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|
- /* -*- c++ -*- */
- /**
- * @file
- */
- /*
- This firmware is a mashup between Sprinter and grbl.
- (https://github.com/kliment/Sprinter)
- (https://github.com/simen/grbl/tree)
- It has preliminary support for Matthew Roberts advance algorithm
- http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- */
- #include "Marlin.h"
- #ifdef ENABLE_AUTO_BED_LEVELING
- #include "vector_3.h"
- #ifdef AUTO_BED_LEVELING_GRID
- #include "qr_solve.h"
- #endif
- #endif // ENABLE_AUTO_BED_LEVELING
- #ifdef MESH_BED_LEVELING
- #include "mesh_bed_leveling.h"
- #include "mesh_bed_calibration.h"
- #endif
- #include "ultralcd.h"
- #include "Configuration_prusa.h"
- #include "planner.h"
- #include "stepper.h"
- #include "temperature.h"
- #include "motion_control.h"
- #include "cardreader.h"
- #include "watchdog.h"
- #include "ConfigurationStore.h"
- #include "language.h"
- #include "pins_arduino.h"
- #include "math.h"
- #include "util.h"
- #include <avr/wdt.h>
- #ifdef BLINKM
- #include "BlinkM.h"
- #include "Wire.h"
- #endif
- #ifdef ULTRALCD
- #include "ultralcd.h"
- #endif
- #if NUM_SERVOS > 0
- #include "Servo.h"
- #endif
- #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
- #include <SPI.h>
- #endif
- #define VERSION_STRING "1.0.2"
- #include "ultralcd.h"
- #include "sound.h"
- // Macros for bit masks
- #define BIT(b) (1<<(b))
- #define TEST(n,b) (((n)&BIT(b))!=0)
- #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
- // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
- // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
- //Implemented Codes
- //-------------------
- // PRUSA CODES
- // P F - Returns FW versions
- // P R - Returns revision of printer
- // G0 -> G1
- // G1 - Coordinated Movement X Y Z E
- // G2 - CW ARC
- // G3 - CCW ARC
- // G4 - Dwell S<seconds> or P<milliseconds>
- // G10 - retract filament according to settings of M207
- // G11 - retract recover filament according to settings of M208
- // G28 - Home all Axis
- // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
- // G30 - Single Z Probe, probes bed at current XY location.
- // G31 - Dock sled (Z_PROBE_SLED only)
- // G32 - Undock sled (Z_PROBE_SLED only)
- // G80 - Automatic mesh bed leveling
- // G81 - Print bed profile
- // G90 - Use Absolute Coordinates
- // G91 - Use Relative Coordinates
- // G92 - Set current position to coordinates given
- // M Codes
- // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
- // M1 - Same as M0
- // M17 - Enable/Power all stepper motors
- // M18 - Disable all stepper motors; same as M84
- // M20 - List SD card
- // M21 - Init SD card
- // M22 - Release SD card
- // M23 - Select SD file (M23 filename.g)
- // M24 - Start/resume SD print
- // M25 - Pause SD print
- // M26 - Set SD position in bytes (M26 S12345)
- // M27 - Report SD print status
- // M28 - Start SD write (M28 filename.g)
- // M29 - Stop SD write
- // M30 - Delete file from SD (M30 filename.g)
- // M31 - Output time since last M109 or SD card start to serial
- // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
- // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
- // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
- // The '#' is necessary when calling from within sd files, as it stops buffer prereading
- // 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.
- // M73 - Show percent done and print time remaining
- // M80 - Turn on Power Supply
- // M81 - Turn off Power Supply
- // M82 - Set E codes absolute (default)
- // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
- // M84 - Disable steppers until next move,
- // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
- // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
- // M92 - Set axis_steps_per_unit - same syntax as G92
- // M104 - Set extruder target temp
- // M105 - Read current temp
- // M106 - Fan on
- // M107 - Fan off
- // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
- // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
- // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
- // M112 - Emergency stop
- // M113 - Get or set the timeout interval for Host Keepalive "busy" messages
- // M114 - Output current position to serial port
- // M115 - Capabilities string
- // M117 - display message
- // M119 - Output Endstop status to serial port
- // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
- // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
- // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
- // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
- // M140 - Set bed target temp
- // 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.
- // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
- // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
- // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
- // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
- // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
- // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
- // 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
- // 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
- // M206 - set additional homing offset
- // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
- // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
- // 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.
- // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
- // M220 S<factor in percent>- set speed factor override percentage
- // M221 S<factor in percent>- set extrude factor override percentage
- // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
- // M240 - Trigger a camera to take a photograph
- // M250 - Set LCD contrast C<contrast value> (value 0..63)
- // M280 - set servo position absolute. P: servo index, S: angle or microseconds
- // M300 - Play beep sound S<frequency Hz> P<duration ms>
- // M301 - Set PID parameters P I and D
- // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
- // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
- // M304 - Set bed PID parameters P I and D
- // M400 - Finish all moves
- // M401 - Lower z-probe if present
- // M402 - Raise z-probe if present
- // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
- // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
- // M406 - Turn off Filament Sensor extrusion control
- // M407 - Displays measured filament diameter
- // M500 - stores parameters in EEPROM
- // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
- // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
- // M503 - print the current settings (from memory not from EEPROM)
- // M509 - force language selection on next restart
- // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
- // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
- // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
- // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
- // M907 - Set digital trimpot motor current using axis codes.
- // M908 - Control digital trimpot directly.
- // M350 - Set microstepping mode.
- // M351 - Toggle MS1 MS2 pins directly.
- // M928 - Start SD logging (M928 filename.g) - ended by M29
- // M999 - Restart after being stopped by error
- //Stepper Movement Variables
- //===========================================================================
- //=============================imported variables============================
- //===========================================================================
- //===========================================================================
- //=============================public variables=============================
- //===========================================================================
- #ifdef SDSUPPORT
- CardReader card;
- #endif
- unsigned long TimeSent = millis();
- unsigned long TimeNow = millis();
- unsigned long PingTime = millis();
- unsigned long NcTime;
- union Data
- {
- byte b[2];
- int value;
- };
- float homing_feedrate[] = HOMING_FEEDRATE;
- // Currently only the extruder axis may be switched to a relative mode.
- // Other axes are always absolute or relative based on the common relative_mode flag.
- bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
- int feedmultiply=100; //100->1 200->2
- int saved_feedmultiply;
- int extrudemultiply=100; //100->1 200->2
- int extruder_multiply[EXTRUDERS] = {100
- #if EXTRUDERS > 1
- , 100
- #if EXTRUDERS > 2
- , 100
- #endif
- #endif
- };
- int bowden_length[4];
- bool is_usb_printing = false;
- bool homing_flag = false;
- bool temp_cal_active = false;
- unsigned long kicktime = millis()+100000;
- unsigned int usb_printing_counter;
- int lcd_change_fil_state = 0;
- int feedmultiplyBckp = 100;
- float HotendTempBckp = 0;
- int fanSpeedBckp = 0;
- float pause_lastpos[4];
- unsigned long pause_time = 0;
- unsigned long start_pause_print = millis();
- unsigned long load_filament_time;
- bool mesh_bed_leveling_flag = false;
- bool mesh_bed_run_from_menu = false;
- unsigned char lang_selected = 0;
- bool prusa_sd_card_upload = false;
- unsigned int status_number = 0;
- unsigned long total_filament_used;
- unsigned int heating_status;
- unsigned int heating_status_counter;
- bool custom_message;
- bool loading_flag = false;
- unsigned int custom_message_type;
- unsigned int custom_message_state;
- char snmm_filaments_used = 0;
- uint8_t selectedSerialPort;
- float distance_from_min[3];
- bool sortAlpha = false;
- bool volumetric_enabled = false;
- float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
- #if EXTRUDERS > 1
- , DEFAULT_NOMINAL_FILAMENT_DIA
- #if EXTRUDERS > 2
- , DEFAULT_NOMINAL_FILAMENT_DIA
- #endif
- #endif
- };
- float volumetric_multiplier[EXTRUDERS] = {1.0
- #if EXTRUDERS > 1
- , 1.0
- #if EXTRUDERS > 2
- , 1.0
- #endif
- #endif
- };
- float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
- float add_homing[3]={0,0,0};
- float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
- float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
- bool axis_known_position[3] = {false, false, false};
- float zprobe_zoffset;
- // Extruder offset
- #if EXTRUDERS > 1
- #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
- float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
- #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
- EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
- #endif
- };
- #endif
- uint8_t active_extruder = 0;
- int fanSpeed=0;
- #ifdef FWRETRACT
- bool autoretract_enabled=false;
- bool retracted[EXTRUDERS]={false
- #if EXTRUDERS > 1
- , false
- #if EXTRUDERS > 2
- , false
- #endif
- #endif
- };
- bool retracted_swap[EXTRUDERS]={false
- #if EXTRUDERS > 1
- , false
- #if EXTRUDERS > 2
- , false
- #endif
- #endif
- };
- float retract_length = RETRACT_LENGTH;
- float retract_length_swap = RETRACT_LENGTH_SWAP;
- float retract_feedrate = RETRACT_FEEDRATE;
- float retract_zlift = RETRACT_ZLIFT;
- float retract_recover_length = RETRACT_RECOVER_LENGTH;
- float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
- float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
- #endif
- #ifdef ULTIPANEL
- #ifdef PS_DEFAULT_OFF
- bool powersupply = false;
- #else
- bool powersupply = true;
- #endif
- #endif
- bool cancel_heatup = false ;
- #ifdef HOST_KEEPALIVE_FEATURE
-
- MarlinBusyState busy_state = NOT_BUSY;
- static long prev_busy_signal_ms = -1;
- uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
- #else
- #define host_keepalive();
- #define KEEPALIVE_STATE(n);
- #endif
- #ifdef FILAMENT_SENSOR
- //Variables for Filament Sensor input
- float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
- bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
- float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
- signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
- int delay_index1=0; //index into ring buffer
- int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
- float delay_dist=0; //delay distance counter
- int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
- #endif
- const char errormagic[] PROGMEM = "Error:";
- const char echomagic[] PROGMEM = "echo:";
- bool no_response = false;
- uint8_t important_status;
- uint8_t saved_filament_type;
- // storing estimated time to end of print counted by slicer
- uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
- uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
- uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
- uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
- //===========================================================================
- //=============================Private Variables=============================
- //===========================================================================
- const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
- float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
- // For tracing an arc
- static float offset[3] = {0.0, 0.0, 0.0};
- static bool home_all_axis = true;
- static float feedrate = 1500.0, next_feedrate, saved_feedrate;
- static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
- // Determines Absolute or Relative Coordinates.
- // Also there is bool axis_relative_modes[] per axis flag.
- static bool relative_mode = false;
- // String circular buffer. Commands may be pushed to the buffer from both sides:
- // Chained commands will be pushed to the front, interactive (from LCD menu)
- // and printing commands (from serial line or from SD card) are pushed to the tail.
- // First character of each entry indicates the type of the entry:
- #define CMDBUFFER_CURRENT_TYPE_UNKNOWN 0
- // Command in cmdbuffer was sent over USB.
- #define CMDBUFFER_CURRENT_TYPE_USB 1
- // Command in cmdbuffer was read from SDCARD.
- #define CMDBUFFER_CURRENT_TYPE_SDCARD 2
- // Command in cmdbuffer was generated by the UI.
- #define CMDBUFFER_CURRENT_TYPE_UI 3
- // Command in cmdbuffer was generated by another G-code.
- #define CMDBUFFER_CURRENT_TYPE_CHAINED 4
- // How much space to reserve for the chained commands
- // of type CMDBUFFER_CURRENT_TYPE_CHAINED,
- // which are pushed to the front of the queue?
- // Maximum 5 commands of max length 20 + null terminator.
- #define CMDBUFFER_RESERVE_FRONT (5*21)
- // Reserve BUFSIZE lines of length MAX_CMD_SIZE plus CMDBUFFER_RESERVE_FRONT.
- static char cmdbuffer[BUFSIZE * (MAX_CMD_SIZE + 1) + CMDBUFFER_RESERVE_FRONT];
- // Head of the circular buffer, where to read.
- static int bufindr = 0;
- // Tail of the buffer, where to write.
- static int bufindw = 0;
- // Number of lines in cmdbuffer.
- static int buflen = 0;
- // Flag for processing the current command inside the main Arduino loop().
- // If a new command was pushed to the front of a command buffer while
- // processing another command, this replaces the command on the top.
- // Therefore don't remove the command from the queue in the loop() function.
- static bool cmdbuffer_front_already_processed = false;
- // Type of a command, which is to be executed right now.
- #define CMDBUFFER_CURRENT_TYPE (cmdbuffer[bufindr])
- // String of a command, which is to be executed right now.
- #define CMDBUFFER_CURRENT_STRING (cmdbuffer+bufindr+1)
- // Enable debugging of the command buffer.
- // Debugging information will be sent to serial line.
- // #define CMDBUFFER_DEBUG
- static int serial_count = 0; //index of character read from serial line
- static boolean comment_mode = false;
- static char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
- const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
- //static float tt = 0;
- //static float bt = 0;
- //Inactivity shutdown variables
- static unsigned long previous_millis_cmd = 0;
- unsigned long max_inactive_time = 0;
- static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
- unsigned long starttime=0;
- unsigned long stoptime=0;
- unsigned long _usb_timer = 0;
- static uint8_t tmp_extruder;
- bool Stopped=false;
- #if NUM_SERVOS > 0
- Servo servos[NUM_SERVOS];
- #endif
- bool CooldownNoWait = true;
- bool target_direction;
- //Insert variables if CHDK is defined
- #ifdef CHDK
- unsigned long chdkHigh = 0;
- boolean chdkActive = false;
- #endif
- static int saved_feedmultiply_mm = 100;
- //===========================================================================
- //=============================Routines======================================
- //===========================================================================
- static void print_time_remaining_init();
- void get_arc_coordinates();
- bool setTargetedHotend(int code);
- void serial_echopair_P(const char *s_P, float v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char *s_P, double v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char *s_P, unsigned long v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
- #ifdef SDSUPPORT
- #include "SdFatUtil.h"
- int freeMemory() { return SdFatUtil::FreeRam(); }
- #else
- extern "C" {
- extern unsigned int __bss_end;
- extern unsigned int __heap_start;
- extern void *__brkval;
- int freeMemory() {
- int free_memory;
- if ((int)__brkval == 0)
- free_memory = ((int)&free_memory) - ((int)&__bss_end);
- else
- free_memory = ((int)&free_memory) - ((int)__brkval);
- return free_memory;
- }
- }
- #endif //!SDSUPPORT
- // Pop the currently processed command from the queue.
- // It is expected, that there is at least one command in the queue.
- bool cmdqueue_pop_front()
- {
- if (buflen > 0) {
- #ifdef CMDBUFFER_DEBUG
- SERIAL_ECHOPGM("Dequeing ");
- SERIAL_ECHO(cmdbuffer+bufindr+1);
- SERIAL_ECHOLNPGM("");
- SERIAL_ECHOPGM("Old indices: buflen ");
- SERIAL_ECHO(buflen);
- SERIAL_ECHOPGM(", bufindr ");
- SERIAL_ECHO(bufindr);
- SERIAL_ECHOPGM(", bufindw ");
- SERIAL_ECHO(bufindw);
- SERIAL_ECHOPGM(", serial_count ");
- SERIAL_ECHO(serial_count);
- SERIAL_ECHOPGM(", bufsize ");
- SERIAL_ECHO(sizeof(cmdbuffer));
- SERIAL_ECHOLNPGM("");
- #endif /* CMDBUFFER_DEBUG */
- if (-- buflen == 0) {
- // Empty buffer.
- if (serial_count == 0)
- // No serial communication is pending. Reset both pointers to zero.
- bufindw = 0;
- bufindr = bufindw;
- } else {
- // There is at least one ready line in the buffer.
- // First skip the current command ID and iterate up to the end of the string.
- for (++ bufindr; cmdbuffer[bufindr] != 0; ++ bufindr) ;
- // Second, skip the end of string null character and iterate until a nonzero command ID is found.
- for (++ bufindr; (bufindr < (int)sizeof(cmdbuffer)) && (cmdbuffer[bufindr] == 0); ++ bufindr) ;
- // If the end of the buffer was empty,
- if (bufindr == sizeof(cmdbuffer)) {
- // skip to the start and find the nonzero command.
- for (bufindr = 0; cmdbuffer[bufindr] == 0; ++ bufindr) ;
- }
- #ifdef CMDBUFFER_DEBUG
- SERIAL_ECHOPGM("New indices: buflen ");
- SERIAL_ECHO(buflen);
- SERIAL_ECHOPGM(", bufindr ");
- SERIAL_ECHO(bufindr);
- SERIAL_ECHOPGM(", bufindw ");
- SERIAL_ECHO(bufindw);
- SERIAL_ECHOPGM(", serial_count ");
- SERIAL_ECHO(serial_count);
- SERIAL_ECHOPGM(" new command on the top: ");
- SERIAL_ECHO(cmdbuffer+bufindr+1);
- SERIAL_ECHOLNPGM("");
- #endif /* CMDBUFFER_DEBUG */
- }
- return true;
- }
- return false;
- }
- void cmdqueue_reset()
- {
- while (cmdqueue_pop_front()) ;
- }
- // How long a string could be pushed to the front of the command queue?
- // If yes, adjust bufindr to the new position, where the new command could be enqued.
- // len_asked does not contain the zero terminator size.
- bool cmdqueue_could_enqueue_front(int len_asked)
- {
- // MAX_CMD_SIZE has to accommodate the zero terminator.
- if (len_asked >= MAX_CMD_SIZE)
- return false;
- // Remove the currently processed command from the queue.
- if (! cmdbuffer_front_already_processed) {
- cmdqueue_pop_front();
- cmdbuffer_front_already_processed = true;
- }
- if (bufindr == bufindw && buflen > 0)
- // Full buffer.
- return false;
- // Adjust the end of the write buffer based on whether a partial line is in the receive buffer.
- int endw = (serial_count > 0) ? (bufindw + MAX_CMD_SIZE + 1) : bufindw;
- if (bufindw < bufindr) {
- int bufindr_new = bufindr - len_asked - 2;
- // Simple case. There is a contiguous space between the write buffer and the read buffer.
- if (endw <= bufindr_new) {
- bufindr = bufindr_new;
- return true;
- }
- } else {
- // Otherwise the free space is split between the start and end.
- if (len_asked + 2 <= bufindr) {
- // Could fit at the start.
- bufindr -= len_asked + 2;
- return true;
- }
- int bufindr_new = sizeof(cmdbuffer) - len_asked - 2;
- if (endw <= bufindr_new) {
- memset(cmdbuffer, 0, bufindr);
- bufindr = bufindr_new;
- return true;
- }
- }
- return false;
- }
- // Could one enqueue a command of lenthg len_asked into the buffer,
- // while leaving CMDBUFFER_RESERVE_FRONT at the start?
- // If yes, adjust bufindw to the new position, where the new command could be enqued.
- // len_asked does not contain the zero terminator size.
- bool cmdqueue_could_enqueue_back(int len_asked)
- {
- // MAX_CMD_SIZE has to accommodate the zero terminator.
- if (len_asked >= MAX_CMD_SIZE)
- return false;
- if (bufindr == bufindw && buflen > 0)
- // Full buffer.
- return false;
- if (serial_count > 0) {
- // If there is some data stored starting at bufindw, len_asked is certainly smaller than
- // the allocated data buffer. Try to reserve a new buffer and to move the already received
- // serial data.
- // How much memory to reserve for the commands pushed to the front?
- // End of the queue, when pushing to the end.
- int endw = bufindw + len_asked + 2;
- if (bufindw < bufindr)
- // Simple case. There is a contiguous space between the write buffer and the read buffer.
- return ((endw + CMDBUFFER_RESERVE_FRONT) <= bufindr);
- // Otherwise the free space is split between the start and end.
- if (// Could one fit to the end, including the reserve?
- (endw + CMDBUFFER_RESERVE_FRONT <= (int)sizeof(cmdbuffer)) ||
- // Could one fit to the end, and the reserve to the start?
- ((endw <= (int)sizeof(cmdbuffer)) && (CMDBUFFER_RESERVE_FRONT <= bufindr)))
- return true;
- // Could one fit both to the start?
