Marlin_main.cpp 396 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 "backlight.h"
  63. #include "planner.h"
  64. #include "stepper.h"
  65. #include "temperature.h"
  66. #include "motion_control.h"
  67. #include "cardreader.h"
  68. #include "ConfigurationStore.h"
  69. #include "language.h"
  70. #include "pins_arduino.h"
  71. #include "math.h"
  72. #include "util.h"
  73. #include "Timer.h"
  74. #include <avr/wdt.h>
  75. #include <avr/pgmspace.h>
  76. #include "Dcodes.h"
  77. #include "AutoDeplete.h"
  78. #ifndef LA_NOCOMPAT
  79. #include "la10compat.h"
  80. #endif
  81. #include "spi.h"
  82. #ifdef FILAMENT_SENSOR
  83. #include "fsensor.h"
  84. #ifdef IR_SENSOR
  85. #include "pat9125.h" // for pat9125_probe
  86. #endif
  87. #endif //FILAMENT_SENSOR
  88. #ifdef TMC2130
  89. #include "tmc2130.h"
  90. #endif //TMC2130
  91. #ifdef W25X20CL
  92. #include "w25x20cl.h"
  93. #include "optiboot_w25x20cl.h"
  94. #endif //W25X20CL
  95. #ifdef BLINKM
  96. #include "BlinkM.h"
  97. #include "Wire.h"
  98. #endif
  99. #ifdef ULTRALCD
  100. #include "ultralcd.h"
  101. #endif
  102. #if NUM_SERVOS > 0
  103. #include "Servo.h"
  104. #endif
  105. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  106. #include <SPI.h>
  107. #endif
  108. #include "mmu.h"
  109. #define VERSION_STRING "1.0.2"
  110. #include "ultralcd.h"
  111. #include "sound.h"
  112. #include "cmdqueue.h"
  113. //Macro for print fan speed
  114. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  115. //filament types
  116. #define FILAMENT_DEFAULT 0
  117. #define FILAMENT_FLEX 1
  118. #define FILAMENT_PVA 2
  119. #define FILAMENT_UNDEFINED 255
  120. //Stepper Movement Variables
  121. //===========================================================================
  122. //=============================imported variables============================
  123. //===========================================================================
  124. //===========================================================================
  125. //=============================public variables=============================
  126. //===========================================================================
  127. #ifdef SDSUPPORT
  128. CardReader card;
  129. #endif
  130. unsigned long PingTime = _millis();
  131. unsigned long NcTime;
  132. uint8_t mbl_z_probe_nr = 3; //numer of Z measurements for each point in mesh bed leveling calibration
  133. //used for PINDA temp calibration and pause print
  134. #define DEFAULT_RETRACTION 1
  135. #define DEFAULT_RETRACTION_MM 4 //MM
  136. float default_retraction = DEFAULT_RETRACTION;
  137. float homing_feedrate[] = HOMING_FEEDRATE;
  138. //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
  139. //would not be standard across all platforms. That being said, the code will continue to use bitmasks for independent axis.
  140. //Moreover, according to C/C++ standard, the ordering of bits is platform/compiler dependent and the compiler is allowed to align the bits arbitrarily,
  141. //thus bit operations like shifting and masking may stop working and will be very hard to fix.
  142. uint8_t axis_relative_modes = 0;
  143. int feedmultiply=100; //100->1 200->2
  144. int extrudemultiply=100; //100->1 200->2
  145. int extruder_multiply[EXTRUDERS] = {100
  146. #if EXTRUDERS > 1
  147. , 100
  148. #if EXTRUDERS > 2
  149. , 100
  150. #endif
  151. #endif
  152. };
  153. int bowden_length[4] = {385, 385, 385, 385};
  154. bool is_usb_printing = false;
  155. bool homing_flag = false;
  156. unsigned long kicktime = _millis()+100000;
  157. unsigned int usb_printing_counter;
  158. int8_t lcd_change_fil_state = 0;
  159. unsigned long pause_time = 0;
  160. unsigned long start_pause_print = _millis();
  161. unsigned long t_fan_rising_edge = _millis();
  162. LongTimer safetyTimer;
  163. static LongTimer crashDetTimer;
  164. //unsigned long load_filament_time;
  165. bool mesh_bed_leveling_flag = false;
  166. bool mesh_bed_run_from_menu = false;
  167. bool prusa_sd_card_upload = false;
  168. unsigned int status_number = 0;
  169. unsigned long total_filament_used;
  170. unsigned int heating_status;
  171. unsigned int heating_status_counter;
  172. bool loading_flag = false;
  173. char snmm_filaments_used = 0;
  174. bool fan_state[2];
  175. int fan_edge_counter[2];
  176. int fan_speed[2];
  177. char dir_names[3][9];
  178. bool sortAlpha = false;
  179. float extruder_multiplier[EXTRUDERS] = {1.0
  180. #if EXTRUDERS > 1
  181. , 1.0
  182. #if EXTRUDERS > 2
  183. , 1.0
  184. #endif
  185. #endif
  186. };
  187. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  188. //shortcuts for more readable code
  189. #define _x current_position[X_AXIS]
  190. #define _y current_position[Y_AXIS]
  191. #define _z current_position[Z_AXIS]
  192. #define _e current_position[E_AXIS]
  193. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  194. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  195. bool axis_known_position[3] = {false, false, false};
  196. // Extruder offset
  197. #if EXTRUDERS > 1
  198. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  199. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  200. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  201. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  202. #endif
  203. };
  204. #endif
  205. uint8_t active_extruder = 0;
  206. int fanSpeed=0;
  207. uint8_t newFanSpeed = 0;
  208. #ifdef FWRETRACT
  209. bool retracted[EXTRUDERS]={false
  210. #if EXTRUDERS > 1
  211. , false
  212. #if EXTRUDERS > 2
  213. , false
  214. #endif
  215. #endif
  216. };
  217. bool retracted_swap[EXTRUDERS]={false
  218. #if EXTRUDERS > 1
  219. , false
  220. #if EXTRUDERS > 2
  221. , false
  222. #endif
  223. #endif
  224. };
  225. float retract_length_swap = RETRACT_LENGTH_SWAP;
  226. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  227. #endif
  228. #ifdef PS_DEFAULT_OFF
  229. bool powersupply = false;
  230. #else
  231. bool powersupply = true;
  232. #endif
  233. bool cancel_heatup = false ;
  234. int8_t busy_state = NOT_BUSY;
  235. static long prev_busy_signal_ms = -1;
  236. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  237. const char errormagic[] PROGMEM = "Error:";
  238. const char echomagic[] PROGMEM = "echo:";
  239. const char G28W0[] PROGMEM = "G28 W0";
  240. bool no_response = false;
  241. uint8_t important_status;
  242. uint8_t saved_filament_type;
  243. #define SAVED_TARGET_UNSET (X_MIN_POS-1)
  244. float saved_target[NUM_AXIS] = {SAVED_TARGET_UNSET, 0, 0, 0};
  245. // save/restore printing in case that mmu was not responding
  246. bool mmu_print_saved = false;
  247. // storing estimated time to end of print counted by slicer
  248. uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  249. uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  250. uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  251. uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  252. //===========================================================================
  253. //=============================Private Variables=============================
  254. //===========================================================================
  255. #define MSG_BED_LEVELING_FAILED_TIMEOUT 30
  256. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  257. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  258. // For tracing an arc
  259. static float offset[3] = {0.0, 0.0, 0.0};
  260. // Current feedrate
  261. float feedrate = 1500.0;
  262. // Feedrate for the next move
  263. static float next_feedrate;
  264. // Original feedrate saved during homing moves
  265. static float saved_feedrate;
  266. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  267. //static float tt = 0;
  268. //static float bt = 0;
  269. //Inactivity shutdown variables
  270. static unsigned long previous_millis_cmd = 0;
  271. unsigned long max_inactive_time = 0;
  272. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  273. static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
  274. unsigned long starttime=0;
  275. unsigned long stoptime=0;
  276. unsigned long _usb_timer = 0;
  277. bool Stopped=false;
  278. #if NUM_SERVOS > 0
  279. Servo servos[NUM_SERVOS];
  280. #endif
  281. bool target_direction;
  282. //Insert variables if CHDK is defined
  283. #ifdef CHDK
  284. unsigned long chdkHigh = 0;
  285. boolean chdkActive = false;
  286. #endif
  287. //! @name RAM save/restore printing
  288. //! @{
  289. bool saved_printing = false; //!< Print is paused and saved in RAM
  290. static uint32_t saved_sdpos = 0; //!< SD card position, or line number in case of USB printing
  291. uint8_t saved_printing_type = PRINTING_TYPE_SD;
  292. static float saved_pos[4] = { 0, 0, 0, 0 };
  293. static uint16_t saved_feedrate2 = 0; //!< Default feedrate (truncated from float)
  294. static int saved_feedmultiply2 = 0;
  295. static uint8_t saved_active_extruder = 0;
  296. static float saved_extruder_temperature = 0.0; //!< Active extruder temperature
  297. static bool saved_extruder_relative_mode = false;
  298. static int saved_fanSpeed = 0; //!< Print fan speed
  299. //! @}
  300. static int saved_feedmultiply_mm = 100;
  301. class AutoReportFeatures {
  302. union {
  303. struct {
  304. uint8_t temp : 1; //Temperature flag
  305. uint8_t fans : 1; //Fans flag
  306. uint8_t pos: 1; //Position flag
  307. uint8_t ar4 : 1; //Unused
  308. uint8_t ar5 : 1; //Unused
  309. uint8_t ar6 : 1; //Unused
  310. uint8_t ar7 : 1; //Unused
  311. } __attribute__((packed)) bits;
  312. uint8_t byte;
  313. } arFunctionsActive;
  314. uint8_t auto_report_period;
  315. public:
  316. LongTimer auto_report_timer;
  317. AutoReportFeatures():auto_report_period(0){
  318. #if defined(AUTO_REPORT)
  319. arFunctionsActive.byte = 0xff;
  320. #else
  321. arFunctionsActive.byte = 0;
  322. #endif //AUTO_REPORT
  323. }
  324. inline bool Temp()const { return arFunctionsActive.bits.temp != 0; }
  325. inline void SetTemp(uint8_t v){ arFunctionsActive.bits.temp = v; }
  326. inline bool Fans()const { return arFunctionsActive.bits.fans != 0; }
  327. inline void SetFans(uint8_t v){ arFunctionsActive.bits.fans = v; }
  328. inline bool Pos()const { return arFunctionsActive.bits.pos != 0; }
  329. inline void SetPos(uint8_t v){ arFunctionsActive.bits.pos = v; }
  330. inline void SetMask(uint8_t mask){ arFunctionsActive.byte = mask; }
  331. /// sets the autoreporting timer's period
  332. /// setting it to zero stops the timer
  333. void SetPeriod(uint8_t p){
  334. auto_report_period = p;
  335. if (auto_report_period != 0){
  336. auto_report_timer.start();
  337. } else{
  338. auto_report_timer.stop();
  339. }
  340. }
  341. inline void TimerStart() { auto_report_timer.start(); }
  342. inline bool TimerRunning()const { return auto_report_timer.running(); }
  343. inline bool TimerExpired() { return auto_report_timer.expired(auto_report_period * 1000ul); }
  344. };
  345. AutoReportFeatures autoReportFeatures;
  346. //===========================================================================
  347. //=============================Routines======================================
  348. //===========================================================================
  349. static void get_arc_coordinates();
  350. static bool setTargetedHotend(int code, uint8_t &extruder);
  351. static void print_time_remaining_init();
  352. static void wait_for_heater(long codenum, uint8_t extruder);
  353. static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
  354. static void gcode_M105(uint8_t extruder);
  355. static void temp_compensation_start();
  356. static void temp_compensation_apply();
  357. static bool get_PRUSA_SN(char* SN);
  358. uint16_t gcode_in_progress = 0;
  359. uint16_t mcode_in_progress = 0;
  360. void serial_echopair_P(const char *s_P, float v)
  361. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  362. void serial_echopair_P(const char *s_P, double v)
  363. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  364. void serial_echopair_P(const char *s_P, unsigned long v)
  365. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  366. /*FORCE_INLINE*/ void serialprintPGM(const char *str)
  367. {
  368. #if 0
  369. char ch=pgm_read_byte(str);
  370. while(ch)
  371. {
  372. MYSERIAL.write(ch);
  373. ch=pgm_read_byte(++str);
  374. }
  375. #else
  376. // hmm, same size as the above version, the compiler did a good job optimizing the above
  377. while( uint8_t ch = pgm_read_byte(str) ){
  378. MYSERIAL.write((char)ch);
  379. ++str;
  380. }
  381. #endif
  382. }
  383. #ifdef SDSUPPORT
  384. #include "SdFatUtil.h"
  385. int freeMemory() { return SdFatUtil::FreeRam(); }
  386. #else
  387. extern "C" {
  388. extern unsigned int __bss_end;
  389. extern unsigned int __heap_start;
  390. extern void *__brkval;
  391. int freeMemory() {
  392. int free_memory;
  393. if ((int)__brkval == 0)
  394. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  395. else
  396. free_memory = ((int)&free_memory) - ((int)__brkval);
  397. return free_memory;
  398. }
  399. }
  400. #endif //!SDSUPPORT
  401. void setup_killpin()
  402. {
  403. #if defined(KILL_PIN) && KILL_PIN > -1
  404. SET_INPUT(KILL_PIN);
  405. WRITE(KILL_PIN,HIGH);
  406. #endif
  407. }
  408. // Set home pin
  409. void setup_homepin(void)
  410. {
  411. #if defined(HOME_PIN) && HOME_PIN > -1
  412. SET_INPUT(HOME_PIN);
  413. WRITE(HOME_PIN,HIGH);
  414. #endif
  415. }
  416. void setup_photpin()
  417. {
  418. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  419. SET_OUTPUT(PHOTOGRAPH_PIN);
  420. WRITE(PHOTOGRAPH_PIN, LOW);
  421. #endif
  422. }
  423. void setup_powerhold()
  424. {
  425. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  426. SET_OUTPUT(SUICIDE_PIN);
  427. WRITE(SUICIDE_PIN, HIGH);
  428. #endif
  429. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  430. SET_OUTPUT(PS_ON_PIN);
  431. #if defined(PS_DEFAULT_OFF)
  432. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  433. #else
  434. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  435. #endif
  436. #endif
  437. }
  438. void suicide()
  439. {
  440. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  441. SET_OUTPUT(SUICIDE_PIN);
  442. WRITE(SUICIDE_PIN, LOW);
  443. #endif
  444. }
  445. void servo_init()
  446. {
  447. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  448. servos[0].attach(SERVO0_PIN);
  449. #endif
  450. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  451. servos[1].attach(SERVO1_PIN);
  452. #endif
  453. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  454. servos[2].attach(SERVO2_PIN);
  455. #endif
  456. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  457. servos[3].attach(SERVO3_PIN);
  458. #endif
  459. #if (NUM_SERVOS >= 5)
  460. #error "TODO: enter initalisation code for more servos"
  461. #endif
  462. }
  463. bool fans_check_enabled = true;
  464. #ifdef TMC2130
  465. void crashdet_stop_and_save_print()
  466. {
  467. stop_and_save_print_to_ram(10, -default_retraction); //XY - no change, Z 10mm up, E -1mm retract
  468. }
  469. void crashdet_restore_print_and_continue()
  470. {
  471. restore_print_from_ram_and_continue(default_retraction); //XYZ = orig, E +1mm unretract
  472. // babystep_apply();
  473. }
  474. void crashdet_stop_and_save_print2()
  475. {
  476. cli();
  477. planner_abort_hard(); //abort printing
  478. cmdqueue_reset(); //empty cmdqueue
  479. card.sdprinting = false;
  480. card.closefile();
  481. // Reset and re-enable the stepper timer just before the global interrupts are enabled.
  482. st_reset_timer();
  483. sei();
  484. }
  485. void crashdet_detected(uint8_t mask)
  486. {
  487. st_synchronize();
  488. static uint8_t crashDet_counter = 0;
  489. bool automatic_recovery_after_crash = true;
  490. if (crashDet_counter++ == 0) {
  491. crashDetTimer.start();
  492. }
  493. else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
  494. crashDetTimer.stop();
  495. crashDet_counter = 0;
  496. }
  497. else if(crashDet_counter == CRASHDET_COUNTER_MAX){
  498. automatic_recovery_after_crash = false;
  499. crashDetTimer.stop();
  500. crashDet_counter = 0;
  501. }
  502. else {
  503. crashDetTimer.start();
  504. }
  505. lcd_update_enable(true);
  506. lcd_clear();
  507. lcd_update(2);
  508. if (mask & X_AXIS_MASK)
  509. {
  510. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  511. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  512. }
  513. if (mask & Y_AXIS_MASK)
  514. {
  515. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  516. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  517. }
  518. lcd_update_enable(true);
  519. lcd_update(2);
  520. lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
  521. gcode_G28(true, true, false); //home X and Y
  522. st_synchronize();
  523. if (automatic_recovery_after_crash) {
  524. enquecommand_P(PSTR("CRASH_RECOVER"));
  525. }else{
  526. setTargetHotend(0, active_extruder);
  527. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
  528. lcd_update_enable(true);
  529. if (yesno)
  530. {
  531. enquecommand_P(PSTR("CRASH_RECOVER"));
  532. }
  533. else
  534. {
  535. enquecommand_P(PSTR("CRASH_CANCEL"));
  536. }
  537. }
  538. }
  539. void crashdet_recover()
  540. {
  541. crashdet_restore_print_and_continue();
  542. if (lcd_crash_detect_enabled()) tmc2130_sg_stop_on_crash = true;
  543. }
  544. void crashdet_cancel()
  545. {
  546. saved_printing = false;
  547. tmc2130_sg_stop_on_crash = true;
  548. if (saved_printing_type == PRINTING_TYPE_SD) {
  549. lcd_print_stop();
  550. }else if(saved_printing_type == PRINTING_TYPE_USB){
  551. SERIAL_ECHOLNRPGM(MSG_OCTOPRINT_CANCEL); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
  552. cmdqueue_reset();
  553. }
  554. }
  555. #endif //TMC2130
  556. void failstats_reset_print()
  557. {
  558. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  559. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  560. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  561. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  562. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  563. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  564. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  565. fsensor_softfail = 0;
  566. #endif
  567. }
  568. void softReset()
  569. {
  570. cli();
  571. wdt_enable(WDTO_15MS);
  572. while(1);
  573. }
  574. #ifdef MESH_BED_LEVELING
  575. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  576. #endif
  577. // Factory reset function
  578. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  579. // Level input parameter sets depth of reset
  580. int er_progress = 0;
  581. static void factory_reset(char level)
  582. {
  583. lcd_clear();
  584. switch (level) {
  585. // Level 0: Language reset
  586. case 0:
  587. Sound_MakeCustom(100,0,false);
  588. lang_reset();
  589. break;
  590. //Level 1: Reset statistics
  591. case 1:
  592. Sound_MakeCustom(100,0,false);
  593. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  594. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  595. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  596. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  597. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  598. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  599. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  600. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  601. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  602. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  603. eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
  604. eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
  605. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  606. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  607. lcd_menu_statistics();
  608. break;
  609. // Level 2: Prepare for shipping
  610. case 2:
  611. //lcd_puts_P(PSTR("Factory RESET"));
  612. //lcd_puts_at_P(1,2,PSTR("Shipping prep"));
  613. // Force language selection at the next boot up.
  614. lang_reset();
  615. // Force the "Follow calibration flow" message at the next boot up.
  616. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  617. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  618. farm_mode = false;
  619. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  620. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  621. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  622. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  623. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  624. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  625. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  626. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  627. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  628. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  629. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  630. eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
  631. eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
  632. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  633. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  634. #ifdef FILAMENT_SENSOR
  635. fsensor_enable();
  636. fsensor_autoload_set(true);
  637. #endif //FILAMENT_SENSOR
  638. Sound_MakeCustom(100,0,false);
  639. //_delay_ms(2000);
  640. break;
  641. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  642. case 3:
  643. lcd_puts_P(PSTR("Factory RESET"));
  644. lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
  645. Sound_MakeCustom(100,0,false);
  646. er_progress = 0;
  647. lcd_puts_at_P(3, 3, PSTR(" "));
  648. lcd_set_cursor(3, 3);
  649. lcd_print(er_progress);
  650. // Erase EEPROM
  651. for (int i = 0; i < 4096; i++) {
  652. eeprom_update_byte((uint8_t*)i, 0xFF);
  653. if (i % 41 == 0) {
  654. er_progress++;
  655. lcd_puts_at_P(3, 3, PSTR(" "));
  656. lcd_set_cursor(3, 3);
  657. lcd_print(er_progress);
  658. lcd_puts_P(PSTR("%"));
  659. }
  660. }
  661. softReset();
  662. break;
  663. case 4:
  664. bowden_menu();
  665. break;
  666. default:
  667. break;
  668. }
  669. }
  670. extern "C" {
  671. FILE _uartout; //= {0}; Global variable is always zero initialized. No need to explicitly state this.
  672. }
  673. int uart_putchar(char c, FILE *)
  674. {
  675. MYSERIAL.write(c);
  676. return 0;
  677. }
  678. void lcd_splash()
  679. {
  680. lcd_clear(); // clears display and homes screen
  681. lcd_puts_P(PSTR("\n Original Prusa i3\n Prusa Research"));
  682. }
  683. void factory_reset()
  684. {
  685. KEEPALIVE_STATE(PAUSED_FOR_USER);
  686. if (!READ(BTN_ENC))
  687. {
  688. _delay_ms(1000);
  689. if (!READ(BTN_ENC))
  690. {
  691. lcd_clear();
  692. lcd_puts_P(PSTR("Factory RESET"));
  693. SET_OUTPUT(BEEPER);
  694. if(eSoundMode!=e_SOUND_MODE_SILENT)
  695. WRITE(BEEPER, HIGH);
  696. while (!READ(BTN_ENC));
  697. WRITE(BEEPER, LOW);
  698. _delay_ms(2000);
  699. char level = reset_menu();
  700. factory_reset(level);
  701. switch (level) {
  702. case 0: _delay_ms(0); break;
  703. case 1: _delay_ms(0); break;
  704. case 2: _delay_ms(0); break;
  705. case 3: _delay_ms(0); break;
  706. }
  707. }
  708. }
  709. KEEPALIVE_STATE(IN_HANDLER);
  710. }
  711. void show_fw_version_warnings() {
  712. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  713. switch (FW_DEV_VERSION) {
  714. 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
  715. 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
  716. case(FW_VERSION_DEVEL):
  717. case(FW_VERSION_DEBUG):
  718. lcd_update_enable(false);
  719. lcd_clear();
  720. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  721. lcd_puts_at_P(0, 0, PSTR("Development build !!"));
  722. #else
  723. lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
  724. #endif
  725. lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
  726. lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
  727. lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
  728. lcd_wait_for_click();
  729. break;
  730. // 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
  731. }
  732. lcd_update_enable(true);
  733. }
  734. //! @brief try to check if firmware is on right type of printer
  735. static void check_if_fw_is_on_right_printer(){
  736. #ifdef FILAMENT_SENSOR
  737. if((PRINTER_TYPE == PRINTER_MK3) || (PRINTER_TYPE == PRINTER_MK3S)){
  738. #ifdef IR_SENSOR
  739. if (pat9125_probe()){
  740. lcd_show_fullscreen_message_and_wait_P(_i("MK3S firmware detected on MK3 printer"));}////c=20 r=3
  741. #endif //IR_SENSOR
  742. #ifdef PAT9125
  743. //will return 1 only if IR can detect filament in bondtech extruder so this may fail even when we have IR sensor
  744. const uint8_t ir_detected = !READ(IR_SENSOR_PIN);
  745. if (ir_detected){
  746. lcd_show_fullscreen_message_and_wait_P(_i("MK3 firmware detected on MK3S printer"));}////c=20 r=3
  747. #endif //PAT9125
  748. }
  749. #endif //FILAMENT_SENSOR
  750. }
  751. uint8_t check_printer_version()
  752. {
  753. uint8_t version_changed = 0;
  754. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  755. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  756. if (printer_type != PRINTER_TYPE) {
  757. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  758. else version_changed |= 0b10;
  759. }
  760. if (motherboard != MOTHERBOARD) {
  761. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  762. else version_changed |= 0b01;
  763. }
  764. return version_changed;
  765. }
  766. #ifdef BOOTAPP
  767. #include "bootapp.h" //bootloader support
  768. #endif //BOOTAPP
  769. #if (LANG_MODE != 0) //secondary language support
  770. #ifdef W25X20CL
  771. // language update from external flash
  772. #define LANGBOOT_BLOCKSIZE 0x1000u
  773. #define LANGBOOT_RAMBUFFER 0x0800
  774. void update_sec_lang_from_external_flash()
  775. {
  776. if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
  777. {
  778. uint8_t lang = boot_reserved >> 4;
  779. uint8_t state = boot_reserved & 0xf;
  780. lang_table_header_t header;
  781. uint32_t src_addr;
  782. if (lang_get_header(lang, &header, &src_addr))
  783. {
  784. lcd_puts_at_P(1,3,PSTR("Language update."));
  785. for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
  786. _delay(100);
  787. boot_reserved = (state + 1) | (lang << 4);
  788. if ((state * LANGBOOT_BLOCKSIZE) < header.size)
  789. {
  790. cli();
  791. uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
  792. if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
  793. w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
  794. if (state == 0)
  795. {
  796. //TODO - check header integrity
  797. }
  798. bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
  799. }
  800. else
  801. {
  802. //TODO - check sec lang data integrity
  803. eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
  804. }
  805. }
  806. }
  807. boot_app_flags &= ~BOOT_APP_FLG_USER0;
  808. }
  809. #ifdef DEBUG_W25X20CL
  810. uint8_t lang_xflash_enum_codes(uint16_t* codes)
  811. {
  812. lang_table_header_t header;
  813. uint8_t count = 0;
  814. uint32_t addr = 0x00000;
  815. while (1)
  816. {
  817. printf_P(_n("LANGTABLE%d:"), count);
  818. w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
  819. if (header.magic != LANG_MAGIC)
  820. {
  821. puts_P(_n("NG!"));
  822. break;
  823. }
  824. puts_P(_n("OK"));
  825. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  826. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  827. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  828. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  829. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  830. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  831. addr += header.size;
  832. codes[count] = header.code;
  833. count ++;
  834. }
  835. return count;
  836. }
  837. void list_sec_lang_from_external_flash()
  838. {
  839. uint16_t codes[8];
  840. uint8_t count = lang_xflash_enum_codes(codes);
  841. printf_P(_n("XFlash lang count = %hhd\n"), count);
  842. }
  843. #endif //DEBUG_W25X20CL
  844. #endif //W25X20CL
  845. #endif //(LANG_MODE != 0)
  846. static void w25x20cl_err_msg()
  847. {
  848. lcd_clear();
  849. lcd_puts_P(_n("External SPI flash\nW25X20CL is not res-\nponding. Language\nswitch unavailable."));
  850. }
  851. // "Setup" function is called by the Arduino framework on startup.
  852. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  853. // are initialized by the main() routine provided by the Arduino framework.
  854. void setup()
  855. {
  856. timer2_init(); // enables functional millis
  857. mmu_init();
  858. ultralcd_init();
  859. spi_init();
  860. lcd_splash();
  861. Sound_Init(); // also guarantee "SET_OUTPUT(BEEPER)"
  862. selectedSerialPort = eeprom_read_byte((uint8_t *)EEPROM_SECOND_SERIAL_ACTIVE);
  863. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  864. eeprom_update_byte((uint8_t *)EEPROM_SECOND_SERIAL_ACTIVE, selectedSerialPort);
  865. MYSERIAL.begin(BAUDRATE);
  866. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  867. stdout = uartout;
  868. #ifdef W25X20CL
  869. bool w25x20cl_success = w25x20cl_init();
  870. uint8_t optiboot_status = 1;
  871. if (w25x20cl_success)
  872. {
  873. optiboot_status = optiboot_w25x20cl_enter();
  874. #if (LANG_MODE != 0) //secondary language support
  875. update_sec_lang_from_external_flash();
  876. #endif //(LANG_MODE != 0)
  877. }
  878. else
  879. {
  880. w25x20cl_err_msg();
  881. }
  882. #else
  883. const bool w25x20cl_success = true;
  884. #endif //W25X20CL
  885. setup_killpin();
  886. setup_powerhold();
  887. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  888. if (farm_mode == 0xFF)
  889. 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
  890. if (farm_mode)
  891. {
  892. no_response = true; //we need confirmation by recieving PRUSA thx
  893. important_status = 8;
  894. prusa_statistics(8);
  895. #ifdef HAS_SECOND_SERIAL_PORT
  896. selectedSerialPort = 1;
  897. #endif //HAS_SECOND_SERIAL_PORT
  898. MYSERIAL.begin(BAUDRATE);
  899. #ifdef TMC2130
  900. //increased extruder current (PFW363)
  901. tmc2130_current_h[E_AXIS] = 36;
  902. tmc2130_current_r[E_AXIS] = 36;
  903. #endif //TMC2130
  904. #ifdef FILAMENT_SENSOR
  905. //disabled filament autoload (PFW360)
  906. fsensor_autoload_set(false);
  907. #endif //FILAMENT_SENSOR
  908. // ~ FanCheck -> on
  909. if(!(eeprom_read_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED)))
  910. eeprom_update_byte((unsigned char *)EEPROM_FAN_CHECK_ENABLED,true);
  911. }
  912. //saved EEPROM SN is not valid. Try to retrieve it.
  913. //SN is valid only if it is NULL terminated. Any other character means either uninitialized or corrupted
  914. if (eeprom_read_byte((uint8_t*)EEPROM_PRUSA_SN + 19))
  915. {
  916. char SN[20];
  917. if (get_PRUSA_SN(SN))
  918. {
  919. eeprom_update_block(SN, (uint8_t*)EEPROM_PRUSA_SN, 20);
  920. puts_P(PSTR("SN updated"));
  921. }
  922. else
  923. puts_P(PSTR("SN update failed"));
  924. }
  925. #ifndef W25X20CL
  926. SERIAL_PROTOCOLLNPGM("start");
  927. #else
  928. if ((optiboot_status != 0) || (selectedSerialPort != 0))
  929. SERIAL_PROTOCOLLNPGM("start");
  930. #endif
  931. SERIAL_ECHO_START;
  932. puts_P(PSTR(" " FW_VERSION_FULL));
  933. //SERIAL_ECHOPAIR("Active sheet before:", static_cast<unsigned long int>(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet))));
  934. #ifdef DEBUG_SEC_LANG
  935. lang_table_header_t header;
  936. uint32_t src_addr = 0x00000;
  937. if (lang_get_header(1, &header, &src_addr))
  938. {
  939. //this is comparsion of some printing-methods regarding to flash space usage and code size/readability
  940. #define LT_PRINT_TEST 2
  941. // flash usage
  942. // total p.test
  943. //0 252718 t+c text code
  944. //1 253142 424 170 254
  945. //2 253040 322 164 158
  946. //3 253248 530 135 395
  947. #if (LT_PRINT_TEST==1) //not optimized printf
  948. printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
  949. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  950. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  951. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  952. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  953. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  954. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  955. #elif (LT_PRINT_TEST==2) //optimized printf
  956. printf_P(
  957. _n(
  958. " _src_addr = 0x%08lx\n"
  959. " _lt_magic = 0x%08lx %S\n"
  960. " _lt_size = 0x%04x (%d)\n"
  961. " _lt_count = 0x%04x (%d)\n"
  962. " _lt_chsum = 0x%04x\n"
  963. " _lt_code = 0x%04x (%c%c)\n"
  964. " _lt_resv1 = 0x%08lx\n"
  965. ),
  966. src_addr,
  967. header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
  968. header.size, header.size,
  969. header.count, header.count,
  970. header.checksum,
  971. header.code, header.code >> 8, header.code & 0xff,
  972. header.signature
  973. );
  974. #elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
  975. MYSERIAL.print(" _src_addr = 0x");
  976. MYSERIAL.println(src_addr, 16);
  977. MYSERIAL.print(" _lt_magic = 0x");
  978. MYSERIAL.print(header.magic, 16);
  979. MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
  980. MYSERIAL.print(" _lt_size = 0x");
  981. MYSERIAL.print(header.size, 16);
  982. MYSERIAL.print(" (");
  983. MYSERIAL.print(header.size, 10);
  984. MYSERIAL.println(")");
  985. MYSERIAL.print(" _lt_count = 0x");
  986. MYSERIAL.print(header.count, 16);
  987. MYSERIAL.print(" (");
  988. MYSERIAL.print(header.count, 10);
  989. MYSERIAL.println(")");
  990. MYSERIAL.print(" _lt_chsum = 0x");
  991. MYSERIAL.println(header.checksum, 16);
  992. MYSERIAL.print(" _lt_code = 0x");
  993. MYSERIAL.print(header.code, 16);
  994. MYSERIAL.print(" (");
  995. MYSERIAL.print((char)(header.code >> 8), 0);
  996. MYSERIAL.print((char)(header.code & 0xff), 0);
  997. MYSERIAL.println(")");
  998. MYSERIAL.print(" _lt_resv1 = 0x");
  999. MYSERIAL.println(header.signature, 16);
  1000. #endif //(LT_PRINT_TEST==)
  1001. #undef LT_PRINT_TEST
  1002. #if 0
  1003. w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
  1004. for (uint16_t i = 0; i < 1024; i++)
  1005. {
  1006. if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
  1007. printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
  1008. if ((i % 16) == 15) putchar('\n');
  1009. }
  1010. #endif
  1011. uint16_t sum = 0;
  1012. for (uint16_t i = 0; i < header.size; i++)
  1013. sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
  1014. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1015. sum -= header.checksum; //subtract checksum
  1016. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1017. sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
  1018. if (sum == header.checksum)
  1019. puts_P(_n("Checksum OK"), sum);
  1020. else
  1021. puts_P(_n("Checksum NG"), sum);
  1022. }
  1023. else
  1024. puts_P(_n("lang_get_header failed!"));
  1025. #if 0
  1026. for (uint16_t i = 0; i < 1024*10; i++)
  1027. {
  1028. if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
  1029. printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
  1030. if ((i % 16) == 15) putchar('\n');
  1031. }
  1032. #endif
  1033. #if 0
  1034. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  1035. for (int i = 0; i < 4096; ++i) {
  1036. int b = eeprom_read_byte((unsigned char*)i);
  1037. if (b != 255) {
  1038. SERIAL_ECHO(i);
  1039. SERIAL_ECHO(":");
  1040. SERIAL_ECHO(b);
  1041. SERIAL_ECHOLN("");
  1042. }
  1043. }
  1044. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  1045. #endif
  1046. #endif //DEBUG_SEC_LANG
  1047. // Check startup - does nothing if bootloader sets MCUSR to 0
  1048. byte mcu = MCUSR;
  1049. /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  1050. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  1051. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  1052. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  1053. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  1054. if (mcu & 1) puts_P(MSG_POWERUP);
  1055. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  1056. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  1057. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  1058. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  1059. MCUSR = 0;
  1060. //SERIAL_ECHORPGM(MSG_MARLIN);
  1061. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  1062. #ifdef STRING_VERSION_CONFIG_H
  1063. #ifdef STRING_CONFIG_H_AUTHOR
  1064. SERIAL_ECHO_START;
  1065. SERIAL_ECHORPGM(_n(" Last Updated: "));////MSG_CONFIGURATION_VER
  1066. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  1067. SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR
  1068. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  1069. SERIAL_ECHOPGM("Compiled: ");
  1070. SERIAL_ECHOLNPGM(__DATE__);
  1071. #endif
  1072. #endif
  1073. SERIAL_ECHO_START;
  1074. SERIAL_ECHORPGM(_n(" Free Memory: "));////MSG_FREE_MEMORY
  1075. SERIAL_ECHO(freeMemory());
  1076. SERIAL_ECHORPGM(_n(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES
  1077. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  1078. //lcd_update_enable(false); // why do we need this?? - andre
  1079. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  1080. bool previous_settings_retrieved = false;
  1081. uint8_t hw_changed = check_printer_version();
  1082. 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
  1083. previous_settings_retrieved = Config_RetrieveSettings();
  1084. }
  1085. else { //printer version was changed so use default settings
  1086. Config_ResetDefault();
  1087. }
  1088. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  1089. tp_init(); // Initialize temperature loop
  1090. if (w25x20cl_success) lcd_splash(); // we need to do this again, because tp_init() kills lcd
  1091. else
  1092. {
  1093. w25x20cl_err_msg();
  1094. puts_P(_n("W25X20CL not responding."));
  1095. }
  1096. #ifdef EXTRUDER_ALTFAN_DETECT
  1097. SERIAL_ECHORPGM(_n("Extruder fan type: "));
  1098. if (extruder_altfan_detect())
  1099. SERIAL_ECHOLNRPGM(PSTR("ALTFAN"));
  1100. else
  1101. SERIAL_ECHOLNRPGM(PSTR("NOCTUA"));
  1102. #endif //EXTRUDER_ALTFAN_DETECT
  1103. plan_init(); // Initialize planner;
  1104. factory_reset();
  1105. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1106. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff)
  1107. {
  1108. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1109. // where all the EEPROM entries are set to 0x0ff.
  1110. // Once a firmware boots up, it forces at least a language selection, which changes
  1111. // EEPROM_LANG to number lower than 0x0ff.
  1112. // 1) Set a high power mode.
  1113. eeprom_update_byte((uint8_t*)EEPROM_SILENT, SILENT_MODE_OFF);
  1114. #ifdef TMC2130
  1115. tmc2130_mode = TMC2130_MODE_NORMAL;
  1116. #endif //TMC2130
  1117. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  1118. }
  1119. lcd_encoder_diff=0;
  1120. #ifdef TMC2130
  1121. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1122. if (silentMode == 0xff) silentMode = 0;
  1123. tmc2130_mode = TMC2130_MODE_NORMAL;
  1124. if (lcd_crash_detect_enabled() && !farm_mode)
  1125. {
  1126. lcd_crash_detect_enable();
  1127. puts_P(_N("CrashDetect ENABLED!"));
  1128. }
  1129. else
  1130. {
  1131. lcd_crash_detect_disable();
  1132. puts_P(_N("CrashDetect DISABLED"));
  1133. }
  1134. #ifdef TMC2130_LINEARITY_CORRECTION
  1135. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  1136. tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  1137. tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  1138. tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  1139. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  1140. tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
  1141. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  1142. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  1143. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  1144. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  1145. #endif //TMC2130_LINEARITY_CORRECTION
  1146. #ifdef TMC2130_VARIABLE_RESOLUTION
  1147. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[X_AXIS]);
  1148. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Y_AXIS]);
  1149. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Z_AXIS]);
  1150. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[E_AXIS]);
  1151. #else //TMC2130_VARIABLE_RESOLUTION
  1152. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1153. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1154. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1155. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1156. #endif //TMC2130_VARIABLE_RESOLUTION
  1157. #endif //TMC2130
  1158. st_init(); // Initialize stepper, this enables interrupts!
  1159. #ifdef TMC2130
  1160. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1161. update_mode_profile();
  1162. tmc2130_init();
  1163. #endif //TMC2130
  1164. #ifdef PSU_Delta
  1165. init_force_z(); // ! important for correct Z-axis initialization
  1166. #endif // PSU_Delta
  1167. setup_photpin();
  1168. servo_init();
  1169. // Reset the machine correction matrix.
  1170. // It does not make sense to load the correction matrix until the machine is homed.
  1171. world2machine_reset();
  1172. // Initialize current_position accounting for software endstops to
  1173. // avoid unexpected initial shifts on the first move
  1174. clamp_to_software_endstops(current_position);
  1175. plan_set_position_curposXYZE();
  1176. #ifdef FILAMENT_SENSOR
  1177. fsensor_init();
  1178. #endif //FILAMENT_SENSOR
  1179. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  1180. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  1181. #endif
  1182. setup_homepin();
  1183. #if defined(Z_AXIS_ALWAYS_ON)
  1184. enable_z();
  1185. #endif
  1186. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  1187. if (farm_mode == 0xFF) 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
  1188. if (farm_mode)
  1189. {
  1190. prusa_statistics(8);
  1191. }
  1192. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1193. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1194. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1195. // but this times out if a blocking dialog is shown in setup().
  1196. card.initsd();
  1197. #ifdef DEBUG_SD_SPEED_TEST
  1198. if (card.cardOK)
  1199. {
  1200. uint8_t* buff = (uint8_t*)block_buffer;
  1201. uint32_t block = 0;
  1202. uint32_t sumr = 0;
  1203. uint32_t sumw = 0;
  1204. for (int i = 0; i < 1024; i++)
  1205. {
  1206. uint32_t u = _micros();
  1207. bool res = card.card.readBlock(i, buff);
  1208. u = _micros() - u;
  1209. if (res)
  1210. {
  1211. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1212. sumr += u;
  1213. u = _micros();
  1214. res = card.card.writeBlock(i, buff);
  1215. u = _micros() - u;
  1216. if (res)
  1217. {
  1218. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1219. sumw += u;
  1220. }
  1221. else
  1222. {
  1223. printf_P(PSTR("writeBlock %4d error\n"), i);
  1224. break;
  1225. }
  1226. }
  1227. else
  1228. {
  1229. printf_P(PSTR("readBlock %4d error\n"), i);
  1230. break;
  1231. }
  1232. }
  1233. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1234. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1235. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1236. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1237. }
  1238. else
  1239. printf_P(PSTR("Card NG!\n"));
  1240. #endif //DEBUG_SD_SPEED_TEST
  1241. eeprom_init();
  1242. #ifdef SNMM
  1243. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1244. int _z = BOWDEN_LENGTH;
  1245. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1246. }
  1247. #endif
  1248. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1249. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1250. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1251. #if (LANG_MODE != 0) //secondary language support
  1252. #ifdef DEBUG_W25X20CL
  1253. W25X20CL_SPI_ENTER();
  1254. uint8_t uid[8]; // 64bit unique id
  1255. w25x20cl_rd_uid(uid);
  1256. puts_P(_n("W25X20CL UID="));
  1257. for (uint8_t i = 0; i < 8; i ++)
  1258. printf_P(PSTR("%02hhx"), uid[i]);
  1259. putchar('\n');
  1260. list_sec_lang_from_external_flash();
  1261. #endif //DEBUG_W25X20CL
  1262. // lang_reset();
  1263. if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
  1264. lcd_language();
  1265. #ifdef DEBUG_SEC_LANG
  1266. uint16_t sec_lang_code = lang_get_code(1);
  1267. uint16_t ui = _SEC_LANG_TABLE; //table pointer
  1268. 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);
  1269. lang_print_sec_lang(uartout);
  1270. #endif //DEBUG_SEC_LANG
  1271. #endif //(LANG_MODE != 0)
  1272. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1273. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1274. }
  1275. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1276. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1277. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1278. int16_t z_shift = 0;
  1279. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  1280. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1281. }
  1282. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1283. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1284. }
  1285. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1286. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1287. }
  1288. //mbl_mode_init();
  1289. mbl_settings_init();
  1290. SilentModeMenu_MMU = eeprom_read_byte((uint8_t*)EEPROM_MMU_STEALTH);
  1291. if (SilentModeMenu_MMU == 255) {
  1292. SilentModeMenu_MMU = 1;
  1293. eeprom_write_byte((uint8_t*)EEPROM_MMU_STEALTH, SilentModeMenu_MMU);
  1294. }
  1295. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1296. setup_fan_interrupt();
  1297. #endif //DEBUG_DISABLE_FANCHECK
  1298. #ifdef PAT9125
  1299. fsensor_setup_interrupt();
  1300. #endif //PAT9125
  1301. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1302. #ifndef DEBUG_DISABLE_STARTMSGS
  1303. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1304. if (!farm_mode) {
  1305. check_if_fw_is_on_right_printer();
  1306. show_fw_version_warnings();
  1307. }
  1308. switch (hw_changed) {
  1309. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1310. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1311. case(0b01):
  1312. lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
  1313. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1314. break;
  1315. case(0b10):
  1316. lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
  1317. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1318. break;
  1319. case(0b11):
  1320. lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
  1321. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1322. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1323. break;
  1324. default: break; //no change, show no message
  1325. }
  1326. if (!previous_settings_retrieved) {
  1327. lcd_show_fullscreen_message_and_wait_P(_i("Old settings found. Default PID, Esteps etc. will be set.")); //if EEPROM version or printer type was changed, inform user that default setting were loaded////MSG_DEFAULT_SETTINGS_LOADED c=20 r=5
  1328. Config_StoreSettings();
  1329. }
  1330. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  1331. lcd_wizard(WizState::Run);
  1332. }
  1333. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1334. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1335. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1336. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1337. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1338. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  1339. // Show the message.
  1340. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1341. }
  1342. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1343. // Show the message.
  1344. lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  1345. lcd_update_enable(true);
  1346. }
  1347. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() == false) {
  1348. //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
  1349. lcd_update_enable(true);
  1350. }
  1351. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1352. // Show the message.
  1353. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_Z_CALIBRATION_FLOW));
  1354. }
  1355. }
  1356. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1357. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1358. lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
  1359. update_current_firmware_version_to_eeprom();
  1360. lcd_selftest();
  1361. }
  1362. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1363. KEEPALIVE_STATE(IN_PROCESS);
  1364. #endif //DEBUG_DISABLE_STARTMSGS
  1365. lcd_update_enable(true);
  1366. lcd_clear();
  1367. lcd_update(2);
  1368. // Store the currently running firmware into an eeprom,
  1369. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1370. update_current_firmware_version_to_eeprom();
  1371. #ifdef TMC2130
  1372. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1373. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1374. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1375. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1376. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1377. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1378. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1379. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1380. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1381. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1382. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1383. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1384. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1385. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1386. #endif //TMC2130
  1387. #ifdef UVLO_SUPPORT
  1388. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != 0) { //previous print was terminated by UVLO
  1389. /*
  1390. if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
  1391. else {
  1392. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1393. lcd_update_enable(true);
  1394. lcd_update(2);
  1395. lcd_setstatuspgm(_T(WELCOME_MSG));
  1396. }
  1397. */
  1398. manage_heater(); // Update temperatures
  1399. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1400. 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));
  1401. #endif
  1402. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1403. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1404. puts_P(_N("Automatic recovery!"));
  1405. #endif
  1406. recover_print(1);
  1407. }
  1408. else{
  1409. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1410. puts_P(_N("Normal recovery!"));
  1411. #endif
  1412. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
  1413. else {
  1414. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1415. lcd_update_enable(true);
  1416. lcd_update(2);
  1417. lcd_setstatuspgm(_T(WELCOME_MSG));
  1418. }
  1419. }
  1420. }
  1421. // Only arm the uvlo interrupt _after_ a recovering print has been initialized and
  1422. // the entire state machine initialized.
  1423. setup_uvlo_interrupt();
  1424. #endif //UVLO_SUPPORT
  1425. fCheckModeInit();
  1426. fSetMmuMode(mmu_enabled);
  1427. KEEPALIVE_STATE(NOT_BUSY);
  1428. #ifdef WATCHDOG
  1429. wdt_enable(WDTO_4S);
  1430. #endif //WATCHDOG
  1431. }
  1432. void trace();
  1433. #define CHUNK_SIZE 64 // bytes
  1434. #define SAFETY_MARGIN 1
  1435. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1436. int chunkHead = 0;
  1437. void serial_read_stream() {
  1438. setAllTargetHotends(0);
  1439. setTargetBed(0);
  1440. lcd_clear();
  1441. lcd_puts_P(PSTR(" Upload in progress"));
  1442. // first wait for how many bytes we will receive
  1443. uint32_t bytesToReceive;
  1444. // receive the four bytes
  1445. char bytesToReceiveBuffer[4];
  1446. for (int i=0; i<4; i++) {
  1447. int data;
  1448. while ((data = MYSERIAL.read()) == -1) {};
  1449. bytesToReceiveBuffer[i] = data;
  1450. }
  1451. // make it a uint32
  1452. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1453. // we're ready, notify the sender
  1454. MYSERIAL.write('+');
  1455. // lock in the routine
  1456. uint32_t receivedBytes = 0;
  1457. while (prusa_sd_card_upload) {
  1458. int i;
  1459. for (i=0; i<CHUNK_SIZE; i++) {
  1460. int data;
  1461. // check if we're not done
  1462. if (receivedBytes == bytesToReceive) {
  1463. break;
  1464. }
  1465. // read the next byte
  1466. while ((data = MYSERIAL.read()) == -1) {};
  1467. receivedBytes++;
  1468. // save it to the chunk
  1469. chunk[i] = data;
  1470. }
  1471. // write the chunk to SD
  1472. card.write_command_no_newline(&chunk[0]);
  1473. // notify the sender we're ready for more data
  1474. MYSERIAL.write('+');
  1475. // for safety
  1476. manage_heater();
  1477. // check if we're done
  1478. if(receivedBytes == bytesToReceive) {
  1479. trace(); // beep
  1480. card.closefile();
  1481. prusa_sd_card_upload = false;
  1482. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1483. }
  1484. }
  1485. }
  1486. /**
  1487. * Output a "busy" message at regular intervals
  1488. * while the machine is not accepting commands.
