin
  4218. - `Y` - Flag to go back to the Y axis origin
  4219. - `Z` - Flag to go back to the Z axis origin
  4220. - `W` - Suppress mesh bed leveling if `X`, `Y` or `Z` are not provided
  4221. - `C` - Calibrate X and Y origin (home) - Only on MK3/s
  4222. */
  4223. case 28:
  4224. {
  4225. long home_x_value = 0;
  4226. long home_y_value = 0;
  4227. long home_z_value = 0;
  4228. // Which axes should be homed?
  4229. bool home_x = code_seen(axis_codes[X_AXIS]);
  4230. home_x_value = code_value_long();
  4231. bool home_y = code_seen(axis_codes[Y_AXIS]);
  4232. home_y_value = code_value_long();
  4233. bool home_z = code_seen(axis_codes[Z_AXIS]);
  4234. home_z_value = code_value_long();
  4235. bool without_mbl = code_seen('W');
  4236. // calibrate?
  4237. #ifdef TMC2130
  4238. bool calib = code_seen('C');
  4239. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
  4240. #else
  4241. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, without_mbl);
  4242. #endif //TMC2130
  4243. if ((home_x || home_y || without_mbl || home_z) == false) {
  4244. gcode_G80();
  4245. }
  4246. break;
  4247. }
  4248. #ifdef ENABLE_AUTO_BED_LEVELING
  4249. /*!
  4250. ### G29 - Detailed Z-Probe <a href="https://reprap.org/wiki/G-code#G29:_Detailed_Z-Probe">G29: Detailed Z-Probe</a>
  4251. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4252. See `G81`
  4253. */
  4254. case 29:
  4255. {
  4256. #if Z_MIN_PIN == -1
  4257. #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."
  4258. #endif
  4259. // Prevent user from running a G29 without first homing in X and Y
  4260. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  4261. {
  4262. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  4263. SERIAL_ECHO_START;
  4264. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  4265. break; // abort G29, since we don't know where we are
  4266. }
  4267. st_synchronize();
  4268. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  4269. //vector_3 corrected_position = plan_get_position_mm();
  4270. //corrected_position.debug("position before G29");
  4271. plan_bed_level_matrix.set_to_identity();
  4272. vector_3 uncorrected_position = plan_get_position();
  4273. //uncorrected_position.debug("position durring G29");
  4274. current_position[X_AXIS] = uncorrected_position.x;
  4275. current_position[Y_AXIS] = uncorrected_position.y;
  4276. current_position[Z_AXIS] = uncorrected_position.z;
  4277. plan_set_position_curposXYZE();
  4278. int l_feedmultiply = setup_for_endstop_move();
  4279. feedrate = homing_feedrate[Z_AXIS];
  4280. #ifdef AUTO_BED_LEVELING_GRID
  4281. // probe at the points of a lattice grid
  4282. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  4283. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  4284. // solve the plane equation ax + by + d = z
  4285. // A is the matrix with rows [x y 1] for all the probed points
  4286. // B is the vector of the Z positions
  4287. // 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
  4288. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  4289. // "A" matrix of the linear system of equations
  4290. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  4291. // "B" vector of Z points
  4292. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  4293. int probePointCounter = 0;
  4294. bool zig = true;
  4295. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  4296. {
  4297. int xProbe, xInc;
  4298. if (zig)
  4299. {
  4300. xProbe = LEFT_PROBE_BED_POSITION;
  4301. //xEnd = RIGHT_PROBE_BED_POSITION;
  4302. xInc = xGridSpacing;
  4303. zig = false;
  4304. } else // zag
  4305. {
  4306. xProbe = RIGHT_PROBE_BED_POSITION;
  4307. //xEnd = LEFT_PROBE_BED_POSITION;
  4308. xInc = -xGridSpacing;
  4309. zig = true;
  4310. }
  4311. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  4312. {
  4313. float z_before;
  4314. if (probePointCounter == 0)
  4315. {
  4316. // raise before probing
  4317. z_before = Z_RAISE_BEFORE_PROBING;
  4318. } else
  4319. {
  4320. // raise extruder
  4321. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  4322. }
  4323. float measured_z = probe_pt(xProbe, yProbe, z_before);
  4324. eqnBVector[probePointCounter] = measured_z;
  4325. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  4326. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  4327. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  4328. probePointCounter++;
  4329. xProbe += xInc;
  4330. }
  4331. }
  4332. clean_up_after_endstop_move(l_feedmultiply);
  4333. // solve lsq problem
  4334. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  4335. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  4336. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  4337. SERIAL_PROTOCOLPGM(" b: ");
  4338. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  4339. SERIAL_PROTOCOLPGM(" d: ");
  4340. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  4341. set_bed_level_equation_lsq(plane_equation_coefficients);
  4342. free(plane_equation_coefficients);
  4343. #else // AUTO_BED_LEVELING_GRID not defined
  4344. // Probe at 3 arbitrary points
  4345. // probe 1
  4346. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  4347. // probe 2
  4348. 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);
  4349. // probe 3
  4350. 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);
  4351. clean_up_after_endstop_move(l_feedmultiply);
  4352. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  4353. #endif // AUTO_BED_LEVELING_GRID
  4354. st_synchronize();
  4355. // The following code correct the Z height difference from z-probe position and hotend tip position.
  4356. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  4357. // When the bed is uneven, this height must be corrected.
  4358. real_z = float(st_get_position(Z_AXIS))/cs.axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
  4359. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  4360. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  4361. z_tmp = current_position[Z_AXIS];
  4362. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  4363. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  4364. plan_set_position_curposXYZE();
  4365. }
  4366. break;
  4367. #ifndef Z_PROBE_SLED
  4368. /*!
  4369. ### G30 - Single Z Probe <a href="https://reprap.org/wiki/G-code#G30:_Single_Z-Probe">G30: Single Z-Probe</a>
  4370. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4371. */
  4372. case 30:
  4373. {
  4374. st_synchronize();
  4375. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  4376. int l_feedmultiply = setup_for_endstop_move();
  4377. feedrate = homing_feedrate[Z_AXIS];
  4378. run_z_probe();
  4379. SERIAL_PROTOCOLPGM(_T(MSG_BED));
  4380. SERIAL_PROTOCOLPGM(" X: ");
  4381. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4382. SERIAL_PROTOCOLPGM(" Y: ");
  4383. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4384. SERIAL_PROTOCOLPGM(" Z: ");
  4385. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4386. SERIAL_PROTOCOLPGM("\n");
  4387. clean_up_after_endstop_move(l_feedmultiply);
  4388. }
  4389. break;
  4390. #else
  4391. /*!
  4392. ### G31 - Dock the sled <a href="https://reprap.org/wiki/G-code#G31:_Dock_Z_Probe_sled">G31: Dock Z Probe sled</a>
  4393. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4394. */
  4395. case 31:
  4396. dock_sled(true);
  4397. break;
  4398. /*!
  4399. ### G32 - Undock the sled <a href="https://reprap.org/wiki/G-code#G32:_Undock_Z_Probe_sled">G32: Undock Z Probe sled</a>
  4400. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4401. */
  4402. case 32:
  4403. dock_sled(false);
  4404. break;
  4405. #endif // Z_PROBE_SLED
  4406. #endif // ENABLE_AUTO_BED_LEVELING
  4407. #ifdef MESH_BED_LEVELING
  4408. /*!
  4409. ### G30 - Single Z Probe <a href="https://reprap.org/wiki/G-code#G30:_Single_Z-Probe">G30: Single Z-Probe</a>
  4410. Sensor must be over the bed.
  4411. The maximum travel distance before an error is triggered is 10mm.
  4412. */
  4413. case 30:
  4414. {
  4415. st_synchronize();
  4416. homing_flag = true;
  4417. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  4418. int l_feedmultiply = setup_for_endstop_move();
  4419. feedrate = homing_feedrate[Z_AXIS];
  4420. find_bed_induction_sensor_point_z(-10.f, 3);
  4421. printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
  4422. clean_up_after_endstop_move(l_feedmultiply);
  4423. homing_flag = false;
  4424. }
  4425. break;
  4426. /*!
  4427. ### G75 - Print temperature interpolation <a href="https://reprap.org/wiki/G-code#G75:_Print_temperature_interpolation">G75: Print temperature interpolation</a>
  4428. Show/print PINDA temperature interpolating.
  4429. */
  4430. case 75:
  4431. {
  4432. for (uint8_t i = 40; i <= 110; i++)
  4433. printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
  4434. }
  4435. break;
  4436. /*!
  4437. ### G76 - PINDA probe temperature calibration <a href="https://reprap.org/wiki/G-code#G76:_PINDA_probe_temperature_calibration">G76: PINDA probe temperature calibration</a>
  4438. This G-code is used to calibrate the temperature drift of the PINDA (inductive Sensor).
  4439. The PINDAv2 sensor has a built-in thermistor which has the advantage that the calibration can be done once for all materials.
  4440. The Original i3 Prusa MK2/s uses PINDAv1 and this calibration improves the temperature drift, but not as good as the PINDAv2.
  4441. superPINDA sensor has internal temperature compensation and no thermistor output. There is no point of doing temperature calibration in such case.
  4442. If PINDA_THERMISTOR and SUPERPINDA_SUPPORT is defined during compilation, calibration is skipped with serial message "No PINDA thermistor".
  4443. This can be caused also if PINDA thermistor connection is broken or PINDA temperature is lower than PINDA_MINTEMP.
  4444. #### Example
  4445. ```
  4446. G76
  4447. echo PINDA probe calibration start
  4448. echo start temperature: 35.0°
  4449. echo ...
  4450. echo PINDA temperature -- Z shift (mm): 0.---
  4451. ```
  4452. */
  4453. case 76:
  4454. {
  4455. #ifdef PINDA_THERMISTOR
  4456. if (!has_temperature_compensation())
  4457. {
  4458. SERIAL_ECHOLNPGM("No PINDA thermistor");
  4459. break;
  4460. }
  4461. if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
  4462. //we need to know accurate position of first calibration point
  4463. //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
  4464. lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first.")); ////MSG_RUN_XYZ c=20 r=4
  4465. break;
  4466. }
  4467. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  4468. {
  4469. // We don't know where we are! HOME!
  4470. // Push the commands to the front of the message queue in the reverse order!
  4471. // There shall be always enough space reserved for these commands.
  4472. repeatcommand_front(); // repeat G76 with all its parameters
  4473. enquecommand_front_P(G28W0);
  4474. break;
  4475. }
  4476. 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
  4477. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  4478. if (result)
  4479. {
  4480. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4481. plan_buffer_line_curposXYZE(3000 / 60);
  4482. current_position[Z_AXIS] = 50;
  4483. current_position[Y_AXIS] = 180;
  4484. plan_buffer_line_curposXYZE(3000 / 60);
  4485. st_synchronize();
  4486. lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  4487. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4488. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4489. plan_buffer_line_curposXYZE(3000 / 60);
  4490. st_synchronize();
  4491. gcode_G28(false, false, true);
  4492. }
  4493. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  4494. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  4495. current_position[Z_AXIS] = 100;
  4496. plan_buffer_line_curposXYZE(3000 / 60);
  4497. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  4498. lcd_temp_cal_show_result(false);
  4499. break;
  4500. }
  4501. }
  4502. st_synchronize();
  4503. homing_flag = true; // keep homing on to avoid babystepping while the LCD is enabled
  4504. lcd_update_enable(true);
  4505. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  4506. float zero_z;
  4507. int z_shift = 0; //unit: steps
  4508. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  4509. if (start_temp < 35) start_temp = 35;
  4510. if (start_temp < current_temperature_pinda) start_temp += 5;
  4511. printf_P(_N("start temperature: %.1f\n"), start_temp);
  4512. // setTargetHotend(200, 0);
  4513. setTargetBed(70 + (start_temp - 30));
  4514. custom_message_type = CustomMsg::TempCal;
  4515. custom_message_state = 1;
  4516. lcd_setstatuspgm(_T(MSG_PINDA_CALIBRATION));
  4517. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4518. plan_buffer_line_curposXYZE(3000 / 60);
  4519. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4520. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4521. plan_buffer_line_curposXYZE(3000 / 60);
  4522. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4523. plan_buffer_line_curposXYZE(3000 / 60);
  4524. st_synchronize();
  4525. while (current_temperature_pinda < start_temp)
  4526. {
  4527. delay_keep_alive(1000);
  4528. serialecho_temperatures();
  4529. }
  4530. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  4531. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4532. plan_buffer_line_curposXYZE(3000 / 60);
  4533. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4534. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4535. plan_buffer_line_curposXYZE(3000 / 60);
  4536. st_synchronize();
  4537. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  4538. if (find_z_result == false) {
  4539. lcd_temp_cal_show_result(find_z_result);
  4540. homing_flag = false;
  4541. break;
  4542. }
  4543. zero_z = current_position[Z_AXIS];
  4544. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  4545. int i = -1; for (; i < 5; i++)
  4546. {
  4547. float temp = (40 + i * 5);
  4548. printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
  4549. if (i >= 0) {
  4550. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + i, z_shift);
  4551. }
  4552. if (start_temp <= temp) break;
  4553. }
  4554. for (i++; i < 5; i++)
  4555. {
  4556. float temp = (40 + i * 5);
  4557. printf_P(_N("\nStep: %d/6\n"), i + 2);
  4558. custom_message_state = i + 2;
  4559. setTargetBed(50 + 10 * (temp - 30) / 5);
  4560. // setTargetHotend(255, 0);
  4561. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4562. plan_buffer_line_curposXYZE(3000 / 60);
  4563. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4564. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4565. plan_buffer_line_curposXYZE(3000 / 60);
  4566. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4567. plan_buffer_line_curposXYZE(3000 / 60);
  4568. st_synchronize();
  4569. while (current_temperature_pinda < temp)
  4570. {
  4571. delay_keep_alive(1000);
  4572. serialecho_temperatures();
  4573. }
  4574. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4575. plan_buffer_line_curposXYZE(3000 / 60);
  4576. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4577. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4578. plan_buffer_line_curposXYZE(3000 / 60);
  4579. st_synchronize();
  4580. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  4581. if (find_z_result == false) {
  4582. lcd_temp_cal_show_result(find_z_result);
  4583. break;
  4584. }
  4585. z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
  4586. printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
  4587. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + i, z_shift);
  4588. }
  4589. lcd_temp_cal_show_result(true);
  4590. homing_flag = false;
  4591. #else //PINDA_THERMISTOR
  4592. setTargetBed(PINDA_MIN_T);
  4593. float zero_z;
  4594. int z_shift = 0; //unit: steps
  4595. int t_c; // temperature
  4596. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  4597. // We don't know where we are! HOME!
  4598. // Push the commands to the front of the message queue in the reverse order!
  4599. // There shall be always enough space reserved for these commands.
  4600. repeatcommand_front(); // repeat G76 with all its parameters
  4601. enquecommand_front_P(G28W0);
  4602. break;
  4603. }
  4604. puts_P(_N("PINDA probe calibration start"));
  4605. custom_message_type = CustomMsg::TempCal;
  4606. custom_message_state = 1;
  4607. lcd_setstatuspgm(_T(MSG_PINDA_CALIBRATION));
  4608. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4609. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4610. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4611. plan_buffer_line_curposXYZE(3000 / 60);
  4612. st_synchronize();
  4613. while (fabs(degBed() - PINDA_MIN_T) > 1) {
  4614. delay_keep_alive(1000);
  4615. serialecho_temperatures();
  4616. }
  4617. //enquecommand_P(PSTR("M190 S50"));
  4618. for (int i = 0; i < PINDA_HEAT_T; i++) {
  4619. delay_keep_alive(1000);
  4620. serialecho_temperatures();
  4621. }
  4622. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  4623. current_position[Z_AXIS] = 5;
  4624. plan_buffer_line_curposXYZE(3000 / 60);
  4625. current_position[X_AXIS] = BED_X0;
  4626. current_position[Y_AXIS] = BED_Y0;
  4627. plan_buffer_line_curposXYZE(3000 / 60);
  4628. st_synchronize();
  4629. find_bed_induction_sensor_point_z(-1.f);
  4630. zero_z = current_position[Z_AXIS];
  4631. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  4632. for (int i = 0; i<5; i++) {
  4633. printf_P(_N("\nStep: %d/6\n"), i + 2);
  4634. custom_message_state = i + 2;
  4635. t_c = 60 + i * 10;
  4636. setTargetBed(t_c);
  4637. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4638. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4639. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4640. plan_buffer_line_curposXYZE(3000 / 60);
  4641. st_synchronize();
  4642. while (degBed() < t_c) {
  4643. delay_keep_alive(1000);
  4644. serialecho_temperatures();
  4645. }
  4646. for (int i = 0; i < PINDA_HEAT_T; i++) {
  4647. delay_keep_alive(1000);
  4648. serialecho_temperatures();
  4649. }
  4650. current_position[Z_AXIS] = 5;
  4651. plan_buffer_line_curposXYZE(3000 / 60);
  4652. current_position[X_AXIS] = BED_X0;
  4653. current_position[Y_AXIS] = BED_Y0;
  4654. plan_buffer_line_curposXYZE(3000 / 60);
  4655. st_synchronize();
  4656. find_bed_induction_sensor_point_z(-1.f);
  4657. z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
  4658. printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
  4659. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + i, z_shift);
  4660. }
  4661. custom_message_type = CustomMsg::Status;
  4662. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  4663. puts_P(_N("Temperature calibration done."));
  4664. disable_x();
  4665. disable_y();
  4666. disable_z();
  4667. disable_e0();
  4668. disable_e1();
  4669. disable_e2();
  4670. setTargetBed(0); //set bed target temperature back to 0
  4671. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PINDA_CALIBRATION_DONE));
  4672. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  4673. lcd_update_enable(true);
  4674. lcd_update(2);
  4675. #endif //PINDA_THERMISTOR
  4676. }
  4677. break;
  4678. /*!
  4679. ### G80 - Mesh-based Z probe <a href="https://reprap.org/wiki/G-code#G80:_Mesh-based_Z_probe">G80: Mesh-based Z probe</a>
  4680. Default 3x3 grid can be changed on MK2.5/s and MK3/s to 7x7 grid.
  4681. #### Usage
  4682. G80 [ N | R | V | L | R | F | B ]
  4683. #### Parameters
  4684. - `N` - Number of mesh points on x axis. Default is 3. Valid values are 3 and 7.
  4685. - `R` - Probe retries. Default 3 max. 10
  4686. - `V` - Verbosity level 1=low, 10=mid, 20=high. It only can be used if the firmware has been compiled with SUPPORT_VERBOSITY active.
  4687. Using the following parameters enables additional "manual" bed leveling correction. Valid values are -100 microns to 100 microns.
  4688. #### Additional Parameters
  4689. - `L` - Left Bed Level correct value in um.
  4690. - `R` - Right Bed Level correct value in um.
  4691. - `F` - Front Bed Level correct value in um.
  4692. - `B` - Back Bed Level correct value in um.
  4693. */
  4694. /*
  4695. * Probes a grid and produces a mesh to compensate for variable bed height
  4696. * The S0 report the points as below
  4697. * +----> X-axis
  4698. * |
  4699. * |
  4700. * v Y-axis
  4701. */
  4702. case 80: {
  4703. gcode_G80();
  4704. }
  4705. break;
  4706. /*!
  4707. ### G81 - Mesh bed leveling status <a href="https://reprap.org/wiki/G-code#G81:_Mesh_bed_leveling_status">G81: Mesh bed leveling status</a>
  4708. Prints mesh bed leveling status and bed profile if activated.
  4709. */
  4710. case 81:
  4711. if (mbl.active) {
  4712. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4713. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4714. SERIAL_PROTOCOL(',');
  4715. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4716. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4717. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4718. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4719. for (uint8_t y = MESH_NUM_Y_POINTS; y-- > 0;) {
  4720. for (uint8_t x = 0; x < MESH_NUM_X_POINTS; x++) {
  4721. SERIAL_PROTOCOLPGM(" ");
  4722. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4723. }
  4724. SERIAL_PROTOCOLLN();
  4725. }
  4726. }
  4727. else
  4728. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  4729. break;
  4730. #if 0
  4731. /*!
  4732. ### G82: Single Z probe at current location - Not active <a href="https://reprap.org/wiki/G-code#G82:_Single_Z_probe_at_current_location">G82: Single Z probe at current location</a>
  4733. WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  4734. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4735. */
  4736. case 82:
  4737. SERIAL_PROTOCOLLNPGM("Finding bed ");
  4738. int l_feedmultiply = setup_for_endstop_move();
  4739. find_bed_induction_sensor_point_z();
  4740. clean_up_after_endstop_move(l_feedmultiply);
  4741. SERIAL_PROTOCOLPGM("Bed found at: ");
  4742. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  4743. SERIAL_PROTOCOLPGM("\n");
  4744. break;
  4745. /*!
  4746. ### G83: Babystep in Z and store to EEPROM - Not active <a href="https://reprap.org/wiki/G-code#G83:_Babystep_in_Z_and_store_to_EEPROM">G83: Babystep in Z and store to EEPROM</a>
  4747. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4748. */
  4749. case 83:
  4750. {
  4751. int babystepz = code_seen('S') ? code_value() : 0;
  4752. int BabyPosition = code_seen('P') ? code_value() : 0;
  4753. if (babystepz != 0) {
  4754. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  4755. // Is the axis indexed starting with zero or one?
  4756. if (BabyPosition > 4) {
  4757. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  4758. }else{
  4759. // Save it to the eeprom
  4760. babystepLoadZ = babystepz;
  4761. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z0 + BabyPosition, babystepLoadZ);
  4762. // adjust the Z
  4763. babystepsTodoZadd(babystepLoadZ);
  4764. }
  4765. }
  4766. }
  4767. break;
  4768. /*!
  4769. ### G84: UNDO Babystep Z (move Z axis back) - Not active <a href="https://reprap.org/wiki/G-code#G84:_UNDO_Babystep_Z_.28move_Z_axis_back.29">G84: UNDO Babystep Z (move Z axis back)</a>
  4770. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4771. */
  4772. case 84:
  4773. babystepsTodoZsubtract(babystepLoadZ);
  4774. // babystepLoadZ = 0;
  4775. break;
  4776. /*!
  4777. ### G85: Pick best babystep - Not active <a href="https://reprap.org/wiki/G-code#G85:_Pick_best_babystep">G85: Pick best babystep</a>
  4778. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4779. */
  4780. case 85:
  4781. lcd_pick_babystep();
  4782. break;
  4783. #endif
  4784. /*!
  4785. ### G86 - Disable babystep correction after home <a href="https://reprap.org/wiki/G-code#G86:_Disable_babystep_correction_after_home">G86: Disable babystep correction after home</a>
  4786. This G-code will be performed at the start of a calibration script.
  4787. (Prusa3D specific)
  4788. */
  4789. case 86:
  4790. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  4791. break;
  4792. /*!
  4793. ### G87 - Enable babystep correction after home <a href="https://reprap.org/wiki/G-code#G87:_Enable_babystep_correction_after_home">G87: Enable babystep correction after home</a>
  4794. This G-code will be performed at the end of a calibration script.
  4795. (Prusa3D specific)
  4796. */
  4797. case 87:
  4798. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  4799. break;
  4800. /*!
  4801. ### G88 - Reserved <a href="https://reprap.org/wiki/G-code#G88:_Reserved">G88: Reserved</a>
  4802. Currently has no effect.
  4803. */
  4804. // Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  4805. case 88:
  4806. break;
  4807. #endif // ENABLE_MESH_BED_LEVELING
  4808. /*!
  4809. ### G90 - Switch off relative mode <a href="https://reprap.org/wiki/G-code#G90:_Set_to_Absolute_Positioning">G90: Set to Absolute Positioning</a>
  4810. All coordinates from now on are absolute relative to the origin of the machine. E axis is left intact.
  4811. */
  4812. case 90: {
  4813. axis_relative_modes &= ~(X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK);
  4814. }
  4815. break;
  4816. /*!
  4817. ### G91 - Switch on relative mode <a href="https://reprap.org/wiki/G-code#G91:_Set_to_Relative_Positioning">G91: Set to Relative Positioning</a>
  4818. All coordinates from now on are relative to the last position. E axis is left intact.
  4819. */
  4820. case 91: {
  4821. axis_relative_modes |= X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK;
  4822. }
  4823. break;
  4824. /*!
  4825. ### G92 - Set position <a href="https://reprap.org/wiki/G-code#G92:_Set_Position">G92: Set Position</a>
  4826. It is used for setting the current position of each axis. The parameters are always absolute to the origin.
  4827. If a parameter is omitted, that axis will not be affected.
  4828. If `X`, `Y`, or `Z` axis are specified, the move afterwards might stutter because of Mesh Bed Leveling. `E` axis is not affected if the target position is 0 (`G92 E0`).
  4829. A G92 without coordinates will reset all axes to zero on some firmware. This is not the case for Prusa-Firmware!
  4830. #### Usage
  4831. G92 [ X | Y | Z | E ]
  4832. #### Parameters
  4833. - `X` - new X axis position
  4834. - `Y` - new Y axis position
  4835. - `Z` - new Z axis position
  4836. - `E` - new extruder position
  4837. */
  4838. case 92: {
  4839. gcode_G92();
  4840. }
  4841. break;
  4842. /*!
  4843. ### G98 - Activate farm mode <a href="https://reprap.org/wiki/G-code#G98:_Activate_farm_mode">G98: Activate farm mode</a>
  4844. Enable Prusa-specific Farm functions and g-code.
  4845. See Internal Prusa commands.
  4846. */
  4847. case 98:
  4848. farm_mode = 1;
  4849. PingTime = _millis();
  4850. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4851. SilentModeMenu = SILENT_MODE_OFF;
  4852. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  4853. fCheckModeInit(); // alternatively invoke printer reset
  4854. break;
  4855. /*! ### G99 - Deactivate farm mode <a href="https://reprap.org/wiki/G-code#G99:_Deactivate_farm_mode">G99: Deactivate farm mode</a>
  4856. Disables Prusa-specific Farm functions and g-code.
  4857. */
  4858. case 99:
  4859. farm_mode = 0;
  4860. lcd_printer_connected();
  4861. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4862. lcd_update(2);
  4863. fCheckModeInit(); // alternatively invoke printer reset
  4864. break;
  4865. default:
  4866. printf_P(MSG_UNKNOWN_CODE, 'G', cmdbuffer + bufindr + CMDHDRSIZE);
  4867. }
  4868. // printf_P(_N("END G-CODE=%u\n"), gcode_in_progress);
  4869. gcode_in_progress = 0;
  4870. } // end if(code_seen('G'))
  4871. /*!
  4872. ### End of G-Codes
  4873. */
  4874. /*!
  4875. ---------------------------------------------------------------------------------
  4876. # M Commands
  4877. */
  4878. else if(code_seen('M'))
  4879. {
  4880. int index;
  4881. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  4882. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  4883. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  4884. printf_P(PSTR("Invalid M code: %s\n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4885. } else
  4886. {
  4887. mcode_in_progress = code_value_short();
  4888. // printf_P(_N("BEGIN M-CODE=%u\n"), mcode_in_progress);
  4889. switch(mcode_in_progress)
  4890. {
  4891. /*!
  4892. ### M17 - Enable all axes <a href="https://reprap.org/wiki/G-code#M17:_Enable.2FPower_all_stepper_motors">M17: Enable/Power all stepper motors</a>
  4893. */
  4894. case 17:
  4895. LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE c=20
  4896. enable_x();
  4897. enable_y();
  4898. enable_z();
  4899. enable_e0();
  4900. enable_e1();
  4901. enable_e2();
  4902. break;
  4903. #ifdef SDSUPPORT
  4904. /*!
  4905. ### M20 - SD Card file list <a href="https://reprap.org/wiki/G-code#M20:_List_SD_card">M20: List SD card</a>
  4906. #### Usage
  4907. M20 [ L | T ]
  4908. #### Parameters
  4909. - `T` - Report timestamps as well. The value is one uint32_t encoded as hex. Requires host software parsing (Cap:EXTENDED_M20).
  4910. - `L` - Reports long filenames instead of just short filenames. Requires host software parsing (Cap:EXTENDED_M20).
  4911. */
  4912. case 20:
  4913. KEEPALIVE_STATE(NOT_BUSY); // do not send busy messages during listing. Inhibits the output of manage_heater()
  4914. SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST
  4915. card.ls(CardReader::ls_param(code_seen('L'), code_seen('T')));
  4916. SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST
  4917. break;
  4918. /*!
  4919. ### M21 - Init SD card <a href="https://reprap.org/wiki/G-code#M21:_Initialize_SD_card">M21: Initialize SD card</a>
  4920. */
  4921. case 21:
  4922. card.initsd();
  4923. break;
  4924. /*!
  4925. ### M22 - Release SD card <a href="https://reprap.org/wiki/G-code#M22:_Release_SD_card">M22: Release SD card</a>
  4926. */
  4927. case 22:
  4928. card.release();
  4929. break;
  4930. /*!
  4931. ### M23 - Select file <a href="https://reprap.org/wiki/G-code#M23:_Select_SD_file">M23: Select SD file</a>
  4932. #### Usage
  4933. M23 [filename]
  4934. */
  4935. case 23:
  4936. starpos = (strchr(strchr_pointer + 4,'*'));
  4937. if(starpos!=NULL)
  4938. *(starpos)='\0';
  4939. card.openFileReadFilteredGcode(strchr_pointer + 4, true);
  4940. break;
  4941. /*!
  4942. ### M24 - Start SD print <a href="https://reprap.org/wiki/G-code#M24:_Start.2Fresume_SD_print">M24: Start/resume SD print</a>
  4943. */
  4944. case 24:
  4945. if (isPrintPaused)
  4946. lcd_resume_print();
  4947. else
  4948. {
  4949. if (!card.get_sdpos())
  4950. {
  4951. // A new print has started from scratch, reset stats
  4952. failstats_reset_print();
  4953. #ifndef LA_NOCOMPAT
  4954. la10c_reset();
  4955. #endif
  4956. }
  4957. card.startFileprint();
  4958. starttime=_millis();
  4959. }
  4960. break;
  4961. /*!
  4962. ### M26 - Set SD index <a href="https://reprap.org/wiki/G-code#M26:_Set_SD_position">M26: Set SD position</a>
  4963. Set position in SD card file to index in bytes.
  4964. This command is expected to be called after M23 and before M24.
  4965. Otherwise effect of this command is undefined.
  4966. #### Usage
  4967. M26 [ S ]
  4968. #### Parameters
  4969. - `S` - Index in bytes
  4970. */
  4971. case 26:
  4972. if(card.cardOK && code_seen('S')) {
  4973. long index = code_value_long();
  4974. card.setIndex(index);
  4975. // We don't disable interrupt during update of sdpos_atomic
  4976. // as we expect, that SD card print is not active in this moment
  4977. sdpos_atomic = index;
  4978. }
  4979. break;
  4980. /*!
  4981. ### M27 - Get SD status <a href="https://reprap.org/wiki/G-code#M27:_Report_SD_print_status">M27: Report SD print status</a>
  4982. #### Usage
  4983. M27 [ P ]
  4984. #### Parameters
  4985. - `P` - Show full SFN path instead of LFN only.
  4986. */
  4987. case 27:
  4988. card.getStatus(code_seen('P'));
  4989. break;
  4990. /*!
  4991. ### M28 - Start SD write <a href="https://reprap.org/wiki/G-code#M28:_Begin_write_to_SD_card">M28: Begin write to SD card</a>
  4992. */
  4993. case 28:
  4994. starpos = (strchr(strchr_pointer + 4,'*'));
  4995. if(starpos != NULL){
  4996. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4997. strchr_pointer = strchr(npos,' ') + 1;
  4998. *(starpos) = '\0';
  4999. }
  5000. card.openFileWrite(strchr_pointer+4);
  5001. break;
  5002. /*! ### M29 - Stop SD write <a href="https://reprap.org/wiki/G-code#M29:_Stop_writing_to_SD_card">M29: Stop writing to SD card</a>
  5003. Stops writing to the SD file signaling the end of the uploaded file. It is processed very early and it's not written to the card.