- if (len_asked + 2 + CMDBUFFER_RESERVE_FRONT <= bufindr) {
- // Mark the rest of the buffer as used.
- memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
- // and point to the start.
- bufindw = 0;
- return true;
- }
- } else {
- // How much memory to reserve for the commands pushed to the front?
- // End of the queue, when pushing to the end.
- int endw = bufindw + len_asked + 2;
- if (bufindw < bufindr)
- // Simple case. There is a contiguous space between the write buffer and the read buffer.
- return ((endw + CMDBUFFER_RESERVE_FRONT) <= bufindr);
- // Otherwise the free space is split between the start and end.
- if (// Could one fit to the end, including the reserve?
- (endw + CMDBUFFER_RESERVE_FRONT <= (int)sizeof(cmdbuffer)) ||
- // Could one fit to the end, and the reserve to the start?
- ((endw <= (int)sizeof(cmdbuffer)) && (CMDBUFFER_RESERVE_FRONT <= bufindr)))
- return true;
- // Could one fit both to the start?
- if (len_asked + 2 + CMDBUFFER_RESERVE_FRONT <= bufindr) {
- // Mark the rest of the buffer as used.
- memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
- // and point to the start.
- bufindw = 0;
- return true;
- }
- }
- return false;
- }
- #ifdef CMDBUFFER_DEBUG
- static void cmdqueue_dump_to_serial_single_line(int nr, const char *p)
- {
- SERIAL_ECHOPGM("Entry nr: ");
- SERIAL_ECHO(nr);
- SERIAL_ECHOPGM(", type: ");
- SERIAL_ECHO(int(*p));
- SERIAL_ECHOPGM(", cmd: ");
- SERIAL_ECHO(p+1);
- SERIAL_ECHOLNPGM("");
- }
- static void cmdqueue_dump_to_serial()
- {
- if (buflen == 0) {
- SERIAL_ECHOLNPGM("The command buffer is empty.");
- } else {
- SERIAL_ECHOPGM("Content of the buffer: entries ");
- SERIAL_ECHO(buflen);
- SERIAL_ECHOPGM(", indr ");
- SERIAL_ECHO(bufindr);
- SERIAL_ECHOPGM(", indw ");
- SERIAL_ECHO(bufindw);
- SERIAL_ECHOLNPGM("");
- int nr = 0;
- if (bufindr < bufindw) {
- for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + bufindw; ++ nr) {
- cmdqueue_dump_to_serial_single_line(nr, p);
- // Skip the command.
- for (++p; *p != 0; ++ p);
- // Skip the gaps.
- for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
- }
- } else {
- for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + sizeof(cmdbuffer); ++ nr) {
- cmdqueue_dump_to_serial_single_line(nr, p);
- // Skip the command.
- for (++p; *p != 0; ++ p);
- // Skip the gaps.
- for (++p; p < cmdbuffer + sizeof(cmdbuffer) && *p == 0; ++ p);
- }
- for (const char *p = cmdbuffer; p < cmdbuffer + bufindw; ++ nr) {
- cmdqueue_dump_to_serial_single_line(nr, p);
- // Skip the command.
- for (++p; *p != 0; ++ p);
- // Skip the gaps.
- for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
- }
- }
- SERIAL_ECHOLNPGM("End of the buffer.");
- }
- }
- #endif /* CMDBUFFER_DEBUG */
- //adds an command to the main command buffer
- //thats really done in a non-safe way.
- //needs overworking someday
- // Currently the maximum length of a command piped through this function is around 20 characters
- void enquecommand(const char *cmd, bool from_progmem)
- {
- int len = from_progmem ? strlen_P(cmd) : strlen(cmd);
- // Does cmd fit the queue while leaving sufficient space at the front for the chained commands?
- // If it fits, it may move bufindw, so it points to a contiguous buffer, which fits cmd.
- if (cmdqueue_could_enqueue_back(len)) {
- // This is dangerous if a mixing of serial and this happens
- // This may easily be tested: If serial_count > 0, we have a problem.
- cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_UI;
- if (from_progmem)
- strcpy_P(cmdbuffer + bufindw + 1, cmd);
- else
- strcpy(cmdbuffer + bufindw + 1, cmd);
- if (!farm_mode) {
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_Enqueing);
- SERIAL_ECHO(cmdbuffer + bufindw + 1);
- SERIAL_ECHOLNPGM("\"");
- }
- bufindw += len + 2;
- if (bufindw == sizeof(cmdbuffer))
- bufindw = 0;
- ++ buflen;
- #ifdef CMDBUFFER_DEBUG
- cmdqueue_dump_to_serial();
- #endif /* CMDBUFFER_DEBUG */
- } else {
- SERIAL_ERROR_START;
- SERIAL_ECHORPGM(MSG_Enqueing);
- if (from_progmem)
- SERIAL_PROTOCOLRPGM(cmd);
- else
- SERIAL_ECHO(cmd);
- SERIAL_ECHOLNPGM("\" failed: Buffer full!");
- #ifdef CMDBUFFER_DEBUG
- cmdqueue_dump_to_serial();
- #endif /* CMDBUFFER_DEBUG */
- }
- }
- bool cmd_buffer_empty()
- {
- return (buflen == 0);
- }
- void enquecommand_front(const char *cmd, bool from_progmem)
- {
- int len = from_progmem ? strlen_P(cmd) : strlen(cmd);
- // Does cmd fit the queue? This call shall move bufindr, so the command may be copied.
- if (cmdqueue_could_enqueue_front(len)) {
- cmdbuffer[bufindr] = CMDBUFFER_CURRENT_TYPE_UI;
- if (from_progmem)
- strcpy_P(cmdbuffer + bufindr + 1, cmd);
- else
- strcpy(cmdbuffer + bufindr + 1, cmd);
- ++ buflen;
- if (!farm_mode) {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("Enqueing to the front: \"");
- SERIAL_ECHO(cmdbuffer + bufindr + 1);
- SERIAL_ECHOLNPGM("\"");
- }
- #ifdef CMDBUFFER_DEBUG
- cmdqueue_dump_to_serial();
- #endif /* CMDBUFFER_DEBUG */
- } else {
- SERIAL_ERROR_START;
- SERIAL_ECHOPGM("Enqueing to the front: \"");
- if (from_progmem)
- SERIAL_PROTOCOLRPGM(cmd);
- else
- SERIAL_ECHO(cmd);
- SERIAL_ECHOLNPGM("\" failed: Buffer full!");
- #ifdef CMDBUFFER_DEBUG
- cmdqueue_dump_to_serial();
- #endif /* CMDBUFFER_DEBUG */
- }
- }
- // Mark the command at the top of the command queue as new.
- // Therefore it will not be removed from the queue.
- void repeatcommand_front()
- {
- cmdbuffer_front_already_processed = true;
- }
- bool is_buffer_empty()
- {
- if (buflen == 0) return true;
- else return false;
- }
- void setup_killpin()
- {
- #if defined(KILL_PIN) && KILL_PIN > -1
- SET_INPUT(KILL_PIN);
- WRITE(KILL_PIN,HIGH);
- #endif
- }
- // Set home pin
- void setup_homepin(void)
- {
- #if defined(HOME_PIN) && HOME_PIN > -1
- SET_INPUT(HOME_PIN);
- WRITE(HOME_PIN,HIGH);
- #endif
- }
- void setup_photpin()
- {
- #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
- SET_OUTPUT(PHOTOGRAPH_PIN);
- WRITE(PHOTOGRAPH_PIN, LOW);
- #endif
- }
- void setup_powerhold()
- {
- #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
- SET_OUTPUT(SUICIDE_PIN);
- WRITE(SUICIDE_PIN, HIGH);
- #endif
- #if defined(PS_ON_PIN) && PS_ON_PIN > -1
- SET_OUTPUT(PS_ON_PIN);
- #if defined(PS_DEFAULT_OFF)
- WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #else
- WRITE(PS_ON_PIN, PS_ON_AWAKE);
- #endif
- #endif
- }
- void suicide()
- {
- #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
- SET_OUTPUT(SUICIDE_PIN);
- WRITE(SUICIDE_PIN, LOW);
- #endif
- }
- void servo_init()
- {
- #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
- servos[0].attach(SERVO0_PIN);
- #endif
- #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
- servos[1].attach(SERVO1_PIN);
- #endif
- #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
- servos[2].attach(SERVO2_PIN);
- #endif
- #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
- servos[3].attach(SERVO3_PIN);
- #endif
- #if (NUM_SERVOS >= 5)
- #error "TODO: enter initalisation code for more servos"
- #endif
- }
- #ifdef MESH_BED_LEVELING
- enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
- #endif
- // Factory reset function
- // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
- // Level input parameter sets depth of reset
- // Quiet parameter masks all waitings for user interact.
- int er_progress = 0;
- void factory_reset(char level, bool quiet)
- {
- lcd_implementation_clear();
- switch (level) {
-
- // Level 0: Language reset
- case 0:
- if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
- WRITE(BEEPER, HIGH);
- _delay_ms(100);
- WRITE(BEEPER, LOW);
-
- lcd_force_language_selection();
- break;
-
- //Level 1: Reset statistics
- case 1:
- if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
- WRITE(BEEPER, HIGH);
- _delay_ms(100);
- WRITE(BEEPER, LOW);
- eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
- eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
- lcd_menu_statistics();
-
- break;
- // Level 2: Prepare for shipping
- case 2:
- //lcd_printPGM(PSTR("Factory RESET"));
- //lcd_print_at_PGM(1,2,PSTR("Shipping prep"));
-
- // Force language selection at the next boot up.
- lcd_force_language_selection();
- // Force the "Follow calibration flow" message at the next boot up.
- calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
- farm_no = 0;
- farm_mode = 0;
- eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
- EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
-
- if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
- WRITE(BEEPER, HIGH);
- _delay_ms(100);
- WRITE(BEEPER, LOW);
- //_delay_ms(2000);
- break;
- // Level 3: erase everything, whole EEPROM will be set to 0xFF
- case 3:
- lcd_printPGM(PSTR("Factory RESET"));
- lcd_print_at_PGM(1, 2, PSTR("ERASING all data"));
- if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
- WRITE(BEEPER, HIGH);
- _delay_ms(100);
- WRITE(BEEPER, LOW);
- er_progress = 0;
- lcd_print_at_PGM(3, 3, PSTR(" "));
- lcd_implementation_print_at(3, 3, er_progress);
- // Erase EEPROM
- for (int i = 0; i < 4096; i++) {
- eeprom_write_byte((uint8_t*)i, 0xFF);
- if (i % 41 == 0) {
- er_progress++;
- lcd_print_at_PGM(3, 3, PSTR(" "));
- lcd_implementation_print_at(3, 3, er_progress);
- lcd_printPGM(PSTR("%"));
- }
- }
- break;
- case 4:
- bowden_menu();
- break;
-
- default:
- break;
- }
-
- }
- // "Setup" function is called by the Arduino framework on startup.
- // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
- // are initialized by the main() routine provided by the Arduino framework.
- void setup()
- {
- lcd_init();
- Sound_Init();
- lcd_print_at_PGM(0, 1, PSTR(" Original Prusa "));
- lcd_print_at_PGM(0, 2, PSTR(" 3D Printers "));
- setup_killpin();
- setup_powerhold();
- farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
- EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
- if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
- farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
- if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
- if (farm_mode)
- {
- prusa_statistics(8);
- no_response = true; //we need confirmation by recieving PRUSA thx
- important_status = 8;
- selectedSerialPort = 1;
- } else {
- selectedSerialPort = 0;
- }
- MYSERIAL.begin(BAUDRATE);
- SERIAL_PROTOCOLLNPGM("start");
- SERIAL_ECHO_START;
- #if 0
- SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
- for (int i = 0; i < 4096; ++i) {
- int b = eeprom_read_byte((unsigned char*)i);
- if (b != 255) {
- SERIAL_ECHO(i);
- SERIAL_ECHO(":");
- SERIAL_ECHO(b);
- SERIAL_ECHOLN("");
- }
- }
- SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
- #endif
- // Check startup - does nothing if bootloader sets MCUSR to 0
- byte mcu = MCUSR;
- if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
- if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
- if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
- if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
- if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);
- MCUSR = 0;
- //SERIAL_ECHORPGM(MSG_MARLIN);
- //SERIAL_ECHOLNRPGM(VERSION_STRING);
- #ifdef STRING_VERSION_CONFIG_H
- #ifdef STRING_CONFIG_H_AUTHOR
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_CONFIGURATION_VER);
- SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
- SERIAL_ECHORPGM(MSG_AUTHOR);
- SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
- SERIAL_ECHOPGM("Compiled: ");
- SERIAL_ECHOLNPGM(__DATE__);
- #endif
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_FREE_MEMORY);
- SERIAL_ECHO(freeMemory());
- SERIAL_ECHORPGM(MSG_PLANNER_BUFFER_BYTES);
- SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
- lcd_update_enable(false);
- // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
- bool previous_settings_retrieved = Config_RetrieveSettings();
- SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
- tp_init(); // Initialize temperature loop
- plan_init(); // Initialize planner;
- watchdog_init();
- st_init(); // Initialize stepper, this enables interrupts!
- setup_photpin();
- servo_init();
- // Reset the machine correction matrix.
- // It does not make sense to load the correction matrix until the machine is homed.
- world2machine_reset();
- lcd_init();
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- if (!READ(BTN_ENC))
- {
- _delay_ms(1000);
- if (!READ(BTN_ENC))
- {
- lcd_implementation_clear();
- lcd_printPGM(PSTR("Factory RESET"));
- SET_OUTPUT(BEEPER);
- if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
- WRITE(BEEPER, HIGH);
- while (!READ(BTN_ENC));
- WRITE(BEEPER, LOW);
- _delay_ms(2000);
-
- char level = reset_menu();
- factory_reset(level, false);
- switch (level) {
- case 0: _delay_ms(0); break;
- case 1: _delay_ms(0); break;
- case 2: _delay_ms(0); break;
- case 3: _delay_ms(0); break;
- }
- // _delay_ms(100);
- /*
- #ifdef MESH_BED_LEVELING
- _delay_ms(2000);
- if (!READ(BTN_ENC))
- {
- WRITE(BEEPER, HIGH);
- _delay_ms(100);
- WRITE(BEEPER, LOW);
- _delay_ms(200);
- WRITE(BEEPER, HIGH);
- _delay_ms(100);
- WRITE(BEEPER, LOW);
- int _z = 0;
- calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
- EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
- EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
- EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
- }
- else
- {
- WRITE(BEEPER, HIGH);
- _delay_ms(100);
- WRITE(BEEPER, LOW);
- }
- #endif // mesh */
- }
- }
- else
- {
- //_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
- }
- #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
- SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
- #endif
- #ifdef DIGIPOT_I2C
- digipot_i2c_init();
- #endif
- setup_homepin();
- #if defined(Z_AXIS_ALWAYS_ON)
- enable_z();
- #endif
-
- // Enable Toshiba FlashAir SD card / WiFi enahanced card.
- card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
- // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
- // but this times out if a blocking dialog is shown in setup().
- lcd_print_at_PGM(0, 1, PSTR(" Original Prusa ")); // we need to do this again for some reason, no time to research
- lcd_print_at_PGM(0, 2, PSTR(" 3D Printers "));
- card.initsd();
- if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
- eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff &&
- eeprom_read_dword((uint32_t*)(EEPROM_TOP - 12)) == 0x0ffffffff) {
- // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
- // where all the EEPROM entries are set to 0x0ff.
- // Once a firmware boots up, it forces at least a language selection, which changes
- // EEPROM_LANG to number lower than 0x0ff.
- // 1) Set a high power mode.
- eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
- eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
- }
- #ifdef SNMM
- if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
- int _z = BOWDEN_LENGTH;
- for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
- }
- #endif
- // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
- // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
- // is being written into the EEPROM, so the update procedure will be triggered only once.
- lang_selected = eeprom_read_byte((uint8_t*)EEPROM_LANG);
- if (lang_selected >= LANG_NUM){
- lcd_mylang();
- }
-
- if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
- eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
- temp_cal_active = false;
- } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
- if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
- eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
- }
- if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
- eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
- }
- #ifndef DEBUG_DISABLE_STARTMSGS
- check_babystep(); //checking if Z babystep is in allowed range
- for (int i = 0; i < 4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
- if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
- lcd_wizard(0);
- }
- else if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
- if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
- calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
- calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION){
- // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
- eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
- // Show the message.
- lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
- }
- else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
- // Show the message.
- lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
- lcd_update_enable(true);
- }
- else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
- lcd_show_fullscreen_message_and_wait_P(MSG_PINDA_NOT_CALIBRATED);
- lcd_update_enable(true);
- }
- else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
- // Show the message.
- lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
- }
- //If eeprom version for storing parameters to eeprom using M500 changed, default settings are used. Inform user in this case
- if (!previous_settings_retrieved) {
- lcd_show_fullscreen_message_and_wait_P(MSG_DEFAULT_SETTINGS_LOADED);
- }
- }
-
- #endif //DEBUG_DISABLE_STARTMSGS
- lcd_update_enable(true);
- // Store the currently running firmware into an eeprom,
- // so the next time the firmware gets updated, it will know from which version it has been updated.
- update_current_firmware_version_to_eeprom();
- KEEPALIVE_STATE(NOT_BUSY);
- }
- void trace();
- #define CHUNK_SIZE 64 // bytes
- #define SAFETY_MARGIN 1
- char chunk[CHUNK_SIZE+SAFETY_MARGIN];
- int chunkHead = 0;
- void serial_read_stream() {
- setTargetHotend(0, 0);
- setTargetBed(0);
- lcd_implementation_clear();
- lcd_printPGM(PSTR(" Upload in progress"));
- // first wait for how many bytes we will receive
- uint32_t bytesToReceive;
- // receive the four bytes
- char bytesToReceiveBuffer[4];
- for (int i=0; i<4; i++) {
- int data;
- while ((data = MYSERIAL.read()) == -1) {};
- bytesToReceiveBuffer[i] = data;
- }
- // make it a uint32
- memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
- // we're ready, notify the sender
- MYSERIAL.write('+');
- // lock in the routine
- uint32_t receivedBytes = 0;
- while (prusa_sd_card_upload) {
- int i;
- for (i=0; i<CHUNK_SIZE; i++) {
- int data;
- // check if we're not done
- if (receivedBytes == bytesToReceive) {
- break;
- }
- // read the next byte
- while ((data = MYSERIAL.read()) == -1) {};
- receivedBytes++;
- // save it to the chunk
- chunk[i] = data;
- }
- // write the chunk to SD
- card.write_command_no_newline(&chunk[0]);
- // notify the sender we're ready for more data
- MYSERIAL.write('+');
- // for safety
- manage_heater();
- // check if we're done
- if(receivedBytes == bytesToReceive) {
- trace(); // beep
- card.closefile();
- prusa_sd_card_upload = false;
- SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
- return;
- }
- }
- }
- #ifdef HOST_KEEPALIVE_FEATURE
- /**
- * Output a "busy" message at regular intervals
- * while the machine is not accepting commands.
- */
- void host_keepalive() {
- if (farm_mode) return;
- long ms = millis();
- if (host_keepalive_interval && busy_state != NOT_BUSY) {
- if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
- switch (busy_state) {
- case IN_HANDLER:
- case IN_PROCESS:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM("busy: processing");
- break;
- case PAUSED_FOR_USER:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM("busy: paused for user");
- break;
- case PAUSED_FOR_INPUT:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM("busy: paused for input");
- break;
- default:
- break;
- }
- }
- prev_busy_signal_ms = ms;
- }
- #endif
- // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
- // Before loop(), the setup() function is called by the main() routine.
- void loop()
- {
- KEEPALIVE_STATE(NOT_BUSY);
- if (usb_printing_counter > 0 && millis()-_usb_timer > 1000)
- {
- is_usb_printing = true;
- usb_printing_counter--;
- _usb_timer = millis();
- }
- if (usb_printing_counter == 0)
- {
- is_usb_printing = false;
- }
- if (prusa_sd_card_upload)
- {
- //we read byte-by byte
- serial_read_stream();
- } else
- {
- get_command();
- #ifdef SDSUPPORT
- card.checkautostart(false);
- #endif
- if(buflen)
- {
- #ifdef SDSUPPORT
- if(card.saving)
- {
- // Saving a G-code file onto an SD-card is in progress.