  1489. */
  1490. void host_keepalive() {
  1491. #ifndef HOST_KEEPALIVE_FEATURE
  1492. return;
  1493. #endif //HOST_KEEPALIVE_FEATURE
  1494. if (farm_mode) return;
  1495. long ms = _millis();
  1496. #if defined(AUTO_REPORT)
  1497. {
  1498. if (autoReportFeatures.TimerExpired())
  1499. {
  1500. if(autoReportFeatures.Temp()){
  1501. gcode_M105(active_extruder);
  1502. }
  1503. if(autoReportFeatures.Pos()){
  1504. gcode_M114();
  1505. }
  1506. #if defined(AUTO_REPORT) && (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  1507. if(autoReportFeatures.Fans()){
  1508. gcode_M123();
  1509. }
  1510. #endif //AUTO_REPORT and (FANCHECK and TACH_0 or TACH_1)
  1511. autoReportFeatures.TimerStart();
  1512. }
  1513. }
  1514. #endif //AUTO_REPORT
  1515. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1516. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1517. switch (busy_state) {
  1518. case IN_HANDLER:
  1519. case IN_PROCESS:
  1520. SERIAL_ECHO_START;
  1521. SERIAL_ECHOLNPGM("busy: processing");
  1522. break;
  1523. case PAUSED_FOR_USER:
  1524. SERIAL_ECHO_START;
  1525. SERIAL_ECHOLNPGM("busy: paused for user");
  1526. break;
  1527. case PAUSED_FOR_INPUT:
  1528. SERIAL_ECHO_START;
  1529. SERIAL_ECHOLNPGM("busy: paused for input");
  1530. break;
  1531. default:
  1532. break;
  1533. }
  1534. }
  1535. prev_busy_signal_ms = ms;
  1536. }
  1537. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1538. // Before loop(), the setup() function is called by the main() routine.
  1539. void loop()
  1540. {
  1541. KEEPALIVE_STATE(NOT_BUSY);
  1542. if ((usb_printing_counter > 0) && ((_millis()-_usb_timer) > 1000))
  1543. {
  1544. is_usb_printing = true;
  1545. usb_printing_counter--;
  1546. _usb_timer = _millis();
  1547. }
  1548. if (usb_printing_counter == 0)
  1549. {
  1550. is_usb_printing = false;
  1551. }
  1552. if (isPrintPaused && saved_printing_type == PRINTING_TYPE_USB) //keep believing that usb is being printed. Prevents accessing dangerous menus while pausing.
  1553. {
  1554. is_usb_printing = true;
  1555. }
  1556. #ifdef FANCHECK
  1557. if (fan_check_error && isPrintPaused)
  1558. {
  1559. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1560. host_keepalive(); //prevent timeouts since usb processing is disabled until print is resumed. This is for a crude way of pausing a print on all hosts.
  1561. }
  1562. #endif
  1563. if (prusa_sd_card_upload)
  1564. {
  1565. //we read byte-by byte
  1566. serial_read_stream();
  1567. }
  1568. else
  1569. {
  1570. get_command();
  1571. #ifdef SDSUPPORT
  1572. card.checkautostart(false);
  1573. #endif
  1574. if(buflen)
  1575. {
  1576. cmdbuffer_front_already_processed = false;
  1577. #ifdef SDSUPPORT
  1578. if(card.saving)
  1579. {
  1580. // Saving a G-code file onto an SD-card is in progress.
  1581. // Saving starts with M28, saving until M29 is seen.
  1582. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1583. card.write_command(CMDBUFFER_CURRENT_STRING);
  1584. if(card.logging)
  1585. process_commands();
  1586. else
  1587. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1588. } else {
  1589. card.closefile();
  1590. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1591. }
  1592. } else {
  1593. process_commands();
  1594. }
  1595. #else
  1596. process_commands();
  1597. #endif //SDSUPPORT
  1598. if (! cmdbuffer_front_already_processed && buflen)
  1599. {
  1600. // ptr points to the start of the block currently being processed.
  1601. // The first character in the block is the block type.
  1602. char *ptr = cmdbuffer + bufindr;
  1603. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1604. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1605. union {
  1606. struct {
  1607. char lo;
  1608. char hi;
  1609. } lohi;
  1610. uint16_t value;
  1611. } sdlen;
  1612. sdlen.value = 0;
  1613. {
  1614. // This block locks the interrupts globally for 3.25 us,
  1615. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1616. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1617. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1618. cli();
  1619. // Reset the command to something, which will be ignored by the power panic routine,
  1620. // so this buffer length will not be counted twice.
  1621. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1622. // Extract the current buffer length.
  1623. sdlen.lohi.lo = *ptr ++;
  1624. sdlen.lohi.hi = *ptr;
  1625. // and pass it to the planner queue.
  1626. planner_add_sd_length(sdlen.value);
  1627. sei();
  1628. }
  1629. }
  1630. else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
  1631. cli();
  1632. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1633. // and one for each command to previous block in the planner queue.
  1634. planner_add_sd_length(1);
  1635. sei();
  1636. }
  1637. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1638. // this block's SD card length will not be counted twice as its command type has been replaced
  1639. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1640. cmdqueue_pop_front();
  1641. }
  1642. host_keepalive();
  1643. }
  1644. }
  1645. //check heater every n milliseconds
  1646. manage_heater();
  1647. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1648. checkHitEndstops();
  1649. lcd_update(0);
  1650. #ifdef TMC2130
  1651. tmc2130_check_overtemp();
  1652. if (tmc2130_sg_crash)
  1653. {
  1654. uint8_t crash = tmc2130_sg_crash;
  1655. tmc2130_sg_crash = 0;
  1656. // crashdet_stop_and_save_print();
  1657. switch (crash)
  1658. {
  1659. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1660. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1661. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1662. }
  1663. }
  1664. #endif //TMC2130
  1665. mmu_loop();
  1666. }
  1667. #define DEFINE_PGM_READ_ANY(type, reader) \
  1668. static inline type pgm_read_any(const type *p) \
  1669. { return pgm_read_##reader##_near(p); }
  1670. DEFINE_PGM_READ_ANY(float, float);
  1671. DEFINE_PGM_READ_ANY(signed char, byte);
  1672. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1673. static const PROGMEM type array##_P[3] = \
  1674. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1675. static inline type array(int axis) \
  1676. { return pgm_read_any(&array##_P[axis]); } \
  1677. type array##_ext(int axis) \
  1678. { return pgm_read_any(&array##_P[axis]); }
  1679. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1680. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1681. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1682. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1683. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1684. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1685. static void axis_is_at_home(int axis) {
  1686. current_position[axis] = base_home_pos(axis) + cs.add_homing[axis];
  1687. min_pos[axis] = base_min_pos(axis) + cs.add_homing[axis];
  1688. max_pos[axis] = base_max_pos(axis) + cs.add_homing[axis];
  1689. }
  1690. //! @return original feedmultiply
  1691. static int setup_for_endstop_move(bool enable_endstops_now = true) {
  1692. saved_feedrate = feedrate;
  1693. int l_feedmultiply = feedmultiply;
  1694. feedmultiply = 100;
  1695. previous_millis_cmd = _millis();
  1696. enable_endstops(enable_endstops_now);
  1697. return l_feedmultiply;
  1698. }
  1699. //! @param original_feedmultiply feedmultiply to restore
  1700. static void clean_up_after_endstop_move(int original_feedmultiply) {
  1701. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1702. enable_endstops(false);
  1703. #endif
  1704. feedrate = saved_feedrate;
  1705. feedmultiply = original_feedmultiply;
  1706. previous_millis_cmd = _millis();
  1707. }
  1708. #ifdef ENABLE_AUTO_BED_LEVELING
  1709. #ifdef AUTO_BED_LEVELING_GRID
  1710. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1711. {
  1712. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1713. planeNormal.debug("planeNormal");
  1714. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1715. //bedLevel.debug("bedLevel");
  1716. //plan_bed_level_matrix.debug("bed level before");
  1717. //vector_3 uncorrected_position = plan_get_position_mm();
  1718. //uncorrected_position.debug("position before");
  1719. vector_3 corrected_position = plan_get_position();
  1720. // corrected_position.debug("position after");
  1721. current_position[X_AXIS] = corrected_position.x;
  1722. current_position[Y_AXIS] = corrected_position.y;
  1723. current_position[Z_AXIS] = corrected_position.z;
  1724. // put the bed at 0 so we don't go below it.
  1725. current_position[Z_AXIS] = cs.zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1726. plan_set_position_curposXYZE();
  1727. }
  1728. #else // not AUTO_BED_LEVELING_GRID
  1729. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1730. plan_bed_level_matrix.set_to_identity();
  1731. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1732. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1733. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1734. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1735. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1736. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1737. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1738. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1739. vector_3 corrected_position = plan_get_position();
  1740. current_position[X_AXIS] = corrected_position.x;
  1741. current_position[Y_AXIS] = corrected_position.y;
  1742. current_position[Z_AXIS] = corrected_position.z;
  1743. // put the bed at 0 so we don't go below it.
  1744. current_position[Z_AXIS] = cs.zprobe_zoffset;
  1745. plan_set_position_curposXYZE();
  1746. }
  1747. #endif // AUTO_BED_LEVELING_GRID
  1748. static void run_z_probe() {
  1749. plan_bed_level_matrix.set_to_identity();
  1750. feedrate = homing_feedrate[Z_AXIS];
  1751. // move down until you find the bed
  1752. float zPosition = -10;
  1753. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1754. st_synchronize();
  1755. // we have to let the planner know where we are right now as it is not where we said to go.
  1756. zPosition = st_get_position_mm(Z_AXIS);
  1757. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1758. // move up the retract distance
  1759. zPosition += home_retract_mm(Z_AXIS);
  1760. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1761. st_synchronize();
  1762. // move back down slowly to find bed
  1763. feedrate = homing_feedrate[Z_AXIS]/4;
  1764. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1765. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1766. st_synchronize();
  1767. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1768. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1769. plan_set_position_curposXYZE();
  1770. }
  1771. static void do_blocking_move_to(float x, float y, float z) {
  1772. float oldFeedRate = feedrate;
  1773. feedrate = homing_feedrate[Z_AXIS];
  1774. current_position[Z_AXIS] = z;
  1775. plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
  1776. st_synchronize();
  1777. feedrate = XY_TRAVEL_SPEED;
  1778. current_position[X_AXIS] = x;
  1779. current_position[Y_AXIS] = y;
  1780. plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
  1781. st_synchronize();
  1782. feedrate = oldFeedRate;
  1783. }
  1784. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1785. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1786. }
  1787. /// Probe bed height at position (x,y), returns the measured z value
  1788. static float probe_pt(float x, float y, float z_before) {
  1789. // move to right place
  1790. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1791. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1792. run_z_probe();
  1793. float measured_z = current_position[Z_AXIS];
  1794. SERIAL_PROTOCOLRPGM(_T(MSG_BED));
  1795. SERIAL_PROTOCOLPGM(" x: ");
  1796. SERIAL_PROTOCOL(x);
  1797. SERIAL_PROTOCOLPGM(" y: ");
  1798. SERIAL_PROTOCOL(y);
  1799. SERIAL_PROTOCOLPGM(" z: ");
  1800. SERIAL_PROTOCOL(measured_z);
  1801. SERIAL_PROTOCOLPGM("\n");
  1802. return measured_z;
  1803. }
  1804. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1805. #ifdef LIN_ADVANCE
  1806. /**
  1807. * M900: Set and/or Get advance K factor
  1808. *
  1809. * K<factor> Set advance K factor
  1810. */
  1811. inline void gcode_M900() {
  1812. float newK = code_seen('K') ? code_value_float() : -2;
  1813. #ifdef LA_NOCOMPAT
  1814. if (newK >= 0 && newK < LA_K_MAX)
  1815. extruder_advance_K = newK;
  1816. else
  1817. SERIAL_ECHOLNPGM("K out of allowed range!");
  1818. #else
  1819. if (newK == 0)
  1820. {
  1821. extruder_advance_K = 0;
  1822. la10c_reset();
  1823. }
  1824. else
  1825. {
  1826. newK = la10c_value(newK);
  1827. if (newK < 0)
  1828. SERIAL_ECHOLNPGM("K out of allowed range!");
  1829. else
  1830. extruder_advance_K = newK;
  1831. }
  1832. #endif
  1833. SERIAL_ECHO_START;
  1834. SERIAL_ECHOPGM("Advance K=");
  1835. SERIAL_ECHOLN(extruder_advance_K);
  1836. }
  1837. #endif // LIN_ADVANCE
  1838. bool check_commands() {
  1839. bool end_command_found = false;
  1840. while (buflen)
  1841. {
  1842. if ((code_seen_P(PSTR("M84"))) || (code_seen_P(PSTR("M 84")))) end_command_found = true;
  1843. if (!cmdbuffer_front_already_processed)
  1844. cmdqueue_pop_front();
  1845. cmdbuffer_front_already_processed = false;
  1846. }
  1847. return end_command_found;
  1848. }
  1849. // raise_z_above: slowly raise Z to the requested height
  1850. //
  1851. // contrarily to a simple move, this function will carefully plan a move
  1852. // when the current Z position is unknown. In such cases, stallguard is
  1853. // enabled and will prevent prolonged pushing against the Z tops
  1854. void raise_z_above(float target, bool plan)
  1855. {
  1856. if (current_position[Z_AXIS] >= target)
  1857. return;
  1858. // Z needs raising
  1859. current_position[Z_AXIS] = target;
  1860. #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
  1861. bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  1862. #else
  1863. bool z_min_endstop = false;
  1864. #endif
  1865. if (axis_known_position[Z_AXIS] || z_min_endstop)
  1866. {
  1867. // current position is known or very low, it's safe to raise Z
  1868. if(plan) plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
  1869. return;
  1870. }
  1871. // ensure Z is powered in normal mode to overcome initial load
  1872. enable_z();
  1873. st_synchronize();
  1874. // rely on crashguard to limit damage
  1875. bool z_endstop_enabled = enable_z_endstop(true);
  1876. #ifdef TMC2130
  1877. tmc2130_home_enter(Z_AXIS_MASK);
  1878. #endif //TMC2130
  1879. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
  1880. st_synchronize();
  1881. #ifdef TMC2130
  1882. if (endstop_z_hit_on_purpose())
  1883. {
  1884. // not necessarily exact, but will avoid further vertical moves
  1885. current_position[Z_AXIS] = max_pos[Z_AXIS];
  1886. plan_set_position_curposXYZE();
  1887. }
  1888. tmc2130_home_exit();
  1889. #endif //TMC2130
  1890. enable_z_endstop(z_endstop_enabled);
  1891. }
  1892. #ifdef TMC2130
  1893. bool calibrate_z_auto()
  1894. {
  1895. //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
  1896. lcd_clear();
  1897. lcd_puts_at_P(0, 1, _T(MSG_CALIBRATE_Z_AUTO));
  1898. bool endstops_enabled = enable_endstops(true);
  1899. int axis_up_dir = -home_dir(Z_AXIS);
  1900. tmc2130_home_enter(Z_AXIS_MASK);
  1901. current_position[Z_AXIS] = 0;
  1902. plan_set_position_curposXYZE();
  1903. set_destination_to_current();
  1904. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1905. feedrate = homing_feedrate[Z_AXIS];
  1906. plan_buffer_line_destinationXYZE(feedrate / 60);
  1907. st_synchronize();
  1908. // current_position[axis] = 0;
  1909. // plan_set_position_curposXYZE();
  1910. tmc2130_home_exit();
  1911. enable_endstops(false);
  1912. current_position[Z_AXIS] = 0;
  1913. plan_set_position_curposXYZE();
  1914. set_destination_to_current();
  1915. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1916. feedrate = homing_feedrate[Z_AXIS] / 2;
  1917. plan_buffer_line_destinationXYZE(feedrate / 60);
  1918. st_synchronize();
  1919. enable_endstops(endstops_enabled);
  1920. if (PRINTER_TYPE == PRINTER_MK3) {
  1921. current_position[Z_AXIS] = Z_MAX_POS + 2.0;
  1922. }
  1923. else {
  1924. current_position[Z_AXIS] = Z_MAX_POS + 9.0;
  1925. }
  1926. plan_set_position_curposXYZE();
  1927. return true;
  1928. }
  1929. #endif //TMC2130
  1930. #ifdef TMC2130
  1931. static void check_Z_crash(void)
  1932. {
  1933. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  1934. FORCE_HIGH_POWER_END;
  1935. current_position[Z_AXIS] = 0;
  1936. plan_set_position_curposXYZE();
  1937. current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
  1938. plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
  1939. st_synchronize();
  1940. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  1941. }
  1942. }
  1943. #endif //TMC2130
  1944. #ifdef TMC2130
  1945. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1946. #else
  1947. void homeaxis(int axis, uint8_t cnt)
  1948. #endif //TMC2130
  1949. {
  1950. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1951. #define HOMEAXIS_DO(LETTER) \
  1952. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1953. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1954. {
  1955. int axis_home_dir = home_dir(axis);
  1956. feedrate = homing_feedrate[axis];
  1957. #ifdef TMC2130
  1958. tmc2130_home_enter(X_AXIS_MASK << axis);
  1959. #endif //TMC2130
  1960. // Move away a bit, so that the print head does not touch the end position,
  1961. // and the following movement to endstop has a chance to achieve the required velocity
  1962. // for the stall guard to work.
  1963. current_position[axis] = 0;
  1964. plan_set_position_curposXYZE();
  1965. set_destination_to_current();
  1966. // destination[axis] = 11.f;
  1967. destination[axis] = -3.f * axis_home_dir;
  1968. plan_buffer_line_destinationXYZE(feedrate/60);
  1969. st_synchronize();
  1970. // Move away from the possible collision with opposite endstop with the collision detection disabled.
  1971. endstops_hit_on_purpose();
  1972. enable_endstops(false);
  1973. current_position[axis] = 0;
  1974. plan_set_position_curposXYZE();
  1975. destination[axis] = 1. * axis_home_dir;
  1976. plan_buffer_line_destinationXYZE(feedrate/60);
  1977. st_synchronize();
  1978. // Now continue to move up to the left end stop with the collision detection enabled.
  1979. enable_endstops(true);
  1980. destination[axis] = 1.1 * axis_home_dir * max_length(axis);
  1981. plan_buffer_line_destinationXYZE(feedrate/60);
  1982. st_synchronize();
  1983. for (uint8_t i = 0; i < cnt; i++)
  1984. {
  1985. // Move away from the collision to a known distance from the left end stop 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] = -10.f * axis_home_dir;
  1991. plan_buffer_line_destinationXYZE(feedrate/60);
  1992. st_synchronize();
  1993. endstops_hit_on_purpose();
  1994. // Now move left up to the collision, this time with a repeatable velocity.
  1995. enable_endstops(true);
  1996. destination[axis] = 11.f * axis_home_dir;
  1997. #ifdef TMC2130
  1998. feedrate = homing_feedrate[axis];
  1999. #else //TMC2130
  2000. feedrate = homing_feedrate[axis] / 2;
  2001. #endif //TMC2130
  2002. plan_buffer_line_destinationXYZE(feedrate/60);
  2003. st_synchronize();
  2004. #ifdef TMC2130
  2005. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  2006. if (pstep) pstep[i] = mscnt >> 4;
  2007. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  2008. #endif //TMC2130
  2009. }
  2010. endstops_hit_on_purpose();
  2011. enable_endstops(false);
  2012. #ifdef TMC2130
  2013. uint8_t orig = tmc2130_home_origin[axis];
  2014. uint8_t back = tmc2130_home_bsteps[axis];
  2015. if (tmc2130_home_enabled && (orig <= 63))
  2016. {
  2017. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  2018. if (back > 0)
  2019. tmc2130_do_steps(axis, back, -axis_home_dir, 1000);
  2020. }
  2021. else
  2022. tmc2130_do_steps(axis, 8, -axis_home_dir, 1000);
  2023. tmc2130_home_exit();
  2024. #endif //TMC2130
  2025. axis_is_at_home(axis);
  2026. axis_known_position[axis] = true;
  2027. // Move from minimum
  2028. #ifdef TMC2130
  2029. float dist = - axis_home_dir * 0.01f * tmc2130_home_fsteps[axis];
  2030. #else //TMC2130
  2031. float dist = - axis_home_dir * 0.01f * 64;
  2032. #endif //TMC2130
  2033. current_position[axis] -= dist;
  2034. plan_set_position_curposXYZE();
  2035. current_position[axis] += dist;
  2036. destination[axis] = current_position[axis];
  2037. plan_buffer_line_destinationXYZE(0.5f*feedrate/60);
  2038. st_synchronize();
  2039. feedrate = 0.0;
  2040. }
  2041. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  2042. {
  2043. #ifdef TMC2130
  2044. FORCE_HIGH_POWER_START;
  2045. #endif
  2046. int axis_home_dir = home_dir(axis);
  2047. current_position[axis] = 0;
  2048. plan_set_position_curposXYZE();
  2049. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  2050. feedrate = homing_feedrate[axis];
  2051. plan_buffer_line_destinationXYZE(feedrate/60);
  2052. st_synchronize();
  2053. #ifdef TMC2130
  2054. check_Z_crash();
  2055. #endif //TMC2130
  2056. current_position[axis] = 0;
  2057. plan_set_position_curposXYZE();
  2058. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  2059. plan_buffer_line_destinationXYZE(feedrate/60);
  2060. st_synchronize();
  2061. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  2062. feedrate = homing_feedrate[axis]/2 ;
  2063. plan_buffer_line_destinationXYZE(feedrate/60);
  2064. st_synchronize();
  2065. #ifdef TMC2130
  2066. check_Z_crash();
  2067. #endif //TMC2130
  2068. axis_is_at_home(axis);
  2069. destination[axis] = current_position[axis];
  2070. feedrate = 0.0;
  2071. endstops_hit_on_purpose();
  2072. axis_known_position[axis] = true;
  2073. #ifdef TMC2130
  2074. FORCE_HIGH_POWER_END;
  2075. #endif
  2076. }
  2077. enable_endstops(endstops_enabled);
  2078. }
  2079. /**/
  2080. void home_xy()
  2081. {
  2082. set_destination_to_current();
  2083. homeaxis(X_AXIS);
  2084. homeaxis(Y_AXIS);
  2085. plan_set_position_curposXYZE();
  2086. endstops_hit_on_purpose();
  2087. }
  2088. void refresh_cmd_timeout(void)
  2089. {
  2090. previous_millis_cmd = _millis();
  2091. }
  2092. #ifdef FWRETRACT
  2093. void retract(bool retracting, bool swapretract = false) {
  2094. if(retracting && !retracted[active_extruder]) {
  2095. destination[X_AXIS]=current_position[X_AXIS];
  2096. destination[Y_AXIS]=current_position[Y_AXIS];
  2097. destination[Z_AXIS]=current_position[Z_AXIS];
  2098. destination[E_AXIS]=current_position[E_AXIS];
  2099. current_position[E_AXIS]+=(swapretract?retract_length_swap:cs.retract_length)*float(extrudemultiply)*0.01f;
  2100. plan_set_e_position(current_position[E_AXIS]);
  2101. float oldFeedrate = feedrate;
  2102. feedrate=cs.retract_feedrate*60;
  2103. retracted[active_extruder]=true;
  2104. prepare_move();
  2105. current_position[Z_AXIS]-=cs.retract_zlift;
  2106. plan_set_position_curposXYZE();
  2107. prepare_move();
  2108. feedrate = oldFeedrate;
  2109. } else if(!retracting && retracted[active_extruder]) {
  2110. destination[X_AXIS]=current_position[X_AXIS];
  2111. destination[Y_AXIS]=current_position[Y_AXIS];
  2112. destination[Z_AXIS]=current_position[Z_AXIS];
  2113. destination[E_AXIS]=current_position[E_AXIS];
  2114. current_position[Z_AXIS]+=cs.retract_zlift;
  2115. plan_set_position_curposXYZE();
  2116. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f;
  2117. plan_set_e_position(current_position[E_AXIS]);
  2118. float oldFeedrate = feedrate;
  2119. feedrate=cs.retract_recover_feedrate*60;
  2120. retracted[active_extruder]=false;
  2121. prepare_move();
  2122. feedrate = oldFeedrate;
  2123. }
  2124. } //retract
  2125. #endif //FWRETRACT
  2126. void trace() {
  2127. Sound_MakeCustom(25,440,true);
  2128. }
  2129. /*
  2130. void ramming() {
  2131. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  2132. if (current_temperature[0] < 230) {
  2133. //PLA
  2134. max_feedrate[E_AXIS] = 50;
  2135. //current_position[E_AXIS] -= 8;
  2136. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2137. //current_position[E_AXIS] += 8;
  2138. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2139. current_position[E_AXIS] += 5.4;
  2140. plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
  2141. current_position[E_AXIS] += 3.2;
  2142. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  2143. current_position[E_AXIS] += 3;
  2144. plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
  2145. st_synchronize();
  2146. max_feedrate[E_AXIS] = 80;
  2147. current_position[E_AXIS] -= 82;
  2148. plan_buffer_line_curposXYZE(9500 / 60, active_extruder);
  2149. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2150. current_position[E_AXIS] -= 20;
  2151. plan_buffer_line_curposXYZE(1200 / 60, active_extruder);
  2152. current_position[E_AXIS] += 5;
  2153. plan_buffer_line_curposXYZE(400 / 60, active_extruder);
  2154. current_position[E_AXIS] += 5;
  2155. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2156. current_position[E_AXIS] -= 10;
  2157. st_synchronize();
  2158. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2159. current_position[E_AXIS] += 10;
  2160. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2161. current_position[E_AXIS] -= 10;
  2162. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2163. current_position[E_AXIS] += 10;
  2164. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2165. current_position[E_AXIS] -= 10;
  2166. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2167. st_synchronize();
  2168. }
  2169. else {
  2170. //ABS
  2171. max_feedrate[E_AXIS] = 50;
  2172. //current_position[E_AXIS] -= 8;
  2173. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2174. //current_position[E_AXIS] += 8;
  2175. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2176. current_position[E_AXIS] += 3.1;
  2177. plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
  2178. current_position[E_AXIS] += 3.1;
  2179. plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
  2180. current_position[E_AXIS] += 4;
  2181. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  2182. st_synchronize();
  2183. //current_position[X_AXIS] += 23; //delay
  2184. //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
  2185. //current_position[X_AXIS] -= 23; //delay
  2186. //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
  2187. _delay(4700);
  2188. max_feedrate[E_AXIS] = 80;
  2189. current_position[E_AXIS] -= 92;
  2190. plan_buffer_line_curposXYZE(9900 / 60, active_extruder);
  2191. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2192. current_position[E_AXIS] -= 5;
  2193. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2194. current_position[E_AXIS] += 5;
  2195. plan_buffer_line_curposXYZE(400 / 60, active_extruder);
  2196. current_position[E_AXIS] -= 5;
  2197. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2198. st_synchronize();
  2199. current_position[E_AXIS] += 5;
  2200. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2201. current_position[E_AXIS] -= 5;
  2202. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2203. current_position[E_AXIS] += 5;
  2204. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2205. current_position[E_AXIS] -= 5;
  2206. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2207. st_synchronize();
  2208. }
  2209. }
  2210. */
  2211. #ifdef TMC2130
  2212. void force_high_power_mode(bool start_high_power_section) {
  2213. #ifdef PSU_Delta
  2214. if (start_high_power_section == true) enable_force_z();
  2215. #endif //PSU_Delta
  2216. uint8_t silent;
  2217. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  2218. if (silent == 1) {
  2219. //we are in silent mode, set to normal mode to enable crash detection
  2220. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  2221. st_synchronize();
  2222. cli();
  2223. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  2224. update_mode_profile();
  2225. tmc2130_init();
  2226. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  2227. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  2228. st_reset_timer();
  2229. sei();
  2230. }
  2231. }
  2232. #endif //TMC2130
  2233. void gcode_M105(uint8_t extruder)
  2234. {
  2235. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  2236. SERIAL_PROTOCOLPGM("T:");
  2237. SERIAL_PROTOCOL_F(degHotend(extruder),1);
  2238. SERIAL_PROTOCOLPGM(" /");
  2239. SERIAL_PROTOCOL_F(degTargetHotend(extruder),1);
  2240. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2241. SERIAL_PROTOCOLPGM(" B:");
  2242. SERIAL_PROTOCOL_F(degBed(),1);
  2243. SERIAL_PROTOCOLPGM(" /");
  2244. SERIAL_PROTOCOL_F(degTargetBed(),1);
  2245. #endif //TEMP_BED_PIN
  2246. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2247. SERIAL_PROTOCOLPGM(" T");
  2248. SERIAL_PROTOCOL(cur_extruder);
  2249. SERIAL_PROTOCOL(':');
  2250. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2251. SERIAL_PROTOCOLPGM(" /");
  2252. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  2253. }
  2254. #else
  2255. SERIAL_ERROR_START;
  2256. SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS
  2257. #endif
  2258. SERIAL_PROTOCOLPGM(" @:");
  2259. #ifdef EXTRUDER_WATTS
  2260. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  2261. SERIAL_PROTOCOLPGM("W");
  2262. #else
  2263. SERIAL_PROTOCOL(getHeaterPower(extruder));
  2264. #endif
  2265. SERIAL_PROTOCOLPGM(" B@:");
  2266. #ifdef BED_WATTS
  2267. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  2268. SERIAL_PROTOCOLPGM("W");
  2269. #else
  2270. SERIAL_PROTOCOL(getHeaterPower(-1));
  2271. #endif
  2272. #ifdef PINDA_THERMISTOR
  2273. SERIAL_PROTOCOLPGM(" P:");
  2274. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  2275. #endif //PINDA_THERMISTOR
  2276. #ifdef AMBIENT_THERMISTOR
  2277. SERIAL_PROTOCOLPGM(" A:");
  2278. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  2279. #endif //AMBIENT_THERMISTOR
  2280. #ifdef SHOW_TEMP_ADC_VALUES
  2281. {
  2282. float raw = 0.0;
  2283. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2284. SERIAL_PROTOCOLPGM(" ADC B:");
  2285. SERIAL_PROTOCOL_F(degBed(),1);
  2286. SERIAL_PROTOCOLPGM("C->");
  2287. raw = rawBedTemp();
  2288. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  2289. SERIAL_PROTOCOLPGM(" Rb->");
  2290. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  2291. SERIAL_PROTOCOLPGM(" Rxb->");
  2292. SERIAL_PROTOCOL_F(raw, 5);
  2293. #endif
  2294. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2295. SERIAL_PROTOCOLPGM(" T");
  2296. SERIAL_PROTOCOL(cur_extruder);
  2297. SERIAL_PROTOCOLPGM(":");
  2298. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2299. SERIAL_PROTOCOLPGM("C->");
  2300. raw = rawHotendTemp(cur_extruder);
  2301. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  2302. SERIAL_PROTOCOLPGM(" Rt");
  2303. SERIAL_PROTOCOL(cur_extruder);
  2304. SERIAL_PROTOCOLPGM("->");
  2305. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  2306. SERIAL_PROTOCOLPGM(" Rx");
  2307. SERIAL_PROTOCOL(cur_extruder);
  2308. SERIAL_PROTOCOLPGM("->");
  2309. SERIAL_PROTOCOL_F(raw, 5);
  2310. }
  2311. }
  2312. #endif
  2313. SERIAL_PROTOCOLLN();
  2314. }
  2315. #ifdef TMC2130
  2316. 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)
  2317. #else
  2318. 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)
  2319. #endif //TMC2130
  2320. {
  2321. st_synchronize();
  2322. #if 0
  2323. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2324. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2325. #endif
  2326. // Flag for the display update routine and to disable the print cancelation during homing.
  2327. homing_flag = true;
  2328. // Which axes should be homed?
  2329. bool home_x = home_x_axis;
  2330. bool home_y = home_y_axis;
  2331. bool home_z = home_z_axis;
  2332. // Either all X,Y,Z codes are present, or none of them.
  2333. bool home_all_axes = home_x == home_y && home_x == home_z;
  2334. if (home_all_axes)
  2335. // No X/Y/Z code provided means to home all axes.
  2336. home_x = home_y = home_z = true;
  2337. //if we are homing all axes, first move z higher to protect heatbed/steel sheet
  2338. if (home_all_axes) {
  2339. raise_z_above(MESH_HOME_Z_SEARCH);
  2340. st_synchronize();
  2341. }
  2342. #ifdef ENABLE_AUTO_BED_LEVELING
  2343. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2344. #endif //ENABLE_AUTO_BED_LEVELING
  2345. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2346. // the planner will not perform any adjustments in the XY plane.
  2347. // Wait for the motors to stop and update the current position with the absolute values.
  2348. world2machine_revert_to_uncorrected();
  2349. // For mesh bed leveling deactivate the matrix temporarily.
  2350. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2351. // in a single axis only.
  2352. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2353. #ifdef MESH_BED_LEVELING
  2354. uint8_t mbl_was_active = mbl.active;
  2355. mbl.active = 0;
  2356. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2357. #endif
  2358. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2359. // consumed during the first movements following this statement.
  2360. if (home_z)
  2361. babystep_undo();
  2362. saved_feedrate = feedrate;
  2363. int l_feedmultiply = feedmultiply;
  2364. feedmultiply = 100;
  2365. previous_millis_cmd = _millis();
  2366. enable_endstops(true);
  2367. memcpy(destination, current_position, sizeof(destination));
  2368. feedrate = 0.0;
  2369. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2370. if(home_z)
  2371. homeaxis(Z_AXIS);
  2372. #endif
  2373. #ifdef QUICK_HOME
  2374. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2375. if(home_x && home_y) //first diagonal move
  2376. {
  2377. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2378. int x_axis_home_dir = home_dir(X_AXIS);
  2379. plan_set_position_curposXYZE();
  2380. 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);
  2381. feedrate = homing_feedrate[X_AXIS];
  2382. if(homing_feedrate[Y_AXIS]<feedrate)
  2383. feedrate = homing_feedrate[Y_AXIS];
  2384. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2385. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2386. } else {
  2387. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2388. }
  2389. plan_buffer_line_destinationXYZE(feedrate/60);
  2390. st_synchronize();
  2391. axis_is_at_home(X_AXIS);
  2392. axis_is_at_home(Y_AXIS);
  2393. plan_set_position_curposXYZE();
  2394. destination[X_AXIS] = current_position[X_AXIS];
  2395. destination[Y_AXIS] = current_position[Y_AXIS];
  2396. plan_buffer_line_destinationXYZE(feedrate/60);
  2397. feedrate = 0.0;
  2398. st_synchronize();
  2399. endstops_hit_on_purpose();
  2400. current_position[X_AXIS] = destination[X_AXIS];
  2401. current_position[Y_AXIS] = destination[Y_AXIS];
  2402. current_position[Z_AXIS] = destination[Z_AXIS];
  2403. }
  2404. #endif /* QUICK_HOME */
  2405. #ifdef TMC2130
  2406. if(home_x)
  2407. {
  2408. if (!calib)
  2409. homeaxis(X_AXIS);
  2410. else
  2411. tmc2130_home_calibrate(X_AXIS);
  2412. }
  2413. if(home_y)
  2414. {
  2415. if (!calib)
  2416. homeaxis(Y_AXIS);
  2417. else
  2418. tmc2130_home_calibrate(Y_AXIS);
  2419. }
  2420. #else //TMC2130
  2421. if(home_x) homeaxis(X_AXIS);
  2422. if(home_y) homeaxis(Y_AXIS);
  2423. #endif //TMC2130
  2424. if(home_x_axis && home_x_value != 0)
  2425. current_position[X_AXIS]=home_x_value+cs.add_homing[X_AXIS];
  2426. if(home_y_axis && home_y_value != 0)
  2427. current_position[Y_AXIS]=home_y_value+cs.add_homing[Y_AXIS];
  2428. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2429. #ifndef Z_SAFE_HOMING
  2430. if(home_z) {
  2431. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2432. raise_z_above(Z_RAISE_BEFORE_HOMING);
  2433. st_synchronize();
  2434. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2435. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
  2436. raise_z_above(MESH_HOME_Z_SEARCH);
  2437. st_synchronize();
  2438. if (!axis_known_position[X_AXIS]) homeaxis(X_AXIS);
  2439. if (!axis_known_position[Y_AXIS]) homeaxis(Y_AXIS);
  2440. // 1st mesh bed leveling measurement point, corrected.
  2441. world2machine_initialize();
  2442. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2443. world2machine_reset();
  2444. if (destination[Y_AXIS] < Y_MIN_POS)
  2445. destination[Y_AXIS] = Y_MIN_POS;
  2446. feedrate = homing_feedrate[X_AXIS] / 20;
  2447. enable_endstops(false);
  2448. #ifdef DEBUG_BUILD
  2449. SERIAL_ECHOLNPGM("plan_set_position()");
  2450. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2451. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2452. #endif
  2453. plan_set_position_curposXYZE();
  2454. #ifdef DEBUG_BUILD
  2455. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2456. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2457. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2458. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2459. #endif
  2460. plan_buffer_line_destinationXYZE(feedrate);
  2461. st_synchronize();
  2462. current_position[X_AXIS] = destination[X_AXIS];
  2463. current_position[Y_AXIS] = destination[Y_AXIS];
  2464. enable_endstops(true);
  2465. endstops_hit_on_purpose();
  2466. homeaxis(Z_AXIS);
  2467. #else // MESH_BED_LEVELING
  2468. homeaxis(Z_AXIS);
  2469. #endif // MESH_BED_LEVELING
  2470. }
  2471. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2472. if(home_all_axes) {
  2473. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2474. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2475. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2476. feedrate = XY_TRAVEL_SPEED/60;
  2477. current_position[Z_AXIS] = 0;
  2478. plan_set_position_curposXYZE();
  2479. plan_buffer_line_destinationXYZE(feedrate);
  2480. st_synchronize();
  2481. current_position[X_AXIS] = destination[X_AXIS];
  2482. current_position[Y_AXIS] = destination[Y_AXIS];
  2483. homeaxis(Z_AXIS);
  2484. }
  2485. // Let's see if X and Y are homed and probe is inside bed area.
  2486. if(home_z) {
  2487. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2488. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2489. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2490. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2491. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2492. current_position[Z_AXIS] = 0;
  2493. plan_set_position_curposXYZE();
  2494. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2495. feedrate = max_feedrate[Z_AXIS];
  2496. plan_buffer_line_destinationXYZE(feedrate);
  2497. st_synchronize();
  2498. homeaxis(Z_AXIS);
  2499. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2500. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2501. SERIAL_ECHO_START;
  2502. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2503. } else {
  2504. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2505. SERIAL_ECHO_START;
  2506. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2507. }
  2508. }
  2509. #endif // Z_SAFE_HOMING
  2510. #endif // Z_HOME_DIR < 0
  2511. if(home_z_axis && home_z_value != 0)
  2512. current_position[Z_AXIS]=home_z_value+cs.add_homing[Z_AXIS];
  2513. #ifdef ENABLE_AUTO_BED_LEVELING
  2514. if(home_z)
  2515. current_position[Z_AXIS] += cs.zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2516. #endif
  2517. // Set the planner and stepper routine positions.
  2518. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2519. // contains the machine coordinates.
  2520. plan_set_position_curposXYZE();
  2521. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2522. enable_endstops(false);
  2523. #endif
  2524. feedrate = saved_feedrate;
  2525. feedmultiply = l_feedmultiply;
  2526. previous_millis_cmd = _millis();
  2527. endstops_hit_on_purpose();
  2528. #ifndef MESH_BED_LEVELING
  2529. //-// Oct 2019 :: this part of code is (from) now probably un-compilable
  2530. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2531. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2532. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2533. lcd_adjust_z();
  2534. #endif
  2535. // Load the machine correction matrix
  2536. world2machine_initialize();
  2537. // and correct the current_position XY axes to match the transformed coordinate system.
  2538. world2machine_update_current();
  2539. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2540. if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
  2541. {
  2542. if (! home_z && mbl_was_active) {
  2543. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2544. mbl.active = true;
  2545. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2546. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2547. }
  2548. }
  2549. else
  2550. {
  2551. st_synchronize();
  2552. homing_flag = false;
  2553. }
  2554. #endif
  2555. if (farm_mode) { prusa_statistics(20); };
  2556. homing_flag = false;
  2557. #if 0
  2558. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2559. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2560. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2561. #endif
  2562. }
  2563. static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis)
  2564. {
  2565. #ifdef TMC2130
  2566. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
  2567. #else
  2568. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, true);
  2569. #endif //TMC2130
  2570. }
  2571. void adjust_bed_reset()
  2572. {
  2573. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
  2574. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT, 0);
  2575. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, 0);
  2576. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT, 0);
  2577. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR, 0);
  2578. }
  2579. //! @brief Calibrate XYZ
  2580. //! @param onlyZ if true, calibrate only Z axis
  2581. //! @param verbosity_level
  2582. //! @retval true Succeeded
  2583. //! @retval false Failed
  2584. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  2585. {
  2586. bool final_result = false;
  2587. #ifdef TMC2130
  2588. FORCE_HIGH_POWER_START;
  2589. #endif // TMC2130
  2590. FORCE_BL_ON_START;
  2591. // Only Z calibration?
  2592. if (!onlyZ)
  2593. {
  2594. setTargetBed(0);
  2595. setAllTargetHotends(0);
  2596. adjust_bed_reset(); //reset bed level correction
  2597. }
  2598. // Disable the default update procedure of the display. We will do a modal dialog.
  2599. lcd_update_enable(false);
  2600. // Let the planner use the uncorrected coordinates.
  2601. mbl.reset();
  2602. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2603. // the planner will not perform any adjustments in the XY plane.
  2604. // Wait for the motors to stop and update the current position with the absolute values.
  2605. world2machine_revert_to_uncorrected();
  2606. // Reset the baby step value applied without moving the axes.
  2607. babystep_reset();
  2608. // Mark all axes as in a need for homing.
  2609. memset(axis_known_position, 0, sizeof(axis_known_position));
  2610. // Home in the XY plane.
  2611. //set_destination_to_current();
  2612. int l_feedmultiply = setup_for_endstop_move();
  2613. lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
  2614. home_xy();
  2615. enable_endstops(false);
  2616. current_position[X_AXIS] += 5;
  2617. current_position[Y_AXIS] += 5;
  2618. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2619. st_synchronize();
  2620. // Let the user move the Z axes up to the end stoppers.
  2621. #ifdef TMC2130
  2622. if (calibrate_z_auto())
  2623. {
  2624. #else //TMC2130
  2625. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  2626. {
  2627. #endif //TMC2130
  2628. lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
  2629. if(onlyZ){
  2630. lcd_display_message_fullscreen_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1));
  2631. lcd_set_cursor(0, 3);
  2632. lcd_print(1);
  2633. lcd_puts_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2));
  2634. }else{
  2635. //lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2636. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2637. lcd_set_cursor(0, 2);
  2638. lcd_print(1);
  2639. lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2640. }
  2641. refresh_cmd_timeout();
  2642. #ifndef STEEL_SHEET
  2643. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  2644. {
  2645. lcd_wait_for_cool_down();
  2646. }
  2647. #endif //STEEL_SHEET
  2648. if(!onlyZ)
  2649. {
  2650. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2651. #ifdef STEEL_SHEET
  2652. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  2653. if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  2654. #endif //STEEL_SHEET
  2655. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2656. KEEPALIVE_STATE(IN_HANDLER);
  2657. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2658. lcd_set_cursor(0, 2);
  2659. lcd_print(1);
  2660. lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2661. }
  2662. bool endstops_enabled = enable_endstops(false);
  2663. current_position[Z_AXIS] -= 1; //move 1mm down with disabled endstop
  2664. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2665. st_synchronize();
  2666. // Move the print head close to the bed.
  2667. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2668. enable_endstops(true);
  2669. #ifdef TMC2130
  2670. tmc2130_home_enter(Z_AXIS_MASK);
  2671. #endif //TMC2130
  2672. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2673. st_synchronize();
  2674. #ifdef TMC2130
  2675. tmc2130_home_exit();
  2676. #endif //TMC2130
  2677. enable_endstops(endstops_enabled);
  2678. if ((st_get_position_mm(Z_AXIS) <= (MESH_HOME_Z_SEARCH + HOME_Z_SEARCH_THRESHOLD)) &&
  2679. (st_get_position_mm(Z_AXIS) >= (MESH_HOME_Z_SEARCH - HOME_Z_SEARCH_THRESHOLD)))
  2680. {
  2681. if (onlyZ)
  2682. {
  2683. clean_up_after_endstop_move(l_feedmultiply);
  2684. // Z only calibration.
  2685. // Load the machine correction matrix
  2686. world2machine_initialize();
  2687. // and correct the current_position to match the transformed coordinate system.
  2688. world2machine_update_current();
  2689. //FIXME
  2690. bool result = sample_mesh_and_store_reference();
  2691. if (result)
  2692. {
  2693. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  2694. // Shipped, the nozzle height has been set already. The user can start printing now.
  2695. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2696. final_result = true;
  2697. // babystep_apply();
  2698. }
  2699. }
  2700. else
  2701. {
  2702. // Reset the baby step value and the baby step applied flag.
  2703. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  2704. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  2705. // Complete XYZ calibration.
  2706. uint8_t point_too_far_mask = 0;
  2707. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  2708. clean_up_after_endstop_move(l_feedmultiply);
  2709. // Print head up.
  2710. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2711. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2712. st_synchronize();
  2713. //#ifndef NEW_XYZCAL
  2714. if (result >= 0)
  2715. {
  2716. #ifdef HEATBED_V2
  2717. sample_z();
  2718. #else //HEATBED_V2
  2719. point_too_far_mask = 0;
  2720. // Second half: The fine adjustment.
  2721. // Let the planner use the uncorrected coordinates.
  2722. mbl.reset();
  2723. world2machine_reset();
  2724. // Home in the XY plane.
  2725. int l_feedmultiply = setup_for_endstop_move();
  2726. home_xy();
  2727. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  2728. clean_up_after_endstop_move(l_feedmultiply);
  2729. // Print head up.
  2730. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2731. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2732. st_synchronize();
  2733. // if (result >= 0) babystep_apply();
  2734. #endif //HEATBED_V2
  2735. }
  2736. //#endif //NEW_XYZCAL
  2737. lcd_update_enable(true);
  2738. lcd_update(2);
  2739. lcd_bed_calibration_show_result(result, point_too_far_mask);
  2740. if (result >= 0)
  2741. {
  2742. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  2743. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2744. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  2745. final_result = true;
  2746. }
  2747. }
  2748. #ifdef TMC2130
  2749. tmc2130_home_exit();
  2750. #endif
  2751. }
  2752. else
  2753. {
  2754. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  2755. final_result = false;
  2756. }
  2757. }
  2758. else
  2759. {
  2760. // Timeouted.
  2761. }
  2762. lcd_update_enable(true);
  2763. #ifdef TMC2130
  2764. FORCE_HIGH_POWER_END;
  2765. #endif // TMC2130
  2766. FORCE_BL_ON_END;
  2767. return final_result;
  2768. }
  2769. void gcode_M114()
  2770. {
  2771. SERIAL_PROTOCOLPGM("X:");
  2772. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2773. SERIAL_PROTOCOLPGM(" Y:");
  2774. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2775. SERIAL_PROTOCOLPGM(" Z:");
  2776. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2777. SERIAL_PROTOCOLPGM(" E:");
  2778. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2779. SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X
  2780. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / cs.axis_steps_per_unit[X_AXIS]);
  2781. SERIAL_PROTOCOLPGM(" Y:");
  2782. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / cs.axis_steps_per_unit[Y_AXIS]);
  2783. SERIAL_PROTOCOLPGM(" Z:");
  2784. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / cs.axis_steps_per_unit[Z_AXIS]);
  2785. SERIAL_PROTOCOLPGM(" E:");
  2786. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / cs.axis_steps_per_unit[E_AXIS]);
  2787. SERIAL_PROTOCOLLN();
  2788. }
  2789. #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  2790. void gcode_M123()
  2791. {
  2792. 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);
  2793. }
  2794. #endif //FANCHECK and TACH_0 or TACH_1
  2795. //! extracted code to compute z_shift for M600 in case of filament change operation
  2796. //! requested from fsensors.