  5004. */
  5005. case 29:
  5006. //processed in write to file routine above
  5007. //card,saving = false;
  5008. break;
  5009. /*!
  5010. ### M30 - Delete file <a href="https://reprap.org/wiki/G-code#M30:_Delete_a_file_on_the_SD_card">M30: Delete a file on the SD card</a>
  5011. #### Usage
  5012. M30 [filename]
  5013. */
  5014. case 30:
  5015. if (card.cardOK){
  5016. card.closefile();
  5017. starpos = (strchr(strchr_pointer + 4,'*'));
  5018. if(starpos != NULL){
  5019. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  5020. strchr_pointer = strchr(npos,' ') + 1;
  5021. *(starpos) = '\0';
  5022. }
  5023. card.removeFile(strchr_pointer + 4);
  5024. }
  5025. break;
  5026. /*!
  5027. ### M32 - Select file and start SD print <a href="https://reprap.org/wiki/G-code#M32:_Select_file_and_start_SD_print">M32: Select file and start SD print</a>
  5028. @todo What are the parameters P and S for in M32?
  5029. */
  5030. case 32:
  5031. {
  5032. if(card.sdprinting) {
  5033. st_synchronize();
  5034. }
  5035. starpos = (strchr(strchr_pointer + 4,'*'));
  5036. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  5037. if(namestartpos==NULL)
  5038. {
  5039. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  5040. }
  5041. else
  5042. namestartpos++; //to skip the '!'
  5043. if(starpos!=NULL)
  5044. *(starpos)='\0';
  5045. bool call_procedure=(code_seen('P'));
  5046. if(strchr_pointer>namestartpos)
  5047. call_procedure=false; //false alert, 'P' found within filename
  5048. if( card.cardOK )
  5049. {
  5050. card.openFileReadFilteredGcode(namestartpos,!call_procedure);
  5051. if(code_seen('S'))
  5052. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  5053. card.setIndex(code_value_long());
  5054. card.startFileprint();
  5055. if(!call_procedure)
  5056. {
  5057. if(!card.get_sdpos())
  5058. {
  5059. // A new print has started from scratch, reset stats
  5060. failstats_reset_print();
  5061. #ifndef LA_NOCOMPAT
  5062. la10c_reset();
  5063. #endif
  5064. }
  5065. starttime=_millis(); // procedure calls count as normal print time.
  5066. }
  5067. }
  5068. } break;
  5069. /*!
  5070. ### M928 - Start SD logging <a href="https://reprap.org/wiki/G-code#M928:_Start_SD_logging">M928: Start SD logging</a>
  5071. #### Usage
  5072. M928 [filename]
  5073. */
  5074. case 928:
  5075. starpos = (strchr(strchr_pointer + 5,'*'));
  5076. if(starpos != NULL){
  5077. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  5078. strchr_pointer = strchr(npos,' ') + 1;
  5079. *(starpos) = '\0';
  5080. }
  5081. card.openLogFile(strchr_pointer+5);
  5082. break;
  5083. #endif //SDSUPPORT
  5084. /*!
  5085. ### M31 - Report current print time <a href="https://reprap.org/wiki/G-code#M31:_Output_time_since_last_M109_or_SD_card_start_to_serial">M31: Output time since last M109 or SD card start to serial</a>
  5086. */
  5087. case 31: //M31 take time since the start of the SD print or an M109 command
  5088. {
  5089. stoptime=_millis();
  5090. char time[30];
  5091. unsigned long t=(stoptime-starttime)/1000;
  5092. int sec,min;
  5093. min=t/60;
  5094. sec=t%60;
  5095. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  5096. SERIAL_ECHO_START;
  5097. SERIAL_ECHOLN(time);
  5098. lcd_setstatus(time);
  5099. autotempShutdown();
  5100. }
  5101. break;
  5102. /*!
  5103. ### M42 - Set pin state <a href="https://reprap.org/wiki/G-code#M42:_Switch_I.2FO_pin">M42: Switch I/O pin</a>
  5104. #### Usage
  5105. M42 [ P | S ]
  5106. #### Parameters
  5107. - `P` - Pin number.
  5108. - `S` - Pin value. If the pin is analog, values are from 0 to 255. If the pin is digital, values are from 0 to 1.
  5109. */
  5110. case 42:
  5111. if (code_seen('S'))
  5112. {
  5113. uint8_t pin_status = code_value_uint8();
  5114. int8_t pin_number = LED_PIN;
  5115. if (code_seen('P'))
  5116. pin_number = code_value_uint8();
  5117. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(sensitive_pins[0])); i++)
  5118. {
  5119. if ((int8_t)pgm_read_byte(&sensitive_pins[i]) == pin_number)
  5120. {
  5121. pin_number = -1;
  5122. break;
  5123. }
  5124. }
  5125. #if defined(FAN_PIN) && FAN_PIN > -1
  5126. if (pin_number == FAN_PIN)
  5127. fanSpeed = pin_status;
  5128. #endif
  5129. if (pin_number > -1)
  5130. {
  5131. pinMode(pin_number, OUTPUT);
  5132. digitalWrite(pin_number, pin_status);
  5133. analogWrite(pin_number, pin_status);
  5134. }
  5135. }
  5136. break;
  5137. /*!
  5138. ### M44 - Reset the bed skew and offset calibration <a href="https://reprap.org/wiki/G-code#M44:_Reset_the_bed_skew_and_offset_calibration">M44: Reset the bed skew and offset calibration</a>
  5139. */
  5140. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  5141. // Reset the baby step value and the baby step applied flag.
  5142. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  5143. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  5144. // Reset the skew and offset in both RAM and EEPROM.
  5145. reset_bed_offset_and_skew();
  5146. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  5147. // the planner will not perform any adjustments in the XY plane.
  5148. // Wait for the motors to stop and update the current position with the absolute values.
  5149. world2machine_revert_to_uncorrected();
  5150. break;
  5151. /*!
  5152. ### M45 - Bed skew and offset with manual Z up <a href="https://reprap.org/wiki/G-code#M45:_Bed_skew_and_offset_with_manual_Z_up">M45: Bed skew and offset with manual Z up</a>
  5153. #### Usage
  5154. M45 [ V ]
  5155. #### Parameters
  5156. - `V` - Verbosity level 1, 10 and 20 (low, mid, high). Only when SUPPORT_VERBOSITY is defined. Optional.
  5157. - `Z` - If it is provided, only Z calibration will run. Otherwise full calibration is executed.
  5158. */
  5159. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  5160. {
  5161. int8_t verbosity_level = 0;
  5162. bool only_Z = code_seen('Z');
  5163. #ifdef SUPPORT_VERBOSITY
  5164. if (code_seen('V'))
  5165. {
  5166. // Just 'V' without a number counts as V1.
  5167. char c = strchr_pointer[1];
  5168. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  5169. }
  5170. #endif //SUPPORT_VERBOSITY
  5171. gcode_M45(only_Z, verbosity_level);
  5172. }
  5173. break;
  5174. /*!
  5175. ### M46 - Show the assigned IP address <a href="https://reprap.org/wiki/G-code#M46:_Show_the_assigned_IP_address">M46: Show the assigned IP address.</a>
  5176. */
  5177. case 46:
  5178. {
  5179. // M46: Prusa3D: Show the assigned IP address.
  5180. if (card.ToshibaFlashAir_isEnabled()) {
  5181. uint8_t ip[4];
  5182. if (card.ToshibaFlashAir_GetIP(ip)) {
  5183. // SERIAL_PROTOCOLPGM("Toshiba FlashAir current IP: ");
  5184. SERIAL_PROTOCOL(uint8_t(ip[0]));
  5185. SERIAL_PROTOCOL('.');
  5186. SERIAL_PROTOCOL(uint8_t(ip[1]));
  5187. SERIAL_PROTOCOL('.');
  5188. SERIAL_PROTOCOL(uint8_t(ip[2]));
  5189. SERIAL_PROTOCOL('.');
  5190. SERIAL_PROTOCOLLN(uint8_t(ip[3]));
  5191. } else {
  5192. SERIAL_PROTOCOLPGM("?Toshiba FlashAir GetIP failed\n");
  5193. }
  5194. } else {
  5195. SERIAL_PROTOCOLLNPGM("n/a");
  5196. }
  5197. break;
  5198. }
  5199. /*!
  5200. ### M47 - Show end stops dialog on the display <a href="https://reprap.org/wiki/G-code#M47:_Show_end_stops_dialog_on_the_display">M47: Show end stops dialog on the display</a>
  5201. */
  5202. case 47:
  5203. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5204. lcd_diag_show_end_stops();
  5205. KEEPALIVE_STATE(IN_HANDLER);
  5206. break;
  5207. #if 0
  5208. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  5209. {
  5210. // Disable the default update procedure of the display. We will do a modal dialog.
  5211. lcd_update_enable(false);
  5212. // Let the planner use the uncorrected coordinates.
  5213. mbl.reset();
  5214. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  5215. // the planner will not perform any adjustments in the XY plane.
  5216. // Wait for the motors to stop and update the current position with the absolute values.
  5217. world2machine_revert_to_uncorrected();
  5218. // Move the print head close to the bed.
  5219. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  5220. 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);
  5221. st_synchronize();
  5222. // Home in the XY plane.
  5223. set_destination_to_current();
  5224. int l_feedmultiply = setup_for_endstop_move();
  5225. home_xy();
  5226. int8_t verbosity_level = 0;
  5227. if (code_seen('V')) {
  5228. // Just 'V' without a number counts as V1.
  5229. char c = strchr_pointer[1];
  5230. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  5231. }
  5232. bool success = scan_bed_induction_points(verbosity_level);
  5233. clean_up_after_endstop_move(l_feedmultiply);
  5234. // Print head up.
  5235. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  5236. 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);
  5237. st_synchronize();
  5238. lcd_update_enable(true);
  5239. break;
  5240. }
  5241. #endif
  5242. #ifdef ENABLE_AUTO_BED_LEVELING
  5243. #ifdef Z_PROBE_REPEATABILITY_TEST
  5244. /*!
  5245. ### M48 - Z-Probe repeatability measurement function <a href="https://reprap.org/wiki/G-code#M48:_Measure_Z-Probe_repeatability">M48: Measure Z-Probe repeatability</a>
  5246. This function assumes the bed has been homed. Specifically, that a G28 command as been issued prior to invoking the M48 Z-Probe repeatability measurement function. Any information generated by a prior G29 Bed leveling command will be lost and needs to be regenerated.
  5247. The number of samples will default to 10 if not specified. You can use upper or lower case letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital N for its communication protocol and will get horribly confused if you send it a capital N.
  5248. @todo Why would you check for both uppercase and lowercase? Seems wasteful.
  5249. #### Usage
  5250. M48 [ n | X | Y | V | L ]
  5251. #### Parameters
  5252. - `n` - Number of samples. Valid values 4-50
  5253. - `X` - X position for samples
  5254. - `Y` - Y position for samples
  5255. - `V` - Verbose level. Valid values 1-4
  5256. - `L` - Legs of movementprior to doing probe. Valid values 1-15
  5257. */
  5258. case 48: // M48 Z-Probe repeatability
  5259. {
  5260. #if Z_MIN_PIN == -1
  5261. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  5262. #endif
  5263. double sum=0.0;
  5264. double mean=0.0;
  5265. double sigma=0.0;
  5266. double sample_set[50];
  5267. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  5268. double X_current, Y_current, Z_current;
  5269. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  5270. if (code_seen('V') || code_seen('v')) {
  5271. verbose_level = code_value();
  5272. if (verbose_level<0 || verbose_level>4 ) {
  5273. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  5274. goto Sigma_Exit;
  5275. }
  5276. }
  5277. if (verbose_level > 0) {
  5278. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  5279. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  5280. }
  5281. if (code_seen('n')) {
  5282. n_samples = code_value();
  5283. if (n_samples<4 || n_samples>50 ) {
  5284. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  5285. goto Sigma_Exit;
  5286. }
  5287. }
  5288. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  5289. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  5290. Z_current = st_get_position_mm(Z_AXIS);
  5291. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  5292. ext_position = st_get_position_mm(E_AXIS);
  5293. if (code_seen('X') || code_seen('x') ) {
  5294. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  5295. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  5296. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  5297. goto Sigma_Exit;
  5298. }
  5299. }
  5300. if (code_seen('Y') || code_seen('y') ) {
  5301. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  5302. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  5303. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  5304. goto Sigma_Exit;
  5305. }
  5306. }
  5307. if (code_seen('L') || code_seen('l') ) {
  5308. n_legs = code_value();
  5309. if ( n_legs==1 )
  5310. n_legs = 2;
  5311. if ( n_legs<0 || n_legs>15 ) {
  5312. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  5313. goto Sigma_Exit;
  5314. }
  5315. }
  5316. //
  5317. // Do all the preliminary setup work. First raise the probe.
  5318. //
  5319. st_synchronize();
  5320. plan_bed_level_matrix.set_to_identity();
  5321. plan_buffer_line( X_current, Y_current, Z_start_location,
  5322. ext_position,
  5323. homing_feedrate[Z_AXIS]/60,
  5324. active_extruder);
  5325. st_synchronize();
  5326. //
  5327. // Now get everything to the specified probe point So we can safely do a probe to
  5328. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  5329. // use that as a starting point for each probe.
  5330. //
  5331. if (verbose_level > 2)
  5332. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  5333. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5334. ext_position,
  5335. homing_feedrate[X_AXIS]/60,
  5336. active_extruder);
  5337. st_synchronize();
  5338. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  5339. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  5340. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5341. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  5342. //
  5343. // OK, do the inital probe to get us close to the bed.
  5344. // Then retrace the right amount and use that in subsequent probes
  5345. //
  5346. int l_feedmultiply = setup_for_endstop_move();
  5347. run_z_probe();
  5348. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5349. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  5350. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5351. ext_position,
  5352. homing_feedrate[X_AXIS]/60,
  5353. active_extruder);
  5354. st_synchronize();
  5355. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5356. for( n=0; n<n_samples; n++) {
  5357. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  5358. if ( n_legs) {
  5359. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  5360. int rotational_direction, l;
  5361. rotational_direction = (unsigned long) _millis() & 0x0001; // clockwise or counter clockwise
  5362. radius = (unsigned long) _millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  5363. theta = (float) ((unsigned long) _millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  5364. //SERIAL_ECHOPAIR("starting radius: ",radius);
  5365. //SERIAL_ECHOPAIR(" theta: ",theta);
  5366. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  5367. //SERIAL_PROTOCOLLNPGM("");
  5368. for( l=0; l<n_legs-1; l++) {
  5369. if (rotational_direction==1)
  5370. theta += (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  5371. else
  5372. theta -= (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  5373. radius += (float) ( ((long) ((unsigned long) _millis() % (long) 10)) - 5);
  5374. if ( radius<0.0 )
  5375. radius = -radius;
  5376. X_current = X_probe_location + cos(theta) * radius;
  5377. Y_current = Y_probe_location + sin(theta) * radius;
  5378. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  5379. X_current = X_MIN_POS;
  5380. if ( X_current>X_MAX_POS)
  5381. X_current = X_MAX_POS;
  5382. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  5383. Y_current = Y_MIN_POS;
  5384. if ( Y_current>Y_MAX_POS)
  5385. Y_current = Y_MAX_POS;
  5386. if (verbose_level>3 ) {
  5387. SERIAL_ECHOPAIR("x: ", X_current);
  5388. SERIAL_ECHOPAIR("y: ", Y_current);
  5389. SERIAL_PROTOCOLLNPGM("");
  5390. }
  5391. do_blocking_move_to( X_current, Y_current, Z_current );
  5392. }
  5393. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  5394. }
  5395. int l_feedmultiply = setup_for_endstop_move();
  5396. run_z_probe();
  5397. sample_set[n] = current_position[Z_AXIS];
  5398. //
  5399. // Get the current mean for the data points we have so far
  5400. //
  5401. sum=0.0;
  5402. for( j=0; j<=n; j++) {
  5403. sum = sum + sample_set[j];
  5404. }
  5405. mean = sum / (double (n+1));
  5406. //
  5407. // Now, use that mean to calculate the standard deviation for the
  5408. // data points we have so far
  5409. //
  5410. sum=0.0;
  5411. for( j=0; j<=n; j++) {
  5412. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  5413. }
  5414. sigma = sqrt( sum / (double (n+1)) );
  5415. if (verbose_level > 1) {
  5416. SERIAL_PROTOCOL(n+1);
  5417. SERIAL_PROTOCOL(" of ");
  5418. SERIAL_PROTOCOL(n_samples);
  5419. SERIAL_PROTOCOLPGM(" z: ");
  5420. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  5421. }
  5422. if (verbose_level > 2) {
  5423. SERIAL_PROTOCOL(" mean: ");
  5424. SERIAL_PROTOCOL_F(mean,6);
  5425. SERIAL_PROTOCOL(" sigma: ");
  5426. SERIAL_PROTOCOL_F(sigma,6);
  5427. }
  5428. if (verbose_level > 0)
  5429. SERIAL_PROTOCOLPGM("\n");
  5430. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5431. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  5432. st_synchronize();
  5433. }
  5434. _delay(1000);
  5435. clean_up_after_endstop_move(l_feedmultiply);
  5436. // enable_endstops(true);
  5437. if (verbose_level > 0) {
  5438. SERIAL_PROTOCOLPGM("Mean: ");
  5439. SERIAL_PROTOCOL_F(mean, 6);
  5440. SERIAL_PROTOCOLPGM("\n");
  5441. }
  5442. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  5443. SERIAL_PROTOCOL_F(sigma, 6);
  5444. SERIAL_PROTOCOLPGM("\n\n");
  5445. Sigma_Exit:
  5446. break;
  5447. }
  5448. #endif // Z_PROBE_REPEATABILITY_TEST
  5449. #endif // ENABLE_AUTO_BED_LEVELING
  5450. /*!
  5451. ### M73 - Set/get print progress <a href="https://reprap.org/wiki/G-code#M73:_Set.2FGet_build_percentage">M73: Set/Get build percentage</a>
  5452. #### Usage
  5453. M73 [ P | R | Q | S | C | D ]
  5454. #### Parameters
  5455. - `P` - Percent in normal mode
  5456. - `R` - Time remaining in normal mode
  5457. - `Q` - Percent in silent mode
  5458. - `S` - Time in silent mode
  5459. - `C` - Time to change/pause/user interaction in normal mode
  5460. - `D` - Time to change/pause/user interaction in silent mode
  5461. */
  5462. case 73: //M73 show percent done, time remaining and time to change/pause
  5463. {
  5464. if(code_seen('P')) print_percent_done_normal = code_value_uint8();
  5465. if(code_seen('R')) print_time_remaining_normal = code_value();
  5466. if(code_seen('Q')) print_percent_done_silent = code_value_uint8();
  5467. if(code_seen('S')) print_time_remaining_silent = code_value();
  5468. if(code_seen('C')){
  5469. float print_time_to_change_normal_f = code_value_float();
  5470. print_time_to_change_normal = ( print_time_to_change_normal_f <= 0 ) ? PRINT_TIME_REMAINING_INIT : print_time_to_change_normal_f;
  5471. }
  5472. if(code_seen('D')){
  5473. float print_time_to_change_silent_f = code_value_float();
  5474. print_time_to_change_silent = ( print_time_to_change_silent_f <= 0 ) ? PRINT_TIME_REMAINING_INIT : print_time_to_change_silent_f;
  5475. }
  5476. {
  5477. const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %hhd; print time remaining in mins: %d; Change in mins: %d\n");
  5478. printf_P(_msg_mode_done_remain, _N("NORMAL"), int8_t(print_percent_done_normal), print_time_remaining_normal, print_time_to_change_normal);
  5479. printf_P(_msg_mode_done_remain, _N("SILENT"), int8_t(print_percent_done_silent), print_time_remaining_silent, print_time_to_change_silent);
  5480. }
  5481. break;
  5482. }
  5483. /*!
  5484. ### M104 - Set hotend temperature <a href="https://reprap.org/wiki/G-code#M104:_Set_Extruder_Temperature">M104: Set Extruder Temperature</a>
  5485. #### Usage
  5486. M104 [ S ]
  5487. #### Parameters
  5488. - `S` - Target temperature
  5489. */
  5490. case 104: // M104
  5491. {
  5492. uint8_t extruder;
  5493. if(setTargetedHotend(104,extruder)){
  5494. break;
  5495. }
  5496. if (code_seen('S'))
  5497. {
  5498. setTargetHotendSafe(code_value(), extruder);
  5499. }
  5500. break;
  5501. }
  5502. /*!
  5503. ### M112 - Emergency stop <a href="https://reprap.org/wiki/G-code#M112:_Full_.28Emergency.29_Stop">M112: Full (Emergency) Stop</a>
  5504. It is processed much earlier as to bypass the cmdqueue.
  5505. */
  5506. case 112:
  5507. kill(MSG_M112_KILL, 3);
  5508. break;
  5509. /*!
  5510. ### M140 - Set bed temperature <a href="https://reprap.org/wiki/G-code#M140:_Set_Bed_Temperature_.28Fast.29">M140: Set Bed Temperature (Fast)</a>
  5511. #### Usage
  5512. M140 [ S ]
  5513. #### Parameters
  5514. - `S` - Target temperature
  5515. */
  5516. case 140:
  5517. if (code_seen('S')) setTargetBed(code_value());
  5518. break;
  5519. /*!
  5520. ### M105 - Report temperatures <a href="https://reprap.org/wiki/G-code#M105:_Get_Extruder_Temperature">M105: Get Extruder Temperature</a>
  5521. Prints temperatures:
  5522. - `T:` - Hotend (actual / target)
  5523. - `B:` - Bed (actual / target)
  5524. - `Tx:` - x Tool (actual / target)
  5525. - `@:` - Hotend power
  5526. - `B@:` - Bed power
  5527. - `P:` - PINDAv2 actual (only MK2.5/s and MK3/s)
  5528. - `A:` - Ambient actual (only MK3/s)
  5529. _Example:_
  5530. ok T:20.2 /0.0 B:19.1 /0.0 T0:20.2 /0.0 @:0 B@:0 P:19.8 A:26.4
  5531. */
  5532. case 105:
  5533. {
  5534. uint8_t extruder;
  5535. if(setTargetedHotend(105, extruder)){
  5536. break;
  5537. }
  5538. SERIAL_PROTOCOLPGM("ok ");
  5539. gcode_M105(extruder);
  5540. cmdqueue_pop_front(); //prevent an ok after the command since this command uses an ok at the beginning.
  5541. cmdbuffer_front_already_processed = true;
  5542. break;
  5543. }
  5544. #if defined(AUTO_REPORT)
  5545. /*!
  5546. ### M155 - Automatically send status <a href="https://reprap.org/wiki/G-code#M155:_Automatically_send_temperatures">M155: Automatically send temperatures</a>
  5547. #### Usage
  5548. M155 [ S ] [ C ]
  5549. #### Parameters
  5550. - `S` - Set autoreporting interval in seconds. 0 to disable. Maximum: 255
  5551. - `C` - Activate auto-report function (bit mask). Default is temperature.
  5552. bit 0 = Auto-report temperatures
  5553. bit 1 = Auto-report fans
  5554. bit 2 = Auto-report position
  5555. bit 3 = free
  5556. bit 4 = free
  5557. bit 5 = free
  5558. bit 6 = free
  5559. bit 7 = free
  5560. */
  5561. case 155:
  5562. {
  5563. if (code_seen('S')){
  5564. autoReportFeatures.SetPeriod( code_value_uint8() );
  5565. }
  5566. if (code_seen('C')){
  5567. autoReportFeatures.SetMask(code_value_uint8());
  5568. } else{
  5569. autoReportFeatures.SetMask(1); //Backwards compability to host systems like Octoprint to send only temp if paramerter `C`isn't used.
  5570. }
  5571. }
  5572. break;
  5573. #endif //AUTO_REPORT
  5574. /*!
  5575. ### M109 - Wait for extruder temperature <a href="https://reprap.org/wiki/G-code#M109:_Set_Extruder_Temperature_and_Wait">M109: Set Extruder Temperature and Wait</a>
  5576. #### Usage
  5577. M104 [ B | R | S ]
  5578. #### Parameters (not mandatory)
  5579. - `S` - Set extruder temperature
  5580. - `R` - Set extruder temperature
  5581. - `B` - Set max. extruder temperature, while `S` is min. temperature. Not active in default, only if AUTOTEMP is defined in source code.
  5582. Parameters S and R are treated identically.
  5583. Command always waits for both cool down and heat up.
  5584. If no parameters are supplied waits for previously set extruder temperature.
  5585. */
  5586. case 109:
  5587. {
  5588. uint8_t extruder;
  5589. if(setTargetedHotend(109, extruder)){
  5590. break;
  5591. }
  5592. LCD_MESSAGERPGM(_T(MSG_HEATING));
  5593. heating_status = HeatingStatus::EXTRUDER_HEATING;
  5594. if (farm_mode) { prusa_statistics(1); };
  5595. #ifdef AUTOTEMP
  5596. autotemp_enabled=false;
  5597. #endif
  5598. if (code_seen('S')) {
  5599. setTargetHotendSafe(code_value(), extruder);
  5600. } else if (code_seen('R')) {
  5601. setTargetHotendSafe(code_value(), extruder);
  5602. }
  5603. #ifdef AUTOTEMP
  5604. if (code_seen('S')) autotemp_min=code_value();
  5605. if (code_seen('B')) autotemp_max=code_value();
  5606. if (code_seen('F'))
  5607. {
  5608. autotemp_factor=code_value();
  5609. autotemp_enabled=true;
  5610. }
  5611. #endif
  5612. codenum = _millis();
  5613. /* See if we are heating up or cooling down */
  5614. target_direction = isHeatingHotend(extruder); // true if heating, false if cooling
  5615. cancel_heatup = false;
  5616. wait_for_heater(codenum, extruder); //loops until target temperature is reached
  5617. LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
  5618. heating_status = HeatingStatus::EXTRUDER_HEATING_COMPLETE;
  5619. if (farm_mode) { prusa_statistics(2); };
  5620. //starttime=_millis();
  5621. previous_millis_cmd.start();
  5622. }
  5623. break;
  5624. /*!
  5625. ### M190 - Wait for bed temperature <a href="https://reprap.org/wiki/G-code#M190:_Wait_for_bed_temperature_to_reach_target_temp">M190: Wait for bed temperature to reach target temp</a>
  5626. #### Usage
  5627. M190 [ R | S ]
  5628. #### Parameters (not mandatory)
  5629. - `S` - Set extruder temperature and wait for heating
  5630. - `R` - Set extruder temperature and wait for heating or cooling
  5631. If no parameter is supplied, waits for heating or cooling to previously set temperature.
  5632. */
  5633. case 190:
  5634. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5635. {
  5636. bool CooldownNoWait = false;
  5637. LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
  5638. heating_status = HeatingStatus::BED_HEATING;
  5639. if (farm_mode) { prusa_statistics(1); };
  5640. if (code_seen('S'))
  5641. {
  5642. setTargetBed(code_value());
  5643. CooldownNoWait = true;
  5644. }
  5645. else if (code_seen('R'))
  5646. {
  5647. setTargetBed(code_value());
  5648. }
  5649. codenum = _millis();
  5650. cancel_heatup = false;
  5651. target_direction = isHeatingBed(); // true if heating, false if cooling
  5652. while ( (!cancel_heatup) && (target_direction ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false))) )
  5653. {
  5654. if(( _millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  5655. {
  5656. if (!farm_mode) {
  5657. float tt = degHotend(active_extruder);
  5658. SERIAL_PROTOCOLPGM("T:");
  5659. SERIAL_PROTOCOL(tt);
  5660. SERIAL_PROTOCOLPGM(" E:");
  5661. SERIAL_PROTOCOL((int)active_extruder);
  5662. SERIAL_PROTOCOLPGM(" B:");
  5663. SERIAL_PROTOCOL_F(degBed(), 1);
  5664. SERIAL_PROTOCOLLN();
  5665. }
  5666. codenum = _millis();
  5667. }
  5668. manage_heater();
  5669. manage_inactivity();
  5670. lcd_update(0);
  5671. }
  5672. LCD_MESSAGERPGM(_T(MSG_BED_DONE));
  5673. heating_status = HeatingStatus::BED_HEATING_COMPLETE;
  5674. previous_millis_cmd.start();
  5675. }
  5676. #endif
  5677. break;
  5678. #if defined(FAN_PIN) && FAN_PIN > -1
  5679. /*!
  5680. ### M106 - Set fan speed <a href="https://reprap.org/wiki/G-code#M106:_Fan_On">M106: Fan On</a>
  5681. #### Usage
  5682. M106 [ S ]
  5683. #### Parameters
  5684. - `S` - Specifies the duty cycle of the print fan. Allowed values are 0-255. If it's omitted, a value of 255 is used.
  5685. */
  5686. case 106: // M106 Sxxx Fan On S<speed> 0 .. 255
  5687. if (code_seen('S')){
  5688. fanSpeed = code_value_uint8();
  5689. }
  5690. else {
  5691. fanSpeed = 255;
  5692. }
  5693. break;
  5694. /*!
  5695. ### M107 - Fan off <a href="https://reprap.org/wiki/G-code#M107:_Fan_Off">M107: Fan Off</a>
  5696. */
  5697. case 107:
  5698. fanSpeed = 0;
  5699. break;
  5700. #endif //FAN_PIN
  5701. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  5702. /*!
  5703. ### M80 - Turn on the Power Supply <a href="https://reprap.org/wiki/G-code#M80:_ATX_Power_On">M80: ATX Power On</a>
  5704. Only works if the firmware is compiled with PS_ON_PIN defined.
  5705. */
  5706. case 80:
  5707. SET_OUTPUT(PS_ON_PIN); //GND
  5708. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  5709. // If you have a switch on suicide pin, this is useful
  5710. // if you want to start another print with suicide feature after
  5711. // a print without suicide...
  5712. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  5713. SET_OUTPUT(SUICIDE_PIN);
  5714. WRITE(SUICIDE_PIN, HIGH);
  5715. #endif
  5716. powersupply = true;
  5717. LCD_MESSAGERPGM(MSG_WELCOME);
  5718. lcd_update(0);
  5719. break;
  5720. /*!
  5721. ### M81 - Turn off Power Supply <a href="https://reprap.org/wiki/G-code#M81:_ATX_Power_Off">M81: ATX Power Off</a>
  5722. Only works if the firmware is compiled with PS_ON_PIN defined.
  5723. */
  5724. case 81:
  5725. disable_heater();
  5726. st_synchronize();
  5727. disable_e0();
  5728. disable_e1();
  5729. disable_e2();
  5730. finishAndDisableSteppers();
  5731. fanSpeed = 0;
  5732. _delay(1000); // Wait a little before to switch off
  5733. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  5734. st_synchronize();
  5735. suicide();
  5736. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  5737. SET_OUTPUT(PS_ON_PIN);
  5738. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  5739. #endif
  5740. powersupply = false;
  5741. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
  5742. lcd_update(0);
  5743. break;
  5744. #endif
  5745. /*!
  5746. ### M82 - Set E axis to absolute mode <a href="https://reprap.org/wiki/G-code#M82:_Set_extruder_to_absolute_mode">M82: Set extruder to absolute mode</a>
  5747. Makes the extruder interpret extrusion as absolute positions.
  5748. */
  5749. case 82:
  5750. axis_relative_modes &= ~E_AXIS_MASK;
  5751. break;
  5752. /*!
  5753. ### M83 - Set E axis to relative mode <a href="https://reprap.org/wiki/G-code#M83:_Set_extruder_to_relative_mode">M83: Set extruder to relative mode</a>
  5754. Makes the extruder interpret extrusion values as relative positions.
  5755. */
  5756. case 83:
  5757. axis_relative_modes |= E_AXIS_MASK;
  5758. break;
  5759. /*!
  5760. ### M84 - Disable steppers <a href="https://reprap.org/wiki/G-code#M84:_Stop_idle_hold">M84: Stop idle hold</a>
  5761. This command can be used to set the stepper inactivity timeout (`S`) or to disable steppers (`X`,`Y`,`Z`,`E`)
  5762. This command can be used without any additional parameters. In that case all steppers are disabled.
  5763. The file completeness check uses this parameter to detect an incomplete file. It has to be present at the end of a file with no parameters.