- // Saving starts with M28, saving until M29 is seen.
- if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
- card.write_command(CMDBUFFER_CURRENT_STRING);
- if(card.logging)
- process_commands();
- else
- SERIAL_PROTOCOLLNRPGM(MSG_OK);
- } else {
- card.closefile();
- SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
- }
- } else {
- process_commands();
- }
- #else
- process_commands();
- #endif //SDSUPPORT
- if (! cmdbuffer_front_already_processed)
- cmdqueue_pop_front();
- cmdbuffer_front_already_processed = false;
- host_keepalive();
- }
- }
- //check heater every n milliseconds
- manage_heater();
- isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
- checkHitEndstops();
- lcd_update();
- }
- void proc_commands() {
- if (buflen)
- {
- process_commands();
- if (!cmdbuffer_front_already_processed)
- cmdqueue_pop_front();
- cmdbuffer_front_already_processed = false;
- }
- }
- void get_command()
- {
- // Test and reserve space for the new command string.
- if (!cmdqueue_could_enqueue_back(MAX_CMD_SIZE - 1))
- return;
-
- bool rx_buffer_full = false; //flag that serial rx buffer is full
- while (MYSERIAL.available() > 0) {
- if (MYSERIAL.available() == RX_BUFFER_SIZE - 1) { //compare number of chars buffered in rx buffer with rx buffer size
- SERIAL_ECHOLNPGM("Full RX Buffer"); //if buffer was full, there is danger that reading of last gcode will not be completed
- rx_buffer_full = true; //sets flag that buffer was full
- }
- char serial_char = MYSERIAL.read();
- if (selectedSerialPort == 1) {
- selectedSerialPort = 0;
- MYSERIAL.write(serial_char);
- selectedSerialPort = 1;
- }
- TimeSent = millis();
- TimeNow = millis();
- if (serial_char < 0)
- // Ignore extended ASCII characters. These characters have no meaning in the G-code apart from the file names
- // and Marlin does not support such file names anyway.
- // Serial characters with a highest bit set to 1 are generated when the USB cable is unplugged, leading
- // to a hang-up of the print process from an SD card.
- continue;
- if(serial_char == '\n' ||
- serial_char == '\r' ||
- (serial_char == ':' && comment_mode == false) ||
- serial_count >= (MAX_CMD_SIZE - 1) )
- {
- if(!serial_count) { //if empty line
- comment_mode = false; //for new command
- return;
- }
- cmdbuffer[bufindw+serial_count+1] = 0; //terminate string
- if(!comment_mode){
- // Line numbers must be first in buffer
- if ((strstr(cmdbuffer+bufindw+1, "PRUSA") == NULL) &&
- (cmdbuffer[bufindw + 1] == 'N')) {
- // Line number met. When sending a G-code over a serial line, each line may be stamped with its index,
- // and Marlin tests, whether the successive lines are stamped with an increasing line number ID.
- gcode_N = (strtol(cmdbuffer + bufindw + 2, NULL, 10));
- if ((gcode_N != gcode_LastN + 1) &&
- (strstr_P(cmdbuffer+bufindw+1, PSTR("M110")) == NULL))
- {
- // Line numbers not sent in succession.
- SERIAL_ERROR_START;
- SERIAL_ERRORRPGM(MSG_ERR_LINE_NO);
- SERIAL_ERRORLN(gcode_LastN);
- //Serial.println(gcode_N);
- FlushSerialRequestResend();
- serial_count = 0;
- return;
- }
- if((strchr_pointer = strchr(cmdbuffer+bufindw+1, '*')) != NULL)
- {
- byte checksum = 0;
- char *p = cmdbuffer+bufindw+1;
- while (p != strchr_pointer)
- checksum = checksum^(*p++);
- if (int(strtol(strchr_pointer+1, NULL, 10)) != int(checksum)) {
- SERIAL_ERROR_START;
- SERIAL_ERRORRPGM(MSG_ERR_CHECKSUM_MISMATCH);
- SERIAL_ERRORLN(gcode_LastN);
- FlushSerialRequestResend();
- serial_count = 0;
- return;
- }
- // If no errors, remove the checksum and continue parsing.
- *strchr_pointer = 0;
- }
- else
- {
- SERIAL_ERROR_START;
- SERIAL_ERRORRPGM(MSG_ERR_NO_CHECKSUM);
- SERIAL_ERRORLN(gcode_LastN);
- FlushSerialRequestResend();
- serial_count = 0;
- return;
- }
- // Don't parse N again with code_seen('N')
- cmdbuffer[bufindw + 1] = '$';
- //if no errors, continue parsing
- gcode_LastN = gcode_N;
- }
- // if we don't receive 'N' but still see '*'
- if((cmdbuffer[bufindw + 1] != 'N') && (cmdbuffer[bufindw + 1] != '$') &&
- (strchr(cmdbuffer + bufindw + 1, '*') != NULL))
- {
- SERIAL_ERROR_START;
- SERIAL_ERRORRPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
- SERIAL_ERRORLN(gcode_LastN);
- serial_count = 0;
- return;
- }
- if ((strchr_pointer = strchr(cmdbuffer+bufindw+1, 'G')) != NULL) {
- if (! IS_SD_PRINTING) {
- usb_printing_counter = 10;
- is_usb_printing = true;
- }
- if (Stopped == true) {
- int gcode = strtol(strchr_pointer+1, NULL, 10);
- if (gcode >= 0 && gcode <= 3) {
- SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
- LCD_MESSAGERPGM(MSG_STOPPED);
- }
- }
- } // end of 'G' command
- //If command was e-stop process now
- if(strcmp(cmdbuffer+bufindw+1, "M112") == 0)
- kill();
-
- // Store the current line into buffer, move to the next line.
- cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_USB;
- #ifdef CMDBUFFER_DEBUG
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("Storing a command line to buffer: ");
- SERIAL_ECHO(cmdbuffer+bufindw+1);
- SERIAL_ECHOLNPGM("");
- #endif /* CMDBUFFER_DEBUG */
- bufindw += strlen(cmdbuffer+bufindw+1) + 2;
- if (bufindw == sizeof(cmdbuffer))
- bufindw = 0;
- ++ buflen;
- #ifdef CMDBUFFER_DEBUG
- SERIAL_ECHOPGM("Number of commands in the buffer: ");
- SERIAL_ECHO(buflen);
- SERIAL_ECHOLNPGM("");
- #endif /* CMDBUFFER_DEBUG */
- } // end of 'not comment mode'
- serial_count = 0; //clear buffer
- // Don't call cmdqueue_could_enqueue_back if there are no characters waiting
- // in the queue, as this function will reserve the memory.
- if (MYSERIAL.available() == 0 || ! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1))
- return;
- } // end of "end of line" processing
- else {
- // Not an "end of line" symbol. Store the new character into a buffer.
- if(serial_char == ';') comment_mode = true;
- if(!comment_mode) cmdbuffer[bufindw+1+serial_count++] = serial_char;
- }
- } // end of serial line processing loop
- if(farm_mode){
- TimeNow = millis();
- if ( ((TimeNow - TimeSent) > 800) && (serial_count > 0) ) {
- cmdbuffer[bufindw+serial_count+1] = 0;
-
- bufindw += strlen(cmdbuffer+bufindw+1) + 2;
- if (bufindw == sizeof(cmdbuffer))
- bufindw = 0;
- ++ buflen;
-
- serial_count = 0;
-
- SERIAL_ECHOPGM("TIMEOUT:");
- //memset(cmdbuffer, 0 , sizeof(cmdbuffer));
- return;
- }
- }
- //add comment
- if (rx_buffer_full == true && serial_count > 0) { //if rx buffer was full and string was not properly terminated
- rx_buffer_full = false;
- bufindw = bufindw - serial_count; //adjust tail of the buffer to prepare buffer for writing new command
- serial_count = 0;
- }
- #ifdef SDSUPPORT
- if(!card.sdprinting || serial_count!=0){
- // If there is a half filled buffer from serial line, wait until return before
- // continuing with the serial line.
- return;
- }
- //'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
- // if it occurs, stop_buffering is triggered and the buffer is ran dry.
- // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
- static bool stop_buffering=false;
- if(buflen==0) stop_buffering=false;
- // Reads whole lines from the SD card. Never leaves a half-filled line in the cmdbuffer.
- while( !card.eof() && !stop_buffering) {
- int16_t n=card.get();
- char serial_char = (char)n;
- if(serial_char == '\n' ||
- serial_char == '\r' ||
- (serial_char == '#' && comment_mode == false) ||
- (serial_char == ':' && comment_mode == false) ||
- serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
- {
- if(card.eof()){
- SERIAL_PROTOCOLLNRPGM(MSG_FILE_PRINTED);
- stoptime=millis();
- char time[30];
- unsigned long t=(stoptime-starttime-pause_time)/1000;
- pause_time = 0;
- int hours, minutes;
- minutes=(t/60)%60;
- hours=t/60/60;
- save_statistics(total_filament_used, t);
- sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(time);
- lcd_setstatus(time);
- card.printingHasFinished();
- card.checkautostart(true);
- if (farm_mode)
- {
- prusa_statistics(6);
- lcd_commands_type = LCD_COMMAND_FARM_MODE_CONFIRM;
- }
- }
- if(serial_char=='#')
- stop_buffering=true;
- if(!serial_count)
- {
- comment_mode = false; //for new command
- return; //if empty line
- }
- cmdbuffer[bufindw+serial_count+1] = 0; //terminate string
- cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_SDCARD;
- ++ buflen;
- bufindw += strlen(cmdbuffer+bufindw+1) + 2;
- if (bufindw == sizeof(cmdbuffer))
- bufindw = 0;
- comment_mode = false; //for new command
- serial_count = 0; //clear buffer
- // The following line will reserve buffer space if available.
- if (! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1))
- return;
- }
- else
- {
- if(serial_char == ';') comment_mode = true;
- if(!comment_mode) cmdbuffer[bufindw+1+serial_count++] = serial_char;
- }
- }
- #endif //SDSUPPORT
- }
- // Return True if a character was found
- static inline bool code_seen(char code) { return (strchr_pointer = strchr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
- static inline bool code_seen(const char *code) { return (strchr_pointer = strstr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
- static inline float code_value() { return strtod(strchr_pointer+1, NULL);}
- static inline long code_value_long() { return strtol(strchr_pointer+1, NULL, 10); }
- static inline int16_t code_value_short() { return int16_t(strtol(strchr_pointer+1, NULL, 10)); };
- static inline uint8_t code_value_uint8() { return uint8_t(strtol(strchr_pointer+1, NULL, 10)); };
- static inline float code_value_float() {
- char* e = strchr(strchr_pointer, 'E');
- if (!e) return strtod(strchr_pointer + 1, NULL);
- *e = 0;
- float ret = strtod(strchr_pointer + 1, NULL);
- *e = 'E';
- return ret;
- }
- #define DEFINE_PGM_READ_ANY(type, reader) \
- static inline type pgm_read_any(const type *p) \
- { return pgm_read_##reader##_near(p); }
- DEFINE_PGM_READ_ANY(float, float);
- DEFINE_PGM_READ_ANY(signed char, byte);
- #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
- static const PROGMEM type array##_P[3] = \
- { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
- static inline type array(int axis) \
- { return pgm_read_any(&array##_P[axis]); } \
- type array##_ext(int axis) \
- { return pgm_read_any(&array##_P[axis]); }
- XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
- XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
- XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
- XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
- XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
- XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
- static void axis_is_at_home(int axis) {
- current_position[axis] = base_home_pos(axis) + add_homing[axis];
- min_pos[axis] = base_min_pos(axis) + add_homing[axis];
- max_pos[axis] = base_max_pos(axis) + add_homing[axis];
- }
- inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
- inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
- static void setup_for_endstop_move(bool enable_endstops_now = true) {
- saved_feedrate = feedrate;
- saved_feedmultiply = feedmultiply;
- feedmultiply = 100;
- previous_millis_cmd = millis();
-
- enable_endstops(enable_endstops_now);
- }
- static void clean_up_after_endstop_move() {
- #ifdef ENDSTOPS_ONLY_FOR_HOMING
- enable_endstops(false);
- #endif
-
- feedrate = saved_feedrate;
- feedmultiply = saved_feedmultiply;
- previous_millis_cmd = millis();
- }
- #ifdef ENABLE_AUTO_BED_LEVELING
- #ifdef AUTO_BED_LEVELING_GRID
- static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
- {
- vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
- planeNormal.debug("planeNormal");
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- //bedLevel.debug("bedLevel");
- //plan_bed_level_matrix.debug("bed level before");
- //vector_3 uncorrected_position = plan_get_position_mm();
- //uncorrected_position.debug("position before");
- vector_3 corrected_position = plan_get_position();
- // corrected_position.debug("position after");
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = corrected_position.z;
- // put the bed at 0 so we don't go below it.
- current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- #else // not AUTO_BED_LEVELING_GRID
- static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
- plan_bed_level_matrix.set_to_identity();
- vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
- vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
- vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
- vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
- vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
- vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
- planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- vector_3 corrected_position = plan_get_position();
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = corrected_position.z;
- // put the bed at 0 so we don't go below it.
- current_position[Z_AXIS] = zprobe_zoffset;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- #endif // AUTO_BED_LEVELING_GRID
- static void run_z_probe() {
- plan_bed_level_matrix.set_to_identity();
- feedrate = homing_feedrate[Z_AXIS];
- // move down until you find the bed
- float zPosition = -10;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- // we have to let the planner know where we are right now as it is not where we said to go.
- zPosition = st_get_position_mm(Z_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
- // move up the retract distance
- zPosition += home_retract_mm(Z_AXIS);
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- // move back down slowly to find bed
- feedrate = homing_feedrate[Z_AXIS]/4;
- zPosition -= home_retract_mm(Z_AXIS) * 2;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
- // make sure the planner knows where we are as it may be a bit different than we last said to move to
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- static void do_blocking_move_to(float x, float y, float z) {
- float oldFeedRate = feedrate;
- feedrate = homing_feedrate[Z_AXIS];
- current_position[Z_AXIS] = z;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- feedrate = XY_TRAVEL_SPEED;
- current_position[X_AXIS] = x;
- current_position[Y_AXIS] = y;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- feedrate = oldFeedRate;
- }
- static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
- do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
- }
- /// Probe bed height at position (x,y), returns the measured z value
- static float probe_pt(float x, float y, float z_before) {
- // move to right place
- do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
- do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
- run_z_probe();
- float measured_z = current_position[Z_AXIS];
- SERIAL_PROTOCOLRPGM(MSG_BED);
- SERIAL_PROTOCOLPGM(" x: ");
- SERIAL_PROTOCOL(x);
- SERIAL_PROTOCOLPGM(" y: ");
- SERIAL_PROTOCOL(y);
- SERIAL_PROTOCOLPGM(" z: ");
- SERIAL_PROTOCOL(measured_z);
- SERIAL_PROTOCOLPGM("\n");
- return measured_z;
- }
- #endif // #ifdef ENABLE_AUTO_BED_LEVELING
- #ifdef LIN_ADVANCE
- /**
- * M900: Set and/or Get advance K factor and WH/D ratio
- *
- * K<factor> Set advance K factor
- * R<ratio> Set ratio directly (overrides WH/D)
- * W<width> H<height> D<diam> Set ratio from WH/D
- */
- inline void gcode_M900() {
- st_synchronize();
- const float newK = code_seen('K') ? code_value_float() : -1;
- if (newK >= 0) extruder_advance_k = newK;
- float newR = code_seen('R') ? code_value_float() : -1;
- if (newR < 0) {
- const float newD = code_seen('D') ? code_value_float() : -1,
- newW = code_seen('W') ? code_value_float() : -1,
- newH = code_seen('H') ? code_value_float() : -1;
- if (newD >= 0 && newW >= 0 && newH >= 0)
- newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
- }
- if (newR >= 0) advance_ed_ratio = newR;
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("Advance K=");
- SERIAL_ECHOLN(extruder_advance_k);
- SERIAL_ECHOPGM(" E/D=");
- const float ratio = advance_ed_ratio;
- if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
- }
- #endif // LIN_ADVANCE
- bool check_commands() {
- bool end_command_found = false;
- while (buflen)
- {
- if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
- if (!cmdbuffer_front_already_processed)
- cmdqueue_pop_front();
- cmdbuffer_front_already_processed = false;
- }
- return end_command_found;
- }
- void homeaxis(int axis) {
- #define HOMEAXIS_DO(LETTER) \
- ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
- if (axis==X_AXIS ? HOMEAXIS_DO(X) :
- axis==Y_AXIS ? HOMEAXIS_DO(Y) :
- axis==Z_AXIS ? HOMEAXIS_DO(Z) :
- 0) {
- int axis_home_dir = home_dir(axis);
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
- feedrate = homing_feedrate[axis];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = -home_retract_mm(axis) * axis_home_dir;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
- feedrate = homing_feedrate[axis]/2 ;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- axis_is_at_home(axis);
- destination[axis] = current_position[axis];
- feedrate = 0.0;
- endstops_hit_on_purpose();
- axis_known_position[axis] = true;
- }
- }
- void home_xy()
- {
- set_destination_to_current();
- homeaxis(X_AXIS);
- homeaxis(Y_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- endstops_hit_on_purpose();
- }
- void refresh_cmd_timeout(void)
- {
- previous_millis_cmd = millis();
- }
- #ifdef FWRETRACT
- void retract(bool retracting, bool swapretract = false) {
- if(retracting && !retracted[active_extruder]) {
- destination[X_AXIS]=current_position[X_AXIS];
- destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
- destination[E_AXIS]=current_position[E_AXIS];
- if (swapretract) {
- current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
- } else {
- current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
- }
- plan_set_e_position(current_position[E_AXIS]);
- float oldFeedrate = feedrate;
- feedrate=retract_feedrate*60;
- retracted[active_extruder]=true;
- prepare_move();
- current_position[Z_AXIS]-=retract_zlift;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- prepare_move();
- feedrate = oldFeedrate;
- } else if(!retracting && retracted[active_extruder]) {
- destination[X_AXIS]=current_position[X_AXIS];
- destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
- destination[E_AXIS]=current_position[E_AXIS];
- current_position[Z_AXIS]+=retract_zlift;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- //prepare_move();
- if (swapretract) {
- current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
- } else {
- current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
- }
- plan_set_e_position(current_position[E_AXIS]);
- float oldFeedrate = feedrate;
- feedrate=retract_recover_feedrate*60;
- retracted[active_extruder]=false;
- prepare_move();
- feedrate = oldFeedrate;
- }
- } //retract
- #endif //FWRETRACT
- void trace() {
- tone(BEEPER, 440);
- delay(25);
- noTone(BEEPER);
- delay(20);
- }
- /*
- void ramming() {
- // float tmp[4] = DEFAULT_MAX_FEEDRATE;
- if (current_temperature[0] < 230) {
- //PLA
- max_feedrate[E_AXIS] = 50;
- //current_position[E_AXIS] -= 8;
- //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
- //current_position[E_AXIS] += 8;
- //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
- current_position[E_AXIS] += 5.4;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
- current_position[E_AXIS] += 3.2;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
- current_position[E_AXIS] += 3;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
- st_synchronize();
- max_feedrate[E_AXIS] = 80;
- current_position[E_AXIS] -= 82;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
- max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
- current_position[E_AXIS] -= 20;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
- current_position[E_AXIS] += 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
- current_position[E_AXIS] += 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
- current_position[E_AXIS] -= 10;
- st_synchronize();
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
- current_position[E_AXIS] += 10;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
- current_position[E_AXIS] -= 10;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
- current_position[E_AXIS] += 10;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
- current_position[E_AXIS] -= 10;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
- st_synchronize();
- }
- else {
- //ABS
- max_feedrate[E_AXIS] = 50;
- //current_position[E_AXIS] -= 8;
- //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
- //current_position[E_AXIS] += 8;
- //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
- current_position[E_AXIS] += 3.1;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
- current_position[E_AXIS] += 3.1;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
- current_position[E_AXIS] += 4;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
- st_synchronize();
- //current_position[X_AXIS] += 23; //delay
- //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
- //current_position[X_AXIS] -= 23; //delay
- //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
- delay(4700);
- max_feedrate[E_AXIS] = 80;
- current_position[E_AXIS] -= 92;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
- max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
- current_position[E_AXIS] -= 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
- current_position[E_AXIS] += 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
- current_position[E_AXIS] -= 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
- st_synchronize();
- current_position[E_AXIS] += 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
- current_position[E_AXIS] -= 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
- current_position[E_AXIS] += 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
- current_position[E_AXIS] -= 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
- st_synchronize();
- }
- }
- */
- void gcode_M701() {
- #ifdef SNMM
- extr_adj(snmm_extruder);//loads current extruder
- #else
- enable_z();
- custom_message = true;
- custom_message_type = 2;
- lcd_setstatuspgm(MSG_LOADING_FILAMENT);
- current_position[E_AXIS] += 70;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
- current_position[E_AXIS] += 25;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
- st_synchronize();
- if (!farm_mode && loading_flag) {
- bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
- while (!clean) {
- lcd_update_enable(true);
- lcd_update(2);
- current_position[E_AXIS] += 25;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
- st_synchronize();
- clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
- }
- }
- lcd_update_enable(true);
- lcd_update(2);
- lcd_setstatuspgm(WELCOME_MSG);
- disable_z();
- loading_flag = false;
- custom_message = false;
- custom_message_type = 0;
- #endif
- }
- bool gcode_M45(bool onlyZ) {
- bool final_result = false;
- if (!onlyZ) {
- setTargetBed(0);
- setTargetHotend(0, 0);
- setTargetHotend(0, 1);
- setTargetHotend(0, 2);
- adjust_bed_reset(); //reset bed level correction
- }
- // Disable the default update procedure of the display. We will do a modal dialog.