  2797. //! The function ensures, that the printhead lifts to at least 25mm above the heat bed
  2798. //! unlike the previous implementation, which was adding 25mm even when the head was
  2799. //! printing at e.g. 24mm height.
  2800. //! A safety margin of FILAMENTCHANGE_ZADD is added in all cases to avoid touching
  2801. //! the printout.
  2802. //! This function is templated to enable fast change of computation data type.
  2803. //! @return new z_shift value
  2804. template<typename T>
  2805. static T gcode_M600_filament_change_z_shift()
  2806. {
  2807. #ifdef FILAMENTCHANGE_ZADD
  2808. static_assert(Z_MAX_POS < (255 - FILAMENTCHANGE_ZADD), "Z-range too high, change the T type from uint8_t to uint16_t");
  2809. // avoid floating point arithmetics when not necessary - results in shorter code
  2810. T ztmp = T( current_position[Z_AXIS] );
  2811. T z_shift = 0;
  2812. if(ztmp < T(25)){
  2813. z_shift = T(25) - ztmp; // make sure to be at least 25mm above the heat bed
  2814. }
  2815. return z_shift + T(FILAMENTCHANGE_ZADD); // always move above printout
  2816. #else
  2817. return T(0);
  2818. #endif
  2819. }
  2820. static void gcode_M600(bool automatic, float x_position, float y_position, float z_shift, float e_shift, float /*e_shift_late*/)
  2821. {
  2822. st_synchronize();
  2823. float lastpos[4];
  2824. if (farm_mode)
  2825. {
  2826. prusa_statistics(22);
  2827. }
  2828. //First backup current position and settings
  2829. int feedmultiplyBckp = feedmultiply;
  2830. float HotendTempBckp = degTargetHotend(active_extruder);
  2831. int fanSpeedBckp = fanSpeed;
  2832. lastpos[X_AXIS] = current_position[X_AXIS];
  2833. lastpos[Y_AXIS] = current_position[Y_AXIS];
  2834. lastpos[Z_AXIS] = current_position[Z_AXIS];
  2835. lastpos[E_AXIS] = current_position[E_AXIS];
  2836. //Retract E
  2837. current_position[E_AXIS] += e_shift;
  2838. plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED);
  2839. st_synchronize();
  2840. //Lift Z
  2841. current_position[Z_AXIS] += z_shift;
  2842. plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED);
  2843. st_synchronize();
  2844. //Move XY to side
  2845. current_position[X_AXIS] = x_position;
  2846. current_position[Y_AXIS] = y_position;
  2847. plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED);
  2848. st_synchronize();
  2849. //Beep, manage nozzle heater and wait for user to start unload filament
  2850. if(!mmu_enabled) M600_wait_for_user(HotendTempBckp);
  2851. lcd_change_fil_state = 0;
  2852. // Unload filament
  2853. if (mmu_enabled) extr_unload(); //unload just current filament for multimaterial printers (used also in M702)
  2854. else unload_filament(); //unload filament for single material (used also in M702)
  2855. //finish moves
  2856. st_synchronize();
  2857. if (!mmu_enabled)
  2858. {
  2859. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2860. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"),
  2861. false, true); ////MSG_UNLOAD_SUCCESSFUL c=20 r=2
  2862. if (lcd_change_fil_state == 0)
  2863. {
  2864. lcd_clear();
  2865. lcd_puts_at_P(0, 2, _T(MSG_PLEASE_WAIT));
  2866. current_position[X_AXIS] -= 100;
  2867. plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED);
  2868. st_synchronize();
  2869. lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
  2870. }
  2871. }
  2872. if (mmu_enabled)
  2873. {
  2874. if (!automatic) {
  2875. 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
  2876. mmu_M600_wait_and_beep();
  2877. if (saved_printing) {
  2878. lcd_clear();
  2879. lcd_puts_at_P(0, 2, _T(MSG_PLEASE_WAIT));
  2880. mmu_command(MmuCmd::R0);
  2881. manage_response(false, false);
  2882. }
  2883. }
  2884. mmu_M600_load_filament(automatic, HotendTempBckp);
  2885. }
  2886. else
  2887. M600_load_filament();
  2888. if (!automatic) M600_check_state(HotendTempBckp);
  2889. lcd_update_enable(true);
  2890. //Not let's go back to print
  2891. fanSpeed = fanSpeedBckp;
  2892. //Feed a little of filament to stabilize pressure
  2893. if (!automatic)
  2894. {
  2895. current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
  2896. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED);
  2897. }
  2898. //Move XY back
  2899. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  2900. FILAMENTCHANGE_XYFEED, active_extruder);
  2901. st_synchronize();
  2902. //Move Z back
  2903. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS],
  2904. FILAMENTCHANGE_ZFEED, active_extruder);
  2905. st_synchronize();
  2906. //Set E position to original
  2907. plan_set_e_position(lastpos[E_AXIS]);
  2908. memcpy(current_position, lastpos, sizeof(lastpos));
  2909. memcpy(destination, current_position, sizeof(current_position));
  2910. //Recover feed rate
  2911. feedmultiply = feedmultiplyBckp;
  2912. char cmd[9];
  2913. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2914. enquecommand(cmd);
  2915. #ifdef IR_SENSOR
  2916. //this will set fsensor_watch_autoload to correct value and prevent possible M701 gcode enqueuing when M600 is finished
  2917. fsensor_check_autoload();
  2918. #endif //IR_SENSOR
  2919. lcd_setstatuspgm(_T(WELCOME_MSG));
  2920. custom_message_type = CustomMsg::Status;
  2921. }
  2922. void gcode_M701()
  2923. {
  2924. printf_P(PSTR("gcode_M701 begin\n"));
  2925. if (farm_mode)
  2926. {
  2927. prusa_statistics(22);
  2928. }
  2929. if (mmu_enabled)
  2930. {
  2931. extr_adj(tmp_extruder);//loads current extruder
  2932. mmu_extruder = tmp_extruder;
  2933. }
  2934. else
  2935. {
  2936. enable_z();
  2937. custom_message_type = CustomMsg::FilamentLoading;
  2938. #ifdef FSENSOR_QUALITY
  2939. fsensor_oq_meassure_start(40);
  2940. #endif //FSENSOR_QUALITY
  2941. lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
  2942. current_position[E_AXIS] += 40;
  2943. plan_buffer_line_curposXYZE(400 / 60); //fast sequence
  2944. st_synchronize();
  2945. raise_z_above(MIN_Z_FOR_LOAD, false);
  2946. current_position[E_AXIS] += 30;
  2947. plan_buffer_line_curposXYZE(400 / 60); //fast sequence
  2948. load_filament_final_feed(); //slow sequence
  2949. st_synchronize();
  2950. Sound_MakeCustom(50,500,false);
  2951. if (!farm_mode && loading_flag) {
  2952. lcd_load_filament_color_check();
  2953. }
  2954. lcd_update_enable(true);
  2955. lcd_update(2);
  2956. lcd_setstatuspgm(_T(WELCOME_MSG));
  2957. disable_z();
  2958. loading_flag = false;
  2959. custom_message_type = CustomMsg::Status;
  2960. #ifdef FSENSOR_QUALITY
  2961. fsensor_oq_meassure_stop();
  2962. if (!fsensor_oq_result())
  2963. {
  2964. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  2965. lcd_update_enable(true);
  2966. lcd_update(2);
  2967. if (disable)
  2968. fsensor_disable();
  2969. }
  2970. #endif //FSENSOR_QUALITY
  2971. }
  2972. }
  2973. /**
  2974. * @brief Get serial number from 32U2 processor
  2975. *
  2976. * Typical format of S/N is:CZPX0917X003XC13518
  2977. *
  2978. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  2979. * reply is stored in *SN.
  2980. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  2981. * it is interrupted, so less, or no characters are retransmitted, the function returns false
  2982. * The command will fail if the 32U2 processor is unpowered via USB since it is isolated from the rest of the electronics.
  2983. * In that case the value that is stored in the EEPROM should be used instead.
  2984. *
  2985. * @return 1 on success
  2986. * @return 0 on general failure
  2987. */
  2988. static bool get_PRUSA_SN(char* SN)
  2989. {
  2990. uint8_t selectedSerialPort_bak = selectedSerialPort;
  2991. selectedSerialPort = 0;
  2992. SERIAL_ECHOLNRPGM(PSTR(";S"));
  2993. uint8_t numbersRead = 0;
  2994. ShortTimer timeout;
  2995. timeout.start();
  2996. while (numbersRead < 19) {
  2997. if (MSerial.available() > 0) {
  2998. SN[numbersRead] = MSerial.read();
  2999. numbersRead++;
  3000. }
  3001. if (timeout.expired(100u)) break;
  3002. }
  3003. SN[numbersRead] = 0;
  3004. selectedSerialPort = selectedSerialPort_bak;
  3005. return (numbersRead == 19);
  3006. }
  3007. //! Detection of faulty RAMBo 1.1b boards equipped with bigger capacitors
  3008. //! at the TACH_1 pin, which causes bad detection of print fan speed.
  3009. //! Warning: This function is not to be used by ordinary users, it is here only for automated testing purposes,
  3010. //! it may even interfere with other functions of the printer! You have been warned!
  3011. //! The test idea is to measure the time necessary to charge the capacitor.
  3012. //! So the algorithm is as follows:
  3013. //! 1. Set TACH_1 pin to INPUT mode and LOW
  3014. //! 2. Wait a few ms
  3015. //! 3. disable interrupts and measure the time until the TACH_1 pin reaches HIGH
  3016. //! Repeat 1.-3. several times
  3017. //! Good RAMBo's times are in the range of approx. 260-320 us
  3018. //! Bad RAMBo's times are approx. 260-1200 us
  3019. //! So basically we are interested in maximum time, the minima are mostly the same.
  3020. //! May be that's why the bad RAMBo's still produce some fan RPM reading, but not corresponding to reality
  3021. static void gcode_PRUSA_BadRAMBoFanTest(){
  3022. //printf_P(PSTR("Enter fan pin test\n"));
  3023. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  3024. fan_measuring = false; // prevent EXTINT7 breaking into the measurement
  3025. unsigned long tach1max = 0;
  3026. uint8_t tach1cntr = 0;
  3027. for( /* nothing */; tach1cntr < 100; ++tach1cntr){
  3028. //printf_P(PSTR("TACH_1: %d\n"), tach1cntr);
  3029. SET_OUTPUT(TACH_1);
  3030. WRITE(TACH_1, LOW);
  3031. _delay(20); // the delay may be lower
  3032. unsigned long tachMeasure = _micros();
  3033. cli();
  3034. SET_INPUT(TACH_1);
  3035. // just wait brutally in an endless cycle until we reach HIGH
  3036. // if this becomes a problem it may be improved to non-endless cycle
  3037. while( READ(TACH_1) == 0 ) ;
  3038. sei();
  3039. tachMeasure = _micros() - tachMeasure;
  3040. if( tach1max < tachMeasure )
  3041. tach1max = tachMeasure;
  3042. //printf_P(PSTR("TACH_1: %d: capacitor check time=%lu us\n"), (int)tach1cntr, tachMeasure);
  3043. }
  3044. //printf_P(PSTR("TACH_1: max=%lu us\n"), tach1max);
  3045. SERIAL_PROTOCOLPGM("RAMBo FAN ");
  3046. if( tach1max > 500 ){
  3047. // bad RAMBo
  3048. SERIAL_PROTOCOLLNPGM("BAD");
  3049. } else {
  3050. SERIAL_PROTOCOLLNPGM("OK");
  3051. }
  3052. // cleanup after the test function
  3053. SET_INPUT(TACH_1);
  3054. WRITE(TACH_1, HIGH);
  3055. #endif
  3056. }
  3057. // G92 - Set current position to coordinates given
  3058. static void gcode_G92()
  3059. {
  3060. bool codes[NUM_AXIS];
  3061. float values[NUM_AXIS];
  3062. // Check which axes need to be set
  3063. for(uint8_t i = 0; i < NUM_AXIS; ++i)
  3064. {
  3065. codes[i] = code_seen(axis_codes[i]);
  3066. if(codes[i])
  3067. values[i] = code_value();
  3068. }
  3069. if((codes[E_AXIS] && values[E_AXIS] == 0) &&
  3070. (!codes[X_AXIS] && !codes[Y_AXIS] && !codes[Z_AXIS]))
  3071. {
  3072. // As a special optimization, when _just_ clearing the E position
  3073. // we schedule a flag asynchronously along with the next block to
  3074. // reset the starting E position instead of stopping the planner
  3075. current_position[E_AXIS] = 0;
  3076. plan_reset_next_e();
  3077. }
  3078. else
  3079. {
  3080. // In any other case we're forced to synchronize
  3081. st_synchronize();
  3082. for(uint8_t i = 0; i < 3; ++i)
  3083. {
  3084. if(codes[i])
  3085. current_position[i] = values[i] + cs.add_homing[i];
  3086. }
  3087. if(codes[E_AXIS])
  3088. current_position[E_AXIS] = values[E_AXIS];
  3089. // Set all at once
  3090. plan_set_position_curposXYZE();
  3091. }
  3092. }
  3093. #ifdef EXTENDED_CAPABILITIES_REPORT
  3094. static void cap_line(const char* name, bool ena = false) {
  3095. printf_P(PSTR("Cap:%S:%c\n"), name, (char)ena + '0');
  3096. }
  3097. static void extended_capabilities_report()
  3098. {
  3099. // AUTOREPORT_TEMP (M155)
  3100. cap_line(PSTR("AUTOREPORT_TEMP"), ENABLED(AUTO_REPORT));
  3101. #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  3102. // AUTOREPORT_FANS (M123)
  3103. cap_line(PSTR("AUTOREPORT_FANS"), ENABLED(AUTO_REPORT));
  3104. #endif //FANCHECK and TACH_0 or TACH_1
  3105. // AUTOREPORT_POSITION (M114)
  3106. cap_line(PSTR("AUTOREPORT_POSITION"), ENABLED(AUTO_REPORT));
  3107. //@todo Update RepRap cap
  3108. }
  3109. #endif //EXTENDED_CAPABILITIES_REPORT
  3110. #ifdef BACKLASH_X
  3111. extern uint8_t st_backlash_x;
  3112. #endif //BACKLASH_X
  3113. #ifdef BACKLASH_Y
  3114. extern uint8_t st_backlash_y;
  3115. #endif //BACKLASH_Y
  3116. //! \ingroup marlin_main
  3117. //! @brief Parse and process commands
  3118. //!
  3119. //! look here for descriptions of G-codes: https://reprap.org/wiki/G-code
  3120. //!
  3121. //!
  3122. //! Implemented Codes
  3123. //! -------------------
  3124. //!
  3125. //! * _This list is not updated. Current documentation is maintained inside the process_cmd function._
  3126. //!
  3127. //!@n PRUSA CODES
  3128. //!@n P F - Returns FW versions
  3129. //!@n P R - Returns revision of printer
  3130. //!
  3131. //!@n G0 -> G1
  3132. //!@n G1 - Coordinated Movement X Y Z E
  3133. //!@n G2 - CW ARC
  3134. //!@n G3 - CCW ARC
  3135. //!@n G4 - Dwell S<seconds> or P<milliseconds>
  3136. //!@n G10 - retract filament according to settings of M207
  3137. //!@n G11 - retract recover filament according to settings of M208
  3138. //!@n G28 - Home all Axes
  3139. //!@n G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  3140. //!@n G30 - Single Z Probe, probes bed at current XY location.
  3141. //!@n G31 - Dock sled (Z_PROBE_SLED only)
  3142. //!@n G32 - Undock sled (Z_PROBE_SLED only)
  3143. //!@n G80 - Automatic mesh bed leveling
  3144. //!@n G81 - Print bed profile
  3145. //!@n G90 - Use Absolute Coordinates
  3146. //!@n G91 - Use Relative Coordinates
  3147. //!@n G92 - Set current position to coordinates given
  3148. //!
  3149. //!@n M Codes
  3150. //!@n M0 - Unconditional stop - Wait for user to press a button on the LCD
  3151. //!@n M1 - Same as M0
  3152. //!@n M17 - Enable/Power all stepper motors
  3153. //!@n M18 - Disable all stepper motors; same as M84
  3154. //!@n M20 - List SD card
  3155. //!@n M21 - Init SD card
  3156. //!@n M22 - Release SD card
  3157. //!@n M23 - Select SD file (M23 filename.g)
  3158. //!@n M24 - Start/resume SD print
  3159. //!@n M25 - Pause SD print
  3160. //!@n M26 - Set SD position in bytes (M26 S12345)
  3161. //!@n M27 - Report SD print status
  3162. //!@n M28 - Start SD write (M28 filename.g)
  3163. //!@n M29 - Stop SD write
  3164. //!@n M30 - Delete file from SD (M30 filename.g)
  3165. //!@n M31 - Output time since last M109 or SD card start to serial
  3166. //!@n M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  3167. //! syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  3168. //! Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  3169. //! The '#' is necessary when calling from within sd files, as it stops buffer prereading
  3170. //!@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.
  3171. //!@n M73 - Show percent done and print time remaining
  3172. //!@n M80 - Turn on Power Supply
  3173. //!@n M81 - Turn off Power Supply
  3174. //!@n M82 - Set E codes absolute (default)
  3175. //!@n M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  3176. //!@n M84 - Disable steppers until next move,
  3177. //! or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  3178. //!@n M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  3179. //!@n M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
  3180. //!@n M92 - Set axis_steps_per_unit - same syntax as G92
  3181. //!@n M104 - Set extruder target temp
  3182. //!@n M105 - Read current temp
  3183. //!@n M106 - Fan on
  3184. //!@n M107 - Fan off
  3185. //!@n M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  3186. //! Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  3187. //! IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  3188. //!@n M112 - Emergency stop
  3189. //!@n M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  3190. //!@n M114 - Output current position to serial port
  3191. //!@n M115 - Capabilities string
  3192. //!@n M117 - display message
  3193. //!@n M119 - Output Endstop status to serial port
  3194. //!@n M123 - Tachometer value
  3195. //!@n M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  3196. //!@n M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  3197. //!@n M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  3198. //!@n M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  3199. //!@n M140 - Set bed target temp
  3200. //!@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.
  3201. //!@n M155 - Automatically send temperatures, fan speeds, position
  3202. //!@n M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  3203. //! Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  3204. //!@n M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  3205. //!@n M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  3206. //!@n M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  3207. //!@n M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  3208. //!@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
  3209. //!@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
  3210. //!@n M206 - set additional homing offset
  3211. //!@n M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  3212. //!@n M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  3213. //!@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.
  3214. //!@n M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  3215. //!@n M220 S<factor in percent>- set speed factor override percentage
  3216. //!@n M221 S<factor in percent>- set extrude factor override percentage
  3217. //!@n M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  3218. //!@n M240 - Trigger a camera to take a photograph
  3219. //!@n M250 - Set LCD contrast C<contrast value> (value 0..63)
  3220. //!@n M280 - set servo position absolute. P: servo index, S: angle or microseconds
  3221. //!@n M300 - Play beep sound S<frequency Hz> P<duration ms>
  3222. //!@n M301 - Set PID parameters P I and D
  3223. //!@n M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  3224. //!@n M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  3225. //!@n M304 - Set bed PID parameters P I and D
  3226. //!@n M400 - Finish all moves
  3227. //!@n M401 - Lower z-probe if present
  3228. //!@n M402 - Raise z-probe if present
  3229. //!@n M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  3230. //!@n M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  3231. //!@n M406 - Turn off Filament Sensor extrusion control
  3232. //!@n M407 - Displays measured filament diameter
  3233. //!@n M500 - stores parameters in EEPROM
  3234. //!@n M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  3235. //!@n M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  3236. //!@n M503 - print the current settings (from memory not from EEPROM)
  3237. //!@n M509 - force language selection on next restart
  3238. //!@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)
  3239. //!@n M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  3240. //!@n M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  3241. //!@n M860 - Wait for PINDA thermistor to reach target temperature.
  3242. //!@n M861 - Set / Read PINDA temperature compensation offsets
  3243. //!@n M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  3244. //!@n M907 - Set digital trimpot motor current using axis codes.
  3245. //!@n M908 - Control digital trimpot directly.
  3246. //!@n M350 - Set microstepping mode.
  3247. //!@n M351 - Toggle MS1 MS2 pins directly.
  3248. //!
  3249. //!@n M928 - Start SD logging (M928 filename.g) - ended by M29
  3250. //!@n M999 - Restart after being stopped by error
  3251. //! <br><br>
  3252. /** @defgroup marlin_main Marlin main */
  3253. /** \ingroup GCodes */
  3254. //! _This is a list of currently implemented G Codes in Prusa firmware (dynamically generated from doxygen)._
  3255. /**
  3256. They are shown in order of appearance in the code.
  3257. There are reasons why some G Codes aren't in numerical order.
  3258. */
  3259. void process_commands()
  3260. {
  3261. #ifdef FANCHECK
  3262. if(fan_check_error == EFCE_DETECTED){
  3263. fan_check_error = EFCE_REPORTED;
  3264. // SERIAL_PROTOCOLLNRPGM(MSG_OCTOPRINT_PAUSED);
  3265. lcd_pause_print();
  3266. cmdqueue_serial_disabled = true;
  3267. }
  3268. #endif
  3269. if (!buflen) return; //empty command
  3270. #ifdef FILAMENT_RUNOUT_SUPPORT
  3271. SET_INPUT(FR_SENS);
  3272. #endif
  3273. #ifdef CMDBUFFER_DEBUG
  3274. SERIAL_ECHOPGM("Processing a GCODE command: ");
  3275. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  3276. SERIAL_ECHOLNPGM("");
  3277. SERIAL_ECHOPGM("In cmdqueue: ");
  3278. SERIAL_ECHO(buflen);
  3279. SERIAL_ECHOLNPGM("");
  3280. #endif /* CMDBUFFER_DEBUG */
  3281. unsigned long codenum; //throw away variable
  3282. char *starpos = NULL;
  3283. #ifdef ENABLE_AUTO_BED_LEVELING
  3284. float x_tmp, y_tmp, z_tmp, real_z;
  3285. #endif
  3286. // PRUSA GCODES
  3287. KEEPALIVE_STATE(IN_HANDLER);
  3288. #ifdef SNMM
  3289. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  3290. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  3291. int8_t SilentMode;
  3292. #endif
  3293. /*!
  3294. ---------------------------------------------------------------------------------
  3295. ### M117 - Display Message <a href="https://reprap.org/wiki/G-code#M117:_Display_Message">M117: Display Message</a>
  3296. This causes the given message to be shown in the status line on an attached LCD.
  3297. It is processed early as to allow printing messages that contain G, M, N or T.
  3298. ---------------------------------------------------------------------------------
  3299. ### Special internal commands
  3300. These are used by internal functions to process certain actions in the right order. Some of these are also usable by the user.
  3301. They are processed early as the commands are complex (strings).
  3302. These are only available on the MK3(S) as these require TMC2130 drivers:
  3303. - CRASH DETECTED
  3304. - CRASH RECOVER
  3305. - CRASH_CANCEL
  3306. - TMC_SET_WAVE
  3307. - TMC_SET_STEP
  3308. - TMC_SET_CHOP
  3309. */
  3310. if (code_seen_P(PSTR("M117"))) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  3311. starpos = (strchr(strchr_pointer + 5, '*'));
  3312. if (starpos != NULL)
  3313. *(starpos) = '\0';
  3314. lcd_setstatus(strchr_pointer + 5);
  3315. custom_message_type = CustomMsg::MsgUpdate;
  3316. }
  3317. /*!
  3318. ### M0, M1 - Stop the printer <a href="https://reprap.org/wiki/G-code#M0:_Stop_or_Unconditional_stop">M0: Stop or Unconditional stop</a>
  3319. #### Usage
  3320. M0 [P<ms<] [S<sec>] [string]
  3321. M1 [P<ms>] [S<sec>] [string]
  3322. #### Parameters
  3323. - `P<ms>` - Expire time, in milliseconds
  3324. - `S<sec>` - Expire time, in seconds
  3325. - `string` - An optional message to display on the LCD
  3326. */
  3327. 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
  3328. char *src = strchr_pointer + 2;
  3329. codenum = 0;
  3330. bool hasP = false, hasS = false;
  3331. if (code_seen('P')) {
  3332. codenum = code_value(); // milliseconds to wait
  3333. hasP = codenum > 0;
  3334. }
  3335. if (code_seen('S')) {
  3336. codenum = code_value() * 1000; // seconds to wait
  3337. hasS = codenum > 0;
  3338. }
  3339. starpos = strchr(src, '*');
  3340. if (starpos != NULL) *(starpos) = '\0';
  3341. while (*src == ' ') ++src;
  3342. custom_message_type = CustomMsg::M0Wait;
  3343. if (!hasP && !hasS && *src != '\0') {
  3344. lcd_setstatus(src);
  3345. } else {
  3346. LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT
  3347. }
  3348. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  3349. st_synchronize();
  3350. previous_millis_cmd = _millis();
  3351. if (codenum > 0){
  3352. codenum += _millis(); // keep track of when we started waiting
  3353. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3354. while(_millis() < codenum && !lcd_clicked()){
  3355. manage_heater();
  3356. manage_inactivity(true);
  3357. lcd_update(0);
  3358. }
  3359. KEEPALIVE_STATE(IN_HANDLER);
  3360. lcd_ignore_click(false);
  3361. }else{
  3362. marlin_wait_for_click();
  3363. }
  3364. if (IS_SD_PRINTING)
  3365. LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
  3366. else
  3367. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  3368. custom_message_type = CustomMsg::MsgUpdate;
  3369. }
  3370. #ifdef TMC2130
  3371. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  3372. {
  3373. // ### CRASH_DETECTED - TMC2130
  3374. // ---------------------------------
  3375. if(code_seen_P(PSTR("CRASH_DETECTED")))
  3376. {
  3377. uint8_t mask = 0;
  3378. if (code_seen('X')) mask |= X_AXIS_MASK;
  3379. if (code_seen('Y')) mask |= Y_AXIS_MASK;
  3380. crashdet_detected(mask);
  3381. }
  3382. // ### CRASH_RECOVER - TMC2130
  3383. // ----------------------------------
  3384. else if(code_seen_P(PSTR("CRASH_RECOVER")))
  3385. crashdet_recover();
  3386. // ### CRASH_CANCEL - TMC2130
  3387. // ----------------------------------
  3388. else if(code_seen_P(PSTR("CRASH_CANCEL")))
  3389. crashdet_cancel();
  3390. }
  3391. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  3392. {
  3393. // ### TMC_SET_WAVE_
  3394. // --------------------
  3395. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
  3396. {
  3397. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3398. axis = (axis == 'E')?3:(axis - 'X');
  3399. if (axis < 4)
  3400. {
  3401. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  3402. tmc2130_set_wave(axis, 247, fac);
  3403. }
  3404. }
  3405. // ### TMC_SET_STEP_
  3406. // ------------------
  3407. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
  3408. {
  3409. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3410. axis = (axis == 'E')?3:(axis - 'X');
  3411. if (axis < 4)
  3412. {
  3413. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  3414. uint16_t res = tmc2130_get_res(axis);
  3415. tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
  3416. }
  3417. }
  3418. // ### TMC_SET_CHOP_
  3419. // -------------------
  3420. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
  3421. {
  3422. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3423. axis = (axis == 'E')?3:(axis - 'X');
  3424. if (axis < 4)
  3425. {
  3426. uint8_t chop0 = tmc2130_chopper_config[axis].toff;
  3427. uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
  3428. uint8_t chop2 = tmc2130_chopper_config[axis].hend;
  3429. uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
  3430. char* str_end = 0;
  3431. if (CMDBUFFER_CURRENT_STRING[14])
  3432. {
  3433. chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
  3434. if (str_end && *str_end)
  3435. {
  3436. chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
  3437. if (str_end && *str_end)
  3438. {
  3439. chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
  3440. if (str_end && *str_end)
  3441. chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
  3442. }
  3443. }
  3444. }
  3445. tmc2130_chopper_config[axis].toff = chop0;
  3446. tmc2130_chopper_config[axis].hstr = chop1 & 7;
  3447. tmc2130_chopper_config[axis].hend = chop2 & 15;
  3448. tmc2130_chopper_config[axis].tbl = chop3 & 3;
  3449. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  3450. //printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
  3451. }
  3452. }
  3453. }
  3454. #ifdef BACKLASH_X
  3455. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
  3456. {
  3457. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  3458. st_backlash_x = bl;
  3459. printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
  3460. }
  3461. #endif //BACKLASH_X
  3462. #ifdef BACKLASH_Y
  3463. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
  3464. {
  3465. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  3466. st_backlash_y = bl;
  3467. printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
  3468. }
  3469. #endif //BACKLASH_Y
  3470. #endif //TMC2130
  3471. else if(code_seen_P(PSTR("PRUSA"))){
  3472. /*!
  3473. ---------------------------------------------------------------------------------
  3474. ### PRUSA - Internal command set <a href="https://reprap.org/wiki/G-code#G98:_Activate_farm_mode">G98: Activate farm mode - Notes</a>
  3475. Set of internal PRUSA commands
  3476. #### Usage
  3477. PRUSA [ Ping | PRN | FAN | fn | thx | uvlo | MMURES | RESET | fv | M28 | SN | Fir | Rev | Lang | Lz | Beat | FR ]
  3478. #### Parameters
  3479. - `Ping`
  3480. - `PRN` - Prints revision of the printer
  3481. - `FAN` - Prints fan details
  3482. - `fn` - Prints farm no.
  3483. - `thx`
  3484. - `uvlo`
  3485. - `MMURES` - Reset MMU
  3486. - `RESET` - (Careful!)
  3487. - `fv` - ?
  3488. - `M28`
  3489. - `SN`
  3490. - `Fir` - Prints firmware version
  3491. - `Rev`- Prints filament size, elelectronics, nozzle type
  3492. - `Lang` - Reset the language
  3493. - `Lz`
  3494. - `Beat` - Kick farm link timer
  3495. - `FR` - Full factory reset
  3496. - `nozzle set <diameter>` - set nozzle diameter (farm mode only), e.g. `PRUSA nozzle set 0.4`
  3497. - `nozzle D<diameter>` - check the nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle D0.4`
  3498. - `nozzle` - prints nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle`
  3499. */
  3500. if (code_seen_P(PSTR("Ping"))) { // PRUSA Ping
  3501. if (farm_mode) {
  3502. PingTime = _millis();
  3503. }
  3504. }
  3505. else if (code_seen_P(PSTR("PRN"))) { // PRUSA PRN
  3506. printf_P(_N("%d"), status_number);
  3507. } else if( code_seen_P(PSTR("FANPINTST"))){
  3508. gcode_PRUSA_BadRAMBoFanTest();
  3509. }else if (code_seen_P(PSTR("FAN"))) { // PRUSA FAN
  3510. printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
  3511. }
  3512. else if (code_seen_P(PSTR("thx"))) // PRUSA thx
  3513. {
  3514. no_response = false;
  3515. }
  3516. else if (code_seen_P(PSTR("uvlo"))) // PRUSA uvlo
  3517. {
  3518. eeprom_update_byte((uint8_t*)EEPROM_UVLO,0);
  3519. enquecommand_P(PSTR("M24"));
  3520. }
  3521. else if (code_seen_P(PSTR("MMURES"))) // PRUSA MMURES
  3522. {
  3523. mmu_reset();
  3524. }
  3525. else if (code_seen_P(PSTR("RESET"))) { // PRUSA RESET
  3526. #ifdef WATCHDOG
  3527. #if defined(W25X20CL) && defined(BOOTAPP)
  3528. boot_app_magic = BOOT_APP_MAGIC;
  3529. boot_app_flags = BOOT_APP_FLG_RUN;
  3530. #endif //defined(W25X20CL) && defined(BOOTAPP)
  3531. softReset();
  3532. #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.
  3533. asm volatile("jmp 0x3E000");
  3534. #endif
  3535. }else if (code_seen_P("fv")) { // PRUSA fv
  3536. // get file version
  3537. #ifdef SDSUPPORT
  3538. card.openFile(strchr_pointer + 3,true);
  3539. while (true) {
  3540. uint16_t readByte = card.get();
  3541. MYSERIAL.write(readByte);
  3542. if (readByte=='\n') {
  3543. break;
  3544. }
  3545. }
  3546. card.closefile();
  3547. #endif // SDSUPPORT
  3548. } else if (code_seen_P(PSTR("M28"))) { // PRUSA M28
  3549. trace();
  3550. prusa_sd_card_upload = true;
  3551. card.openFile(strchr_pointer+4,false);
  3552. } else if (code_seen_P(PSTR("SN"))) { // PRUSA SN
  3553. char SN[20];
  3554. eeprom_read_block(SN, (uint8_t*)EEPROM_PRUSA_SN, 20);
  3555. if (SN[19])
  3556. puts_P(PSTR("SN invalid"));
  3557. else
  3558. puts(SN);
  3559. } else if(code_seen_P(PSTR("Fir"))){ // PRUSA Fir
  3560. SERIAL_PROTOCOLLN(FW_VERSION_FULL);
  3561. } else if(code_seen_P(PSTR("Rev"))){ // PRUSA Rev
  3562. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  3563. } else if(code_seen_P(PSTR("Lang"))) { // PRUSA Lang
  3564. lang_reset();
  3565. } else if(code_seen_P(PSTR("Lz"))) { // PRUSA Lz
  3566. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  3567. } else if(code_seen_P(PSTR("Beat"))) { // PRUSA Beat
  3568. // Kick farm link timer
  3569. kicktime = _millis();
  3570. } else if(code_seen_P(PSTR("FR"))) { // PRUSA FR
  3571. // Factory full reset
  3572. factory_reset(0);
  3573. } else if(code_seen_P(PSTR("MBL"))) { // PRUSA MBL
  3574. // Change the MBL status without changing the logical Z position.
  3575. if(code_seen('V')) {
  3576. bool value = code_value_short();
  3577. st_synchronize();
  3578. if(value != mbl.active) {
  3579. mbl.active = value;
  3580. // Use plan_set_z_position to reset the physical values
  3581. plan_set_z_position(current_position[Z_AXIS]);
  3582. }
  3583. }
  3584. //-//
  3585. /*
  3586. } else if(code_seen("rrr")) {
  3587. MYSERIAL.println("=== checking ===");
  3588. MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_CHECK_MODE),DEC);
  3589. MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER),DEC);
  3590. MYSERIAL.println(eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM),DEC);
  3591. MYSERIAL.println(farm_mode,DEC);
  3592. MYSERIAL.println(eCheckMode,DEC);
  3593. } else if(code_seen("www")) {
  3594. MYSERIAL.println("=== @ FF ===");
  3595. eeprom_update_byte((uint8_t*)EEPROM_CHECK_MODE,0xFF);
  3596. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,0xFF);
  3597. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,0xFFFF);
  3598. */
  3599. } else if (code_seen_P(PSTR("nozzle"))) { // PRUSA nozzle
  3600. uint16_t nDiameter;
  3601. if(code_seen('D'))
  3602. {
  3603. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  3604. nozzle_diameter_check(nDiameter);
  3605. }
  3606. else if(code_seen_P(PSTR("set")) && farm_mode)
  3607. {
  3608. strchr_pointer++; // skip 1st char (~ 's')
  3609. strchr_pointer++; // skip 2nd char (~ 'e')
  3610. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  3611. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
  3612. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
  3613. }
  3614. else SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
  3615. //-// !!! SupportMenu
  3616. /*
  3617. // musi byt PRED "PRUSA model"
  3618. } else if (code_seen("smodel")) { //! PRUSA smodel
  3619. size_t nOffset;
  3620. // ! -> "l"
  3621. strchr_pointer+=5*sizeof(*strchr_pointer); // skip 1st - 5th char (~ 'smode')
  3622. nOffset=strspn(strchr_pointer+1," \t\n\r\v\f");
  3623. if(*(strchr_pointer+1+nOffset))
  3624. printer_smodel_check(strchr_pointer);
  3625. else SERIAL_PROTOCOLLN(PRINTER_NAME);
  3626. } else if (code_seen("model")) { //! PRUSA model
  3627. uint16_t nPrinterModel;
  3628. strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'mode')
  3629. nPrinterModel=(uint16_t)code_value_long();
  3630. if(nPrinterModel!=0)
  3631. printer_model_check(nPrinterModel);
  3632. else SERIAL_PROTOCOLLN(PRINTER_TYPE);
  3633. } else if (code_seen("version")) { //! PRUSA version
  3634. strchr_pointer+=7*sizeof(*strchr_pointer); // skip 1st - 7th char (~ 'version')
  3635. while(*strchr_pointer==' ') // skip leading spaces
  3636. strchr_pointer++;
  3637. if(*strchr_pointer!=0)
  3638. fw_version_check(strchr_pointer);
  3639. else SERIAL_PROTOCOLLN(FW_VERSION);
  3640. } else if (code_seen("gcode")) { //! PRUSA gcode
  3641. uint16_t nGcodeLevel;
  3642. strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'gcod')
  3643. nGcodeLevel=(uint16_t)code_value_long();
  3644. if(nGcodeLevel!=0)
  3645. gcode_level_check(nGcodeLevel);
  3646. else SERIAL_PROTOCOLLN(GCODE_LEVEL);
  3647. */
  3648. }
  3649. //else if (code_seen('Cal')) {
  3650. // lcd_calibration();
  3651. // }
  3652. }
  3653. // This prevents reading files with "^" in their names.
  3654. // Since it is unclear, if there is some usage of this construct,
  3655. // it will be deprecated in 3.9 alpha a possibly completely removed in the future:
  3656. // else if (code_seen('^')) {
  3657. // // nothing, this is a version line
  3658. // }
  3659. else if(code_seen('G'))
  3660. {
  3661. gcode_in_progress = (int)code_value();
  3662. // printf_P(_N("BEGIN G-CODE=%u\n"), gcode_in_progress);
  3663. switch (gcode_in_progress)
  3664. {
  3665. /*!
  3666. ---------------------------------------------------------------------------------
  3667. # G Codes
  3668. ### G0, G1 - Coordinated movement X Y Z E <a href="https://reprap.org/wiki/G-code#G0_.26_G1:_Move">G0 & G1: Move</a>
  3669. In Prusa Firmware G0 and G1 are the same.
  3670. #### Usage
  3671. G0 [ X | Y | Z | E | F | S ]
  3672. G1 [ X | Y | Z | E | F | S ]
  3673. #### Parameters
  3674. - `X` - The position to move to on the X axis
  3675. - `Y` - The position to move to on the Y axis
  3676. - `Z` - The position to move to on the Z axis
  3677. - `E` - The amount to extrude between the starting point and ending point
  3678. - `F` - The feedrate per minute of the move between the starting point and ending point (if supplied)
  3679. */
  3680. case 0: // G0 -> G1
  3681. case 1: // G1
  3682. if(Stopped == false) {
  3683. #ifdef FILAMENT_RUNOUT_SUPPORT
  3684. if(READ(FR_SENS)){
  3685. int feedmultiplyBckp=feedmultiply;
  3686. float target[4];
  3687. float lastpos[4];
  3688. target[X_AXIS]=current_position[X_AXIS];
  3689. target[Y_AXIS]=current_position[Y_AXIS];
  3690. target[Z_AXIS]=current_position[Z_AXIS];
  3691. target[E_AXIS]=current_position[E_AXIS];
  3692. lastpos[X_AXIS]=current_position[X_AXIS];
  3693. lastpos[Y_AXIS]=current_position[Y_AXIS];
  3694. lastpos[Z_AXIS]=current_position[Z_AXIS];
  3695. lastpos[E_AXIS]=current_position[E_AXIS];
  3696. //retract by E
  3697. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  3698. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3699. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  3700. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  3701. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  3702. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  3703. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  3704. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  3705. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3706. //finish moves
  3707. st_synchronize();
  3708. //disable extruder steppers so filament can be removed
  3709. disable_e0();
  3710. disable_e1();
  3711. disable_e2();
  3712. _delay(100);
  3713. //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
  3714. uint8_t cnt=0;
  3715. int counterBeep = 0;
  3716. lcd_wait_interact();
  3717. while(!lcd_clicked()){
  3718. cnt++;
  3719. manage_heater();
  3720. manage_inactivity(true);
  3721. //lcd_update(0);
  3722. if(cnt==0)
  3723. {
  3724. #if BEEPER > 0
  3725. if (counterBeep== 500){
  3726. counterBeep = 0;
  3727. }
  3728. SET_OUTPUT(BEEPER);
  3729. if (counterBeep== 0){
  3730. if(eSoundMode!=e_SOUND_MODE_SILENT)
  3731. WRITE(BEEPER,HIGH);
  3732. }
  3733. if (counterBeep== 20){
  3734. WRITE(BEEPER,LOW);
  3735. }
  3736. counterBeep++;
  3737. #else
  3738. #endif
  3739. }
  3740. }
  3741. WRITE(BEEPER,LOW);
  3742. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3743. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3744. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3745. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3746. lcd_change_fil_state = 0;
  3747. lcd_loading_filament();
  3748. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  3749. lcd_change_fil_state = 0;
  3750. lcd_alright();
  3751. switch(lcd_change_fil_state){
  3752. case 2:
  3753. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3754. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3755. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3756. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3757. lcd_loading_filament();
  3758. break;
  3759. case 3:
  3760. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3761. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3762. lcd_loading_color();
  3763. break;
  3764. default:
  3765. lcd_change_success();
  3766. break;
  3767. }
  3768. }
  3769. target[E_AXIS]+= 5;
  3770. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3771. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  3772. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3773. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3774. //plan_set_e_position(current_position[E_AXIS]);
  3775. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  3776. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  3777. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  3778. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  3779. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  3780. plan_set_e_position(lastpos[E_AXIS]);
  3781. feedmultiply=feedmultiplyBckp;
  3782. char cmd[9];
  3783. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  3784. enquecommand(cmd);
  3785. }
  3786. #endif
  3787. get_coordinates(); // For X Y Z E F
  3788. // When recovering from a previous print move, restore the originally
  3789. // calculated target position on the first USB/SD command. This accounts
  3790. // properly for relative moves
  3791. if ((saved_target[0] != SAVED_TARGET_UNSET) &&
  3792. ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_SDCARD) ||
  3793. (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)))
  3794. {
  3795. memcpy(destination, saved_target, sizeof(destination));
  3796. saved_target[0] = SAVED_TARGET_UNSET;
  3797. }
  3798. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  3799. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  3800. }
  3801. #ifdef FWRETRACT
  3802. if(cs.autoretract_enabled)
  3803. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  3804. float echange=destination[E_AXIS]-current_position[E_AXIS];
  3805. if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
  3806. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  3807. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  3808. retract(!retracted[active_extruder]);
  3809. return;
  3810. }
  3811. }
  3812. #endif //FWRETRACT
  3813. prepare_move();
  3814. //ClearToSend();
  3815. }
  3816. break;
  3817. /*!
  3818. ### 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>
  3819. These commands don't propperly work with MBL enabled. The compensation only happens at the end of the move, so avoid long arcs.
  3820. #### Usage
  3821. G2 [ X | Y | I | E | F ] (Clockwise Arc)
  3822. G3 [ X | Y | I | E | F ] (Counter-Clockwise Arc)
  3823. #### Parameters
  3824. - `X` - The position to move to on the X axis
  3825. - `Y` - The position to move to on the Y axis
  3826. - `I` - The point in X space from the current X position to maintain a constant distance from
  3827. - `J` - The point in Y space from the current Y position to maintain a constant distance from
  3828. - `E` - The amount to extrude between the starting point and ending point
  3829. - `F` - The feedrate per minute of the move between the starting point and ending point (if supplied)
  3830. */
  3831. case 2:
  3832. if(Stopped == false) {
  3833. get_arc_coordinates();
  3834. prepare_arc_move(true);
  3835. }
  3836. break;
  3837. // -------------------------------
  3838. case 3:
  3839. if(Stopped == false) {
  3840. get_arc_coordinates();
  3841. prepare_arc_move(false);
  3842. }
  3843. break;
  3844. /*!
  3845. ### G4 - Dwell <a href="https://reprap.org/wiki/G-code#G4:_Dwell">G4: Dwell</a>
  3846. Pause the machine for a period of time.
  3847. #### Usage
  3848. G4 [ P | S ]
  3849. #### Parameters
  3850. - `P` - Time to wait, in milliseconds
  3851. - `S` - Time to wait, in seconds
  3852. */
  3853. case 4:
  3854. codenum = 0;
  3855. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  3856. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  3857. if(codenum != 0) LCD_MESSAGERPGM(_n("Sleep..."));////MSG_DWELL
  3858. st_synchronize();
  3859. codenum += _millis(); // keep track of when we started waiting
  3860. previous_millis_cmd = _millis();
  3861. while(_millis() < codenum) {
  3862. manage_heater();
  3863. manage_inactivity();
  3864. lcd_update(0);
  3865. }
  3866. break;
  3867. #ifdef FWRETRACT
  3868. /*!
  3869. ### G10 - Retract <a href="https://reprap.org/wiki/G-code#G10:_Retract">G10: Retract</a>
  3870. Retracts filament according to settings of `M207`
  3871. */
  3872. case 10:
  3873. #if EXTRUDERS > 1
  3874. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  3875. retract(true,retracted_swap[active_extruder]);
  3876. #else
  3877. retract(true);
  3878. #endif
  3879. break;
  3880. /*!
  3881. ### G11 - Retract recover <a href="https://reprap.org/wiki/G-code#G11:_Unretract">G11: Unretract</a>
  3882. Unretracts/recovers filament according to settings of `M208`
  3883. */
  3884. case 11:
  3885. #if EXTRUDERS > 1
  3886. retract(false,retracted_swap[active_extruder]);
  3887. #else
  3888. retract(false);
  3889. #endif
  3890. break;
  3891. #endif //FWRETRACT
  3892. /*!
  3893. ### G21 - Sets Units to Millimters <a href="https://reprap.org/wiki/G-code#G21:_Set_Units_to_Millimeters">G21: Set Units to Millimeters</a>
  3894. Units are in millimeters. Prusa doesn't support inches.
  3895. */
  3896. case 21:
  3897. break; //Doing nothing. This is just to prevent serial UNKOWN warnings.
  3898. /*!
  3899. ### 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>
  3900. 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).
  3901. #### Usage
  3902. G28 [ X | Y | Z | W | C ]
  3903. #### Parameters
  3904. - `X` - Flag to go back to the X axis origin
  3905. - `Y` - Flag to go back to the Y axis origin
  3906. - `Z` - Flag to go back to the Z axis origin
  3907. - `W` - Suppress mesh bed leveling if `X`, `Y` or `Z` are not provided
  3908. - `C` - Calibrate X and Y origin (home) - Only on MK3/s
  3909. */
  3910. case 28:
  3911. {
  3912. long home_x_value = 0;
  3913. long home_y_value = 0;
  3914. long home_z_value = 0;
  3915. // Which axes should be homed?
  3916. bool home_x = code_seen(axis_codes[X_AXIS]);
  3917. home_x_value = code_value_long();
  3918. bool home_y = code_seen(axis_codes[Y_AXIS]);
  3919. home_y_value = code_value_long();
  3920. bool home_z = code_seen(axis_codes[Z_AXIS]);
  3921. home_z_value = code_value_long();
  3922. bool without_mbl = code_seen('W');
  3923. // calibrate?
  3924. #ifdef TMC2130
  3925. bool calib = code_seen('C');
  3926. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
  3927. #else
  3928. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, without_mbl);
  3929. #endif //TMC2130
  3930. if ((home_x || home_y || without_mbl || home_z) == false) {
  3931. // Push the commands to the front of the message queue in the reverse order!
  3932. // There shall be always enough space reserved for these commands.
  3933. goto case_G80;
  3934. }
  3935. break;
  3936. }
  3937. #ifdef ENABLE_AUTO_BED_LEVELING
  3938. /*!
  3939. ### G29 - Detailed Z-Probe <a href="https://reprap.org/wiki/G-code#G29:_Detailed_Z-Probe">G29: Detailed Z-Probe</a>
  3940. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  3941. See `G81`
  3942. */
  3943. case 29:
  3944. {
  3945. #if Z_MIN_PIN == -1
  3946. #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."