  5764. M84 [ S | X | Y | Z | E ]
  5765. - `S` - Seconds
  5766. - `X` - X axis
  5767. - `Y` - Y axis
  5768. - `Z` - Z axis
  5769. - `E` - Extruder
  5770. ### M18 - Disable steppers <a href="https://reprap.org/wiki/G-code#M18:_Disable_all_stepper_motors">M18: Disable all stepper motors</a>
  5771. Equal to M84 (compatibility)
  5772. */
  5773. case 18: //compatibility
  5774. case 84: // M84
  5775. if(code_seen('S')){
  5776. stepper_inactive_time = code_value() * 1000;
  5777. }
  5778. else
  5779. {
  5780. 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])));
  5781. if(all_axis)
  5782. {
  5783. st_synchronize();
  5784. disable_e0();
  5785. disable_e1();
  5786. disable_e2();
  5787. finishAndDisableSteppers();
  5788. }
  5789. else
  5790. {
  5791. st_synchronize();
  5792. if (code_seen('X')) disable_x();
  5793. if (code_seen('Y')) disable_y();
  5794. if (code_seen('Z')) disable_z();
  5795. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  5796. if (code_seen('E')) {
  5797. disable_e0();
  5798. disable_e1();
  5799. disable_e2();
  5800. }
  5801. #endif
  5802. }
  5803. }
  5804. break;
  5805. /*!
  5806. ### M85 - Set max inactive time <a href="https://reprap.org/wiki/G-code#M85:_Set_Inactivity_Shutdown_Timer">M85: Set Inactivity Shutdown Timer</a>
  5807. #### Usage
  5808. M85 [ S ]
  5809. #### Parameters
  5810. - `S` - specifies the time in seconds. If a value of 0 is specified, the timer is disabled.
  5811. */
  5812. case 85: // M85
  5813. if(code_seen('S')) {
  5814. max_inactive_time = code_value() * 1000;
  5815. }
  5816. break;
  5817. #ifdef SAFETYTIMER
  5818. /*!
  5819. ### M86 - Set safety timer expiration time <a href="https://reprap.org/wiki/G-code#M86:_Set_Safety_Timer_expiration_time">M86: Set Safety Timer expiration time</a>
  5820. When safety timer expires, heatbed and nozzle target temperatures are set to zero.
  5821. #### Usage
  5822. M86 [ S ]
  5823. #### Parameters
  5824. - `S` - specifies the time in seconds. If a value of 0 is specified, the timer is disabled.
  5825. */
  5826. case 86:
  5827. if (code_seen('S')) {
  5828. safetytimer_inactive_time = code_value() * 1000;
  5829. safetyTimer.start();
  5830. }
  5831. break;
  5832. #endif
  5833. /*!
  5834. ### M92 Set Axis steps-per-unit <a href="https://reprap.org/wiki/G-code#M92:_Set_axis_steps_per_unit">M92: Set axis_steps_per_unit</a>
  5835. Allows programming of steps per unit (usually mm) for motor drives. These values are reset to firmware defaults on power on, unless saved to EEPROM if available (M500 in Marlin)
  5836. #### Usage
  5837. M92 [ X | Y | Z | E ]
  5838. #### Parameters
  5839. - `X` - Steps per unit for the X drive
  5840. - `Y` - Steps per unit for the Y drive
  5841. - `Z` - Steps per unit for the Z drive
  5842. - `E` - Steps per unit for the extruder drive
  5843. */
  5844. case 92:
  5845. for(int8_t i=0; i < NUM_AXIS; i++)
  5846. {
  5847. if(code_seen(axis_codes[i]))
  5848. {
  5849. if(i == E_AXIS) { // E
  5850. float value = code_value();
  5851. if(value < 20.0) {
  5852. float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  5853. cs.max_jerk[E_AXIS] *= factor;
  5854. max_feedrate[i] *= factor;
  5855. axis_steps_per_sqr_second[i] *= factor;
  5856. }
  5857. cs.axis_steps_per_unit[i] = value;
  5858. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  5859. fsensor_set_axis_steps_per_unit(value);
  5860. #endif
  5861. }
  5862. else {
  5863. cs.axis_steps_per_unit[i] = code_value();
  5864. }
  5865. }
  5866. }
  5867. reset_acceleration_rates();
  5868. break;
  5869. /*!
  5870. ### M110 - Set Line number <a href="https://reprap.org/wiki/G-code#M110:_Set_Current_Line_Number">M110: Set Current Line Number</a>
  5871. Sets the line number in G-code
  5872. #### Usage
  5873. M110 [ N ]
  5874. #### Parameters
  5875. - `N` - Line number
  5876. */
  5877. case 110:
  5878. if (code_seen('N'))
  5879. gcode_LastN = code_value_long();
  5880. break;
  5881. /*!
  5882. ### M113 - Get or set host keep-alive interval <a href="https://reprap.org/wiki/G-code#M113:_Host_Keepalive">M113: Host Keepalive</a>
  5883. During some lengthy processes, such as G29, Marlin may appear to the host to have “gone away.” The “host keepalive” feature will send messages to the host when Marlin is busy or waiting for user response so the host won’t try to reconnect (or disconnect).
  5884. #### Usage
  5885. M113 [ S ]
  5886. #### Parameters
  5887. - `S` - Seconds. Default is 2 seconds between "busy" messages
  5888. */
  5889. case 113:
  5890. if (code_seen('S')) {
  5891. host_keepalive_interval = code_value_uint8();
  5892. // NOMORE(host_keepalive_interval, 60);
  5893. }
  5894. else {
  5895. SERIAL_ECHO_START;
  5896. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  5897. SERIAL_PROTOCOLLN();
  5898. }
  5899. break;
  5900. /*!
  5901. ### M115 - Firmware info <a href="https://reprap.org/wiki/G-code#M115:_Get_Firmware_Version_and_Capabilities">M115: Get Firmware Version and Capabilities</a>
  5902. Print the firmware info and capabilities
  5903. Without any arguments, prints Prusa firmware version number, machine type, extruder count and UUID.
  5904. `M115 U` Checks the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware, it will pause the print for 30s and ask the user to upgrade the firmware.
  5905. _Examples:_
  5906. `M115` results:
  5907. `FIRMWARE_NAME:Prusa-Firmware 3.8.1 based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:1.0 MACHINE_TYPE:Prusa i3 MK3S EXTRUDER_COUNT:1 UUID:00000000-0000-0000-0000-000000000000`
  5908. `M115 V` results:
  5909. `3.8.1`
  5910. `M115 U3.8.2-RC1` results on LCD display for 30s or user interaction:
  5911. `New firmware version available: 3.8.2-RC1 Please upgrade.`
  5912. #### Usage
  5913. M115 [ V | U ]
  5914. #### Parameters
  5915. - V - Report current installed firmware version
  5916. - U - Firmware version provided by G-code to be compared to current one.
  5917. */
  5918. case 115: // M115
  5919. if (code_seen('V')) {
  5920. // Report the Prusa version number.
  5921. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  5922. } else if (code_seen('U')) {
  5923. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  5924. // pause the print for 30s and ask the user to upgrade the firmware.
  5925. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  5926. } else {
  5927. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  5928. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  5929. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  5930. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  5931. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  5932. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  5933. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  5934. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  5935. SERIAL_ECHOPGM(" UUID:");
  5936. SERIAL_ECHOLNPGM(MACHINE_UUID);
  5937. #ifdef EXTENDED_CAPABILITIES_REPORT
  5938. extended_capabilities_report();
  5939. #endif //EXTENDED_CAPABILITIES_REPORT
  5940. }
  5941. break;
  5942. /*!
  5943. ### M114 - Get current position <a href="https://reprap.org/wiki/G-code#M114:_Get_Current_Position">M114: Get Current Position</a>
  5944. */
  5945. case 114:
  5946. gcode_M114();
  5947. break;
  5948. /*
  5949. M117 moved up to get the high priority
  5950. case 117: // M117 display message
  5951. starpos = (strchr(strchr_pointer + 5,'*'));
  5952. if(starpos!=NULL)
  5953. *(starpos)='\0';
  5954. lcd_setstatus(strchr_pointer + 5);
  5955. break;*/
  5956. #ifdef M120_M121_ENABLED
  5957. /*!
  5958. ### M120 - Enable endstops <a href="https://reprap.org/wiki/G-code#M120:_Enable_endstop_detection">M120: Enable endstop detection</a>
  5959. */
  5960. case 120:
  5961. enable_endstops(true) ;
  5962. break;
  5963. /*!
  5964. ### M121 - Disable endstops <a href="https://reprap.org/wiki/G-code#M121:_Disable_endstop_detection">M121: Disable endstop detection</a>
  5965. */
  5966. case 121:
  5967. enable_endstops(false) ;
  5968. break;
  5969. #endif //M120_M121_ENABLED
  5970. /*!
  5971. ### M119 - Get endstop states <a href="https://reprap.org/wiki/G-code#M119:_Get_Endstop_Status">M119: Get Endstop Status</a>
  5972. Returns the current state of the configured X, Y, Z endstops. Takes into account any 'inverted endstop' settings, so one can confirm that the machine is interpreting the endstops correctly.
  5973. */
  5974. case 119:
  5975. SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT
  5976. SERIAL_PROTOCOLLN();
  5977. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  5978. SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN
  5979. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  5980. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5981. }else{
  5982. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5983. }
  5984. SERIAL_PROTOCOLLN();
  5985. #endif
  5986. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  5987. SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX
  5988. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  5989. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5990. }else{
  5991. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5992. }
  5993. SERIAL_PROTOCOLLN();
  5994. #endif
  5995. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  5996. SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN
  5997. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  5998. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5999. }else{
  6000. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6001. }
  6002. SERIAL_PROTOCOLLN();
  6003. #endif
  6004. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  6005. SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX
  6006. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  6007. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6008. }else{
  6009. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6010. }
  6011. SERIAL_PROTOCOLLN();
  6012. #endif
  6013. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  6014. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  6015. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  6016. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6017. }else{
  6018. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6019. }
  6020. SERIAL_PROTOCOLLN();
  6021. #endif
  6022. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  6023. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  6024. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  6025. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6026. }else{
  6027. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6028. }
  6029. SERIAL_PROTOCOLLN();
  6030. #endif
  6031. break;
  6032. //!@todo update for all axes, use for loop
  6033. #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  6034. /*!
  6035. ### M123 - Tachometer value <a href="https://www.reprap.org/wiki/G-code#M123:_Tachometer_value_.28RepRap_.26_Prusa.29">M123: Tachometer value</a>
  6036. This command is used to report fan speeds and fan pwm values.
  6037. #### Usage
  6038. M123
  6039. - E0: - Hotend fan speed in RPM
  6040. - PRN1: - Part cooling fans speed in RPM
  6041. - E0@: - Hotend fan PWM value
  6042. - PRN1@: -Part cooling fan PWM value
  6043. _Example:_
  6044. E0:3240 RPM PRN1:4560 RPM E0@:255 PRN1@:255
  6045. */
  6046. case 123:
  6047. gcode_M123();
  6048. break;
  6049. #endif //FANCHECK and TACH_0 and TACH_1
  6050. #ifdef BLINKM
  6051. /*!
  6052. ### M150 - Set RGB(W) Color <a href="https://reprap.org/wiki/G-code#M150:_Set_LED_color">M150: Set LED color</a>
  6053. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code by defining BLINKM and its dependencies.
  6054. #### Usage
  6055. M150 [ R | U | B ]
  6056. #### Parameters
  6057. - `R` - Red color value
  6058. - `U` - Green color value. It is NOT `G`!
  6059. - `B` - Blue color value
  6060. */
  6061. case 150:
  6062. {
  6063. byte red;
  6064. byte grn;
  6065. byte blu;
  6066. if(code_seen('R')) red = code_value();
  6067. if(code_seen('U')) grn = code_value();
  6068. if(code_seen('B')) blu = code_value();
  6069. SendColors(red,grn,blu);
  6070. }
  6071. break;
  6072. #endif //BLINKM
  6073. /*!
  6074. ### M200 - Set filament diameter <a href="https://reprap.org/wiki/G-code#M200:_Set_filament_diameter">M200: Set filament diameter</a>
  6075. #### Usage
  6076. M200 [ D | T ]
  6077. #### Parameters
  6078. - `D` - Diameter in mm
  6079. - `T` - Number of extruder (MMUs)
  6080. */
  6081. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  6082. {
  6083. uint8_t extruder = active_extruder;
  6084. if(code_seen('T')) {
  6085. extruder = code_value_uint8();
  6086. if(extruder >= EXTRUDERS) {
  6087. SERIAL_ECHO_START;
  6088. SERIAL_ECHO(_n("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER
  6089. break;
  6090. }
  6091. }
  6092. if(code_seen('D')) {
  6093. float diameter = code_value();
  6094. if (diameter == 0.0) {
  6095. // setting any extruder filament size disables volumetric on the assumption that
  6096. // slicers either generate in extruder values as cubic mm or as as filament feeds
  6097. // for all extruders
  6098. cs.volumetric_enabled = false;
  6099. } else {
  6100. cs.filament_size[extruder] = code_value();
  6101. // make sure all extruders have some sane value for the filament size
  6102. cs.filament_size[0] = (cs.filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[0]);
  6103. #if EXTRUDERS > 1
  6104. cs.filament_size[1] = (cs.filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[1]);
  6105. #if EXTRUDERS > 2
  6106. cs.filament_size[2] = (cs.filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[2]);
  6107. #endif
  6108. #endif
  6109. cs.volumetric_enabled = true;
  6110. }
  6111. } else {
  6112. //reserved for setting filament diameter via UFID or filament measuring device
  6113. break;
  6114. }
  6115. calculate_extruder_multipliers();
  6116. }
  6117. break;
  6118. /*!
  6119. ### M201 - Set Print Max Acceleration <a href="https://reprap.org/wiki/G-code#M201:_Set_max_acceleration">M201: Set max printing acceleration</a>
  6120. For each axis individually.
  6121. ##### Usage
  6122. M201 [ X | Y | Z | E ]
  6123. ##### Parameters
  6124. - `X` - Acceleration for X axis in units/s^2
  6125. - `Y` - Acceleration for Y axis in units/s^2
  6126. - `Z` - Acceleration for Z axis in units/s^2
  6127. - `E` - Acceleration for the active or specified extruder in units/s^2
  6128. */
  6129. case 201:
  6130. for (int8_t i = 0; i < NUM_AXIS; i++)
  6131. {
  6132. if (code_seen(axis_codes[i]))
  6133. {
  6134. unsigned long val = code_value();
  6135. #ifdef TMC2130
  6136. unsigned long val_silent = val;
  6137. if ((i == X_AXIS) || (i == Y_AXIS))
  6138. {
  6139. if (val > NORMAL_MAX_ACCEL_XY)
  6140. val = NORMAL_MAX_ACCEL_XY;
  6141. if (val_silent > SILENT_MAX_ACCEL_XY)
  6142. val_silent = SILENT_MAX_ACCEL_XY;
  6143. }
  6144. cs.max_acceleration_units_per_sq_second_normal[i] = val;
  6145. cs.max_acceleration_units_per_sq_second_silent[i] = val_silent;
  6146. #else //TMC2130
  6147. max_acceleration_units_per_sq_second[i] = val;
  6148. #endif //TMC2130
  6149. }
  6150. }
  6151. // 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)
  6152. reset_acceleration_rates();
  6153. break;
  6154. #if 0 // Not used for Sprinter/grbl gen6
  6155. case 202: // M202
  6156. for(int8_t i=0; i < NUM_AXIS; i++) {
  6157. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * cs.axis_steps_per_unit[i];
  6158. }
  6159. break;
  6160. #endif
  6161. /*!
  6162. ### M203 - Set Max Feedrate <a href="https://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate">M203: Set maximum feedrate</a>
  6163. For each axis individually.
  6164. ##### Usage
  6165. M203 [ X | Y | Z | E ]
  6166. ##### Parameters
  6167. - `X` - Maximum feedrate for X axis
  6168. - `Y` - Maximum feedrate for Y axis
  6169. - `Z` - Maximum feedrate for Z axis
  6170. - `E` - Maximum feedrate for extruder drives
  6171. */
  6172. case 203: // M203 max feedrate mm/sec
  6173. for (uint8_t i = 0; i < NUM_AXIS; i++)
  6174. {
  6175. if (code_seen(axis_codes[i]))
  6176. {
  6177. float val = code_value();
  6178. #ifdef TMC2130
  6179. float val_silent = val;
  6180. if ((i == X_AXIS) || (i == Y_AXIS))
  6181. {
  6182. if (val > NORMAL_MAX_FEEDRATE_XY)
  6183. val = NORMAL_MAX_FEEDRATE_XY;
  6184. if (val_silent > SILENT_MAX_FEEDRATE_XY)
  6185. val_silent = SILENT_MAX_FEEDRATE_XY;
  6186. }
  6187. cs.max_feedrate_normal[i] = val;
  6188. cs.max_feedrate_silent[i] = val_silent;
  6189. #else //TMC2130
  6190. max_feedrate[i] = val;
  6191. #endif //TMC2130
  6192. }
  6193. }
  6194. break;
  6195. /*!
  6196. ### M204 - Acceleration settings <a href="https://reprap.org/wiki/G-code#M204:_Set_default_acceleration">M204: Set default acceleration</a>
  6197. #### Old format:
  6198. ##### Usage
  6199. M204 [ S | T ]
  6200. ##### Parameters
  6201. - `S` - normal moves
  6202. - `T` - filmanent only moves
  6203. #### New format:
  6204. ##### Usage
  6205. M204 [ P | R | T ]
  6206. ##### Parameters
  6207. - `P` - printing moves
  6208. - `R` - filmanent only moves
  6209. - `T` - travel moves (as of now T is ignored)
  6210. */
  6211. case 204:
  6212. {
  6213. if(code_seen('S')) {
  6214. // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
  6215. // and it is also generated by Slic3r to control acceleration per extrusion type
  6216. // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
  6217. cs.acceleration = cs.travel_acceleration = code_value();
  6218. // Interpret the T value as retract acceleration in the old Marlin format.
  6219. if(code_seen('T'))
  6220. cs.retract_acceleration = code_value();
  6221. } else {
  6222. // New acceleration format, compatible with the upstream Marlin.
  6223. if(code_seen('P'))
  6224. cs.acceleration = code_value();
  6225. if(code_seen('R'))
  6226. cs.retract_acceleration = code_value();
  6227. if(code_seen('T'))
  6228. cs.travel_acceleration = code_value();
  6229. }
  6230. }
  6231. break;
  6232. /*!
  6233. ### M205 - Set advanced settings <a href="https://reprap.org/wiki/G-code#M205:_Advanced_settings">M205: Advanced settings</a>
  6234. Set some advanced settings related to movement.
  6235. #### Usage
  6236. M205 [ S | T | B | X | Y | Z | E ]
  6237. #### Parameters
  6238. - `S` - Minimum feedrate for print moves (unit/s)
  6239. - `T` - Minimum feedrate for travel moves (units/s)
  6240. - `B` - Minimum segment time (us)
  6241. - `X` - Maximum X jerk (units/s)
  6242. - `Y` - Maximum Y jerk (units/s)
  6243. - `Z` - Maximum Z jerk (units/s)
  6244. - `E` - Maximum E jerk (units/s)
  6245. */
  6246. case 205:
  6247. {
  6248. if(code_seen('S')) cs.minimumfeedrate = code_value();
  6249. if(code_seen('T')) cs.mintravelfeedrate = code_value();
  6250. if(code_seen('B')) cs.minsegmenttime = code_value() ;
  6251. if(code_seen('X')) cs.max_jerk[X_AXIS] = cs.max_jerk[Y_AXIS] = code_value();
  6252. if(code_seen('Y')) cs.max_jerk[Y_AXIS] = code_value();
  6253. if(code_seen('Z')) cs.max_jerk[Z_AXIS] = code_value();
  6254. if(code_seen('E'))
  6255. {
  6256. float e = code_value();
  6257. #ifndef LA_NOCOMPAT
  6258. e = la10c_jerk(e);
  6259. #endif
  6260. cs.max_jerk[E_AXIS] = e;
  6261. }
  6262. }
  6263. break;
  6264. /*!
  6265. ### M206 - Set additional homing offsets <a href="https://reprap.org/wiki/G-code#M206:_Offset_axes">M206: Offset axes</a>
  6266. #### Usage
  6267. M206 [ X | Y | Z ]
  6268. #### Parameters
  6269. - `X` - X axis offset
  6270. - `Y` - Y axis offset
  6271. - `Z` - Z axis offset
  6272. */
  6273. case 206:
  6274. for(uint8_t i=0; i < 3; i++)
  6275. {
  6276. if(code_seen(axis_codes[i])) cs.add_homing[i] = code_value();
  6277. }
  6278. break;
  6279. #ifdef FWRETRACT
  6280. /*!
  6281. ### M207 - Set firmware retraction <a href="https://reprap.org/wiki/G-code#M207:_Set_retract_length">M207: Set retract length</a>
  6282. #### Usage
  6283. M207 [ S | F | Z ]
  6284. #### Parameters
  6285. - `S` - positive length to retract, in mm
  6286. - `F` - retraction feedrate, in mm/min
  6287. - `Z` - additional zlift/hop
  6288. */
  6289. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  6290. {
  6291. if(code_seen('S'))
  6292. {
  6293. cs.retract_length = code_value() ;
  6294. }
  6295. if(code_seen('F'))
  6296. {
  6297. cs.retract_feedrate = code_value()/60 ;
  6298. }
  6299. if(code_seen('Z'))
  6300. {
  6301. cs.retract_zlift = code_value() ;
  6302. }
  6303. }break;
  6304. /*!
  6305. ### M208 - Set retract recover length <a href="https://reprap.org/wiki/G-code#M208:_Set_unretract_length">M208: Set unretract length</a>
  6306. #### Usage
  6307. M208 [ S | F ]
  6308. #### Parameters
  6309. - `S` - positive length surplus to the M207 Snnn, in mm
  6310. - `F` - feedrate, in mm/sec
  6311. */
  6312. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  6313. {
  6314. if(code_seen('S'))
  6315. {
  6316. cs.retract_recover_length = code_value() ;
  6317. }
  6318. if(code_seen('F'))
  6319. {
  6320. cs.retract_recover_feedrate = code_value()/60 ;
  6321. }
  6322. }break;
  6323. /*!
  6324. ### M209 - Enable/disable automatict retract <a href="https://reprap.org/wiki/G-code#M209:_Enable_automatic_retract">M209: Enable automatic retract</a>
  6325. This boolean value S 1=true or 0=false enables automatic retract detect if the slicer did not support G10/G11: every normal extrude-only move will be classified as retract depending on the direction.
  6326. #### Usage
  6327. M209 [ S ]
  6328. #### Parameters
  6329. - `S` - 1=true or 0=false
  6330. */
  6331. 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.
  6332. {
  6333. if(code_seen('S'))
  6334. {
  6335. switch(code_value_uint8())
  6336. {
  6337. case 0:
  6338. {
  6339. cs.autoretract_enabled=false;
  6340. retracted[0]=false;
  6341. #if EXTRUDERS > 1
  6342. retracted[1]=false;
  6343. #endif
  6344. #if EXTRUDERS > 2
  6345. retracted[2]=false;
  6346. #endif
  6347. }break;
  6348. case 1:
  6349. {
  6350. cs.autoretract_enabled=true;
  6351. retracted[0]=false;
  6352. #if EXTRUDERS > 1
  6353. retracted[1]=false;
  6354. #endif
  6355. #if EXTRUDERS > 2
  6356. retracted[2]=false;
  6357. #endif
  6358. }break;
  6359. default:
  6360. SERIAL_ECHO_START;
  6361. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  6362. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  6363. SERIAL_ECHOLNPGM("\"(1)");
  6364. }
  6365. }
  6366. }break;
  6367. #endif // FWRETRACT
  6368. /*!
  6369. ### M214 - Set Arc configuration values (Use M500 to store in eeprom)
  6370. #### Usage
  6371. M214 [P] [S] [N] [R] [F]
  6372. #### Parameters
  6373. - `P` - A float representing the max and default millimeters per arc segment. Must be greater than 0.
  6374. - `S` - A float representing the minimum allowable millimeters per arc segment. Set to 0 to disable
  6375. - `N` - An int representing the number of arcs to draw before correcting the small angle approximation. Set to 0 to disable.
  6376. - `R` - An int representing the minimum number of segments per arcs of any radius,
  6377. except when the results in segment lengths greater than or less than the minimum
  6378. and maximum segment length. Set to 0 to disable.
  6379. - 'F' - An int representing the number of segments per second, unless this results in segment lengths
  6380. greater than or less than the minimum and maximum segment length. Set to 0 to disable.
  6381. */
  6382. case 214: //!@n M214 - Set Arc Parameters (Use M500 to store in eeprom) P<MM_PER_ARC_SEGMENT> S<MIN_MM_PER_ARC_SEGMENT> R<MIN_ARC_SEGMENTS> F<ARC_SEGMENTS_PER_SEC>
  6383. {
  6384. // Extract all possible parameters if they appear
  6385. float p = code_seen('P') ? code_value_float() : cs.mm_per_arc_segment;
  6386. float s = code_seen('S') ? code_value_float() : cs.min_mm_per_arc_segment;
  6387. unsigned char n = code_seen('N') ? code_value() : cs.n_arc_correction;
  6388. unsigned short r = code_seen('R') ? code_value() : cs.min_arc_segments;
  6389. unsigned short f = code_seen('F') ? code_value() : cs.arc_segments_per_sec;
  6390. // Ensure mm_per_arc_segment is greater than 0, and that min_mm_per_arc_segment is sero or greater than or equal to mm_per_arc_segment
  6391. if (p <=0 || s < 0 || p < s)
  6392. {
  6393. // Should we display some error here?
  6394. break;
  6395. }
  6396. cs.mm_per_arc_segment = p;
  6397. cs.min_mm_per_arc_segment = s;
  6398. cs.n_arc_correction = n;
  6399. cs.min_arc_segments = r;
  6400. cs.arc_segments_per_sec = f;
  6401. }break;
  6402. #if EXTRUDERS > 1
  6403. /*!
  6404. ### M218 - Set hotend offset <a href="https://reprap.org/wiki/G-code#M218:_Set_Hotend_Offset">M218: Set Hotend Offset</a>
  6405. In Prusa Firmware this G-code is only active if `EXTRUDERS` is higher then 1 in the source code. On Original i3 Prusa MK2/s MK2.5/s MK3/s it is not active.
  6406. #### Usage
  6407. M218 [ X | Y ]
  6408. #### Parameters
  6409. - `X` - X offset
  6410. - `Y` - Y offset
  6411. */
  6412. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  6413. {
  6414. uint8_t extruder;
  6415. if(setTargetedHotend(218, extruder)){
  6416. break;
  6417. }
  6418. if(code_seen('X'))
  6419. {
  6420. extruder_offset[X_AXIS][extruder] = code_value();
  6421. }
  6422. if(code_seen('Y'))
  6423. {
  6424. extruder_offset[Y_AXIS][extruder] = code_value();
  6425. }
  6426. SERIAL_ECHO_START;
  6427. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  6428. for(extruder = 0; extruder < EXTRUDERS; extruder++)
  6429. {
  6430. SERIAL_ECHO(" ");
  6431. SERIAL_ECHO(extruder_offset[X_AXIS][extruder]);
  6432. SERIAL_ECHO(",");
  6433. SERIAL_ECHO(extruder_offset[Y_AXIS][extruder]);
  6434. }
  6435. SERIAL_ECHOLN("");
  6436. }break;
  6437. #endif
  6438. /*!
  6439. ### M220 Set feedrate percentage <a href="https://reprap.org/wiki/G-code#M220:_Set_speed_factor_override_percentage">M220: Set speed factor override percentage</a>
  6440. #### Usage
  6441. M220 [ B | S | R ]
  6442. #### Parameters
  6443. - `B` - Backup current speed factor
  6444. - `S` - Speed factor override percentage (0..100 or higher)
  6445. - `R` - Restore previous speed factor
  6446. */
  6447. case 220: // M220 S<factor in percent>- set speed factor override percentage
  6448. {
  6449. bool codesWereSeen = false;
  6450. if (code_seen('B')) //backup current speed factor
  6451. {
  6452. saved_feedmultiply_mm = feedmultiply;
  6453. codesWereSeen = true;
  6454. }
  6455. if (code_seen('S'))
  6456. {
  6457. feedmultiply = code_value_short();
  6458. codesWereSeen = true;
  6459. }
  6460. if (code_seen('R')) //restore previous feedmultiply
  6461. {
  6462. feedmultiply = saved_feedmultiply_mm;
  6463. codesWereSeen = true;
  6464. }
  6465. if (!codesWereSeen)
  6466. {
  6467. printf_P(PSTR("%i%%\n"), feedmultiply);
  6468. }
  6469. }
  6470. break;
  6471. /*!
  6472. ### M221 - Set extrude factor override percentage <a href="https://reprap.org/wiki/G-code#M221:_Set_extrude_factor_override_percentage">M221: Set extrude factor override percentage</a>
  6473. #### Usage
  6474. M221 [ S | T ]
  6475. #### Parameters
  6476. - `S` - Extrude factor override percentage (0..100 or higher), default 100%
  6477. - `T` - Extruder drive number (Prusa Firmware only), default 0 if not set.
  6478. */
  6479. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  6480. {
  6481. if (code_seen('S'))
  6482. {
  6483. int tmp_code = code_value_short();
  6484. if (code_seen('T'))
  6485. {
  6486. uint8_t extruder;
  6487. if (setTargetedHotend(221, extruder))
  6488. break;
  6489. extruder_multiply[extruder] = tmp_code;
  6490. }
  6491. else
  6492. {
  6493. extrudemultiply = tmp_code ;
  6494. }
  6495. }
  6496. else
  6497. {
  6498. printf_P(PSTR("%i%%\n"), extrudemultiply);
  6499. }
  6500. calculate_extruder_multipliers();
  6501. }
  6502. break;
  6503. /*!
  6504. ### M226 - Wait for Pin state <a href="https://reprap.org/wiki/G-code#M226:_Wait_for_pin_state">M226: Wait for pin state</a>
  6505. Wait until the specified pin reaches the state required
  6506. #### Usage
  6507. M226 [ P | S ]
  6508. #### Parameters
  6509. - `P` - pin number
  6510. - `S` - pin state
  6511. */
  6512. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  6513. {
  6514. if(code_seen('P')){
  6515. int pin_number = code_value_short(); // pin number
  6516. int pin_state = -1; // required pin state - default is inverted
  6517. if(code_seen('S')) pin_state = code_value_short(); // required pin state
  6518. if(pin_state >= -1 && pin_state <= 1){
  6519. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(sensitive_pins[0])); i++)
  6520. {
  6521. if (((int8_t)pgm_read_byte(&sensitive_pins[i]) == pin_number))
  6522. {
  6523. pin_number = -1;
  6524. break;
  6525. }
  6526. }
  6527. if (pin_number > -1)
  6528. {
  6529. int target = LOW;
  6530. st_synchronize();
  6531. pinMode(pin_number, INPUT);
  6532. switch(pin_state){
  6533. case 1:
  6534. target = HIGH;
  6535. break;
  6536. case 0:
  6537. target = LOW;
  6538. break;
  6539. case -1:
  6540. target = !digitalRead(pin_number);
  6541. break;
  6542. }
  6543. while(digitalRead(pin_number) != target){
  6544. manage_heater();
  6545. manage_inactivity();
  6546. lcd_update(0);
  6547. }
  6548. }
  6549. }
  6550. }
  6551. }
  6552. break;
  6553. #if NUM_SERVOS > 0
  6554. /*!