- lcd_update_enable(false);
- // Let the planner use the uncorrected coordinates.
- mbl.reset();
- // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
- // the planner will not perform any adjustments in the XY plane.
- // Wait for the motors to stop and update the current position with the absolute values.
- world2machine_revert_to_uncorrected();
- // Reset the baby step value applied without moving the axes.
- babystep_reset();
- // Mark all axes as in a need for homing.
- memset(axis_known_position, 0, sizeof(axis_known_position));
- // Let the user move the Z axes up to the end stoppers.
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- if (lcd_calibrate_z_end_stop_manual(onlyZ)) {
- KEEPALIVE_STATE(IN_HANDLER);
- refresh_cmd_timeout();
- if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ)) {
- lcd_wait_for_cool_down();
- lcd_show_fullscreen_message_and_wait_P(MSG_PAPER);
- lcd_display_message_fullscreen_P(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1);
- lcd_implementation_print_at(0, 3, 1);
- lcd_printPGM(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2);
- }
- // Move the print head close to the bed.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- 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);
- st_synchronize();
- // Home in the XY plane.
- set_destination_to_current();
- setup_for_endstop_move();
- home_xy();
- int8_t verbosity_level = 0;
- if (code_seen('V')) {
- // Just 'V' without a number counts as V1.
- char c = strchr_pointer[1];
- verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
- }
- if (onlyZ) {
- clean_up_after_endstop_move();
- // Z only calibration.
- // Load the machine correction matrix
- world2machine_initialize();
- // and correct the current_position to match the transformed coordinate system.
- world2machine_update_current();
- //FIXME
- bool result = sample_mesh_and_store_reference();
- if (result) {
- if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
- // Shipped, the nozzle height has been set already. The user can start printing now.
- calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
- // babystep_apply();
- final_result = true;
- }
- }
- else {
- //if wizard is active and selftest was succefully completed, we dont want to loose information about it
- if (calibration_status() != 250 || eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) {
- calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
- }
- // Reset the baby step value and the baby step applied flag.
- eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
- // Complete XYZ calibration.
- uint8_t point_too_far_mask = 0;
- BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
- clean_up_after_endstop_move();
- // Print head up.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- 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);
- st_synchronize();
- if (result >= 0) {
- point_too_far_mask = 0;
- // Second half: The fine adjustment.
- // Let the planner use the uncorrected coordinates.
- mbl.reset();
- world2machine_reset();
- // Home in the XY plane.
- setup_for_endstop_move();
- home_xy();
- result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
- clean_up_after_endstop_move();
- // Print head up.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- 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);
- st_synchronize();
- // if (result >= 0) babystep_apply();
- }
- lcd_bed_calibration_show_result(result, point_too_far_mask);
- if (result >= 0) {
- // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
- calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
- if(eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
- final_result = true;
- }
- }
- }
- else {
- // Timeouted.
- KEEPALIVE_STATE(IN_HANDLER);
- }
- lcd_update_enable(true);
- return final_result;
- }
- void process_commands()
- {
- #ifdef FILAMENT_RUNOUT_SUPPORT
- SET_INPUT(FR_SENS);
- #endif
- #ifdef CMDBUFFER_DEBUG
- SERIAL_ECHOPGM("Processing a GCODE command: ");
- SERIAL_ECHO(cmdbuffer+bufindr+1);
- SERIAL_ECHOLNPGM("");
- SERIAL_ECHOPGM("In cmdqueue: ");
- SERIAL_ECHO(buflen);
- SERIAL_ECHOLNPGM("");
- #endif /* CMDBUFFER_DEBUG */
-
- unsigned long codenum; //throw away variable
- char *starpos = NULL;
- #ifdef ENABLE_AUTO_BED_LEVELING
- float x_tmp, y_tmp, z_tmp, real_z;
- #endif
- // PRUSA GCODES
- KEEPALIVE_STATE(IN_HANDLER);
- if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
- custom_message = true; //fixes using M117 during SD print, but needs to be be updated in future
- custom_message_type = 2; //fixes using M117 during SD print, but needs to be be updated in future
- starpos = (strchr(strchr_pointer + 5, '*'));
- if (starpos != NULL)
- *(starpos) = '\0';
- lcd_setstatus(strchr_pointer + 5);
- custom_message = false;
- custom_message_type = 0;
- }
- else if(code_seen("PRUSA")){
- if (code_seen("Ping")) { //PRUSA Ping
- if (farm_mode) {
- PingTime = millis();
- //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
- }
- } else if (code_seen("PRN")) {
- MYSERIAL.println(status_number);
- } else if (code_seen("RESET")) {
- // careful!
- if (farm_mode) {
- asm volatile(" jmp 0x3E000");
- }
- else {
- MYSERIAL.println("Not in farm mode.");
- }
- } else if (code_seen("fn")) {
- if (farm_mode) {
- MYSERIAL.println(farm_no);
- }
- else {
- MYSERIAL.println("Not in farm mode.");
- }
-
- }
- else if (code_seen("thx")) {
- no_response = false;
- }else if (code_seen("fv")) {
- // get file version
- #ifdef SDSUPPORT
- card.openFile(strchr_pointer + 3,true);
- while (true) {
- uint16_t readByte = card.get();
- MYSERIAL.write(readByte);
- if (readByte=='\n') {
- break;
- }
- }
- card.closefile();
- #endif // SDSUPPORT
- } else if (code_seen("M28")) {
- trace();
- prusa_sd_card_upload = true;
- card.openFile(strchr_pointer+4,false);
- } else if (code_seen("SN")) {
- if (farm_mode) {
- selectedSerialPort = 0;
- MSerial.write(";S");
- // S/N is:CZPX0917X003XC13518
- int numbersRead = 0;
- while (numbersRead < 19) {
- while (MSerial.available() > 0) {
- uint8_t serial_char = MSerial.read();
- selectedSerialPort = 1;
- MSerial.write(serial_char);
- numbersRead++;
- selectedSerialPort = 0;
- }
- }
- selectedSerialPort = 1;
- MSerial.write('\n');
- /*for (int b = 0; b < 3; b++) {
- tone(BEEPER, 110);
- delay(50);
- noTone(BEEPER);
- delay(50);
- }*/
- } else {
- MYSERIAL.println("Not in farm mode.");
- }
- } else if(code_seen("Fir")){
- SERIAL_PROTOCOLLN(FW_version);
- } else if(code_seen("Rev")){
- SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
- } else if(code_seen("Lang")) {
- lcd_force_language_selection();
- } else if(code_seen("Lz")) {
- EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
-
- } else if (code_seen("SERIAL LOW")) {
- MYSERIAL.println("SERIAL LOW");
- MYSERIAL.begin(BAUDRATE);
- return;
- } else if (code_seen("SERIAL HIGH")) {
- MYSERIAL.println("SERIAL HIGH");
- MYSERIAL.begin(115200);
- return;
- } else if(code_seen("Beat")) {
- // Kick farm link timer
- kicktime = millis();
- } else if(code_seen("FR")) {
- // Factory full reset
- factory_reset(0,true);
- }
- //else if (code_seen('Cal')) {
- // lcd_calibration();
- // }
- }
- else if (code_seen('^')) {
- // nothing, this is a version line
- } else if(code_seen('G'))
- {
- switch((int)code_value())
- {
- case 0: // G0 -> G1
- case 1: // G1
- if(Stopped == false) {
- #ifdef FILAMENT_RUNOUT_SUPPORT
-
- if(READ(FR_SENS)){
- enquecommand_front_P((PSTR(FILAMENT_RUNOUT_SCRIPT)));
- /* feedmultiplyBckp=feedmultiply;
- float target[4];
- float lastpos[4];
- target[X_AXIS]=current_position[X_AXIS];
- target[Y_AXIS]=current_position[Y_AXIS];
- target[Z_AXIS]=current_position[Z_AXIS];
- target[E_AXIS]=current_position[E_AXIS];
- lastpos[X_AXIS]=current_position[X_AXIS];
- lastpos[Y_AXIS]=current_position[Y_AXIS];
- lastpos[Z_AXIS]=current_position[Z_AXIS];
- lastpos[E_AXIS]=current_position[E_AXIS];
- //retract by E
-
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
-
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
- target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
- target[X_AXIS]= FILAMENTCHANGE_XPOS ;
-
- target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
-
-
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
- target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
-
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
- //finish moves
- st_synchronize();
- //disable extruder steppers so filament can be removed
- disable_e0();
- disable_e1();
- disable_e2();
- delay(100);
-
- //LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
- uint8_t cnt=0;
- int counterBeep = 0;
- lcd_wait_interact();
- while(!lcd_clicked()){
- cnt++;
- manage_heater();
- manage_inactivity(true);
- //lcd_update();
- if(cnt==0)
- {
- #if BEEPER > 0
-
- if (counterBeep== 500){
- counterBeep = 0;
-
- }
-
-
- SET_OUTPUT(BEEPER);
- if (counterBeep== 0){
- WRITE(BEEPER,HIGH);
- }
-
- if (counterBeep== 20){
- WRITE(BEEPER,LOW);
- }
-
-
-
-
- counterBeep++;
- #else
- #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
- lcd_buzz(1000/6,100);
- #else
- lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
- #endif
- #endif
- }
- }
-
- WRITE(BEEPER,LOW);
-
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
-
-
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
-
-
-
-
-
- lcd_change_fil_state = 0;
- lcd_loading_filament();
- while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
-
- lcd_change_fil_state = 0;
- lcd_alright();
- switch(lcd_change_fil_state){
-
- case 2:
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
-
-
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
-
-
- lcd_loading_filament();
- break;
- case 3:
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
- lcd_loading_color();
- break;
-
- default:
- lcd_change_success();
- break;
- }
-
- }
-
-
- target[E_AXIS]+= 5;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
-
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
-
- //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
- //plan_set_e_position(current_position[E_AXIS]);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
-
-
- target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
-
-
-
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
-
-
- plan_set_e_position(lastpos[E_AXIS]);
-
- feedmultiply=feedmultiplyBckp;
-
-
-
- char cmd[9];
- sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
- enquecommand(cmd);
- */
- }
- #endif
- get_coordinates(); // For X Y Z E F
- if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
- total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
- }
- #ifdef FWRETRACT
- if(autoretract_enabled)
- if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
- float echange=destination[E_AXIS]-current_position[E_AXIS];
- if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
- current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
- plan_set_e_position(current_position[E_AXIS]); //AND from the planner
- retract(!retracted[active_extruder]);
- return;
- }
- }
- #endif //FWRETRACT
- prepare_move();
- //ClearToSend();
- }
- break;
- case 2: // G2 - CW ARC
- if(Stopped == false) {
- get_arc_coordinates();
- prepare_arc_move(true);
- }
- break;
- case 3: // G3 - CCW ARC
- if(Stopped == false) {
- get_arc_coordinates();
- prepare_arc_move(false);
- }
- break;
- case 4: // G4 dwell
- codenum = 0;
- if(code_seen('P')) codenum = code_value(); // milliseconds to wait
- if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
- if(codenum != 0) LCD_MESSAGERPGM(MSG_DWELL);
- st_synchronize();
- codenum += millis(); // keep track of when we started waiting
- previous_millis_cmd = millis();
- while(millis() < codenum) {
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- break;
- #ifdef FWRETRACT
- case 10: // G10 retract
- #if EXTRUDERS > 1
- retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
- retract(true,retracted_swap[active_extruder]);
- #else
- retract(true);
- #endif
- break;
- case 11: // G11 retract_recover
- #if EXTRUDERS > 1
- retract(false,retracted_swap[active_extruder]);
- #else
- retract(false);
- #endif
- break;
- #endif //FWRETRACT
- case 28: //G28 Home all Axis one at a time
- homing_flag = true;
- #ifdef ENABLE_AUTO_BED_LEVELING
- plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
- #endif //ENABLE_AUTO_BED_LEVELING
-
-
- // For mesh bed leveling deactivate the matrix temporarily
- #ifdef MESH_BED_LEVELING
- mbl.active = 0;
- #endif
- // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
- // the planner will not perform any adjustments in the XY plane.
- // Wait for the motors to stop and update the current position with the absolute values.
- world2machine_revert_to_uncorrected();
- // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
- // consumed during the first movements following this statement.
- babystep_undo();
- saved_feedrate = feedrate;
- saved_feedmultiply = feedmultiply;
- feedmultiply = 100;
- previous_millis_cmd = millis();
- enable_endstops(true);
- for(int8_t i=0; i < NUM_AXIS; i++)
- destination[i] = current_position[i];
- feedrate = 0.0;
- home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
- #if Z_HOME_DIR > 0 // If homing away from BED do Z first
- if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
- homeaxis(Z_AXIS);
- }
- #endif
- #ifdef QUICK_HOME
- // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
- if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
- {
- current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
- int x_axis_home_dir = home_dir(X_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- 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);
- feedrate = homing_feedrate[X_AXIS];
- if(homing_feedrate[Y_AXIS]<feedrate)
- feedrate = homing_feedrate[Y_AXIS];
- if (max_length(X_AXIS) > max_length(Y_AXIS)) {
- feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
- } else {
- feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
- }
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- axis_is_at_home(X_AXIS);
- axis_is_at_home(Y_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = current_position[X_AXIS];
- destination[Y_AXIS] = current_position[Y_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- feedrate = 0.0;
- st_synchronize();
- endstops_hit_on_purpose();
- current_position[X_AXIS] = destination[X_AXIS];
- current_position[Y_AXIS] = destination[Y_AXIS];
- current_position[Z_AXIS] = destination[Z_AXIS];
- }
- #endif /* QUICK_HOME */
-
- if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
- homeaxis(X_AXIS);
- if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
- homeaxis(Y_AXIS);
- if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
- current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
- if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
- current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
- #if Z_HOME_DIR < 0 // If homing towards BED do Z last
- #ifndef Z_SAFE_HOMING
- if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
- #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
- destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
- feedrate = max_feedrate[Z_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
- st_synchronize();
- #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
- #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
- if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
- {
- homeaxis(X_AXIS);
- homeaxis(Y_AXIS);
- }
- // 1st mesh bed leveling measurement point, corrected.
- world2machine_initialize();
- world2machine(pgm_read_float(bed_ref_points), pgm_read_float(bed_ref_points+1), destination[X_AXIS], destination[Y_AXIS]);
- world2machine_reset();
- if (destination[Y_AXIS] < Y_MIN_POS)
- destination[Y_AXIS] = Y_MIN_POS;
- destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
- feedrate = homing_feedrate[Z_AXIS]/10;
- current_position[Z_AXIS] = 0;
- enable_endstops(false);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
- st_synchronize();
- current_position[X_AXIS] = destination[X_AXIS];
- current_position[Y_AXIS] = destination[Y_AXIS];
- enable_endstops(true);
- endstops_hit_on_purpose();
- homeaxis(Z_AXIS);
- #else // MESH_BED_LEVELING
- homeaxis(Z_AXIS);
- #endif // MESH_BED_LEVELING
- }
- #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
- if(home_all_axis) {
- destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
- destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
- destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
- feedrate = XY_TRAVEL_SPEED/60;
- current_position[Z_AXIS] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
- st_synchronize();
- current_position[X_AXIS] = destination[X_AXIS];
- current_position[Y_AXIS] = destination[Y_AXIS];
- homeaxis(Z_AXIS);
- }
- // Let's see if X and Y are homed and probe is inside bed area.
- if(code_seen(axis_codes[Z_AXIS])) {
- if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
- && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
- && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
- && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
- && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
- current_position[Z_AXIS] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
- feedrate = max_feedrate[Z_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
- st_synchronize();
- homeaxis(Z_AXIS);
- } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
- LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
- } else {
- LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
- }
- }
- #endif // Z_SAFE_HOMING
- #endif // Z_HOME_DIR < 0
- if(code_seen(axis_codes[Z_AXIS])) {
- if(code_value_long() != 0) {
- current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
- }
- }
- #ifdef ENABLE_AUTO_BED_LEVELING
- if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
- current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
- }
- #endif
-
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- #ifdef ENDSTOPS_ONLY_FOR_HOMING
- enable_endstops(false);
- #endif
- feedrate = saved_feedrate;
- feedmultiply = saved_feedmultiply;
- previous_millis_cmd = millis();
- endstops_hit_on_purpose();
- #ifndef MESH_BED_LEVELING
- // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
- // Offer the user to load the baby step value, which has been adjusted at the previous print session.
- if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
- lcd_adjust_z();
- #endif
- // Load the machine correction matrix
- world2machine_initialize();
- // and correct the current_position to match the transformed coordinate system.
- world2machine_update_current();
- #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
- if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
- {
- }
- else
- {
- st_synchronize();
- homing_flag = false;
- // Push the commands to the front of the message queue in the reverse order!
- // There shall be always enough space reserved for these commands.
- // enquecommand_front_P((PSTR("G80")));
- goto case_G80;
- }
- #endif
- if (farm_mode) { prusa_statistics(20); };
- homing_flag = false;
- break;
- #ifdef ENABLE_AUTO_BED_LEVELING
- case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
- {
- #if Z_MIN_PIN == -1
- #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."