  3947. #endif
  3948. // Prevent user from running a G29 without first homing in X and Y
  3949. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  3950. {
  3951. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  3952. SERIAL_ECHO_START;
  3953. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  3954. break; // abort G29, since we don't know where we are
  3955. }
  3956. st_synchronize();
  3957. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  3958. //vector_3 corrected_position = plan_get_position_mm();
  3959. //corrected_position.debug("position before G29");
  3960. plan_bed_level_matrix.set_to_identity();
  3961. vector_3 uncorrected_position = plan_get_position();
  3962. //uncorrected_position.debug("position durring G29");
  3963. current_position[X_AXIS] = uncorrected_position.x;
  3964. current_position[Y_AXIS] = uncorrected_position.y;
  3965. current_position[Z_AXIS] = uncorrected_position.z;
  3966. plan_set_position_curposXYZE();
  3967. int l_feedmultiply = setup_for_endstop_move();
  3968. feedrate = homing_feedrate[Z_AXIS];
  3969. #ifdef AUTO_BED_LEVELING_GRID
  3970. // probe at the points of a lattice grid
  3971. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3972. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3973. // solve the plane equation ax + by + d = z
  3974. // A is the matrix with rows [x y 1] for all the probed points
  3975. // B is the vector of the Z positions
  3976. // 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
  3977. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3978. // "A" matrix of the linear system of equations
  3979. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  3980. // "B" vector of Z points
  3981. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  3982. int probePointCounter = 0;
  3983. bool zig = true;
  3984. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  3985. {
  3986. int xProbe, xInc;
  3987. if (zig)
  3988. {
  3989. xProbe = LEFT_PROBE_BED_POSITION;
  3990. //xEnd = RIGHT_PROBE_BED_POSITION;
  3991. xInc = xGridSpacing;
  3992. zig = false;
  3993. } else // zag
  3994. {
  3995. xProbe = RIGHT_PROBE_BED_POSITION;
  3996. //xEnd = LEFT_PROBE_BED_POSITION;
  3997. xInc = -xGridSpacing;
  3998. zig = true;
  3999. }
  4000. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  4001. {
  4002. float z_before;
  4003. if (probePointCounter == 0)
  4004. {
  4005. // raise before probing
  4006. z_before = Z_RAISE_BEFORE_PROBING;
  4007. } else
  4008. {
  4009. // raise extruder
  4010. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  4011. }
  4012. float measured_z = probe_pt(xProbe, yProbe, z_before);
  4013. eqnBVector[probePointCounter] = measured_z;
  4014. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  4015. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  4016. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  4017. probePointCounter++;
  4018. xProbe += xInc;
  4019. }
  4020. }
  4021. clean_up_after_endstop_move(l_feedmultiply);
  4022. // solve lsq problem
  4023. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  4024. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  4025. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  4026. SERIAL_PROTOCOLPGM(" b: ");
  4027. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  4028. SERIAL_PROTOCOLPGM(" d: ");
  4029. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  4030. set_bed_level_equation_lsq(plane_equation_coefficients);
  4031. free(plane_equation_coefficients);
  4032. #else // AUTO_BED_LEVELING_GRID not defined
  4033. // Probe at 3 arbitrary points
  4034. // probe 1
  4035. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  4036. // probe 2
  4037. 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);
  4038. // probe 3
  4039. 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);
  4040. clean_up_after_endstop_move(l_feedmultiply);
  4041. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  4042. #endif // AUTO_BED_LEVELING_GRID
  4043. st_synchronize();
  4044. // The following code correct the Z height difference from z-probe position and hotend tip position.
  4045. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  4046. // When the bed is uneven, this height must be corrected.
  4047. 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)
  4048. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  4049. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  4050. z_tmp = current_position[Z_AXIS];
  4051. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  4052. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  4053. plan_set_position_curposXYZE();
  4054. }
  4055. break;
  4056. #ifndef Z_PROBE_SLED
  4057. /*!
  4058. ### G30 - Single Z Probe <a href="https://reprap.org/wiki/G-code#G30:_Single_Z-Probe">G30: Single Z-Probe</a>
  4059. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4060. */
  4061. case 30:
  4062. {
  4063. st_synchronize();
  4064. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  4065. int l_feedmultiply = setup_for_endstop_move();
  4066. feedrate = homing_feedrate[Z_AXIS];
  4067. run_z_probe();
  4068. SERIAL_PROTOCOLPGM(_T(MSG_BED));
  4069. SERIAL_PROTOCOLPGM(" X: ");
  4070. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4071. SERIAL_PROTOCOLPGM(" Y: ");
  4072. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4073. SERIAL_PROTOCOLPGM(" Z: ");
  4074. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4075. SERIAL_PROTOCOLPGM("\n");
  4076. clean_up_after_endstop_move(l_feedmultiply);
  4077. }
  4078. break;
  4079. #else
  4080. /*!
  4081. ### G31 - Dock the sled <a href="https://reprap.org/wiki/G-code#G31:_Dock_Z_Probe_sled">G31: Dock Z Probe sled</a>
  4082. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4083. */
  4084. case 31:
  4085. dock_sled(true);
  4086. break;
  4087. /*!
  4088. ### G32 - Undock the sled <a href="https://reprap.org/wiki/G-code#G32:_Undock_Z_Probe_sled">G32: Undock Z Probe sled</a>
  4089. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4090. */
  4091. case 32:
  4092. dock_sled(false);
  4093. break;
  4094. #endif // Z_PROBE_SLED
  4095. #endif // ENABLE_AUTO_BED_LEVELING
  4096. #ifdef MESH_BED_LEVELING
  4097. /*!
  4098. ### G30 - Single Z Probe <a href="https://reprap.org/wiki/G-code#G30:_Single_Z-Probe">G30: Single Z-Probe</a>
  4099. Sensor must be over the bed.
  4100. The maximum travel distance before an error is triggered is 10mm.
  4101. */
  4102. case 30:
  4103. {
  4104. st_synchronize();
  4105. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  4106. int l_feedmultiply = setup_for_endstop_move();
  4107. feedrate = homing_feedrate[Z_AXIS];
  4108. find_bed_induction_sensor_point_z(-10.f, 3);
  4109. printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
  4110. clean_up_after_endstop_move(l_feedmultiply);
  4111. }
  4112. break;
  4113. /*!
  4114. ### G75 - Print temperature interpolation <a href="https://reprap.org/wiki/G-code#G75:_Print_temperature_interpolation">G75: Print temperature interpolation</a>
  4115. Show/print PINDA temperature interpolating.
  4116. */
  4117. case 75:
  4118. {
  4119. for (int i = 40; i <= 110; i++)
  4120. printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
  4121. }
  4122. break;
  4123. /*!
  4124. ### G76 - PINDA probe temperature calibration <a href="https://reprap.org/wiki/G-code#G76:_PINDA_probe_temperature_calibration">G76: PINDA probe temperature calibration</a>
  4125. This G-code is used to calibrate the temperature drift of the PINDA (inductive Sensor).
  4126. The PINDAv2 sensor has a built-in thermistor which has the advantage that the calibration can be done once for all materials.
  4127. The Original i3 Prusa MK2/s uses PINDAv1 and this calibration improves the temperature drift, but not as good as the PINDAv2.
  4128. superPINDA sensor has internal temperature compensation and no thermistor output. There is no point of doing temperature calibration in such case.
  4129. If PINDA_THERMISTOR and SUPERPINDA_SUPPORT is defined during compilation, calibration is skipped with serial message "No PINDA thermistor".
  4130. This can be caused also if PINDA thermistor connection is broken or PINDA temperature is lower than PINDA_MINTEMP.
  4131. #### Example
  4132. ```
  4133. G76
  4134. echo PINDA probe calibration start
  4135. echo start temperature: 35.0°
  4136. echo ...
  4137. echo PINDA temperature -- Z shift (mm): 0.---
  4138. ```
  4139. */
  4140. case 76:
  4141. {
  4142. #ifdef PINDA_THERMISTOR
  4143. if (!has_temperature_compensation())
  4144. {
  4145. SERIAL_ECHOLNPGM("No PINDA thermistor");
  4146. break;
  4147. }
  4148. if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
  4149. //we need to know accurate position of first calibration point
  4150. //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
  4151. lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
  4152. break;
  4153. }
  4154. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  4155. {
  4156. // We don't know where we are! HOME!
  4157. // Push the commands to the front of the message queue in the reverse order!
  4158. // There shall be always enough space reserved for these commands.
  4159. repeatcommand_front(); // repeat G76 with all its parameters
  4160. enquecommand_front_P(G28W0);
  4161. break;
  4162. }
  4163. 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
  4164. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  4165. if (result)
  4166. {
  4167. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4168. plan_buffer_line_curposXYZE(3000 / 60);
  4169. current_position[Z_AXIS] = 50;
  4170. current_position[Y_AXIS] = 180;
  4171. plan_buffer_line_curposXYZE(3000 / 60);
  4172. st_synchronize();
  4173. lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  4174. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4175. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4176. plan_buffer_line_curposXYZE(3000 / 60);
  4177. st_synchronize();
  4178. gcode_G28(false, false, true);
  4179. }
  4180. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  4181. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  4182. current_position[Z_AXIS] = 100;
  4183. plan_buffer_line_curposXYZE(3000 / 60);
  4184. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  4185. lcd_temp_cal_show_result(false);
  4186. break;
  4187. }
  4188. }
  4189. lcd_update_enable(true);
  4190. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  4191. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  4192. float zero_z;
  4193. int z_shift = 0; //unit: steps
  4194. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  4195. if (start_temp < 35) start_temp = 35;
  4196. if (start_temp < current_temperature_pinda) start_temp += 5;
  4197. printf_P(_N("start temperature: %.1f\n"), start_temp);
  4198. // setTargetHotend(200, 0);
  4199. setTargetBed(70 + (start_temp - 30));
  4200. custom_message_type = CustomMsg::TempCal;
  4201. custom_message_state = 1;
  4202. lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
  4203. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4204. plan_buffer_line_curposXYZE(3000 / 60);
  4205. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4206. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4207. plan_buffer_line_curposXYZE(3000 / 60);
  4208. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4209. plan_buffer_line_curposXYZE(3000 / 60);
  4210. st_synchronize();
  4211. while (current_temperature_pinda < start_temp)
  4212. {
  4213. delay_keep_alive(1000);
  4214. serialecho_temperatures();
  4215. }
  4216. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  4217. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4218. plan_buffer_line_curposXYZE(3000 / 60);
  4219. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4220. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4221. plan_buffer_line_curposXYZE(3000 / 60);
  4222. st_synchronize();
  4223. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  4224. if (find_z_result == false) {
  4225. lcd_temp_cal_show_result(find_z_result);
  4226. break;
  4227. }
  4228. zero_z = current_position[Z_AXIS];
  4229. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  4230. int i = -1; for (; i < 5; i++)
  4231. {
  4232. float temp = (40 + i * 5);
  4233. printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
  4234. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  4235. if (start_temp <= temp) break;
  4236. }
  4237. for (i++; i < 5; i++)
  4238. {
  4239. float temp = (40 + i * 5);
  4240. printf_P(_N("\nStep: %d/6\n"), i + 2);
  4241. custom_message_state = i + 2;
  4242. setTargetBed(50 + 10 * (temp - 30) / 5);
  4243. // setTargetHotend(255, 0);
  4244. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4245. plan_buffer_line_curposXYZE(3000 / 60);
  4246. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4247. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4248. plan_buffer_line_curposXYZE(3000 / 60);
  4249. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4250. plan_buffer_line_curposXYZE(3000 / 60);
  4251. st_synchronize();
  4252. while (current_temperature_pinda < temp)
  4253. {
  4254. delay_keep_alive(1000);
  4255. serialecho_temperatures();
  4256. }
  4257. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4258. plan_buffer_line_curposXYZE(3000 / 60);
  4259. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4260. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4261. plan_buffer_line_curposXYZE(3000 / 60);
  4262. st_synchronize();
  4263. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  4264. if (find_z_result == false) {
  4265. lcd_temp_cal_show_result(find_z_result);
  4266. break;
  4267. }
  4268. z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
  4269. printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
  4270. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  4271. }
  4272. lcd_temp_cal_show_result(true);
  4273. #else //PINDA_THERMISTOR
  4274. setTargetBed(PINDA_MIN_T);
  4275. float zero_z;
  4276. int z_shift = 0; //unit: steps
  4277. int t_c; // temperature
  4278. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  4279. // We don't know where we are! HOME!
  4280. // Push the commands to the front of the message queue in the reverse order!
  4281. // There shall be always enough space reserved for these commands.
  4282. repeatcommand_front(); // repeat G76 with all its parameters
  4283. enquecommand_front_P(G28W0);
  4284. break;
  4285. }
  4286. puts_P(_N("PINDA probe calibration start"));
  4287. custom_message_type = CustomMsg::TempCal;
  4288. custom_message_state = 1;
  4289. lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
  4290. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4291. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4292. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4293. plan_buffer_line_curposXYZE(3000 / 60);
  4294. st_synchronize();
  4295. while (abs(degBed() - PINDA_MIN_T) > 1) {
  4296. delay_keep_alive(1000);
  4297. serialecho_temperatures();
  4298. }
  4299. //enquecommand_P(PSTR("M190 S50"));
  4300. for (int i = 0; i < PINDA_HEAT_T; i++) {
  4301. delay_keep_alive(1000);
  4302. serialecho_temperatures();
  4303. }
  4304. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  4305. current_position[Z_AXIS] = 5;
  4306. plan_buffer_line_curposXYZE(3000 / 60);
  4307. current_position[X_AXIS] = BED_X0;
  4308. current_position[Y_AXIS] = BED_Y0;
  4309. plan_buffer_line_curposXYZE(3000 / 60);
  4310. st_synchronize();
  4311. find_bed_induction_sensor_point_z(-1.f);
  4312. zero_z = current_position[Z_AXIS];
  4313. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  4314. for (int i = 0; i<5; i++) {
  4315. printf_P(_N("\nStep: %d/6\n"), i + 2);
  4316. custom_message_state = i + 2;
  4317. t_c = 60 + i * 10;
  4318. setTargetBed(t_c);
  4319. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4320. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4321. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4322. plan_buffer_line_curposXYZE(3000 / 60);
  4323. st_synchronize();
  4324. while (degBed() < t_c) {
  4325. delay_keep_alive(1000);
  4326. serialecho_temperatures();
  4327. }
  4328. for (int i = 0; i < PINDA_HEAT_T; i++) {
  4329. delay_keep_alive(1000);
  4330. serialecho_temperatures();
  4331. }
  4332. current_position[Z_AXIS] = 5;
  4333. plan_buffer_line_curposXYZE(3000 / 60);
  4334. current_position[X_AXIS] = BED_X0;
  4335. current_position[Y_AXIS] = BED_Y0;
  4336. plan_buffer_line_curposXYZE(3000 / 60);
  4337. st_synchronize();
  4338. find_bed_induction_sensor_point_z(-1.f);
  4339. z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
  4340. printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
  4341. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  4342. }
  4343. custom_message_type = CustomMsg::Status;
  4344. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  4345. puts_P(_N("Temperature calibration done."));
  4346. disable_x();
  4347. disable_y();
  4348. disable_z();
  4349. disable_e0();
  4350. disable_e1();
  4351. disable_e2();
  4352. setTargetBed(0); //set bed target temperature back to 0
  4353. lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
  4354. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  4355. lcd_update_enable(true);
  4356. lcd_update(2);
  4357. #endif //PINDA_THERMISTOR
  4358. }
  4359. break;
  4360. /*!
  4361. ### G80 - Mesh-based Z probe <a href="https://reprap.org/wiki/G-code#G80:_Mesh-based_Z_probe">G80: Mesh-based Z probe</a>
  4362. Default 3x3 grid can be changed on MK2.5/s and MK3/s to 7x7 grid.
  4363. #### Usage
  4364. G80 [ N | R | V | L | R | F | B ]
  4365. #### Parameters
  4366. - `N` - Number of mesh points on x axis. Default is 3. Valid values are 3 and 7.
  4367. - `R` - Probe retries. Default 3 max. 10
  4368. - `V` - Verbosity level 1=low, 10=mid, 20=high. It only can be used if the firmware has been compiled with SUPPORT_VERBOSITY active.
  4369. Using the following parameters enables additional "manual" bed leveling correction. Valid values are -100 microns to 100 microns.
  4370. #### Additional Parameters
  4371. - `L` - Left Bed Level correct value in um.
  4372. - `R` - Right Bed Level correct value in um.
  4373. - `F` - Front Bed Level correct value in um.
  4374. - `B` - Back Bed Level correct value in um.
  4375. */
  4376. /*
  4377. * Probes a grid and produces a mesh to compensate for variable bed height
  4378. * The S0 report the points as below
  4379. * +----> X-axis
  4380. * |
  4381. * |
  4382. * v Y-axis
  4383. */
  4384. case 80:
  4385. #ifdef MK1BP
  4386. break;
  4387. #endif //MK1BP
  4388. case_G80:
  4389. {
  4390. mesh_bed_leveling_flag = true;
  4391. #ifndef PINDA_THERMISTOR
  4392. static bool run = false; // thermistor-less PINDA temperature compensation is running
  4393. #endif // ndef PINDA_THERMISTOR
  4394. #ifdef SUPPORT_VERBOSITY
  4395. int8_t verbosity_level = 0;
  4396. if (code_seen('V')) {
  4397. // Just 'V' without a number counts as V1.
  4398. char c = strchr_pointer[1];
  4399. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4400. }
  4401. #endif //SUPPORT_VERBOSITY
  4402. // Firstly check if we know where we are
  4403. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  4404. // We don't know where we are! HOME!
  4405. // Push the commands to the front of the message queue in the reverse order!
  4406. // There shall be always enough space reserved for these commands.
  4407. repeatcommand_front(); // repeat G80 with all its parameters
  4408. enquecommand_front_P(G28W0);
  4409. break;
  4410. }
  4411. uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS;
  4412. if (code_seen('N')) {
  4413. nMeasPoints = code_value_uint8();
  4414. if (nMeasPoints != 7) {
  4415. nMeasPoints = 3;
  4416. }
  4417. }
  4418. else {
  4419. nMeasPoints = eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
  4420. }
  4421. uint8_t nProbeRetry = 3;
  4422. if (code_seen('R')) {
  4423. nProbeRetry = code_value_uint8();
  4424. if (nProbeRetry > 10) {
  4425. nProbeRetry = 10;
  4426. }
  4427. }
  4428. else {
  4429. nProbeRetry = eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR);
  4430. }
  4431. bool magnet_elimination = (eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION) > 0);
  4432. #ifndef PINDA_THERMISTOR
  4433. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50)
  4434. {
  4435. temp_compensation_start();
  4436. run = true;
  4437. repeatcommand_front(); // repeat G80 with all its parameters
  4438. enquecommand_front_P(G28W0);
  4439. break;
  4440. }
  4441. run = false;
  4442. #endif //PINDA_THERMISTOR
  4443. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  4444. CustomMsg custom_message_type_old = custom_message_type;
  4445. unsigned int custom_message_state_old = custom_message_state;
  4446. custom_message_type = CustomMsg::MeshBedLeveling;
  4447. custom_message_state = (nMeasPoints * nMeasPoints) + 10;
  4448. lcd_update(1);
  4449. mbl.reset(); //reset mesh bed leveling
  4450. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  4451. // consumed during the first movements following this statement.
  4452. babystep_undo();
  4453. // Cycle through all points and probe them
  4454. // First move up. During this first movement, the babystepping will be reverted.
  4455. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4456. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
  4457. // The move to the first calibration point.
  4458. current_position[X_AXIS] = BED_X0;
  4459. current_position[Y_AXIS] = BED_Y0;
  4460. #ifdef SUPPORT_VERBOSITY
  4461. if (verbosity_level >= 1)
  4462. {
  4463. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4464. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  4465. }
  4466. #else //SUPPORT_VERBOSITY
  4467. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4468. #endif //SUPPORT_VERBOSITY
  4469. plan_buffer_line_curposXYZE(homing_feedrate[X_AXIS] / 30);
  4470. // Wait until the move is finished.
  4471. st_synchronize();
  4472. uint8_t mesh_point = 0; //index number of calibration point
  4473. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  4474. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  4475. 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)
  4476. #ifdef SUPPORT_VERBOSITY
  4477. if (verbosity_level >= 1) {
  4478. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  4479. }
  4480. #endif // SUPPORT_VERBOSITY
  4481. int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  4482. while (mesh_point != nMeasPoints * nMeasPoints) {
  4483. // Get coords of a measuring point.
  4484. uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
  4485. uint8_t iy = mesh_point / nMeasPoints;
  4486. /*if (!mbl_point_measurement_valid(ix, iy, nMeasPoints, true)) {
  4487. printf_P(PSTR("Skipping point [%d;%d] \n"), ix, iy);
  4488. custom_message_state--;
  4489. mesh_point++;
  4490. continue; //skip
  4491. }*/
  4492. if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
  4493. if (nMeasPoints == 7) //if we have 7x7 mesh, compare with Z-calibration for points which are in 3x3 mesh
  4494. {
  4495. has_z = ((ix % 3 == 0) && (iy % 3 == 0)) && is_bed_z_jitter_data_valid();
  4496. }
  4497. float z0 = 0.f;
  4498. if (has_z && (mesh_point > 0)) {
  4499. uint16_t z_offset_u = 0;
  4500. if (nMeasPoints == 7) {
  4501. z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1)));
  4502. }
  4503. else {
  4504. z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  4505. }
  4506. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  4507. #ifdef SUPPORT_VERBOSITY
  4508. if (verbosity_level >= 1) {
  4509. printf_P(PSTR("Bed leveling, point: %d, calibration Z stored in eeprom: %d, calibration z: %f \n"), mesh_point, z_offset_u, z0);
  4510. }
  4511. #endif // SUPPORT_VERBOSITY
  4512. }
  4513. // Move Z up to MESH_HOME_Z_SEARCH.
  4514. if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4515. else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
  4516. float init_z_bckp = current_position[Z_AXIS];
  4517. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  4518. st_synchronize();
  4519. // Move to XY position of the sensor point.
  4520. current_position[X_AXIS] = BED_X(ix, nMeasPoints);
  4521. current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
  4522. //printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  4523. #ifdef SUPPORT_VERBOSITY
  4524. if (verbosity_level >= 1) {
  4525. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4526. SERIAL_PROTOCOL(mesh_point);
  4527. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  4528. }
  4529. #else //SUPPORT_VERBOSITY
  4530. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4531. #endif // SUPPORT_VERBOSITY
  4532. //printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  4533. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
  4534. st_synchronize();
  4535. // Go down until endstop is hit
  4536. const float Z_CALIBRATION_THRESHOLD = 1.f;
  4537. 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
  4538. printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  4539. break;
  4540. }
  4541. 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.
  4542. //printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
  4543. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4544. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  4545. st_synchronize();
  4546. 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
  4547. printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  4548. break;
  4549. }
  4550. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  4551. puts_P(PSTR("Bed leveling failed. Sensor disconnected or cable broken."));
  4552. break;
  4553. }
  4554. }
  4555. 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
  4556. puts_P(PSTR("Bed leveling failed. Sensor triggered too high."));
  4557. break;
  4558. }
  4559. #ifdef SUPPORT_VERBOSITY
  4560. if (verbosity_level >= 10) {
  4561. SERIAL_ECHOPGM("X: ");
  4562. MYSERIAL.print(current_position[X_AXIS], 5);
  4563. SERIAL_ECHOLNPGM("");
  4564. SERIAL_ECHOPGM("Y: ");
  4565. MYSERIAL.print(current_position[Y_AXIS], 5);
  4566. SERIAL_PROTOCOLPGM("\n");
  4567. }
  4568. #endif // SUPPORT_VERBOSITY
  4569. float offset_z = 0;
  4570. #ifdef PINDA_THERMISTOR
  4571. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  4572. #endif //PINDA_THERMISTOR
  4573. // #ifdef SUPPORT_VERBOSITY
  4574. /* if (verbosity_level >= 1)
  4575. {
  4576. SERIAL_ECHOPGM("mesh bed leveling: ");
  4577. MYSERIAL.print(current_position[Z_AXIS], 5);
  4578. SERIAL_ECHOPGM(" offset: ");
  4579. MYSERIAL.print(offset_z, 5);
  4580. SERIAL_ECHOLNPGM("");
  4581. }*/
  4582. // #endif // SUPPORT_VERBOSITY
  4583. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  4584. custom_message_state--;
  4585. mesh_point++;
  4586. lcd_update(1);
  4587. }
  4588. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4589. #ifdef SUPPORT_VERBOSITY
  4590. if (verbosity_level >= 20) {
  4591. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  4592. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  4593. MYSERIAL.print(current_position[Z_AXIS], 5);
  4594. }
  4595. #endif // SUPPORT_VERBOSITY
  4596. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  4597. st_synchronize();
  4598. if (mesh_point != nMeasPoints * nMeasPoints) {
  4599. Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
  4600. bool bState;
  4601. do { // repeat until Z-leveling o.k.
  4602. lcd_display_message_fullscreen_P(_i("Some problem encountered, Z-leveling enforced ..."));
  4603. #ifdef TMC2130
  4604. lcd_wait_for_click_delay(MSG_BED_LEVELING_FAILED_TIMEOUT);
  4605. calibrate_z_auto(); // Z-leveling (X-assembly stay up!!!)
  4606. #else // TMC2130
  4607. lcd_wait_for_click_delay(0); // ~ no timeout
  4608. lcd_calibrate_z_end_stop_manual(true); // Z-leveling (X-assembly stay up!!!)
  4609. #endif // TMC2130
  4610. // ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
  4611. bState=enable_z_endstop(false);
  4612. current_position[Z_AXIS] -= 1;
  4613. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  4614. st_synchronize();
  4615. enable_z_endstop(true);
  4616. #ifdef TMC2130
  4617. tmc2130_home_enter(Z_AXIS_MASK);
  4618. #endif // TMC2130
  4619. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4620. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  4621. st_synchronize();
  4622. #ifdef TMC2130
  4623. tmc2130_home_exit();
  4624. #endif // TMC2130
  4625. enable_z_endstop(bState);
  4626. } while (st_get_position_mm(Z_AXIS) > MESH_HOME_Z_SEARCH); // i.e. Z-leveling not o.k.
  4627. // plan_set_z_position(MESH_HOME_Z_SEARCH); // is not necessary ('do-while' loop always ends at the expected Z-position)
  4628. custom_message_type=CustomMsg::Status; // display / status-line recovery
  4629. lcd_update_enable(true); // display / status-line recovery
  4630. gcode_G28(true, true, true); // X & Y & Z-homing (must be after individual Z-homing (problem with spool-holder)!)
  4631. repeatcommand_front(); // re-run (i.e. of "G80")
  4632. break;
  4633. }
  4634. clean_up_after_endstop_move(l_feedmultiply);
  4635. // SERIAL_ECHOLNPGM("clean up finished ");
  4636. #ifndef PINDA_THERMISTOR
  4637. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  4638. #endif
  4639. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  4640. // SERIAL_ECHOLNPGM("babystep applied");
  4641. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  4642. #ifdef SUPPORT_VERBOSITY
  4643. if (verbosity_level >= 1) {
  4644. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  4645. }
  4646. #endif // SUPPORT_VERBOSITY
  4647. for (uint8_t i = 0; i < 4; ++i) {
  4648. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  4649. long correction = 0;
  4650. if (code_seen(codes[i]))
  4651. correction = code_value_long();
  4652. else if (eeprom_bed_correction_valid) {
  4653. unsigned char *addr = (i < 2) ?
  4654. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  4655. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  4656. correction = eeprom_read_int8(addr);
  4657. }
  4658. if (correction == 0)
  4659. continue;
  4660. if (labs(correction) > BED_ADJUSTMENT_UM_MAX) {
  4661. SERIAL_ERROR_START;
  4662. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  4663. SERIAL_ECHO(correction);
  4664. SERIAL_ECHOLNPGM(" microns");
  4665. }
  4666. else {
  4667. float offset = float(correction) * 0.001f;
  4668. switch (i) {
  4669. case 0:
  4670. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  4671. for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
  4672. mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
  4673. }
  4674. }
  4675. break;
  4676. case 1:
  4677. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  4678. for (uint8_t col = 1; col < nMeasPoints; ++col) {
  4679. mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
  4680. }
  4681. }
  4682. break;
  4683. case 2:
  4684. for (uint8_t col = 0; col < nMeasPoints; ++col) {
  4685. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  4686. mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
  4687. }
  4688. }
  4689. break;
  4690. case 3:
  4691. for (uint8_t col = 0; col < nMeasPoints; ++col) {
  4692. for (uint8_t row = 1; row < nMeasPoints; ++row) {
  4693. mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
  4694. }
  4695. }
  4696. break;
  4697. }
  4698. }
  4699. }
  4700. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  4701. if (nMeasPoints == 3) {
  4702. 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)
  4703. }
  4704. /*
  4705. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4706. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4707. SERIAL_PROTOCOLPGM(",");
  4708. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4709. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4710. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4711. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4712. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  4713. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  4714. SERIAL_PROTOCOLPGM(" ");
  4715. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4716. }
  4717. SERIAL_PROTOCOLPGM("\n");
  4718. }
  4719. */
  4720. if (nMeasPoints == 7 && magnet_elimination) {
  4721. mbl_interpolation(nMeasPoints);
  4722. }
  4723. /*
  4724. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4725. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4726. SERIAL_PROTOCOLPGM(",");
  4727. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4728. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4729. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4730. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4731. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  4732. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  4733. SERIAL_PROTOCOLPGM(" ");
  4734. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4735. }
  4736. SERIAL_PROTOCOLPGM("\n");
  4737. }
  4738. */
  4739. // SERIAL_ECHOLNPGM("Upsample finished");
  4740. mbl.active = 1; //activate mesh bed leveling
  4741. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  4742. go_home_with_z_lift();
  4743. // SERIAL_ECHOLNPGM("Go home finished");
  4744. //unretract (after PINDA preheat retraction)
  4745. if ((degHotend(active_extruder) > EXTRUDE_MINTEMP) && eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() && (target_temperature_bed >= 50)) {
  4746. current_position[E_AXIS] += default_retraction;
  4747. plan_buffer_line_curposXYZE(400);
  4748. }
  4749. KEEPALIVE_STATE(NOT_BUSY);
  4750. // Restore custom message state
  4751. lcd_setstatuspgm(_T(WELCOME_MSG));
  4752. custom_message_type = custom_message_type_old;
  4753. custom_message_state = custom_message_state_old;
  4754. mesh_bed_leveling_flag = false;
  4755. mesh_bed_run_from_menu = false;
  4756. lcd_update(2);
  4757. }
  4758. break;
  4759. /*!
  4760. ### G81 - Mesh bed leveling status <a href="https://reprap.org/wiki/G-code#G81:_Mesh_bed_leveling_status">G81: Mesh bed leveling status</a>
  4761. Prints mesh bed leveling status and bed profile if activated.
  4762. */
  4763. case 81:
  4764. if (mbl.active) {
  4765. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4766. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4767. SERIAL_PROTOCOL(',');
  4768. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4769. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4770. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4771. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4772. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  4773. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  4774. SERIAL_PROTOCOLPGM(" ");
  4775. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4776. }
  4777. SERIAL_PROTOCOLLN();
  4778. }
  4779. }
  4780. else
  4781. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  4782. break;
  4783. #if 0
  4784. /*!
  4785. ### 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>
  4786. WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  4787. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4788. */
  4789. case 82:
  4790. SERIAL_PROTOCOLLNPGM("Finding bed ");
  4791. int l_feedmultiply = setup_for_endstop_move();
  4792. find_bed_induction_sensor_point_z();
  4793. clean_up_after_endstop_move(l_feedmultiply);
  4794. SERIAL_PROTOCOLPGM("Bed found at: ");
  4795. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  4796. SERIAL_PROTOCOLPGM("\n");
  4797. break;
  4798. /*!
  4799. ### 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>
  4800. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4801. */
  4802. case 83:
  4803. {
  4804. int babystepz = code_seen('S') ? code_value() : 0;
  4805. int BabyPosition = code_seen('P') ? code_value() : 0;
  4806. if (babystepz != 0) {
  4807. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  4808. // Is the axis indexed starting with zero or one?
  4809. if (BabyPosition > 4) {
  4810. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  4811. }else{
  4812. // Save it to the eeprom
  4813. babystepLoadZ = babystepz;
  4814. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  4815. // adjust the Z
  4816. babystepsTodoZadd(babystepLoadZ);
  4817. }
  4818. }
  4819. }
  4820. break;
  4821. /*!
  4822. ### 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>
  4823. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4824. */
  4825. case 84:
  4826. babystepsTodoZsubtract(babystepLoadZ);
  4827. // babystepLoadZ = 0;
  4828. break;
  4829. /*!
  4830. ### G85: Pick best babystep - Not active <a href="https://reprap.org/wiki/G-code#G85:_Pick_best_babystep">G85: Pick best babystep</a>
  4831. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4832. */
  4833. case 85:
  4834. lcd_pick_babystep();
  4835. break;
  4836. #endif
  4837. /*!
  4838. ### 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>
  4839. This G-code will be performed at the start of a calibration script.
  4840. (Prusa3D specific)
  4841. */
  4842. case 86:
  4843. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  4844. break;
  4845. /*!
  4846. ### 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>
  4847. This G-code will be performed at the end of a calibration script.
  4848. (Prusa3D specific)
  4849. */
  4850. case 87:
  4851. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  4852. break;
  4853. /*!
  4854. ### G88 - Reserved <a href="https://reprap.org/wiki/G-code#G88:_Reserved">G88: Reserved</a>
  4855. Currently has no effect.
  4856. */
  4857. // Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  4858. case 88:
  4859. break;
  4860. #endif // ENABLE_MESH_BED_LEVELING
  4861. /*!
  4862. ### G90 - Switch off relative mode <a href="https://reprap.org/wiki/G-code#G90:_Set_to_Absolute_Positioning">G90: Set to Absolute Positioning</a>
  4863. All coordinates from now on are absolute relative to the origin of the machine. E axis is left intact.
  4864. */
  4865. case 90: {
  4866. axis_relative_modes &= ~(X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK);
  4867. }
  4868. break;
  4869. /*!
  4870. ### G91 - Switch on relative mode <a href="https://reprap.org/wiki/G-code#G91:_Set_to_Relative_Positioning">G91: Set to Relative Positioning</a>
  4871. All coordinates from now on are relative to the last position. E axis is left intact.
  4872. */
  4873. case 91: {
  4874. axis_relative_modes |= X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK;
  4875. }
  4876. break;
  4877. /*!
  4878. ### G92 - Set position <a href="https://reprap.org/wiki/G-code#G92:_Set_Position">G92: Set Position</a>
  4879. It is used for setting the current position of each axis. The parameters are always absolute to the origin.
  4880. If a parameter is omitted, that axis will not be affected.
  4881. 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`).
  4882. A G92 without coordinates will reset all axes to zero on some firmware. This is not the case for Prusa-Firmware!
  4883. #### Usage
  4884. G92 [ X | Y | Z | E ]
  4885. #### Parameters
  4886. - `X` - new X axis position
  4887. - `Y` - new Y axis position
  4888. - `Z` - new Z axis position
  4889. - `E` - new extruder position
  4890. */
  4891. case 92: {
  4892. gcode_G92();
  4893. }
  4894. break;
  4895. /*!
  4896. ### G98 - Activate farm mode <a href="https://reprap.org/wiki/G-code#G98:_Activate_farm_mode">G98: Activate farm mode</a>
  4897. Enable Prusa-specific Farm functions and g-code.
  4898. See Internal Prusa commands.
  4899. */
  4900. case 98:
  4901. farm_mode = 1;
  4902. PingTime = _millis();
  4903. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4904. SilentModeMenu = SILENT_MODE_OFF;
  4905. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  4906. fCheckModeInit(); // alternatively invoke printer reset
  4907. break;
  4908. /*! ### G99 - Deactivate farm mode <a href="https://reprap.org/wiki/G-code#G99:_Deactivate_farm_mode">G99: Deactivate farm mode</a>
  4909. Disables Prusa-specific Farm functions and g-code.
  4910. */
  4911. case 99:
  4912. farm_mode = 0;
  4913. lcd_printer_connected();
  4914. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4915. lcd_update(2);
  4916. fCheckModeInit(); // alternatively invoke printer reset
  4917. break;
  4918. default:
  4919. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4920. }
  4921. // printf_P(_N("END G-CODE=%u\n"), gcode_in_progress);
  4922. gcode_in_progress = 0;
  4923. } // end if(code_seen('G'))
  4924. /*!
  4925. ### End of G-Codes
  4926. */
  4927. /*!
  4928. ---------------------------------------------------------------------------------
  4929. # M Commands
  4930. */
  4931. else if(code_seen('M'))
  4932. {
  4933. int index;
  4934. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  4935. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  4936. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  4937. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4938. } else
  4939. {
  4940. mcode_in_progress = (int)code_value();
  4941. // printf_P(_N("BEGIN M-CODE=%u\n"), mcode_in_progress);
  4942. switch(mcode_in_progress)
  4943. {
  4944. /*!
  4945. ### 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>
  4946. */
  4947. case 17:
  4948. LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE
  4949. enable_x();
  4950. enable_y();
  4951. enable_z();
  4952. enable_e0();
  4953. enable_e1();
  4954. enable_e2();
  4955. break;
  4956. #ifdef SDSUPPORT
  4957. /*!
  4958. ### M20 - SD Card file list <a href="https://reprap.org/wiki/G-code#M20:_List_SD_card">M20: List SD card</a>
  4959. #### Usage
  4960. M20 [ L ]
  4961. #### Parameters
  4962. - `L` - Reports ling filenames instead of just short filenames. Requires host software parsing.
  4963. */
  4964. case 20:
  4965. KEEPALIVE_STATE(NOT_BUSY); // do not send busy messages during listing. Inhibits the output of manage_heater()
  4966. SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST
  4967. card.ls(code_seen('L'));
  4968. SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST
  4969. break;
  4970. /*!
  4971. ### M21 - Init SD card <a href="https://reprap.org/wiki/G-code#M21:_Initialize_SD_card">M21: Initialize SD card</a>
  4972. */
  4973. case 21:
  4974. card.initsd();
  4975. break;
  4976. /*!
  4977. ### M22 - Release SD card <a href="https://reprap.org/wiki/G-code#M22:_Release_SD_card">M22: Release SD card</a>
  4978. */
  4979. case 22:
  4980. card.release();
  4981. break;
  4982. /*!
  4983. ### M23 - Select file <a href="https://reprap.org/wiki/G-code#M23:_Select_SD_file">M23: Select SD file</a>
  4984. #### Usage
  4985. M23 [filename]
  4986. */
  4987. case 23:
  4988. starpos = (strchr(strchr_pointer + 4,'*'));
  4989. if(starpos!=NULL)
  4990. *(starpos)='\0';
  4991. card.openFile(strchr_pointer + 4,true);
  4992. break;
  4993. /*!
  4994. ### M24 - Start SD print <a href="https://reprap.org/wiki/G-code#M24:_Start.2Fresume_SD_print">M24: Start/resume SD print</a>
  4995. */
  4996. case 24:
  4997. if (isPrintPaused)
  4998. lcd_resume_print();
  4999. else
  5000. {
  5001. if (!card.get_sdpos())
  5002. {
  5003. // A new print has started from scratch, reset stats
  5004. failstats_reset_print();
  5005. #ifndef LA_NOCOMPAT
  5006. la10c_reset();
  5007. #endif
  5008. }
  5009. card.startFileprint();
  5010. starttime=_millis();
  5011. }
  5012. break;
  5013. /*!
  5014. ### M26 - Set SD index <a href="https://reprap.org/wiki/G-code#M26:_Set_SD_position">M26: Set SD position</a>
  5015. Set position in SD card file to index in bytes.
  5016. This command is expected to be called after M23 and before M24.
  5017. Otherwise effect of this command is undefined.
  5018. #### Usage
  5019. M26 [ S ]
  5020. #### Parameters
  5021. - `S` - Index in bytes
  5022. */
  5023. case 26:
  5024. if(card.cardOK && code_seen('S')) {
  5025. long index = code_value_long();
  5026. card.setIndex(index);
  5027. // We don't disable interrupt during update of sdpos_atomic
  5028. // as we expect, that SD card print is not active in this moment
  5029. sdpos_atomic = index;
  5030. }
  5031. break;
  5032. /*!
  5033. ### M27 - Get SD status <a href="https://reprap.org/wiki/G-code#M27:_Report_SD_print_status">M27: Report SD print status</a>
  5034. #### Usage
  5035. M27 [ P ]
  5036. #### Parameters
  5037. - `P` - Show full SFN path instead of LFN only.
  5038. */
  5039. case 27:
  5040. card.getStatus(code_seen('P'));
  5041. break;
  5042. /*!
  5043. ### 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>
  5044. */
  5045. case 28:
  5046. starpos = (strchr(strchr_pointer + 4,'*'));
  5047. if(starpos != NULL){
  5048. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  5049. strchr_pointer = strchr(npos,' ') + 1;
  5050. *(starpos) = '\0';
  5051. }
  5052. card.openFile(strchr_pointer+4,false);
  5053. break;
  5054. /*! ### 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>
  5055. 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.
  5056. */
  5057. case 29:
  5058. //processed in write to file routine above
  5059. //card,saving = false;
  5060. break;
  5061. /*!
  5062. ### 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>
  5063. #### Usage
  5064. M30 [filename]
  5065. */
  5066. case 30:
  5067. if (card.cardOK){
  5068. card.closefile();
  5069. starpos = (strchr(strchr_pointer + 4,'*'));
  5070. if(starpos != NULL){
  5071. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  5072. strchr_pointer = strchr(npos,' ') + 1;
  5073. *(starpos) = '\0';
  5074. }
  5075. card.removeFile(strchr_pointer + 4);
  5076. }
  5077. break;
  5078. /*!
  5079. ### 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>
  5080. @todo What are the parameters P and S for in M32?
  5081. */
  5082. case 32:
  5083. {
  5084. if(card.sdprinting) {
  5085. st_synchronize();
  5086. }
  5087. starpos = (strchr(strchr_pointer + 4,'*'));
  5088. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  5089. if(namestartpos==NULL)
  5090. {
  5091. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  5092. }
  5093. else
  5094. namestartpos++; //to skip the '!'
  5095. if(starpos!=NULL)
  5096. *(starpos)='\0';
  5097. bool call_procedure=(code_seen('P'));
  5098. if(strchr_pointer>namestartpos)
  5099. call_procedure=false; //false alert, 'P' found within filename
  5100. if( card.cardOK )
  5101. {
  5102. card.openFile(namestartpos,true,!call_procedure);
  5103. if(code_seen('S'))
  5104. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  5105. card.setIndex(code_value_long());
  5106. card.startFileprint();
  5107. if(!call_procedure)
  5108. {
  5109. if(!card.get_sdpos())
  5110. {
  5111. // A new print has started from scratch, reset stats
  5112. failstats_reset_print();
  5113. #ifndef LA_NOCOMPAT
  5114. la10c_reset();
  5115. #endif
  5116. }
  5117. starttime=_millis(); // procedure calls count as normal print time.
  5118. }
  5119. }
  5120. } break;
  5121. /*!
  5122. ### M928 - Start SD logging <a href="https://reprap.org/wiki/G-code#M928:_Start_SD_logging">M928: Start SD logging</a>
  5123. #### Usage
  5124. M928 [filename]
  5125. */
  5126. case 928:
  5127. starpos = (strchr(strchr_pointer + 5,'*'));
  5128. if(starpos != NULL){
  5129. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  5130. strchr_pointer = strchr(npos,' ') + 1;
  5131. *(starpos) = '\0';
  5132. }
  5133. card.openLogFile(strchr_pointer+5);
  5134. break;
  5135. #endif //SDSUPPORT
  5136. /*!
  5137. ### 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>
  5138. */
  5139. case 31: //M31 take time since the start of the SD print or an M109 command
  5140. {
  5141. stoptime=_millis();
  5142. char time[30];
  5143. unsigned long t=(stoptime-starttime)/1000;
  5144. int sec,min;
  5145. min=t/60;
  5146. sec=t%60;
  5147. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  5148. SERIAL_ECHO_START;
  5149. SERIAL_ECHOLN(time);
  5150. lcd_setstatus(time);
  5151. autotempShutdown();
  5152. }
  5153. break;
  5154. /*!
  5155. ### M42 - Set pin state <a href="https://reprap.org/wiki/G-code#M42:_Switch_I.2FO_pin">M42: Switch I/O pin</a>
  5156. #### Usage
  5157. M42 [ P | S ]
  5158. #### Parameters
  5159. - `P` - Pin number.
  5160. - `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.
  5161. */
  5162. case 42:
  5163. if (code_seen('S'))
  5164. {
  5165. int pin_status = code_value();
  5166. int pin_number = LED_PIN;
  5167. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  5168. pin_number = code_value();
  5169. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  5170. {
  5171. if (sensitive_pins[i] == pin_number)
  5172. {
  5173. pin_number = -1;
  5174. break;
  5175. }
  5176. }
  5177. #if defined(FAN_PIN) && FAN_PIN > -1
  5178. if (pin_number == FAN_PIN)
  5179. fanSpeed = pin_status;
  5180. #endif
  5181. if (pin_number > -1)
  5182. {
  5183. pinMode(pin_number, OUTPUT);
  5184. digitalWrite(pin_number, pin_status);
  5185. analogWrite(pin_number, pin_status);
  5186. }
  5187. }
  5188. break;
  5189. /*!
  5190. ### 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>
  5191. */
  5192. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  5193. // Reset the baby step value and the baby step applied flag.
  5194. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  5195. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  5196. // Reset the skew and offset in both RAM and EEPROM.
  5197. reset_bed_offset_and_skew();
  5198. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  5199. // the planner will not perform any adjustments in the XY plane.
  5200. // Wait for the motors to stop and update the current position with the absolute values.
  5201. world2machine_revert_to_uncorrected();
  5202. break;
  5203. /*!
  5204. ### 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>
  5205. #### Usage
  5206. M45 [ V ]
  5207. #### Parameters
  5208. - `V` - Verbosity level 1, 10 and 20 (low, mid, high). Only when SUPPORT_VERBOSITY is defined. Optional.
  5209. - `Z` - If it is provided, only Z calibration will run. Otherwise full calibration is executed.
  5210. */
  5211. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  5212. {
  5213. int8_t verbosity_level = 0;
  5214. bool only_Z = code_seen('Z');
  5215. #ifdef SUPPORT_VERBOSITY
  5216. if (code_seen('V'))
  5217. {
  5218. // Just 'V' without a number counts as V1.
  5219. char c = strchr_pointer[1];
  5220. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  5221. }
  5222. #endif //SUPPORT_VERBOSITY
  5223. gcode_M45(only_Z, verbosity_level);
  5224. }
  5225. break;
  5226. /*!
  5227. ### 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>
  5228. */
  5229. case 46:
  5230. {
  5231. // M46: Prusa3D: Show the assigned IP address.
  5232. if (card.ToshibaFlashAir_isEnabled()) {
  5233. uint8_t ip[4];
  5234. if (card.ToshibaFlashAir_GetIP(ip)) {
  5235. // SERIAL_PROTOCOLPGM("Toshiba FlashAir current IP: ");
  5236. SERIAL_PROTOCOL(uint8_t(ip[0]));
  5237. SERIAL_PROTOCOL('.');
  5238. SERIAL_PROTOCOL(uint8_t(ip[1]));
  5239. SERIAL_PROTOCOL('.');
  5240. SERIAL_PROTOCOL(uint8_t(ip[2]));
  5241. SERIAL_PROTOCOL('.');
  5242. SERIAL_PROTOCOL(uint8_t(ip[3]));
  5243. SERIAL_PROTOCOLLN();
  5244. } else {
  5245. SERIAL_PROTOCOLPGM("?Toshiba FlashAir GetIP failed\n");
  5246. }
  5247. } else {
  5248. SERIAL_PROTOCOLLNPGM("n/a");
  5249. }
  5250. break;
  5251. }
  5252. /*!
  5253. ### 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>
  5254. */
  5255. case 47:
  5256. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5257. lcd_diag_show_end_stops();
  5258. KEEPALIVE_STATE(IN_HANDLER);
  5259. break;
  5260. #if 0
  5261. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  5262. {
  5263. // Disable the default update procedure of the display. We will do a modal dialog.
  5264. lcd_update_enable(false);
  5265. // Let the planner use the uncorrected coordinates.
  5266. mbl.reset();
  5267. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  5268. // the planner will not perform any adjustments in the XY plane.
  5269. // Wait for the motors to stop and update the current position with the absolute values.
  5270. world2machine_revert_to_uncorrected();
  5271. // Move the print head close to the bed.
  5272. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  5273. 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);
  5274. st_synchronize();
  5275. // Home in the XY plane.