  6555. ### M280 - Set/Get servo position <a href="https://reprap.org/wiki/G-code#M280:_Set_servo_position">M280: Set servo position</a>
  6556. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  6557. #### Usage
  6558. M280 [ P | S ]
  6559. #### Parameters
  6560. - `P` - Servo index (id)
  6561. - `S` - Target position
  6562. */
  6563. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  6564. {
  6565. int servo_index = -1;
  6566. int servo_position = 0;
  6567. if (code_seen('P'))
  6568. servo_index = code_value();
  6569. if (code_seen('S')) {
  6570. servo_position = code_value();
  6571. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  6572. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  6573. servos[servo_index].attach(0);
  6574. #endif
  6575. servos[servo_index].write(servo_position);
  6576. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  6577. _delay(PROBE_SERVO_DEACTIVATION_DELAY);
  6578. servos[servo_index].detach();
  6579. #endif
  6580. }
  6581. else {
  6582. SERIAL_ECHO_START;
  6583. SERIAL_ECHO("Servo ");
  6584. SERIAL_ECHO(servo_index);
  6585. SERIAL_ECHOLN(" out of range");
  6586. }
  6587. }
  6588. else if (servo_index >= 0) {
  6589. SERIAL_PROTOCOL(MSG_OK);
  6590. SERIAL_PROTOCOL(" Servo ");
  6591. SERIAL_PROTOCOL(servo_index);
  6592. SERIAL_PROTOCOL(": ");
  6593. SERIAL_PROTOCOLLN(servos[servo_index].read());
  6594. }
  6595. }
  6596. break;
  6597. #endif // NUM_SERVOS > 0
  6598. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  6599. /*!
  6600. ### M300 - Play tone <a href="https://reprap.org/wiki/G-code#M300:_Play_beep_sound">M300: Play beep sound</a>
  6601. In Prusa Firmware the defaults are `100Hz` and `1000ms`, so that `M300` without parameters will beep for a second.
  6602. #### Usage
  6603. M300 [ S | P ]
  6604. #### Parameters
  6605. - `S` - frequency in Hz. Not all firmware versions support this parameter
  6606. - `P` - duration in milliseconds
  6607. */
  6608. case 300: // M300
  6609. {
  6610. uint16_t beepS = code_seen('S') ? code_value() : 0;
  6611. uint16_t beepP = code_seen('P') ? code_value() : 1000;
  6612. #if BEEPER > 0
  6613. if (beepP > 0)
  6614. Sound_MakeCustom(beepP,beepS,false);
  6615. #endif
  6616. }
  6617. break;
  6618. #endif // M300
  6619. #ifdef PIDTEMP
  6620. /*!
  6621. ### M301 - Set hotend PID <a href="https://reprap.org/wiki/G-code#M301:_Set_PID_parameters">M301: Set PID parameters</a>
  6622. Sets Proportional (P), Integral (I) and Derivative (D) values for hot end.
  6623. See also <a href="https://reprap.org/wiki/PID_Tuning">PID Tuning.</a>
  6624. #### Usage
  6625. M301 [ P | I | D ]
  6626. #### Parameters
  6627. - `P` - proportional (Kp)
  6628. - `I` - integral (Ki)
  6629. - `D` - derivative (Kd)
  6630. */
  6631. case 301:
  6632. {
  6633. if(code_seen('P')) cs.Kp = code_value();
  6634. if(code_seen('I')) cs.Ki = scalePID_i(code_value());
  6635. if(code_seen('D')) cs.Kd = scalePID_d(code_value());
  6636. updatePID();
  6637. SERIAL_PROTOCOLRPGM(MSG_OK);
  6638. SERIAL_PROTOCOLPGM(" p:");
  6639. SERIAL_PROTOCOL(cs.Kp);
  6640. SERIAL_PROTOCOLPGM(" i:");
  6641. SERIAL_PROTOCOL(unscalePID_i(cs.Ki));
  6642. SERIAL_PROTOCOLPGM(" d:");
  6643. SERIAL_PROTOCOL(unscalePID_d(cs.Kd));
  6644. SERIAL_PROTOCOLLN();
  6645. }
  6646. break;
  6647. #endif //PIDTEMP
  6648. #ifdef PIDTEMPBED
  6649. /*!
  6650. ### M304 - Set bed PID <a href="https://reprap.org/wiki/G-code#M304:_Set_PID_parameters_-_Bed">M304: Set PID parameters - Bed</a>
  6651. Sets Proportional (P), Integral (I) and Derivative (D) values for bed.
  6652. See also <a href="https://reprap.org/wiki/PID_Tuning">PID Tuning.</a>
  6653. #### Usage
  6654. M304 [ P | I | D ]
  6655. #### Parameters
  6656. - `P` - proportional (Kp)
  6657. - `I` - integral (Ki)
  6658. - `D` - derivative (Kd)
  6659. */
  6660. case 304:
  6661. {
  6662. if(code_seen('P')) cs.bedKp = code_value();
  6663. if(code_seen('I')) cs.bedKi = scalePID_i(code_value());
  6664. if(code_seen('D')) cs.bedKd = scalePID_d(code_value());
  6665. updatePID();
  6666. SERIAL_PROTOCOLRPGM(MSG_OK);
  6667. SERIAL_PROTOCOLPGM(" p:");
  6668. SERIAL_PROTOCOL(cs.bedKp);
  6669. SERIAL_PROTOCOLPGM(" i:");
  6670. SERIAL_PROTOCOL(unscalePID_i(cs.bedKi));
  6671. SERIAL_PROTOCOLPGM(" d:");
  6672. SERIAL_PROTOCOLLN(unscalePID_d(cs.bedKd));
  6673. }
  6674. break;
  6675. #endif //PIDTEMP
  6676. /*!
  6677. ### M240 - Trigger camera <a href="https://reprap.org/wiki/G-code#M240:_Trigger_camera">M240: Trigger camera</a>
  6678. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  6679. You need to (re)define and assign `CHDK` or `PHOTOGRAPH_PIN` the correct pin number to be able to use the feature.
  6680. */
  6681. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  6682. {
  6683. #ifdef CHDK
  6684. SET_OUTPUT(CHDK);
  6685. WRITE(CHDK, HIGH);
  6686. chdkHigh = _millis();
  6687. chdkActive = true;
  6688. #else
  6689. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  6690. const uint8_t NUM_PULSES=16;
  6691. const float PULSE_LENGTH=0.01524;
  6692. for(int i=0; i < NUM_PULSES; i++) {
  6693. WRITE(PHOTOGRAPH_PIN, HIGH);
  6694. _delay_ms(PULSE_LENGTH);
  6695. WRITE(PHOTOGRAPH_PIN, LOW);
  6696. _delay_ms(PULSE_LENGTH);
  6697. }
  6698. _delay(7.33);
  6699. for(int i=0; i < NUM_PULSES; i++) {
  6700. WRITE(PHOTOGRAPH_PIN, HIGH);
  6701. _delay_ms(PULSE_LENGTH);
  6702. WRITE(PHOTOGRAPH_PIN, LOW);
  6703. _delay_ms(PULSE_LENGTH);
  6704. }
  6705. #endif
  6706. #endif //chdk end if
  6707. }
  6708. break;
  6709. #ifdef PREVENT_DANGEROUS_EXTRUDE
  6710. /*!
  6711. ### M302 - Allow cold extrude, or set minimum extrude temperature <a href="https://reprap.org/wiki/G-code#M302:_Allow_cold_extrudes">M302: Allow cold extrudes</a>
  6712. This tells the printer to allow movement of the extruder motor above a certain temperature, or if disabled, to allow extruder movement when the hotend is below a safe printing temperature.
  6713. #### Usage
  6714. M302 [ S ]
  6715. #### Parameters
  6716. - `S` - Cold extrude minimum temperature
  6717. */
  6718. case 302:
  6719. {
  6720. int temp = 0;
  6721. if (code_seen('S')) temp=code_value_short();
  6722. set_extrude_min_temp(temp);
  6723. }
  6724. break;
  6725. #endif
  6726. /*!
  6727. ### M303 - PID autotune <a href="https://reprap.org/wiki/G-code#M303:_Run_PID_tuning">M303: Run PID tuning</a>
  6728. PID Tuning refers to a control algorithm used in some repraps to tune heating behavior for hot ends and heated beds. This command generates Proportional (Kp), Integral (Ki), and Derivative (Kd) values for the hotend or bed. Send the appropriate code and wait for the output to update the firmware values.
  6729. #### Usage
  6730. M303 [ E | S | C ]
  6731. #### Parameters
  6732. - `E` - Extruder, default `E0`. Use `E-1` to calibrate the bed PID
  6733. - `S` - Target temperature, default `210°C` for hotend, 70 for bed
  6734. - `C` - Cycles, default `5`
  6735. */
  6736. case 303:
  6737. {
  6738. float temp = 150.0;
  6739. int e = 0;
  6740. int c = 5;
  6741. if (code_seen('E')) e = code_value_short();
  6742. if (e < 0)
  6743. temp = 70;
  6744. if (code_seen('S')) temp = code_value();
  6745. if (code_seen('C')) c = code_value_short();
  6746. PID_autotune(temp, e, c);
  6747. }
  6748. break;
  6749. #ifdef TEMP_MODEL
  6750. /*!
  6751. ### M310 - Temperature model settings
  6752. #### Usage
  6753. M310 ; report values
  6754. M310 [ I ] [ R ] ; set resistance at specifiex index
  6755. M310 [ P ] [ C ] [ S ] [ B ] [ E ] [ W ] [ T ] ; other parameters
  6756. M310 [ A ] ; autotune
  6757. #### Parameters
  6758. - `I` - resistance index position
  6759. - `R` - resistance value (requires `I`)
  6760. - `P` - power
  6761. - `C` - capacitance
  6762. - `S` - set 0=disable 1=enable (default)
  6763. - `B` - beep and warn when reaching warning threshold 0=disable 1=enable (default)
  6764. - `E` - error threshold (define min/max values in variants)
  6765. - `W` - warning threshold (define min/max values in variants)
  6766. - `T` - ambient temperature correction
  6767. - `A` - autotune C+R values
  6768. */
  6769. case 310:
  6770. {
  6771. // parse all parameters
  6772. float P = NAN, C = NAN, R = NAN, E = NAN, W = NAN, T = NAN;
  6773. int8_t I = -1, S = -1, B = -1, A = -1;
  6774. if(code_seen('C')) C = code_value();
  6775. if(code_seen('P')) P = code_value();
  6776. if(code_seen('I')) I = code_value_short();
  6777. if(code_seen('R')) R = code_value();
  6778. if(code_seen('S')) S = code_value_short();
  6779. if(code_seen('B')) B = code_value_short();
  6780. if(code_seen('E')) E = code_value();
  6781. if(code_seen('W')) W = code_value();
  6782. if(code_seen('T')) T = code_value();
  6783. if(code_seen('A')) A = code_value_short();
  6784. // report values if nothing has been requested
  6785. if(isnan(C) && isnan(P) && isnan(R) && isnan(E) && isnan(W) && isnan(T) && I < 0 && S < 0 && B < 0 && A < 0) {
  6786. temp_model_report_settings();
  6787. break;
  6788. }
  6789. // update all parameters
  6790. if(B >= 0) temp_model_set_warn_beep(B);
  6791. if(!isnan(C) || !isnan(P) || !isnan(T) || !isnan(W) || !isnan(E)) temp_model_set_params(C, P, T, W, E);
  6792. if(I >= 0 && !isnan(R)) temp_model_set_resistance(I, R);
  6793. // enable the model last, if requested
  6794. if(S >= 0) temp_model_set_enabled(S);
  6795. // run autotune
  6796. if(A >= 0) temp_model_autotune(A);
  6797. }
  6798. break;
  6799. #endif
  6800. /*!
  6801. ### M400 - Wait for all moves to finish <a href="https://reprap.org/wiki/G-code#M400:_Wait_for_current_moves_to_finish">M400: Wait for current moves to finish</a>
  6802. Finishes all current moves and and thus clears the buffer.
  6803. Equivalent to `G4` with no parameters.
  6804. */
  6805. case 400:
  6806. {
  6807. st_synchronize();
  6808. }
  6809. break;
  6810. /*!
  6811. ### M403 - Set filament type (material) for particular extruder and notify the MMU <a href="https://reprap.org/wiki/G-code#M403:_Set_filament_type_.28material.29_for_particular_extruder_and_notify_the_MMU.">M403 - Set filament type (material) for particular extruder and notify the MMU</a>
  6812. Currently three different materials are needed (default, flex and PVA).
  6813. And storing this information for different load/unload profiles etc. in the future firmware does not have to wait for "ok" from MMU.
  6814. #### Usage
  6815. M403 [ E | F ]
  6816. #### Parameters
  6817. - `E` - Extruder number. 0-indexed.
  6818. - `F` - Filament type
  6819. */
  6820. case 403:
  6821. {
  6822. // currently three different materials are needed (default, flex and PVA)
  6823. // add storing this information for different load/unload profiles etc. in the future
  6824. // firmware does not wait for "ok" from mmu
  6825. if (mmu_enabled)
  6826. {
  6827. uint8_t extruder = 255;
  6828. uint8_t filament = FILAMENT_UNDEFINED;
  6829. if(code_seen('E')) extruder = code_value_uint8();
  6830. if(code_seen('F')) filament = code_value_uint8();
  6831. mmu_set_filament_type(extruder, filament);
  6832. }
  6833. }
  6834. break;
  6835. /*!
  6836. ### M500 - Store settings in EEPROM <a href="https://reprap.org/wiki/G-code#M500:_Store_parameters_in_non-volatile_storage">M500: Store parameters in non-volatile storage</a>
  6837. Save current parameters to EEPROM.
  6838. */
  6839. case 500:
  6840. {
  6841. Config_StoreSettings();
  6842. }
  6843. break;
  6844. /*!
  6845. ### M501 - Read settings from EEPROM <a href="https://reprap.org/wiki/G-code#M501:_Read_parameters_from_EEPROM">M501: Read parameters from EEPROM</a>
  6846. Set the active parameters to those stored in the EEPROM. This is useful to revert parameters after experimenting with them.
  6847. */
  6848. case 501:
  6849. {
  6850. Config_RetrieveSettings();
  6851. }
  6852. break;
  6853. /*!
  6854. ### M502 - Revert all settings to factory default <a href="https://reprap.org/wiki/G-code#M502:_Restore_Default_Settings">M502: Restore Default Settings</a>
  6855. This command resets all tunable parameters to their default values, as set in the firmware's configuration files. This doesn't reset any parameters stored in the EEPROM, so it must be followed by M500 to write the default settings.
  6856. */
  6857. case 502:
  6858. {
  6859. Config_ResetDefault();
  6860. }
  6861. break;
  6862. /*!
  6863. ### M503 - Repport all settings currently in memory <a href="https://reprap.org/wiki/G-code#M503:_Report_Current_Settings">M503: Report Current Settings</a>
  6864. This command asks the firmware to reply with the current print settings as set in memory. Settings will differ from EEPROM contents if changed since the last load / save. The reply output includes the G-Code commands to produce each setting. For example, Steps-Per-Unit values are displayed as an M92 command.
  6865. */
  6866. case 503:
  6867. {
  6868. Config_PrintSettings();
  6869. }
  6870. break;
  6871. /*!
  6872. ### M509 - Force language selection <a href="https://reprap.org/wiki/G-code#M509:_Force_language_selection">M509: Force language selection</a>
  6873. Resets the language to English.
  6874. Only on Original Prusa i3 MK2.5/s and MK3/s with multiple languages.
  6875. */
  6876. case 509:
  6877. {
  6878. lang_reset();
  6879. SERIAL_ECHO_START;
  6880. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  6881. }
  6882. break;
  6883. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  6884. /*!
  6885. ### M540 - Abort print on endstop hit (enable/disable) <a href="https://reprap.org/wiki/G-code#M540_in_Marlin:_Enable.2FDisable_.22Stop_SD_Print_on_Endstop_Hit.22">M540 in Marlin: Enable/Disable "Stop SD Print on Endstop Hit"</a>
  6886. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code. You must define `ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED`.
  6887. #### Usage
  6888. M540 [ S ]
  6889. #### Parameters
  6890. - `S` - disabled=0, enabled=1
  6891. */
  6892. case 540:
  6893. {
  6894. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  6895. }
  6896. break;
  6897. #endif
  6898. /*!
  6899. ### M851 - Set Z-Probe Offset <a href="https://reprap.org/wiki/G-code#M851:_Set_Z-Probe_Offset">M851: Set Z-Probe Offset"</a>
  6900. Sets the Z-probe Z offset. This offset is used to determine the actual Z position of the nozzle when using a probe to home Z with G28. This value may also be used by G81 (Prusa) / G29 (Marlin) to apply correction to the Z position.
  6901. This value represents the distance from nozzle to the bed surface at the point where the probe is triggered. This value will be negative for typical switch probes, inductive probes, and setups where the nozzle makes a circuit with a raised metal contact. This setting will be greater than zero on machines where the nozzle itself is used as the probe, pressing down on the bed to press a switch. (This is a common setup on delta machines.)
  6902. #### Usage
  6903. M851 [ Z ]
  6904. #### Parameters
  6905. - `Z` - Z offset probe to nozzle.
  6906. */
  6907. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  6908. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  6909. {
  6910. float value;
  6911. if (code_seen('Z'))
  6912. {
  6913. value = code_value();
  6914. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  6915. {
  6916. cs.zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  6917. SERIAL_ECHO_START;
  6918. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  6919. SERIAL_PROTOCOLLN();
  6920. }
  6921. else
  6922. {
  6923. SERIAL_ECHO_START;
  6924. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  6925. SERIAL_ECHORPGM(MSG_Z_MIN);
  6926. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  6927. SERIAL_ECHORPGM(MSG_Z_MAX);
  6928. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  6929. SERIAL_PROTOCOLLN();
  6930. }
  6931. }
  6932. else
  6933. {
  6934. SERIAL_ECHO_START;
  6935. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  6936. SERIAL_ECHO(-cs.zprobe_zoffset);
  6937. SERIAL_PROTOCOLLN();
  6938. }
  6939. break;
  6940. }
  6941. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  6942. /*!
  6943. ### M552 - Set IP address <a href="https://reprap.org/wiki/G-code#M552:_Set_IP_address.2C_enable.2Fdisable_network_interface">M552: Set IP address, enable/disable network interface"</a>
  6944. Sets the printer IP address that is shown in the support menu. Designed to be used with the help of host software.
  6945. If P is not specified nothing happens.
  6946. If the structure of the IP address is invalid, 0.0.0.0 is assumed and nothing is shown on the screen in the Support menu.
  6947. #### Usage
  6948. M552 [ P<IP_address> ]
  6949. #### Parameters
  6950. - `P` - The IP address in xxx.xxx.xxx.xxx format. Eg: P192.168.1.14
  6951. */
  6952. case 552:
  6953. {
  6954. if (code_seen('P'))
  6955. {
  6956. uint8_t valCnt = 0;
  6957. IP_address = 0;
  6958. do
  6959. {
  6960. *strchr_pointer = '*';
  6961. ((uint8_t*)&IP_address)[valCnt] = code_value_short();
  6962. valCnt++;
  6963. } while ((valCnt < 4) && code_seen('.'));
  6964. if (valCnt != 4)
  6965. IP_address = 0;
  6966. }
  6967. } break;
  6968. #ifdef FILAMENTCHANGEENABLE
  6969. /*!
  6970. ### M600 - Initiate Filament change procedure <a href="https://reprap.org/wiki/G-code#M600:_Filament_change_pause">M600: Filament change pause</a>
  6971. Initiates Filament change, it is also used during Filament Runout Sensor process.
  6972. If the `M600` is triggered under 25mm it will do a Z-lift of 25mm to prevent a filament blob.
  6973. #### Usage
  6974. M600 [ X | Y | Z | E | L | AUTO ]
  6975. - `X` - X position, default 211
  6976. - `Y` - Y position, default 0
  6977. - `Z` - relative lift Z, default 2.
  6978. - `E` - initial retract, default -2
  6979. - `L` - later retract distance for removal, default -80
  6980. - `AUTO` - Automatically (only with MMU)
  6981. */
  6982. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  6983. {
  6984. st_synchronize();
  6985. float x_position = current_position[X_AXIS];
  6986. float y_position = current_position[Y_AXIS];
  6987. float z_shift = 0; // is it necessary to be a float?
  6988. float e_shift_init = 0;
  6989. float e_shift_late = 0;
  6990. bool automatic = false;
  6991. //Retract extruder
  6992. if(code_seen('E'))
  6993. {
  6994. e_shift_init = code_value();
  6995. }
  6996. else
  6997. {
  6998. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  6999. e_shift_init = FILAMENTCHANGE_FIRSTRETRACT ;
  7000. #endif
  7001. }
  7002. //currently don't work as we are using the same unload sequence as in M702, needs re-work
  7003. if (code_seen('L'))
  7004. {
  7005. e_shift_late = code_value();
  7006. }
  7007. else
  7008. {
  7009. #ifdef FILAMENTCHANGE_FINALRETRACT
  7010. e_shift_late = FILAMENTCHANGE_FINALRETRACT;
  7011. #endif
  7012. }
  7013. //Lift Z
  7014. if(code_seen('Z'))
  7015. {
  7016. z_shift = code_value();
  7017. }
  7018. else
  7019. {
  7020. z_shift = gcode_M600_filament_change_z_shift<uint8_t>();
  7021. }
  7022. //Move XY to side
  7023. if(code_seen('X'))
  7024. {
  7025. x_position = code_value();
  7026. }
  7027. else
  7028. {
  7029. #ifdef FILAMENTCHANGE_XPOS
  7030. x_position = FILAMENTCHANGE_XPOS;
  7031. #endif
  7032. }
  7033. if(code_seen('Y'))
  7034. {
  7035. y_position = code_value();
  7036. }
  7037. else
  7038. {
  7039. #ifdef FILAMENTCHANGE_YPOS
  7040. y_position = FILAMENTCHANGE_YPOS ;
  7041. #endif
  7042. }
  7043. if (mmu_enabled && code_seen_P(PSTR("AUTO")))
  7044. automatic = true;
  7045. gcode_M600(automatic, x_position, y_position, z_shift, e_shift_init, e_shift_late);
  7046. }
  7047. break;
  7048. #endif //FILAMENTCHANGEENABLE
  7049. /*!
  7050. ### M601 - Pause print <a href="https://reprap.org/wiki/G-code#M601:_Pause_print">M601: Pause print</a>
  7051. */
  7052. /*!
  7053. ### M125 - Pause print (TODO: not implemented)
  7054. */
  7055. /*!
  7056. ### M25 - Pause SD print <a href="https://reprap.org/wiki/G-code#M25:_Pause_SD_print">M25: Pause SD print</a>
  7057. */
  7058. case 25:
  7059. case 601:
  7060. {
  7061. if (!isPrintPaused) {
  7062. st_synchronize();
  7063. ClearToSend(); //send OK even before the command finishes executing because we want to make sure it is not skipped because of cmdqueue_pop_front();
  7064. cmdqueue_pop_front(); //trick because we want skip this command (M601) after restore
  7065. lcd_pause_print();
  7066. }
  7067. }
  7068. break;
  7069. /*!
  7070. ### M602 - Resume print <a href="https://reprap.org/wiki/G-code#M602:_Resume_print">M602: Resume print</a>
  7071. */
  7072. case 602:
  7073. {
  7074. if (isPrintPaused) lcd_resume_print();
  7075. }
  7076. break;
  7077. /*!
  7078. ### M603 - Stop print <a href="https://reprap.org/wiki/G-code#M603:_Stop_print">M603: Stop print</a>
  7079. */
  7080. case 603: {
  7081. lcd_print_stop();
  7082. }
  7083. break;
  7084. #ifdef PINDA_THERMISTOR
  7085. /*!
  7086. ### M860 - Wait for extruder temperature (PINDA) <a href="https://reprap.org/wiki/G-code#M860_Wait_for_Probe_Temperature">M860 Wait for Probe Temperature</a>
  7087. Wait for PINDA thermistor to reach target temperature
  7088. #### Usage
  7089. M860 [ S ]
  7090. #### Parameters
  7091. - `S` - Target temperature
  7092. */
  7093. case 860:
  7094. {
  7095. int set_target_pinda = 0;
  7096. if (code_seen('S')) {
  7097. set_target_pinda = code_value_short();
  7098. }
  7099. else {
  7100. break;
  7101. }
  7102. LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
  7103. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  7104. SERIAL_PROTOCOLLN(set_target_pinda);
  7105. codenum = _millis();
  7106. cancel_heatup = false;
  7107. bool is_pinda_cooling = false;
  7108. if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
  7109. is_pinda_cooling = true;
  7110. }
  7111. while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
  7112. if ((_millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  7113. {
  7114. SERIAL_PROTOCOLPGM("P:");
  7115. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  7116. SERIAL_PROTOCOL('/');
  7117. SERIAL_PROTOCOLLN(set_target_pinda);
  7118. codenum = _millis();
  7119. }
  7120. manage_heater();
  7121. manage_inactivity();
  7122. lcd_update(0);
  7123. }
  7124. LCD_MESSAGERPGM(MSG_OK);
  7125. break;
  7126. }
  7127. /*!
  7128. ### M861 - Set/Get PINDA temperature compensation offsets <a href="https://reprap.org/wiki/G-code#M861_Set_Probe_Thermal_Compensation">M861 Set Probe Thermal Compensation</a>
  7129. Set compensation ustep value `S` for compensation table index `I`.
  7130. #### Usage
  7131. M861 [ ? | ! | Z | S | I ]
  7132. #### Parameters
  7133. - `?` - Print current EEPROM offset values
  7134. - `!` - Set factory default values
  7135. - `Z` - Set all values to 0 (effectively disabling PINDA temperature compensation)
  7136. - `S` - Microsteps
  7137. - `I` - Table index
  7138. */
  7139. case 861: {
  7140. const char * const _header = PSTR("index, temp, ustep, um");
  7141. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  7142. int16_t usteps = 0;
  7143. SERIAL_PROTOCOLPGM("PINDA cal status: ");
  7144. SERIAL_PROTOCOLLN(calibration_status_pinda());
  7145. SERIAL_PROTOCOLLNRPGM(_header);
  7146. for (uint8_t i = 0; i < 6; i++)
  7147. {
  7148. if(i > 0) {
  7149. usteps = eeprom_read_word((uint16_t*) EEPROM_PROBE_TEMP_SHIFT + (i - 1));
  7150. }
  7151. float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
  7152. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  7153. SERIAL_PROTOCOLPGM(", ");
  7154. SERIAL_PROTOCOL(35 + (i * 5));
  7155. SERIAL_PROTOCOLPGM(", ");
  7156. SERIAL_PROTOCOL(usteps);
  7157. SERIAL_PROTOCOLPGM(", ");
  7158. SERIAL_PROTOCOLLN(mm * 1000);
  7159. }
  7160. }
  7161. else if (code_seen('!')) { // ! - Set factory default values
  7162. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  7163. int16_t z_shift = 8; //40C - 20um - 8usteps
  7164. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT, z_shift);
  7165. z_shift = 24; //45C - 60um - 24usteps
  7166. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + 1, z_shift);
  7167. z_shift = 48; //50C - 120um - 48usteps
  7168. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + 2, z_shift);
  7169. z_shift = 80; //55C - 200um - 80usteps
  7170. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + 3, z_shift);
  7171. z_shift = 120; //60C - 300um - 120usteps
  7172. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + 4, z_shift);
  7173. SERIAL_PROTOCOLLNPGM("factory restored");
  7174. }
  7175. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  7176. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  7177. int16_t z_shift = 0;
  7178. for (uint8_t i = 0; i < 5; i++) {
  7179. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + i, z_shift);
  7180. }
  7181. SERIAL_PROTOCOLLNPGM("zerorized");
  7182. }
  7183. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  7184. int16_t usteps = code_value_short();
  7185. if (code_seen('I')) {
  7186. uint8_t index = code_value_uint8();
  7187. if (index < 5) {
  7188. eeprom_update_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + index, usteps);
  7189. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  7190. SERIAL_PROTOCOLLNRPGM(_header);
  7191. for (uint8_t i = 0; i < 6; i++)
  7192. {
  7193. usteps = 0;
  7194. if (i > 0) {
  7195. usteps = eeprom_read_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + (i - 1));
  7196. }
  7197. float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
  7198. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  7199. SERIAL_PROTOCOLPGM(", ");
  7200. SERIAL_PROTOCOL(35 + (i * 5));
  7201. SERIAL_PROTOCOLPGM(", ");
  7202. SERIAL_PROTOCOL(usteps);
  7203. SERIAL_PROTOCOLPGM(", ");
  7204. SERIAL_PROTOCOLLN(mm * 1000);
  7205. }
  7206. }
  7207. }
  7208. }
  7209. else {
  7210. SERIAL_PROTOCOLLNPGM("no valid command");
  7211. }
  7212. } break;
  7213. #endif //PINDA_THERMISTOR
  7214. /*!
  7215. ### M862 - Print checking <a href="https://reprap.org/wiki/G-code#M862:_Print_checking">M862: Print checking</a>
  7216. Checks the parameters of the printer and gcode and performs compatibility check
  7217. - M862.1 { P<nozzle_diameter> | Q } 0.25/0.40/0.60
  7218. - M862.2 { P<model_code> | Q }
  7219. - M862.3 { P"<model_name>" | Q }
  7220. - M862.4 { P<fw_version> | Q }
  7221. - M862.5 { P<gcode_level> | Q }
  7222. When run with P<> argument, the check is performed against the input value.
  7223. When run with Q argument, the current value is shown.
  7224. M862.3 accepts text identifiers of printer types too.
  7225. The syntax of M862.3 is (note the quotes around the type):
  7226. M862.3 P "MK3S"
  7227. Accepted printer type identifiers and their numeric counterparts:
  7228. - MK1 (100)
  7229. - MK2 (200)
  7230. - MK2MM (201)
  7231. - MK2S (202)
  7232. - MK2SMM (203)
  7233. - MK2.5 (250)
  7234. - MK2.5MMU2 (20250)
  7235. - MK2.5S (252)
  7236. - MK2.5SMMU2S (20252)
  7237. - MK3 (300)
  7238. - MK3MMU2 (20300)
  7239. - MK3S (302)
  7240. - MK3SMMU2S (20302)
  7241. */
  7242. case 862: // M862: print checking
  7243. float nDummy;
  7244. uint8_t nCommand;
  7245. nCommand=(uint8_t)(modff(code_value_float(),&nDummy)*10.0+0.5);
  7246. switch((ClPrintChecking)nCommand)
  7247. {
  7248. case ClPrintChecking::_Nozzle: // ~ .1
  7249. uint16_t nDiameter;
  7250. if(code_seen('P'))
  7251. {
  7252. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  7253. nozzle_diameter_check(nDiameter);
  7254. }
  7255. /*
  7256. else if(code_seen('S')&&farm_mode)
  7257. {
  7258. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  7259. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
  7260. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
  7261. }
  7262. */
  7263. else if(code_seen('Q'))
  7264. SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
  7265. break;
  7266. case ClPrintChecking::_Model: // ~ .2
  7267. if(code_seen('P'))
  7268. {
  7269. uint16_t nPrinterModel;
  7270. nPrinterModel=(uint16_t)code_value_long();
  7271. printer_model_check(nPrinterModel);
  7272. }
  7273. else if(code_seen('Q'))
  7274. SERIAL_PROTOCOLLN(nPrinterType);
  7275. break;
  7276. case ClPrintChecking::_Smodel: // ~ .3
  7277. if(code_seen('P'))
  7278. printer_smodel_check(strchr_pointer);
  7279. else if(code_seen('Q'))
  7280. SERIAL_PROTOCOLLNRPGM(sPrinterName);
  7281. break;
  7282. case ClPrintChecking::_Version: // ~ .4
  7283. if(code_seen('P'))
  7284. fw_version_check(++strchr_pointer);
  7285. else if(code_seen('Q'))
  7286. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  7287. break;
  7288. case ClPrintChecking::_Gcode: // ~ .5
  7289. if(code_seen('P'))
  7290. {
  7291. uint16_t nGcodeLevel;
  7292. nGcodeLevel=(uint16_t)code_value_long();
  7293. gcode_level_check(nGcodeLevel);
  7294. }
  7295. else if(code_seen('Q'))
  7296. SERIAL_PROTOCOLLN(GCODE_LEVEL);
  7297. break;
  7298. }
  7299. break;
  7300. #ifdef LIN_ADVANCE
  7301. /*!