- #endif
- // Prevent user from running a G29 without first homing in X and Y
- if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
- {
- LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
- break; // abort G29, since we don't know where we are
- }
- st_synchronize();
- // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
- //vector_3 corrected_position = plan_get_position_mm();
- //corrected_position.debug("position before G29");
- plan_bed_level_matrix.set_to_identity();
- vector_3 uncorrected_position = plan_get_position();
- //uncorrected_position.debug("position durring G29");
- current_position[X_AXIS] = uncorrected_position.x;
- current_position[Y_AXIS] = uncorrected_position.y;
- current_position[Z_AXIS] = uncorrected_position.z;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- setup_for_endstop_move();
- feedrate = homing_feedrate[Z_AXIS];
- #ifdef AUTO_BED_LEVELING_GRID
- // probe at the points of a lattice grid
- int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
- int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
- // solve the plane equation ax + by + d = z
- // A is the matrix with rows [x y 1] for all the probed points
- // B is the vector of the Z positions
- // 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
- // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
- // "A" matrix of the linear system of equations
- double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
- // "B" vector of Z points
- double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
- int probePointCounter = 0;
- bool zig = true;
- for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
- {
- int xProbe, xInc;
- if (zig)
- {
- xProbe = LEFT_PROBE_BED_POSITION;
- //xEnd = RIGHT_PROBE_BED_POSITION;
- xInc = xGridSpacing;
- zig = false;
- } else // zag
- {
- xProbe = RIGHT_PROBE_BED_POSITION;
- //xEnd = LEFT_PROBE_BED_POSITION;
- xInc = -xGridSpacing;
- zig = true;
- }
- for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
- {
- float z_before;
- if (probePointCounter == 0)
- {
- // raise before probing
- z_before = Z_RAISE_BEFORE_PROBING;
- } else
- {
- // raise extruder
- z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
- }
- float measured_z = probe_pt(xProbe, yProbe, z_before);
- eqnBVector[probePointCounter] = measured_z;
- eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
- eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
- eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
- probePointCounter++;
- xProbe += xInc;
- }
- }
- clean_up_after_endstop_move();
- // solve lsq problem
- double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
- SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
- SERIAL_PROTOCOL(plane_equation_coefficients[0]);
- SERIAL_PROTOCOLPGM(" b: ");
- SERIAL_PROTOCOL(plane_equation_coefficients[1]);
- SERIAL_PROTOCOLPGM(" d: ");
- SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
- set_bed_level_equation_lsq(plane_equation_coefficients);
- free(plane_equation_coefficients);
- #else // AUTO_BED_LEVELING_GRID not defined
- // Probe at 3 arbitrary points
- // probe 1
- float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
- // probe 2
- 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);
- // probe 3
- 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);
- clean_up_after_endstop_move();
- set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
- #endif // AUTO_BED_LEVELING_GRID
- st_synchronize();
- // The following code correct the Z height difference from z-probe position and hotend tip position.
- // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
- // When the bed is uneven, this height must be corrected.
- real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
- x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
- y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
- z_tmp = current_position[Z_AXIS];
- apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
- current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- break;
- #ifndef Z_PROBE_SLED
- case 30: // G30 Single Z Probe
- {
- st_synchronize();
- // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
- setup_for_endstop_move();
- feedrate = homing_feedrate[Z_AXIS];
- run_z_probe();
- SERIAL_PROTOCOLPGM(MSG_BED);
- SERIAL_PROTOCOLPGM(" X: ");
- SERIAL_PROTOCOL(current_position[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL(current_position[Y_AXIS]);
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOL(current_position[Z_AXIS]);
- SERIAL_PROTOCOLPGM("\n");
- clean_up_after_endstop_move();
- }
- break;
- #else
- case 31: // dock the sled
- dock_sled(true);
- break;
- case 32: // undock the sled
- dock_sled(false);
- break;
- #endif // Z_PROBE_SLED
- #endif // ENABLE_AUTO_BED_LEVELING
-
- #ifdef MESH_BED_LEVELING
- case 30: // G30 Single Z Probe
- {
- st_synchronize();
- // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
- setup_for_endstop_move();
- feedrate = homing_feedrate[Z_AXIS];
- find_bed_induction_sensor_point_z(-10.f, 3);
- SERIAL_PROTOCOLRPGM(MSG_BED);
- SERIAL_PROTOCOLPGM(" X: ");
- MYSERIAL.print(current_position[X_AXIS], 5);
- SERIAL_PROTOCOLPGM(" Y: ");
- MYSERIAL.print(current_position[Y_AXIS], 5);
- SERIAL_PROTOCOLPGM(" Z: ");
- MYSERIAL.print(current_position[Z_AXIS], 5);
- SERIAL_PROTOCOLPGM("\n");
- clean_up_after_endstop_move();
- }
- break;
-
- case 75:
- {
- for (int i = 40; i <= 110; i++) {
- MYSERIAL.print(i);
- MYSERIAL.print(" ");
- MYSERIAL.println(temp_comp_interpolation(i));// / axis_steps_per_unit[Z_AXIS]);
- }
- }
- break;
- case 76: //PINDA probe temperature calibration
- {
- setTargetBed(PINDA_MIN_T);
- float zero_z;
- int z_shift = 0; //unit: steps
- int t_c; // temperature
- if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
- // We don't know where we are! HOME!
- // Push the commands to the front of the message queue in the reverse order!
- // There shall be always enough space reserved for these commands.
- repeatcommand_front(); // repeat G76 with all its parameters
- enquecommand_front_P((PSTR("G28 W0")));
- break;
- }
- KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
- SERIAL_ECHOLNPGM("PINDA probe calibration start");
- custom_message = true;
- custom_message_type = 4;
- custom_message_state = 1;
- custom_message = MSG_TEMP_CALIBRATION;
- current_position[X_AXIS] = PINDA_PREHEAT_X;
- current_position[Y_AXIS] = PINDA_PREHEAT_Y;
- current_position[Z_AXIS] = PINDA_PREHEAT_Z;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
- st_synchronize();
-
- while (abs(degBed() - PINDA_MIN_T) > 1) {
- delay_keep_alive(1000);
- serialecho_temperatures();
- }
-
- //enquecommand_P(PSTR("M190 S50"));
- for (int i = 0; i < PINDA_HEAT_T; i++) {
- delay_keep_alive(1000);
- serialecho_temperatures();
- }
- eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
- current_position[Z_AXIS] = 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
- current_position[X_AXIS] = pgm_read_float(bed_ref_points);
- current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
- st_synchronize();
-
- find_bed_induction_sensor_point_z(-1.f);
- zero_z = current_position[Z_AXIS];
- //current_position[Z_AXIS]
- SERIAL_ECHOLNPGM("");
- SERIAL_ECHOPGM("ZERO: ");
- MYSERIAL.print(current_position[Z_AXIS]);
- SERIAL_ECHOLNPGM("");
- for (int i = 0; i<5; i++) {
- SERIAL_ECHOPGM("Step: ");
- MYSERIAL.print(i+2);
- SERIAL_ECHOLNPGM("/6");
- custom_message_state = i + 2;
- t_c = 60 + i * 10;
- setTargetBed(t_c);
- current_position[X_AXIS] = PINDA_PREHEAT_X;
- current_position[Y_AXIS] = PINDA_PREHEAT_Y;
- current_position[Z_AXIS] = PINDA_PREHEAT_Z;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
- st_synchronize();
- while (degBed() < t_c) {
- delay_keep_alive(1000);
- serialecho_temperatures();
- }
- for (int i = 0; i < PINDA_HEAT_T; i++) {
- delay_keep_alive(1000);
- serialecho_temperatures();
- }
- current_position[Z_AXIS] = 5;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
- current_position[X_AXIS] = pgm_read_float(bed_ref_points);
- current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
- st_synchronize();
- find_bed_induction_sensor_point_z(-1.f);
- z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
- SERIAL_ECHOLNPGM("");
- SERIAL_ECHOPGM("Temperature: ");
- MYSERIAL.print(t_c);
- SERIAL_ECHOPGM(" Z shift (mm):");
- MYSERIAL.print(current_position[Z_AXIS] - zero_z);
- SERIAL_ECHOLNPGM("");
- EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
-
-
- }
- custom_message_type = 0;
- custom_message = false;
- eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
- SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
- disable_x();
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
- setTargetBed(0); //set bed target temperature back to 0
- lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
- lcd_update_enable(true);
- lcd_update(2);
-
- }
- break;
- #ifdef DIS
- case 77:
- {
- //G77 X200 Y150 XP100 YP15 XO10 Y015
- //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
- //G77 X232 Y218 XP116 YP109 XO-11 YO0
- float dimension_x = 40;
- float dimension_y = 40;
- int points_x = 40;
- int points_y = 40;
- float offset_x = 74;
- float offset_y = 33;
- if (code_seen('X')) dimension_x = code_value();
- if (code_seen('Y')) dimension_y = code_value();
- if (code_seen('XP')) points_x = code_value();
- if (code_seen('YP')) points_y = code_value();
- if (code_seen('XO')) offset_x = code_value();
- if (code_seen('YO')) offset_y = code_value();
-
- bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
-
- } break;
-
- #endif
- /**
- * G80: Mesh-based Z probe, probes a grid and produces a
- * mesh to compensate for variable bed height
- *
- * The S0 report the points as below
- *
- * +----> X-axis
- * |
- * |
- * v Y-axis
- *
- */
- case 80:
- #ifdef MK1BP
- break;
- #endif //MK1BP
- case_G80:
- {
- mesh_bed_leveling_flag = true;
- int8_t verbosity_level = 0;
- static bool run = false;
- if (code_seen('V')) {
- // Just 'V' without a number counts as V1.
- char c = strchr_pointer[1];
- verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
- }
- // Firstly check if we know where we are
- if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
- // We don't know where we are! HOME!
- // Push the commands to the front of the message queue in the reverse order!
- // There shall be always enough space reserved for these commands.
- if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
- repeatcommand_front(); // repeat G80 with all its parameters
- enquecommand_front_P((PSTR("G28 W0")));
- }
- else {
- mesh_bed_leveling_flag = false;
- }
- break;
- }
-
- if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
- if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
- temp_compensation_start();
- run = true;
- repeatcommand_front(); // repeat G80 with all its parameters
- enquecommand_front_P((PSTR("G28 W0")));
- }
- else {
- mesh_bed_leveling_flag = false;
- }
- break;
- }
- run = false;
- if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
- mesh_bed_leveling_flag = false;
- break;
- }
- // Save custom message state, set a new custom message state to display: Calibrating point 9.
- bool custom_message_old = custom_message;
- unsigned int custom_message_type_old = custom_message_type;
- unsigned int custom_message_state_old = custom_message_state;
- custom_message = true;
- custom_message_type = 1;
- custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
- lcd_update(1);
- mbl.reset(); //reset mesh bed leveling
- // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
- // consumed during the first movements following this statement.
- babystep_undo();
- // Cycle through all points and probe them
- // First move up. During this first movement, the babystepping will be reverted.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
- // The move to the first calibration point.
- current_position[X_AXIS] = pgm_read_float(bed_ref_points);
- current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
- bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1) {
- clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
- }
- #endif // SUPPORT_VERBOSITY
- // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder);
- // Wait until the move is finished.
- st_synchronize();
- int mesh_point = 0; //index number of calibration point
- int ix = 0;
- int iy = 0;
- int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
- int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
- 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)
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1) {
- has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
- }
- #endif // SUPPORT_VERBOSITY
- setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
- const char *kill_message = NULL;
- while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1) SERIAL_ECHOLNPGM("");
- #endif // SUPPORT_VERBOSITY
- // Get coords of a measuring point.
- ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
- iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
- if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
- float z0 = 0.f;
- if (has_z && mesh_point > 0) {
- uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
- z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1) {
- SERIAL_ECHOPGM("Bed leveling, point: ");
- MYSERIAL.print(mesh_point);
- SERIAL_ECHOPGM(", calibration z: ");
- MYSERIAL.print(z0, 5);
- SERIAL_ECHOLNPGM("");
- }
- #endif // SUPPORT_VERBOSITY
- }
- // Move Z up to MESH_HOME_Z_SEARCH.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
- st_synchronize();
- // Move to XY position of the sensor point.
- current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
- current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
- world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1) {
- SERIAL_PROTOCOL(mesh_point);
- clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
- }
- #endif // SUPPORT_VERBOSITY
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
- st_synchronize();
- // Go down until endstop is hit
- const float Z_CALIBRATION_THRESHOLD = 1.f;
- if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
- kill_message = MSG_BED_LEVELING_FAILED_POINT_LOW;
- break;
- }
- if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
- kill_message = MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED;
- break;
- }
- 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
- kill_message = MSG_BED_LEVELING_FAILED_POINT_HIGH;
- break;
- }
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 10) {
- SERIAL_ECHOPGM("X: ");
- MYSERIAL.print(current_position[X_AXIS], 5);
- SERIAL_ECHOLNPGM("");
- SERIAL_ECHOPGM("Y: ");
- MYSERIAL.print(current_position[Y_AXIS], 5);
- SERIAL_PROTOCOLPGM("\n");
- }
- if (verbosity_level >= 1) {
- SERIAL_ECHOPGM("mesh bed leveling: ");
- MYSERIAL.print(current_position[Z_AXIS], 5);
- SERIAL_ECHOLNPGM("");
- }
- #endif // SUPPORT_VERBOSITY
- mbl.set_z(ix, iy, current_position[Z_AXIS]); //store measured z values z_values[iy][ix] = z;
- custom_message_state--;
- mesh_point++;
- lcd_update(1);
- }
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 20) {
- SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
- SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
- MYSERIAL.print(current_position[Z_AXIS], 5);
- }
- #endif // SUPPORT_VERBOSITY
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
- st_synchronize();
- if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
- kill(kill_message);
- SERIAL_ECHOLNPGM("killed");
- }
- clean_up_after_endstop_move();
- SERIAL_ECHOLNPGM("clean up finished ");
- if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
- babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
- SERIAL_ECHOLNPGM("babystep applied");
- bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1) {
- eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
- }
- #endif // SUPPORT_VERBOSITY
- for (uint8_t i = 0; i < 4; ++i) {
- unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
- long correction = 0;
- if (code_seen(codes[i]))
- correction = code_value_long();
- else if (eeprom_bed_correction_valid) {
- unsigned char *addr = (i < 2) ?
- ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
- ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
- correction = eeprom_read_int8(addr);
- }
- if (correction == 0)
- continue;
- float offset = float(correction) * 0.001f;
- if (fabs(offset) > 0.101f) {
- SERIAL_ERROR_START;
- SERIAL_ECHOPGM("Excessive bed leveling correction: ");
- SERIAL_ECHO(offset);
- SERIAL_ECHOLNPGM(" microns");
- }
- else {
- switch (i) {
- case 0:
- for (uint8_t row = 0; row < 3; ++row) {
- mbl.z_values[row][1] += 0.5f * offset;
- mbl.z_values[row][0] += offset;
- }
- break;
- case 1:
- for (uint8_t row = 0; row < 3; ++row) {
- mbl.z_values[row][1] += 0.5f * offset;
- mbl.z_values[row][2] += offset;
- }
- break;
- case 2:
- for (uint8_t col = 0; col < 3; ++col) {
- mbl.z_values[1][col] += 0.5f * offset;
- mbl.z_values[0][col] += offset;
- }
- break;
- case 3:
- for (uint8_t col = 0; col < 3; ++col) {
- mbl.z_values[1][col] += 0.5f * offset;
- mbl.z_values[2][col] += offset;
- }
- break;
- }
- }
- }
- SERIAL_ECHOLNPGM("Bed leveling correction finished");
- mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
- SERIAL_ECHOLNPGM("Upsample finished");
- mbl.active = 1; //activate mesh bed leveling
- SERIAL_ECHOLNPGM("Mesh bed leveling activated");
- go_home_with_z_lift();
- SERIAL_ECHOLNPGM("Go home finished");
- //unretract (after PINDA preheat retraction)
- if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
- current_position[E_AXIS] += DEFAULT_RETRACTION;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
- }
- KEEPALIVE_STATE(NOT_BUSY);
- // Restore custom message state
- custom_message = custom_message_old;
- custom_message_type = custom_message_type_old;
- custom_message_state = custom_message_state_old;
- mesh_bed_leveling_flag = false;
- mesh_bed_run_from_menu = false;
- lcd_update(2);
-
- }
- break;
- /**
- * G81: Print mesh bed leveling status and bed profile if activated
- */
- case 81:
- if (mbl.active) {
- SERIAL_PROTOCOLPGM("Num X,Y: ");
- SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
- SERIAL_PROTOCOLPGM(",");
- SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
- SERIAL_PROTOCOLPGM("\nZ search height: ");
- SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
- SERIAL_PROTOCOLLNPGM("\nMeasured points:");
- for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
- for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
- SERIAL_PROTOCOLPGM(" ");
- SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
- }
- SERIAL_PROTOCOLPGM("\n");
- }
- }
- else
- SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
- break;
-
- #if 0
- /**
- * G82: Single Z probe at current location
- *
- * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
- *
- */
- case 82:
- SERIAL_PROTOCOLLNPGM("Finding bed ");
- setup_for_endstop_move();
- find_bed_induction_sensor_point_z();
- clean_up_after_endstop_move();
- SERIAL_PROTOCOLPGM("Bed found at: ");
- SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
- SERIAL_PROTOCOLPGM("\n");
- break;
- /**
- * G83: Prusa3D specific: Babystep in Z and store to EEPROM
- */
- case 83:
- {
- int babystepz = code_seen('S') ? code_value() : 0;
- int BabyPosition = code_seen('P') ? code_value() : 0;
-
- if (babystepz != 0) {
- //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
- // Is the axis indexed starting with zero or one?
- if (BabyPosition > 4) {
- SERIAL_PROTOCOLLNPGM("Index out of bounds");
- }else{
- // Save it to the eeprom
- babystepLoadZ = babystepz;
- EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
- // adjust the Z
- babystepsTodoZadd(babystepLoadZ);
- }
-
- }
-
- }
- break;
- /**
- * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
- */
- case 84:
- babystepsTodoZsubtract(babystepLoadZ);
- // babystepLoadZ = 0;
- break;
-
- /**
- * G85: Prusa3D specific: Pick best babystep
- */
- case 85:
- lcd_pick_babystep();
- break;
- #endif
-
- /**
- * G86: Prusa3D specific: Disable babystep correction after home.
- * This G-code will be performed at the start of a calibration script.
- */
- case 86:
- calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
- break;
- /**
- * G87: Prusa3D specific: Enable babystep correction after home
- * This G-code will be performed at the end of a calibration script.
- */
- case 87:
- calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
- break;
- /*case 88: //just for test
- SERIAL_ECHOPGM("Calibration status:");
- MYSERIAL.println(int(calibration_status()));
- if (code_seen('S')) codenum = code_value();
- calibration_status_store(codenum);
- SERIAL_ECHOPGM("Calibration status:");
- MYSERIAL.println(int(calibration_status()));
- eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
- break;
- */
- #endif // ENABLE_MESH_BED_LEVELING
-
-
- case 90: // G90
- relative_mode = false;
- break;
- case 91: // G91
- relative_mode = true;
- break;
- case 92: // G92
- if(!code_seen(axis_codes[E_AXIS]))
- st_synchronize();
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) {
- if(i == E_AXIS) {
- current_position[i] = code_value();
- plan_set_e_position(current_position[E_AXIS]);
- }
- else {
- current_position[i] = code_value()+add_homing[i];
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- }
- }
- break;
- case 98: //activate farm mode
- farm_mode = 1;
- PingTime = millis();
- EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
- eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
-
- break;
- case 99: //deactivate farm mode
- farm_mode = 0;
- lcd_printer_connected();
- eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
- lcd_update(2);
- break;
- }
- } // end if(code_seen('G'))
- else if(code_seen('M'))
- {
- int index;
- for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
-
- /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
- if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
- SERIAL_ECHOLNPGM("Invalid M code");
- } else
- switch((int)code_value())
- {
- #ifdef ULTIPANEL
- case 0: // M0 - Unconditional stop - Wait for user button press on LCD
- case 1: // M1 - Conditional stop - Wait for user button press on LCD
- {
- custom_message = true; //fixes using M1 during SD print, but needs to be be updated in future
- custom_message_type = 2; //fixes using M1 during SD print, but needs to be be updated in future
- char *src = strchr_pointer + 2;
- codenum = 0;
- bool hasP = false, hasS = false;
- if (code_seen('P')) {
- codenum = code_value(); // milliseconds to wait
- hasP = codenum > 0;
- }
- if (code_seen('S')) {
- codenum = code_value() * 1000; // seconds to wait
- hasS = codenum > 0;
- }
- starpos = strchr(src, '*');
- if (starpos != NULL) *(starpos) = '\0';
- while (*src == ' ') ++src;
- if (!hasP && !hasS && *src != '\0') {
- lcd_setstatus(src);
- } else {
- LCD_MESSAGERPGM(MSG_USERWAIT);
- }
- lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
- st_synchronize();
- previous_millis_cmd = millis();
- if (codenum > 0){
- codenum += millis(); // keep track of when we started waiting
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- while(millis() < codenum && !lcd_clicked()){
- manage_heater();
- manage_inactivity(true);
- lcd_update();
- }
- KEEPALIVE_STATE(IN_HANDLER);
- lcd_ignore_click(false);
- }else{
- if (!lcd_detected())
- break;
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- while(!lcd_clicked()){
- manage_heater();
- manage_inactivity(true);
- lcd_update();
- }
- KEEPALIVE_STATE(IN_HANDLER);
- }
- if (IS_SD_PRINTING)
- LCD_MESSAGERPGM(MSG_RESUMING);
- else
- LCD_MESSAGERPGM(WELCOME_MSG);
- custom_message = false;
- custom_message_type = 0;
- }
- break;
- #endif
- case 17:
- LCD_MESSAGERPGM(MSG_NO_MOVE);
- enable_x();
- enable_y();
- enable_z();
- enable_e0();
- enable_e1();
- enable_e2();
- break;
- #ifdef SDSUPPORT
- case 20: // M20 - list SD card
- SERIAL_PROTOCOLLNRPGM(MSG_BEGIN_FILE_LIST);
- card.ls();
- SERIAL_PROTOCOLLNRPGM(MSG_END_FILE_LIST);
- break;
- case 21: // M21 - init SD card
- card.initsd();
- break;
- case 22: //M22 - release SD card
- card.release();
- break;
- case 23: //M23 - Select file
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos!=NULL)
- *(starpos)='\0';
- card.openFile(strchr_pointer + 4,true);
- break;
- case 24: //M24 - Start SD print
- card.startFileprint();
- starttime=millis();
- break;
- case 25: //M25 - Pause SD print
- card.pauseSDPrint();
- break;
- case 26: //M26 - Set SD index
- if(card.cardOK && code_seen('S')) {
- card.setIndex(code_value_long());
- }
- break;
- case 27: //M27 - Get SD status
- card.getStatus();
- break;
- case 28: //M28 - Start SD write
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos != NULL){
- char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos) = '\0';
- }
- card.openFile(strchr_pointer+4,false);
- break;
- case 29: //M29 - Stop SD write
- //processed in write to file routine above
- //card,saving = false;
- break;
- case 30: //M30 <filename> Delete File
- if (card.cardOK){
- card.closefile();
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos != NULL){
- char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos) = '\0';
- }
- card.removeFile(strchr_pointer + 4);
- }
- break;
- case 32: //M32 - Select file and start SD print
- {
- if(card.sdprinting) {
- st_synchronize();
- }
- starpos = (strchr(strchr_pointer + 4,'*'));
- char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
- if(namestartpos==NULL)
- {
- namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
- }
- else
- namestartpos++; //to skip the '!'