  5276. set_destination_to_current();
  5277. int l_feedmultiply = setup_for_endstop_move();
  5278. home_xy();
  5279. int8_t verbosity_level = 0;
  5280. if (code_seen('V')) {
  5281. // Just 'V' without a number counts as V1.
  5282. char c = strchr_pointer[1];
  5283. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  5284. }
  5285. bool success = scan_bed_induction_points(verbosity_level);
  5286. clean_up_after_endstop_move(l_feedmultiply);
  5287. // Print head up.
  5288. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  5289. 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);
  5290. st_synchronize();
  5291. lcd_update_enable(true);
  5292. break;
  5293. }
  5294. #endif
  5295. #ifdef ENABLE_AUTO_BED_LEVELING
  5296. #ifdef Z_PROBE_REPEATABILITY_TEST
  5297. /*!
  5298. ### 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>
  5299. 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.
  5300. 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.
  5301. @todo Why would you check for both uppercase and lowercase? Seems wasteful.
  5302. #### Usage
  5303. M48 [ n | X | Y | V | L ]
  5304. #### Parameters
  5305. - `n` - Number of samples. Valid values 4-50
  5306. - `X` - X position for samples
  5307. - `Y` - Y position for samples
  5308. - `V` - Verbose level. Valid values 1-4
  5309. - `L` - Legs of movementprior to doing probe. Valid values 1-15
  5310. */
  5311. case 48: // M48 Z-Probe repeatability
  5312. {
  5313. #if Z_MIN_PIN == -1
  5314. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  5315. #endif
  5316. double sum=0.0;
  5317. double mean=0.0;
  5318. double sigma=0.0;
  5319. double sample_set[50];
  5320. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  5321. double X_current, Y_current, Z_current;
  5322. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  5323. if (code_seen('V') || code_seen('v')) {
  5324. verbose_level = code_value();
  5325. if (verbose_level<0 || verbose_level>4 ) {
  5326. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  5327. goto Sigma_Exit;
  5328. }
  5329. }
  5330. if (verbose_level > 0) {
  5331. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  5332. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  5333. }
  5334. if (code_seen('n')) {
  5335. n_samples = code_value();
  5336. if (n_samples<4 || n_samples>50 ) {
  5337. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  5338. goto Sigma_Exit;
  5339. }
  5340. }
  5341. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  5342. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  5343. Z_current = st_get_position_mm(Z_AXIS);
  5344. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  5345. ext_position = st_get_position_mm(E_AXIS);
  5346. if (code_seen('X') || code_seen('x') ) {
  5347. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  5348. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  5349. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  5350. goto Sigma_Exit;
  5351. }
  5352. }
  5353. if (code_seen('Y') || code_seen('y') ) {
  5354. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  5355. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  5356. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  5357. goto Sigma_Exit;
  5358. }
  5359. }
  5360. if (code_seen('L') || code_seen('l') ) {
  5361. n_legs = code_value();
  5362. if ( n_legs==1 )
  5363. n_legs = 2;
  5364. if ( n_legs<0 || n_legs>15 ) {
  5365. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  5366. goto Sigma_Exit;
  5367. }
  5368. }
  5369. //
  5370. // Do all the preliminary setup work. First raise the probe.
  5371. //
  5372. st_synchronize();
  5373. plan_bed_level_matrix.set_to_identity();
  5374. plan_buffer_line( X_current, Y_current, Z_start_location,
  5375. ext_position,
  5376. homing_feedrate[Z_AXIS]/60,
  5377. active_extruder);
  5378. st_synchronize();
  5379. //
  5380. // Now get everything to the specified probe point So we can safely do a probe to
  5381. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  5382. // use that as a starting point for each probe.
  5383. //
  5384. if (verbose_level > 2)
  5385. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  5386. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5387. ext_position,
  5388. homing_feedrate[X_AXIS]/60,
  5389. active_extruder);
  5390. st_synchronize();
  5391. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  5392. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  5393. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5394. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  5395. //
  5396. // OK, do the inital probe to get us close to the bed.
  5397. // Then retrace the right amount and use that in subsequent probes
  5398. //
  5399. int l_feedmultiply = setup_for_endstop_move();
  5400. run_z_probe();
  5401. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5402. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  5403. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5404. ext_position,
  5405. homing_feedrate[X_AXIS]/60,
  5406. active_extruder);
  5407. st_synchronize();
  5408. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5409. for( n=0; n<n_samples; n++) {
  5410. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  5411. if ( n_legs) {
  5412. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  5413. int rotational_direction, l;
  5414. rotational_direction = (unsigned long) _millis() & 0x0001; // clockwise or counter clockwise
  5415. radius = (unsigned long) _millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  5416. theta = (float) ((unsigned long) _millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  5417. //SERIAL_ECHOPAIR("starting radius: ",radius);
  5418. //SERIAL_ECHOPAIR(" theta: ",theta);
  5419. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  5420. //SERIAL_PROTOCOLLNPGM("");
  5421. for( l=0; l<n_legs-1; l++) {
  5422. if (rotational_direction==1)
  5423. theta += (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  5424. else
  5425. theta -= (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  5426. radius += (float) ( ((long) ((unsigned long) _millis() % (long) 10)) - 5);
  5427. if ( radius<0.0 )
  5428. radius = -radius;
  5429. X_current = X_probe_location + cos(theta) * radius;
  5430. Y_current = Y_probe_location + sin(theta) * radius;
  5431. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  5432. X_current = X_MIN_POS;
  5433. if ( X_current>X_MAX_POS)
  5434. X_current = X_MAX_POS;
  5435. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  5436. Y_current = Y_MIN_POS;
  5437. if ( Y_current>Y_MAX_POS)
  5438. Y_current = Y_MAX_POS;
  5439. if (verbose_level>3 ) {
  5440. SERIAL_ECHOPAIR("x: ", X_current);
  5441. SERIAL_ECHOPAIR("y: ", Y_current);
  5442. SERIAL_PROTOCOLLNPGM("");
  5443. }
  5444. do_blocking_move_to( X_current, Y_current, Z_current );
  5445. }
  5446. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  5447. }
  5448. int l_feedmultiply = setup_for_endstop_move();
  5449. run_z_probe();
  5450. sample_set[n] = current_position[Z_AXIS];
  5451. //
  5452. // Get the current mean for the data points we have so far
  5453. //
  5454. sum=0.0;
  5455. for( j=0; j<=n; j++) {
  5456. sum = sum + sample_set[j];
  5457. }
  5458. mean = sum / (double (n+1));
  5459. //
  5460. // Now, use that mean to calculate the standard deviation for the
  5461. // data points we have so far
  5462. //
  5463. sum=0.0;
  5464. for( j=0; j<=n; j++) {
  5465. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  5466. }
  5467. sigma = sqrt( sum / (double (n+1)) );
  5468. if (verbose_level > 1) {
  5469. SERIAL_PROTOCOL(n+1);
  5470. SERIAL_PROTOCOL(" of ");
  5471. SERIAL_PROTOCOL(n_samples);
  5472. SERIAL_PROTOCOLPGM(" z: ");
  5473. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  5474. }
  5475. if (verbose_level > 2) {
  5476. SERIAL_PROTOCOL(" mean: ");
  5477. SERIAL_PROTOCOL_F(mean,6);
  5478. SERIAL_PROTOCOL(" sigma: ");
  5479. SERIAL_PROTOCOL_F(sigma,6);
  5480. }
  5481. if (verbose_level > 0)
  5482. SERIAL_PROTOCOLPGM("\n");
  5483. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5484. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  5485. st_synchronize();
  5486. }
  5487. _delay(1000);
  5488. clean_up_after_endstop_move(l_feedmultiply);
  5489. // enable_endstops(true);
  5490. if (verbose_level > 0) {
  5491. SERIAL_PROTOCOLPGM("Mean: ");
  5492. SERIAL_PROTOCOL_F(mean, 6);
  5493. SERIAL_PROTOCOLPGM("\n");
  5494. }
  5495. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  5496. SERIAL_PROTOCOL_F(sigma, 6);
  5497. SERIAL_PROTOCOLPGM("\n\n");
  5498. Sigma_Exit:
  5499. break;
  5500. }
  5501. #endif // Z_PROBE_REPEATABILITY_TEST
  5502. #endif // ENABLE_AUTO_BED_LEVELING
  5503. /*!
  5504. ### M73 - Set/get print progress <a href="https://reprap.org/wiki/G-code#M73:_Set.2FGet_build_percentage">M73: Set/Get build percentage</a>
  5505. #### Usage
  5506. M73 [ P | R | Q | S ]
  5507. #### Parameters
  5508. - `P` - Percent in normal mode
  5509. - `R` - Time remaining in normal mode
  5510. - `Q` - Percent in silent mode
  5511. - `S` - Time in silent mode
  5512. */
  5513. case 73: //M73 show percent done and time remaining
  5514. if(code_seen('P')) print_percent_done_normal = code_value();
  5515. if(code_seen('R')) print_time_remaining_normal = code_value();
  5516. if(code_seen('Q')) print_percent_done_silent = code_value();
  5517. if(code_seen('S')) print_time_remaining_silent = code_value();
  5518. {
  5519. const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
  5520. printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
  5521. printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
  5522. }
  5523. break;
  5524. /*!
  5525. ### M104 - Set hotend temperature <a href="https://reprap.org/wiki/G-code#M104:_Set_Extruder_Temperature">M104: Set Extruder Temperature</a>
  5526. #### Usage
  5527. M104 [ S ]
  5528. #### Parameters
  5529. - `S` - Target temperature
  5530. */
  5531. case 104: // M104
  5532. {
  5533. uint8_t extruder;
  5534. if(setTargetedHotend(104,extruder)){
  5535. break;
  5536. }
  5537. if (code_seen('S'))
  5538. {
  5539. setTargetHotendSafe(code_value(), extruder);
  5540. }
  5541. break;
  5542. }
  5543. /*!
  5544. ### M112 - Emergency stop <a href="https://reprap.org/wiki/G-code#M112:_Full_.28Emergency.29_Stop">M112: Full (Emergency) Stop</a>
  5545. It is processed much earlier as to bypass the cmdqueue.
  5546. */
  5547. case 112:
  5548. kill(MSG_M112_KILL, 3);
  5549. break;
  5550. /*!
  5551. ### M140 - Set bed temperature <a href="https://reprap.org/wiki/G-code#M140:_Set_Bed_Temperature_.28Fast.29">M140: Set Bed Temperature (Fast)</a>
  5552. #### Usage
  5553. M140 [ S ]
  5554. #### Parameters
  5555. - `S` - Target temperature
  5556. */
  5557. case 140:
  5558. if (code_seen('S')) setTargetBed(code_value());
  5559. break;
  5560. /*!
  5561. ### M105 - Report temperatures <a href="https://reprap.org/wiki/G-code#M105:_Get_Extruder_Temperature">M105: Get Extruder Temperature</a>
  5562. Prints temperatures:
  5563. - `T:` - Hotend (actual / target)
  5564. - `B:` - Bed (actual / target)
  5565. - `Tx:` - x Tool (actual / target)
  5566. - `@:` - Hotend power
  5567. - `B@:` - Bed power
  5568. - `P:` - PINDAv2 actual (only MK2.5/s and MK3/s)
  5569. - `A:` - Ambient actual (only MK3/s)
  5570. _Example:_
  5571. 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
  5572. */
  5573. case 105:
  5574. {
  5575. uint8_t extruder;
  5576. if(setTargetedHotend(105, extruder)){
  5577. break;
  5578. }
  5579. SERIAL_PROTOCOLPGM("ok ");
  5580. gcode_M105(extruder);
  5581. cmdqueue_pop_front(); //prevent an ok after the command since this command uses an ok at the beginning.
  5582. break;
  5583. }
  5584. #if defined(AUTO_REPORT)
  5585. /*!
  5586. ### M155 - Automatically send status <a href="https://reprap.org/wiki/G-code#M155:_Automatically_send_temperatures">M155: Automatically send temperatures</a>
  5587. #### Usage
  5588. M155 [ S ] [ C ]
  5589. #### Parameters
  5590. - `S` - Set autoreporting interval in seconds. 0 to disable. Maximum: 255
  5591. - `C` - Activate auto-report function (bit mask). Default is temperature.
  5592. bit 0 = Auto-report temperatures
  5593. bit 1 = Auto-report fans
  5594. bit 2 = Auto-report position
  5595. bit 3 = free
  5596. bit 4 = free
  5597. bit 5 = free
  5598. bit 6 = free
  5599. bit 7 = free
  5600. */
  5601. //!@todo update RepRap Gcode wiki
  5602. //!@todo Should be temperature always? Octoprint doesn't switch to M105 if M155 timer is set
  5603. case 155:
  5604. {
  5605. if (code_seen('S')){
  5606. autoReportFeatures.SetPeriod( code_value_uint8() );
  5607. }
  5608. if (code_seen('C')){
  5609. autoReportFeatures.SetMask(code_value());
  5610. } else{
  5611. autoReportFeatures.SetMask(1); //Backwards compability to host systems like Octoprint to send only temp if paramerter `C`isn't used.
  5612. }
  5613. }
  5614. break;
  5615. #endif //AUTO_REPORT
  5616. /*!
  5617. ### 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>
  5618. #### Usage
  5619. M104 [ B | R | S ]
  5620. #### Parameters (not mandatory)
  5621. - `S` - Set extruder temperature
  5622. - `R` - Set extruder temperature
  5623. - `B` - Set max. extruder temperature, while `S` is min. temperature. Not active in default, only if AUTOTEMP is defined in source code.
  5624. Parameters S and R are treated identically.
  5625. Command always waits for both cool down and heat up.
  5626. If no parameters are supplied waits for previously set extruder temperature.
  5627. */
  5628. case 109:
  5629. {
  5630. uint8_t extruder;
  5631. if(setTargetedHotend(109, extruder)){
  5632. break;
  5633. }
  5634. LCD_MESSAGERPGM(_T(MSG_HEATING));
  5635. heating_status = 1;
  5636. if (farm_mode) { prusa_statistics(1); };
  5637. #ifdef AUTOTEMP
  5638. autotemp_enabled=false;
  5639. #endif
  5640. if (code_seen('S')) {
  5641. setTargetHotendSafe(code_value(), extruder);
  5642. } else if (code_seen('R')) {
  5643. setTargetHotendSafe(code_value(), extruder);
  5644. }
  5645. #ifdef AUTOTEMP
  5646. if (code_seen('S')) autotemp_min=code_value();
  5647. if (code_seen('B')) autotemp_max=code_value();
  5648. if (code_seen('F'))
  5649. {
  5650. autotemp_factor=code_value();
  5651. autotemp_enabled=true;
  5652. }
  5653. #endif
  5654. codenum = _millis();
  5655. /* See if we are heating up or cooling down */
  5656. target_direction = isHeatingHotend(extruder); // true if heating, false if cooling
  5657. KEEPALIVE_STATE(NOT_BUSY);
  5658. cancel_heatup = false;
  5659. wait_for_heater(codenum, extruder); //loops until target temperature is reached
  5660. LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
  5661. KEEPALIVE_STATE(IN_HANDLER);
  5662. heating_status = 2;
  5663. if (farm_mode) { prusa_statistics(2); };
  5664. //starttime=_millis();
  5665. previous_millis_cmd = _millis();
  5666. }
  5667. break;
  5668. /*!
  5669. ### 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>
  5670. #### Usage
  5671. M190 [ R | S ]
  5672. #### Parameters (not mandatory)
  5673. - `S` - Set extruder temperature and wait for heating
  5674. - `R` - Set extruder temperature and wait for heating or cooling
  5675. If no parameter is supplied, waits for heating or cooling to previously set temperature.
  5676. */
  5677. case 190:
  5678. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5679. {
  5680. bool CooldownNoWait = false;
  5681. LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
  5682. heating_status = 3;
  5683. if (farm_mode) { prusa_statistics(1); };
  5684. if (code_seen('S'))
  5685. {
  5686. setTargetBed(code_value());
  5687. CooldownNoWait = true;
  5688. }
  5689. else if (code_seen('R'))
  5690. {
  5691. setTargetBed(code_value());
  5692. }
  5693. codenum = _millis();
  5694. cancel_heatup = false;
  5695. target_direction = isHeatingBed(); // true if heating, false if cooling
  5696. KEEPALIVE_STATE(NOT_BUSY);
  5697. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  5698. {
  5699. if(( _millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  5700. {
  5701. if (!farm_mode) {
  5702. float tt = degHotend(active_extruder);
  5703. SERIAL_PROTOCOLPGM("T:");
  5704. SERIAL_PROTOCOL(tt);
  5705. SERIAL_PROTOCOLPGM(" E:");
  5706. SERIAL_PROTOCOL((int)active_extruder);
  5707. SERIAL_PROTOCOLPGM(" B:");
  5708. SERIAL_PROTOCOL_F(degBed(), 1);
  5709. SERIAL_PROTOCOLLN();
  5710. }
  5711. codenum = _millis();
  5712. }
  5713. manage_heater();
  5714. manage_inactivity();
  5715. lcd_update(0);
  5716. }
  5717. LCD_MESSAGERPGM(_T(MSG_BED_DONE));
  5718. KEEPALIVE_STATE(IN_HANDLER);
  5719. heating_status = 4;
  5720. previous_millis_cmd = _millis();
  5721. }
  5722. #endif
  5723. break;
  5724. #if defined(FAN_PIN) && FAN_PIN > -1
  5725. /*!
  5726. ### M106 - Set fan speed <a href="https://reprap.org/wiki/G-code#M106:_Fan_On">M106: Fan On</a>
  5727. #### Usage
  5728. M106 [ S ]
  5729. #### Parameters
  5730. - `S` - Specifies the duty cycle of the print fan. Allowed values are 0-255. If it's omitted, a value of 255 is used.
  5731. */
  5732. case 106: // M106 Sxxx Fan On S<speed> 0 .. 255
  5733. if (code_seen('S')){
  5734. fanSpeed=constrain(code_value(),0,255);
  5735. }
  5736. else {
  5737. fanSpeed=255;
  5738. }
  5739. break;
  5740. /*!
  5741. ### M107 - Fan off <a href="https://reprap.org/wiki/G-code#M107:_Fan_Off">M107: Fan Off</a>
  5742. */
  5743. case 107:
  5744. fanSpeed = 0;
  5745. break;
  5746. #endif //FAN_PIN
  5747. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  5748. /*!
  5749. ### M80 - Turn on the Power Supply <a href="https://reprap.org/wiki/G-code#M80:_ATX_Power_On">M80: ATX Power On</a>
  5750. Only works if the firmware is compiled with PS_ON_PIN defined.
  5751. */
  5752. case 80:
  5753. SET_OUTPUT(PS_ON_PIN); //GND
  5754. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  5755. // If you have a switch on suicide pin, this is useful
  5756. // if you want to start another print with suicide feature after
  5757. // a print without suicide...
  5758. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  5759. SET_OUTPUT(SUICIDE_PIN);
  5760. WRITE(SUICIDE_PIN, HIGH);
  5761. #endif
  5762. powersupply = true;
  5763. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  5764. lcd_update(0);
  5765. break;
  5766. /*!
  5767. ### M81 - Turn off Power Supply <a href="https://reprap.org/wiki/G-code#M81:_ATX_Power_Off">M81: ATX Power Off</a>
  5768. Only works if the firmware is compiled with PS_ON_PIN defined.
  5769. */
  5770. case 81:
  5771. disable_heater();
  5772. st_synchronize();
  5773. disable_e0();
  5774. disable_e1();
  5775. disable_e2();
  5776. finishAndDisableSteppers();
  5777. fanSpeed = 0;
  5778. _delay(1000); // Wait a little before to switch off
  5779. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  5780. st_synchronize();
  5781. suicide();
  5782. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  5783. SET_OUTPUT(PS_ON_PIN);
  5784. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  5785. #endif
  5786. powersupply = false;
  5787. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
  5788. lcd_update(0);
  5789. break;
  5790. #endif
  5791. /*!
  5792. ### 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>
  5793. Makes the extruder interpret extrusion as absolute positions.
  5794. */
  5795. case 82:
  5796. axis_relative_modes &= ~E_AXIS_MASK;
  5797. break;
  5798. /*!
  5799. ### 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>
  5800. Makes the extruder interpret extrusion values as relative positions.
  5801. */
  5802. case 83:
  5803. axis_relative_modes |= E_AXIS_MASK;
  5804. break;
  5805. /*!
  5806. ### M84 - Disable steppers <a href="https://reprap.org/wiki/G-code#M84:_Stop_idle_hold">M84: Stop idle hold</a>
  5807. This command can be used to set the stepper inactivity timeout (`S`) or to disable steppers (`X`,`Y`,`Z`,`E`)
  5808. This command can be used without any additional parameters. In that case all steppers are disabled.
  5809. 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.
  5810. M84 [ S | X | Y | Z | E ]
  5811. - `S` - Seconds
  5812. - `X` - X axis
  5813. - `Y` - Y axis
  5814. - `Z` - Z axis
  5815. - `E` - Exruder
  5816. ### M18 - Disable steppers <a href="https://reprap.org/wiki/G-code#M18:_Disable_all_stepper_motors">M18: Disable all stepper motors</a>
  5817. Equal to M84 (compatibility)
  5818. */
  5819. case 18: //compatibility
  5820. case 84: // M84
  5821. if(code_seen('S')){
  5822. stepper_inactive_time = code_value() * 1000;
  5823. }
  5824. else
  5825. {
  5826. 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])));
  5827. if(all_axis)
  5828. {
  5829. st_synchronize();
  5830. disable_e0();
  5831. disable_e1();
  5832. disable_e2();
  5833. finishAndDisableSteppers();
  5834. }
  5835. else
  5836. {
  5837. st_synchronize();
  5838. if (code_seen('X')) disable_x();
  5839. if (code_seen('Y')) disable_y();
  5840. if (code_seen('Z')) disable_z();
  5841. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  5842. if (code_seen('E')) {
  5843. disable_e0();
  5844. disable_e1();
  5845. disable_e2();
  5846. }
  5847. #endif
  5848. }
  5849. }
  5850. //in the end of print set estimated time to end of print and extruders used during print to default values for next print
  5851. print_time_remaining_init();
  5852. snmm_filaments_used = 0;
  5853. break;
  5854. /*!
  5855. ### M85 - Set max inactive time <a href="https://reprap.org/wiki/G-code#M85:_Set_Inactivity_Shutdown_Timer">M85: Set Inactivity Shutdown Timer</a>
  5856. #### Usage
  5857. M85 [ S ]
  5858. #### Parameters
  5859. - `S` - specifies the time in seconds. If a value of 0 is specified, the timer is disabled.
  5860. */
  5861. case 85: // M85
  5862. if(code_seen('S')) {
  5863. max_inactive_time = code_value() * 1000;
  5864. }
  5865. break;
  5866. #ifdef SAFETYTIMER
  5867. /*!
  5868. ### 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>
  5869. When safety timer expires, heatbed and nozzle target temperatures are set to zero.
  5870. #### Usage
  5871. M86 [ S ]
  5872. #### Parameters
  5873. - `S` - specifies the time in seconds. If a value of 0 is specified, the timer is disabled.
  5874. */
  5875. case 86:
  5876. if (code_seen('S')) {
  5877. safetytimer_inactive_time = code_value() * 1000;
  5878. safetyTimer.start();
  5879. }
  5880. break;
  5881. #endif
  5882. /*!
  5883. ### 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>
  5884. 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)
  5885. #### Usage
  5886. M92 [ X | Y | Z | E ]
  5887. #### Parameters
  5888. - `X` - Steps per unit for the X drive
  5889. - `Y` - Steps per unit for the Y drive
  5890. - `Z` - Steps per unit for the Z drive
  5891. - `E` - Steps per unit for the extruder drive
  5892. */
  5893. case 92:
  5894. for(int8_t i=0; i < NUM_AXIS; i++)
  5895. {
  5896. if(code_seen(axis_codes[i]))
  5897. {
  5898. if(i == E_AXIS) { // E
  5899. float value = code_value();
  5900. if(value < 20.0) {
  5901. float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  5902. cs.max_jerk[E_AXIS] *= factor;
  5903. max_feedrate[i] *= factor;
  5904. axis_steps_per_sqr_second[i] *= factor;
  5905. }
  5906. cs.axis_steps_per_unit[i] = value;
  5907. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  5908. fsensor_set_axis_steps_per_unit(value);
  5909. #endif
  5910. }
  5911. else {
  5912. cs.axis_steps_per_unit[i] = code_value();
  5913. }
  5914. }
  5915. }
  5916. break;
  5917. /*!
  5918. ### M110 - Set Line number <a href="https://reprap.org/wiki/G-code#M110:_Set_Current_Line_Number">M110: Set Current Line Number</a>
  5919. Sets the line number in G-code
  5920. #### Usage
  5921. M110 [ N ]
  5922. #### Parameters
  5923. - `N` - Line number
  5924. */
  5925. case 110:
  5926. if (code_seen('N'))
  5927. gcode_LastN = code_value_long();
  5928. break;
  5929. /*!
  5930. ### M113 - Get or set host keep-alive interval <a href="https://reprap.org/wiki/G-code#M113:_Host_Keepalive">M113: Host Keepalive</a>
  5931. 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).
  5932. #### Usage
  5933. M113 [ S ]
  5934. #### Parameters
  5935. - `S` - Seconds. Default is 2 seconds between "busy" messages
  5936. */
  5937. case 113:
  5938. if (code_seen('S')) {
  5939. host_keepalive_interval = (uint8_t)code_value_short();
  5940. // NOMORE(host_keepalive_interval, 60);
  5941. }
  5942. else {
  5943. SERIAL_ECHO_START;
  5944. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  5945. SERIAL_PROTOCOLLN();
  5946. }
  5947. break;
  5948. /*!
  5949. ### M115 - Firmware info <a href="https://reprap.org/wiki/G-code#M115:_Get_Firmware_Version_and_Capabilities">M115: Get Firmware Version and Capabilities</a>
  5950. Print the firmware info and capabilities
  5951. Without any arguments, prints Prusa firmware version number, machine type, extruder count and UUID.
  5952. `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.
  5953. _Examples:_
  5954. `M115` results:
  5955. `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`
  5956. `M115 V` results:
  5957. `3.8.1`
  5958. `M115 U3.8.2-RC1` results on LCD display for 30s or user interaction:
  5959. `New firmware version available: 3.8.2-RC1 Please upgrade.`
  5960. #### Usage
  5961. M115 [ V | U ]
  5962. #### Parameters
  5963. - V - Report current installed firmware version
  5964. - U - Firmware version provided by G-code to be compared to current one.
  5965. */
  5966. case 115: // M115
  5967. if (code_seen('V')) {
  5968. // Report the Prusa version number.
  5969. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  5970. } else if (code_seen('U')) {
  5971. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  5972. // pause the print for 30s and ask the user to upgrade the firmware.
  5973. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  5974. } else {
  5975. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  5976. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  5977. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  5978. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  5979. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  5980. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  5981. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  5982. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  5983. SERIAL_ECHOPGM(" UUID:");
  5984. SERIAL_ECHOLNPGM(MACHINE_UUID);
  5985. #ifdef EXTENDED_CAPABILITIES_REPORT
  5986. extended_capabilities_report();
  5987. #endif //EXTENDED_CAPABILITIES_REPORT
  5988. }
  5989. break;
  5990. /*!
  5991. ### M114 - Get current position <a href="https://reprap.org/wiki/G-code#M114:_Get_Current_Position">M114: Get Current Position</a>
  5992. */
  5993. case 114:
  5994. gcode_M114();
  5995. break;
  5996. /*
  5997. M117 moved up to get the high priority
  5998. case 117: // M117 display message
  5999. starpos = (strchr(strchr_pointer + 5,'*'));
  6000. if(starpos!=NULL)
  6001. *(starpos)='\0';
  6002. lcd_setstatus(strchr_pointer + 5);
  6003. break;*/
  6004. /*!
  6005. ### M120 - Enable endstops <a href="https://reprap.org/wiki/G-code#M120:_Enable_endstop_detection">M120: Enable endstop detection</a>
  6006. */
  6007. case 120:
  6008. enable_endstops(false) ;
  6009. break;
  6010. /*!
  6011. ### M121 - Disable endstops <a href="https://reprap.org/wiki/G-code#M121:_Disable_endstop_detection">M121: Disable endstop detection</a>
  6012. */
  6013. case 121:
  6014. enable_endstops(true) ;
  6015. break;
  6016. /*!
  6017. ### M119 - Get endstop states <a href="https://reprap.org/wiki/G-code#M119:_Get_Endstop_Status">M119: Get Endstop Status</a>
  6018. 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.
  6019. */
  6020. case 119:
  6021. SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT
  6022. SERIAL_PROTOCOLLN();
  6023. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  6024. SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN
  6025. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  6026. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6027. }else{
  6028. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6029. }
  6030. SERIAL_PROTOCOLLN();
  6031. #endif
  6032. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  6033. SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX
  6034. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  6035. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6036. }else{
  6037. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6038. }
  6039. SERIAL_PROTOCOLLN();
  6040. #endif
  6041. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  6042. SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN
  6043. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  6044. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6045. }else{
  6046. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6047. }
  6048. SERIAL_PROTOCOLLN();
  6049. #endif
  6050. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  6051. SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX
  6052. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  6053. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6054. }else{
  6055. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6056. }
  6057. SERIAL_PROTOCOLLN();
  6058. #endif
  6059. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  6060. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  6061. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  6062. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6063. }else{
  6064. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6065. }
  6066. SERIAL_PROTOCOLLN();
  6067. #endif
  6068. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  6069. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  6070. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  6071. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6072. }else{
  6073. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6074. }
  6075. SERIAL_PROTOCOLLN();
  6076. #endif
  6077. break;
  6078. //!@todo update for all axes, use for loop
  6079. #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  6080. /*!
  6081. ### M123 - Tachometer value <a href="https://www.reprap.org/wiki/G-code#M123:_Tachometer_value_.28RepRap.29">M123: Tachometer value</a>
  6082. This command is used to report fan speeds and fan pwm values.
  6083. #### Usage
  6084. M123
  6085. - E0: - Hotend fan speed in RPM
  6086. - PRN1: - Part cooling fans speed in RPM
  6087. - E0@: - Hotend fan PWM value
  6088. - PRN1@: -Part cooling fan PWM value
  6089. _Example:_
  6090. E0:3240 RPM PRN1:4560 RPM E0@:255 PRN1@:255
  6091. */
  6092. //!@todo Update RepRap Gcode wiki
  6093. case 123:
  6094. gcode_M123();
  6095. break;
  6096. #endif //FANCHECK and TACH_0 and TACH_1
  6097. #ifdef BLINKM
  6098. /*!
  6099. ### M150 - Set RGB(W) Color <a href="https://reprap.org/wiki/G-code#M150:_Set_LED_color">M150: Set LED color</a>
  6100. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code by defining BLINKM and its dependencies.
  6101. #### Usage
  6102. M150 [ R | U | B ]
  6103. #### Parameters
  6104. - `R` - Red color value
  6105. - `U` - Green color value. It is NOT `G`!
  6106. - `B` - Blue color value
  6107. */
  6108. case 150:
  6109. {
  6110. byte red;
  6111. byte grn;
  6112. byte blu;
  6113. if(code_seen('R')) red = code_value();
  6114. if(code_seen('U')) grn = code_value();
  6115. if(code_seen('B')) blu = code_value();
  6116. SendColors(red,grn,blu);
  6117. }
  6118. break;
  6119. #endif //BLINKM
  6120. /*!
  6121. ### M200 - Set filament diameter <a href="https://reprap.org/wiki/G-code#M200:_Set_filament_diameter">M200: Set filament diameter</a>
  6122. #### Usage
  6123. M200 [ D | T ]
  6124. #### Parameters
  6125. - `D` - Diameter in mm
  6126. - `T` - Number of extruder (MMUs)
  6127. */
  6128. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  6129. {
  6130. uint8_t extruder = active_extruder;
  6131. if(code_seen('T')) {
  6132. extruder = code_value();
  6133. if(extruder >= EXTRUDERS) {
  6134. SERIAL_ECHO_START;
  6135. SERIAL_ECHO(_n("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER
  6136. break;
  6137. }
  6138. }
  6139. if(code_seen('D')) {
  6140. float diameter = (float)code_value();
  6141. if (diameter == 0.0) {
  6142. // setting any extruder filament size disables volumetric on the assumption that
  6143. // slicers either generate in extruder values as cubic mm or as as filament feeds
  6144. // for all extruders
  6145. cs.volumetric_enabled = false;
  6146. } else {
  6147. cs.filament_size[extruder] = (float)code_value();
  6148. // make sure all extruders have some sane value for the filament size
  6149. cs.filament_size[0] = (cs.filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[0]);
  6150. #if EXTRUDERS > 1
  6151. cs.filament_size[1] = (cs.filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[1]);
  6152. #if EXTRUDERS > 2
  6153. cs.filament_size[2] = (cs.filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[2]);
  6154. #endif
  6155. #endif
  6156. cs.volumetric_enabled = true;
  6157. }
  6158. } else {
  6159. //reserved for setting filament diameter via UFID or filament measuring device
  6160. break;
  6161. }
  6162. calculate_extruder_multipliers();
  6163. }
  6164. break;
  6165. /*!
  6166. ### M201 - Set Print Max Acceleration <a href="https://reprap.org/wiki/G-code#M201:_Set_max_printing_acceleration">M201: Set max printing acceleration</a>
  6167. For each axis individually.
  6168. */
  6169. case 201:
  6170. for (int8_t i = 0; i < NUM_AXIS; i++)
  6171. {
  6172. if (code_seen(axis_codes[i]))
  6173. {
  6174. unsigned long val = code_value();
  6175. #ifdef TMC2130
  6176. unsigned long val_silent = val;
  6177. if ((i == X_AXIS) || (i == Y_AXIS))
  6178. {
  6179. if (val > NORMAL_MAX_ACCEL_XY)
  6180. val = NORMAL_MAX_ACCEL_XY;
  6181. if (val_silent > SILENT_MAX_ACCEL_XY)
  6182. val_silent = SILENT_MAX_ACCEL_XY;
  6183. }
  6184. cs.max_acceleration_units_per_sq_second_normal[i] = val;
  6185. cs.max_acceleration_units_per_sq_second_silent[i] = val_silent;
  6186. #else //TMC2130
  6187. max_acceleration_units_per_sq_second[i] = val;
  6188. #endif //TMC2130
  6189. }
  6190. }
  6191. // 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)
  6192. reset_acceleration_rates();
  6193. break;
  6194. #if 0 // Not used for Sprinter/grbl gen6
  6195. case 202: // M202
  6196. for(int8_t i=0; i < NUM_AXIS; i++) {
  6197. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * cs.axis_steps_per_unit[i];
  6198. }
  6199. break;
  6200. #endif
  6201. /*!
  6202. ### M203 - Set Max Feedrate <a href="https://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate">M203: Set maximum feedrate</a>
  6203. For each axis individually.
  6204. */
  6205. case 203: // M203 max feedrate mm/sec
  6206. for (uint8_t i = 0; i < NUM_AXIS; i++)
  6207. {
  6208. if (code_seen(axis_codes[i]))
  6209. {
  6210. float val = code_value();
  6211. #ifdef TMC2130
  6212. float val_silent = val;
  6213. if ((i == X_AXIS) || (i == Y_AXIS))
  6214. {
  6215. if (val > NORMAL_MAX_FEEDRATE_XY)
  6216. val = NORMAL_MAX_FEEDRATE_XY;
  6217. if (val_silent > SILENT_MAX_FEEDRATE_XY)
  6218. val_silent = SILENT_MAX_FEEDRATE_XY;
  6219. }
  6220. cs.max_feedrate_normal[i] = val;
  6221. cs.max_feedrate_silent[i] = val_silent;
  6222. #else //TMC2130
  6223. max_feedrate[i] = val;
  6224. #endif //TMC2130
  6225. }
  6226. }
  6227. break;
  6228. /*!
  6229. ### M204 - Acceleration settings <a href="https://reprap.org/wiki/G-code#M204:_Set_default_acceleration">M204: Set default acceleration</a>
  6230. #### Old format:
  6231. ##### Usage
  6232. M204 [ S | T ]
  6233. ##### Parameters
  6234. - `S` - normal moves
  6235. - `T` - filmanent only moves
  6236. #### New format:
  6237. ##### Usage
  6238. M204 [ P | R | T ]
  6239. ##### Parameters
  6240. - `P` - printing moves
  6241. - `R` - filmanent only moves
  6242. - `T` - travel moves (as of now T is ignored)
  6243. */
  6244. case 204:
  6245. {
  6246. if(code_seen('S')) {
  6247. // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
  6248. // and it is also generated by Slic3r to control acceleration per extrusion type
  6249. // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
  6250. cs.acceleration = code_value();
  6251. // Interpret the T value as retract acceleration in the old Marlin format.
  6252. if(code_seen('T'))
  6253. cs.retract_acceleration = code_value();
  6254. } else {
  6255. // New acceleration format, compatible with the upstream Marlin.
  6256. if(code_seen('P'))
  6257. cs.acceleration = code_value();
  6258. if(code_seen('R'))
  6259. cs.retract_acceleration = code_value();
  6260. if(code_seen('T')) {
  6261. // Interpret the T value as the travel acceleration in the new Marlin format.
  6262. /*!
  6263. @todo Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
  6264. */
  6265. // travel_acceleration = code_value();
  6266. }
  6267. }
  6268. }
  6269. break;
  6270. /*!
  6271. ### M205 - Set advanced settings <a href="https://reprap.org/wiki/G-code#M205:_Advanced_settings">M205: Advanced settings</a>
  6272. Set some advanced settings related to movement.
  6273. #### Usage
  6274. M205 [ S | T | B | X | Y | Z | E ]
  6275. #### Parameters
  6276. - `S` - Minimum feedrate for print moves (unit/s)
  6277. - `T` - Minimum feedrate for travel moves (units/s)
  6278. - `B` - Minimum segment time (us)
  6279. - `X` - Maximum X jerk (units/s)
  6280. - `Y` - Maximum Y jerk (units/s)
  6281. - `Z` - Maximum Z jerk (units/s)
  6282. - `E` - Maximum E jerk (units/s)
  6283. */
  6284. case 205:
  6285. {
  6286. if(code_seen('S')) cs.minimumfeedrate = code_value();
  6287. if(code_seen('T')) cs.mintravelfeedrate = code_value();
  6288. if(code_seen('B')) cs.minsegmenttime = code_value() ;
  6289. if(code_seen('X')) cs.max_jerk[X_AXIS] = cs.max_jerk[Y_AXIS] = code_value();
  6290. if(code_seen('Y')) cs.max_jerk[Y_AXIS] = code_value();
  6291. if(code_seen('Z')) cs.max_jerk[Z_AXIS] = code_value();
  6292. if(code_seen('E'))
  6293. {
  6294. float e = code_value();
  6295. #ifndef LA_NOCOMPAT
  6296. e = la10c_jerk(e);
  6297. #endif
  6298. cs.max_jerk[E_AXIS] = e;
  6299. }
  6300. if (cs.max_jerk[X_AXIS] > DEFAULT_XJERK) cs.max_jerk[X_AXIS] = DEFAULT_XJERK;
  6301. if (cs.max_jerk[Y_AXIS] > DEFAULT_YJERK) cs.max_jerk[Y_AXIS] = DEFAULT_YJERK;
  6302. }
  6303. break;
  6304. /*!
  6305. ### M206 - Set additional homing offsets <a href="https://reprap.org/wiki/G-code#M206:_Offset_axes">M206: Offset axes</a>
  6306. #### Usage
  6307. M206 [ X | Y | Z ]
  6308. #### Parameters
  6309. - `X` - X axis offset
  6310. - `Y` - Y axis offset
  6311. - `Z` - Z axis offset
  6312. */
  6313. case 206:
  6314. for(uint8_t i=0; i < 3; i++)
  6315. {
  6316. if(code_seen(axis_codes[i])) cs.add_homing[i] = code_value();
  6317. }
  6318. break;
  6319. #ifdef FWRETRACT
  6320. /*!
  6321. ### M207 - Set firmware retraction <a href="https://reprap.org/wiki/G-code#M207:_Set_retract_length">M207: Set retract length</a>
  6322. #### Usage
  6323. M207 [ S | F | Z ]
  6324. #### Parameters
  6325. - `S` - positive length to retract, in mm
  6326. - `F` - retraction feedrate, in mm/min
  6327. - `Z` - additional zlift/hop
  6328. */
  6329. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  6330. {
  6331. if(code_seen('S'))
  6332. {
  6333. cs.retract_length = code_value() ;
  6334. }
  6335. if(code_seen('F'))
  6336. {
  6337. cs.retract_feedrate = code_value()/60 ;
  6338. }
  6339. if(code_seen('Z'))
  6340. {
  6341. cs.retract_zlift = code_value() ;
  6342. }
  6343. }break;
  6344. /*!
  6345. ### M208 - Set retract recover length <a href="https://reprap.org/wiki/G-code#M208:_Set_unretract_length">M208: Set unretract length</a>
  6346. #### Usage
  6347. M208 [ S | F ]
  6348. #### Parameters
  6349. - `S` - positive length surplus to the M207 Snnn, in mm
  6350. - `F` - feedrate, in mm/sec
  6351. */
  6352. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  6353. {
  6354. if(code_seen('S'))
  6355. {
  6356. cs.retract_recover_length = code_value() ;
  6357. }
  6358. if(code_seen('F'))
  6359. {
  6360. cs.retract_recover_feedrate = code_value()/60 ;
  6361. }
  6362. }break;
  6363. /*!
  6364. ### M209 - Enable/disable automatict retract <a href="https://reprap.org/wiki/G-code#M209:_Enable_automatic_retract">M209: Enable automatic retract</a>
  6365. 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.
  6366. #### Usage
  6367. M209 [ S ]
  6368. #### Parameters
  6369. - `S` - 1=true or 0=false
  6370. */
  6371. 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.
  6372. {
  6373. if(code_seen('S'))
  6374. {
  6375. int t= code_value() ;
  6376. switch(t)
  6377. {
  6378. case 0:
  6379. {
  6380. cs.autoretract_enabled=false;
  6381. retracted[0]=false;
  6382. #if EXTRUDERS > 1
  6383. retracted[1]=false;
  6384. #endif
  6385. #if EXTRUDERS > 2
  6386. retracted[2]=false;
  6387. #endif
  6388. }break;
  6389. case 1:
  6390. {
  6391. cs.autoretract_enabled=true;
  6392. retracted[0]=false;
  6393. #if EXTRUDERS > 1
  6394. retracted[1]=false;
  6395. #endif
  6396. #if EXTRUDERS > 2
  6397. retracted[2]=false;
  6398. #endif
  6399. }break;
  6400. default:
  6401. SERIAL_ECHO_START;
  6402. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  6403. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  6404. SERIAL_ECHOLNPGM("\"(1)");
  6405. }
  6406. }
  6407. }break;
  6408. #endif // FWRETRACT
  6409. #if EXTRUDERS > 1
  6410. /*!
  6411. ### M218 - Set hotend offset <a href="https://reprap.org/wiki/G-code#M218:_Set_Hotend_Offset">M218: Set Hotend Offset</a>
  6412. 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.
  6413. #### Usage
  6414. M218 [ X | Y ]
  6415. #### Parameters
  6416. - `X` - X offset
  6417. - `Y` - Y offset
  6418. */
  6419. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  6420. {
  6421. uint8_t extruder;
  6422. if(setTargetedHotend(218, extruder)){
  6423. break;
  6424. }
  6425. if(code_seen('X'))
  6426. {
  6427. extruder_offset[X_AXIS][extruder] = code_value();
  6428. }
  6429. if(code_seen('Y'))
  6430. {
  6431. extruder_offset[Y_AXIS][extruder] = code_value();
  6432. }
  6433. SERIAL_ECHO_START;
  6434. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  6435. for(extruder = 0; extruder < EXTRUDERS; extruder++)
  6436. {
  6437. SERIAL_ECHO(" ");
  6438. SERIAL_ECHO(extruder_offset[X_AXIS][extruder]);
  6439. SERIAL_ECHO(",");
  6440. SERIAL_ECHO(extruder_offset[Y_AXIS][extruder]);
  6441. }
  6442. SERIAL_ECHOLN("");
  6443. }break;
  6444. #endif
  6445. /*!
  6446. ### 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>
  6447. #### Usage
  6448. M220 [ B | S | R ]
  6449. #### Parameters
  6450. - `B` - Backup current speed factor
  6451. - `S` - Speed factor override percentage (0..100 or higher)
  6452. - `R` - Restore previous speed factor
  6453. */
  6454. case 220: // M220 S<factor in percent>- set speed factor override percentage
  6455. {
  6456. bool codesWereSeen = false;
  6457. if (code_seen('B')) //backup current speed factor
  6458. {
  6459. saved_feedmultiply_mm = feedmultiply;
  6460. codesWereSeen = true;
  6461. }
  6462. if (code_seen('S'))
  6463. {
  6464. feedmultiply = code_value();
  6465. codesWereSeen = true;
  6466. }
  6467. if (code_seen('R')) //restore previous feedmultiply
  6468. {
  6469. feedmultiply = saved_feedmultiply_mm;
  6470. codesWereSeen = true;
  6471. }
  6472. if (!codesWereSeen)
  6473. {
  6474. printf_P(PSTR("%i%%\n"), feedmultiply);
  6475. }
  6476. }
  6477. break;
  6478. /*!
  6479. ### 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>
  6480. #### Usage
  6481. M221 [ S | T ]
  6482. #### Parameters
  6483. - `S` - Extrude factor override percentage (0..100 or higher), default 100%
  6484. - `T` - Extruder drive number (Prusa Firmware only), default 0 if not set.
  6485. */
  6486. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  6487. {
  6488. if (code_seen('S'))
  6489. {
  6490. int tmp_code = code_value();
  6491. if (code_seen('T'))
  6492. {
  6493. uint8_t extruder;
  6494. if (setTargetedHotend(221, extruder))
  6495. break;
  6496. extruder_multiply[extruder] = tmp_code;
  6497. }
  6498. else
  6499. {
  6500. extrudemultiply = tmp_code ;
  6501. }
  6502. }
  6503. else
  6504. {
  6505. printf_P(PSTR("%i%%\n"), extrudemultiply);
  6506. }
  6507. calculate_extruder_multipliers();
  6508. }
  6509. break;
  6510. /*!
  6511. ### M226 - Wait for Pin state <a href="https://reprap.org/wiki/G-code#M226:_Wait_for_pin_state">M226: Wait for pin state</a>
  6512. Wait until the specified pin reaches the state required
  6513. #### Usage
  6514. M226 [ P | S ]
  6515. #### Parameters
  6516. - `P` - pin number
  6517. - `S` - pin state
  6518. */
  6519. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  6520. {
  6521. if(code_seen('P')){
  6522. int pin_number = code_value(); // pin number
  6523. int pin_state = -1; // required pin state - default is inverted
  6524. if(code_seen('S')) pin_state = code_value(); // required pin state
  6525. if(pin_state >= -1 && pin_state <= 1){
  6526. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  6527. {
  6528. if (sensitive_pins[i] == pin_number)
  6529. {
  6530. pin_number = -1;
  6531. break;
  6532. }
  6533. }
  6534. if (pin_number > -1)
  6535. {
  6536. int target = LOW;
  6537. st_synchronize();
  6538. pinMode(pin_number, INPUT);
  6539. switch(pin_state){
  6540. case 1:
  6541. target = HIGH;
  6542. break;
  6543. case 0:
  6544. target = LOW;
  6545. break;
  6546. case -1:
  6547. target = !digitalRead(pin_number);
  6548. break;
  6549. }
  6550. while(digitalRead(pin_number) != target){
  6551. manage_heater();
  6552. manage_inactivity();
  6553. lcd_update(0);
  6554. }
  6555. }
  6556. }
  6557. }
  6558. }
  6559. break;
  6560. #if NUM_SERVOS > 0
  6561. /*!