  7302. ### M900 - Set Linear advance options <a href="https://reprap.org/wiki/G-code#M900_Set_Linear_Advance_Scaling_Factors">M900 Set Linear Advance Scaling Factors</a>
  7303. Sets the advance extrusion factors for Linear Advance. If any of the R, W, H, or D parameters are set to zero the ratio will be computed dynamically during printing.
  7304. #### Usage
  7305. M900 [ K | R | W | H | D]
  7306. #### Parameters
  7307. - `K` - Advance K factor
  7308. - `R` - Set ratio directly (overrides WH/D)
  7309. - `W` - Width
  7310. - `H` - Height
  7311. - `D` - Diameter Set ratio from WH/D
  7312. */
  7313. case 900:
  7314. gcode_M900();
  7315. break;
  7316. #endif
  7317. /*!
  7318. ### M907 - Set digital trimpot motor current in mA using axis codes <a href="https://reprap.org/wiki/G-code#M907:_Set_digital_trimpot_motor">M907: Set digital trimpot motor</a>
  7319. Set digital trimpot motor current using axis codes (X, Y, Z, E, B, S).
  7320. M907 has no effect when the experimental Extruder motor current scaling mode is active (that applies to farm printing as well)
  7321. #### Usage
  7322. M907 [ X | Y | Z | E | B | S ]
  7323. #### Parameters
  7324. - `X` - X motor driver
  7325. - `Y` - Y motor driver
  7326. - `Z` - Z motor driver
  7327. - `E` - Extruder motor driver
  7328. - `B` - Second Extruder motor driver
  7329. - `S` - All motors
  7330. */
  7331. case 907:
  7332. {
  7333. #ifdef TMC2130
  7334. // See tmc2130_cur2val() for translation to 0 .. 63 range
  7335. for (uint_least8_t i = 0; i < NUM_AXIS; i++){
  7336. if(code_seen(axis_codes[i])){
  7337. if( i == E_AXIS && FarmOrUserECool() ){
  7338. SERIAL_ECHORPGM(eMotorCurrentScalingEnabled);
  7339. SERIAL_ECHOLNPGM(", M907 E ignored");
  7340. continue;
  7341. }
  7342. long cur_mA = code_value_long();
  7343. uint8_t val = tmc2130_cur2val(cur_mA);
  7344. tmc2130_set_current_h(i, val);
  7345. tmc2130_set_current_r(i, val);
  7346. //if (i == E_AXIS) printf_P(PSTR("E-axis current=%ldmA\n"), cur_mA);
  7347. }
  7348. }
  7349. #else //TMC2130
  7350. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  7351. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  7352. if(code_seen('B')) st_current_set(4,code_value());
  7353. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  7354. #endif
  7355. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  7356. if(code_seen('X')) st_current_set(0, code_value());
  7357. #endif
  7358. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  7359. if(code_seen('Z')) st_current_set(1, code_value());
  7360. #endif
  7361. #ifdef MOTOR_CURRENT_PWM_E_PIN
  7362. if(code_seen('E')) st_current_set(2, code_value());
  7363. #endif
  7364. #endif //TMC2130
  7365. }
  7366. break;
  7367. /*!
  7368. ### M908 - Control digital trimpot directly <a href="https://reprap.org/wiki/G-code#M908:_Control_digital_trimpot_directly">M908: Control digital trimpot directly</a>
  7369. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code. Not usable on Prusa printers.
  7370. #### Usage
  7371. M908 [ P | S ]
  7372. #### Parameters
  7373. - `P` - channel
  7374. - `S` - current
  7375. */
  7376. case 908:
  7377. {
  7378. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  7379. uint8_t channel,current;
  7380. if(code_seen('P')) channel=code_value();
  7381. if(code_seen('S')) current=code_value();
  7382. digitalPotWrite(channel, current);
  7383. #endif
  7384. }
  7385. break;
  7386. #ifdef TMC2130_SERVICE_CODES_M910_M918
  7387. /*!
  7388. ### M910 - TMC2130 init <a href="https://reprap.org/wiki/G-code#M910:_TMC2130_init">M910: TMC2130 init</a>
  7389. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7390. */
  7391. case 910:
  7392. {
  7393. tmc2130_init(TMCInitParams(false, FarmOrUserECool()));
  7394. }
  7395. break;
  7396. /*!
  7397. ### M911 - Set TMC2130 holding currents <a href="https://reprap.org/wiki/G-code#M911:_Set_TMC2130_holding_currents">M911: Set TMC2130 holding currents</a>
  7398. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7399. #### Usage
  7400. M911 [ X | Y | Z | E ]
  7401. #### Parameters
  7402. - `X` - X stepper driver holding current value
  7403. - `Y` - Y stepper driver holding current value
  7404. - `Z` - Z stepper driver holding current value
  7405. - `E` - Extruder stepper driver holding current value
  7406. */
  7407. case 911:
  7408. {
  7409. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  7410. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  7411. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  7412. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  7413. }
  7414. break;
  7415. /*!
  7416. ### M912 - Set TMC2130 running currents <a href="https://reprap.org/wiki/G-code#M912:_Set_TMC2130_running_currents">M912: Set TMC2130 running currents</a>
  7417. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7418. #### Usage
  7419. M912 [ X | Y | Z | E ]
  7420. #### Parameters
  7421. - `X` - X stepper driver running current value
  7422. - `Y` - Y stepper driver running current value
  7423. - `Z` - Z stepper driver running current value
  7424. - `E` - Extruder stepper driver running current value
  7425. */
  7426. case 912:
  7427. {
  7428. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  7429. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  7430. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  7431. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  7432. }
  7433. break;
  7434. /*!
  7435. ### M913 - Print TMC2130 currents <a href="https://reprap.org/wiki/G-code#M913:_Print_TMC2130_currents">M913: Print TMC2130 currents</a>
  7436. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7437. Shows TMC2130 currents.
  7438. */
  7439. case 913:
  7440. {
  7441. tmc2130_print_currents();
  7442. }
  7443. break;
  7444. /*!
  7445. ### M914 - Set TMC2130 normal mode <a href="https://reprap.org/wiki/G-code#M914:_Set_TMC2130_normal_mode">M914: Set TMC2130 normal mode</a>
  7446. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7447. */
  7448. case 914:
  7449. {
  7450. tmc2130_mode = TMC2130_MODE_NORMAL;
  7451. update_mode_profile();
  7452. tmc2130_init(TMCInitParams(false, FarmOrUserECool()));
  7453. }
  7454. break;
  7455. /*!
  7456. ### M915 - Set TMC2130 silent mode <a href="https://reprap.org/wiki/G-code#M915:_Set_TMC2130_silent_mode">M915: Set TMC2130 silent mode</a>
  7457. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7458. */
  7459. case 915:
  7460. {
  7461. tmc2130_mode = TMC2130_MODE_SILENT;
  7462. update_mode_profile();
  7463. tmc2130_init(TMCInitParams(false, FarmOrUserECool()));
  7464. }
  7465. break;
  7466. /*!
  7467. ### M916 - Set TMC2130 Stallguard sensitivity threshold <a href="https://reprap.org/wiki/G-code#M916:_Set_TMC2130_Stallguard_sensitivity_threshold">M916: Set TMC2130 Stallguard sensitivity threshold</a>
  7468. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7469. #### Usage
  7470. M916 [ X | Y | Z | E ]
  7471. #### Parameters
  7472. - `X` - X stepper driver stallguard sensitivity threshold value
  7473. - `Y` - Y stepper driver stallguard sensitivity threshold value
  7474. - `Z` - Z stepper driver stallguard sensitivity threshold value
  7475. - `E` - Extruder stepper driver stallguard sensitivity threshold value
  7476. */
  7477. case 916:
  7478. {
  7479. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  7480. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  7481. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  7482. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  7483. for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
  7484. printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
  7485. }
  7486. break;
  7487. /*!
  7488. ### M917 - Set TMC2130 PWM amplitude offset (pwm_ampl) <a href="https://reprap.org/wiki/G-code#M917:_Set_TMC2130_PWM_amplitude_offset_.28pwm_ampl.29">M917: Set TMC2130 PWM amplitude offset (pwm_ampl)</a>
  7489. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7490. #### Usage
  7491. M917 [ X | Y | Z | E ]
  7492. #### Parameters
  7493. - `X` - X stepper driver PWM amplitude offset value
  7494. - `Y` - Y stepper driver PWM amplitude offset value
  7495. - `Z` - Z stepper driver PWM amplitude offset value
  7496. - `E` - Extruder stepper driver PWM amplitude offset value
  7497. */
  7498. case 917:
  7499. {
  7500. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  7501. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  7502. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  7503. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  7504. }
  7505. break;
  7506. /*!
  7507. ### M918 - Set TMC2130 PWM amplitude gradient (pwm_grad) <a href="https://reprap.org/wiki/G-code#M918:_Set_TMC2130_PWM_amplitude_gradient_.28pwm_grad.29">M918: Set TMC2130 PWM amplitude gradient (pwm_grad)</a>
  7508. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7509. #### Usage
  7510. M918 [ X | Y | Z | E ]
  7511. #### Parameters
  7512. - `X` - X stepper driver PWM amplitude gradient value
  7513. - `Y` - Y stepper driver PWM amplitude gradient value
  7514. - `Z` - Z stepper driver PWM amplitude gradient value
  7515. - `E` - Extruder stepper driver PWM amplitude gradient value
  7516. */
  7517. case 918:
  7518. {
  7519. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  7520. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  7521. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  7522. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  7523. }
  7524. break;
  7525. #endif //TMC2130_SERVICE_CODES_M910_M918
  7526. /*!
  7527. ### M350 - Set microstepping mode <a href="https://reprap.org/wiki/G-code#M350:_Set_microstepping_mode">M350: Set microstepping mode</a>
  7528. Printers with TMC2130 drivers have `X`, `Y`, `Z` and `E` as options. The steps-per-unit value is updated accordingly. Not all resolutions are valid!
  7529. Printers without TMC2130 drivers also have `B` and `S` options. In this case, the steps-per-unit value in not changed!
  7530. #### Usage
  7531. M350 [ X | Y | Z | E | B | S ]
  7532. #### Parameters
  7533. - `X` - X new resolution
  7534. - `Y` - Y new resolution
  7535. - `Z` - Z new resolution
  7536. - `E` - E new resolution
  7537. Only valid for MK2.5(S) or printers without TMC2130 drivers
  7538. - `B` - Second extruder new resolution
  7539. - `S` - All axes new resolution
  7540. */
  7541. case 350:
  7542. {
  7543. #ifdef TMC2130
  7544. for (uint_least8_t i=0; i<NUM_AXIS; i++)
  7545. {
  7546. if(code_seen(axis_codes[i]))
  7547. {
  7548. uint16_t res_new = code_value();
  7549. #ifdef ALLOW_ALL_MRES
  7550. bool res_valid = res_new > 0 && res_new <= 256 && !(res_new & (res_new - 1)); // must be a power of two
  7551. #else
  7552. bool res_valid = (res_new == 8) || (res_new == 16) || (res_new == 32); // resolutions valid for all axis
  7553. res_valid |= (i != E_AXIS) && ((res_new == 1) || (res_new == 2) || (res_new == 4)); // resolutions valid for X Y Z only
  7554. res_valid |= (i == E_AXIS) && ((res_new == 64) || (res_new == 128)); // resolutions valid for E only
  7555. #endif
  7556. if (res_valid)
  7557. {
  7558. st_synchronize();
  7559. uint16_t res = tmc2130_get_res(i);
  7560. tmc2130_set_res(i, res_new);
  7561. cs.axis_ustep_resolution[i] = res_new;
  7562. if (res_new > res)
  7563. {
  7564. uint16_t fac = (res_new / res);
  7565. cs.axis_steps_per_unit[i] *= fac;
  7566. position[i] *= fac;
  7567. }
  7568. else
  7569. {
  7570. uint16_t fac = (res / res_new);
  7571. cs.axis_steps_per_unit[i] /= fac;
  7572. position[i] /= fac;
  7573. }
  7574. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  7575. if (i == E_AXIS)
  7576. fsensor_set_axis_steps_per_unit(cs.axis_steps_per_unit[i]);
  7577. #endif
  7578. }
  7579. }
  7580. }
  7581. reset_acceleration_rates();
  7582. #else //TMC2130
  7583. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  7584. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  7585. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  7586. if(code_seen('B')) microstep_mode(4,code_value());
  7587. microstep_readings();
  7588. #endif
  7589. #endif //TMC2130
  7590. }
  7591. break;
  7592. /*!
  7593. ### M351 - Toggle Microstep Pins <a href="https://reprap.org/wiki/G-code#M351:_Toggle_MS1_MS2_pins_directly">M351: Toggle MS1 MS2 pins directly</a>
  7594. Toggle MS1 MS2 pins directly.
  7595. #### Usage
  7596. M351 [B<0|1>] [E<0|1>] S<1|2> [X<0|1>] [Y<0|1>] [Z<0|1>]
  7597. #### Parameters
  7598. - `X` - Update X axis
  7599. - `Y` - Update Y axis
  7600. - `Z` - Update Z axis
  7601. - `E` - Update E axis
  7602. - `S` - which MSx pin to toggle
  7603. - `B` - new pin value
  7604. */
  7605. case 351:
  7606. {
  7607. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  7608. if(code_seen('S')) switch((int)code_value())
  7609. {
  7610. case 1:
  7611. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  7612. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  7613. break;
  7614. case 2:
  7615. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  7616. if(code_seen('B')) microstep_ms(4,-1,code_value());
  7617. break;
  7618. }
  7619. microstep_readings();
  7620. #endif
  7621. }
  7622. break;
  7623. /*!
  7624. ### M701 - Load filament <a href="https://reprap.org/wiki/G-code#M701:_Load_filament">M701: Load filament</a>
  7625. #### Usage
  7626. M701 [ E | T ]
  7627. #### Parameters
  7628. - `E` - ID of filament to load, ranges from 0 to 4
  7629. - `T` - Alias of `E`. Used for compatibility with Marlin
  7630. */
  7631. case 701:
  7632. {
  7633. if (mmu_enabled && (code_seen('E') || code_seen('T')))
  7634. tmp_extruder = code_value_uint8();
  7635. gcode_M701();
  7636. }
  7637. break;
  7638. /*!
  7639. ### M702 - Unload filament <a href="https://reprap.org/wiki/G-code#M702:_Unload_filament">G32: Undock Z Probe sled</a>
  7640. #### Usage
  7641. M702 [ C ]
  7642. #### Parameters
  7643. - `C` - Unload just current filament
  7644. - without any parameters unload all filaments
  7645. */
  7646. case 702:
  7647. {
  7648. if (code_seen('C')) {
  7649. if(mmu_enabled) extr_unload(); //! if "C" unload current filament; if mmu is not present no action is performed
  7650. }
  7651. else {
  7652. if(mmu_enabled) extr_unload(); //! unload current filament
  7653. else unload_filament();
  7654. }
  7655. }
  7656. break;
  7657. /*!
  7658. #### End of M-Commands
  7659. */
  7660. default:
  7661. printf_P(MSG_UNKNOWN_CODE, 'M', cmdbuffer + bufindr + CMDHDRSIZE);
  7662. }
  7663. // printf_P(_N("END M-CODE=%u\n"), mcode_in_progress);
  7664. mcode_in_progress = 0;
  7665. }
  7666. }
  7667. // end if(code_seen('M')) (end of M codes)
  7668. /*!
  7669. -----------------------------------------------------------------------------------------
  7670. # T Codes
  7671. T<extruder nr.> - select extruder in case of multi extruder printer. select filament in case of MMU_V2.
  7672. #### For MMU_V2:
  7673. T<n> Gcode to extrude at least 38.10 mm at feedrate 19.02 mm/s must follow immediately to load to extruder wheels.
  7674. @n T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
  7675. @n Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
  7676. @n Tc Load to nozzle after filament was prepared by Tc and extruder nozzle is already heated.
  7677. */
  7678. else if(code_seen('T'))
  7679. {
  7680. static const char duplicate_Tcode_ignored[] PROGMEM = "Duplicate T-code ignored.";
  7681. int index;
  7682. bool load_to_nozzle = false;
  7683. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  7684. *(strchr_pointer + index) = tolower(*(strchr_pointer + index));
  7685. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '4') && *(strchr_pointer + index) != '?' && *(strchr_pointer + index) != 'x' && *(strchr_pointer + index) != 'c') {
  7686. SERIAL_ECHOLNPGM("Invalid T code.");
  7687. }
  7688. else if (*(strchr_pointer + index) == 'x'){ //load to bondtech gears; if mmu is not present do nothing
  7689. if (mmu_enabled)
  7690. {
  7691. tmp_extruder = choose_menu_P(_T(MSG_SELECT_FILAMENT), _T(MSG_FILAMENT));
  7692. if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
  7693. {
  7694. puts_P(duplicate_Tcode_ignored);
  7695. }
  7696. else
  7697. {
  7698. st_synchronize();
  7699. mmu_command(MmuCmd::T0 + tmp_extruder);
  7700. manage_response(true, true, MMU_TCODE_MOVE);
  7701. }
  7702. }
  7703. }
  7704. else if (*(strchr_pointer + index) == 'c') { //load to from bondtech gears to nozzle (nozzle should be preheated)
  7705. if (mmu_enabled)
  7706. {
  7707. st_synchronize();
  7708. mmu_continue_loading(usb_timer.running() || (lcd_commands_type == LcdCommands::Layer1Cal));
  7709. mmu_extruder = tmp_extruder; //filament change is finished
  7710. mmu_load_to_nozzle();
  7711. }
  7712. }
  7713. else {
  7714. if (*(strchr_pointer + index) == '?')
  7715. {
  7716. if(mmu_enabled)
  7717. {
  7718. tmp_extruder = choose_menu_P(_T(MSG_SELECT_FILAMENT), _T(MSG_FILAMENT));
  7719. load_to_nozzle = true;
  7720. } else
  7721. {
  7722. tmp_extruder = choose_menu_P(_T(MSG_SELECT_EXTRUDER), _T(MSG_EXTRUDER));
  7723. }
  7724. }
  7725. else {
  7726. tmp_extruder = code_value();
  7727. if (mmu_enabled && lcd_autoDepleteEnabled())
  7728. {
  7729. tmp_extruder = ad_getAlternative(tmp_extruder);
  7730. }
  7731. }
  7732. st_synchronize();
  7733. if (mmu_enabled)
  7734. {
  7735. if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
  7736. {
  7737. puts_P(duplicate_Tcode_ignored);
  7738. }
  7739. else
  7740. {
  7741. #if defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
  7742. if (EEPROM_MMU_CUTTER_ENABLED_always == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
  7743. {
  7744. mmu_command(MmuCmd::K0 + tmp_extruder);
  7745. manage_response(true, true, MMU_UNLOAD_MOVE);
  7746. }
  7747. #endif //defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
  7748. mmu_command(MmuCmd::T0 + tmp_extruder);
  7749. manage_response(true, true, MMU_TCODE_MOVE);
  7750. mmu_continue_loading(usb_timer.running() || (lcd_commands_type == LcdCommands::Layer1Cal));
  7751. mmu_extruder = tmp_extruder; //filament change is finished
  7752. if (load_to_nozzle)// for single material usage with mmu
  7753. {
  7754. mmu_load_to_nozzle();
  7755. }
  7756. }
  7757. }
  7758. else
  7759. {
  7760. if (tmp_extruder >= EXTRUDERS) {
  7761. SERIAL_ECHO_START;
  7762. SERIAL_ECHO('T');
  7763. SERIAL_PROTOCOLLN((int)tmp_extruder);
  7764. SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER
  7765. }
  7766. else {
  7767. #if EXTRUDERS > 1
  7768. bool make_move = false;
  7769. #endif
  7770. if (code_seen('F')) {
  7771. #if EXTRUDERS > 1
  7772. make_move = true;
  7773. #endif
  7774. next_feedrate = code_value();
  7775. if (next_feedrate > 0.0) {
  7776. feedrate = next_feedrate;
  7777. }
  7778. }
  7779. #if EXTRUDERS > 1
  7780. if (tmp_extruder != active_extruder) {
  7781. // Save current position to return to after applying extruder offset
  7782. set_destination_to_current();
  7783. // Offset extruder (only by XY)
  7784. int i;
  7785. for (i = 0; i < 2; i++) {
  7786. current_position[i] = current_position[i] -
  7787. extruder_offset[i][active_extruder] +
  7788. extruder_offset[i][tmp_extruder];
  7789. }
  7790. // Set the new active extruder and position
  7791. active_extruder = tmp_extruder;
  7792. plan_set_position_curposXYZE();
  7793. // Move to the old position if 'F' was in the parameters
  7794. if (make_move) {
  7795. prepare_move();
  7796. }
  7797. }
  7798. #endif
  7799. SERIAL_ECHO_START;
  7800. SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER
  7801. SERIAL_PROTOCOLLN((int)active_extruder);
  7802. }
  7803. }
  7804. }
  7805. } // end if(code_seen('T')) (end of T codes)
  7806. /*!
  7807. #### End of T-Codes
  7808. */
  7809. /**
  7810. *---------------------------------------------------------------------------------
  7811. *# D codes
  7812. */
  7813. else if (code_seen('D')) // D codes (debug)
  7814. {
  7815. switch(code_value_short())
  7816. {
  7817. /*!
  7818. ### D-1 - Endless Loop <a href="https://reprap.org/wiki/G-code#D-1:_Endless_Loop">D-1: Endless Loop</a>
  7819. */
  7820. case -1:
  7821. dcode__1(); break;
  7822. #ifdef DEBUG_DCODES
  7823. /*!
  7824. ### D0 - Reset <a href="https://reprap.org/wiki/G-code#D0:_Reset">D0: Reset</a>
  7825. #### Usage
  7826. D0 [ B ]
  7827. #### Parameters
  7828. - `B` - Bootloader
  7829. */
  7830. case 0:
  7831. dcode_0(); break;
  7832. /*!
  7833. *
  7834. ### D1 - Clear EEPROM and RESET <a href="https://reprap.org/wiki/G-code#D1:_Clear_EEPROM_and_RESET">D1: Clear EEPROM and RESET</a>
  7835. D1
  7836. *
  7837. */
  7838. case 1:
  7839. dcode_1(); break;
  7840. #endif
  7841. #if defined DEBUG_DCODE2 || defined DEBUG_DCODES
  7842. /*!
  7843. ### D2 - Read/Write RAM <a href="https://reprap.org/wiki/G-code#D2:_Read.2FWrite_RAM">D3: Read/Write RAM</a>
  7844. This command can be used without any additional parameters. It will read the entire RAM.
  7845. #### Usage
  7846. D2 [ A | C | X ]
  7847. #### Parameters
  7848. - `A` - Address (x0000-x1fff)
  7849. - `C` - Count (1-8192)
  7850. - `X` - Data
  7851. #### Notes
  7852. - The hex address needs to be lowercase without the 0 before the x
  7853. - Count is decimal
  7854. - The hex data needs to be lowercase
  7855. */
  7856. case 2:
  7857. dcode_2(); break;
  7858. #endif //DEBUG_DCODES
  7859. #if defined DEBUG_DCODE3 || defined DEBUG_DCODES
  7860. /*!
  7861. ### D3 - Read/Write EEPROM <a href="https://reprap.org/wiki/G-code#D3:_Read.2FWrite_EEPROM">D3: Read/Write EEPROM</a>
  7862. This command can be used without any additional parameters. It will read the entire eeprom.
  7863. #### Usage
  7864. D3 [ A | C | X ]
  7865. #### Parameters
  7866. - `A` - Address (x0000-x0fff)
  7867. - `C` - Count (1-4096)
  7868. - `X` - Data (hex)
  7869. #### Notes
  7870. - The hex address needs to be lowercase without the 0 before the x
  7871. - Count is decimal
  7872. - The hex data needs to be lowercase
  7873. */
  7874. case 3:
  7875. dcode_3(); break;
  7876. #endif //DEBUG_DCODE3
  7877. #ifdef DEBUG_DCODES
  7878. /*!
  7879. ### D4 - Read/Write PIN <a href="https://reprap.org/wiki/G-code#D4:_Read.2FWrite_PIN">D4: Read/Write PIN</a>
  7880. To read the digital value of a pin you need only to define the pin number.
  7881. #### Usage
  7882. D4 [ P | F | V ]
  7883. #### Parameters
  7884. - `P` - Pin (0-255)
  7885. - `F` - Function in/out (0/1)
  7886. - `V` - Value (0/1)
  7887. */
  7888. case 4:
  7889. dcode_4(); break;
  7890. #endif //DEBUG_DCODES
  7891. #if defined DEBUG_DCODE5 || defined DEBUG_DCODES
  7892. /*!
  7893. ### D5 - Read/Write FLASH <a href="https://reprap.org/wiki/G-code#D5:_Read.2FWrite_FLASH">D5: Read/Write Flash</a>
  7894. This command can be used without any additional parameters. It will read the 1kb FLASH.
  7895. #### Usage
  7896. D5 [ A | C | X | E ]
  7897. #### Parameters
  7898. - `A` - Address (x00000-x3ffff)
  7899. - `C` - Count (1-8192)
  7900. - `X` - Data (hex)
  7901. - `E` - Erase
  7902. #### Notes
  7903. - The hex address needs to be lowercase without the 0 before the x
  7904. - Count is decimal
  7905. - The hex data needs to be lowercase
  7906. */
  7907. case 5:
  7908. dcode_5(); break;
  7909. #endif //DEBUG_DCODE5
  7910. #if defined DEBUG_DCODE6 || defined DEBUG_DCODES
  7911. /*!
  7912. ### D6 - Read/Write external FLASH <a href="https://reprap.org/wiki/G-code#D6:_Read.2FWrite_external_FLASH">D6: Read/Write external Flash</a>
  7913. Reserved
  7914. */
  7915. case 6:
  7916. dcode_6(); break;
  7917. #endif
  7918. #ifdef DEBUG_DCODES
  7919. /*!
  7920. ### D7 - Read/Write Bootloader <a href="https://reprap.org/wiki/G-code#D7:_Read.2FWrite_Bootloader">D7: Read/Write Bootloader</a>
  7921. Reserved
  7922. */
  7923. case 7:
  7924. dcode_7(); break;
  7925. /*!
  7926. ### D8 - Read/Write PINDA <a href="https://reprap.org/wiki/G-code#D8:_Read.2FWrite_PINDA">D8: Read/Write PINDA</a>
  7927. #### Usage
  7928. D8 [ ? | ! | P | Z ]
  7929. #### Parameters
  7930. - `?` - Read PINDA temperature shift values
  7931. - `!` - Reset PINDA temperature shift values to default
  7932. - `P` - Pinda temperature [C]
  7933. - `Z` - Z Offset [mm]
  7934. */
  7935. case 8:
  7936. dcode_8(); break;
  7937. /*!
  7938. ### D9 - Read ADC <a href="https://reprap.org/wiki/G-code#D9:_Read.2FWrite_ADC">D9: Read ADC</a>
  7939. #### Usage
  7940. D9 [ I | V ]
  7941. #### Parameters
  7942. - `I` - ADC channel index
  7943. - `0` - Heater 0 temperature
  7944. - `1` - Heater 1 temperature
  7945. - `2` - Bed temperature
  7946. - `3` - PINDA temperature
  7947. - `4` - PWR voltage
  7948. - `5` - Ambient temperature
  7949. - `6` - BED voltage
  7950. - `V` Value to be written as simulated
  7951. */
  7952. case 9:
  7953. dcode_9(); break;
  7954. /*!
  7955. ### D10 - Set XYZ calibration = OK <a href="https://reprap.org/wiki/G-code#D10:_Set_XYZ_calibration_.3D_OK">D10: Set XYZ calibration = OK</a>
  7956. */
  7957. case 10:
  7958. dcode_10(); break;
  7959. /*!
  7960. ### D12 - Time <a href="https://reprap.org/wiki/G-code#D12:_Time">D12: Time</a>
  7961. Writes the current time in the log file.
  7962. */
  7963. #endif //DEBUG_DCODES
  7964. #ifdef XFLASH_DUMP
  7965. /*!
  7966. ### D20 - Generate an offline crash dump <a href="https://reprap.org/wiki/G-code#D20:_Generate_an_offline_crash_dump">D20: Generate an offline crash dump</a>
  7967. Generate a crash dump for later retrival.
  7968. #### Usage
  7969. D20 [E]
  7970. ### Parameters
  7971. - `E` - Perform an emergency crash dump (resets the printer).
  7972. ### Notes
  7973. - A crash dump can be later recovered with D21, or cleared with D22.
  7974. - An emergency crash dump includes register data, but will cause the printer to reset after the dump
  7975. is completed.
  7976. */
  7977. case 20: {
  7978. dcode_20();
  7979. break;
  7980. };
  7981. /*!
  7982. ### D21 - Print crash dump to serial <a href="https://reprap.org/wiki/G-code#D21:_Print_crash_dump_to_serial">D21: Print crash dump to serial</a>
  7983. Output the complete crash dump (if present) to the serial.
  7984. #### Usage
  7985. D21
  7986. ### Notes
  7987. - The starting address can vary between builds, but it's always at the beginning of the data section.
  7988. */
  7989. case 21: {
  7990. dcode_21();
  7991. break;
  7992. };
  7993. /*!
  7994. ### D22 - Clear crash dump state <a href="https://reprap.org/wiki/G-code#D22:_Clear_crash_dump_state">D22: Clear crash dump state</a>
  7995. Clear an existing internal crash dump.
  7996. #### Usage
  7997. D22
  7998. */
  7999. case 22: {
  8000. dcode_22();
  8001. break;
  8002. };
  8003. #endif //XFLASH_DUMP
  8004. #ifdef EMERGENCY_SERIAL_DUMP
  8005. /*!
  8006. ### D23 - Request emergency dump on serial <a href="https://reprap.org/wiki/G-code#D23:_Request_emergency_dump_on_serial">D23: Request emergency dump on serial</a>
  8007. On boards without offline dump support, request online dumps to the serial port on firmware faults.
  8008. When online dumps are enabled, the FW will dump memory on the serial before resetting.
  8009. #### Usage
  8010. D23 [E] [R]
  8011. #### Parameters
  8012. - `E` - Perform an emergency crash dump (resets the printer).
  8013. - `R` - Disable online dumps.
  8014. */
  8015. case 23: {
  8016. dcode_23();
  8017. break;
  8018. };
  8019. #endif
  8020. #ifdef TEMP_MODEL_DEBUG
  8021. /*!
  8022. ## D70 - Enable low-level temperature model logging for offline simulation
  8023. #### Usage
  8024. D70 [ I ]
  8025. #### Parameters
  8026. - `I` - Enable 0-1 (default 0)
  8027. */
  8028. case 70: {
  8029. if(code_seen('I'))
  8030. temp_model_log_enable(code_value_short());
  8031. break;
  8032. }
  8033. #endif
  8034. #ifdef HEATBED_ANALYSIS
  8035. /*!
  8036. ### D80 - Bed check <a href="https://reprap.org/wiki/G-code#D80:_Bed_check">D80: Bed check</a>
  8037. This command will log data to SD card file "mesh.txt".
  8038. #### Usage
  8039. D80 [ E | F | G | H | I | J ]
  8040. #### Parameters
  8041. - `E` - Dimension X (default 40)
  8042. - `F` - Dimention Y (default 40)
  8043. - `G` - Points X (default 40)
  8044. - `H` - Points Y (default 40)
  8045. - `I` - Offset X (default 74)
  8046. - `J` - Offset Y (default 34)
  8047. */
  8048. case 80:
  8049. dcode_80(); break;
  8050. /*!
  8051. ### D81 - Bed analysis <a href="https://reprap.org/wiki/G-code#D81:_Bed_analysis">D80: Bed analysis</a>
  8052. This command will log data to SD card file "wldsd.txt".
  8053. #### Usage
  8054. D81 [ E | F | G | H | I | J ]
  8055. #### Parameters
  8056. - `E` - Dimension X (default 40)
  8057. - `F` - Dimention Y (default 40)
  8058. - `G` - Points X (default 40)
  8059. - `H` - Points Y (default 40)
  8060. - `I` - Offset X (default 74)
  8061. - `J` - Offset Y (default 34)
  8062. */
  8063. case 81:
  8064. dcode_81(); break;
  8065. #endif //HEATBED_ANALYSIS
  8066. #ifdef DEBUG_DCODES
  8067. /*!