- if(starpos!=NULL)
- *(starpos)='\0';
- bool call_procedure=(code_seen('P'));
- if(strchr_pointer>namestartpos)
- call_procedure=false; //false alert, 'P' found within filename
- if( card.cardOK )
- {
- card.openFile(namestartpos,true,!call_procedure);
- if(code_seen('S'))
- if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
- card.setIndex(code_value_long());
- card.startFileprint();
- if(!call_procedure)
- starttime=millis(); //procedure calls count as normal print time.
- }
- } break;
- case 928: //M928 - Start SD write
- starpos = (strchr(strchr_pointer + 5,'*'));
- if(starpos != NULL){
- char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos) = '\0';
- }
- card.openLogFile(strchr_pointer+5);
- break;
- #endif //SDSUPPORT
- case 31: //M31 take time since the start of the SD print or an M109 command
- {
- stoptime=millis();
- char time[30];
- unsigned long t=(stoptime-starttime)/1000;
- int sec,min;
- min=t/60;
- sec=t%60;
- sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(time);
- lcd_setstatus(time);
- autotempShutdown();
- }
- break;
- case 42: //M42 -Change pin status via gcode
- if (code_seen('S'))
- {
- int pin_status = code_value();
- int pin_number = LED_PIN;
- if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
- pin_number = code_value();
- for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
- {
- if (sensitive_pins[i] == pin_number)
- {
- pin_number = -1;
- break;
- }
- }
- #if defined(FAN_PIN) && FAN_PIN > -1
- if (pin_number == FAN_PIN)
- fanSpeed = pin_status;
- #endif
- if (pin_number > -1)
- {
- pinMode(pin_number, OUTPUT);
- digitalWrite(pin_number, pin_status);
- analogWrite(pin_number, pin_status);
- }
- }
- break;
- case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
- // Reset the baby step value and the baby step applied flag.
- calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
- eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
- // Reset the skew and offset in both RAM and EEPROM.
- reset_bed_offset_and_skew();
- // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
- // the planner will not perform any adjustments in the XY plane.
- // Wait for the motors to stop and update the current position with the absolute values.
- world2machine_revert_to_uncorrected();
- break;
- case 45: // M45: Prusa3D: bed skew and offset with manual Z up
- {
- // Only Z calibration?
- bool only_Z = code_seen('Z');
- gcode_M45(only_Z);
- break;
- }
- /*
- case 46:
- {
- // M46: Prusa3D: Show the assigned IP address.
- uint8_t ip[4];
- bool hasIP = card.ToshibaFlashAir_GetIP(ip);
- if (hasIP) {
- SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
- SERIAL_ECHO(int(ip[0]));
- SERIAL_ECHOPGM(".");
- SERIAL_ECHO(int(ip[1]));
- SERIAL_ECHOPGM(".");
- SERIAL_ECHO(int(ip[2]));
- SERIAL_ECHOPGM(".");
- SERIAL_ECHO(int(ip[3]));
- SERIAL_ECHOLNPGM("");
- } else {
- SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
- }
- break;
- }
- */
- case 47:
- // M47: Prusa3D: Show end stops dialog on the display.
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- lcd_diag_show_end_stops();
- KEEPALIVE_STATE(IN_HANDLER);
- break;
- #if 0
- case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
- {
- // Disable the default update procedure of the display. We will do a modal dialog.
- lcd_update_enable(false);
- // Let the planner use the uncorrected coordinates.
- mbl.reset();
- // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
- // the planner will not perform any adjustments in the XY plane.
- // Wait for the motors to stop and update the current position with the absolute values.
- world2machine_revert_to_uncorrected();
- // Move the print head close to the bed.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- 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);
- st_synchronize();
- // Home in the XY plane.
- set_destination_to_current();
- setup_for_endstop_move();
- home_xy();
- int8_t verbosity_level = 0;
- if (code_seen('V')) {
- // Just 'V' without a number counts as V1.
- char c = strchr_pointer[1];
- verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
- }
- bool success = scan_bed_induction_points(verbosity_level);
- clean_up_after_endstop_move();
- // Print head up.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- 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);
- st_synchronize();
- lcd_update_enable(true);
- break;
- }
- #endif
- // M48 Z-Probe repeatability measurement function.
- //
- // Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <L legs_of_movement_prior_to_doing_probe>
- //
- // This function assumes the bed has been homed. Specificaly, 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 need to be
- // regenerated.
- //
- // 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.
- //
- #ifdef ENABLE_AUTO_BED_LEVELING
- #ifdef Z_PROBE_REPEATABILITY_TEST
- case 48: // M48 Z-Probe repeatability
- {
- #if Z_MIN_PIN == -1
- #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
- #endif
- double sum=0.0;
- double mean=0.0;
- double sigma=0.0;
- double sample_set[50];
- int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
- double X_current, Y_current, Z_current;
- double X_probe_location, Y_probe_location, Z_start_location, ext_position;
-
- if (code_seen('V') || code_seen('v')) {
- verbose_level = code_value();
- if (verbose_level<0 || verbose_level>4 ) {
- SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
- goto Sigma_Exit;
- }
- }
- if (verbose_level > 0) {
- SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
- SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
- }
- if (code_seen('n')) {
- n_samples = code_value();
- if (n_samples<4 || n_samples>50 ) {
- SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
- goto Sigma_Exit;
- }
- }
- X_current = X_probe_location = st_get_position_mm(X_AXIS);
- Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
- Z_current = st_get_position_mm(Z_AXIS);
- Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
- ext_position = st_get_position_mm(E_AXIS);
- if (code_seen('X') || code_seen('x') ) {
- X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
- if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
- SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
- goto Sigma_Exit;
- }
- }
- if (code_seen('Y') || code_seen('y') ) {
- Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
- if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
- SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
- goto Sigma_Exit;
- }
- }
- if (code_seen('L') || code_seen('l') ) {
- n_legs = code_value();
- if ( n_legs==1 )
- n_legs = 2;
- if ( n_legs<0 || n_legs>15 ) {
- SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
- goto Sigma_Exit;
- }
- }
- //
- // Do all the preliminary setup work. First raise the probe.
- //
- st_synchronize();
- plan_bed_level_matrix.set_to_identity();
- plan_buffer_line( X_current, Y_current, Z_start_location,
- ext_position,
- homing_feedrate[Z_AXIS]/60,
- active_extruder);
- st_synchronize();
- //
- // Now get everything to the specified probe point So we can safely do a probe to
- // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
- // use that as a starting point for each probe.
- //
- if (verbose_level > 2)
- SERIAL_PROTOCOL("Positioning probe for the test.\n");
- plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
- ext_position,
- homing_feedrate[X_AXIS]/60,
- active_extruder);
- st_synchronize();
- current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
- current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
- current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
- current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
- //
- // OK, do the inital probe to get us close to the bed.
- // Then retrace the right amount and use that in subsequent probes
- //
- setup_for_endstop_move();
- run_z_probe();
- current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
- Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
- plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
- ext_position,
- homing_feedrate[X_AXIS]/60,
- active_extruder);
- st_synchronize();
- current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
- for( n=0; n<n_samples; n++) {
- do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
- if ( n_legs) {
- double radius=0.0, theta=0.0, x_sweep, y_sweep;
- int rotational_direction, l;
- rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
- radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
- theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
- //SERIAL_ECHOPAIR("starting radius: ",radius);
- //SERIAL_ECHOPAIR(" theta: ",theta);
- //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
- //SERIAL_PROTOCOLLNPGM("");
- for( l=0; l<n_legs-1; l++) {
- if (rotational_direction==1)
- theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
- else
- theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
- radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
- if ( radius<0.0 )
- radius = -radius;
- X_current = X_probe_location + cos(theta) * radius;
- Y_current = Y_probe_location + sin(theta) * radius;
- if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
- X_current = X_MIN_POS;
- if ( X_current>X_MAX_POS)
- X_current = X_MAX_POS;
- if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
- Y_current = Y_MIN_POS;
- if ( Y_current>Y_MAX_POS)
- Y_current = Y_MAX_POS;
- if (verbose_level>3 ) {
- SERIAL_ECHOPAIR("x: ", X_current);
- SERIAL_ECHOPAIR("y: ", Y_current);
- SERIAL_PROTOCOLLNPGM("");
- }
- do_blocking_move_to( X_current, Y_current, Z_current );
- }
- do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
- }
- setup_for_endstop_move();
- run_z_probe();
- sample_set[n] = current_position[Z_AXIS];
- //
- // Get the current mean for the data points we have so far
- //
- sum=0.0;
- for( j=0; j<=n; j++) {
- sum = sum + sample_set[j];
- }
- mean = sum / (double (n+1));
- //
- // Now, use that mean to calculate the standard deviation for the
- // data points we have so far
- //
- sum=0.0;
- for( j=0; j<=n; j++) {
- sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
- }
- sigma = sqrt( sum / (double (n+1)) );
- if (verbose_level > 1) {
- SERIAL_PROTOCOL(n+1);
- SERIAL_PROTOCOL(" of ");
- SERIAL_PROTOCOL(n_samples);
- SERIAL_PROTOCOLPGM(" z: ");
- SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
- }
- if (verbose_level > 2) {
- SERIAL_PROTOCOL(" mean: ");
- SERIAL_PROTOCOL_F(mean,6);
- SERIAL_PROTOCOL(" sigma: ");
- SERIAL_PROTOCOL_F(sigma,6);
- }
- if (verbose_level > 0)
- SERIAL_PROTOCOLPGM("\n");
- plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
- current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
- st_synchronize();
- }
- delay(1000);
- clean_up_after_endstop_move();
- // enable_endstops(true);
- if (verbose_level > 0) {
- SERIAL_PROTOCOLPGM("Mean: ");
- SERIAL_PROTOCOL_F(mean, 6);
- SERIAL_PROTOCOLPGM("\n");
- }
- SERIAL_PROTOCOLPGM("Standard Deviation: ");
- SERIAL_PROTOCOL_F(sigma, 6);
- SERIAL_PROTOCOLPGM("\n\n");
- Sigma_Exit:
- break;
- }
- #endif // Z_PROBE_REPEATABILITY_TEST
- #endif // ENABLE_AUTO_BED_LEVELING
- case 73: //M73 show percent done and time remaining
- if(code_seen('P')) print_percent_done_normal = code_value();
- if(code_seen('R')) print_time_remaining_normal = code_value();
- if(code_seen('Q')) print_percent_done_silent = code_value();
- if(code_seen('S')) print_time_remaining_silent = code_value();
- SERIAL_ECHOPGM("NORMAL MODE: Percent done: ");
- MYSERIAL.print(int(print_percent_done_normal));
- SERIAL_ECHOPGM("; print time remaining in mins: ");
- MYSERIAL.println(print_time_remaining_normal);
- SERIAL_ECHOPGM("SILENT MODE: Percent done: ");
- MYSERIAL.print(int(print_percent_done_silent));
- SERIAL_ECHOPGM("; print time remaining in mins: ");
- MYSERIAL.println(print_time_remaining_silent);
- break;
- case 104: // M104
- if(setTargetedHotend(104)){
- break;
- }
- if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
- setWatch();
- break;
- case 112: // M112 -Emergency Stop
- kill();
- break;
- case 140: // M140 set bed temp
- if (code_seen('S')) setTargetBed(code_value());
- break;
- case 105 : // M105
- if(setTargetedHotend(105)){
- break;
- }
- #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
- SERIAL_PROTOCOLPGM("ok T:");
- SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
- #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(),1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetBed(),1);
- #endif //TEMP_BED_PIN
- for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
- SERIAL_PROTOCOLPGM(" T");
- SERIAL_PROTOCOL(cur_extruder);
- SERIAL_PROTOCOLPGM(":");
- SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
- }
- #else
- SERIAL_ERROR_START;
- SERIAL_ERRORLNRPGM(MSG_ERR_NO_THERMISTORS);
- #endif
- SERIAL_PROTOCOLPGM(" @:");
- #ifdef EXTRUDER_WATTS
- SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
- SERIAL_PROTOCOLPGM("W");
- #else
- SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
- #endif
- SERIAL_PROTOCOLPGM(" B@:");
- #ifdef BED_WATTS
- SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
- SERIAL_PROTOCOLPGM("W");
- #else
- SERIAL_PROTOCOL(getHeaterPower(-1));
- #endif
- #ifdef SHOW_TEMP_ADC_VALUES
- {float raw = 0.0;
- #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
- SERIAL_PROTOCOLPGM(" ADC B:");
- SERIAL_PROTOCOL_F(degBed(),1);
- SERIAL_PROTOCOLPGM("C->");
- raw = rawBedTemp();
- SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
- SERIAL_PROTOCOLPGM(" Rb->");
- SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
- SERIAL_PROTOCOLPGM(" Rxb->");
- SERIAL_PROTOCOL_F(raw, 5);
- #endif
- for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
- SERIAL_PROTOCOLPGM(" T");
- SERIAL_PROTOCOL(cur_extruder);
- SERIAL_PROTOCOLPGM(":");
- SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
- SERIAL_PROTOCOLPGM("C->");
- raw = rawHotendTemp(cur_extruder);
- SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
- SERIAL_PROTOCOLPGM(" Rt");
- SERIAL_PROTOCOL(cur_extruder);
- SERIAL_PROTOCOLPGM("->");
- SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
- SERIAL_PROTOCOLPGM(" Rx");
- SERIAL_PROTOCOL(cur_extruder);
- SERIAL_PROTOCOLPGM("->");
- SERIAL_PROTOCOL_F(raw, 5);
- }}
- #endif
- SERIAL_PROTOCOLLN("");
- KEEPALIVE_STATE(NOT_BUSY);
- return;
- break;
- case 109:
- {// M109 - Wait for extruder heater to reach target.
- if(setTargetedHotend(109)){
- break;
- }
- LCD_MESSAGERPGM(MSG_HEATING);
- heating_status = 1;
- if (farm_mode) { prusa_statistics(1); };
- #ifdef AUTOTEMP
- autotemp_enabled=false;
- #endif
- if (code_seen('S')) {
- setTargetHotend(code_value(), tmp_extruder);
- CooldownNoWait = true;
- } else if (code_seen('R')) {
- setTargetHotend(code_value(), tmp_extruder);
- CooldownNoWait = false;
- }
- #ifdef AUTOTEMP
- if (code_seen('S')) autotemp_min=code_value();
- if (code_seen('B')) autotemp_max=code_value();
- if (code_seen('F'))
- {
- autotemp_factor=code_value();
- autotemp_enabled=true;
- }
- #endif
- setWatch();
- codenum = millis();
- /* See if we are heating up or cooling down */
- target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
- KEEPALIVE_STATE(NOT_BUSY);
- cancel_heatup = false;
- wait_for_heater(codenum); //loops until target temperature is reached
- LCD_MESSAGERPGM(MSG_HEATING_COMPLETE);
- KEEPALIVE_STATE(IN_HANDLER);
- heating_status = 2;
- if (farm_mode) { prusa_statistics(2); };
-
- //starttime=millis();
- previous_millis_cmd = millis();
- }
- break;
- case 190: // M190 - Wait for bed heater to reach target.
- #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
- LCD_MESSAGERPGM(MSG_BED_HEATING);
- heating_status = 3;
- if (farm_mode) { prusa_statistics(1); };
- if (code_seen('S'))
- {
- setTargetBed(code_value());
- CooldownNoWait = true;
- }
- else if (code_seen('R'))
- {
- setTargetBed(code_value());
- CooldownNoWait = false;
- }
- codenum = millis();
-
- cancel_heatup = false;
- target_direction = isHeatingBed(); // true if heating, false if cooling
- KEEPALIVE_STATE(NOT_BUSY);
- while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
- {
- if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
- {
- if (!farm_mode) {
- float tt = degHotend(active_extruder);
- SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL(tt);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)active_extruder);
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(), 1);
- SERIAL_PROTOCOLLN("");
- }
- codenum = millis();
-
- }
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- LCD_MESSAGERPGM(MSG_BED_DONE);
- KEEPALIVE_STATE(IN_HANDLER);
- heating_status = 4;
- previous_millis_cmd = millis();
- #endif
- break;
- #if defined(FAN_PIN) && FAN_PIN > -1
- case 106: //M106 Fan On
- if (code_seen('S')){
- fanSpeed=constrain(code_value(),0,255);
- }
- else {
- fanSpeed=255;
- }
- break;
- case 107: //M107 Fan Off
- fanSpeed = 0;
- break;
- #endif //FAN_PIN
- #if defined(PS_ON_PIN) && PS_ON_PIN > -1
- case 80: // M80 - Turn on Power Supply
- SET_OUTPUT(PS_ON_PIN); //GND
- WRITE(PS_ON_PIN, PS_ON_AWAKE);
- // If you have a switch on suicide pin, this is useful
- // if you want to start another print with suicide feature after
- // a print without suicide...
- #if defined SUICIDE_PIN && SUICIDE_PIN > -1
- SET_OUTPUT(SUICIDE_PIN);
- WRITE(SUICIDE_PIN, HIGH);
- #endif
- #ifdef ULTIPANEL
- powersupply = true;
- LCD_MESSAGERPGM(WELCOME_MSG);
- lcd_update();
- #endif
- break;
- #endif
- case 81: // M81 - Turn off Power Supply
- disable_heater();
- st_synchronize();
- disable_e0();
- disable_e1();
- disable_e2();
- finishAndDisableSteppers();
- fanSpeed = 0;
- delay(1000); // Wait a little before to switch off
- #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
- st_synchronize();
- suicide();
- #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
- SET_OUTPUT(PS_ON_PIN);
- WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #endif
- #ifdef ULTIPANEL
- powersupply = false;
- LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR("."))); //!!
-
- /*
- MACHNAME = "Prusa i3"
- MSGOFF = "Vypnuto"
- "Prusai3"" ""vypnuto""."
-
- "Prusa i3"" "MSG_ALL[lang_selected][50]"."