  6562. ### M280 - Set/Get servo position <a href="https://reprap.org/wiki/G-code#M280:_Set_servo_position">M280: Set servo position</a>
  6563. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  6564. #### Usage
  6565. M280 [ P | S ]
  6566. #### Parameters
  6567. - `P` - Servo index (id)
  6568. - `S` - Target position
  6569. */
  6570. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  6571. {
  6572. int servo_index = -1;
  6573. int servo_position = 0;
  6574. if (code_seen('P'))
  6575. servo_index = code_value();
  6576. if (code_seen('S')) {
  6577. servo_position = code_value();
  6578. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  6579. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  6580. servos[servo_index].attach(0);
  6581. #endif
  6582. servos[servo_index].write(servo_position);
  6583. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  6584. _delay(PROBE_SERVO_DEACTIVATION_DELAY);
  6585. servos[servo_index].detach();
  6586. #endif
  6587. }
  6588. else {
  6589. SERIAL_ECHO_START;
  6590. SERIAL_ECHO("Servo ");
  6591. SERIAL_ECHO(servo_index);
  6592. SERIAL_ECHOLN(" out of range");
  6593. }
  6594. }
  6595. else if (servo_index >= 0) {
  6596. SERIAL_PROTOCOL(MSG_OK);
  6597. SERIAL_PROTOCOL(" Servo ");
  6598. SERIAL_PROTOCOL(servo_index);
  6599. SERIAL_PROTOCOL(": ");
  6600. SERIAL_PROTOCOL(servos[servo_index].read());
  6601. SERIAL_PROTOCOLLN();
  6602. }
  6603. }
  6604. break;
  6605. #endif // NUM_SERVOS > 0
  6606. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  6607. /*!
  6608. ### M300 - Play tone <a href="https://reprap.org/wiki/G-code#M300:_Play_beep_sound">M300: Play beep sound</a>
  6609. In Prusa Firmware the defaults are `100Hz` and `1000ms`, so that `M300` without parameters will beep for a second.
  6610. #### Usage
  6611. M300 [ S | P ]
  6612. #### Parameters
  6613. - `S` - frequency in Hz. Not all firmware versions support this parameter
  6614. - `P` - duration in milliseconds
  6615. */
  6616. case 300: // M300
  6617. {
  6618. int beepS = code_seen('S') ? code_value() : 110;
  6619. int beepP = code_seen('P') ? code_value() : 1000;
  6620. if (beepS > 0)
  6621. {
  6622. #if BEEPER > 0
  6623. Sound_MakeCustom(beepP,beepS,false);
  6624. #endif
  6625. }
  6626. else
  6627. {
  6628. _delay(beepP);
  6629. }
  6630. }
  6631. break;
  6632. #endif // M300
  6633. #ifdef PIDTEMP
  6634. /*!
  6635. ### M301 - Set hotend PID <a href="https://reprap.org/wiki/G-code#M301:_Set_PID_parameters">M301: Set PID parameters</a>
  6636. Sets Proportional (P), Integral (I) and Derivative (D) values for hot end.
  6637. See also <a href="https://reprap.org/wiki/PID_Tuning">PID Tuning.</a>
  6638. #### Usage
  6639. M301 [ P | I | D | C ]
  6640. #### Parameters
  6641. - `P` - proportional (Kp)
  6642. - `I` - integral (Ki)
  6643. - `D` - derivative (Kd)
  6644. - `C` - heating power=Kc*(e_speed0)
  6645. */
  6646. case 301:
  6647. {
  6648. if(code_seen('P')) cs.Kp = code_value();
  6649. if(code_seen('I')) cs.Ki = scalePID_i(code_value());
  6650. if(code_seen('D')) cs.Kd = scalePID_d(code_value());
  6651. #ifdef PID_ADD_EXTRUSION_RATE
  6652. if(code_seen('C')) Kc = code_value();
  6653. #endif
  6654. updatePID();
  6655. SERIAL_PROTOCOLRPGM(MSG_OK);
  6656. SERIAL_PROTOCOL(" p:");
  6657. SERIAL_PROTOCOL(cs.Kp);
  6658. SERIAL_PROTOCOL(" i:");
  6659. SERIAL_PROTOCOL(unscalePID_i(cs.Ki));
  6660. SERIAL_PROTOCOL(" d:");
  6661. SERIAL_PROTOCOL(unscalePID_d(cs.Kd));
  6662. #ifdef PID_ADD_EXTRUSION_RATE
  6663. SERIAL_PROTOCOL(" c:");
  6664. //Kc does not have scaling applied above, or in resetting defaults
  6665. SERIAL_PROTOCOL(Kc);
  6666. #endif
  6667. SERIAL_PROTOCOLLN();
  6668. }
  6669. break;
  6670. #endif //PIDTEMP
  6671. #ifdef PIDTEMPBED
  6672. /*!
  6673. ### M304 - Set bed PID <a href="https://reprap.org/wiki/G-code#M304:_Set_PID_parameters_-_Bed">M304: Set PID parameters - Bed</a>
  6674. Sets Proportional (P), Integral (I) and Derivative (D) values for bed.
  6675. See also <a href="https://reprap.org/wiki/PID_Tuning">PID Tuning.</a>
  6676. #### Usage
  6677. M304 [ P | I | D ]
  6678. #### Parameters
  6679. - `P` - proportional (Kp)
  6680. - `I` - integral (Ki)
  6681. - `D` - derivative (Kd)
  6682. */
  6683. case 304:
  6684. {
  6685. if(code_seen('P')) cs.bedKp = code_value();
  6686. if(code_seen('I')) cs.bedKi = scalePID_i(code_value());
  6687. if(code_seen('D')) cs.bedKd = scalePID_d(code_value());
  6688. updatePID();
  6689. SERIAL_PROTOCOLRPGM(MSG_OK);
  6690. SERIAL_PROTOCOL(" p:");
  6691. SERIAL_PROTOCOL(cs.bedKp);
  6692. SERIAL_PROTOCOL(" i:");
  6693. SERIAL_PROTOCOL(unscalePID_i(cs.bedKi));
  6694. SERIAL_PROTOCOL(" d:");
  6695. SERIAL_PROTOCOL(unscalePID_d(cs.bedKd));
  6696. SERIAL_PROTOCOLLN();
  6697. }
  6698. break;
  6699. #endif //PIDTEMP
  6700. /*!
  6701. ### M240 - Trigger camera <a href="https://reprap.org/wiki/G-code#M240:_Trigger_camera">M240: Trigger camera</a>
  6702. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  6703. You need to (re)define and assign `CHDK` or `PHOTOGRAPH_PIN` the correct pin number to be able to use the feature.
  6704. */
  6705. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  6706. {
  6707. #ifdef CHDK
  6708. SET_OUTPUT(CHDK);
  6709. WRITE(CHDK, HIGH);
  6710. chdkHigh = _millis();
  6711. chdkActive = true;
  6712. #else
  6713. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  6714. const uint8_t NUM_PULSES=16;
  6715. const float PULSE_LENGTH=0.01524;
  6716. for(int i=0; i < NUM_PULSES; i++) {
  6717. WRITE(PHOTOGRAPH_PIN, HIGH);
  6718. _delay_ms(PULSE_LENGTH);
  6719. WRITE(PHOTOGRAPH_PIN, LOW);
  6720. _delay_ms(PULSE_LENGTH);
  6721. }
  6722. _delay(7.33);
  6723. for(int i=0; i < NUM_PULSES; i++) {
  6724. WRITE(PHOTOGRAPH_PIN, HIGH);
  6725. _delay_ms(PULSE_LENGTH);
  6726. WRITE(PHOTOGRAPH_PIN, LOW);
  6727. _delay_ms(PULSE_LENGTH);
  6728. }
  6729. #endif
  6730. #endif //chdk end if
  6731. }
  6732. break;
  6733. #ifdef PREVENT_DANGEROUS_EXTRUDE
  6734. /*!
  6735. ### 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>
  6736. 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.
  6737. #### Usage
  6738. M302 [ S ]
  6739. #### Parameters
  6740. - `S` - Cold extrude minimum temperature
  6741. */
  6742. case 302:
  6743. {
  6744. float temp = .0;
  6745. if (code_seen('S')) temp=code_value();
  6746. set_extrude_min_temp(temp);
  6747. }
  6748. break;
  6749. #endif
  6750. /*!
  6751. ### M303 - PID autotune <a href="https://reprap.org/wiki/G-code#M303:_Run_PID_tuning">M303: Run PID tuning</a>
  6752. 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.
  6753. #### Usage
  6754. M303 [ E | S | C ]
  6755. #### Parameters
  6756. - `E` - Extruder, default `E0`. Use `E-1` to calibrate the bed PID
  6757. - `S` - Target temperature, default `210°C` for hotend, 70 for bed
  6758. - `C` - Cycles, default `5`
  6759. */
  6760. case 303:
  6761. {
  6762. float temp = 150.0;
  6763. int e=0;
  6764. int c=5;
  6765. if (code_seen('E')) e=code_value();
  6766. if (e<0)
  6767. temp=70;
  6768. if (code_seen('S')) temp=code_value();
  6769. if (code_seen('C')) c=code_value();
  6770. PID_autotune(temp, e, c);
  6771. }
  6772. break;
  6773. /*!
  6774. ### 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>
  6775. Finishes all current moves and and thus clears the buffer.
  6776. Equivalent to `G4` with no parameters.
  6777. */
  6778. case 400:
  6779. {
  6780. st_synchronize();
  6781. }
  6782. break;
  6783. /*!
  6784. ### 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>
  6785. Currently three different materials are needed (default, flex and PVA).
  6786. And storing this information for different load/unload profiles etc. in the future firmware does not have to wait for "ok" from MMU.
  6787. #### Usage
  6788. M403 [ E | F ]
  6789. #### Parameters
  6790. - `E` - Extruder number. 0-indexed.
  6791. - `F` - Filament type
  6792. */
  6793. case 403:
  6794. {
  6795. // currently three different materials are needed (default, flex and PVA)
  6796. // add storing this information for different load/unload profiles etc. in the future
  6797. // firmware does not wait for "ok" from mmu
  6798. if (mmu_enabled)
  6799. {
  6800. uint8_t extruder = 255;
  6801. uint8_t filament = FILAMENT_UNDEFINED;
  6802. if(code_seen('E')) extruder = code_value();
  6803. if(code_seen('F')) filament = code_value();
  6804. mmu_set_filament_type(extruder, filament);
  6805. }
  6806. }
  6807. break;
  6808. /*!
  6809. ### 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>
  6810. Save current parameters to EEPROM.
  6811. */
  6812. case 500:
  6813. {
  6814. Config_StoreSettings();
  6815. }
  6816. break;
  6817. /*!
  6818. ### M501 - Read settings from EEPROM <a href="https://reprap.org/wiki/G-code#M501:_Read_parameters_from_EEPROM">M501: Read parameters from EEPROM</a>
  6819. Set the active parameters to those stored in the EEPROM. This is useful to revert parameters after experimenting with them.
  6820. */
  6821. case 501:
  6822. {
  6823. Config_RetrieveSettings();
  6824. }
  6825. break;
  6826. /*!
  6827. ### M502 - Revert all settings to factory default <a href="https://reprap.org/wiki/G-code#M502:_Restore_Default_Settings">M502: Restore Default Settings</a>
  6828. 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.
  6829. */
  6830. case 502:
  6831. {
  6832. Config_ResetDefault();
  6833. }
  6834. break;
  6835. /*!
  6836. ### M503 - Repport all settings currently in memory <a href="https://reprap.org/wiki/G-code#M503:_Report_Current_Settings">M503: Report Current Settings</a>
  6837. 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.
  6838. */
  6839. case 503:
  6840. {
  6841. Config_PrintSettings();
  6842. }
  6843. break;
  6844. /*!
  6845. ### M509 - Force language selection <a href="https://reprap.org/wiki/G-code#M509:_Force_language_selection">M509: Force language selection</a>
  6846. Resets the language to English.
  6847. Only on Original Prusa i3 MK2.5/s and MK3/s with multiple languages.
  6848. */
  6849. case 509:
  6850. {
  6851. lang_reset();
  6852. SERIAL_ECHO_START;
  6853. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  6854. }
  6855. break;
  6856. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  6857. /*!
  6858. ### 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>
  6859. 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`.
  6860. #### Usage
  6861. M540 [ S ]
  6862. #### Parameters
  6863. - `S` - disabled=0, enabled=1
  6864. */
  6865. case 540:
  6866. {
  6867. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  6868. }
  6869. break;
  6870. #endif
  6871. /*!
  6872. ### M851 - Set Z-Probe Offset <a href="https://reprap.org/wiki/G-code#M851:_Set_Z-Probe_Offset">M851: Set Z-Probe Offset"</a>
  6873. 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.
  6874. 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.)
  6875. #### Usage
  6876. M851 [ Z ]
  6877. #### Parameters
  6878. - `Z` - Z offset probe to nozzle.
  6879. */
  6880. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  6881. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  6882. {
  6883. float value;
  6884. if (code_seen('Z'))
  6885. {
  6886. value = code_value();
  6887. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  6888. {
  6889. cs.zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  6890. SERIAL_ECHO_START;
  6891. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  6892. SERIAL_PROTOCOLLN();
  6893. }
  6894. else
  6895. {
  6896. SERIAL_ECHO_START;
  6897. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  6898. SERIAL_ECHORPGM(MSG_Z_MIN);
  6899. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  6900. SERIAL_ECHORPGM(MSG_Z_MAX);
  6901. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  6902. SERIAL_PROTOCOLLN();
  6903. }
  6904. }
  6905. else
  6906. {
  6907. SERIAL_ECHO_START;
  6908. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  6909. SERIAL_ECHO(-cs.zprobe_zoffset);
  6910. SERIAL_PROTOCOLLN();
  6911. }
  6912. break;
  6913. }
  6914. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  6915. #ifdef FILAMENTCHANGEENABLE
  6916. /*!
  6917. ### M600 - Initiate Filament change procedure <a href="https://reprap.org/wiki/G-code#M600:_Filament_change_pause">M600: Filament change pause</a>
  6918. Initiates Filament change, it is also used during Filament Runout Sensor process.
  6919. If the `M600` is triggered under 25mm it will do a Z-lift of 25mm to prevent a filament blob.
  6920. #### Usage
  6921. M600 [ X | Y | Z | E | L | AUTO ]
  6922. - `X` - X position, default 211
  6923. - `Y` - Y position, default 0
  6924. - `Z` - relative lift Z, default 2.
  6925. - `E` - initial retract, default -2
  6926. - `L` - later retract distance for removal, default -80
  6927. - `AUTO` - Automatically (only with MMU)
  6928. */
  6929. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  6930. {
  6931. st_synchronize();
  6932. float x_position = current_position[X_AXIS];
  6933. float y_position = current_position[Y_AXIS];
  6934. float z_shift = 0; // is it necessary to be a float?
  6935. float e_shift_init = 0;
  6936. float e_shift_late = 0;
  6937. bool automatic = false;
  6938. //Retract extruder
  6939. if(code_seen('E'))
  6940. {
  6941. e_shift_init = code_value();
  6942. }
  6943. else
  6944. {
  6945. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  6946. e_shift_init = FILAMENTCHANGE_FIRSTRETRACT ;
  6947. #endif
  6948. }
  6949. //currently don't work as we are using the same unload sequence as in M702, needs re-work
  6950. if (code_seen('L'))
  6951. {
  6952. e_shift_late = code_value();
  6953. }
  6954. else
  6955. {
  6956. #ifdef FILAMENTCHANGE_FINALRETRACT
  6957. e_shift_late = FILAMENTCHANGE_FINALRETRACT;
  6958. #endif
  6959. }
  6960. //Lift Z
  6961. if(code_seen('Z'))
  6962. {
  6963. z_shift = code_value();
  6964. }
  6965. else
  6966. {
  6967. z_shift = gcode_M600_filament_change_z_shift<uint8_t>();
  6968. }
  6969. //Move XY to side
  6970. if(code_seen('X'))
  6971. {
  6972. x_position = code_value();
  6973. }
  6974. else
  6975. {
  6976. #ifdef FILAMENTCHANGE_XPOS
  6977. x_position = FILAMENTCHANGE_XPOS;
  6978. #endif
  6979. }
  6980. if(code_seen('Y'))
  6981. {
  6982. y_position = code_value();
  6983. }
  6984. else
  6985. {
  6986. #ifdef FILAMENTCHANGE_YPOS
  6987. y_position = FILAMENTCHANGE_YPOS ;
  6988. #endif
  6989. }
  6990. if (mmu_enabled && code_seen_P(PSTR("AUTO")))
  6991. automatic = true;
  6992. gcode_M600(automatic, x_position, y_position, z_shift, e_shift_init, e_shift_late);
  6993. }
  6994. break;
  6995. #endif //FILAMENTCHANGEENABLE
  6996. /*!
  6997. ### M601 - Pause print <a href="https://reprap.org/wiki/G-code#M601:_Pause_print">M601: Pause print</a>
  6998. */
  6999. /*!
  7000. ### M125 - Pause print (TODO: not implemented)
  7001. */
  7002. /*!
  7003. ### M25 - Pause SD print <a href="https://reprap.org/wiki/G-code#M25:_Pause_SD_print">M25: Pause SD print</a>
  7004. */
  7005. case 25:
  7006. case 601:
  7007. {
  7008. if (!isPrintPaused)
  7009. {
  7010. st_synchronize();
  7011. ClearToSend(); //send OK even before the command finishes executing because we want to make sure it is not skipped because of cmdqueue_pop_front();
  7012. cmdqueue_pop_front(); //trick because we want skip this command (M601) after restore
  7013. lcd_pause_print();
  7014. }
  7015. }
  7016. break;
  7017. /*!
  7018. ### M602 - Resume print <a href="https://reprap.org/wiki/G-code#M602:_Resume_print">M602: Resume print</a>
  7019. */
  7020. case 602: {
  7021. if (isPrintPaused)
  7022. lcd_resume_print();
  7023. }
  7024. break;
  7025. /*!
  7026. ### M603 - Stop print <a href="https://reprap.org/wiki/G-code#M603:_Stop_print">M603: Stop print</a>
  7027. */
  7028. case 603: {
  7029. lcd_print_stop();
  7030. }
  7031. break;
  7032. #ifdef PINDA_THERMISTOR
  7033. /*!
  7034. ### 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>
  7035. Wait for PINDA thermistor to reach target temperature
  7036. #### Usage
  7037. M860 [ S ]
  7038. #### Parameters
  7039. - `S` - Target temperature
  7040. */
  7041. case 860:
  7042. {
  7043. int set_target_pinda = 0;
  7044. if (code_seen('S')) {
  7045. set_target_pinda = code_value();
  7046. }
  7047. else {
  7048. break;
  7049. }
  7050. LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
  7051. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  7052. SERIAL_PROTOCOL(set_target_pinda);
  7053. SERIAL_PROTOCOLLN();
  7054. codenum = _millis();
  7055. cancel_heatup = false;
  7056. bool is_pinda_cooling = false;
  7057. if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
  7058. is_pinda_cooling = true;
  7059. }
  7060. while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
  7061. if ((_millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  7062. {
  7063. SERIAL_PROTOCOLPGM("P:");
  7064. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  7065. SERIAL_PROTOCOL('/');
  7066. SERIAL_PROTOCOLLN(set_target_pinda);
  7067. codenum = _millis();
  7068. }
  7069. manage_heater();
  7070. manage_inactivity();
  7071. lcd_update(0);
  7072. }
  7073. LCD_MESSAGERPGM(MSG_OK);
  7074. break;
  7075. }
  7076. /*!
  7077. ### 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>
  7078. Set compensation ustep value `S` for compensation table index `I`.
  7079. #### Usage
  7080. M861 [ ? | ! | Z | S | I ]
  7081. #### Parameters
  7082. - `?` - Print current EEPROM offset values
  7083. - `!` - Set factory default values
  7084. - `Z` - Set all values to 0 (effectively disabling PINDA temperature compensation)
  7085. - `S` - Microsteps
  7086. - `I` - Table index
  7087. */
  7088. case 861:
  7089. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  7090. uint8_t cal_status = calibration_status_pinda();
  7091. int16_t usteps = 0;
  7092. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  7093. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  7094. for (uint8_t i = 0; i < 6; i++)
  7095. {
  7096. if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
  7097. float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
  7098. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  7099. SERIAL_PROTOCOLPGM(", ");
  7100. SERIAL_PROTOCOL(35 + (i * 5));
  7101. SERIAL_PROTOCOLPGM(", ");
  7102. SERIAL_PROTOCOL(usteps);
  7103. SERIAL_PROTOCOLPGM(", ");
  7104. SERIAL_PROTOCOL(mm * 1000);
  7105. SERIAL_PROTOCOLLN();
  7106. }
  7107. }
  7108. else if (code_seen('!')) { // ! - Set factory default values
  7109. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  7110. int16_t z_shift = 8; //40C - 20um - 8usteps
  7111. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
  7112. z_shift = 24; //45C - 60um - 24usteps
  7113. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
  7114. z_shift = 48; //50C - 120um - 48usteps
  7115. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
  7116. z_shift = 80; //55C - 200um - 80usteps
  7117. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
  7118. z_shift = 120; //60C - 300um - 120usteps
  7119. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
  7120. SERIAL_PROTOCOLLN("factory restored");
  7121. }
  7122. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  7123. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  7124. int16_t z_shift = 0;
  7125. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  7126. SERIAL_PROTOCOLLN("zerorized");
  7127. }
  7128. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  7129. int16_t usteps = code_value();
  7130. if (code_seen('I')) {
  7131. uint8_t index = code_value();
  7132. if (index < 5) {
  7133. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
  7134. SERIAL_PROTOCOLLN("OK");
  7135. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  7136. for (uint8_t i = 0; i < 6; i++)
  7137. {
  7138. usteps = 0;
  7139. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
  7140. float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
  7141. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  7142. SERIAL_PROTOCOLPGM(", ");
  7143. SERIAL_PROTOCOL(35 + (i * 5));
  7144. SERIAL_PROTOCOLPGM(", ");
  7145. SERIAL_PROTOCOL(usteps);
  7146. SERIAL_PROTOCOLPGM(", ");
  7147. SERIAL_PROTOCOL(mm * 1000);
  7148. SERIAL_PROTOCOLLN();
  7149. }
  7150. }
  7151. }
  7152. }
  7153. else {
  7154. SERIAL_PROTOCOLPGM("no valid command");
  7155. }
  7156. break;
  7157. #endif //PINDA_THERMISTOR
  7158. /*!
  7159. ### M862 - Print checking <a href="https://reprap.org/wiki/G-code#M862:_Print_checking">M862: Print checking</a>
  7160. Checks the parameters of the printer and gcode and performs compatibility check
  7161. - M862.1 { P<nozzle_diameter> | Q } 0.25/0.40/0.60
  7162. - M862.2 { P<model_code> | Q }
  7163. - M862.3 { P"<model_name>" | Q }
  7164. - M862.4 { P<fw_version> | Q }
  7165. - M862.5 { P<gcode_level> | Q }
  7166. When run with P<> argument, the check is performed against the input value.
  7167. When run with Q argument, the current value is shown.
  7168. M862.3 accepts text identifiers of printer types too.
  7169. The syntax of M862.3 is (note the quotes around the type):
  7170. M862.3 P "MK3S"
  7171. Accepted printer type identifiers and their numeric counterparts:
  7172. - MK1 (100)
  7173. - MK2 (200)
  7174. - MK2MM (201)
  7175. - MK2S (202)
  7176. - MK2SMM (203)
  7177. - MK2.5 (250)
  7178. - MK2.5MMU2 (20250)
  7179. - MK2.5S (252)
  7180. - MK2.5SMMU2S (20252)
  7181. - MK3 (300)
  7182. - MK3MMU2 (20300)
  7183. - MK3S (302)
  7184. - MK3SMMU2S (20302)
  7185. */
  7186. case 862: // M862: print checking
  7187. float nDummy;
  7188. uint8_t nCommand;
  7189. nCommand=(uint8_t)(modff(code_value_float(),&nDummy)*10.0+0.5);
  7190. switch((ClPrintChecking)nCommand)
  7191. {
  7192. case ClPrintChecking::_Nozzle: // ~ .1
  7193. uint16_t nDiameter;
  7194. if(code_seen('P'))
  7195. {
  7196. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  7197. nozzle_diameter_check(nDiameter);
  7198. }
  7199. /*
  7200. else if(code_seen('S')&&farm_mode)
  7201. {
  7202. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  7203. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
  7204. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
  7205. }
  7206. */
  7207. else if(code_seen('Q'))
  7208. SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
  7209. break;
  7210. case ClPrintChecking::_Model: // ~ .2
  7211. if(code_seen('P'))
  7212. {
  7213. uint16_t nPrinterModel;
  7214. nPrinterModel=(uint16_t)code_value_long();
  7215. printer_model_check(nPrinterModel);
  7216. }
  7217. else if(code_seen('Q'))
  7218. SERIAL_PROTOCOLLN(nPrinterType);
  7219. break;
  7220. case ClPrintChecking::_Smodel: // ~ .3
  7221. if(code_seen('P'))
  7222. printer_smodel_check(strchr_pointer);
  7223. else if(code_seen('Q'))
  7224. SERIAL_PROTOCOLLNRPGM(sPrinterName);
  7225. break;
  7226. case ClPrintChecking::_Version: // ~ .4
  7227. if(code_seen('P'))
  7228. fw_version_check(++strchr_pointer);
  7229. else if(code_seen('Q'))
  7230. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  7231. break;
  7232. case ClPrintChecking::_Gcode: // ~ .5
  7233. if(code_seen('P'))
  7234. {
  7235. uint16_t nGcodeLevel;
  7236. nGcodeLevel=(uint16_t)code_value_long();
  7237. gcode_level_check(nGcodeLevel);
  7238. }
  7239. else if(code_seen('Q'))
  7240. SERIAL_PROTOCOLLN(GCODE_LEVEL);
  7241. break;
  7242. }
  7243. break;
  7244. #ifdef LIN_ADVANCE
  7245. /*!
  7246. ### 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>
  7247. 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.
  7248. #### Usage
  7249. M900 [ K | R | W | H | D]
  7250. #### Parameters
  7251. - `K` - Advance K factor
  7252. - `R` - Set ratio directly (overrides WH/D)
  7253. - `W` - Width
  7254. - `H` - Height
  7255. - `D` - Diameter Set ratio from WH/D
  7256. */
  7257. case 900:
  7258. gcode_M900();
  7259. break;
  7260. #endif
  7261. /*!
  7262. ### 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>
  7263. Set digital trimpot motor current using axis codes (X, Y, Z, E, B, S).
  7264. #### Usage
  7265. M907 [ X | Y | Z | E | B | S ]
  7266. #### Parameters
  7267. - `X` - X motor driver
  7268. - `Y` - Y motor driver
  7269. - `Z` - Z motor driver
  7270. - `E` - Extruder motor driver
  7271. - `B` - Second Extruder motor driver
  7272. - `S` - All motors
  7273. */
  7274. case 907:
  7275. {
  7276. #ifdef TMC2130
  7277. // See tmc2130_cur2val() for translation to 0 .. 63 range
  7278. for (int i = 0; i < NUM_AXIS; i++)
  7279. if(code_seen(axis_codes[i]))
  7280. {
  7281. long cur_mA = code_value_long();
  7282. uint8_t val = tmc2130_cur2val(cur_mA);
  7283. tmc2130_set_current_h(i, val);
  7284. tmc2130_set_current_r(i, val);
  7285. //if (i == E_AXIS) printf_P(PSTR("E-axis current=%ldmA\n"), cur_mA);
  7286. }
  7287. #else //TMC2130
  7288. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  7289. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  7290. if(code_seen('B')) st_current_set(4,code_value());
  7291. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  7292. #endif
  7293. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  7294. if(code_seen('X')) st_current_set(0, code_value());
  7295. #endif
  7296. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  7297. if(code_seen('Z')) st_current_set(1, code_value());
  7298. #endif
  7299. #ifdef MOTOR_CURRENT_PWM_E_PIN
  7300. if(code_seen('E')) st_current_set(2, code_value());
  7301. #endif
  7302. #endif //TMC2130
  7303. }
  7304. break;
  7305. /*!
  7306. ### M908 - Control digital trimpot directly <a href="https://reprap.org/wiki/G-code#M908:_Control_digital_trimpot_directly">M908: Control digital trimpot directly</a>
  7307. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code. Not usable on Prusa printers.
  7308. #### Usage
  7309. M908 [ P | S ]
  7310. #### Parameters
  7311. - `P` - channel
  7312. - `S` - current
  7313. */
  7314. case 908:
  7315. {
  7316. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  7317. uint8_t channel,current;
  7318. if(code_seen('P')) channel=code_value();
  7319. if(code_seen('S')) current=code_value();
  7320. digitalPotWrite(channel, current);
  7321. #endif
  7322. }
  7323. break;
  7324. #ifdef TMC2130_SERVICE_CODES_M910_M918
  7325. /*!
  7326. ### M910 - TMC2130 init <a href="https://reprap.org/wiki/G-code#M910:_TMC2130_init">M910: TMC2130 init</a>
  7327. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7328. */
  7329. case 910:
  7330. {
  7331. tmc2130_init();
  7332. }
  7333. break;
  7334. /*!
  7335. ### M911 - Set TMC2130 holding currents <a href="https://reprap.org/wiki/G-code#M911:_Set_TMC2130_holding_currents">M911: Set TMC2130 holding currents</a>
  7336. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7337. #### Usage
  7338. M911 [ X | Y | Z | E ]
  7339. #### Parameters
  7340. - `X` - X stepper driver holding current value
  7341. - `Y` - Y stepper driver holding current value
  7342. - `Z` - Z stepper driver holding current value
  7343. - `E` - Extruder stepper driver holding current value
  7344. */
  7345. case 911:
  7346. {
  7347. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  7348. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  7349. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  7350. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  7351. }
  7352. break;
  7353. /*!
  7354. ### M912 - Set TMC2130 running currents <a href="https://reprap.org/wiki/G-code#M912:_Set_TMC2130_running_currents">M912: Set TMC2130 running currents</a>
  7355. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7356. #### Usage
  7357. M912 [ X | Y | Z | E ]
  7358. #### Parameters
  7359. - `X` - X stepper driver running current value
  7360. - `Y` - Y stepper driver running current value
  7361. - `Z` - Z stepper driver running current value
  7362. - `E` - Extruder stepper driver running current value
  7363. */
  7364. case 912:
  7365. {
  7366. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  7367. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  7368. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  7369. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  7370. }
  7371. break;
  7372. /*!
  7373. ### M913 - Print TMC2130 currents <a href="https://reprap.org/wiki/G-code#M913:_Print_TMC2130_currents">M913: Print TMC2130 currents</a>
  7374. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7375. Shows TMC2130 currents.
  7376. */
  7377. case 913:
  7378. {
  7379. tmc2130_print_currents();
  7380. }
  7381. break;
  7382. /*!
  7383. ### M914 - Set TMC2130 normal mode <a href="https://reprap.org/wiki/G-code#M914:_Set_TMC2130_normal_mode">M914: Set TMC2130 normal mode</a>
  7384. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7385. */
  7386. case 914:
  7387. {
  7388. tmc2130_mode = TMC2130_MODE_NORMAL;
  7389. update_mode_profile();
  7390. tmc2130_init();
  7391. }
  7392. break;
  7393. /*!
  7394. ### M915 - Set TMC2130 silent mode <a href="https://reprap.org/wiki/G-code#M915:_Set_TMC2130_silent_mode">M915: Set TMC2130 silent mode</a>
  7395. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7396. */
  7397. case 915:
  7398. {
  7399. tmc2130_mode = TMC2130_MODE_SILENT;
  7400. update_mode_profile();
  7401. tmc2130_init();
  7402. }
  7403. break;
  7404. /*!
  7405. ### 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>
  7406. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7407. #### Usage
  7408. M916 [ X | Y | Z | E ]
  7409. #### Parameters
  7410. - `X` - X stepper driver stallguard sensitivity threshold value
  7411. - `Y` - Y stepper driver stallguard sensitivity threshold value
  7412. - `Z` - Z stepper driver stallguard sensitivity threshold value
  7413. - `E` - Extruder stepper driver stallguard sensitivity threshold value
  7414. */
  7415. case 916:
  7416. {
  7417. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  7418. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  7419. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  7420. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  7421. for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
  7422. printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
  7423. }
  7424. break;
  7425. /*!
  7426. ### 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>
  7427. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7428. #### Usage
  7429. M917 [ X | Y | Z | E ]
  7430. #### Parameters
  7431. - `X` - X stepper driver PWM amplitude offset value
  7432. - `Y` - Y stepper driver PWM amplitude offset value
  7433. - `Z` - Z stepper driver PWM amplitude offset value
  7434. - `E` - Extruder stepper driver PWM amplitude offset value
  7435. */
  7436. case 917:
  7437. {
  7438. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  7439. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  7440. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  7441. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  7442. }
  7443. break;
  7444. /*!
  7445. ### 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>
  7446. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7447. #### Usage
  7448. M918 [ X | Y | Z | E ]
  7449. #### Parameters
  7450. - `X` - X stepper driver PWM amplitude gradient value
  7451. - `Y` - Y stepper driver PWM amplitude gradient value
  7452. - `Z` - Z stepper driver PWM amplitude gradient value
  7453. - `E` - Extruder stepper driver PWM amplitude gradient value
  7454. */
  7455. case 918:
  7456. {
  7457. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  7458. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  7459. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  7460. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  7461. }
  7462. break;
  7463. #endif //TMC2130_SERVICE_CODES_M910_M918
  7464. /*!
  7465. ### M350 - Set microstepping mode <a href="https://reprap.org/wiki/G-code#M350:_Set_microstepping_mode">M350: Set microstepping mode</a>
  7466. 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!
  7467. Printers without TMC2130 drivers also have `B` and `S` options. In this case, the steps-per-unit value in not changed!
  7468. #### Usage
  7469. M350 [ X | Y | Z | E | B | S ]
  7470. #### Parameters
  7471. - `X` - X new resolution
  7472. - `Y` - Y new resolution
  7473. - `Z` - Z new resolution
  7474. - `E` - E new resolution
  7475. Only valid for MK2.5(S) or printers without TMC2130 drivers
  7476. - `B` - Second extruder new resolution
  7477. - `S` - All axes new resolution
  7478. */
  7479. case 350:
  7480. {
  7481. #ifdef TMC2130
  7482. for (int i=0; i<NUM_AXIS; i++)
  7483. {
  7484. if(code_seen(axis_codes[i]))
  7485. {
  7486. uint16_t res_new = code_value();
  7487. bool res_valid = (res_new == 8) || (res_new == 16) || (res_new == 32); // resolutions valid for all axis
  7488. res_valid |= (i != E_AXIS) && ((res_new == 1) || (res_new == 2) || (res_new == 4)); // resolutions valid for X Y Z only
  7489. res_valid |= (i == E_AXIS) && ((res_new == 64) || (res_new == 128)); // resolutions valid for E only
  7490. if (res_valid)
  7491. {
  7492. st_synchronize();
  7493. uint16_t res = tmc2130_get_res(i);
  7494. tmc2130_set_res(i, res_new);
  7495. cs.axis_ustep_resolution[i] = res_new;
  7496. if (res_new > res)
  7497. {
  7498. uint16_t fac = (res_new / res);
  7499. cs.axis_steps_per_unit[i] *= fac;
  7500. position[i] *= fac;
  7501. }
  7502. else
  7503. {
  7504. uint16_t fac = (res / res_new);
  7505. cs.axis_steps_per_unit[i] /= fac;
  7506. position[i] /= fac;
  7507. }
  7508. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  7509. if (i == E_AXIS)
  7510. fsensor_set_axis_steps_per_unit(cs.axis_steps_per_unit[i]);
  7511. #endif
  7512. }
  7513. }
  7514. }
  7515. #else //TMC2130
  7516. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  7517. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  7518. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  7519. if(code_seen('B')) microstep_mode(4,code_value());
  7520. microstep_readings();
  7521. #endif
  7522. #endif //TMC2130
  7523. }
  7524. break;
  7525. /*!
  7526. ### 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>
  7527. Toggle MS1 MS2 pins directly.
  7528. #### Usage
  7529. M351 [B<0|1>] [E<0|1>] S<1|2> [X<0|1>] [Y<0|1>] [Z<0|1>]
  7530. #### Parameters
  7531. - `X` - Update X axis
  7532. - `Y` - Update Y axis
  7533. - `Z` - Update Z axis
  7534. - `E` - Update E axis
  7535. - `S` - which MSx pin to toggle
  7536. - `B` - new pin value
  7537. */
  7538. case 351:
  7539. {
  7540. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  7541. if(code_seen('S')) switch((int)code_value())
  7542. {
  7543. case 1:
  7544. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  7545. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  7546. break;
  7547. case 2:
  7548. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  7549. if(code_seen('B')) microstep_ms(4,-1,code_value());
  7550. break;
  7551. }
  7552. microstep_readings();
  7553. #endif
  7554. }
  7555. break;
  7556. /*!
  7557. ### M701 - Load filament <a href="https://reprap.org/wiki/G-code#M701:_Load_filament">M701: Load filament</a>
  7558. */
  7559. case 701:
  7560. {
  7561. if (mmu_enabled && code_seen('E'))
  7562. tmp_extruder = code_value();
  7563. gcode_M701();
  7564. }
  7565. break;
  7566. /*!
  7567. ### M702 - Unload filament <a href="https://reprap.org/wiki/G-code#M702:_Unload_filament">G32: Undock Z Probe sled</a>
  7568. #### Usage
  7569. M702 [ U | C ]
  7570. #### Parameters
  7571. - `U` - Unload all filaments used in current print
  7572. - `C` - Unload just current filament
  7573. - without any parameters unload all filaments
  7574. */
  7575. case 702:
  7576. {
  7577. #ifdef SNMM
  7578. if (code_seen('U'))
  7579. extr_unload_used(); //! if "U" unload all filaments which were used in current print
  7580. else if (code_seen('C'))
  7581. extr_unload(); //! if "C" unload just current filament
  7582. else
  7583. extr_unload_all(); //! otherwise unload all filaments
  7584. #else
  7585. if (code_seen('C')) {
  7586. if(mmu_enabled) extr_unload(); //! if "C" unload current filament; if mmu is not present no action is performed
  7587. }
  7588. else {
  7589. if(mmu_enabled) extr_unload(); //! unload current filament
  7590. else unload_filament();
  7591. }
  7592. #endif //SNMM
  7593. }
  7594. break;
  7595. /*!
  7596. ### M999 - Restart after being stopped <a href="https://reprap.org/wiki/G-code#M999:_Restart_after_being_stopped_by_error">M999: Restart after being stopped by error</a>
  7597. @todo Usually doesn't work. Should be fixed or removed. Most of the time, if `Stopped` it set, the print fails and is unrecoverable.
  7598. */
  7599. case 999:
  7600. Stopped = false;
  7601. lcd_reset_alert_level();
  7602. gcode_LastN = Stopped_gcode_LastN;
  7603. FlushSerialRequestResend();
  7604. break;
  7605. /*!
  7606. #### End of M-Commands
  7607. */
  7608. default:
  7609. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  7610. }
  7611. // printf_P(_N("END M-CODE=%u\n"), mcode_in_progress);
  7612. mcode_in_progress = 0;
  7613. }
  7614. }
  7615. // end if(code_seen('M')) (end of M codes)
  7616. /*!
  7617. -----------------------------------------------------------------------------------------
  7618. # T Codes
  7619. T<extruder nr.> - select extruder in case of multi extruder printer. select filament in case of MMU_V2.
  7620. #### For MMU_V2:
  7621. T<n> Gcode to extrude at least 38.10 mm at feedrate 19.02 mm/s must follow immediately to load to extruder wheels.
  7622. @n T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
  7623. @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.
  7624. @n Tc Load to nozzle after filament was prepared by Tc and extruder nozzle is already heated.
  7625. */
  7626. else if(code_seen('T'))
  7627. {
  7628. static const char duplicate_Tcode_ignored[] PROGMEM = "Duplicate T-code ignored.";
  7629. int index;
  7630. bool load_to_nozzle = false;
  7631. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  7632. *(strchr_pointer + index) = tolower(*(strchr_pointer + index));
  7633. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '4') && *(strchr_pointer + index) != '?' && *(strchr_pointer + index) != 'x' && *(strchr_pointer + index) != 'c') {
  7634. SERIAL_ECHOLNPGM("Invalid T code.");
  7635. }
  7636. else if (*(strchr_pointer + index) == 'x'){ //load to bondtech gears; if mmu is not present do nothing
  7637. if (mmu_enabled)
  7638. {
  7639. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
  7640. if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
  7641. {
  7642. puts_P(duplicate_Tcode_ignored);
  7643. }
  7644. else
  7645. {
  7646. st_synchronize();
  7647. mmu_command(MmuCmd::T0 + tmp_extruder);
  7648. manage_response(true, true, MMU_TCODE_MOVE);
  7649. }
  7650. }
  7651. }
  7652. else if (*(strchr_pointer + index) == 'c') { //load to from bondtech gears to nozzle (nozzle should be preheated)
  7653. if (mmu_enabled)
  7654. {
  7655. st_synchronize();
  7656. mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
  7657. mmu_extruder = tmp_extruder; //filament change is finished
  7658. mmu_load_to_nozzle();
  7659. }
  7660. }
  7661. else {
  7662. if (*(strchr_pointer + index) == '?')
  7663. {
  7664. if(mmu_enabled)
  7665. {
  7666. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
  7667. load_to_nozzle = true;
  7668. } else
  7669. {
  7670. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_EXTRUDER), _T(MSG_EXTRUDER));
  7671. }
  7672. }
  7673. else {
  7674. tmp_extruder = code_value();
  7675. if (mmu_enabled && lcd_autoDepleteEnabled())
  7676. {
  7677. tmp_extruder = ad_getAlternative(tmp_extruder);
  7678. }
  7679. }
  7680. st_synchronize();
  7681. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  7682. if (mmu_enabled)
  7683. {
  7684. if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
  7685. {
  7686. puts_P(duplicate_Tcode_ignored);
  7687. }
  7688. else
  7689. {
  7690. #if defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
  7691. if (EEPROM_MMU_CUTTER_ENABLED_always == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
  7692. {
  7693. mmu_command(MmuCmd::K0 + tmp_extruder);
  7694. manage_response(true, true, MMU_UNLOAD_MOVE);
  7695. }
  7696. #endif //defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
  7697. mmu_command(MmuCmd::T0 + tmp_extruder);
  7698. manage_response(true, true, MMU_TCODE_MOVE);
  7699. mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
  7700. mmu_extruder = tmp_extruder; //filament change is finished
  7701. if (load_to_nozzle)// for single material usage with mmu
  7702. {
  7703. mmu_load_to_nozzle();
  7704. }
  7705. }
  7706. }
  7707. else
  7708. {
  7709. #ifdef SNMM
  7710. mmu_extruder = tmp_extruder;
  7711. _delay(100);
  7712. disable_e0();
  7713. disable_e1();
  7714. disable_e2();
  7715. pinMode(E_MUX0_PIN, OUTPUT);
  7716. pinMode(E_MUX1_PIN, OUTPUT);
  7717. _delay(100);
  7718. SERIAL_ECHO_START;
  7719. SERIAL_ECHO("T:");
  7720. SERIAL_ECHOLN((int)tmp_extruder);
  7721. switch (tmp_extruder) {
  7722. case 1:
  7723. WRITE(E_MUX0_PIN, HIGH);
  7724. WRITE(E_MUX1_PIN, LOW);
  7725. break;
  7726. case 2:
  7727. WRITE(E_MUX0_PIN, LOW);
  7728. WRITE(E_MUX1_PIN, HIGH);
  7729. break;
  7730. case 3:
  7731. WRITE(E_MUX0_PIN, HIGH);
  7732. WRITE(E_MUX1_PIN, HIGH);
  7733. break;
  7734. default:
  7735. WRITE(E_MUX0_PIN, LOW);
  7736. WRITE(E_MUX1_PIN, LOW);
  7737. break;
  7738. }
  7739. _delay(100);
  7740. #else //SNMM
  7741. if (tmp_extruder >= EXTRUDERS) {
  7742. SERIAL_ECHO_START;
  7743. SERIAL_ECHO('T');
  7744. SERIAL_PROTOCOLLN((int)tmp_extruder);
  7745. SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER
  7746. }
  7747. else {
  7748. #if EXTRUDERS > 1
  7749. boolean make_move = false;
  7750. #endif
  7751. if (code_seen('F')) {
  7752. #if EXTRUDERS > 1
  7753. make_move = true;
  7754. #endif
  7755. next_feedrate = code_value();
  7756. if (next_feedrate > 0.0) {
  7757. feedrate = next_feedrate;
  7758. }
  7759. }
  7760. #if EXTRUDERS > 1
  7761. if (tmp_extruder != active_extruder) {
  7762. // Save current position to return to after applying extruder offset
  7763. memcpy(destination, current_position, sizeof(destination));
  7764. // Offset extruder (only by XY)
  7765. int i;
  7766. for (i = 0; i < 2; i++) {
  7767. current_position[i] = current_position[i] -
  7768. extruder_offset[i][active_extruder] +
  7769. extruder_offset[i][tmp_extruder];
  7770. }
  7771. // Set the new active extruder and position
  7772. active_extruder = tmp_extruder;
  7773. plan_set_position_curposXYZE();
  7774. // Move to the old position if 'F' was in the parameters
  7775. if (make_move && Stopped == false) {
  7776. prepare_move();
  7777. }
  7778. }
  7779. #endif
  7780. SERIAL_ECHO_START;
  7781. SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER
  7782. SERIAL_PROTOCOLLN((int)active_extruder);
  7783. }
  7784. #endif //SNMM
  7785. }
  7786. }
  7787. } // end if(code_seen('T')) (end of T codes)
  7788. /*!
  7789. #### End of T-Codes
  7790. */
  7791. /**
  7792. *---------------------------------------------------------------------------------
  7793. *# D codes
  7794. */
  7795. else if (code_seen('D')) // D codes (debug)
  7796. {
  7797. switch((int)code_value())
  7798. {
  7799. /*!
  7800. ### D-1 - Endless Loop <a href="https://reprap.org/wiki/G-code#D-1:_Endless_Loop">D-1: Endless Loop</a>
  7801. */
  7802. case -1:
  7803. dcode__1(); break;
  7804. #ifdef DEBUG_DCODES
  7805. /*!
  7806. ### D0 - Reset <a href="https://reprap.org/wiki/G-code#D0:_Reset">D0: Reset</a>
  7807. #### Usage
  7808. D0 [ B ]
  7809. #### Parameters
  7810. - `B` - Bootloader
  7811. */
  7812. case 0:
  7813. dcode_0(); break;
  7814. /*!
  7815. *
  7816. ### D1 - Clear EEPROM and RESET <a href="https://reprap.org/wiki/G-code#D1:_Clear_EEPROM_and_RESET">D1: Clear EEPROM and RESET</a>
  7817. D1
  7818. *
  7819. */
  7820. case 1:
  7821. dcode_1(); break;
  7822. /*!
  7823. ### D2 - Read/Write RAM <a href="https://reprap.org/wiki/G-code#D2:_Read.2FWrite_RAM">D3: Read/Write RAM</a>
  7824. This command can be used without any additional parameters. It will read the entire RAM.
  7825. #### Usage
  7826. D2 [ A | C | X ]
  7827. #### Parameters
  7828. - `A` - Address (x0000-x1fff)
  7829. - `C` - Count (1-8192)
  7830. - `X` - Data
  7831. #### Notes
  7832. - The hex address needs to be lowercase without the 0 before the x
  7833. - Count is decimal
  7834. - The hex data needs to be lowercase
  7835. */
  7836. case 2:
  7837. dcode_2(); break;
  7838. #endif //DEBUG_DCODES
  7839. #if defined DEBUG_DCODE3 || defined DEBUG_DCODES
  7840. /*!
  7841. ### D3 - Read/Write EEPROM <a href="https://reprap.org/wiki/G-code#D3:_Read.2FWrite_EEPROM">D3: Read/Write EEPROM</a>
  7842. This command can be used without any additional parameters. It will read the entire eeprom.
  7843. #### Usage
  7844. D3 [ A | C | X ]
  7845. #### Parameters
  7846. - `A` - Address (x0000-x0fff)
  7847. - `C` - Count (1-4096)
  7848. - `X` - Data (hex)
  7849. #### Notes
  7850. - The hex address needs to be lowercase without the 0 before the x
  7851. - Count is decimal
  7852. - The hex data needs to be lowercase
  7853. */
  7854. case 3:
  7855. dcode_3(); break;
  7856. #endif //DEBUG_DCODE3
  7857. #ifdef DEBUG_DCODES
  7858. /*!
  7859. ### D4 - Read/Write PIN <a href="https://reprap.org/wiki/G-code#D4:_Read.2FWrite_PIN">D4: Read/Write PIN</a>
  7860. To read the digital value of a pin you need only to define the pin number.
  7861. #### Usage
  7862. D4 [ P | F | V ]
  7863. #### Parameters
  7864. - `P` - Pin (0-255)
  7865. - `F` - Function in/out (0/1)
  7866. - `V` - Value (0/1)
  7867. */
  7868. case 4:
  7869. dcode_4(); break;
  7870. #endif //DEBUG_DCODES
  7871. #if defined DEBUG_DCODE5 || defined DEBUG_DCODES
  7872. /*!