  8068. ### D106 - Print measured fan speed for different pwm values <a href="https://reprap.org/wiki/G-code#D106:_Print_measured_fan_speed_for_different_pwm_values">D106: Print measured fan speed for different pwm values</a>
  8069. */
  8070. case 106:
  8071. dcode_106(); break;
  8072. #ifdef TMC2130
  8073. /*!
  8074. ### D2130 - Trinamic stepper controller <a href="https://reprap.org/wiki/G-code#D2130:_Trinamic_stepper_controller">D2130: Trinamic stepper controller</a>
  8075. @todo Please review by owner of the code. RepRap Wiki Gcode needs to be updated after review of owner as well.
  8076. #### Usage
  8077. D2130 [ Axis | Command | Subcommand | Value ]
  8078. #### Parameters
  8079. - Axis
  8080. - `X` - X stepper driver
  8081. - `Y` - Y stepper driver
  8082. - `Z` - Z stepper driver
  8083. - `E` - Extruder stepper driver
  8084. - Commands
  8085. - `0` - Current off
  8086. - `1` - Current on
  8087. - `+` - Single step
  8088. - `-` - Single step oposite direction
  8089. - `NNN` - Value sereval steps
  8090. - `?` - Read register
  8091. - Subcommands for read register
  8092. - `mres` - Micro step resolution. More information in datasheet '5.5.2 CHOPCONF – Chopper Configuration'
  8093. - `step` - Step
  8094. - `mscnt` - Microstep counter. More information in datasheet '5.5 Motor Driver Registers'
  8095. - `mscuract` - Actual microstep current for motor. More information in datasheet '5.5 Motor Driver Registers'
  8096. - `wave` - Microstep linearity compensation curve
  8097. - `!` - Set register
  8098. - Subcommands for set register
  8099. - `mres` - Micro step resolution
  8100. - `step` - Step
  8101. - `wave` - Microstep linearity compensation curve
  8102. - Values for set register
  8103. - `0, 180 --> 250` - Off
  8104. - `0.9 --> 1.25` - Valid values (recommended is 1.1)
  8105. - `@` - Home calibrate axis
  8106. Examples:
  8107. D2130E?wave
  8108. Print extruder microstep linearity compensation curve
  8109. D2130E!wave0
  8110. Disable extruder linearity compensation curve, (sine curve is used)
  8111. D2130E!wave220
  8112. (sin(x))^1.1 extruder microstep compensation curve used
  8113. Notes:
  8114. For more information see https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
  8115. *
  8116. */
  8117. case 2130:
  8118. dcode_2130(); break;
  8119. #endif //TMC2130
  8120. #if (defined (FILAMENT_SENSOR) && defined(PAT9125))
  8121. /*!
  8122. ### D9125 - PAT9125 filament sensor <a href="https://reprap.org/wiki/G-code#D9:_Read.2FWrite_ADC">D9125: PAT9125 filament sensor</a>
  8123. #### Usage
  8124. D9125 [ ? | ! | R | X | Y | L ]
  8125. #### Parameters
  8126. - `?` - Print values
  8127. - `!` - Print values
  8128. - `R` - Resolution. Not active in code
  8129. - `X` - X values
  8130. - `Y` - Y values
  8131. - `L` - Activate filament sensor log
  8132. */
  8133. case 9125:
  8134. dcode_9125(); break;
  8135. #endif //FILAMENT_SENSOR
  8136. #endif //DEBUG_DCODES
  8137. default:
  8138. printf_P(MSG_UNKNOWN_CODE, 'D', cmdbuffer + bufindr + CMDHDRSIZE);
  8139. }
  8140. }
  8141. else
  8142. {
  8143. SERIAL_ECHO_START;
  8144. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  8145. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  8146. SERIAL_ECHOLNPGM("\"(2)");
  8147. }
  8148. KEEPALIVE_STATE(NOT_BUSY);
  8149. ClearToSend();
  8150. }
  8151. /*!
  8152. #### End of D-Codes
  8153. */
  8154. /** @defgroup GCodes G-Code List
  8155. */
  8156. // ---------------------------------------------------
  8157. void FlushSerialRequestResend()
  8158. {
  8159. //char cmdbuffer[bufindr][100]="Resend:";
  8160. MYSERIAL.flush();
  8161. printf_P(_N("%S: %ld\n%S\n"), _n("Resend"), gcode_LastN + 1, MSG_OK);
  8162. }
  8163. // Confirm the execution of a command, if sent from a serial line.
  8164. // Execution of a command from a SD card will not be confirmed.
  8165. void ClearToSend()
  8166. {
  8167. previous_millis_cmd.start();
  8168. if (buflen && ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)))
  8169. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  8170. }
  8171. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8172. void update_currents() {
  8173. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  8174. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  8175. float tmp_motor[3];
  8176. //SERIAL_ECHOLNPGM("Currents updated: ");
  8177. if (destination[Z_AXIS] < Z_SILENT) {
  8178. //SERIAL_ECHOLNPGM("LOW");
  8179. for (uint8_t i = 0; i < 3; i++) {
  8180. st_current_set(i, current_low[i]);
  8181. /*MYSERIAL.print(int(i));
  8182. SERIAL_ECHOPGM(": ");
  8183. MYSERIAL.println(current_low[i]);*/
  8184. }
  8185. }
  8186. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  8187. //SERIAL_ECHOLNPGM("HIGH");
  8188. for (uint8_t i = 0; i < 3; i++) {
  8189. st_current_set(i, current_high[i]);
  8190. /*MYSERIAL.print(int(i));
  8191. SERIAL_ECHOPGM(": ");
  8192. MYSERIAL.println(current_high[i]);*/
  8193. }
  8194. }
  8195. else {
  8196. for (uint8_t i = 0; i < 3; i++) {
  8197. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  8198. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  8199. st_current_set(i, tmp_motor[i]);
  8200. /*MYSERIAL.print(int(i));
  8201. SERIAL_ECHOPGM(": ");
  8202. MYSERIAL.println(tmp_motor[i]);*/
  8203. }
  8204. }
  8205. }
  8206. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8207. void get_coordinates()
  8208. {
  8209. bool seen[4]={false,false,false,false};
  8210. for(int8_t i=0; i < NUM_AXIS; i++) {
  8211. if(code_seen(axis_codes[i]))
  8212. {
  8213. bool relative = axis_relative_modes & (1 << i);
  8214. destination[i] = code_value();
  8215. if (i == E_AXIS) {
  8216. float emult = extruder_multiplier[active_extruder];
  8217. if (emult != 1.) {
  8218. if (! relative) {
  8219. destination[i] -= current_position[i];
  8220. relative = true;
  8221. }
  8222. destination[i] *= emult;
  8223. }
  8224. }
  8225. if (relative)
  8226. destination[i] += current_position[i];
  8227. seen[i]=true;
  8228. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8229. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  8230. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8231. }
  8232. else destination[i] = current_position[i]; //Are these else lines really needed?
  8233. }
  8234. if(code_seen('F')) {
  8235. next_feedrate = code_value();
  8236. if(next_feedrate > 0.0) feedrate = next_feedrate;
  8237. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  8238. {
  8239. // float e_max_speed =
  8240. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  8241. }
  8242. }
  8243. }
  8244. void get_arc_coordinates()
  8245. {
  8246. #ifdef SF_ARC_FIX
  8247. bool relative_mode_backup = relative_mode;
  8248. relative_mode = true;
  8249. #endif
  8250. get_coordinates();
  8251. #ifdef SF_ARC_FIX
  8252. relative_mode=relative_mode_backup;
  8253. #endif
  8254. if(code_seen('I')) {
  8255. offset[0] = code_value();
  8256. }
  8257. else {
  8258. offset[0] = 0.0;
  8259. }
  8260. if(code_seen('J')) {
  8261. offset[1] = code_value();
  8262. }
  8263. else {
  8264. offset[1] = 0.0;
  8265. }
  8266. }
  8267. void clamp_to_software_endstops(float target[3])
  8268. {
  8269. #ifdef DEBUG_DISABLE_SWLIMITS
  8270. return;
  8271. #endif //DEBUG_DISABLE_SWLIMITS
  8272. world2machine_clamp(target[0], target[1]);
  8273. // Clamp the Z coordinate.
  8274. if (min_software_endstops) {
  8275. float negative_z_offset = 0;
  8276. #ifdef ENABLE_AUTO_BED_LEVELING
  8277. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  8278. if (cs.add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + cs.add_homing[Z_AXIS];
  8279. #endif
  8280. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  8281. }
  8282. if (max_software_endstops) {
  8283. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  8284. }
  8285. }
  8286. #ifdef MESH_BED_LEVELING
  8287. 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) {
  8288. float dx = x - current_position[X_AXIS];
  8289. float dy = y - current_position[Y_AXIS];
  8290. int n_segments = 0;
  8291. if (mbl.active) {
  8292. float len = fabs(dx) + fabs(dy);
  8293. if (len > 0)
  8294. // Split to 3cm segments or shorter.
  8295. n_segments = int(ceil(len / 30.f));
  8296. }
  8297. if (n_segments > 1) {
  8298. // In a multi-segment move explicitly set the final target in the plan
  8299. // as the move will be recalculated in it's entirety
  8300. float gcode_target[NUM_AXIS];
  8301. gcode_target[X_AXIS] = x;
  8302. gcode_target[Y_AXIS] = y;
  8303. gcode_target[Z_AXIS] = z;
  8304. gcode_target[E_AXIS] = e;
  8305. float dz = z - current_position[Z_AXIS];
  8306. float de = e - current_position[E_AXIS];
  8307. for (int i = 1; i < n_segments; ++ i) {
  8308. float t = float(i) / float(n_segments);
  8309. plan_buffer_line(current_position[X_AXIS] + t * dx,
  8310. current_position[Y_AXIS] + t * dy,
  8311. current_position[Z_AXIS] + t * dz,
  8312. current_position[E_AXIS] + t * de,
  8313. feed_rate, extruder, gcode_target);
  8314. if (planner_aborted)
  8315. return;
  8316. }
  8317. }
  8318. // The rest of the path.
  8319. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  8320. }
  8321. #endif // MESH_BED_LEVELING
  8322. void prepare_move()
  8323. {
  8324. clamp_to_software_endstops(destination);
  8325. previous_millis_cmd.start();
  8326. // Do not use feedmultiply for E or Z only moves
  8327. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  8328. plan_buffer_line_destinationXYZE(feedrate/60);
  8329. }
  8330. else {
  8331. #ifdef MESH_BED_LEVELING
  8332. 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);
  8333. #else
  8334. plan_buffer_line_destinationXYZE(feedrate*feedmultiply*(1./(60.f*100.f)));
  8335. #endif
  8336. }
  8337. set_current_to_destination();
  8338. }
  8339. void prepare_arc_move(bool isclockwise) {
  8340. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  8341. // Trace the arc
  8342. mc_arc(current_position, destination, offset, feedrate * feedmultiply / 60 / 100.0, r, isclockwise, active_extruder);
  8343. // As far as the parser is concerned, the position is now == target. In reality the
  8344. // motion control system might still be processing the action and the real tool position
  8345. // in any intermediate location.
  8346. set_current_to_destination();
  8347. previous_millis_cmd.start();
  8348. }
  8349. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  8350. #if defined(FAN_PIN)
  8351. #if CONTROLLERFAN_PIN == FAN_PIN
  8352. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  8353. #endif
  8354. #endif
  8355. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  8356. unsigned long lastMotorCheck = 0;
  8357. void controllerFan()
  8358. {
  8359. if ((_millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  8360. {
  8361. lastMotorCheck = _millis();
  8362. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  8363. #if EXTRUDERS > 2
  8364. || !READ(E2_ENABLE_PIN)
  8365. #endif
  8366. #if EXTRUDER > 1
  8367. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  8368. || !READ(X2_ENABLE_PIN)
  8369. #endif
  8370. || !READ(E1_ENABLE_PIN)
  8371. #endif
  8372. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  8373. {
  8374. lastMotor = _millis(); //... set time to NOW so the fan will turn on
  8375. }
  8376. if ((_millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  8377. {
  8378. digitalWrite(CONTROLLERFAN_PIN, 0);
  8379. analogWrite(CONTROLLERFAN_PIN, 0);
  8380. }
  8381. else
  8382. {
  8383. // allows digital or PWM fan output to be used (see M42 handling)
  8384. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  8385. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  8386. }
  8387. }
  8388. }
  8389. #endif
  8390. #ifdef SAFETYTIMER
  8391. /**
  8392. * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
  8393. *
  8394. * Full screen blocking notification message is shown after heater turning off.
  8395. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  8396. * damage print.
  8397. *
  8398. * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
  8399. */
  8400. static void handleSafetyTimer()
  8401. {
  8402. #if (EXTRUDERS > 1)
  8403. #error Implemented only for one extruder.
  8404. #endif //(EXTRUDERS > 1)
  8405. if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
  8406. {
  8407. safetyTimer.stop();
  8408. }
  8409. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  8410. {
  8411. safetyTimer.start();
  8412. }
  8413. else if (safetyTimer.expired(farm_mode?FARM_DEFAULT_SAFETYTIMER_TIME_ms:safetytimer_inactive_time))
  8414. {
  8415. setTargetBed(0);
  8416. setAllTargetHotends(0);
  8417. lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=20 r=4
  8418. }
  8419. }
  8420. #endif //SAFETYTIMER
  8421. #ifdef IR_SENSOR_ANALOG
  8422. #define FS_CHECK_COUNT 16
  8423. /// Switching mechanism of the fsensor type.
  8424. /// Called from 2 spots which have a very similar behavior
  8425. /// 1: ClFsensorPCB::_Old -> ClFsensorPCB::_Rev04 and print _i("FS v0.4 or newer")
  8426. /// 2: ClFsensorPCB::_Rev04 -> oFsensorPCB=ClFsensorPCB::_Old and print _i("FS v0.3 or older")
  8427. void manage_inactivity_IR_ANALOG_Check(uint16_t &nFSCheckCount, ClFsensorPCB isVersion, ClFsensorPCB switchTo, const char *statusLineTxt_P) {
  8428. bool bTemp = (!CHECK_ALL_HEATERS);
  8429. bTemp = bTemp && (menu_menu == lcd_status_screen);
  8430. bTemp = bTemp && ((oFsensorPCB == isVersion) || (oFsensorPCB == ClFsensorPCB::_Undef));
  8431. bTemp = bTemp && fsensor_enabled;
  8432. if (bTemp) {
  8433. nFSCheckCount++;
  8434. if (nFSCheckCount > FS_CHECK_COUNT) {
  8435. nFSCheckCount = 0; // not necessary
  8436. oFsensorPCB = switchTo;
  8437. eeprom_update_byte((uint8_t *)EEPROM_FSENSOR_PCB, (uint8_t)oFsensorPCB);
  8438. printf_IRSensorAnalogBoardChange();
  8439. lcd_setstatuspgm(statusLineTxt_P);
  8440. }
  8441. } else {
  8442. nFSCheckCount = 0;
  8443. }
  8444. }
  8445. #endif
  8446. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  8447. {
  8448. #ifdef FILAMENT_SENSOR
  8449. bool bInhibitFlag = false;
  8450. #ifdef IR_SENSOR_ANALOG
  8451. static uint16_t nFSCheckCount=0;
  8452. #endif // IR_SENSOR_ANALOG
  8453. if (mmu_enabled == false)
  8454. {
  8455. //-// if (mcode_in_progress != 600) //M600 not in progress
  8456. if (!PRINTER_ACTIVE) bInhibitFlag=(menu_menu==lcd_menu_show_sensors_state); //Block Filament sensor actions if PRINTER is not active and Support::SensorInfo menu active
  8457. #ifdef IR_SENSOR_ANALOG
  8458. bInhibitFlag=bInhibitFlag||bMenuFSDetect; // Block Filament sensor actions if Settings::HWsetup::FSdetect menu active
  8459. #endif // IR_SENSOR_ANALOG
  8460. if ((mcode_in_progress != 600) && (eFilamentAction != FilamentAction::AutoLoad) && (!bInhibitFlag) && (menu_menu != lcd_move_e)) //M600 not in progress, preHeat @ autoLoad menu not active
  8461. {
  8462. if (!moves_planned() && !IS_SD_PRINTING && !usb_timer.running() && (lcd_commands_type != LcdCommands::Layer1Cal) && ! eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE))
  8463. {
  8464. #ifdef IR_SENSOR_ANALOG
  8465. static uint16_t minVolt = Voltage2Raw(6.F), maxVolt = 0;
  8466. // detect min-max, some long term sliding window for filtration may be added
  8467. // avoiding floating point operations, thus computing in raw
  8468. if( current_voltage_raw_IR > maxVolt )maxVolt = current_voltage_raw_IR;
  8469. if( current_voltage_raw_IR < minVolt )minVolt = current_voltage_raw_IR;
  8470. #if 0 // Start: IR Sensor debug info
  8471. { // debug print
  8472. static uint16_t lastVolt = ~0U;
  8473. if( current_voltage_raw_IR != lastVolt ){
  8474. printf_P(PSTR("fs volt=%4.2fV (min=%4.2f max=%4.2f)\n"), Raw2Voltage(current_voltage_raw_IR), Raw2Voltage(minVolt), Raw2Voltage(maxVolt) );
  8475. lastVolt = current_voltage_raw_IR;
  8476. }
  8477. }
  8478. #endif // End: IR Sensor debug info
  8479. //! The trouble is, I can hold the filament in the hole in such a way, that it creates the exact voltage
  8480. //! to be detected as the new fsensor
  8481. //! We can either fake it by extending the detection window to a looooong time
  8482. //! or do some other countermeasures
  8483. //! what we want to detect:
  8484. //! if minvolt gets below ~0.3V, it means there is an old fsensor
  8485. //! if maxvolt gets above 4.6V, it means we either have an old fsensor or broken cables/fsensor
  8486. //! So I'm waiting for a situation, when minVolt gets to range <0, 1.5> and maxVolt gets into range <3.0, 5>
  8487. //! If and only if minVolt is in range <0.3, 1.5> and maxVolt is in range <3.0, 4.6>, I'm considering a situation with the new fsensor
  8488. if( minVolt >= IRsensor_Ldiode_TRESHOLD && minVolt <= IRsensor_Lmax_TRESHOLD
  8489. && maxVolt >= IRsensor_Hmin_TRESHOLD && maxVolt <= IRsensor_Hopen_TRESHOLD
  8490. ){
  8491. manage_inactivity_IR_ANALOG_Check(nFSCheckCount, ClFsensorPCB::_Old, ClFsensorPCB::_Rev04, _i("FS v0.4 or newer") ); ////MSG_FS_V_04_OR_NEWER c=18
  8492. }
  8493. //! If and only if minVolt is in range <0.0, 0.3> and maxVolt is in range <4.6, 5.0V>, I'm considering a situation with the old fsensor
  8494. //! Note, we are not relying on one voltage here - getting just +5V can mean an old fsensor or a broken new sensor - that's why
  8495. //! we need to have both voltages detected correctly to allow switching back to the old fsensor.
  8496. else if( minVolt < IRsensor_Ldiode_TRESHOLD
  8497. && maxVolt > IRsensor_Hopen_TRESHOLD && maxVolt <= IRsensor_VMax_TRESHOLD
  8498. ){
  8499. manage_inactivity_IR_ANALOG_Check(nFSCheckCount, ClFsensorPCB::_Rev04, oFsensorPCB=ClFsensorPCB::_Old, _i("FS v0.3 or older")); ////MSG_FS_V_03_OR_OLDER c=18
  8500. }
  8501. #endif // IR_SENSOR_ANALOG
  8502. if (fsensor_check_autoload())
  8503. {
  8504. #ifdef PAT9125
  8505. fsensor_autoload_check_stop();
  8506. #endif //PAT9125
  8507. //-// if ((int)degHotend0() > extrude_min_temp)
  8508. if(0)
  8509. {
  8510. Sound_MakeCustom(50,1000,false);
  8511. loading_flag = true;
  8512. enquecommand_front_P((PSTR("M701")));
  8513. }
  8514. else
  8515. {
  8516. /*
  8517. lcd_update_enable(false);
  8518. show_preheat_nozzle_warning();
  8519. lcd_update_enable(true);
  8520. */
  8521. eFilamentAction=FilamentAction::AutoLoad;
  8522. bFilamentFirstRun=false;
  8523. if(target_temperature[0] >= extrude_min_temp){
  8524. bFilamentPreheatState=true;
  8525. // mFilamentItem(target_temperature[0],target_temperature_bed);
  8526. menu_submenu(mFilamentItemForce);
  8527. } else {
  8528. menu_submenu(lcd_generic_preheat_menu);
  8529. lcd_timeoutToStatus.start();
  8530. }
  8531. }
  8532. }
  8533. }
  8534. else
  8535. {
  8536. #ifdef PAT9125
  8537. fsensor_autoload_check_stop();
  8538. #endif //PAT9125
  8539. if (fsensor_enabled && !saved_printing)
  8540. fsensor_update();
  8541. }
  8542. }
  8543. }
  8544. #endif //FILAMENT_SENSOR
  8545. #ifdef SAFETYTIMER
  8546. handleSafetyTimer();
  8547. #endif //SAFETYTIMER
  8548. #if defined(KILL_PIN) && KILL_PIN > -1
  8549. static int killCount = 0; // make the inactivity button a bit less responsive
  8550. const int KILL_DELAY = 10000;
  8551. #endif
  8552. if(buflen < (BUFSIZE-1)){
  8553. get_command();
  8554. }
  8555. if(previous_millis_cmd.expired(max_inactive_time))
  8556. if(max_inactive_time)
  8557. kill(_n("Inactivity Shutdown"), 4);
  8558. if(stepper_inactive_time) {
  8559. if(previous_millis_cmd.expired(stepper_inactive_time))
  8560. {
  8561. if(blocks_queued() == false && ignore_stepper_queue == false) {
  8562. disable_x();
  8563. disable_y();
  8564. disable_z();
  8565. disable_e0();
  8566. disable_e1();
  8567. disable_e2();
  8568. }
  8569. }
  8570. }
  8571. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  8572. if (chdkActive && (_millis() - chdkHigh > CHDK_DELAY))
  8573. {
  8574. chdkActive = false;
  8575. WRITE(CHDK, LOW);
  8576. }
  8577. #endif
  8578. #if defined(KILL_PIN) && KILL_PIN > -1
  8579. // Check if the kill button was pressed and wait just in case it was an accidental
  8580. // key kill key press
  8581. // -------------------------------------------------------------------------------
  8582. if( 0 == READ(KILL_PIN) )
  8583. {
  8584. killCount++;
  8585. }
  8586. else if (killCount > 0)
  8587. {
  8588. killCount--;
  8589. }
  8590. // Exceeded threshold and we can confirm that it was not accidental
  8591. // KILL the machine
  8592. // ----------------------------------------------------------------
  8593. if ( killCount >= KILL_DELAY)
  8594. {
  8595. kill(NULL, 5);
  8596. }
  8597. #endif
  8598. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  8599. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  8600. #endif
  8601. #ifdef EXTRUDER_RUNOUT_PREVENT
  8602. if(previous_millis_cmd.expired(EXTRUDER_RUNOUT_SECONDS*1000))
  8603. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  8604. {
  8605. bool oldstatus=READ(E0_ENABLE_PIN);
  8606. enable_e0();
  8607. float oldepos=current_position[E_AXIS];
  8608. float oldedes=destination[E_AXIS];
  8609. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  8610. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS],
  8611. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS], active_extruder);
  8612. current_position[E_AXIS]=oldepos;
  8613. destination[E_AXIS]=oldedes;
  8614. plan_set_e_position(oldepos);
  8615. previous_millis_cmd.start();
  8616. st_synchronize();
  8617. WRITE(E0_ENABLE_PIN,oldstatus);
  8618. }
  8619. #endif
  8620. check_axes_activity();
  8621. mmu_loop();
  8622. // handle longpress
  8623. if(lcd_longpress_trigger)
  8624. {
  8625. // long press is not possible in modal mode, wait until ready
  8626. if (lcd_longpress_func && lcd_update_enabled)
  8627. {
  8628. lcd_longpress_func();
  8629. lcd_longpress_trigger = 0;
  8630. }
  8631. }
  8632. #if defined(AUTO_REPORT)
  8633. host_autoreport();
  8634. #endif //AUTO_REPORT
  8635. host_keepalive();
  8636. }
  8637. void kill(const char *full_screen_message, unsigned char id)
  8638. {
  8639. printf_P(_N("KILL: %d\n"), id);
  8640. //return;
  8641. cli(); // Stop interrupts
  8642. disable_heater();
  8643. disable_x();
  8644. // SERIAL_ECHOLNPGM("kill - disable Y");
  8645. disable_y();
  8646. poweroff_z();
  8647. disable_e0();
  8648. disable_e1();
  8649. disable_e2();
  8650. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  8651. pinMode(PS_ON_PIN,INPUT);
  8652. #endif
  8653. SERIAL_ERROR_START;
  8654. SERIAL_ERRORLNRPGM(_n("Printer halted. kill() called!"));////MSG_ERR_KILLED
  8655. if (full_screen_message != NULL) {
  8656. SERIAL_ERRORLNRPGM(full_screen_message);
  8657. lcd_display_message_fullscreen_P(full_screen_message);
  8658. } else {
  8659. LCD_ALERTMESSAGERPGM(_n("KILLED. "));////MSG_KILLED
  8660. }
  8661. // FMC small patch to update the LCD before ending
  8662. sei(); // enable interrupts
  8663. for ( int i=5; i--; lcd_update(0))
  8664. {
  8665. _delay(200);
  8666. }
  8667. cli(); // disable interrupts
  8668. suicide();
  8669. while(1)
  8670. {
  8671. #ifdef WATCHDOG
  8672. wdt_reset();
  8673. #endif //WATCHDOG
  8674. /* Intentionally left empty */
  8675. } // Wait for reset
  8676. }
  8677. void UnconditionalStop()
  8678. {
  8679. CRITICAL_SECTION_START;
  8680. // Disable all heaters and unroll the temperature wait loop stack
  8681. disable_heater();
  8682. cancel_heatup = true;
  8683. heating_status = HeatingStatus::NO_HEATING;
  8684. // Clear any saved printing state
  8685. cancel_saved_printing();
  8686. // Abort the planner
  8687. planner_abort_hard();
  8688. // Reset the queue
  8689. cmdqueue_reset();
  8690. cmdqueue_serial_disabled = false;
  8691. // Reset the sd status
  8692. card.sdprinting = false;
  8693. card.closefile();
  8694. st_reset_timer();
  8695. CRITICAL_SECTION_END;
  8696. }
  8697. // Emergency stop used by overtemp functions which allows recovery
  8698. //
  8699. // This function is called *continuously* during a thermal failure.
  8700. //
  8701. // In addition to stopping the print, this prevents subsequent G[0-3] commands to be
  8702. // processed via USB (using "Stopped") until the print is resumed via M999 or
  8703. // manually started from scratch with the LCD.
  8704. //
  8705. // Note that the current instruction is completely discarded, so resuming from Stop()
  8706. // will introduce either over/under extrusion on the current segment, and will not
  8707. // survive a power panic. Switching Stop() to use the pause machinery instead (with
  8708. // the addition of disabling the headers) could allow true recovery in the future.
  8709. void ThermalStop(bool allow_pause)
  8710. {
  8711. if(Stopped == false) {
  8712. Stopped = true;
  8713. if(allow_pause && (IS_SD_PRINTING || usb_timer.running())) {
  8714. if (!isPrintPaused) {
  8715. // we cannot make a distinction for the host here, the pause must be instantaneous
  8716. // so we call the lcd_pause_print to save the print state internally. Thermal errors
  8717. // disable heaters and save the original temperatures to saved_*, which will get
  8718. // overwritten by stop_and_save_print_to_ram. For this corner-case, re-instate the
  8719. // original values after the pause handler is called.
  8720. float bed_temp = saved_bed_temperature;
  8721. float ext_temp = saved_extruder_temperature;
  8722. int fan_speed = saved_fan_speed;
  8723. lcd_pause_print();
  8724. saved_bed_temperature = bed_temp;
  8725. saved_extruder_temperature = ext_temp;
  8726. saved_fan_speed = fan_speed;
  8727. }
  8728. } else {
  8729. // We got a hard thermal error and/or there is no print going on. Just stop.
  8730. lcd_print_stop();
  8731. }
  8732. // Report the status on the serial, switch to a busy state
  8733. SERIAL_ERROR_START;
  8734. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  8735. // Eventually report the stopped status on the lcd (though this is usually overridden by a
  8736. // higher-priority alert status message)
  8737. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  8738. // Make a warning sound! We cannot use Sound_MakeCustom as this would stop further moves.
  8739. // Turn on the speaker here (if not already), and turn it off when back in the main loop.
  8740. WRITE(BEEPER, HIGH);
  8741. }
  8742. // Return to the status screen to stop any pending menu action which could have been
  8743. // started by the user while stuck in the Stopped state. This also ensures the NEW
  8744. // error is immediately shown.
  8745. if (menu_menu != lcd_status_screen)
  8746. lcd_return_to_status();
  8747. }
  8748. bool IsStopped() { return Stopped; };
  8749. void finishAndDisableSteppers()
  8750. {
  8751. st_synchronize();
  8752. disable_x();
  8753. disable_y();
  8754. disable_z();
  8755. disable_e0();
  8756. disable_e1();
  8757. disable_e2();
  8758. #ifndef LA_NOCOMPAT
  8759. // Steppers are disabled both when a print is stopped and also via M84 (which is additionally
  8760. // checked-for to indicate a complete file), so abuse this function to reset the LA detection
  8761. // state for the next print.
  8762. la10c_reset();
  8763. #endif
  8764. //in the end of print set estimated time to end of print and extruders used during print to default values for next print
  8765. print_time_remaining_init();
  8766. }
  8767. #ifdef FAST_PWM_FAN
  8768. void setPwmFrequency(uint8_t pin, int val)
  8769. {
  8770. val &= 0x07;
  8771. switch(digitalPinToTimer(pin))
  8772. {
  8773. #if defined(TCCR0A)
  8774. case TIMER0A:
  8775. case TIMER0B:
  8776. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  8777. // TCCR0B |= val;
  8778. break;
  8779. #endif
  8780. #if defined(TCCR1A)
  8781. case TIMER1A:
  8782. case TIMER1B:
  8783. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  8784. // TCCR1B |= val;
  8785. break;
  8786. #endif
  8787. #if defined(TCCR2)
  8788. case TIMER2:
  8789. case TIMER2:
  8790. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  8791. TCCR2 |= val;
  8792. break;
  8793. #endif
  8794. #if defined(TCCR2A)
  8795. case TIMER2A:
  8796. case TIMER2B:
  8797. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  8798. TCCR2B |= val;
  8799. break;
  8800. #endif
  8801. #if defined(TCCR3A)
  8802. case TIMER3A:
  8803. case TIMER3B:
  8804. case TIMER3C:
  8805. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  8806. TCCR3B |= val;
  8807. break;
  8808. #endif
  8809. #if defined(TCCR4A)
  8810. case TIMER4A:
  8811. case TIMER4B:
  8812. case TIMER4C:
  8813. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  8814. TCCR4B |= val;
  8815. break;
  8816. #endif
  8817. #if defined(TCCR5A)
  8818. case TIMER5A:
  8819. case TIMER5B:
  8820. case TIMER5C:
  8821. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  8822. TCCR5B |= val;
  8823. break;
  8824. #endif
  8825. }
  8826. }
  8827. #endif //FAST_PWM_FAN
  8828. //! @brief Get and validate extruder number
  8829. //!
  8830. //! If it is not specified, active_extruder is returned in parameter extruder.