- */
- lcd_update();
- #endif
- break;
- case 82:
- axis_relative_modes[3] = false;
- break;
- case 83:
- axis_relative_modes[3] = true;
- break;
- case 18: //compatibility
- case 84: // M84
- if(code_seen('S')){
- stepper_inactive_time = code_value() * 1000;
- }
- else
- {
- 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])));
- if(all_axis)
- {
- st_synchronize();
- disable_e0();
- disable_e1();
- disable_e2();
- finishAndDisableSteppers();
- }
- else
- {
- st_synchronize();
- if (code_seen('X')) disable_x();
- if (code_seen('Y')) disable_y();
- if (code_seen('Z')) disable_z();
- #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
- if (code_seen('E')) {
- disable_e0();
- disable_e1();
- disable_e2();
- }
- #endif
- }
- }
- //in the end of print set estimated time to end of print and extruders used during print to default values for next print
- print_time_remaining_init();
- snmm_filaments_used = 0;
- break;
- case 85: // M85
- if(code_seen('S')) {
- max_inactive_time = code_value() * 1000;
- }
- break;
- case 92: // M92
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- if(code_seen(axis_codes[i]))
- {
- if(i == 3) { // E
- float value = code_value();
- if(value < 20.0) {
- float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
- max_jerk[E_AXIS] *= factor;
- max_feedrate[i] *= factor;
- axis_steps_per_sqr_second[i] *= factor;
- }
- axis_steps_per_unit[i] = value;
- }
- else {
- axis_steps_per_unit[i] = code_value();
- }
- }
- }
- break;
- case 110: // M110 - reset line pos
- if (code_seen('N'))
- gcode_LastN = code_value_long();
- break;
- #ifdef HOST_KEEPALIVE_FEATURE
- case 113: // M113 - Get or set Host Keepalive interval
- if (code_seen('S')) {
- host_keepalive_interval = (uint8_t)code_value_short();
- NOMORE(host_keepalive_interval, 60);
- } else {
- SERIAL_ECHO_START;
- SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
- SERIAL_PROTOCOLLN("");
- }
- break;
- #endif
- case 115: // M115
- if (code_seen('V')) {
- // Report the Prusa version number.
- SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
- } else if (code_seen('U')) {
- // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
- // pause the print and ask the user to upgrade the firmware.
- show_upgrade_dialog_if_version_newer(++ strchr_pointer);
- } else {
- SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
- SERIAL_ECHORPGM(FW_VERSION_STR_P());
- SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
- SERIAL_ECHOPGM(PROTOCOL_VERSION);
- SERIAL_ECHOPGM(" MACHINE_TYPE:");
- SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
- SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
- SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
- SERIAL_ECHOPGM(" UUID:");
- SERIAL_ECHOLNPGM(MACHINE_UUID);
- }
- break;
- /* case 117: // M117 display message
- starpos = (strchr(strchr_pointer + 5,'*'));
- if(starpos!=NULL)
- *(starpos)='\0';
- lcd_setstatus(strchr_pointer + 5);
- break;*/
- case 114: // M114
- SERIAL_PROTOCOLPGM("X:");
- SERIAL_PROTOCOL(current_position[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Y:");
- SERIAL_PROTOCOL(current_position[Y_AXIS]);
- SERIAL_PROTOCOLPGM(" Z:");
- SERIAL_PROTOCOL(current_position[Z_AXIS]);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL(current_position[E_AXIS]);
- SERIAL_PROTOCOLRPGM(MSG_COUNT_X);
- SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Y:");
- SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
- SERIAL_PROTOCOLPGM(" Z:");
- SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
- SERIAL_PROTOCOLLN("");
- break;
- case 120: // M120
- enable_endstops(false) ;
- break;
- case 121: // M121
- enable_endstops(true) ;
- break;
- case 119: // M119
- SERIAL_PROTOCOLRPGM(MSG_M119_REPORT);
- SERIAL_PROTOCOLLN("");
- #if defined(X_MIN_PIN) && X_MIN_PIN > -1
- SERIAL_PROTOCOLRPGM(MSG_X_MIN);
- if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- #if defined(X_MAX_PIN) && X_MAX_PIN > -1
- SERIAL_PROTOCOLRPGM(MSG_X_MAX);
- if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
- SERIAL_PROTOCOLRPGM(MSG_Y_MIN);
- if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
- SERIAL_PROTOCOLRPGM(MSG_Y_MAX);
- if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
- SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
- if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
- SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
- if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- break;
- //TODO: update for all axis, use for loop
- #ifdef BLINKM
- case 150: // M150
- {
- byte red;
- byte grn;
- byte blu;
- if(code_seen('R')) red = code_value();
- if(code_seen('U')) grn = code_value();
- if(code_seen('B')) blu = code_value();
- SendColors(red,grn,blu);
- }
- break;
- #endif //BLINKM
- case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
- {
- tmp_extruder = active_extruder;
- if(code_seen('T')) {
- tmp_extruder = code_value();
- if(tmp_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
- break;
- }
- }
- if(code_seen('D')) {
- float diameter = (float)code_value();
- if (diameter == 0.0) {
- // setting any extruder filament size disables volumetric on the assumption that
- // slicers either generate in extruder values as cubic mm or as as filament feeds
- // for all extruders
- volumetric_enabled = false;
- } else {
- filament_size[tmp_extruder] = (float)code_value();
- // make sure all extruders have some sane value for the filament size
- filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
- #if EXTRUDERS > 1
- filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
- #if EXTRUDERS > 2
- filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
- #endif
- #endif
- volumetric_enabled = true;
- }
- } else {
- //reserved for setting filament diameter via UFID or filament measuring device
- break;
- }
- calculate_volumetric_multipliers();
- }
- break;
- case 201: // M201
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- if(code_seen(axis_codes[i]))
- {
- max_acceleration_units_per_sq_second[i] = code_value();
- }
- }
- // 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)
- reset_acceleration_rates();
- break;
- #if 0 // Not used for Sprinter/grbl gen6
- case 202: // M202
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
- }
- break;
- #endif
- case 203: // M203 max feedrate mm/sec
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
- }
- break;
- case 204: // M204 acclereration S normal moves T filmanent only moves
- {
- if(code_seen('S')) acceleration = code_value() ;
- if(code_seen('T')) retract_acceleration = code_value() ;
- }
- break;
- case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
- {
- if(code_seen('S')) minimumfeedrate = code_value();
- if(code_seen('T')) mintravelfeedrate = code_value();
- if(code_seen('B')) minsegmenttime = code_value() ;
- if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
- if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
- if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
- if(code_seen('E')) max_jerk[E_AXIS] = code_value();
- }
- break;
- case 206: // M206 additional homing offset
- for(int8_t i=0; i < 3; i++)
- {
- if(code_seen(axis_codes[i])) add_homing[i] = code_value();
- }
- break;
- #ifdef FWRETRACT
- case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
- {
- if(code_seen('S'))
- {
- retract_length = code_value() ;
- }
- if(code_seen('F'))
- {
- retract_feedrate = code_value()/60 ;
- }
- if(code_seen('Z'))
- {
- retract_zlift = code_value() ;
- }
- }break;
- case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
- {
- if(code_seen('S'))
- {
- retract_recover_length = code_value() ;
- }
- if(code_seen('F'))
- {
- retract_recover_feedrate = code_value()/60 ;
- }
- }break;
- 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.
- {
- if(code_seen('S'))
- {
- int t= code_value() ;
- switch(t)
- {
- case 0:
- {
- autoretract_enabled=false;
- retracted[0]=false;
- #if EXTRUDERS > 1
- retracted[1]=false;
- #endif
- #if EXTRUDERS > 2
- retracted[2]=false;
- #endif
- }break;
- case 1:
- {
- autoretract_enabled=true;
- retracted[0]=false;
- #if EXTRUDERS > 1
- retracted[1]=false;
- #endif
- #if EXTRUDERS > 2
- retracted[2]=false;
- #endif
- }break;
- default:
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
- SERIAL_ECHOLNPGM("\"");
- }
- }
- }break;
- #endif // FWRETRACT
- #if EXTRUDERS > 1
- case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
- {
- if(setTargetedHotend(218)){
- break;
- }
- if(code_seen('X'))
- {
- extruder_offset[X_AXIS][tmp_extruder] = code_value();
- }
- if(code_seen('Y'))
- {
- extruder_offset[Y_AXIS][tmp_extruder] = code_value();
- }
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
- for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
- {
- SERIAL_ECHO(" ");
- SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
- SERIAL_ECHO(",");
- SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
- }
- SERIAL_ECHOLN("");
- }break;
- #endif
- case 220: // M220 S<factor in percent>- set speed factor override percentage
- {
- if (code_seen('B')) //backup current speed factor
- {
- saved_feedmultiply_mm = feedmultiply;
- }
- if(code_seen('S'))
- {
- feedmultiply = code_value() ;
- }
- if (code_seen('R')) { //restore previous feedmultiply
- feedmultiply = saved_feedmultiply_mm;
- }
- }
- break;
- case 221: // M221 S<factor in percent>- set extrude factor override percentage
- {
- if(code_seen('S'))
- {
- int tmp_code = code_value();
- if (code_seen('T'))
- {
- if(setTargetedHotend(221)){
- break;
- }
- extruder_multiply[tmp_extruder] = tmp_code;
- }
- else
- {
- extrudemultiply = tmp_code ;
- }
- }
- }
- break;
- case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
- {
- if(code_seen('P')){
- int pin_number = code_value(); // pin number
- int pin_state = -1; // required pin state - default is inverted
- if(code_seen('S')) pin_state = code_value(); // required pin state
- if(pin_state >= -1 && pin_state <= 1){
- for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
- {
- if (sensitive_pins[i] == pin_number)
- {
- pin_number = -1;
- break;
- }
- }
- if (pin_number > -1)
- {
- int target = LOW;
- st_synchronize();
- pinMode(pin_number, INPUT);
- switch(pin_state){
- case 1:
- target = HIGH;
- break;
- case 0:
- target = LOW;
- break;
- case -1:
- target = !digitalRead(pin_number);
- break;
- }
- while(digitalRead(pin_number) != target){
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- }
- }
- }
- }
- break;
- #if NUM_SERVOS > 0
- case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
- {
- int servo_index = -1;
- int servo_position = 0;
- if (code_seen('P'))
- servo_index = code_value();
- if (code_seen('S')) {
- servo_position = code_value();
- if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
- #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
- servos[servo_index].attach(0);
- #endif
- servos[servo_index].write(servo_position);
- #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
- delay(PROBE_SERVO_DEACTIVATION_DELAY);
- servos[servo_index].detach();
- #endif
- }
- else {
- SERIAL_ECHO_START;
- SERIAL_ECHO("Servo ");
- SERIAL_ECHO(servo_index);
- SERIAL_ECHOLN(" out of range");
- }
- }
- else if (servo_index >= 0) {
- SERIAL_PROTOCOL(MSG_OK);
- SERIAL_PROTOCOL(" Servo ");
- SERIAL_PROTOCOL(servo_index);
- SERIAL_PROTOCOL(": ");
- SERIAL_PROTOCOL(servos[servo_index].read());
- SERIAL_PROTOCOLLN("");
- }
- }
- break;
- #endif // NUM_SERVOS > 0
- #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
- case 300: // M300
- {
- int beepS = code_seen('S') ? code_value() : 110;
- int beepP = code_seen('P') ? code_value() : 1000;
- if (beepS > 0)
- {
- #if BEEPER > 0
- if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
- tone(BEEPER, beepS);
- delay(beepP);
- noTone(BEEPER);
- #elif defined(ULTRALCD)
- lcd_buzz(beepS, beepP);
- #elif defined(LCD_USE_I2C_BUZZER)
- lcd_buzz(beepP, beepS);
- #endif
- }
- else
- {
- delay(beepP);
- }
- }
- break;
- #endif // M300
- #ifdef PIDTEMP
- case 301: // M301
- {
- if(code_seen('P')) Kp = code_value();
- if(code_seen('I')) Ki = scalePID_i(code_value());
- if(code_seen('D')) Kd = scalePID_d(code_value());
- #ifdef PID_ADD_EXTRUSION_RATE
- if(code_seen('C')) Kc = code_value();
- #endif
- updatePID();
- SERIAL_PROTOCOLRPGM(MSG_OK);
- SERIAL_PROTOCOL(" p:");
- SERIAL_PROTOCOL(Kp);
- SERIAL_PROTOCOL(" i:");
- SERIAL_PROTOCOL(unscalePID_i(Ki));
- SERIAL_PROTOCOL(" d:");
- SERIAL_PROTOCOL(unscalePID_d(Kd));
- #ifdef PID_ADD_EXTRUSION_RATE
- SERIAL_PROTOCOL(" c:");
- //Kc does not have scaling applied above, or in resetting defaults
- SERIAL_PROTOCOL(Kc);
- #endif
- SERIAL_PROTOCOLLN("");
- }
- break;
- #endif //PIDTEMP
- #ifdef PIDTEMPBED
- case 304: // M304
- {
- if(code_seen('P')) bedKp = code_value();
- if(code_seen('I')) bedKi = scalePID_i(code_value());
- if(code_seen('D')) bedKd = scalePID_d(code_value());
- updatePID();
- SERIAL_PROTOCOLRPGM(MSG_OK);
- SERIAL_PROTOCOL(" p:");
- SERIAL_PROTOCOL(bedKp);
- SERIAL_PROTOCOL(" i:");
- SERIAL_PROTOCOL(unscalePID_i(bedKi));
- SERIAL_PROTOCOL(" d:");
- SERIAL_PROTOCOL(unscalePID_d(bedKd));
- SERIAL_PROTOCOLLN("");
- }
- break;
- #endif //PIDTEMP
- case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
- {
- #ifdef CHDK
-
- SET_OUTPUT(CHDK);
- WRITE(CHDK, HIGH);
- chdkHigh = millis();
- chdkActive = true;
-
- #else
-
- #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
- const uint8_t NUM_PULSES=16;
- const float PULSE_LENGTH=0.01524;
- for(int i=0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
- delay(7.33);
- for(int i=0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
- #endif
- #endif //chdk end if
- }
- break;
- #ifdef DOGLCD
- case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
- {
- if (code_seen('C')) {
- lcd_setcontrast( ((int)code_value())&63 );
- }
- SERIAL_PROTOCOLPGM("lcd contrast value: ");
- SERIAL_PROTOCOL(lcd_contrast);
- SERIAL_PROTOCOLLN("");
- }
- break;
- #endif
- #ifdef PREVENT_DANGEROUS_EXTRUDE
- case 302: // allow cold extrudes, or set the minimum extrude temperature
- {
- float temp = .0;
- if (code_seen('S')) temp=code_value();
- set_extrude_min_temp(temp);
- }
- break;
- #endif
- case 303: // M303 PID autotune
- {
- float temp = 150.0;
- int e=0;
- int c=5;
- if (code_seen('E')) e=code_value();
- if (e<0)
- temp=70;
- if (code_seen('S')) temp=code_value();
- if (code_seen('C')) c=code_value();
-
- PID_autotune(temp, e, c);
- }
- break;
- case 400: // M400 finish all moves
- {
- st_synchronize();
- }
- break;
- #ifdef FILAMENT_SENSOR
- case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
- {
- #if (FILWIDTH_PIN > -1)
- if(code_seen('N')) filament_width_nominal=code_value();
- else{
- SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
- SERIAL_PROTOCOLLN(filament_width_nominal);
- }
- #endif
- }
- break;
-
- case 405: //M405 Turn on filament sensor for control
- {
-
-
- if(code_seen('D')) meas_delay_cm=code_value();
-
- if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
- meas_delay_cm = MAX_MEASUREMENT_DELAY;
-
- if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
- {
- int temp_ratio = widthFil_to_size_ratio();
-
- for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
- measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
- }
- delay_index1=0;
- delay_index2=0;
- }
-
- filament_sensor = true ;
-
- //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
- //SERIAL_PROTOCOL(filament_width_meas);
- //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
- //SERIAL_PROTOCOL(extrudemultiply);
- }
- break;
-
- case 406: //M406 Turn off filament sensor for control
- {
- filament_sensor = false ;
- }
- break;
-
- case 407: //M407 Display measured filament diameter
- {
-
-
-
- SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
- SERIAL_PROTOCOLLN(filament_width_meas);
- }
- break;
- #endif
- case 500: // M500 Store settings in EEPROM
- {
- Config_StoreSettings();
- }
- break;
- case 501: // M501 Read settings from EEPROM
- {
- Config_RetrieveSettings();
- }
- break;
- case 502: // M502 Revert to default settings
- {
- Config_ResetDefault();
- }
- break;
- case 503: // M503 print settings currently in memory
- {
- Config_PrintSettings();
- }
- break;
- case 509: //M509 Force language selection
- {
- lcd_force_language_selection();
- SERIAL_ECHO_START;
- SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
- }
- break;
- #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
- case 540:
- {
- if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
- }
- break;
- #endif
- #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
- case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
- {
- float value;
- if (code_seen('Z'))
- {
- value = code_value();
- if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
- {
- zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
- SERIAL_PROTOCOLLN("");
- }
- else
- {
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
- SERIAL_ECHORPGM(MSG_Z_MIN);
- SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
- SERIAL_ECHORPGM(MSG_Z_MAX);
- SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
- SERIAL_PROTOCOLLN("");
- }
- }
- else
- {
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
- SERIAL_ECHO(-zprobe_zoffset);
- SERIAL_PROTOCOLLN("");
- }
- break;
- }
- #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
- #ifdef FILAMENTCHANGEENABLE
- case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
- {
- st_synchronize();
- float target[4];
- float lastpos[4];
- if (farm_mode)
-
- {
-
- prusa_statistics(22);
-
- }
-
- feedmultiplyBckp=feedmultiply;
- target[X_AXIS]=current_position[X_AXIS];
- target[Y_AXIS]=current_position[Y_AXIS];
- target[Z_AXIS]=current_position[Z_AXIS];
- target[E_AXIS]=current_position[E_AXIS];
- lastpos[X_AXIS]=current_position[X_AXIS];
- lastpos[Y_AXIS]=current_position[Y_AXIS];
- lastpos[Z_AXIS]=current_position[Z_AXIS];
- lastpos[E_AXIS]=current_position[E_AXIS];
- //Retract extruder
- if(code_seen('E'))
- {
- target[E_AXIS]+= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_FIRSTRETRACT
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
- #endif
- }
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
- //Lift Z
- if(code_seen('Z'))
- {
- target[Z_AXIS]+= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_ZADD
- target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
- // XXX: Removed unused var 'TooLowZ'
- if(target[Z_AXIS] < 10){
- target[Z_AXIS]+= 10 ;
- }
- #endif
-
-
- }
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
- //Move XY to side
- if(code_seen('X'))
- {
- target[X_AXIS]+= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_XPOS
- target[X_AXIS]= FILAMENTCHANGE_XPOS ;
- #endif
- }
- if(code_seen('Y'))
- {
- target[Y_AXIS]= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_YPOS
- target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
- #endif
- }
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
- st_synchronize();
- custom_message = true;
- lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
- // Unload filament
- if(code_seen('L'))
- {
- target[E_AXIS]+= code_value();
- }
- else
- {
- #ifdef SNMM
- #else
- #ifdef FILAMENTCHANGE_FINALRETRACT
- target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
- #endif
- #endif // SNMM
- }
- #ifdef SNMM
- target[E_AXIS] += 12;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
- target[E_AXIS] += 6;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
- target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
- st_synchronize();
- target[E_AXIS] += (FIL_COOLING);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
- target[E_AXIS] += (FIL_COOLING*-1);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
- target[E_AXIS] += (bowden_length[snmm_extruder] *-1);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
- st_synchronize();
- #else
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
- #endif // SNMM
-
- //finish moves
- st_synchronize();
- //disable extruder steppers so filament can be removed
- disable_e0();
- disable_e1();
- disable_e2();
- delay(100);
-
- //Wait for user to insert filament
- uint8_t cnt=0;
- int counterBeep = 0;
- lcd_wait_interact();
- load_filament_time = millis();
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- bool bFirst=true;
- while(!lcd_clicked()){
- cnt++;
- manage_heater();
- manage_inactivity(true);
- /*#ifdef SNMM
- target[E_AXIS] += 0.002;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
- #endif // SNMM*/
- if(cnt==0)
- {
- #if BEEPER > 0
- if (counterBeep== 500){
- counterBeep = 0;
- }
- SET_OUTPUT(BEEPER);
- if (counterBeep== 0){
- if((eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
- {
- bFirst=false;
- WRITE(BEEPER, HIGH);
- }
- }
- if (counterBeep== 20){
- WRITE(BEEPER,LOW);
- }
- counterBeep++;
- #else
- #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
- lcd_buzz(1000/6,100);
- #else
- lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
- #endif
- #endif
- }
- }
- KEEPALIVE_STATE(IN_HANDLER);
- WRITE(BEEPER, LOW);
- #ifdef SNMM
- display_loading();
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- do {
- target[E_AXIS] += 0.002;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
- delay_keep_alive(2);
- } while (!lcd_clicked());
- KEEPALIVE_STATE(IN_HANDLER);
- /*if (millis() - load_filament_time > 2) {
- load_filament_time = millis();
- target[E_AXIS] += 0.001;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
- }*/
- #endif
- //Filament inserted
-
-
- //Feed the filament to the end of nozzle quickly
- #ifdef SNMM
-
- st_synchronize();
- target[E_AXIS] += bowden_length[snmm_extruder];
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
- target[E_AXIS] += FIL_LOAD_LENGTH - 60;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
- target[E_AXIS] += 40;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
- target[E_AXIS] += 10;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
- #else
- target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
- #endif // SNMM
-
- //Extrude some filament
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
-
-
-
- //Wait for user to check the state
- lcd_change_fil_state = 0;
- lcd_loading_filament();
- while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
- lcd_change_fil_state = 0;
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- lcd_alright();
- KEEPALIVE_STATE(IN_HANDLER);
- switch(lcd_change_fil_state){
-
- // Filament failed to load so load it again
- case 2:
- #ifdef SNMM
- display_loading();
- do {
- target[E_AXIS] += 0.002;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
- delay_keep_alive(2);
- } while (!lcd_clicked());
- st_synchronize();
- target[E_AXIS] += bowden_length[snmm_extruder];
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
- target[E_AXIS] += FIL_LOAD_LENGTH - 60;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
- target[E_AXIS] += 40;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
- target[E_AXIS] += 10;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
- #else
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
- #endif
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
- lcd_loading_filament();
- break;
- // Filament loaded properly but color is not clear
- case 3:
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
- lcd_loading_color();
- break;
-
- // Everything good
- default:
- lcd_change_success();
- lcd_update_enable(true);
- break;
- }
-
- }
-
- //Not let's go back to print
- //Feed a little of filament to stabilize pressure
- target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
-
- //Retract
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
-
-
- //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
-
- //Move XY back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
-
- //Move Z back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
-
-
- target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
-
- //Unretract
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
-
- //Set E position to original
- plan_set_e_position(lastpos[E_AXIS]);
-
- //Recover feed rate
- feedmultiply=feedmultiplyBckp;
- char cmd[9];
- sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
- enquecommand(cmd);
-
- lcd_setstatuspgm(WELCOME_MSG);
- custom_message = false;
- custom_message_type = 0;
-
- }
- break;
- #endif //FILAMENTCHANGEENABLE
- case 601: {
- if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
- }
- break;
- case 602: {
- if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
- }
- break;
- #ifdef LIN_ADVANCE
- case 900: // M900: Set LIN_ADVANCE options.