  7873. ### D5 - Read/Write FLASH <a href="https://reprap.org/wiki/G-code#D5:_Read.2FWrite_FLASH">D5: Read/Write Flash</a>
  7874. This command can be used without any additional parameters. It will read the 1kb FLASH.
  7875. #### Usage
  7876. D5 [ A | C | X | E ]
  7877. #### Parameters
  7878. - `A` - Address (x00000-x3ffff)
  7879. - `C` - Count (1-8192)
  7880. - `X` - Data (hex)
  7881. - `E` - Erase
  7882. #### Notes
  7883. - The hex address needs to be lowercase without the 0 before the x
  7884. - Count is decimal
  7885. - The hex data needs to be lowercase
  7886. */
  7887. case 5:
  7888. dcode_5(); break;
  7889. #endif //DEBUG_DCODE5
  7890. #ifdef DEBUG_DCODES
  7891. /*!
  7892. ### D6 - Read/Write external FLASH <a href="https://reprap.org/wiki/G-code#D6:_Read.2FWrite_external_FLASH">D6: Read/Write external Flash</a>
  7893. Reserved
  7894. */
  7895. case 6:
  7896. dcode_6(); break;
  7897. /*!
  7898. ### D7 - Read/Write Bootloader <a href="https://reprap.org/wiki/G-code#D7:_Read.2FWrite_Bootloader">D7: Read/Write Bootloader</a>
  7899. Reserved
  7900. */
  7901. case 7:
  7902. dcode_7(); break;
  7903. /*!
  7904. ### D8 - Read/Write PINDA <a href="https://reprap.org/wiki/G-code#D8:_Read.2FWrite_PINDA">D8: Read/Write PINDA</a>
  7905. #### Usage
  7906. D8 [ ? | ! | P | Z ]
  7907. #### Parameters
  7908. - `?` - Read PINDA temperature shift values
  7909. - `!` - Reset PINDA temperature shift values to default
  7910. - `P` - Pinda temperature [C]
  7911. - `Z` - Z Offset [mm]
  7912. */
  7913. case 8:
  7914. dcode_8(); break;
  7915. /*!
  7916. ### D9 - Read ADC <a href="https://reprap.org/wiki/G-code#D9:_Read.2FWrite_ADC">D9: Read ADC</a>
  7917. #### Usage
  7918. D9 [ I | V ]
  7919. #### Parameters
  7920. - `I` - ADC channel index
  7921. - `0` - Heater 0 temperature
  7922. - `1` - Heater 1 temperature
  7923. - `2` - Bed temperature
  7924. - `3` - PINDA temperature
  7925. - `4` - PWR voltage
  7926. - `5` - Ambient temperature
  7927. - `6` - BED voltage
  7928. - `V` Value to be written as simulated
  7929. */
  7930. case 9:
  7931. dcode_9(); break;
  7932. /*!
  7933. ### 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>
  7934. */
  7935. case 10:
  7936. dcode_10(); break;
  7937. /*!
  7938. ### D12 - Time <a href="https://reprap.org/wiki/G-code#D12:_Time">D12: Time</a>
  7939. Writes the current time in the log file.
  7940. */
  7941. #endif //DEBUG_DCODES
  7942. #ifdef HEATBED_ANALYSIS
  7943. /*!
  7944. ### D80 - Bed check <a href="https://reprap.org/wiki/G-code#D80:_Bed_check">D80: Bed check</a>
  7945. This command will log data to SD card file "mesh.txt".
  7946. #### Usage
  7947. D80 [ E | F | G | H | I | J ]
  7948. #### Parameters
  7949. - `E` - Dimension X (default 40)
  7950. - `F` - Dimention Y (default 40)
  7951. - `G` - Points X (default 40)
  7952. - `H` - Points Y (default 40)
  7953. - `I` - Offset X (default 74)
  7954. - `J` - Offset Y (default 34)
  7955. */
  7956. case 80:
  7957. dcode_80(); break;
  7958. /*!
  7959. ### D81 - Bed analysis <a href="https://reprap.org/wiki/G-code#D81:_Bed_analysis">D80: Bed analysis</a>
  7960. This command will log data to SD card file "wldsd.txt".
  7961. #### Usage
  7962. D81 [ E | F | G | H | I | J ]
  7963. #### Parameters
  7964. - `E` - Dimension X (default 40)
  7965. - `F` - Dimention Y (default 40)
  7966. - `G` - Points X (default 40)
  7967. - `H` - Points Y (default 40)
  7968. - `I` - Offset X (default 74)
  7969. - `J` - Offset Y (default 34)
  7970. */
  7971. case 81:
  7972. dcode_81(); break;
  7973. #endif //HEATBED_ANALYSIS
  7974. #ifdef DEBUG_DCODES
  7975. /*!
  7976. ### 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>
  7977. */
  7978. case 106:
  7979. dcode_106(); break;
  7980. #ifdef TMC2130
  7981. /*!
  7982. ### D2130 - Trinamic stepper controller <a href="https://reprap.org/wiki/G-code#D2130:_Trinamic_stepper_controller">D2130: Trinamic stepper controller</a>
  7983. @todo Please review by owner of the code. RepRap Wiki Gcode needs to be updated after review of owner as well.
  7984. #### Usage
  7985. D2130 [ Axis | Command | Subcommand | Value ]
  7986. #### Parameters
  7987. - Axis
  7988. - `X` - X stepper driver
  7989. - `Y` - Y stepper driver
  7990. - `Z` - Z stepper driver
  7991. - `E` - Extruder stepper driver
  7992. - Commands
  7993. - `0` - Current off
  7994. - `1` - Current on
  7995. - `+` - Single step
  7996. - `-` - Single step oposite direction
  7997. - `NNN` - Value sereval steps
  7998. - `?` - Read register
  7999. - Subcommands for read register
  8000. - `mres` - Micro step resolution. More information in datasheet '5.5.2 CHOPCONF – Chopper Configuration'
  8001. - `step` - Step
  8002. - `mscnt` - Microstep counter. More information in datasheet '5.5 Motor Driver Registers'
  8003. - `mscuract` - Actual microstep current for motor. More information in datasheet '5.5 Motor Driver Registers'
  8004. - `wave` - Microstep linearity compensation curve
  8005. - `!` - Set register
  8006. - Subcommands for set register
  8007. - `mres` - Micro step resolution
  8008. - `step` - Step
  8009. - `wave` - Microstep linearity compensation curve
  8010. - Values for set register
  8011. - `0, 180 --> 250` - Off
  8012. - `0.9 --> 1.25` - Valid values (recommended is 1.1)
  8013. - `@` - Home calibrate axis
  8014. Examples:
  8015. D2130E?wave
  8016. Print extruder microstep linearity compensation curve
  8017. D2130E!wave0
  8018. Disable extruder linearity compensation curve, (sine curve is used)
  8019. D2130E!wave220
  8020. (sin(x))^1.1 extruder microstep compensation curve used
  8021. Notes:
  8022. For more information see https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
  8023. *
  8024. */
  8025. case 2130:
  8026. dcode_2130(); break;
  8027. #endif //TMC2130
  8028. #if (defined (FILAMENT_SENSOR) && defined(PAT9125))
  8029. /*!
  8030. ### D9125 - PAT9125 filament sensor <a href="https://reprap.org/wiki/G-code#D9:_Read.2FWrite_ADC">D9125: PAT9125 filament sensor</a>
  8031. #### Usage
  8032. D9125 [ ? | ! | R | X | Y | L ]
  8033. #### Parameters
  8034. - `?` - Print values
  8035. - `!` - Print values
  8036. - `R` - Resolution. Not active in code
  8037. - `X` - X values
  8038. - `Y` - Y values
  8039. - `L` - Activate filament sensor log
  8040. */
  8041. case 9125:
  8042. dcode_9125(); break;
  8043. #endif //FILAMENT_SENSOR
  8044. #endif //DEBUG_DCODES
  8045. }
  8046. }
  8047. else
  8048. {
  8049. SERIAL_ECHO_START;
  8050. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  8051. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  8052. SERIAL_ECHOLNPGM("\"(2)");
  8053. }
  8054. KEEPALIVE_STATE(NOT_BUSY);
  8055. ClearToSend();
  8056. }
  8057. /*!
  8058. #### End of D-Codes
  8059. */
  8060. /** @defgroup GCodes G-Code List
  8061. */
  8062. // ---------------------------------------------------
  8063. void FlushSerialRequestResend()
  8064. {
  8065. //char cmdbuffer[bufindr][100]="Resend:";
  8066. MYSERIAL.flush();
  8067. printf_P(_N("%S: %ld\n%S\n"), _n("Resend"), gcode_LastN + 1, MSG_OK);
  8068. }
  8069. // Confirm the execution of a command, if sent from a serial line.
  8070. // Execution of a command from a SD card will not be confirmed.
  8071. void ClearToSend()
  8072. {
  8073. previous_millis_cmd = _millis();
  8074. if (buflen && ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)))
  8075. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  8076. }
  8077. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8078. void update_currents() {
  8079. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  8080. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  8081. float tmp_motor[3];
  8082. //SERIAL_ECHOLNPGM("Currents updated: ");
  8083. if (destination[Z_AXIS] < Z_SILENT) {
  8084. //SERIAL_ECHOLNPGM("LOW");
  8085. for (uint8_t i = 0; i < 3; i++) {
  8086. st_current_set(i, current_low[i]);
  8087. /*MYSERIAL.print(int(i));
  8088. SERIAL_ECHOPGM(": ");
  8089. MYSERIAL.println(current_low[i]);*/
  8090. }
  8091. }
  8092. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  8093. //SERIAL_ECHOLNPGM("HIGH");
  8094. for (uint8_t i = 0; i < 3; i++) {
  8095. st_current_set(i, current_high[i]);
  8096. /*MYSERIAL.print(int(i));
  8097. SERIAL_ECHOPGM(": ");
  8098. MYSERIAL.println(current_high[i]);*/
  8099. }
  8100. }
  8101. else {
  8102. for (uint8_t i = 0; i < 3; i++) {
  8103. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  8104. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  8105. st_current_set(i, tmp_motor[i]);
  8106. /*MYSERIAL.print(int(i));
  8107. SERIAL_ECHOPGM(": ");
  8108. MYSERIAL.println(tmp_motor[i]);*/
  8109. }
  8110. }
  8111. }
  8112. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8113. void get_coordinates()
  8114. {
  8115. bool seen[4]={false,false,false,false};
  8116. for(int8_t i=0; i < NUM_AXIS; i++) {
  8117. if(code_seen(axis_codes[i]))
  8118. {
  8119. bool relative = axis_relative_modes & (1 << i);
  8120. destination[i] = (float)code_value();
  8121. if (i == E_AXIS) {
  8122. float emult = extruder_multiplier[active_extruder];
  8123. if (emult != 1.) {
  8124. if (! relative) {
  8125. destination[i] -= current_position[i];
  8126. relative = true;
  8127. }
  8128. destination[i] *= emult;
  8129. }
  8130. }
  8131. if (relative)
  8132. destination[i] += current_position[i];
  8133. seen[i]=true;
  8134. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8135. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  8136. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8137. }
  8138. else destination[i] = current_position[i]; //Are these else lines really needed?
  8139. }
  8140. if(code_seen('F')) {
  8141. next_feedrate = code_value();
  8142. #ifdef MAX_SILENT_FEEDRATE
  8143. if (tmc2130_mode == TMC2130_MODE_SILENT)
  8144. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  8145. #endif //MAX_SILENT_FEEDRATE
  8146. if(next_feedrate > 0.0) feedrate = next_feedrate;
  8147. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  8148. {
  8149. // float e_max_speed =
  8150. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  8151. }
  8152. }
  8153. }
  8154. void get_arc_coordinates()
  8155. {
  8156. #ifdef SF_ARC_FIX
  8157. bool relative_mode_backup = relative_mode;
  8158. relative_mode = true;
  8159. #endif
  8160. get_coordinates();
  8161. #ifdef SF_ARC_FIX
  8162. relative_mode=relative_mode_backup;
  8163. #endif
  8164. if(code_seen('I')) {
  8165. offset[0] = code_value();
  8166. }
  8167. else {
  8168. offset[0] = 0.0;
  8169. }
  8170. if(code_seen('J')) {
  8171. offset[1] = code_value();
  8172. }
  8173. else {
  8174. offset[1] = 0.0;
  8175. }
  8176. }
  8177. void clamp_to_software_endstops(float target[3])
  8178. {
  8179. #ifdef DEBUG_DISABLE_SWLIMITS
  8180. return;
  8181. #endif //DEBUG_DISABLE_SWLIMITS
  8182. world2machine_clamp(target[0], target[1]);
  8183. // Clamp the Z coordinate.
  8184. if (min_software_endstops) {
  8185. float negative_z_offset = 0;
  8186. #ifdef ENABLE_AUTO_BED_LEVELING
  8187. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  8188. if (cs.add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + cs.add_homing[Z_AXIS];
  8189. #endif
  8190. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  8191. }
  8192. if (max_software_endstops) {
  8193. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  8194. }
  8195. }
  8196. #ifdef MESH_BED_LEVELING
  8197. 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) {
  8198. float dx = x - current_position[X_AXIS];
  8199. float dy = y - current_position[Y_AXIS];
  8200. int n_segments = 0;
  8201. if (mbl.active) {
  8202. float len = abs(dx) + abs(dy);
  8203. if (len > 0)
  8204. // Split to 3cm segments or shorter.
  8205. n_segments = int(ceil(len / 30.f));
  8206. }
  8207. if (n_segments > 1) {
  8208. // In a multi-segment move explicitly set the final target in the plan
  8209. // as the move will be recalculated in it's entirety
  8210. float gcode_target[NUM_AXIS];
  8211. gcode_target[X_AXIS] = x;
  8212. gcode_target[Y_AXIS] = y;
  8213. gcode_target[Z_AXIS] = z;
  8214. gcode_target[E_AXIS] = e;
  8215. float dz = z - current_position[Z_AXIS];
  8216. float de = e - current_position[E_AXIS];
  8217. for (int i = 1; i < n_segments; ++ i) {
  8218. float t = float(i) / float(n_segments);
  8219. plan_buffer_line(current_position[X_AXIS] + t * dx,
  8220. current_position[Y_AXIS] + t * dy,
  8221. current_position[Z_AXIS] + t * dz,
  8222. current_position[E_AXIS] + t * de,
  8223. feed_rate, extruder, gcode_target);
  8224. if (waiting_inside_plan_buffer_line_print_aborted)
  8225. return;
  8226. }
  8227. }
  8228. // The rest of the path.
  8229. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  8230. }
  8231. #endif // MESH_BED_LEVELING
  8232. void prepare_move()
  8233. {
  8234. clamp_to_software_endstops(destination);
  8235. previous_millis_cmd = _millis();
  8236. // Do not use feedmultiply for E or Z only moves
  8237. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  8238. plan_buffer_line_destinationXYZE(feedrate/60);
  8239. }
  8240. else {
  8241. #ifdef MESH_BED_LEVELING
  8242. 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);
  8243. #else
  8244. plan_buffer_line_destinationXYZE(feedrate*feedmultiply*(1./(60.f*100.f)));
  8245. #endif
  8246. }
  8247. set_current_to_destination();
  8248. }
  8249. void prepare_arc_move(char isclockwise) {
  8250. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  8251. // Trace the arc
  8252. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  8253. // As far as the parser is concerned, the position is now == target. In reality the
  8254. // motion control system might still be processing the action and the real tool position
  8255. // in any intermediate location.
  8256. for(int8_t i=0; i < NUM_AXIS; i++) {
  8257. current_position[i] = destination[i];
  8258. }
  8259. previous_millis_cmd = _millis();
  8260. }
  8261. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  8262. #if defined(FAN_PIN)
  8263. #if CONTROLLERFAN_PIN == FAN_PIN
  8264. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  8265. #endif
  8266. #endif
  8267. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  8268. unsigned long lastMotorCheck = 0;
  8269. void controllerFan()
  8270. {
  8271. if ((_millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  8272. {
  8273. lastMotorCheck = _millis();
  8274. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  8275. #if EXTRUDERS > 2
  8276. || !READ(E2_ENABLE_PIN)
  8277. #endif
  8278. #if EXTRUDER > 1
  8279. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  8280. || !READ(X2_ENABLE_PIN)
  8281. #endif
  8282. || !READ(E1_ENABLE_PIN)
  8283. #endif
  8284. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  8285. {
  8286. lastMotor = _millis(); //... set time to NOW so the fan will turn on
  8287. }
  8288. if ((_millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  8289. {
  8290. digitalWrite(CONTROLLERFAN_PIN, 0);
  8291. analogWrite(CONTROLLERFAN_PIN, 0);
  8292. }
  8293. else
  8294. {
  8295. // allows digital or PWM fan output to be used (see M42 handling)
  8296. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  8297. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  8298. }
  8299. }
  8300. }
  8301. #endif
  8302. #ifdef TEMP_STAT_LEDS
  8303. static bool blue_led = false;
  8304. static bool red_led = false;
  8305. static uint32_t stat_update = 0;
  8306. void handle_status_leds(void) {
  8307. float max_temp = 0.0;
  8308. if(_millis() > stat_update) {
  8309. stat_update += 500; // Update every 0.5s
  8310. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  8311. max_temp = max(max_temp, degHotend(cur_extruder));
  8312. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  8313. }
  8314. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  8315. max_temp = max(max_temp, degTargetBed());
  8316. max_temp = max(max_temp, degBed());
  8317. #endif
  8318. if((max_temp > 55.0) && (red_led == false)) {
  8319. digitalWrite(STAT_LED_RED, 1);
  8320. digitalWrite(STAT_LED_BLUE, 0);
  8321. red_led = true;
  8322. blue_led = false;
  8323. }
  8324. if((max_temp < 54.0) && (blue_led == false)) {
  8325. digitalWrite(STAT_LED_RED, 0);
  8326. digitalWrite(STAT_LED_BLUE, 1);
  8327. red_led = false;
  8328. blue_led = true;
  8329. }
  8330. }
  8331. }
  8332. #endif
  8333. #ifdef SAFETYTIMER
  8334. /**
  8335. * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
  8336. *
  8337. * Full screen blocking notification message is shown after heater turning off.
  8338. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  8339. * damage print.
  8340. *
  8341. * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
  8342. */
  8343. static void handleSafetyTimer()
  8344. {
  8345. #if (EXTRUDERS > 1)
  8346. #error Implemented only for one extruder.
  8347. #endif //(EXTRUDERS > 1)
  8348. if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
  8349. {
  8350. safetyTimer.stop();
  8351. }
  8352. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  8353. {
  8354. safetyTimer.start();
  8355. }
  8356. else if (safetyTimer.expired(farm_mode?FARM_DEFAULT_SAFETYTIMER_TIME_ms:safetytimer_inactive_time))
  8357. {
  8358. setTargetBed(0);
  8359. setAllTargetHotends(0);
  8360. lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED
  8361. }
  8362. }
  8363. #endif //SAFETYTIMER
  8364. #ifdef IR_SENSOR_ANALOG
  8365. #define FS_CHECK_COUNT 16
  8366. /// Switching mechanism of the fsensor type.
  8367. /// Called from 2 spots which have a very similar behavior
  8368. /// 1: ClFsensorPCB::_Old -> ClFsensorPCB::_Rev04 and print _i("FS v0.4 or newer")
  8369. /// 2: ClFsensorPCB::_Rev04 -> oFsensorPCB=ClFsensorPCB::_Old and print _i("FS v0.3 or older")
  8370. void manage_inactivity_IR_ANALOG_Check(uint16_t &nFSCheckCount, ClFsensorPCB isVersion, ClFsensorPCB switchTo, const char *statusLineTxt_P) {
  8371. bool bTemp = (!CHECK_ALL_HEATERS);
  8372. bTemp = bTemp && (menu_menu == lcd_status_screen);
  8373. bTemp = bTemp && ((oFsensorPCB == isVersion) || (oFsensorPCB == ClFsensorPCB::_Undef));
  8374. bTemp = bTemp && fsensor_enabled;
  8375. if (bTemp) {
  8376. nFSCheckCount++;
  8377. if (nFSCheckCount > FS_CHECK_COUNT) {
  8378. nFSCheckCount = 0; // not necessary
  8379. oFsensorPCB = switchTo;
  8380. eeprom_update_byte((uint8_t *)EEPROM_FSENSOR_PCB, (uint8_t)oFsensorPCB);
  8381. printf_IRSensorAnalogBoardChange();
  8382. lcd_setstatuspgm(statusLineTxt_P);
  8383. }
  8384. } else {
  8385. nFSCheckCount = 0;
  8386. }
  8387. }
  8388. #endif
  8389. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  8390. {
  8391. #ifdef FILAMENT_SENSOR
  8392. bool bInhibitFlag;
  8393. #ifdef IR_SENSOR_ANALOG
  8394. static uint16_t nFSCheckCount=0;
  8395. #endif // IR_SENSOR_ANALOG
  8396. if (mmu_enabled == false)
  8397. {
  8398. //-// if (mcode_in_progress != 600) //M600 not in progress
  8399. #ifdef PAT9125
  8400. bInhibitFlag=(menu_menu==lcd_menu_extruder_info); // Support::ExtruderInfo menu active
  8401. #endif // PAT9125
  8402. #ifdef IR_SENSOR
  8403. bInhibitFlag=(menu_menu==lcd_menu_show_sensors_state); // Support::SensorInfo menu active
  8404. #ifdef IR_SENSOR_ANALOG
  8405. bInhibitFlag=bInhibitFlag||bMenuFSDetect; // Settings::HWsetup::FSdetect menu active
  8406. #endif // IR_SENSOR_ANALOG
  8407. #endif // IR_SENSOR
  8408. if ((mcode_in_progress != 600) && (eFilamentAction != FilamentAction::AutoLoad) && (!bInhibitFlag) && (menu_menu != lcd_move_e)) //M600 not in progress, preHeat @ autoLoad menu not active, Support::ExtruderInfo/SensorInfo menu not active
  8409. {
  8410. if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LcdCommands::Layer1Cal) && ! eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE))
  8411. {
  8412. #ifdef IR_SENSOR_ANALOG
  8413. static uint16_t minVolt = Voltage2Raw(6.F), maxVolt = 0;
  8414. // detect min-max, some long term sliding window for filtration may be added
  8415. // avoiding floating point operations, thus computing in raw
  8416. if( current_voltage_raw_IR > maxVolt )maxVolt = current_voltage_raw_IR;
  8417. if( current_voltage_raw_IR < minVolt )minVolt = current_voltage_raw_IR;
  8418. #if 0 // Start: IR Sensor debug info
  8419. { // debug print
  8420. static uint16_t lastVolt = ~0U;
  8421. if( current_voltage_raw_IR != lastVolt ){
  8422. printf_P(PSTR("fs volt=%4.2fV (min=%4.2f max=%4.2f)\n"), Raw2Voltage(current_voltage_raw_IR), Raw2Voltage(minVolt), Raw2Voltage(maxVolt) );
  8423. lastVolt = current_voltage_raw_IR;
  8424. }
  8425. }
  8426. #endif // End: IR Sensor debug info
  8427. //! The trouble is, I can hold the filament in the hole in such a way, that it creates the exact voltage
  8428. //! to be detected as the new fsensor
  8429. //! We can either fake it by extending the detection window to a looooong time
  8430. //! or do some other countermeasures
  8431. //! what we want to detect:
  8432. //! if minvolt gets below ~0.3V, it means there is an old fsensor
  8433. //! if maxvolt gets above 4.6V, it means we either have an old fsensor or broken cables/fsensor
  8434. //! So I'm waiting for a situation, when minVolt gets to range <0, 1.5> and maxVolt gets into range <3.0, 5>
  8435. //! 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
  8436. if( minVolt >= IRsensor_Ldiode_TRESHOLD && minVolt <= IRsensor_Lmax_TRESHOLD
  8437. && maxVolt >= IRsensor_Hmin_TRESHOLD && maxVolt <= IRsensor_Hopen_TRESHOLD
  8438. ){
  8439. manage_inactivity_IR_ANALOG_Check(nFSCheckCount, ClFsensorPCB::_Old, ClFsensorPCB::_Rev04, _i("FS v0.4 or newer") ); ////c=18
  8440. }
  8441. //! 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
  8442. //! 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
  8443. //! we need to have both voltages detected correctly to allow switching back to the old fsensor.
  8444. else if( minVolt < IRsensor_Ldiode_TRESHOLD
  8445. && maxVolt > IRsensor_Hopen_TRESHOLD && maxVolt <= IRsensor_VMax_TRESHOLD
  8446. ){
  8447. manage_inactivity_IR_ANALOG_Check(nFSCheckCount, ClFsensorPCB::_Rev04, oFsensorPCB=ClFsensorPCB::_Old, _i("FS v0.3 or older")); ////c=18
  8448. }
  8449. #endif // IR_SENSOR_ANALOG
  8450. if (fsensor_check_autoload())
  8451. {
  8452. #ifdef PAT9125
  8453. fsensor_autoload_check_stop();
  8454. #endif //PAT9125
  8455. //-// if (degHotend0() > EXTRUDE_MINTEMP)
  8456. if(0)
  8457. {
  8458. Sound_MakeCustom(50,1000,false);
  8459. loading_flag = true;
  8460. enquecommand_front_P((PSTR("M701")));
  8461. }
  8462. else
  8463. {
  8464. /*
  8465. lcd_update_enable(false);
  8466. show_preheat_nozzle_warning();
  8467. lcd_update_enable(true);
  8468. */
  8469. eFilamentAction=FilamentAction::AutoLoad;
  8470. bFilamentFirstRun=false;
  8471. if(target_temperature[0]>=EXTRUDE_MINTEMP){
  8472. bFilamentPreheatState=true;
  8473. // mFilamentItem(target_temperature[0],target_temperature_bed);
  8474. menu_submenu(mFilamentItemForce);
  8475. } else {
  8476. menu_submenu(lcd_generic_preheat_menu);
  8477. lcd_timeoutToStatus.start();
  8478. }
  8479. }
  8480. }
  8481. }
  8482. else
  8483. {
  8484. #ifdef PAT9125
  8485. fsensor_autoload_check_stop();
  8486. #endif //PAT9125
  8487. if (fsensor_enabled && !saved_printing)
  8488. fsensor_update();
  8489. }
  8490. }
  8491. }
  8492. #endif //FILAMENT_SENSOR
  8493. #ifdef SAFETYTIMER
  8494. handleSafetyTimer();
  8495. #endif //SAFETYTIMER
  8496. #if defined(KILL_PIN) && KILL_PIN > -1
  8497. static int killCount = 0; // make the inactivity button a bit less responsive
  8498. const int KILL_DELAY = 10000;
  8499. #endif
  8500. if(buflen < (BUFSIZE-1)){
  8501. get_command();
  8502. }
  8503. if( (_millis() - previous_millis_cmd) > max_inactive_time )
  8504. if(max_inactive_time)
  8505. kill(_n("Inactivity Shutdown"), 4);
  8506. if(stepper_inactive_time) {
  8507. if( (_millis() - previous_millis_cmd) > stepper_inactive_time )
  8508. {
  8509. if(blocks_queued() == false && ignore_stepper_queue == false) {
  8510. disable_x();
  8511. disable_y();
  8512. disable_z();
  8513. disable_e0();
  8514. disable_e1();
  8515. disable_e2();
  8516. }
  8517. }
  8518. }
  8519. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  8520. if (chdkActive && (_millis() - chdkHigh > CHDK_DELAY))
  8521. {
  8522. chdkActive = false;
  8523. WRITE(CHDK, LOW);
  8524. }
  8525. #endif
  8526. #if defined(KILL_PIN) && KILL_PIN > -1
  8527. // Check if the kill button was pressed and wait just in case it was an accidental
  8528. // key kill key press
  8529. // -------------------------------------------------------------------------------
  8530. if( 0 == READ(KILL_PIN) )
  8531. {
  8532. killCount++;
  8533. }
  8534. else if (killCount > 0)
  8535. {
  8536. killCount--;
  8537. }
  8538. // Exceeded threshold and we can confirm that it was not accidental
  8539. // KILL the machine
  8540. // ----------------------------------------------------------------
  8541. if ( killCount >= KILL_DELAY)
  8542. {
  8543. kill(NULL, 5);
  8544. }
  8545. #endif
  8546. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  8547. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  8548. #endif
  8549. #ifdef EXTRUDER_RUNOUT_PREVENT
  8550. if( (_millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  8551. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  8552. {
  8553. bool oldstatus=READ(E0_ENABLE_PIN);
  8554. enable_e0();
  8555. float oldepos=current_position[E_AXIS];
  8556. float oldedes=destination[E_AXIS];
  8557. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  8558. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS],
  8559. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS], active_extruder);
  8560. current_position[E_AXIS]=oldepos;
  8561. destination[E_AXIS]=oldedes;
  8562. plan_set_e_position(oldepos);
  8563. previous_millis_cmd=_millis();
  8564. st_synchronize();
  8565. WRITE(E0_ENABLE_PIN,oldstatus);
  8566. }
  8567. #endif
  8568. #ifdef TEMP_STAT_LEDS
  8569. handle_status_leds();
  8570. #endif
  8571. check_axes_activity();
  8572. mmu_loop();
  8573. }
  8574. void kill(const char *full_screen_message, unsigned char id)
  8575. {
  8576. printf_P(_N("KILL: %d\n"), id);
  8577. //return;
  8578. cli(); // Stop interrupts
  8579. disable_heater();
  8580. disable_x();
  8581. // SERIAL_ECHOLNPGM("kill - disable Y");
  8582. disable_y();
  8583. poweroff_z();
  8584. disable_e0();
  8585. disable_e1();
  8586. disable_e2();
  8587. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  8588. pinMode(PS_ON_PIN,INPUT);
  8589. #endif
  8590. SERIAL_ERROR_START;
  8591. SERIAL_ERRORLNRPGM(_n("Printer halted. kill() called!"));////MSG_ERR_KILLED
  8592. if (full_screen_message != NULL) {
  8593. SERIAL_ERRORLNRPGM(full_screen_message);
  8594. lcd_display_message_fullscreen_P(full_screen_message);
  8595. } else {
  8596. LCD_ALERTMESSAGERPGM(_n("KILLED. "));////MSG_KILLED
  8597. }
  8598. // FMC small patch to update the LCD before ending
  8599. sei(); // enable interrupts
  8600. for ( int i=5; i--; lcd_update(0))
  8601. {
  8602. _delay(200);
  8603. }
  8604. cli(); // disable interrupts
  8605. suicide();
  8606. while(1)
  8607. {
  8608. #ifdef WATCHDOG
  8609. wdt_reset();
  8610. #endif //WATCHDOG
  8611. /* Intentionally left empty */
  8612. } // Wait for reset
  8613. }
  8614. // Stop: Emergency stop used by overtemp functions which allows recovery
  8615. //
  8616. // In addition to stopping the print, this prevents subsequent G[0-3] commands to be
  8617. // processed via USB (using "Stopped") until the print is resumed via M999 or
  8618. // manually started from scratch with the LCD.
  8619. //
  8620. // Note that the current instruction is completely discarded, so resuming from Stop()
  8621. // will introduce either over/under extrusion on the current segment, and will not
  8622. // survive a power panic. Switching Stop() to use the pause machinery instead (with
  8623. // the addition of disabling the headers) could allow true recovery in the future.
  8624. void Stop()
  8625. {
  8626. disable_heater();
  8627. if(Stopped == false) {
  8628. Stopped = true;
  8629. lcd_print_stop();
  8630. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  8631. SERIAL_ERROR_START;
  8632. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  8633. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  8634. }
  8635. }
  8636. bool IsStopped() { return Stopped; };
  8637. void finishAndDisableSteppers()
  8638. {
  8639. st_synchronize();
  8640. disable_x();
  8641. disable_y();
  8642. disable_z();
  8643. disable_e0();
  8644. disable_e1();
  8645. disable_e2();
  8646. #ifndef LA_NOCOMPAT
  8647. // Steppers are disabled both when a print is stopped and also via M84 (which is additionally
  8648. // checked-for to indicate a complete file), so abuse this function to reset the LA detection
  8649. // state for the next print.
  8650. la10c_reset();
  8651. #endif
  8652. }
  8653. #ifdef FAST_PWM_FAN
  8654. void setPwmFrequency(uint8_t pin, int val)
  8655. {
  8656. val &= 0x07;
  8657. switch(digitalPinToTimer(pin))
  8658. {
  8659. #if defined(TCCR0A)
  8660. case TIMER0A:
  8661. case TIMER0B:
  8662. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  8663. // TCCR0B |= val;
  8664. break;
  8665. #endif
  8666. #if defined(TCCR1A)
  8667. case TIMER1A:
  8668. case TIMER1B:
  8669. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  8670. // TCCR1B |= val;
  8671. break;
  8672. #endif
  8673. #if defined(TCCR2)
  8674. case TIMER2:
  8675. case TIMER2:
  8676. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  8677. TCCR2 |= val;
  8678. break;
  8679. #endif
  8680. #if defined(TCCR2A)
  8681. case TIMER2A:
  8682. case TIMER2B:
  8683. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  8684. TCCR2B |= val;
  8685. break;
  8686. #endif
  8687. #if defined(TCCR3A)
  8688. case TIMER3A:
  8689. case TIMER3B:
  8690. case TIMER3C:
  8691. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  8692. TCCR3B |= val;
  8693. break;
  8694. #endif
  8695. #if defined(TCCR4A)
  8696. case TIMER4A:
  8697. case TIMER4B:
  8698. case TIMER4C:
  8699. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  8700. TCCR4B |= val;
  8701. break;
  8702. #endif
  8703. #if defined(TCCR5A)
  8704. case TIMER5A:
  8705. case TIMER5B:
  8706. case TIMER5C:
  8707. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  8708. TCCR5B |= val;
  8709. break;
  8710. #endif
  8711. }
  8712. }
  8713. #endif //FAST_PWM_FAN
  8714. //! @brief Get and validate extruder number
  8715. //!
  8716. //! If it is not specified, active_extruder is returned in parameter extruder.
  8717. //! @param [in] code M code number
  8718. //! @param [out] extruder
  8719. //! @return error
  8720. //! @retval true Invalid extruder specified in T code
  8721. //! @retval false Valid extruder specified in T code, or not specifiead
  8722. bool setTargetedHotend(int code, uint8_t &extruder)
  8723. {
  8724. extruder = active_extruder;
  8725. if(code_seen('T')) {
  8726. extruder = code_value();
  8727. if(extruder >= EXTRUDERS) {
  8728. SERIAL_ECHO_START;
  8729. switch(code){
  8730. case 104:
  8731. SERIAL_ECHORPGM(_n("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER
  8732. break;
  8733. case 105:
  8734. SERIAL_ECHORPGM(_n("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER
  8735. break;
  8736. case 109:
  8737. SERIAL_ECHORPGM(_n("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER
  8738. break;
  8739. case 218:
  8740. SERIAL_ECHORPGM(_n("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER
  8741. break;
  8742. case 221:
  8743. SERIAL_ECHORPGM(_n("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER
  8744. break;
  8745. }
  8746. SERIAL_PROTOCOLLN((int)extruder);
  8747. return true;
  8748. }
  8749. }
  8750. return false;
  8751. }
  8752. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  8753. {
  8754. 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)
  8755. {
  8756. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  8757. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  8758. }
  8759. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  8760. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  8761. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  8762. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  8763. total_filament_used = 0;
  8764. }
  8765. float calculate_extruder_multiplier(float diameter) {
  8766. float out = 1.f;
  8767. if (cs.volumetric_enabled && diameter > 0.f) {
  8768. float area = M_PI * diameter * diameter * 0.25;
  8769. out = 1.f / area;
  8770. }
  8771. if (extrudemultiply != 100)
  8772. out *= float(extrudemultiply) * 0.01f;
  8773. return out;
  8774. }
  8775. void calculate_extruder_multipliers() {
  8776. extruder_multiplier[0] = calculate_extruder_multiplier(cs.filament_size[0]);
  8777. #if EXTRUDERS > 1
  8778. extruder_multiplier[1] = calculate_extruder_multiplier(cs.filament_size[1]);
  8779. #if EXTRUDERS > 2
  8780. extruder_multiplier[2] = calculate_extruder_multiplier(cs.filament_size[2]);
  8781. #endif
  8782. #endif
  8783. }
  8784. void delay_keep_alive(unsigned int ms)
  8785. {
  8786. for (;;) {
  8787. manage_heater();
  8788. // Manage inactivity, but don't disable steppers on timeout.
  8789. manage_inactivity(true);
  8790. lcd_update(0);
  8791. if (ms == 0)
  8792. break;
  8793. else if (ms >= 50) {
  8794. _delay(50);
  8795. ms -= 50;
  8796. } else {
  8797. _delay(ms);
  8798. ms = 0;
  8799. }
  8800. }
  8801. }
  8802. static void wait_for_heater(long codenum, uint8_t extruder) {
  8803. if (!degTargetHotend(extruder))
  8804. return;
  8805. #ifdef TEMP_RESIDENCY_TIME
  8806. long residencyStart;
  8807. residencyStart = -1;
  8808. /* continue to loop until we have reached the target temp
  8809. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  8810. cancel_heatup = false;
  8811. while ((!cancel_heatup) && ((residencyStart == -1) ||
  8812. (residencyStart >= 0 && (((unsigned int)(_millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  8813. #else
  8814. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  8815. #endif //TEMP_RESIDENCY_TIME
  8816. if ((_millis() - codenum) > 1000UL)
  8817. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  8818. if (!farm_mode) {
  8819. SERIAL_PROTOCOLPGM("T:");
  8820. SERIAL_PROTOCOL_F(degHotend(extruder), 1);
  8821. SERIAL_PROTOCOLPGM(" E:");
  8822. SERIAL_PROTOCOL((int)extruder);
  8823. #ifdef TEMP_RESIDENCY_TIME
  8824. SERIAL_PROTOCOLPGM(" W:");
  8825. if (residencyStart > -1)
  8826. {
  8827. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (_millis() - residencyStart)) / 1000UL;
  8828. SERIAL_PROTOCOLLN(codenum);
  8829. }
  8830. else
  8831. {
  8832. SERIAL_PROTOCOLLN('?');
  8833. }
  8834. }
  8835. #else
  8836. SERIAL_PROTOCOLLN();
  8837. #endif
  8838. codenum = _millis();
  8839. }
  8840. manage_heater();
  8841. manage_inactivity(true); //do not disable steppers
  8842. lcd_update(0);
  8843. #ifdef TEMP_RESIDENCY_TIME
  8844. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  8845. or when current temp falls outside the hysteresis after target temp was reached */
  8846. if ((residencyStart == -1 && target_direction && (degHotend(extruder) >= (degTargetHotend(extruder) - TEMP_WINDOW))) ||
  8847. (residencyStart == -1 && !target_direction && (degHotend(extruder) <= (degTargetHotend(extruder) + TEMP_WINDOW))) ||
  8848. (residencyStart > -1 && labs(degHotend(extruder) - degTargetHotend(extruder)) > TEMP_HYSTERESIS))
  8849. {
  8850. residencyStart = _millis();
  8851. }
  8852. #endif //TEMP_RESIDENCY_TIME
  8853. }
  8854. }
  8855. void check_babystep()
  8856. {
  8857. int babystep_z = eeprom_read_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
  8858. s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)));
  8859. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  8860. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  8861. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  8862. eeprom_write_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
  8863. s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),
  8864. babystep_z);
  8865. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  8866. lcd_update_enable(true);
  8867. }
  8868. }
  8869. #ifdef HEATBED_ANALYSIS
  8870. void d_setup()
  8871. {
  8872. pinMode(D_DATACLOCK, INPUT_PULLUP);
  8873. pinMode(D_DATA, INPUT_PULLUP);
  8874. pinMode(D_REQUIRE, OUTPUT);
  8875. digitalWrite(D_REQUIRE, HIGH);
  8876. }
  8877. float d_ReadData()
  8878. {
  8879. int digit[13];
  8880. String mergeOutput;
  8881. float output;
  8882. digitalWrite(D_REQUIRE, HIGH);
  8883. for (int i = 0; i<13; i++)
  8884. {
  8885. for (int j = 0; j < 4; j++)
  8886. {
  8887. while (digitalRead(D_DATACLOCK) == LOW) {}
  8888. while (digitalRead(D_DATACLOCK) == HIGH) {}
  8889. bitWrite(digit[i], j, digitalRead(D_DATA));
  8890. }
  8891. }
  8892. digitalWrite(D_REQUIRE, LOW);
  8893. mergeOutput = "";
  8894. output = 0;
  8895. for (int r = 5; r <= 10; r++) //Merge digits
  8896. {
  8897. mergeOutput += digit[r];
  8898. }
  8899. output = mergeOutput.toFloat();
  8900. if (digit[4] == 8) //Handle sign
  8901. {
  8902. output *= -1;
  8903. }
  8904. for (int i = digit[11]; i > 0; i--) //Handle floating point
  8905. {
  8906. output /= 10;
  8907. }
  8908. return output;
  8909. }
  8910. void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  8911. int t1 = 0;
  8912. int t_delay = 0;
  8913. int digit[13];
  8914. int m;
  8915. char str[3];
  8916. //String mergeOutput;
  8917. char mergeOutput[15];
  8918. float output;
  8919. int mesh_point = 0; //index number of calibration point
  8920. 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
  8921. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  8922. float mesh_home_z_search = 4;
  8923. float measure_z_height = 0.2f;
  8924. float row[x_points_num];
  8925. int ix = 0;
  8926. int iy = 0;
  8927. const char* filename_wldsd = "mesh.txt";
  8928. char data_wldsd[x_points_num * 7 + 1]; //6 chars(" -A.BCD")for each measurement + null
  8929. char numb_wldsd[8]; // (" -A.BCD" + null)
  8930. #ifdef MICROMETER_LOGGING
  8931. d_setup();
  8932. #endif //MICROMETER_LOGGING
  8933. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  8934. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  8935. unsigned int custom_message_type_old = custom_message_type;
  8936. unsigned int custom_message_state_old = custom_message_state;
  8937. custom_message_type = CustomMsg::MeshBedLeveling;
  8938. custom_message_state = (x_points_num * y_points_num) + 10;
  8939. lcd_update(1);
  8940. //mbl.reset();
  8941. babystep_undo();
  8942. card.openFile(filename_wldsd, false);
  8943. /*destination[Z_AXIS] = mesh_home_z_search;
  8944. //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  8945. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  8946. for(int8_t i=0; i < NUM_AXIS; i++) {
  8947. current_position[i] = destination[i];
  8948. }
  8949. st_synchronize();
  8950. */
  8951. destination[Z_AXIS] = measure_z_height;
  8952. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  8953. for(int8_t i=0; i < NUM_AXIS; i++) {
  8954. current_position[i] = destination[i];
  8955. }
  8956. st_synchronize();
  8957. /*int l_feedmultiply = */setup_for_endstop_move(false);
  8958. SERIAL_PROTOCOLPGM("Num X,Y: ");
  8959. SERIAL_PROTOCOL(x_points_num);
  8960. SERIAL_PROTOCOLPGM(",");
  8961. SERIAL_PROTOCOL(y_points_num);
  8962. SERIAL_PROTOCOLPGM("\nZ search height: ");
  8963. SERIAL_PROTOCOL(mesh_home_z_search);
  8964. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  8965. SERIAL_PROTOCOL(x_dimension);
  8966. SERIAL_PROTOCOLPGM(",");
  8967. SERIAL_PROTOCOL(y_dimension);
  8968. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  8969. while (mesh_point != x_points_num * y_points_num) {
  8970. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  8971. iy = mesh_point / x_points_num;
  8972. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  8973. float z0 = 0.f;
  8974. /*destination[Z_AXIS] = mesh_home_z_search;
  8975. //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  8976. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  8977. for(int8_t i=0; i < NUM_AXIS; i++) {
  8978. current_position[i] = destination[i];
  8979. }
  8980. st_synchronize();*/
  8981. //current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  8982. //current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  8983. destination[X_AXIS] = ix * (x_dimension / (x_points_num - 1)) + shift_x;
  8984. destination[Y_AXIS] = iy * (y_dimension / (y_points_num - 1)) + shift_y;
  8985. mesh_plan_buffer_line_destinationXYZE(XY_AXIS_FEEDRATE/6);
  8986. set_current_to_destination();
  8987. st_synchronize();
  8988. // printf_P(PSTR("X = %f; Y= %f \n"), current_position[X_AXIS], current_position[Y_AXIS]);
  8989. delay_keep_alive(1000);
  8990. #ifdef MICROMETER_LOGGING
  8991. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  8992. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  8993. //strcat(data_wldsd, numb_wldsd);
  8994. //MYSERIAL.println(data_wldsd);
  8995. //delay(1000);
  8996. //delay(3000);
  8997. //t1 = millis();
  8998. //while (digitalRead(D_DATACLOCK) == LOW) {}
  8999. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  9000. memset(digit, 0, sizeof(digit));
  9001. //cli();
  9002. digitalWrite(D_REQUIRE, LOW);
  9003. for (int i = 0; i<13; i++)
  9004. {
  9005. //t1 = millis();
  9006. for (int j = 0; j < 4; j++)
  9007. {
  9008. while (digitalRead(D_DATACLOCK) == LOW) {}
  9009. while (digitalRead(D_DATACLOCK) == HIGH) {}
  9010. //printf_P(PSTR("Done %d\n"), j);
  9011. bitWrite(digit[i], j, digitalRead(D_DATA));
  9012. }
  9013. //t_delay = (millis() - t1);
  9014. //SERIAL_PROTOCOLPGM(" ");
  9015. //SERIAL_PROTOCOL_F(t_delay, 5);
  9016. //SERIAL_PROTOCOLPGM(" ");
  9017. }
  9018. //sei();
  9019. digitalWrite(D_REQUIRE, HIGH);
  9020. mergeOutput[0] = '\0';
  9021. output = 0;
  9022. for (int r = 5; r <= 10; r++) //Merge digits
  9023. {
  9024. sprintf(str, "%d", digit[r]);
  9025. strcat(mergeOutput, str);
  9026. }
  9027. output = atof(mergeOutput);
  9028. if (digit[4] == 8) //Handle sign
  9029. {
  9030. output *= -1;
  9031. }
  9032. for (int i = digit[11]; i > 0; i--) //Handle floating point
  9033. {
  9034. output *= 0.1;
  9035. }
  9036. //output = d_ReadData();
  9037. //row[ix] = current_position[Z_AXIS];
  9038. //row[ix] = d_ReadData();
  9039. row[ix] = output;
  9040. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  9041. memset(data_wldsd, 0, sizeof(data_wldsd));
  9042. for (int i = 0; i < x_points_num; i++) {
  9043. SERIAL_PROTOCOLPGM(" ");
  9044. SERIAL_PROTOCOL_F(row[i], 5);
  9045. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9046. dtostrf(row[i], 7, 3, numb_wldsd);
  9047. strcat(data_wldsd, numb_wldsd);
  9048. }
  9049. card.write_command(data_wldsd);
  9050. SERIAL_PROTOCOLPGM("\n");
  9051. }
  9052. custom_message_state--;
  9053. mesh_point++;
  9054. lcd_update(1);
  9055. }
  9056. #endif //MICROMETER_LOGGING
  9057. card.closefile();
  9058. //clean_up_after_endstop_move(l_feedmultiply);
  9059. }
  9060. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  9061. int t1 = 0;
  9062. int t_delay = 0;
  9063. int digit[13];
  9064. int m;
  9065. char str[3];
  9066. //String mergeOutput;
  9067. char mergeOutput[15];
  9068. float output;
  9069. int mesh_point = 0; //index number of calibration point
  9070. 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
  9071. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  9072. float mesh_home_z_search = 4;
  9073. float row[x_points_num];
  9074. int ix = 0;
  9075. int iy = 0;
  9076. const char* filename_wldsd = "wldsd.txt";
  9077. char data_wldsd[70];
  9078. char numb_wldsd[10];
  9079. d_setup();
  9080. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  9081. // We don't know where we are! HOME!
  9082. // Push the commands to the front of the message queue in the reverse order!
  9083. // There shall be always enough space reserved for these commands.