  8831. //! @param [in] code M code number
  8832. //! @param [out] extruder
  8833. //! @return error
  8834. //! @retval true Invalid extruder specified in T code
  8835. //! @retval false Valid extruder specified in T code, or not specifiead
  8836. bool setTargetedHotend(int code, uint8_t &extruder)
  8837. {
  8838. extruder = active_extruder;
  8839. if(code_seen('T')) {
  8840. extruder = code_value_uint8();
  8841. if(extruder >= EXTRUDERS) {
  8842. SERIAL_ECHO_START;
  8843. switch(code){
  8844. case 104:
  8845. SERIAL_ECHORPGM(_n("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER
  8846. break;
  8847. case 105:
  8848. SERIAL_ECHORPGM(_n("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER
  8849. break;
  8850. case 109:
  8851. SERIAL_ECHORPGM(_n("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER
  8852. break;
  8853. case 218:
  8854. SERIAL_ECHORPGM(_n("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER
  8855. break;
  8856. case 221:
  8857. SERIAL_ECHORPGM(_n("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER
  8858. break;
  8859. }
  8860. SERIAL_PROTOCOLLN((int)extruder);
  8861. return true;
  8862. }
  8863. }
  8864. return false;
  8865. }
  8866. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  8867. {
  8868. 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)
  8869. {
  8870. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  8871. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  8872. }
  8873. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  8874. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  8875. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  8876. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  8877. total_filament_used = 0;
  8878. }
  8879. float calculate_extruder_multiplier(float diameter) {
  8880. float out = 1.f;
  8881. if (cs.volumetric_enabled && diameter > 0.f) {
  8882. float area = M_PI * diameter * diameter * 0.25;
  8883. out = 1.f / area;
  8884. }
  8885. if (extrudemultiply != 100)
  8886. out *= float(extrudemultiply) * 0.01f;
  8887. return out;
  8888. }
  8889. void calculate_extruder_multipliers() {
  8890. extruder_multiplier[0] = calculate_extruder_multiplier(cs.filament_size[0]);
  8891. #if EXTRUDERS > 1
  8892. extruder_multiplier[1] = calculate_extruder_multiplier(cs.filament_size[1]);
  8893. #if EXTRUDERS > 2
  8894. extruder_multiplier[2] = calculate_extruder_multiplier(cs.filament_size[2]);
  8895. #endif
  8896. #endif
  8897. }
  8898. void delay_keep_alive(unsigned int ms)
  8899. {
  8900. for (;;) {
  8901. manage_heater();
  8902. // Manage inactivity, but don't disable steppers on timeout.
  8903. manage_inactivity(true);
  8904. lcd_update(0);
  8905. if (ms == 0)
  8906. break;
  8907. else if (ms >= 50) {
  8908. _delay(50);
  8909. ms -= 50;
  8910. } else {
  8911. _delay(ms);
  8912. ms = 0;
  8913. }
  8914. }
  8915. }
  8916. static void wait_for_heater(long codenum, uint8_t extruder) {
  8917. if (!degTargetHotend(extruder))
  8918. return;
  8919. #ifdef TEMP_RESIDENCY_TIME
  8920. long residencyStart;
  8921. residencyStart = -1;
  8922. /* continue to loop until we have reached the target temp
  8923. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  8924. cancel_heatup = false;
  8925. while ((!cancel_heatup) && ((residencyStart == -1) ||
  8926. (residencyStart >= 0 && (((unsigned int)(_millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  8927. #else
  8928. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  8929. #endif //TEMP_RESIDENCY_TIME
  8930. if ((_millis() - codenum) > 1000UL)
  8931. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  8932. if (!farm_mode) {
  8933. SERIAL_PROTOCOLPGM("T:");
  8934. SERIAL_PROTOCOL_F(degHotend(extruder), 1);
  8935. SERIAL_PROTOCOLPGM(" E:");
  8936. SERIAL_PROTOCOL((int)extruder);
  8937. #ifdef TEMP_RESIDENCY_TIME
  8938. SERIAL_PROTOCOLPGM(" W:");
  8939. if (residencyStart > -1)
  8940. {
  8941. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (_millis() - residencyStart)) / 1000UL;
  8942. SERIAL_PROTOCOLLN(codenum);
  8943. }
  8944. else
  8945. {
  8946. SERIAL_PROTOCOLLN('?');
  8947. }
  8948. }
  8949. #else
  8950. SERIAL_PROTOCOLLN();
  8951. #endif
  8952. codenum = _millis();
  8953. }
  8954. manage_heater();
  8955. manage_inactivity(true); //do not disable steppers
  8956. lcd_update(0);
  8957. #ifdef TEMP_RESIDENCY_TIME
  8958. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  8959. or when current temp falls outside the hysteresis after target temp was reached */
  8960. if ((residencyStart == -1 && target_direction && (degHotend(extruder) >= (degTargetHotend(extruder) - TEMP_WINDOW))) ||
  8961. (residencyStart == -1 && !target_direction && (degHotend(extruder) <= (degTargetHotend(extruder) + TEMP_WINDOW))) ||
  8962. (residencyStart > -1 && labs(degHotend(extruder) - degTargetHotend(extruder)) > TEMP_HYSTERESIS))
  8963. {
  8964. residencyStart = _millis();
  8965. }
  8966. #endif //TEMP_RESIDENCY_TIME
  8967. }
  8968. }
  8969. void check_babystep()
  8970. {
  8971. int babystep_z = eeprom_read_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
  8972. s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)));
  8973. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  8974. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  8975. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  8976. eeprom_write_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
  8977. s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),
  8978. babystep_z);
  8979. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  8980. lcd_update_enable(true);
  8981. }
  8982. }
  8983. #ifdef HEATBED_ANALYSIS
  8984. void d_setup()
  8985. {
  8986. pinMode(D_DATACLOCK, INPUT_PULLUP);
  8987. pinMode(D_DATA, INPUT_PULLUP);
  8988. pinMode(D_REQUIRE, OUTPUT);
  8989. digitalWrite(D_REQUIRE, HIGH);
  8990. }
  8991. float d_ReadData()
  8992. {
  8993. int digit[13];
  8994. String mergeOutput;
  8995. float output;
  8996. digitalWrite(D_REQUIRE, HIGH);
  8997. for (int i = 0; i<13; i++)
  8998. {
  8999. for (int j = 0; j < 4; j++)
  9000. {
  9001. while (digitalRead(D_DATACLOCK) == LOW) {}
  9002. while (digitalRead(D_DATACLOCK) == HIGH) {}
  9003. bitWrite(digit[i], j, digitalRead(D_DATA));
  9004. }
  9005. }
  9006. digitalWrite(D_REQUIRE, LOW);
  9007. mergeOutput = "";
  9008. output = 0;
  9009. for (int r = 5; r <= 10; r++) //Merge digits
  9010. {
  9011. mergeOutput += digit[r];
  9012. }
  9013. output = mergeOutput.toFloat();
  9014. if (digit[4] == 8) //Handle sign
  9015. {
  9016. output *= -1;
  9017. }
  9018. for (int i = digit[11]; i > 0; i--) //Handle floating point
  9019. {
  9020. output /= 10;
  9021. }
  9022. return output;
  9023. }
  9024. void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  9025. int t1 = 0;
  9026. int t_delay = 0;
  9027. int digit[13];
  9028. int m;
  9029. char str[3];
  9030. //String mergeOutput;
  9031. char mergeOutput[15];
  9032. float output;
  9033. int mesh_point = 0; //index number of calibration point
  9034. 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
  9035. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  9036. float mesh_home_z_search = 4;
  9037. float measure_z_height = 0.2f;
  9038. float row[x_points_num];
  9039. int ix = 0;
  9040. int iy = 0;
  9041. const char* filename_wldsd = "mesh.txt";
  9042. char data_wldsd[x_points_num * 7 + 1]; //6 chars(" -A.BCD")for each measurement + null
  9043. char numb_wldsd[8]; // (" -A.BCD" + null)
  9044. #ifdef MICROMETER_LOGGING
  9045. d_setup();
  9046. #endif //MICROMETER_LOGGING
  9047. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  9048. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  9049. unsigned int custom_message_type_old = custom_message_type;
  9050. unsigned int custom_message_state_old = custom_message_state;
  9051. custom_message_type = CustomMsg::MeshBedLeveling;
  9052. custom_message_state = (x_points_num * y_points_num) + 10;
  9053. lcd_update(1);
  9054. //mbl.reset();
  9055. babystep_undo();
  9056. card.openFile(filename_wldsd, false);
  9057. /*destination[Z_AXIS] = mesh_home_z_search;
  9058. //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  9059. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  9060. for(int8_t i=0; i < NUM_AXIS; i++) {
  9061. current_position[i] = destination[i];
  9062. }
  9063. st_synchronize();
  9064. */
  9065. destination[Z_AXIS] = measure_z_height;
  9066. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  9067. for(int8_t i=0; i < NUM_AXIS; i++) {
  9068. current_position[i] = destination[i];
  9069. }
  9070. st_synchronize();
  9071. /*int l_feedmultiply = */setup_for_endstop_move(false);
  9072. SERIAL_PROTOCOLPGM("Num X,Y: ");
  9073. SERIAL_PROTOCOL(x_points_num);
  9074. SERIAL_PROTOCOLPGM(",");
  9075. SERIAL_PROTOCOL(y_points_num);
  9076. SERIAL_PROTOCOLPGM("\nZ search height: ");
  9077. SERIAL_PROTOCOL(mesh_home_z_search);
  9078. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  9079. SERIAL_PROTOCOL(x_dimension);
  9080. SERIAL_PROTOCOLPGM(",");
  9081. SERIAL_PROTOCOL(y_dimension);
  9082. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  9083. while (mesh_point != x_points_num * y_points_num) {
  9084. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  9085. iy = mesh_point / x_points_num;
  9086. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  9087. float z0 = 0.f;
  9088. /*destination[Z_AXIS] = mesh_home_z_search;
  9089. //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  9090. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  9091. for(int8_t i=0; i < NUM_AXIS; i++) {
  9092. current_position[i] = destination[i];
  9093. }
  9094. st_synchronize();*/
  9095. //current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  9096. //current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  9097. destination[X_AXIS] = ix * (x_dimension / (x_points_num - 1)) + shift_x;
  9098. destination[Y_AXIS] = iy * (y_dimension / (y_points_num - 1)) + shift_y;
  9099. mesh_plan_buffer_line_destinationXYZE(XY_AXIS_FEEDRATE/6);
  9100. set_current_to_destination();
  9101. st_synchronize();
  9102. // printf_P(PSTR("X = %f; Y= %f \n"), current_position[X_AXIS], current_position[Y_AXIS]);
  9103. delay_keep_alive(1000);
  9104. #ifdef MICROMETER_LOGGING
  9105. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9106. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  9107. //strcat(data_wldsd, numb_wldsd);
  9108. //MYSERIAL.println(data_wldsd);
  9109. //delay(1000);
  9110. //delay(3000);
  9111. //t1 = millis();
  9112. //while (digitalRead(D_DATACLOCK) == LOW) {}
  9113. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  9114. memset(digit, 0, sizeof(digit));
  9115. //cli();
  9116. digitalWrite(D_REQUIRE, LOW);
  9117. for (int i = 0; i<13; i++)
  9118. {
  9119. //t1 = millis();
  9120. for (int j = 0; j < 4; j++)
  9121. {
  9122. while (digitalRead(D_DATACLOCK) == LOW) {}
  9123. while (digitalRead(D_DATACLOCK) == HIGH) {}
  9124. //printf_P(PSTR("Done %d\n"), j);
  9125. bitWrite(digit[i], j, digitalRead(D_DATA));
  9126. }
  9127. //t_delay = (millis() - t1);
  9128. //SERIAL_PROTOCOLPGM(" ");
  9129. //SERIAL_PROTOCOL_F(t_delay, 5);
  9130. //SERIAL_PROTOCOLPGM(" ");
  9131. }
  9132. //sei();
  9133. digitalWrite(D_REQUIRE, HIGH);
  9134. mergeOutput[0] = '\0';
  9135. output = 0;
  9136. for (int r = 5; r <= 10; r++) //Merge digits
  9137. {
  9138. sprintf(str, "%d", digit[r]);
  9139. strcat(mergeOutput, str);
  9140. }
  9141. output = atof(mergeOutput);
  9142. if (digit[4] == 8) //Handle sign
  9143. {
  9144. output *= -1;
  9145. }
  9146. for (int i = digit[11]; i > 0; i--) //Handle floating point
  9147. {
  9148. output *= 0.1;
  9149. }
  9150. //output = d_ReadData();
  9151. //row[ix] = current_position[Z_AXIS];
  9152. //row[ix] = d_ReadData();
  9153. row[ix] = output;
  9154. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  9155. memset(data_wldsd, 0, sizeof(data_wldsd));
  9156. for (int i = 0; i < x_points_num; i++) {
  9157. SERIAL_PROTOCOLPGM(" ");
  9158. SERIAL_PROTOCOL_F(row[i], 5);
  9159. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9160. dtostrf(row[i], 7, 3, numb_wldsd);
  9161. strcat(data_wldsd, numb_wldsd);
  9162. }
  9163. card.write_command(data_wldsd);
  9164. SERIAL_PROTOCOLPGM("\n");
  9165. }
  9166. custom_message_state--;
  9167. mesh_point++;
  9168. lcd_update(1);
  9169. }
  9170. #endif //MICROMETER_LOGGING
  9171. card.closefile();
  9172. //clean_up_after_endstop_move(l_feedmultiply);
  9173. }
  9174. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  9175. int t1 = 0;
  9176. int t_delay = 0;
  9177. int digit[13];
  9178. int m;
  9179. char str[3];
  9180. //String mergeOutput;
  9181. char mergeOutput[15];
  9182. float output;
  9183. int mesh_point = 0; //index number of calibration point
  9184. 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
  9185. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  9186. float mesh_home_z_search = 4;
  9187. float row[x_points_num];
  9188. int ix = 0;
  9189. int iy = 0;
  9190. const char* filename_wldsd = "wldsd.txt";
  9191. char data_wldsd[70];
  9192. char numb_wldsd[10];
  9193. d_setup();
  9194. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  9195. // We don't know where we are! HOME!
  9196. // Push the commands to the front of the message queue in the reverse order!
  9197. // There shall be always enough space reserved for these commands.
  9198. repeatcommand_front(); // repeat G80 with all its parameters
  9199. enquecommand_front_P(G28W0);
  9200. enquecommand_front_P((PSTR("G1 Z5")));
  9201. return;
  9202. }
  9203. unsigned int custom_message_type_old = custom_message_type;
  9204. unsigned int custom_message_state_old = custom_message_state;
  9205. custom_message_type = CustomMsg::MeshBedLeveling;
  9206. custom_message_state = (x_points_num * y_points_num) + 10;
  9207. lcd_update(1);
  9208. mbl.reset();
  9209. babystep_undo();
  9210. card.openFile(filename_wldsd, false);
  9211. current_position[Z_AXIS] = mesh_home_z_search;
  9212. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
  9213. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  9214. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  9215. int l_feedmultiply = setup_for_endstop_move(false);
  9216. SERIAL_PROTOCOLPGM("Num X,Y: ");
  9217. SERIAL_PROTOCOL(x_points_num);
  9218. SERIAL_PROTOCOLPGM(",");
  9219. SERIAL_PROTOCOL(y_points_num);
  9220. SERIAL_PROTOCOLPGM("\nZ search height: ");
  9221. SERIAL_PROTOCOL(mesh_home_z_search);
  9222. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  9223. SERIAL_PROTOCOL(x_dimension);
  9224. SERIAL_PROTOCOLPGM(",");
  9225. SERIAL_PROTOCOL(y_dimension);
  9226. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  9227. while (mesh_point != x_points_num * y_points_num) {
  9228. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  9229. iy = mesh_point / x_points_num;
  9230. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  9231. float z0 = 0.f;
  9232. current_position[Z_AXIS] = mesh_home_z_search;
  9233. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
  9234. st_synchronize();
  9235. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  9236. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  9237. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
  9238. st_synchronize();
  9239. 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
  9240. break;
  9241. card.closefile();
  9242. }
  9243. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9244. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  9245. //strcat(data_wldsd, numb_wldsd);
  9246. //MYSERIAL.println(data_wldsd);
  9247. //_delay(1000);
  9248. //_delay(3000);
  9249. //t1 = _millis();
  9250. //while (digitalRead(D_DATACLOCK) == LOW) {}
  9251. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  9252. memset(digit, 0, sizeof(digit));
  9253. //cli();
  9254. digitalWrite(D_REQUIRE, LOW);
  9255. for (int i = 0; i<13; i++)
  9256. {
  9257. //t1 = _millis();
  9258. for (int j = 0; j < 4; j++)
  9259. {
  9260. while (digitalRead(D_DATACLOCK) == LOW) {}
  9261. while (digitalRead(D_DATACLOCK) == HIGH) {}
  9262. bitWrite(digit[i], j, digitalRead(D_DATA));
  9263. }
  9264. //t_delay = (_millis() - t1);
  9265. //SERIAL_PROTOCOLPGM(" ");
  9266. //SERIAL_PROTOCOL_F(t_delay, 5);
  9267. //SERIAL_PROTOCOLPGM(" ");
  9268. }
  9269. //sei();
  9270. digitalWrite(D_REQUIRE, HIGH);
  9271. mergeOutput[0] = '\0';
  9272. output = 0;
  9273. for (int r = 5; r <= 10; r++) //Merge digits
  9274. {
  9275. sprintf(str, "%d", digit[r]);
  9276. strcat(mergeOutput, str);
  9277. }
  9278. output = atof(mergeOutput);
  9279. if (digit[4] == 8) //Handle sign
  9280. {
  9281. output *= -1;
  9282. }
  9283. for (int i = digit[11]; i > 0; i--) //Handle floating point
  9284. {
  9285. output *= 0.1;
  9286. }
  9287. //output = d_ReadData();
  9288. //row[ix] = current_position[Z_AXIS];
  9289. memset(data_wldsd, 0, sizeof(data_wldsd));
  9290. for (int i = 0; i <3; i++) {
  9291. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9292. dtostrf(current_position[i], 8, 5, numb_wldsd);
  9293. strcat(data_wldsd, numb_wldsd);
  9294. strcat(data_wldsd, ";");
  9295. }
  9296. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9297. dtostrf(output, 8, 5, numb_wldsd);
  9298. strcat(data_wldsd, numb_wldsd);
  9299. //strcat(data_wldsd, ";");
  9300. card.write_command(data_wldsd);
  9301. //row[ix] = d_ReadData();
  9302. row[ix] = output; // current_position[Z_AXIS];
  9303. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  9304. for (int i = 0; i < x_points_num; i++) {
  9305. SERIAL_PROTOCOLPGM(" ");
  9306. SERIAL_PROTOCOL_F(row[i], 5);
  9307. }
  9308. SERIAL_PROTOCOLPGM("\n");
  9309. }
  9310. custom_message_state--;
  9311. mesh_point++;
  9312. lcd_update(1);
  9313. }
  9314. card.closefile();
  9315. clean_up_after_endstop_move(l_feedmultiply);
  9316. }
  9317. #endif //HEATBED_ANALYSIS
  9318. #ifndef PINDA_THERMISTOR
  9319. static void temp_compensation_start() {
  9320. custom_message_type = CustomMsg::TempCompPreheat;
  9321. custom_message_state = PINDA_HEAT_T + 1;
  9322. lcd_update(2);
  9323. if ((int)degHotend(active_extruder) > extrude_min_temp) {
  9324. current_position[E_AXIS] -= default_retraction;
  9325. }
  9326. plan_buffer_line_curposXYZE(400, active_extruder);
  9327. current_position[X_AXIS] = PINDA_PREHEAT_X;
  9328. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  9329. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  9330. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  9331. st_synchronize();
  9332. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  9333. for (int i = 0; i < PINDA_HEAT_T; i++) {
  9334. delay_keep_alive(1000);
  9335. custom_message_state = PINDA_HEAT_T - i;
  9336. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  9337. else lcd_update(1);
  9338. }
  9339. custom_message_type = CustomMsg::Status;
  9340. custom_message_state = 0;
  9341. }
  9342. static void temp_compensation_apply() {
  9343. int i_add;
  9344. int z_shift = 0;
  9345. float z_shift_mm;
  9346. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  9347. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  9348. i_add = (target_temperature_bed - 60) / 10;
  9349. z_shift = eeprom_read_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + i_add);
  9350. z_shift_mm = z_shift / cs.axis_steps_per_unit[Z_AXIS];
  9351. }else {
  9352. //interpolation
  9353. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / cs.axis_steps_per_unit[Z_AXIS];
  9354. }
  9355. printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
  9356. 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);
  9357. st_synchronize();
  9358. plan_set_z_position(current_position[Z_AXIS]);
  9359. }
  9360. else {
  9361. //we have no temp compensation data
  9362. }
  9363. }
  9364. #endif //ndef PINDA_THERMISTOR
  9365. float temp_comp_interpolation(float inp_temperature) {
  9366. //cubic spline interpolation
  9367. int n, i, j;
  9368. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  9369. int shift[10];
  9370. int temp_C[10];
  9371. n = 6; //number of measured points
  9372. shift[0] = 0;
  9373. for (i = 0; i < n; i++) {
  9374. if (i > 0) {
  9375. //read shift in steps from EEPROM
  9376. shift[i] = eeprom_read_word((uint16_t*)EEPROM_PROBE_TEMP_SHIFT + (i - 1));
  9377. }
  9378. temp_C[i] = 50 + i * 10; //temperature in C
  9379. #ifdef PINDA_THERMISTOR
  9380. constexpr int start_compensating_temp = 35;
  9381. temp_C[i] = start_compensating_temp + i * 5; //temperature in degrees C
  9382. #ifdef SUPERPINDA_SUPPORT
  9383. static_assert(start_compensating_temp >= PINDA_MINTEMP, "Temperature compensation start point is lower than PINDA_MINTEMP.");
  9384. #endif //SUPERPINDA_SUPPORT
  9385. #else
  9386. temp_C[i] = 50 + i * 10; //temperature in C
  9387. #endif
  9388. x[i] = (float)temp_C[i];
  9389. f[i] = (float)shift[i];
  9390. }
  9391. if (inp_temperature < x[0]) return 0;
  9392. for (i = n - 1; i>0; i--) {
  9393. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  9394. h[i - 1] = x[i] - x[i - 1];
  9395. }
  9396. //*********** formation of h, s , f matrix **************
  9397. for (i = 1; i<n - 1; i++) {
  9398. m[i][i] = 2 * (h[i - 1] + h[i]);
  9399. if (i != 1) {
  9400. m[i][i - 1] = h[i - 1];
  9401. m[i - 1][i] = h[i - 1];
  9402. }
  9403. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  9404. }
  9405. //*********** forward elimination **************
  9406. for (i = 1; i<n - 2; i++) {
  9407. temp = (m[i + 1][i] / m[i][i]);
  9408. for (j = 1; j <= n - 1; j++)
  9409. m[i + 1][j] -= temp*m[i][j];
  9410. }
  9411. //*********** backward substitution *********
  9412. for (i = n - 2; i>0; i--) {
  9413. sum = 0;
  9414. for (j = i; j <= n - 2; j++)
  9415. sum += m[i][j] * s[j];
  9416. s[i] = (m[i][n - 1] - sum) / m[i][i];
  9417. }
  9418. for (i = 0; i<n - 1; i++)
  9419. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  9420. a = (s[i + 1] - s[i]) / (6 * h[i]);
  9421. b = s[i] / 2;
  9422. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  9423. d = f[i];
  9424. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  9425. }
  9426. return sum;
  9427. }
  9428. #ifdef PINDA_THERMISTOR
  9429. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  9430. {
  9431. if (!eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE)) return 0;
  9432. if (!calibration_status_pinda()) return 0;
  9433. return temp_comp_interpolation(temperature_pinda) / cs.axis_steps_per_unit[Z_AXIS];
  9434. }
  9435. #endif //PINDA_THERMISTOR
  9436. void long_pause() //long pause print
  9437. {
  9438. st_synchronize();
  9439. start_pause_print = _millis();
  9440. // Stop heaters
  9441. heating_status = HeatingStatus::NO_HEATING;
  9442. setAllTargetHotends(0);
  9443. // Lift z
  9444. raise_z_above(current_position[Z_AXIS] + Z_PAUSE_LIFT, true);
  9445. // Move XY to side
  9446. if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
  9447. current_position[X_AXIS] = X_PAUSE_POS;
  9448. current_position[Y_AXIS] = Y_PAUSE_POS;
  9449. plan_buffer_line_curposXYZE(50);
  9450. }
  9451. // did we come here from a thermal error?
  9452. if(get_temp_error()) {
  9453. // time to stop the error beep
  9454. WRITE(BEEPER, LOW);
  9455. } else {
  9456. // Turn off the print fan
  9457. fanSpeed = 0;
  9458. }
  9459. }
  9460. void serialecho_temperatures() {
  9461. float tt = degHotend(active_extruder);
  9462. SERIAL_PROTOCOLPGM("T:");
  9463. SERIAL_PROTOCOL(tt);
  9464. SERIAL_PROTOCOLPGM(" E:");
  9465. SERIAL_PROTOCOL((int)active_extruder);
  9466. SERIAL_PROTOCOLPGM(" B:");
  9467. SERIAL_PROTOCOL_F(degBed(), 1);
  9468. SERIAL_PROTOCOLLN();
  9469. }
  9470. #ifdef UVLO_SUPPORT
  9471. void uvlo_drain_reset()
  9472. {
  9473. // burn all that residual power
  9474. wdt_enable(WDTO_1S);
  9475. WRITE(BEEPER,HIGH);
  9476. lcd_clear();
  9477. lcd_puts_at_P(0, 1, MSG_POWERPANIC_DETECTED);
  9478. while(1);
  9479. }
  9480. void uvlo_()
  9481. {
  9482. unsigned long time_start = _millis();
  9483. bool sd_print = card.sdprinting;
  9484. // Conserve power as soon as possible.
  9485. #ifdef LCD_BL_PIN
  9486. backlightMode = BACKLIGHT_MODE_DIM;
  9487. backlightLevel_LOW = 0;
  9488. backlight_update();
  9489. #endif //LCD_BL_PIN
  9490. disable_x();
  9491. disable_y();
  9492. #ifdef TMC2130
  9493. tmc2130_set_current_h(Z_AXIS, 20);
  9494. tmc2130_set_current_r(Z_AXIS, 20);
  9495. tmc2130_set_current_h(E_AXIS, 20);
  9496. tmc2130_set_current_r(E_AXIS, 20);
  9497. #endif //TMC2130
  9498. // Stop all heaters
  9499. uint8_t saved_target_temperature_bed = target_temperature_bed;
  9500. uint16_t saved_target_temperature_ext = target_temperature[active_extruder];
  9501. setAllTargetHotends(0);
  9502. setTargetBed(0);
  9503. // Calculate the file position, from which to resume this print.
  9504. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  9505. {
  9506. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  9507. sd_position -= sdlen_planner;
  9508. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  9509. sd_position -= sdlen_cmdqueue;
  9510. if (sd_position < 0) sd_position = 0;
  9511. }
  9512. // save the global state at planning time
  9513. bool pos_invalid = XY_NO_RESTORE_FLAG;
  9514. uint16_t feedrate_bckp;
  9515. if (current_block && !pos_invalid)
  9516. {
  9517. memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
  9518. feedrate_bckp = current_block->gcode_feedrate;
  9519. }
  9520. else
  9521. {
  9522. saved_target[0] = SAVED_TARGET_UNSET;
  9523. feedrate_bckp = feedrate;
  9524. }
  9525. // From this point on and up to the print recovery, Z should not move during X/Y travels and
  9526. // should be controlled precisely. Reset the MBL status before planner_abort_hard in order to
  9527. // get the physical Z for further manipulation.
  9528. bool mbl_was_active = mbl.active;
  9529. mbl.active = false;
  9530. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  9531. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  9532. // are in action.
  9533. planner_abort_hard();
  9534. // Store the print logical Z position, which we need to recover (a slight error here would be
  9535. // recovered on the next Gcode instruction, while a physical location error would not)
  9536. float logical_z = current_position[Z_AXIS];
  9537. if(mbl_was_active) logical_z -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  9538. eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z, logical_z);
  9539. // Store the print E position before we lose track
  9540. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), current_position[E_AXIS]);
  9541. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, (axis_relative_modes & E_AXIS_MASK)?0:1);
  9542. // Clean the input command queue, inhibit serial processing using saved_printing
  9543. cmdqueue_reset();
  9544. card.sdprinting = false;
  9545. saved_printing = true;
  9546. // Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
  9547. // command queues are empty, SD card printing is disabled, usb is inhibited.
  9548. planner_aborted = false;
  9549. sei();
  9550. // Retract
  9551. current_position[E_AXIS] -= default_retraction;
  9552. plan_buffer_line_curposXYZE(95);
  9553. st_synchronize();
  9554. disable_e0();
  9555. // Read out the current Z motor microstep counter to move the axis up towards
  9556. // a full step before powering off. NOTE: we need to ensure to schedule more
  9557. // than "dropsegments" steps in order to move (this is always the case here
  9558. // due to UVLO_Z_AXIS_SHIFT being used)
  9559. uint16_t z_res = tmc2130_get_res(Z_AXIS);
  9560. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9561. current_position[Z_AXIS] += float(1024 - z_microsteps)
  9562. / (z_res * cs.axis_steps_per_unit[Z_AXIS])
  9563. + UVLO_Z_AXIS_SHIFT;
  9564. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
  9565. st_synchronize();
  9566. poweroff_z();
  9567. // Write the file position.
  9568. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  9569. // Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
  9570. for (uint8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
  9571. uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  9572. uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
  9573. // Scale the z value to 1u resolution.
  9574. int16_t v = mbl_was_active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
  9575. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  9576. }
  9577. // Write the _final_ Z position and motor microstep counter (unused).
  9578. eeprom_update_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z, current_position[Z_AXIS]);
  9579. z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9580. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  9581. // Store the current position.
  9582. if (pos_invalid)
  9583. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), X_COORD_INVALID);
  9584. else
  9585. {
  9586. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  9587. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  9588. }
  9589. // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
  9590. eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDRATE, feedrate_bckp);
  9591. eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY, feedmultiply);
  9592. eeprom_update_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND, saved_target_temperature_ext);
  9593. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, saved_target_temperature_bed);
  9594. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  9595. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
  9596. #if EXTRUDERS > 1
  9597. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
  9598. #if EXTRUDERS > 2
  9599. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
  9600. #endif
  9601. #endif
  9602. eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
  9603. eeprom_update_float((float*)(EEPROM_UVLO_ACCELL), cs.acceleration);
  9604. eeprom_update_float((float*)(EEPROM_UVLO_RETRACT_ACCELL), cs.retract_acceleration);
  9605. eeprom_update_float((float*)(EEPROM_UVLO_TRAVEL_ACCELL), cs.travel_acceleration);
  9606. // Store the saved target
  9607. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4), saved_target[X_AXIS]);
  9608. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4), saved_target[Y_AXIS]);
  9609. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4), saved_target[Z_AXIS]);
  9610. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4), saved_target[E_AXIS]);
  9611. #ifdef LIN_ADVANCE
  9612. eeprom_update_float((float*)(EEPROM_UVLO_LA_K), extruder_advance_K);
  9613. #endif
  9614. // Finaly store the "power outage" flag.
  9615. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  9616. // Increment power failure counter
  9617. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  9618. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  9619. printf_P(_N("UVLO - end %d\n"), _millis() - time_start);
  9620. WRITE(BEEPER,HIGH);
  9621. // All is set: with all the juice left, try to move extruder away to detach the nozzle completely from the print
  9622. poweron_z();
  9623. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  9624. plan_buffer_line_curposXYZE(500);
  9625. st_synchronize();
  9626. wdt_enable(WDTO_1S);
  9627. while(1);
  9628. }
  9629. void uvlo_tiny()
  9630. {
  9631. unsigned long time_start = _millis();
  9632. // Conserve power as soon as possible.
  9633. disable_x();
  9634. disable_y();
  9635. disable_e0();
  9636. #ifdef TMC2130
  9637. tmc2130_set_current_h(Z_AXIS, 20);
  9638. tmc2130_set_current_r(Z_AXIS, 20);
  9639. #endif //TMC2130
  9640. // Stop all heaters
  9641. setAllTargetHotends(0);
  9642. setTargetBed(0);
  9643. // When power is interrupted on the _first_ recovery an attempt can be made to raise the
  9644. // extruder, causing the Z position to change. Similarly, when recovering, the Z position is
  9645. // lowered. In such cases we cannot just save Z, we need to re-align the steppers to a fullstep.