  9084. repeatcommand_front(); // repeat G80 with all its parameters
  9085. enquecommand_front_P(G28W0);
  9086. enquecommand_front_P((PSTR("G1 Z5")));
  9087. return;
  9088. }
  9089. unsigned int custom_message_type_old = custom_message_type;
  9090. unsigned int custom_message_state_old = custom_message_state;
  9091. custom_message_type = CustomMsg::MeshBedLeveling;
  9092. custom_message_state = (x_points_num * y_points_num) + 10;
  9093. lcd_update(1);
  9094. mbl.reset();
  9095. babystep_undo();
  9096. card.openFile(filename_wldsd, false);
  9097. current_position[Z_AXIS] = mesh_home_z_search;
  9098. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
  9099. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  9100. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  9101. int l_feedmultiply = setup_for_endstop_move(false);
  9102. SERIAL_PROTOCOLPGM("Num X,Y: ");
  9103. SERIAL_PROTOCOL(x_points_num);
  9104. SERIAL_PROTOCOLPGM(",");
  9105. SERIAL_PROTOCOL(y_points_num);
  9106. SERIAL_PROTOCOLPGM("\nZ search height: ");
  9107. SERIAL_PROTOCOL(mesh_home_z_search);
  9108. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  9109. SERIAL_PROTOCOL(x_dimension);
  9110. SERIAL_PROTOCOLPGM(",");
  9111. SERIAL_PROTOCOL(y_dimension);
  9112. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  9113. while (mesh_point != x_points_num * y_points_num) {
  9114. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  9115. iy = mesh_point / x_points_num;
  9116. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  9117. float z0 = 0.f;
  9118. current_position[Z_AXIS] = mesh_home_z_search;
  9119. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
  9120. st_synchronize();
  9121. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  9122. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  9123. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
  9124. st_synchronize();
  9125. 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
  9126. break;
  9127. card.closefile();
  9128. }
  9129. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9130. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  9131. //strcat(data_wldsd, numb_wldsd);
  9132. //MYSERIAL.println(data_wldsd);
  9133. //_delay(1000);
  9134. //_delay(3000);
  9135. //t1 = _millis();
  9136. //while (digitalRead(D_DATACLOCK) == LOW) {}
  9137. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  9138. memset(digit, 0, sizeof(digit));
  9139. //cli();
  9140. digitalWrite(D_REQUIRE, LOW);
  9141. for (int i = 0; i<13; i++)
  9142. {
  9143. //t1 = _millis();
  9144. for (int j = 0; j < 4; j++)
  9145. {
  9146. while (digitalRead(D_DATACLOCK) == LOW) {}
  9147. while (digitalRead(D_DATACLOCK) == HIGH) {}
  9148. bitWrite(digit[i], j, digitalRead(D_DATA));
  9149. }
  9150. //t_delay = (_millis() - t1);
  9151. //SERIAL_PROTOCOLPGM(" ");
  9152. //SERIAL_PROTOCOL_F(t_delay, 5);
  9153. //SERIAL_PROTOCOLPGM(" ");
  9154. }
  9155. //sei();
  9156. digitalWrite(D_REQUIRE, HIGH);
  9157. mergeOutput[0] = '\0';
  9158. output = 0;
  9159. for (int r = 5; r <= 10; r++) //Merge digits
  9160. {
  9161. sprintf(str, "%d", digit[r]);
  9162. strcat(mergeOutput, str);
  9163. }
  9164. output = atof(mergeOutput);
  9165. if (digit[4] == 8) //Handle sign
  9166. {
  9167. output *= -1;
  9168. }
  9169. for (int i = digit[11]; i > 0; i--) //Handle floating point
  9170. {
  9171. output *= 0.1;
  9172. }
  9173. //output = d_ReadData();
  9174. //row[ix] = current_position[Z_AXIS];
  9175. memset(data_wldsd, 0, sizeof(data_wldsd));
  9176. for (int i = 0; i <3; i++) {
  9177. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9178. dtostrf(current_position[i], 8, 5, numb_wldsd);
  9179. strcat(data_wldsd, numb_wldsd);
  9180. strcat(data_wldsd, ";");
  9181. }
  9182. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9183. dtostrf(output, 8, 5, numb_wldsd);
  9184. strcat(data_wldsd, numb_wldsd);
  9185. //strcat(data_wldsd, ";");
  9186. card.write_command(data_wldsd);
  9187. //row[ix] = d_ReadData();
  9188. row[ix] = output; // current_position[Z_AXIS];
  9189. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  9190. for (int i = 0; i < x_points_num; i++) {
  9191. SERIAL_PROTOCOLPGM(" ");
  9192. SERIAL_PROTOCOL_F(row[i], 5);
  9193. }
  9194. SERIAL_PROTOCOLPGM("\n");
  9195. }
  9196. custom_message_state--;
  9197. mesh_point++;
  9198. lcd_update(1);
  9199. }
  9200. card.closefile();
  9201. clean_up_after_endstop_move(l_feedmultiply);
  9202. }
  9203. #endif //HEATBED_ANALYSIS
  9204. #ifndef PINDA_THERMISTOR
  9205. static void temp_compensation_start() {
  9206. custom_message_type = CustomMsg::TempCompPreheat;
  9207. custom_message_state = PINDA_HEAT_T + 1;
  9208. lcd_update(2);
  9209. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  9210. current_position[E_AXIS] -= default_retraction;
  9211. }
  9212. plan_buffer_line_curposXYZE(400, active_extruder);
  9213. current_position[X_AXIS] = PINDA_PREHEAT_X;
  9214. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  9215. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  9216. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  9217. st_synchronize();
  9218. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  9219. for (int i = 0; i < PINDA_HEAT_T; i++) {
  9220. delay_keep_alive(1000);
  9221. custom_message_state = PINDA_HEAT_T - i;
  9222. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  9223. else lcd_update(1);
  9224. }
  9225. custom_message_type = CustomMsg::Status;
  9226. custom_message_state = 0;
  9227. }
  9228. static void temp_compensation_apply() {
  9229. int i_add;
  9230. int z_shift = 0;
  9231. float z_shift_mm;
  9232. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  9233. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  9234. i_add = (target_temperature_bed - 60) / 10;
  9235. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  9236. z_shift_mm = z_shift / cs.axis_steps_per_unit[Z_AXIS];
  9237. }else {
  9238. //interpolation
  9239. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / cs.axis_steps_per_unit[Z_AXIS];
  9240. }
  9241. printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
  9242. 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);
  9243. st_synchronize();
  9244. plan_set_z_position(current_position[Z_AXIS]);
  9245. }
  9246. else {
  9247. //we have no temp compensation data
  9248. }
  9249. }
  9250. #endif //ndef PINDA_THERMISTOR
  9251. float temp_comp_interpolation(float inp_temperature) {
  9252. //cubic spline interpolation
  9253. int n, i, j;
  9254. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  9255. int shift[10];
  9256. int temp_C[10];
  9257. n = 6; //number of measured points
  9258. shift[0] = 0;
  9259. for (i = 0; i < n; i++) {
  9260. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  9261. temp_C[i] = 50 + i * 10; //temperature in C
  9262. #ifdef PINDA_THERMISTOR
  9263. constexpr int start_compensating_temp = 35;
  9264. temp_C[i] = start_compensating_temp + i * 5; //temperature in degrees C
  9265. #ifdef SUPERPINDA_SUPPORT
  9266. static_assert(start_compensating_temp >= PINDA_MINTEMP, "Temperature compensation start point is lower than PINDA_MINTEMP.");
  9267. #endif //SUPERPINDA_SUPPORT
  9268. #else
  9269. temp_C[i] = 50 + i * 10; //temperature in C
  9270. #endif
  9271. x[i] = (float)temp_C[i];
  9272. f[i] = (float)shift[i];
  9273. }
  9274. if (inp_temperature < x[0]) return 0;
  9275. for (i = n - 1; i>0; i--) {
  9276. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  9277. h[i - 1] = x[i] - x[i - 1];
  9278. }
  9279. //*********** formation of h, s , f matrix **************
  9280. for (i = 1; i<n - 1; i++) {
  9281. m[i][i] = 2 * (h[i - 1] + h[i]);
  9282. if (i != 1) {
  9283. m[i][i - 1] = h[i - 1];
  9284. m[i - 1][i] = h[i - 1];
  9285. }
  9286. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  9287. }
  9288. //*********** forward elimination **************
  9289. for (i = 1; i<n - 2; i++) {
  9290. temp = (m[i + 1][i] / m[i][i]);
  9291. for (j = 1; j <= n - 1; j++)
  9292. m[i + 1][j] -= temp*m[i][j];
  9293. }
  9294. //*********** backward substitution *********
  9295. for (i = n - 2; i>0; i--) {
  9296. sum = 0;
  9297. for (j = i; j <= n - 2; j++)
  9298. sum += m[i][j] * s[j];
  9299. s[i] = (m[i][n - 1] - sum) / m[i][i];
  9300. }
  9301. for (i = 0; i<n - 1; i++)
  9302. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  9303. a = (s[i + 1] - s[i]) / (6 * h[i]);
  9304. b = s[i] / 2;
  9305. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  9306. d = f[i];
  9307. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  9308. }
  9309. return sum;
  9310. }
  9311. #ifdef PINDA_THERMISTOR
  9312. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  9313. {
  9314. if (!eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE)) return 0;
  9315. if (!calibration_status_pinda()) return 0;
  9316. return temp_comp_interpolation(temperature_pinda) / cs.axis_steps_per_unit[Z_AXIS];
  9317. }
  9318. #endif //PINDA_THERMISTOR
  9319. void long_pause() //long pause print
  9320. {
  9321. st_synchronize();
  9322. start_pause_print = _millis();
  9323. // Stop heaters
  9324. setAllTargetHotends(0);
  9325. //lift z
  9326. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  9327. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  9328. plan_buffer_line_curposXYZE(15);
  9329. //Move XY to side
  9330. current_position[X_AXIS] = X_PAUSE_POS;
  9331. current_position[Y_AXIS] = Y_PAUSE_POS;
  9332. plan_buffer_line_curposXYZE(50);
  9333. // Turn off the print fan
  9334. fanSpeed = 0;
  9335. }
  9336. void serialecho_temperatures() {
  9337. float tt = degHotend(active_extruder);
  9338. SERIAL_PROTOCOLPGM("T:");
  9339. SERIAL_PROTOCOL(tt);
  9340. SERIAL_PROTOCOLPGM(" E:");
  9341. SERIAL_PROTOCOL((int)active_extruder);
  9342. SERIAL_PROTOCOLPGM(" B:");
  9343. SERIAL_PROTOCOL_F(degBed(), 1);
  9344. SERIAL_PROTOCOLLN();
  9345. }
  9346. #ifdef UVLO_SUPPORT
  9347. void uvlo_drain_reset()
  9348. {
  9349. // burn all that residual power
  9350. wdt_enable(WDTO_1S);
  9351. WRITE(BEEPER,HIGH);
  9352. lcd_clear();
  9353. lcd_puts_at_P(0, 1, MSG_POWERPANIC_DETECTED);
  9354. while(1);
  9355. }
  9356. void uvlo_()
  9357. {
  9358. unsigned long time_start = _millis();
  9359. bool sd_print = card.sdprinting;
  9360. // Conserve power as soon as possible.
  9361. #ifdef LCD_BL_PIN
  9362. backlightMode = BACKLIGHT_MODE_DIM;
  9363. backlightLevel_LOW = 0;
  9364. backlight_update();
  9365. #endif //LCD_BL_PIN
  9366. disable_x();
  9367. disable_y();
  9368. #ifdef TMC2130
  9369. tmc2130_set_current_h(Z_AXIS, 20);
  9370. tmc2130_set_current_r(Z_AXIS, 20);
  9371. tmc2130_set_current_h(E_AXIS, 20);
  9372. tmc2130_set_current_r(E_AXIS, 20);
  9373. #endif //TMC2130
  9374. // Stop all heaters
  9375. uint8_t saved_target_temperature_bed = target_temperature_bed;
  9376. uint16_t saved_target_temperature_ext = target_temperature[active_extruder];
  9377. setAllTargetHotends(0);
  9378. setTargetBed(0);
  9379. // Calculate the file position, from which to resume this print.
  9380. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  9381. {
  9382. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  9383. sd_position -= sdlen_planner;
  9384. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  9385. sd_position -= sdlen_cmdqueue;
  9386. if (sd_position < 0) sd_position = 0;
  9387. }
  9388. // save the global state at planning time
  9389. uint16_t feedrate_bckp;
  9390. if (current_block)
  9391. {
  9392. memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
  9393. feedrate_bckp = current_block->gcode_feedrate;
  9394. }
  9395. else
  9396. {
  9397. saved_target[0] = SAVED_TARGET_UNSET;
  9398. feedrate_bckp = feedrate;
  9399. }
  9400. // From this point on and up to the print recovery, Z should not move during X/Y travels and
  9401. // should be controlled precisely. Reset the MBL status before planner_abort_hard in order to
  9402. // get the physical Z for further manipulation.
  9403. bool mbl_was_active = mbl.active;
  9404. mbl.active = false;
  9405. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  9406. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  9407. // are in action.
  9408. planner_abort_hard();
  9409. // Store the print logical Z position, which we need to recover (a slight error here would be
  9410. // recovered on the next Gcode instruction, while a physical location error would not)
  9411. float logical_z = current_position[Z_AXIS];
  9412. if(mbl_was_active) logical_z -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  9413. eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z, logical_z);
  9414. // Store the print E position before we lose track
  9415. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), current_position[E_AXIS]);
  9416. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, (axis_relative_modes & E_AXIS_MASK)?0:1);
  9417. // Clean the input command queue, inhibit serial processing using saved_printing
  9418. cmdqueue_reset();
  9419. card.sdprinting = false;
  9420. saved_printing = true;
  9421. // Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
  9422. // command queues are empty, SD card printing is disabled, usb is inhibited.
  9423. sei();
  9424. // Retract
  9425. current_position[E_AXIS] -= default_retraction;
  9426. plan_buffer_line_curposXYZE(95);
  9427. st_synchronize();
  9428. disable_e0();
  9429. // Read out the current Z motor microstep counter to move the axis up towards
  9430. // a full step before powering off. NOTE: we need to ensure to schedule more
  9431. // than "dropsegments" steps in order to move (this is always the case here
  9432. // due to UVLO_Z_AXIS_SHIFT being used)
  9433. uint16_t z_res = tmc2130_get_res(Z_AXIS);
  9434. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9435. current_position[Z_AXIS] += float(1024 - z_microsteps)
  9436. / (z_res * cs.axis_steps_per_unit[Z_AXIS])
  9437. + UVLO_Z_AXIS_SHIFT;
  9438. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
  9439. st_synchronize();
  9440. poweroff_z();
  9441. // Write the file position.
  9442. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  9443. // Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
  9444. for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
  9445. uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  9446. uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
  9447. // Scale the z value to 1u resolution.
  9448. int16_t v = mbl_was_active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
  9449. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  9450. }
  9451. // Write the _final_ Z position and motor microstep counter (unused).
  9452. eeprom_update_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z, current_position[Z_AXIS]);
  9453. z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9454. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  9455. // Store the current position.
  9456. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  9457. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  9458. // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
  9459. eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDRATE, feedrate_bckp);
  9460. eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY, feedmultiply);
  9461. eeprom_update_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND, saved_target_temperature_ext);
  9462. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, saved_target_temperature_bed);
  9463. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  9464. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
  9465. #if EXTRUDERS > 1
  9466. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
  9467. #if EXTRUDERS > 2
  9468. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
  9469. #endif
  9470. #endif
  9471. eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
  9472. // Store the saved target
  9473. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4), saved_target[X_AXIS]);
  9474. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4), saved_target[Y_AXIS]);
  9475. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4), saved_target[Z_AXIS]);
  9476. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4), saved_target[E_AXIS]);
  9477. #ifdef LIN_ADVANCE
  9478. eeprom_update_float((float*)(EEPROM_UVLO_LA_K), extruder_advance_K);
  9479. #endif
  9480. // Finaly store the "power outage" flag.
  9481. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  9482. // Increment power failure counter
  9483. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  9484. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  9485. printf_P(_N("UVLO - end %d\n"), _millis() - time_start);
  9486. WRITE(BEEPER,HIGH);
  9487. // All is set: with all the juice left, try to move extruder away to detach the nozzle completely from the print
  9488. poweron_z();
  9489. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  9490. plan_buffer_line_curposXYZE(500);
  9491. st_synchronize();
  9492. wdt_enable(WDTO_1S);
  9493. while(1);
  9494. }
  9495. void uvlo_tiny()
  9496. {
  9497. unsigned long time_start = _millis();
  9498. // Conserve power as soon as possible.
  9499. disable_x();
  9500. disable_y();
  9501. disable_e0();
  9502. #ifdef TMC2130
  9503. tmc2130_set_current_h(Z_AXIS, 20);
  9504. tmc2130_set_current_r(Z_AXIS, 20);
  9505. #endif //TMC2130
  9506. // Stop all heaters
  9507. setAllTargetHotends(0);
  9508. setTargetBed(0);
  9509. // When power is interrupted on the _first_ recovery an attempt can be made to raise the
  9510. // extruder, causing the Z position to change. Similarly, when recovering, the Z position is
  9511. // lowered. In such cases we cannot just save Z, we need to re-align the steppers to a fullstep.
  9512. // Disable MBL (if not already) to work with physical coordinates.
  9513. mbl.active = false;
  9514. planner_abort_hard();
  9515. // Allow for small roundoffs to be ignored
  9516. if(abs(current_position[Z_AXIS] - eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))) >= 1.f/cs.axis_steps_per_unit[Z_AXIS])
  9517. {
  9518. // Clean the input command queue, inhibit serial processing using saved_printing
  9519. cmdqueue_reset();
  9520. card.sdprinting = false;
  9521. saved_printing = true;
  9522. // Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
  9523. // command queues are empty, SD card printing is disabled, usb is inhibited.
  9524. sei();
  9525. // The axis was moved: adjust Z as done on a regular UVLO.
  9526. uint16_t z_res = tmc2130_get_res(Z_AXIS);
  9527. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9528. current_position[Z_AXIS] += float(1024 - z_microsteps)
  9529. / (z_res * cs.axis_steps_per_unit[Z_AXIS])
  9530. + UVLO_TINY_Z_AXIS_SHIFT;
  9531. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
  9532. st_synchronize();
  9533. poweroff_z();
  9534. // Update Z position
  9535. eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  9536. // Update the _final_ Z motor microstep counter (unused).
  9537. z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9538. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  9539. }
  9540. // Update the the "power outage" flag.
  9541. eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
  9542. // Increment power failure counter
  9543. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  9544. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  9545. printf_P(_N("UVLO_TINY - end %d\n"), _millis() - time_start);
  9546. uvlo_drain_reset();
  9547. }
  9548. #endif //UVLO_SUPPORT
  9549. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  9550. void setup_fan_interrupt() {
  9551. //INT7
  9552. DDRE &= ~(1 << 7); //input pin
  9553. PORTE &= ~(1 << 7); //no internal pull-up
  9554. //start with sensing rising edge
  9555. EICRB &= ~(1 << 6);
  9556. EICRB |= (1 << 7);
  9557. //enable INT7 interrupt
  9558. EIMSK |= (1 << 7);
  9559. }
  9560. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  9561. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  9562. ISR(INT7_vect) {
  9563. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  9564. #ifdef FAN_SOFT_PWM
  9565. if (!fan_measuring || (fanSpeedSoftPwm < MIN_PRINT_FAN_SPEED)) return;
  9566. #else //FAN_SOFT_PWM
  9567. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  9568. #endif //FAN_SOFT_PWM
  9569. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  9570. t_fan_rising_edge = millis_nc();
  9571. }
  9572. else { //interrupt was triggered by falling edge
  9573. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  9574. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  9575. }
  9576. }
  9577. EICRB ^= (1 << 6); //change edge
  9578. }
  9579. #endif
  9580. #ifdef UVLO_SUPPORT
  9581. void setup_uvlo_interrupt() {
  9582. DDRE &= ~(1 << 4); //input pin
  9583. PORTE &= ~(1 << 4); //no internal pull-up
  9584. // sensing falling edge
  9585. EICRB |= (1 << 0);
  9586. EICRB &= ~(1 << 1);
  9587. // enable INT4 interrupt
  9588. EIMSK |= (1 << 4);
  9589. // check if power was lost before we armed the interrupt
  9590. if(!(PINE & (1 << 4)) && eeprom_read_byte((uint8_t*)EEPROM_UVLO))
  9591. {
  9592. SERIAL_ECHOLNPGM("INT4");
  9593. uvlo_drain_reset();
  9594. }
  9595. }
  9596. ISR(INT4_vect) {
  9597. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  9598. SERIAL_ECHOLNPGM("INT4");
  9599. //fire normal uvlo only in case where EEPROM_UVLO is 0 or if IS_SD_PRINTING is 1.
  9600. if(PRINTER_ACTIVE && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))) uvlo_();
  9601. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
  9602. }
  9603. void recover_print(uint8_t automatic) {
  9604. char cmd[30];
  9605. lcd_update_enable(true);
  9606. lcd_update(2);
  9607. lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20
  9608. // Recover position, temperatures and extrude_multipliers
  9609. bool mbl_was_active = recover_machine_state_after_power_panic();
  9610. // Lift the print head 25mm, first to avoid collisions with oozed material with the print,
  9611. // and second also so one may remove the excess priming material.
  9612. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1)
  9613. {
  9614. sprintf_P(cmd, PSTR("G1 Z%.3f F800"), current_position[Z_AXIS] + 25);
  9615. enquecommand(cmd);
  9616. }
  9617. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine
  9618. // transformation status. G28 will not touch Z when MBL is off.
  9619. enquecommand_P(PSTR("G28 X Y"));
  9620. // Set the target bed and nozzle temperatures and wait.
  9621. sprintf_P(cmd, PSTR("M104 S%d"), target_temperature[active_extruder]);
  9622. enquecommand(cmd);
  9623. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  9624. enquecommand(cmd);
  9625. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  9626. enquecommand(cmd);
  9627. enquecommand_P(PSTR("M83")); //E axis relative mode
  9628. // If not automatically recoreverd (long power loss)
  9629. if(automatic == 0){
  9630. //Extrude some filament to stabilize the pressure
  9631. enquecommand_P(PSTR("G1 E5 F120"));
  9632. // Retract to be consistent with a short pause
  9633. sprintf_P(cmd, PSTR("G1 E%-0.3f F2700"), default_retraction);
  9634. enquecommand(cmd);
  9635. }
  9636. 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]);
  9637. // Restart the print.
  9638. restore_print_from_eeprom(mbl_was_active);
  9639. printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
  9640. }
  9641. bool recover_machine_state_after_power_panic()
  9642. {
  9643. // 1) Preset some dummy values for the XY axes
  9644. current_position[X_AXIS] = 0;
  9645. current_position[Y_AXIS] = 0;
  9646. // 2) Restore the mesh bed leveling offsets, but not the MBL status.
  9647. // This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
  9648. bool mbl_was_active = false;
  9649. for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
  9650. uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  9651. uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
  9652. // Scale the z value to 10u resolution.
  9653. int16_t v;
  9654. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
  9655. if (v != 0)
  9656. mbl_was_active = true;
  9657. mbl.z_values[iy][ix] = float(v) * 0.001f;
  9658. }
  9659. // Recover the physical coordinate of the Z axis at the time of the power panic.
  9660. // The current position after power panic is moved to the next closest 0th full step.
  9661. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z));
  9662. // Recover last E axis position
  9663. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  9664. memcpy(destination, current_position, sizeof(destination));
  9665. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  9666. print_world_coordinates();
  9667. // 3) Initialize the logical to physical coordinate system transformation.
  9668. world2machine_initialize();
  9669. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  9670. // print_mesh_bed_leveling_table();
  9671. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  9672. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  9673. babystep_load();
  9674. // 5) Set the physical positions from the logical positions using the world2machine transformation
  9675. // This is only done to inizialize Z/E axes with physical locations, since X/Y are unknown.
  9676. plan_set_position_curposXYZE();
  9677. // 6) Power up the Z motors, mark their positions as known.
  9678. axis_known_position[Z_AXIS] = true;
  9679. enable_z();
  9680. // 7) Recover the target temperatures.
  9681. target_temperature[active_extruder] = eeprom_read_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND);
  9682. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  9683. // 8) Recover extruder multipilers
  9684. extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
  9685. #if EXTRUDERS > 1
  9686. extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
  9687. #if EXTRUDERS > 2
  9688. extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
  9689. #endif
  9690. #endif
  9691. extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
  9692. // 9) Recover the saved target
  9693. saved_target[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4));
  9694. saved_target[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4));
  9695. saved_target[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4));
  9696. saved_target[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4));
  9697. #ifdef LIN_ADVANCE
  9698. extruder_advance_K = eeprom_read_float((float*)EEPROM_UVLO_LA_K);
  9699. #endif
  9700. return mbl_was_active;
  9701. }
  9702. void restore_print_from_eeprom(bool mbl_was_active) {
  9703. int feedrate_rec;
  9704. int feedmultiply_rec;
  9705. uint8_t fan_speed_rec;
  9706. char cmd[30];
  9707. char filename[13];
  9708. uint8_t depth = 0;
  9709. char dir_name[9];
  9710. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  9711. feedrate_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDRATE);
  9712. feedmultiply_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY);
  9713. SERIAL_ECHOPGM("Feedrate:");
  9714. MYSERIAL.print(feedrate_rec);
  9715. SERIAL_ECHOPGM(", feedmultiply:");
  9716. MYSERIAL.println(feedmultiply_rec);
  9717. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  9718. MYSERIAL.println(int(depth));
  9719. for (int i = 0; i < depth; i++) {
  9720. for (int j = 0; j < 8; j++) {
  9721. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  9722. }
  9723. dir_name[8] = '\0';
  9724. MYSERIAL.println(dir_name);
  9725. strcpy(dir_names[i], dir_name);
  9726. card.chdir(dir_name);
  9727. }
  9728. for (int i = 0; i < 8; i++) {
  9729. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  9730. }
  9731. filename[8] = '\0';
  9732. MYSERIAL.print(filename);
  9733. strcat_P(filename, PSTR(".gco"));
  9734. sprintf_P(cmd, PSTR("M23 %s"), filename);
  9735. enquecommand(cmd);
  9736. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  9737. SERIAL_ECHOPGM("Position read from eeprom:");
  9738. MYSERIAL.println(position);
  9739. // Move to the XY print position in logical coordinates, where the print has been killed, but
  9740. // without shifting Z along the way. This requires performing the move without mbl.
  9741. sprintf_P(cmd, PSTR("G1 X%f Y%f F3000"),
  9742. eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0)),
  9743. eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4)));
  9744. enquecommand(cmd);
  9745. // Enable MBL and switch to logical positioning
  9746. if (mbl_was_active)
  9747. enquecommand_P(PSTR("PRUSA MBL V1"));
  9748. // Move the Z axis down to the print, in logical coordinates.
  9749. sprintf_P(cmd, PSTR("G1 Z%f"), eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)));
  9750. enquecommand(cmd);
  9751. // Unretract.
  9752. sprintf_P(cmd, PSTR("G1 E%0.3f F2700"), default_retraction);
  9753. enquecommand(cmd);
  9754. // Recover final E axis position and mode
  9755. float pos_e = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  9756. sprintf_P(cmd, PSTR("G92 E"));
  9757. dtostrf(pos_e, 6, 3, cmd + strlen(cmd));
  9758. enquecommand(cmd);
  9759. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  9760. enquecommand_P(PSTR("M82")); //E axis abslute mode
  9761. // Set the feedrates saved at the power panic.
  9762. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  9763. enquecommand(cmd);
  9764. sprintf_P(cmd, PSTR("M220 S%d"), feedmultiply_rec);
  9765. enquecommand(cmd);
  9766. // Set the fan speed saved at the power panic.
  9767. strcpy_P(cmd, PSTR("M106 S"));
  9768. strcat(cmd, itostr3(int(fan_speed_rec)));
  9769. enquecommand(cmd);
  9770. // Set a position in the file.
  9771. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  9772. enquecommand(cmd);
  9773. enquecommand_P(PSTR("G4 S0"));
  9774. enquecommand_P(PSTR("PRUSA uvlo"));
  9775. }
  9776. #endif //UVLO_SUPPORT
  9777. //! @brief Immediately stop print moves
  9778. //!
  9779. //! Immediately stop print moves, save current extruder temperature and position to RAM.
  9780. //! If printing from sd card, position in file is saved.
  9781. //! If printing from USB, line number is saved.
  9782. //!
  9783. //! @param z_move
  9784. //! @param e_move
  9785. void stop_and_save_print_to_ram(float z_move, float e_move)
  9786. {
  9787. if (saved_printing) return;
  9788. #if 0
  9789. unsigned char nplanner_blocks;
  9790. #endif
  9791. unsigned char nlines;
  9792. uint16_t sdlen_planner;
  9793. uint16_t sdlen_cmdqueue;
  9794. cli();
  9795. if (card.sdprinting) {
  9796. #if 0
  9797. nplanner_blocks = number_of_blocks();
  9798. #endif
  9799. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  9800. sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  9801. saved_sdpos -= sdlen_planner;
  9802. sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  9803. saved_sdpos -= sdlen_cmdqueue;
  9804. saved_printing_type = PRINTING_TYPE_SD;
  9805. }
  9806. else if (is_usb_printing) { //reuse saved_sdpos for storing line number
  9807. saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
  9808. //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
  9809. nlines = planner_calc_sd_length(); //number of lines of commands in planner
  9810. saved_sdpos -= nlines;
  9811. saved_sdpos -= buflen; //number of blocks in cmd buffer
  9812. saved_printing_type = PRINTING_TYPE_USB;
  9813. }
  9814. else {
  9815. saved_printing_type = PRINTING_TYPE_NONE;
  9816. //not sd printing nor usb printing
  9817. }
  9818. #if 0
  9819. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  9820. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  9821. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  9822. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  9823. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  9824. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  9825. //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  9826. {
  9827. card.setIndex(saved_sdpos);
  9828. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  9829. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  9830. MYSERIAL.print(char(card.get()));
  9831. SERIAL_ECHOLNPGM("Content of command buffer: ");
  9832. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  9833. MYSERIAL.print(char(card.get()));
  9834. SERIAL_ECHOLNPGM("End of command buffer");
  9835. }
  9836. {
  9837. // Print the content of the planner buffer, line by line:
  9838. card.setIndex(saved_sdpos);
  9839. int8_t iline = 0;
  9840. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  9841. SERIAL_ECHOPGM("Planner line (from file): ");
  9842. MYSERIAL.print(int(iline), DEC);
  9843. SERIAL_ECHOPGM(", length: ");
  9844. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  9845. SERIAL_ECHOPGM(", steps: (");
  9846. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  9847. SERIAL_ECHOPGM(",");
  9848. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  9849. SERIAL_ECHOPGM(",");
  9850. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  9851. SERIAL_ECHOPGM(",");
  9852. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  9853. SERIAL_ECHOPGM("), events: ");
  9854. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  9855. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  9856. MYSERIAL.print(char(card.get()));
  9857. }
  9858. }
  9859. {
  9860. // Print the content of the command buffer, line by line:
  9861. int8_t iline = 0;
  9862. union {
  9863. struct {
  9864. char lo;
  9865. char hi;
  9866. } lohi;
  9867. uint16_t value;
  9868. } sdlen_single;
  9869. int _bufindr = bufindr;
  9870. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  9871. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  9872. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  9873. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  9874. }
  9875. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  9876. MYSERIAL.print(int(iline), DEC);
  9877. SERIAL_ECHOPGM(", type: ");
  9878. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  9879. SERIAL_ECHOPGM(", len: ");
  9880. MYSERIAL.println(sdlen_single.value, DEC);
  9881. // Print the content of the buffer line.
  9882. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  9883. SERIAL_ECHOPGM("Buffer line (from file): ");
  9884. MYSERIAL.println(int(iline), DEC);
  9885. for (; sdlen_single.value > 0; -- sdlen_single.value)
  9886. MYSERIAL.print(char(card.get()));
  9887. if (-- _buflen == 0)
  9888. break;
  9889. // First skip the current command ID and iterate up to the end of the string.
  9890. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  9891. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  9892. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  9893. // If the end of the buffer was empty,
  9894. if (_bufindr == sizeof(cmdbuffer)) {
  9895. // skip to the start and find the nonzero command.
  9896. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  9897. }
  9898. }
  9899. }
  9900. #endif
  9901. // save the global state at planning time
  9902. if (current_block)
  9903. {
  9904. memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
  9905. saved_feedrate2 = current_block->gcode_feedrate;
  9906. }
  9907. else
  9908. {
  9909. saved_target[0] = SAVED_TARGET_UNSET;
  9910. saved_feedrate2 = feedrate;
  9911. }
  9912. planner_abort_hard(); //abort printing
  9913. memcpy(saved_pos, current_position, sizeof(saved_pos));
  9914. saved_feedmultiply2 = feedmultiply; //save feedmultiply
  9915. saved_active_extruder = active_extruder; //save active_extruder
  9916. saved_extruder_temperature = degTargetHotend(active_extruder);
  9917. saved_extruder_relative_mode = axis_relative_modes & E_AXIS_MASK;
  9918. saved_fanSpeed = fanSpeed;
  9919. cmdqueue_reset(); //empty cmdqueue
  9920. card.sdprinting = false;
  9921. // card.closefile();
  9922. saved_printing = true;
  9923. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  9924. st_reset_timer();
  9925. sei();
  9926. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  9927. #if 1
  9928. // Rather than calling plan_buffer_line directly, push the move into the command queue so that
  9929. // the caller can continue processing. This is used during powerpanic to save the state as we
  9930. // move away from the print.
  9931. char buf[48];
  9932. if(e_move)
  9933. {
  9934. // First unretract (relative extrusion)
  9935. if(!saved_extruder_relative_mode){
  9936. enquecommand(PSTR("M83"), true);
  9937. }
  9938. //retract 45mm/s
  9939. // A single sprintf may not be faster, but is definitely 20B shorter
  9940. // than a sequence of commands building the string piece by piece
  9941. // A snprintf would have been a safer call, but since it is not used
  9942. // in the whole program, its implementation would bring more bytes to the total size
  9943. // The behavior of dtostrf 8,3 should be roughly the same as %-0.3
  9944. sprintf_P(buf, PSTR("G1 E%-0.3f F2700"), e_move);
  9945. enquecommand(buf, false);
  9946. }
  9947. if(z_move)
  9948. {
  9949. // Then lift Z axis
  9950. sprintf_P(buf, PSTR("G1 Z%-0.3f F%-0.3f"), saved_pos[Z_AXIS] + z_move, homing_feedrate[Z_AXIS]);
  9951. enquecommand(buf, false);
  9952. }
  9953. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  9954. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  9955. repeatcommand_front();
  9956. #else
  9957. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS] + z_move, saved_pos[E_AXIS] + e_move, homing_feedrate[Z_AXIS], active_extruder);
  9958. st_synchronize(); //wait moving
  9959. memcpy(current_position, saved_pos, sizeof(saved_pos));
  9960. memcpy(destination, current_position, sizeof(destination));
  9961. #endif
  9962. waiting_inside_plan_buffer_line_print_aborted = true; //unroll the stack
  9963. }
  9964. }
  9965. //! @brief Restore print from ram
  9966. //!
  9967. //! Restore print saved by stop_and_save_print_to_ram(). Is blocking, restores
  9968. //! print fan speed, waits for extruder temperature restore, then restores
  9969. //! position and continues print moves.
  9970. //!
  9971. //! Internally lcd_update() is called by wait_for_heater().
  9972. //!
  9973. //! @param e_move
  9974. void restore_print_from_ram_and_continue(float e_move)
  9975. {
  9976. if (!saved_printing) return;
  9977. #ifdef FANCHECK
  9978. // Do not allow resume printing if fans are still not ok
  9979. if ((fan_check_error != EFCE_OK) && (fan_check_error != EFCE_FIXED)) return;
  9980. if (fan_check_error == EFCE_FIXED) fan_check_error = EFCE_OK; //reenable serial stream processing if printing from usb
  9981. #endif
  9982. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  9983. // current_position[axis] = st_get_position_mm(axis);
  9984. active_extruder = saved_active_extruder; //restore active_extruder
  9985. fanSpeed = saved_fanSpeed;
  9986. if (degTargetHotend(saved_active_extruder) != saved_extruder_temperature)
  9987. {
  9988. setTargetHotendSafe(saved_extruder_temperature, saved_active_extruder);
  9989. heating_status = 1;
  9990. wait_for_heater(_millis(), saved_active_extruder);
  9991. heating_status = 2;
  9992. }
  9993. axis_relative_modes ^= (-saved_extruder_relative_mode ^ axis_relative_modes) & E_AXIS_MASK;
  9994. float e = saved_pos[E_AXIS] - e_move;
  9995. plan_set_e_position(e);
  9996. #ifdef FANCHECK
  9997. fans_check_enabled = false;
  9998. #endif
  9999. //first move print head in XY to the saved position:
  10000. 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);
  10001. //then move Z
  10002. 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);
  10003. //and finaly unretract (35mm/s)
  10004. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  10005. st_synchronize();
  10006. #ifdef FANCHECK
  10007. fans_check_enabled = true;
  10008. #endif
  10009. // restore original feedrate/feedmultiply _after_ restoring the extruder position
  10010. feedrate = saved_feedrate2;
  10011. feedmultiply = saved_feedmultiply2;
  10012. memcpy(current_position, saved_pos, sizeof(saved_pos));
  10013. memcpy(destination, current_position, sizeof(destination));
  10014. if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
  10015. card.setIndex(saved_sdpos);
  10016. sdpos_atomic = saved_sdpos;
  10017. card.sdprinting = true;
  10018. }
  10019. else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
  10020. gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
  10021. serial_count = 0;
  10022. FlushSerialRequestResend();
  10023. }
  10024. else {
  10025. //not sd printing nor usb printing
  10026. }
  10027. lcd_setstatuspgm(_T(WELCOME_MSG));
  10028. saved_printing_type = PRINTING_TYPE_NONE;
  10029. saved_printing = false;
  10030. waiting_inside_plan_buffer_line_print_aborted = true; //unroll the stack
  10031. }
  10032. // Cancel the state related to a currently saved print
  10033. void cancel_saved_printing()
  10034. {
  10035. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  10036. saved_target[0] = SAVED_TARGET_UNSET;
  10037. saved_printing_type = PRINTING_TYPE_NONE;
  10038. saved_printing = false;
  10039. }
  10040. void print_world_coordinates()
  10041. {
  10042. printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  10043. }
  10044. void print_physical_coordinates()
  10045. {
  10046. 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));
  10047. }
  10048. void print_mesh_bed_leveling_table()
  10049. {
  10050. SERIAL_ECHOPGM("mesh bed leveling: ");
  10051. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  10052. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  10053. MYSERIAL.print(mbl.z_values[y][x], 3);
  10054. SERIAL_ECHO(' ');
  10055. }
  10056. SERIAL_ECHOLN();
  10057. }
  10058. uint16_t print_time_remaining() {
  10059. uint16_t print_t = PRINT_TIME_REMAINING_INIT;
  10060. #ifdef TMC2130
  10061. if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
  10062. else print_t = print_time_remaining_silent;
  10063. #else
  10064. print_t = print_time_remaining_normal;
  10065. #endif //TMC2130
  10066. if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100ul * print_t / feedmultiply;
  10067. return print_t;
  10068. }
  10069. uint8_t calc_percent_done()
  10070. {
  10071. //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
  10072. uint8_t percent_done = 0;
  10073. #ifdef TMC2130
  10074. if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
  10075. percent_done = print_percent_done_normal;
  10076. }
  10077. else if (print_percent_done_silent <= 100) {
  10078. percent_done = print_percent_done_silent;
  10079. }
  10080. #else
  10081. if (print_percent_done_normal <= 100) {
  10082. percent_done = print_percent_done_normal;
  10083. }
  10084. #endif //TMC2130
  10085. else {
  10086. percent_done = card.percentDone();
  10087. }
  10088. return percent_done;
  10089. }
  10090. static void print_time_remaining_init()
  10091. {
  10092. print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
  10093. print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
  10094. print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  10095. print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  10096. }
  10097. void load_filament_final_feed()
  10098. {
  10099. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED;
  10100. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FINAL);
  10101. }
  10102. //! @brief Wait for user to check the state
  10103. //! @par nozzle_temp nozzle temperature to load filament
  10104. void M600_check_state(float nozzle_temp)
  10105. {
  10106. lcd_change_fil_state = 0;
  10107. while (lcd_change_fil_state != 1)
  10108. {
  10109. lcd_change_fil_state = 0;
  10110. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10111. lcd_alright();
  10112. KEEPALIVE_STATE(IN_HANDLER);
  10113. switch(lcd_change_fil_state)
  10114. {
  10115. // Filament failed to load so load it again
  10116. case 2:
  10117. if (mmu_enabled)
  10118. mmu_M600_load_filament(false, nozzle_temp); //nonautomatic load; change to "wrong filament loaded" option?
  10119. else
  10120. M600_load_filament_movements();
  10121. break;
  10122. // Filament loaded properly but color is not clear
  10123. case 3:
  10124. st_synchronize();
  10125. load_filament_final_feed();
  10126. lcd_loading_color();
  10127. st_synchronize();
  10128. break;
  10129. // Everything good
  10130. default:
  10131. lcd_change_success();
  10132. break;
  10133. }
  10134. }
  10135. }
  10136. //! @brief Wait for user action
  10137. //!
  10138. //! Beep, manage nozzle heater and wait for user to start unload filament
  10139. //! If times out, active extruder temperature is set to 0.
  10140. //!
  10141. //! @param HotendTempBckp Temperature to be restored for active extruder, after user resolves MMU problem.
  10142. void M600_wait_for_user(float HotendTempBckp) {
  10143. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10144. int counterBeep = 0;
  10145. unsigned long waiting_start_time = _millis();
  10146. uint8_t wait_for_user_state = 0;
  10147. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  10148. bool bFirst=true;
  10149. while (!(wait_for_user_state == 0 && lcd_clicked())){
  10150. manage_heater();
  10151. manage_inactivity(true);
  10152. #if BEEPER > 0
  10153. if (counterBeep == 500) {
  10154. counterBeep = 0;
  10155. }
  10156. SET_OUTPUT(BEEPER);
  10157. if (counterBeep == 0) {
  10158. if((eSoundMode==e_SOUND_MODE_BLIND)|| (eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
  10159. {
  10160. bFirst=false;
  10161. WRITE(BEEPER, HIGH);
  10162. }
  10163. }
  10164. if (counterBeep == 20) {
  10165. WRITE(BEEPER, LOW);
  10166. }
  10167. counterBeep++;
  10168. #endif //BEEPER > 0
  10169. switch (wait_for_user_state) {
  10170. case 0: //nozzle is hot, waiting for user to press the knob to unload filament
  10171. delay_keep_alive(4);
  10172. if (_millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  10173. lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
  10174. wait_for_user_state = 1;
  10175. setAllTargetHotends(0);
  10176. st_synchronize();
  10177. disable_e0();
  10178. disable_e1();
  10179. disable_e2();
  10180. }
  10181. break;
  10182. case 1: //nozzle target temperature is set to zero, waiting for user to start nozzle preheat
  10183. delay_keep_alive(4);
  10184. if (lcd_clicked()) {
  10185. setTargetHotend(HotendTempBckp, active_extruder);
  10186. lcd_wait_for_heater();
  10187. wait_for_user_state = 2;
  10188. }
  10189. break;
  10190. case 2: //waiting for nozzle to reach target temperature
  10191. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  10192. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  10193. waiting_start_time = _millis();
  10194. wait_for_user_state = 0;
  10195. }
  10196. else {
  10197. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  10198. lcd_set_cursor(1, 4);
  10199. lcd_print(ftostr3(degHotend(active_extruder)));
  10200. }
  10201. break;
  10202. }
  10203. }
  10204. WRITE(BEEPER, LOW);
  10205. }
  10206. void M600_load_filament_movements()
  10207. {
  10208. #ifdef SNMM
  10209. display_loading();
  10210. do
  10211. {
  10212. current_position[E_AXIS] += 0.002;
  10213. plan_buffer_line_curposXYZE(500, active_extruder);
  10214. delay_keep_alive(2);
  10215. }
  10216. while (!lcd_clicked());
  10217. st_synchronize();
  10218. current_position[E_AXIS] += bowden_length[mmu_extruder];
  10219. plan_buffer_line_curposXYZE(3000, active_extruder);
  10220. current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
  10221. plan_buffer_line_curposXYZE(1400, active_extruder);
  10222. current_position[E_AXIS] += 40;
  10223. plan_buffer_line_curposXYZE(400, active_extruder);
  10224. current_position[E_AXIS] += 10;
  10225. plan_buffer_line_curposXYZE(50, active_extruder);
  10226. #else
  10227. current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  10228. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FIRST);
  10229. #endif
  10230. load_filament_final_feed();
  10231. lcd_loading_filament();
  10232. st_synchronize();
  10233. }
  10234. void M600_load_filament() {
  10235. //load filament for single material and SNMM
  10236. lcd_wait_interact();
  10237. //load_filament_time = _millis();
  10238. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10239. #ifdef PAT9125
  10240. fsensor_autoload_check_start();
  10241. #endif //PAT9125
  10242. while(!lcd_clicked())
  10243. {
  10244. manage_heater();
  10245. manage_inactivity(true);
  10246. #ifdef FILAMENT_SENSOR
  10247. if (fsensor_check_autoload())
  10248. {
  10249. Sound_MakeCustom(50,1000,false);
  10250. break;
  10251. }
  10252. #endif //FILAMENT_SENSOR
  10253. }
  10254. #ifdef PAT9125
  10255. fsensor_autoload_check_stop();
  10256. #endif //PAT9125
  10257. KEEPALIVE_STATE(IN_HANDLER);
  10258. #ifdef FSENSOR_QUALITY
  10259. fsensor_oq_meassure_start(70);
  10260. #endif //FSENSOR_QUALITY
  10261. M600_load_filament_movements();
  10262. Sound_MakeCustom(50,1000,false);
  10263. #ifdef FSENSOR_QUALITY
  10264. fsensor_oq_meassure_stop();
  10265. if (!fsensor_oq_result())
  10266. {
  10267. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  10268. lcd_update_enable(true);
  10269. lcd_update(2);
  10270. if (disable)
  10271. fsensor_disable();
  10272. }
  10273. #endif //FSENSOR_QUALITY
  10274. lcd_update_enable(false);
  10275. }
  10276. //! @brief Wait for click
  10277. //!
  10278. //! Set
  10279. void marlin_wait_for_click()
  10280. {
  10281. int8_t busy_state_backup = busy_state;
  10282. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10283. lcd_consume_click();
  10284. while(!lcd_clicked())
  10285. {
  10286. manage_heater();
  10287. manage_inactivity(true);
  10288. lcd_update(0);
  10289. }
  10290. KEEPALIVE_STATE(busy_state_backup);
  10291. }
  10292. #define FIL_LOAD_LENGTH 60
  10293. #ifdef PSU_Delta
  10294. bool bEnableForce_z;
  10295. void init_force_z()
  10296. {
  10297. WRITE(Z_ENABLE_PIN,Z_ENABLE_ON);
  10298. bEnableForce_z=true; // "true"-value enforce "disable_force_z()" executing
  10299. disable_force_z();
  10300. }
  10301. void check_force_z()
  10302. {
  10303. if(!(bEnableForce_z||eeprom_read_byte((uint8_t*)EEPROM_SILENT)))
  10304. init_force_z(); // causes enforced switching into disable-state
  10305. }
  10306. void disable_force_z()
  10307. {
  10308. if(!bEnableForce_z) return; // motor already disabled (may be ;-p )
  10309. bEnableForce_z=false;
  10310. // switching to silent mode
  10311. #ifdef TMC2130
  10312. tmc2130_mode=TMC2130_MODE_SILENT;
  10313. update_mode_profile();
  10314. tmc2130_init(true);
  10315. #endif // TMC2130
  10316. }
  10317. void enable_force_z()
  10318. {
  10319. if(bEnableForce_z)
  10320. return; // motor already enabled (may be ;-p )
  10321. bEnableForce_z=true;
  10322. // mode recovering
  10323. #ifdef TMC2130
  10324. tmc2130_mode=eeprom_read_byte((uint8_t*)EEPROM_SILENT)?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  10325. update_mode_profile();
  10326. tmc2130_init(true);
  10327. #endif // TMC2130
  10328. WRITE(Z_ENABLE_PIN,Z_ENABLE_ON); // slightly redundant ;-p
  10329. }
  10330. #endif // PSU_Delta