  9646. // Disable MBL (if not already) to work with physical coordinates.
  9647. mbl.active = false;
  9648. planner_abort_hard();
  9649. // Allow for small roundoffs to be ignored
  9650. if(fabs(current_position[Z_AXIS] - eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))) >= 1.f/cs.axis_steps_per_unit[Z_AXIS])
  9651. {
  9652. // Clean the input command queue, inhibit serial processing using saved_printing
  9653. cmdqueue_reset();
  9654. card.sdprinting = false;
  9655. saved_printing = true;
  9656. // Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
  9657. // command queues are empty, SD card printing is disabled, usb is inhibited.
  9658. planner_aborted = false;
  9659. sei();
  9660. // The axis was moved: adjust Z as done on a regular UVLO.
  9661. uint16_t z_res = tmc2130_get_res(Z_AXIS);
  9662. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9663. current_position[Z_AXIS] += float(1024 - z_microsteps)
  9664. / (z_res * cs.axis_steps_per_unit[Z_AXIS])
  9665. + UVLO_TINY_Z_AXIS_SHIFT;
  9666. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
  9667. st_synchronize();
  9668. poweroff_z();
  9669. // Update Z position
  9670. eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  9671. // Update the _final_ Z motor microstep counter (unused).
  9672. z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9673. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  9674. }
  9675. // Update the the "power outage" flag.
  9676. eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
  9677. // Increment power failure counter
  9678. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  9679. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  9680. printf_P(_N("UVLO_TINY - end %d\n"), _millis() - time_start);
  9681. uvlo_drain_reset();
  9682. }
  9683. #endif //UVLO_SUPPORT
  9684. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  9685. void setup_fan_interrupt() {
  9686. //INT7
  9687. DDRE &= ~(1 << 7); //input pin
  9688. PORTE &= ~(1 << 7); //no internal pull-up
  9689. //start with sensing rising edge
  9690. EICRB &= ~(1 << 6);
  9691. EICRB |= (1 << 7);
  9692. //enable INT7 interrupt
  9693. EIMSK |= (1 << 7);
  9694. }
  9695. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  9696. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  9697. ISR(INT7_vect) {
  9698. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  9699. #ifdef FAN_SOFT_PWM
  9700. if (!fan_measuring || (fanSpeedSoftPwm < MIN_PRINT_FAN_SPEED)) return;
  9701. #else //FAN_SOFT_PWM
  9702. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  9703. #endif //FAN_SOFT_PWM
  9704. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  9705. t_fan_rising_edge = millis_nc();
  9706. }
  9707. else { //interrupt was triggered by falling edge
  9708. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  9709. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  9710. }
  9711. }
  9712. EICRB ^= (1 << 6); //change edge
  9713. }
  9714. #endif
  9715. #ifdef UVLO_SUPPORT
  9716. void setup_uvlo_interrupt() {
  9717. DDRE &= ~(1 << 4); //input pin
  9718. PORTE &= ~(1 << 4); //no internal pull-up
  9719. // sensing falling edge
  9720. EICRB |= (1 << 0);
  9721. EICRB &= ~(1 << 1);
  9722. // enable INT4 interrupt
  9723. EIMSK |= (1 << 4);
  9724. // check if power was lost before we armed the interrupt
  9725. if(!(PINE & (1 << 4)) && eeprom_read_byte((uint8_t*)EEPROM_UVLO))
  9726. {
  9727. SERIAL_ECHOLNPGM("INT4");
  9728. uvlo_drain_reset();
  9729. }
  9730. }
  9731. ISR(INT4_vect) {
  9732. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  9733. SERIAL_ECHOLNPGM("INT4");
  9734. //fire normal uvlo only in case where EEPROM_UVLO is 0 or if IS_SD_PRINTING is 1.
  9735. if(PRINTER_ACTIVE && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))) uvlo_();
  9736. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
  9737. }
  9738. void recover_print(uint8_t automatic) {
  9739. char cmd[30];
  9740. lcd_update_enable(true);
  9741. lcd_update(2);
  9742. lcd_setstatuspgm(_i("Recovering print"));////MSG_RECOVERING_PRINT c=20
  9743. // Recover position, temperatures and extrude_multipliers
  9744. bool mbl_was_active = recover_machine_state_after_power_panic();
  9745. // Lift the print head 25mm, first to avoid collisions with oozed material with the print,
  9746. // and second also so one may remove the excess priming material.
  9747. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1)
  9748. {
  9749. sprintf_P(cmd, PSTR("G1 Z%.3f F800"), current_position[Z_AXIS] + 25);
  9750. enquecommand(cmd);
  9751. }
  9752. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine
  9753. // transformation status. G28 will not touch Z when MBL is off.
  9754. enquecommand_P(PSTR("G28 X Y"));
  9755. // Set the target bed and nozzle temperatures and wait.
  9756. sprintf_P(cmd, PSTR("M104 S%d"), target_temperature[active_extruder]);
  9757. enquecommand(cmd);
  9758. sprintf_P(cmd, PSTR("M140 S%d"), target_temperature_bed);
  9759. enquecommand(cmd);
  9760. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  9761. enquecommand(cmd);
  9762. enquecommand_P(PSTR("M83")); //E axis relative mode
  9763. // If not automatically recoreverd (long power loss)
  9764. if(automatic == 0){
  9765. //Extrude some filament to stabilize the pressure
  9766. enquecommand_P(PSTR("G1 E5 F120"));
  9767. // Retract to be consistent with a short pause
  9768. sprintf_P(cmd, PSTR("G1 E%-0.3f F2700"), default_retraction);
  9769. enquecommand(cmd);
  9770. }
  9771. 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]);
  9772. // Restart the print.
  9773. restore_print_from_eeprom(mbl_was_active);
  9774. printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
  9775. }
  9776. bool recover_machine_state_after_power_panic()
  9777. {
  9778. // 1) Preset some dummy values for the XY axes
  9779. current_position[X_AXIS] = 0;
  9780. current_position[Y_AXIS] = 0;
  9781. // 2) Restore the mesh bed leveling offsets, but not the MBL status.
  9782. // This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
  9783. bool mbl_was_active = false;
  9784. for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
  9785. uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  9786. uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
  9787. // Scale the z value to 10u resolution.
  9788. int16_t v;
  9789. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
  9790. if (v != 0)
  9791. mbl_was_active = true;
  9792. mbl.z_values[iy][ix] = float(v) * 0.001f;
  9793. }
  9794. // Recover the physical coordinate of the Z axis at the time of the power panic.
  9795. // The current position after power panic is moved to the next closest 0th full step.
  9796. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z));
  9797. // Recover last E axis position
  9798. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  9799. // 3) Initialize the logical to physical coordinate system transformation.
  9800. world2machine_initialize();
  9801. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  9802. // print_mesh_bed_leveling_table();
  9803. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  9804. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  9805. babystep_load();
  9806. // 5) Set the physical positions from the logical positions using the world2machine transformation
  9807. // This is only done to inizialize Z/E axes with physical locations, since X/Y are unknown.
  9808. clamp_to_software_endstops(current_position);
  9809. set_destination_to_current();
  9810. plan_set_position_curposXYZE();
  9811. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  9812. print_world_coordinates();
  9813. // 6) Power up the Z motors, mark their positions as known.
  9814. axis_known_position[Z_AXIS] = true;
  9815. enable_z();
  9816. // 7) Recover the target temperatures.
  9817. target_temperature[active_extruder] = eeprom_read_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND);
  9818. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  9819. // 8) Recover extruder multipilers
  9820. extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
  9821. #if EXTRUDERS > 1
  9822. extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
  9823. #if EXTRUDERS > 2
  9824. extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
  9825. #endif
  9826. #endif
  9827. extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
  9828. // 9) Recover the saved target
  9829. saved_target[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4));
  9830. saved_target[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4));
  9831. saved_target[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4));
  9832. saved_target[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4));
  9833. #ifdef LIN_ADVANCE
  9834. extruder_advance_K = eeprom_read_float((float*)EEPROM_UVLO_LA_K);
  9835. #endif
  9836. return mbl_was_active;
  9837. }
  9838. void restore_print_from_eeprom(bool mbl_was_active) {
  9839. int feedrate_rec;
  9840. int feedmultiply_rec;
  9841. uint8_t fan_speed_rec;
  9842. char cmd[48];
  9843. char filename[13];
  9844. uint8_t depth = 0;
  9845. char dir_name[9];
  9846. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  9847. feedrate_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDRATE);
  9848. feedmultiply_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY);
  9849. SERIAL_ECHOPGM("Feedrate:");
  9850. MYSERIAL.print(feedrate_rec);
  9851. SERIAL_ECHOPGM(", feedmultiply:");
  9852. MYSERIAL.println(feedmultiply_rec);
  9853. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  9854. MYSERIAL.println(int(depth));
  9855. for (uint8_t i = 0; i < depth; i++) {
  9856. for (uint8_t j = 0; j < 8; j++) {
  9857. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  9858. }
  9859. dir_name[8] = '\0';
  9860. MYSERIAL.println(dir_name);
  9861. // strcpy(card.dir_names[i], dir_name);
  9862. card.chdir(dir_name, false);
  9863. }
  9864. for (uint8_t i = 0; i < 8; i++) {
  9865. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  9866. }
  9867. filename[8] = '\0';
  9868. MYSERIAL.print(filename);
  9869. strcat_P(filename, PSTR(".gco"));
  9870. sprintf_P(cmd, PSTR("M23 %s"), filename);
  9871. enquecommand(cmd);
  9872. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  9873. SERIAL_ECHOPGM("Position read from eeprom:");
  9874. MYSERIAL.println(position);
  9875. // Move to the XY print position in logical coordinates, where the print has been killed, but
  9876. // without shifting Z along the way. This requires performing the move without mbl.
  9877. float pos_x = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  9878. float pos_y = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  9879. if (pos_x != X_COORD_INVALID)
  9880. {
  9881. sprintf_P(cmd, PSTR("G1 X%f Y%f F3000"), pos_x, pos_y);
  9882. enquecommand(cmd);
  9883. }
  9884. // Enable MBL and switch to logical positioning
  9885. if (mbl_was_active)
  9886. enquecommand_P(PSTR("PRUSA MBL V1"));
  9887. // Move the Z axis down to the print, in logical coordinates.
  9888. sprintf_P(cmd, PSTR("G1 Z%f"), eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)));
  9889. enquecommand(cmd);
  9890. // Restore acceleration settings
  9891. float acceleration = eeprom_read_float((float*)(EEPROM_UVLO_ACCELL));
  9892. float retract_acceleration = eeprom_read_float((float*)(EEPROM_UVLO_RETRACT_ACCELL));
  9893. float travel_acceleration = eeprom_read_float((float*)(EEPROM_UVLO_TRAVEL_ACCELL));
  9894. sprintf_P(cmd, PSTR("M204 P%f R%f T%f"), acceleration, retract_acceleration, travel_acceleration);
  9895. enquecommand(cmd);
  9896. // Unretract.
  9897. sprintf_P(cmd, PSTR("G1 E%0.3f F2700"), default_retraction);
  9898. enquecommand(cmd);
  9899. // Recover final E axis position and mode
  9900. float pos_e = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  9901. sprintf_P(cmd, PSTR("G92 E%6.3f"), pos_e);
  9902. enquecommand(cmd);
  9903. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  9904. enquecommand_P(PSTR("M82")); //E axis abslute mode
  9905. // Set the feedrates saved at the power panic.
  9906. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  9907. enquecommand(cmd);
  9908. sprintf_P(cmd, PSTR("M220 S%d"), feedmultiply_rec);
  9909. enquecommand(cmd);
  9910. // Set the fan speed saved at the power panic.
  9911. strcpy_P(cmd, PSTR("M106 S"));
  9912. strcat(cmd, itostr3(int(fan_speed_rec)));
  9913. enquecommand(cmd);
  9914. // Set a position in the file.
  9915. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  9916. enquecommand(cmd);
  9917. enquecommand_P(PSTR("G4 S0"));
  9918. enquecommand_P(PSTR("PRUSA uvlo"));
  9919. }
  9920. #endif //UVLO_SUPPORT
  9921. //! @brief Immediately stop print moves
  9922. //!
  9923. //! Immediately stop print moves, save current extruder temperature and position to RAM.
  9924. //! If printing from sd card, position in file is saved.
  9925. //! If printing from USB, line number is saved.
  9926. //!
  9927. //! @param z_move
  9928. //! @param e_move
  9929. void stop_and_save_print_to_ram(float z_move, float e_move)
  9930. {
  9931. if (saved_printing) return;
  9932. #if 0
  9933. unsigned char nplanner_blocks;
  9934. #endif
  9935. unsigned char nlines;
  9936. uint16_t sdlen_planner;
  9937. uint16_t sdlen_cmdqueue;
  9938. cli();
  9939. if (card.sdprinting) {
  9940. #if 0
  9941. nplanner_blocks = number_of_blocks();
  9942. #endif
  9943. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  9944. sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  9945. saved_sdpos -= sdlen_planner;
  9946. sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  9947. saved_sdpos -= sdlen_cmdqueue;
  9948. saved_printing_type = PRINTING_TYPE_SD;
  9949. }
  9950. else if (usb_timer.running()) { //reuse saved_sdpos for storing line number
  9951. saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
  9952. //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
  9953. nlines = planner_calc_sd_length(); //number of lines of commands in planner
  9954. saved_sdpos -= nlines;
  9955. saved_sdpos -= buflen; //number of blocks in cmd buffer
  9956. saved_printing_type = PRINTING_TYPE_USB;
  9957. }
  9958. else {
  9959. saved_printing_type = PRINTING_TYPE_NONE;
  9960. //not sd printing nor usb printing
  9961. }
  9962. #if 0
  9963. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  9964. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  9965. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  9966. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  9967. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  9968. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  9969. //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  9970. {
  9971. card.setIndex(saved_sdpos);
  9972. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  9973. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  9974. MYSERIAL.print(char(card.get()));
  9975. SERIAL_ECHOLNPGM("Content of command buffer: ");
  9976. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  9977. MYSERIAL.print(char(card.get()));
  9978. SERIAL_ECHOLNPGM("End of command buffer");
  9979. }
  9980. {
  9981. // Print the content of the planner buffer, line by line:
  9982. card.setIndex(saved_sdpos);
  9983. int8_t iline = 0;
  9984. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  9985. SERIAL_ECHOPGM("Planner line (from file): ");
  9986. MYSERIAL.print(int(iline), DEC);
  9987. SERIAL_ECHOPGM(", length: ");
  9988. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  9989. SERIAL_ECHOPGM(", steps: (");
  9990. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  9991. SERIAL_ECHOPGM(",");
  9992. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  9993. SERIAL_ECHOPGM(",");
  9994. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  9995. SERIAL_ECHOPGM(",");
  9996. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  9997. SERIAL_ECHOPGM("), events: ");
  9998. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  9999. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  10000. MYSERIAL.print(char(card.get()));
  10001. }
  10002. }
  10003. {
  10004. // Print the content of the command buffer, line by line:
  10005. int8_t iline = 0;
  10006. union {
  10007. struct {
  10008. char lo;
  10009. char hi;
  10010. } lohi;
  10011. uint16_t value;
  10012. } sdlen_single;
  10013. int _bufindr = bufindr;
  10014. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  10015. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  10016. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  10017. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  10018. }
  10019. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  10020. MYSERIAL.print(int(iline), DEC);
  10021. SERIAL_ECHOPGM(", type: ");
  10022. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  10023. SERIAL_ECHOPGM(", len: ");
  10024. MYSERIAL.println(sdlen_single.value, DEC);
  10025. // Print the content of the buffer line.
  10026. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  10027. SERIAL_ECHOPGM("Buffer line (from file): ");
  10028. MYSERIAL.println(int(iline), DEC);
  10029. for (; sdlen_single.value > 0; -- sdlen_single.value)
  10030. MYSERIAL.print(char(card.get()));
  10031. if (-- _buflen == 0)
  10032. break;
  10033. // First skip the current command ID and iterate up to the end of the string.
  10034. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  10035. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  10036. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  10037. // If the end of the buffer was empty,
  10038. if (_bufindr == sizeof(cmdbuffer)) {
  10039. // skip to the start and find the nonzero command.
  10040. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  10041. }
  10042. }
  10043. }
  10044. #endif
  10045. // save the global state at planning time
  10046. bool pos_invalid = XY_NO_RESTORE_FLAG;
  10047. if (current_block && !pos_invalid)
  10048. {
  10049. memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
  10050. saved_feedrate2 = current_block->gcode_feedrate;
  10051. }
  10052. else
  10053. {
  10054. saved_target[0] = SAVED_TARGET_UNSET;
  10055. saved_feedrate2 = feedrate;
  10056. }
  10057. planner_abort_hard(); //abort printing
  10058. memcpy(saved_pos, current_position, sizeof(saved_pos));
  10059. if (pos_invalid) saved_pos[X_AXIS] = X_COORD_INVALID;
  10060. saved_feedmultiply2 = feedmultiply; //save feedmultiply
  10061. saved_active_extruder = active_extruder; //save active_extruder
  10062. saved_extruder_temperature = degTargetHotend(active_extruder);
  10063. saved_bed_temperature = degBed();
  10064. saved_extruder_relative_mode = axis_relative_modes & E_AXIS_MASK;
  10065. saved_fan_speed = fanSpeed;
  10066. cmdqueue_reset(); //empty cmdqueue
  10067. card.sdprinting = false;
  10068. // card.closefile();
  10069. saved_printing = true;
  10070. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  10071. st_reset_timer();
  10072. sei();
  10073. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  10074. // Rather than calling plan_buffer_line directly, push the move into the command queue so that
  10075. // the caller can continue processing. This is used during powerpanic to save the state as we
  10076. // move away from the print.
  10077. char buf[48];
  10078. if(e_move)
  10079. {
  10080. // First unretract (relative extrusion)
  10081. if(!saved_extruder_relative_mode){
  10082. enquecommand(PSTR("M83"), true);
  10083. }
  10084. //retract 45mm/s
  10085. // A single sprintf may not be faster, but is definitely 20B shorter
  10086. // than a sequence of commands building the string piece by piece
  10087. // A snprintf would have been a safer call, but since it is not used
  10088. // in the whole program, its implementation would bring more bytes to the total size
  10089. // The behavior of dtostrf 8,3 should be roughly the same as %-0.3
  10090. sprintf_P(buf, PSTR("G1 E%-0.3f F2700"), e_move);
  10091. enquecommand(buf, false);
  10092. }
  10093. if(z_move)
  10094. {
  10095. // Then lift Z axis
  10096. sprintf_P(buf, PSTR("G1 Z%-0.3f F%-0.3f"), saved_pos[Z_AXIS] + z_move, homing_feedrate[Z_AXIS]);
  10097. enquecommand(buf, false);
  10098. }
  10099. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  10100. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  10101. repeatcommand_front();
  10102. }
  10103. }
  10104. //! @brief Restore print from ram
  10105. //!
  10106. //! Restore print saved by stop_and_save_print_to_ram(). Is blocking, restores
  10107. //! print fan speed, waits for extruder temperature restore, then restores
  10108. //! position and continues print moves.
  10109. //!
  10110. //! Internally lcd_update() is called by wait_for_heater().
  10111. //!
  10112. //! @param e_move
  10113. void restore_print_from_ram_and_continue(float e_move)
  10114. {
  10115. if (!saved_printing) return;
  10116. #ifdef FANCHECK
  10117. // Do not allow resume printing if fans are still not ok
  10118. if ((fan_check_error != EFCE_OK) && (fan_check_error != EFCE_FIXED)) return;
  10119. if (fan_check_error == EFCE_FIXED) fan_check_error = EFCE_OK; //reenable serial stream processing if printing from usb
  10120. #endif
  10121. // restore bed temperature (bed can be disabled during a thermal warning)
  10122. if (degBed() != saved_bed_temperature)
  10123. setTargetBed(saved_bed_temperature);
  10124. // restore active_extruder
  10125. active_extruder = saved_active_extruder;
  10126. fanSpeed = saved_fan_speed;
  10127. if (degTargetHotend(saved_active_extruder) != saved_extruder_temperature)
  10128. {
  10129. setTargetHotendSafe(saved_extruder_temperature, saved_active_extruder);
  10130. heating_status = HeatingStatus::EXTRUDER_HEATING;
  10131. wait_for_heater(_millis(), saved_active_extruder);
  10132. heating_status = HeatingStatus::EXTRUDER_HEATING_COMPLETE;
  10133. }
  10134. axis_relative_modes ^= (-saved_extruder_relative_mode ^ axis_relative_modes) & E_AXIS_MASK;
  10135. float e = saved_pos[E_AXIS] - e_move;
  10136. plan_set_e_position(e);
  10137. #ifdef FANCHECK
  10138. fans_check_enabled = false;
  10139. #endif
  10140. // do not restore XY for commands that do not require that
  10141. if (saved_pos[X_AXIS] == X_COORD_INVALID)
  10142. {
  10143. saved_pos[X_AXIS] = current_position[X_AXIS];
  10144. saved_pos[Y_AXIS] = current_position[Y_AXIS];
  10145. }
  10146. //first move print head in XY to the saved position:
  10147. 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);
  10148. //then move Z
  10149. 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);
  10150. //and finaly unretract (35mm/s)
  10151. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  10152. st_synchronize();
  10153. #ifdef FANCHECK
  10154. fans_check_enabled = true;
  10155. #endif
  10156. // restore original feedrate/feedmultiply _after_ restoring the extruder position
  10157. feedrate = saved_feedrate2;
  10158. feedmultiply = saved_feedmultiply2;
  10159. memcpy(current_position, saved_pos, sizeof(saved_pos));
  10160. set_destination_to_current();
  10161. if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
  10162. card.setIndex(saved_sdpos);
  10163. sdpos_atomic = saved_sdpos;
  10164. card.sdprinting = true;
  10165. }
  10166. else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
  10167. gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
  10168. serial_count = 0;
  10169. FlushSerialRequestResend();
  10170. }
  10171. else {
  10172. //not sd printing nor usb printing
  10173. }
  10174. lcd_setstatuspgm(MSG_WELCOME);
  10175. saved_printing_type = PRINTING_TYPE_NONE;
  10176. saved_printing = false;
  10177. planner_aborted = true; // unroll the stack
  10178. }
  10179. // Cancel the state related to a currently saved print
  10180. void cancel_saved_printing()
  10181. {
  10182. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  10183. saved_target[0] = SAVED_TARGET_UNSET;
  10184. saved_printing_type = PRINTING_TYPE_NONE;
  10185. saved_printing = false;
  10186. }
  10187. void print_world_coordinates()
  10188. {
  10189. printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  10190. }
  10191. void print_physical_coordinates()
  10192. {
  10193. 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));
  10194. }
  10195. void print_mesh_bed_leveling_table()
  10196. {
  10197. SERIAL_ECHOPGM("mesh bed leveling: ");
  10198. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  10199. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  10200. MYSERIAL.print(mbl.z_values[y][x], 3);
  10201. SERIAL_ECHO(' ');
  10202. }
  10203. SERIAL_ECHOLN();
  10204. }
  10205. uint8_t calc_percent_done()
  10206. {
  10207. //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
  10208. uint8_t percent_done = 0;
  10209. #ifdef TMC2130
  10210. if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100)
  10211. {
  10212. percent_done = print_percent_done_normal;
  10213. }
  10214. else if (print_percent_done_silent <= 100)
  10215. {
  10216. percent_done = print_percent_done_silent;
  10217. }
  10218. #else
  10219. if (print_percent_done_normal <= 100)
  10220. {
  10221. percent_done = print_percent_done_normal;
  10222. }
  10223. #endif //TMC2130
  10224. else
  10225. {
  10226. percent_done = card.percentDone();
  10227. }
  10228. return percent_done;
  10229. }
  10230. static void print_time_remaining_init()
  10231. {
  10232. print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
  10233. print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  10234. print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
  10235. print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  10236. print_time_to_change_normal = PRINT_TIME_REMAINING_INIT;
  10237. print_time_to_change_silent = PRINT_TIME_REMAINING_INIT;
  10238. }
  10239. void load_filament_final_feed()
  10240. {
  10241. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED;
  10242. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FINAL);
  10243. }
  10244. //! @brief Wait for user to check the state
  10245. //! @par nozzle_temp nozzle temperature to load filament
  10246. void M600_check_state(float nozzle_temp)
  10247. {
  10248. lcd_change_fil_state = 0;
  10249. while (lcd_change_fil_state != 1)
  10250. {
  10251. lcd_change_fil_state = 0;
  10252. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10253. lcd_alright();
  10254. KEEPALIVE_STATE(IN_HANDLER);
  10255. switch(lcd_change_fil_state)
  10256. {
  10257. // Filament failed to load so load it again
  10258. case 2:
  10259. if (mmu_enabled)
  10260. mmu_M600_load_filament(false, nozzle_temp); //nonautomatic load; change to "wrong filament loaded" option?
  10261. else
  10262. M600_load_filament_movements();
  10263. break;
  10264. // Filament loaded properly but color is not clear
  10265. case 3:
  10266. st_synchronize();
  10267. load_filament_final_feed();
  10268. lcd_loading_color();
  10269. st_synchronize();
  10270. break;
  10271. // Everything good
  10272. default:
  10273. lcd_change_success();
  10274. break;
  10275. }
  10276. }
  10277. }
  10278. //! @brief Wait for user action
  10279. //!
  10280. //! Beep, manage nozzle heater and wait for user to start unload filament
  10281. //! If times out, active extruder temperature is set to 0.
  10282. //!
  10283. //! @param HotendTempBckp Temperature to be restored for active extruder, after user resolves MMU problem.
  10284. void M600_wait_for_user(float HotendTempBckp) {
  10285. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10286. int counterBeep = 0;
  10287. unsigned long waiting_start_time = _millis();
  10288. uint8_t wait_for_user_state = 0;
  10289. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  10290. bool bFirst=true;
  10291. while (!(wait_for_user_state == 0 && lcd_clicked())){
  10292. manage_heater();
  10293. manage_inactivity(true);
  10294. #if BEEPER > 0
  10295. if (counterBeep == 500) {
  10296. counterBeep = 0;
  10297. }
  10298. SET_OUTPUT(BEEPER);
  10299. if (counterBeep == 0) {
  10300. if((eSoundMode==e_SOUND_MODE_BLIND)|| (eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
  10301. {
  10302. bFirst=false;
  10303. WRITE(BEEPER, HIGH);
  10304. }
  10305. }
  10306. if (counterBeep == 20) {
  10307. WRITE(BEEPER, LOW);
  10308. }
  10309. counterBeep++;
  10310. #endif //BEEPER > 0
  10311. switch (wait_for_user_state) {
  10312. case 0: //nozzle is hot, waiting for user to press the knob to unload filament
  10313. delay_keep_alive(4);
  10314. if (_millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  10315. lcd_display_message_fullscreen_P(_i("Press the knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
  10316. wait_for_user_state = 1;
  10317. setAllTargetHotends(0);
  10318. st_synchronize();
  10319. disable_e0();
  10320. disable_e1();
  10321. disable_e2();
  10322. }
  10323. break;
  10324. case 1: //nozzle target temperature is set to zero, waiting for user to start nozzle preheat
  10325. delay_keep_alive(4);
  10326. if (lcd_clicked()) {
  10327. setTargetHotend(HotendTempBckp, active_extruder);
  10328. lcd_wait_for_heater();
  10329. wait_for_user_state = 2;
  10330. }
  10331. break;
  10332. case 2: //waiting for nozzle to reach target temperature
  10333. if (fabs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  10334. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  10335. waiting_start_time = _millis();
  10336. wait_for_user_state = 0;
  10337. }
  10338. else {
  10339. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  10340. lcd_set_cursor(1, 4);
  10341. lcd_printf_P(PSTR("%3d"), (int16_t)degHotend(active_extruder));
  10342. }
  10343. break;
  10344. }
  10345. }
  10346. WRITE(BEEPER, LOW);
  10347. }
  10348. void M600_load_filament_movements()
  10349. {
  10350. current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED;
  10351. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FIRST);
  10352. load_filament_final_feed();
  10353. lcd_loading_filament();
  10354. st_synchronize();
  10355. }
  10356. void M600_load_filament() {
  10357. //load filament for single material and MMU
  10358. lcd_wait_interact();
  10359. //load_filament_time = _millis();
  10360. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10361. #ifdef PAT9125
  10362. fsensor_autoload_check_start();
  10363. #endif //PAT9125
  10364. while(!lcd_clicked())
  10365. {
  10366. manage_heater();
  10367. manage_inactivity(true);
  10368. #ifdef FILAMENT_SENSOR
  10369. if (fsensor_check_autoload())
  10370. {
  10371. Sound_MakeCustom(50,1000,false);
  10372. break;
  10373. }
  10374. #endif //FILAMENT_SENSOR
  10375. }
  10376. #ifdef PAT9125
  10377. fsensor_autoload_check_stop();
  10378. #endif //PAT9125
  10379. KEEPALIVE_STATE(IN_HANDLER);
  10380. #ifdef FSENSOR_QUALITY
  10381. fsensor_oq_meassure_start(70);
  10382. #endif //FSENSOR_QUALITY
  10383. M600_load_filament_movements();
  10384. Sound_MakeCustom(50,1000,false);
  10385. #ifdef FSENSOR_QUALITY
  10386. fsensor_oq_meassure_stop();
  10387. if (!fsensor_oq_result())
  10388. {
  10389. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  10390. lcd_update_enable(true);
  10391. lcd_update(2);
  10392. if (disable)
  10393. fsensor_disable();
  10394. }
  10395. #endif //FSENSOR_QUALITY
  10396. lcd_update_enable(false);
  10397. }
  10398. //! @brief Wait for click
  10399. //!
  10400. //! Set
  10401. void marlin_wait_for_click()
  10402. {
  10403. int8_t busy_state_backup = busy_state;
  10404. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10405. lcd_consume_click();
  10406. while(!lcd_clicked())
  10407. {
  10408. manage_heater();
  10409. manage_inactivity(true);
  10410. lcd_update(0);
  10411. }
  10412. KEEPALIVE_STATE(busy_state_backup);
  10413. }
  10414. #define FIL_LOAD_LENGTH 60
  10415. #ifdef PSU_Delta
  10416. bool bEnableForce_z;
  10417. void init_force_z()
  10418. {
  10419. WRITE(Z_ENABLE_PIN,Z_ENABLE_ON);
  10420. bEnableForce_z=true; // "true"-value enforce "disable_force_z()" executing
  10421. disable_force_z();
  10422. }
  10423. void check_force_z()
  10424. {
  10425. if(!(bEnableForce_z||eeprom_read_byte((uint8_t*)EEPROM_SILENT)))
  10426. init_force_z(); // causes enforced switching into disable-state
  10427. }
  10428. void disable_force_z()
  10429. {
  10430. if(!bEnableForce_z) return; // motor already disabled (may be ;-p )
  10431. bEnableForce_z=false;
  10432. // switching to silent mode
  10433. #ifdef TMC2130
  10434. tmc2130_mode=TMC2130_MODE_SILENT;
  10435. update_mode_profile();
  10436. tmc2130_init(TMCInitParams(true, FarmOrUserECool()));
  10437. #endif // TMC2130
  10438. }
  10439. void enable_force_z()
  10440. {
  10441. if(bEnableForce_z)
  10442. return; // motor already enabled (may be ;-p )
  10443. bEnableForce_z=true;
  10444. // mode recovering
  10445. #ifdef TMC2130
  10446. tmc2130_mode=eeprom_read_byte((uint8_t*)EEPROM_SILENT)?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  10447. update_mode_profile();
  10448. tmc2130_init(TMCInitParams(true, FarmOrUserECool()));
  10449. #endif // TMC2130
  10450. WRITE(Z_ENABLE_PIN,Z_ENABLE_ON); // slightly redundant ;-p
  10451. }
  10452. #endif // PSU_Delta