- gcode_M900();
- break;
- #endif
-
- case 907: // M907 Set digital trimpot motor current using axis codes.
- {
- #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
- if(code_seen('B')) digipot_current(4,code_value());
- if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
- #endif
- #ifdef MOTOR_CURRENT_PWM_XY_PIN
- if(code_seen('X')) digipot_current(0, code_value());
- #endif
- #ifdef MOTOR_CURRENT_PWM_Z_PIN
- if(code_seen('Z')) digipot_current(1, code_value());
- #endif
- #ifdef MOTOR_CURRENT_PWM_E_PIN
- if(code_seen('E')) digipot_current(2, code_value());
- #endif
- #ifdef DIGIPOT_I2C
- // this one uses actual amps in floating point
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
- // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
- for(int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
- #endif
- }
- break;
- case 908: // M908 Control digital trimpot directly.
- {
- #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
- uint8_t channel,current;
- if(code_seen('P')) channel=code_value();
- if(code_seen('S')) current=code_value();
- digitalPotWrite(channel, current);
- #endif
- }
- break;
- case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
- {
- #if defined(X_MS1_PIN) && X_MS1_PIN > -1
- if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
- if(code_seen('B')) microstep_mode(4,code_value());
- microstep_readings();
- #endif
- }
- break;
- case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
- {
- #if defined(X_MS1_PIN) && X_MS1_PIN > -1
- if(code_seen('S')) switch((int)code_value())
- {
- case 1:
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
- if(code_seen('B')) microstep_ms(4,code_value(),-1);
- break;
- case 2:
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
- if(code_seen('B')) microstep_ms(4,-1,code_value());
- break;
- }
- microstep_readings();
- #endif
- }
- break;
- case 701: //M701: load filament
- {
- gcode_M701();
- }
- break;
- case 702:
- {
- #ifdef SNMM
- if (code_seen('U')) {
- extr_unload_used(); //unload all filaments which were used in current print
- }
- else if (code_seen('C')) {
- extr_unload(); //unload just current filament
- }
- else {
- extr_unload_all(); //unload all filaments
- }
- #else
- custom_message = true;
- custom_message_type = 2;
- lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
- current_position[E_AXIS] -= 80;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 7000 / 60, active_extruder);
- st_synchronize();
- lcd_setstatuspgm(WELCOME_MSG);
- custom_message = false;
- custom_message_type = 0;
- #endif
- }
- break;
- case 999: // M999: Restart after being stopped
- Stopped = false;
- lcd_reset_alert_level();
- gcode_LastN = Stopped_gcode_LastN;
- FlushSerialRequestResend();
- break;
- default: SERIAL_ECHOLNPGM("Invalid M code.");
- }
-
- } // end if(code_seen('M')) (end of M codes)
- else if(code_seen('T'))
- {
-
- int index;
- st_synchronize();
- for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
-
- if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
- SERIAL_ECHOLNPGM("Invalid T code.");
- }
- else {
- if (*(strchr_pointer + index) == '?') {
- tmp_extruder = choose_extruder_menu();
- }
- else {
- tmp_extruder = code_value();
- }
- snmm_filaments_used |= (1 << tmp_extruder); //for stop print
- #ifdef SNMM
- #ifdef LIN_ADVANCE
- if (snmm_extruder != tmp_extruder)
- clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
- #endif
-
- snmm_extruder = tmp_extruder;
- delay(100);
- disable_e0();
- disable_e1();
- disable_e2();
- pinMode(E_MUX0_PIN, OUTPUT);
- pinMode(E_MUX1_PIN, OUTPUT);
- delay(100);
- SERIAL_ECHO_START;
- SERIAL_ECHO("T:");
- SERIAL_ECHOLN((int)tmp_extruder);
- switch (tmp_extruder) {
- case 1:
- WRITE(E_MUX0_PIN, HIGH);
- WRITE(E_MUX1_PIN, LOW);
- break;
- case 2:
- WRITE(E_MUX0_PIN, LOW);
- WRITE(E_MUX1_PIN, HIGH);
- break;
- case 3:
- WRITE(E_MUX0_PIN, HIGH);
- WRITE(E_MUX1_PIN, HIGH);
- break;
- default:
- WRITE(E_MUX0_PIN, LOW);
- WRITE(E_MUX1_PIN, LOW);
- break;
- }
- delay(100);
- #else
- if (tmp_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("T");
- SERIAL_PROTOCOLLN((int)tmp_extruder);
- SERIAL_ECHOLNRPGM(MSG_INVALID_EXTRUDER);
- }
- else {
- #if EXTRUDERS == 1
- if (code_seen('F')) {
- next_feedrate = code_value();
- if (next_feedrate > 0.0) {
- feedrate = next_feedrate;
- }
- }
- #else
- boolean make_move = false;
- if (code_seen('F')) {
- make_move = true;
- next_feedrate = code_value();
- if (next_feedrate > 0.0) {
- feedrate = next_feedrate;
- }
- }
- if (tmp_extruder != active_extruder) {
- // Save current position to return to after applying extruder offset
- memcpy(destination, current_position, sizeof(destination));
- // Offset extruder (only by XY)
- int i;
- for (i = 0; i < 2; i++) {
- current_position[i] = current_position[i] -
- extruder_offset[i][active_extruder] +
- extruder_offset[i][tmp_extruder];
- }
- // Set the new active extruder and position
- active_extruder = tmp_extruder;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- // Move to the old position if 'F' was in the parameters
- if (make_move && Stopped == false) {
- prepare_move();
- }
- }
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_ACTIVE_EXTRUDER);
- SERIAL_PROTOCOLLN((int)active_extruder);
- }
- #endif
- }
- } // end if(code_seen('T')) (end of T codes)
- #ifdef DEBUG_DCODES
- else if (code_seen('D')) // D codes (debug)
- {
- switch((int)code_value_uint8())
- {
- case 0: // D0 - Reset
- if (*(strchr_pointer + 1) == 0) break;
- MYSERIAL.println("D0 - Reset");
- asm volatile("jmp 0x00000");
- break;
- case 1: // D1 - Clear EEPROM
- {
- MYSERIAL.println("D1 - Clear EEPROM");
- cli();
- for (int i = 0; i < 4096; i++)
- eeprom_write_byte((unsigned char*)i, (unsigned char)0);
- sei();
- }
- break;
- case 2: // D2 - Read/Write PIN
- {
- if (code_seen('P')) // Pin (0-255)
- {
- int pin = (int)code_value();
- if ((pin >= 0) && (pin <= 255))
- {
- if (code_seen('F')) // Function in/out (0/1)
- {
- int fnc = (int)code_value();
- if (fnc == 0) pinMode(pin, INPUT);
- else if (fnc == 1) pinMode(pin, OUTPUT);
- }
- if (code_seen('V')) // Value (0/1)
- {
- int val = (int)code_value();
- if (val == 0) digitalWrite(pin, LOW);
- else if (val == 1) digitalWrite(pin, HIGH);
- }
- else
- {
- int val = (digitalRead(pin) != LOW)?1:0;
- MYSERIAL.print("PIN");
- MYSERIAL.print(pin);
- MYSERIAL.print("=");
- MYSERIAL.println(val);
- }
- }
- }
- }
- break;
- }
- }
- #endif //DEBUG_DCODES
- else
- {
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
- SERIAL_ECHOLNPGM("\"");
- }
- KEEPALIVE_STATE(NOT_BUSY);
- ClearToSend();
- }
- void FlushSerialRequestResend()
- {
- //char cmdbuffer[bufindr][100]="Resend:";
- MYSERIAL.flush();
- SERIAL_PROTOCOLRPGM(MSG_RESEND);
- SERIAL_PROTOCOLLN(gcode_LastN + 1);
- ClearToSend();
- }
- // Confirm the execution of a command, if sent from a serial line.
- // Execution of a command from a SD card will not be confirmed.
- void ClearToSend()
- {
- previous_millis_cmd = millis();
- if (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB)
- SERIAL_PROTOCOLLNRPGM(MSG_OK);
- }
- void update_currents() {
- float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
- float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
- float tmp_motor[3];
-
- //SERIAL_ECHOLNPGM("Currents updated: ");
- if (destination[Z_AXIS] < Z_SILENT) {
- //SERIAL_ECHOLNPGM("LOW");
- for (uint8_t i = 0; i < 3; i++) {
- digipot_current(i, current_low[i]);
- /*MYSERIAL.print(int(i));
- SERIAL_ECHOPGM(": ");
- MYSERIAL.println(current_low[i]);*/
- }
- }
- else if (destination[Z_AXIS] > Z_HIGH_POWER) {
- //SERIAL_ECHOLNPGM("HIGH");
- for (uint8_t i = 0; i < 3; i++) {
- digipot_current(i, current_high[i]);
- /*MYSERIAL.print(int(i));
- SERIAL_ECHOPGM(": ");
- MYSERIAL.println(current_high[i]);*/
- }
- }
- else {
- for (uint8_t i = 0; i < 3; i++) {
- float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
- tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
- digipot_current(i, tmp_motor[i]);
- /*MYSERIAL.print(int(i));
- SERIAL_ECHOPGM(": ");
- MYSERIAL.println(tmp_motor[i]);*/
- }
- }
- }
- void get_coordinates()
- {
- // XXX: Unused var (set but not ref)
- // bool seen[4]={false,false,false,false};
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i]))
- {
- destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
- // seen[i]=true;
- if (i == Z_AXIS && SilentModeMenu == 2) update_currents();
- }
- else destination[i] = current_position[i]; //Are these else lines really needed?
- }
- if(code_seen('F')) {
- next_feedrate = code_value();
- if(next_feedrate > 0.0) feedrate = next_feedrate;
- }
- }
- void get_arc_coordinates()
- {
- #ifdef SF_ARC_FIX
- bool relative_mode_backup = relative_mode;
- relative_mode = true;
- #endif
- get_coordinates();
- #ifdef SF_ARC_FIX
- relative_mode=relative_mode_backup;
- #endif
- if(code_seen('I')) {
- offset[0] = code_value();
- }
- else {
- offset[0] = 0.0;
- }
- if(code_seen('J')) {
- offset[1] = code_value();
- }
- else {
- offset[1] = 0.0;
- }
- }
- void clamp_to_software_endstops(float target[3])
- {
- #ifdef DEBUG_DISABLE_SWLIMITS
- return;
- #endif //DEBUG_DISABLE_SWLIMITS
- world2machine_clamp(target[0], target[1]);
- // Clamp the Z coordinate.
- if (min_software_endstops) {
- float negative_z_offset = 0;
- #ifdef ENABLE_AUTO_BED_LEVELING
- if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
- if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
- #endif
- if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
- }
- if (max_software_endstops) {
- if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
- }
- }
- #ifdef MESH_BED_LEVELING
- 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) {
- float dx = x - current_position[X_AXIS];
- float dy = y - current_position[Y_AXIS];
- float dz = z - current_position[Z_AXIS];
- int n_segments = 0;
-
- if (mbl.active) {
- float len = abs(dx) + abs(dy);
- if (len > 0)
- // Split to 3cm segments or shorter.
- n_segments = int(ceil(len / 30.f));
- }
-
- if (n_segments > 1) {
- float de = e - current_position[E_AXIS];
- for (int i = 1; i < n_segments; ++ i) {
- float t = float(i) / float(n_segments);
- if (mbl.active == false) return;
- plan_buffer_line(
- current_position[X_AXIS] + t * dx,
- current_position[Y_AXIS] + t * dy,
- current_position[Z_AXIS] + t * dz,
- current_position[E_AXIS] + t * de,
- feed_rate, extruder);
- }
- }
- // The rest of the path.
- plan_buffer_line(x, y, z, e, feed_rate, extruder);
- current_position[X_AXIS] = x;
- current_position[Y_AXIS] = y;
- current_position[Z_AXIS] = z;
- current_position[E_AXIS] = e;
- }
- #endif // MESH_BED_LEVELING
-
- void prepare_move()
- {
- clamp_to_software_endstops(destination);
- previous_millis_cmd = millis();
- // Do not use feedmultiply for E or Z only moves
- if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- }
- else {
- #ifdef MESH_BED_LEVELING
- 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);
- #else
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
- #endif
- }
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
- }
- void prepare_arc_move(char isclockwise) {
- float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
- // Trace the arc
- mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
- // As far as the parser is concerned, the position is now == target. In reality the
- // motion control system might still be processing the action and the real tool position
- // in any intermediate location.
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
- previous_millis_cmd = millis();
- }
- #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
- #if defined(FAN_PIN)
- #if CONTROLLERFAN_PIN == FAN_PIN
- #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
- #endif
- #endif
- unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
- unsigned long lastMotorCheck = 0;
- void controllerFan()
- {
- if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
- {
- lastMotorCheck = millis();
- if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
- #if EXTRUDERS > 2
- || !READ(E2_ENABLE_PIN)
- #endif
- #if EXTRUDER > 1
- #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
- || !READ(X2_ENABLE_PIN)
- #endif
- || !READ(E1_ENABLE_PIN)
- #endif
- || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
- {
- lastMotor = millis(); //... set time to NOW so the fan will turn on
- }
- if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
- {
- digitalWrite(CONTROLLERFAN_PIN, 0);
- analogWrite(CONTROLLERFAN_PIN, 0);
- }
- else
- {
- // allows digital or PWM fan output to be used (see M42 handling)
- digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
- analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
- }
- }
- }
- #endif
- #ifdef TEMP_STAT_LEDS
- static bool blue_led = false;
- static bool red_led = false;
- static uint32_t stat_update = 0;
- void handle_status_leds(void) {
- float max_temp = 0.0;
- if(millis() > stat_update) {
- stat_update += 500; // Update every 0.5s
- for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
- max_temp = max(max_temp, degHotend(cur_extruder));
- max_temp = max(max_temp, degTargetHotend(cur_extruder));
- }
- #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
- max_temp = max(max_temp, degTargetBed());
- max_temp = max(max_temp, degBed());
- #endif
- if((max_temp > 55.0) && (red_led == false)) {
- digitalWrite(STAT_LED_RED, 1);
- digitalWrite(STAT_LED_BLUE, 0);
- red_led = true;
- blue_led = false;
- }
- if((max_temp < 54.0) && (blue_led == false)) {
- digitalWrite(STAT_LED_RED, 0);
- digitalWrite(STAT_LED_BLUE, 1);
- red_led = false;
- blue_led = true;
- }
- }
- }
- #endif
- void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
- {
-
- #if defined(KILL_PIN) && KILL_PIN > -1
- static int killCount = 0; // make the inactivity button a bit less responsive
- const int KILL_DELAY = 10000;
- #endif
- if(buflen < (BUFSIZE-1)){
- get_command();
- }
- if( (millis() - previous_millis_cmd) > max_inactive_time )
- if(max_inactive_time)
- kill();
- if(stepper_inactive_time) {
- if( (millis() - previous_millis_cmd) > stepper_inactive_time )
- {
- if(blocks_queued() == false && ignore_stepper_queue == false) {
- disable_x();
- // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
- }
- }
- }
-
- #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
- if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
- {
- chdkActive = false;
- WRITE(CHDK, LOW);
- }
- #endif
-
- #if defined(KILL_PIN) && KILL_PIN > -1
-
- // Check if the kill button was pressed and wait just in case it was an accidental
- // key kill key press
- // -------------------------------------------------------------------------------
- if( 0 == READ(KILL_PIN) )
- {
- killCount++;
- }
- else if (killCount > 0)
- {
- killCount--;
- }
- // Exceeded threshold and we can confirm that it was not accidental
- // KILL the machine
- // ----------------------------------------------------------------
- if ( killCount >= KILL_DELAY)
- {
- kill();
- }
- #endif
-
- #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
- controllerFan(); //Check if fan should be turned on to cool stepper drivers down
- #endif
- #ifdef EXTRUDER_RUNOUT_PREVENT
- if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
- if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
- {
- bool oldstatus=READ(E0_ENABLE_PIN);
- enable_e0();
- float oldepos=current_position[E_AXIS];
- float oldedes=destination[E_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
- destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
- EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
- current_position[E_AXIS]=oldepos;
- destination[E_AXIS]=oldedes;
- plan_set_e_position(oldepos);
- previous_millis_cmd=millis();
- st_synchronize();
- WRITE(E0_ENABLE_PIN,oldstatus);
- }
- #endif
- #ifdef TEMP_STAT_LEDS
- handle_status_leds();
- #endif
- check_axes_activity();
- }
- void kill(const char *full_screen_message)
- {
- cli(); // Stop interrupts
- disable_heater();
- disable_x();
- // SERIAL_ECHOLNPGM("kill - disable Y");
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
- #if defined(PS_ON_PIN) && PS_ON_PIN > -1
- pinMode(PS_ON_PIN,INPUT);
- #endif
- SERIAL_ERROR_START;
- SERIAL_ERRORLNRPGM(MSG_ERR_KILLED);
- if (full_screen_message != NULL) {
- SERIAL_ERRORLNRPGM(full_screen_message);
- lcd_display_message_fullscreen_P(full_screen_message);
- } else {
- LCD_ALERTMESSAGERPGM(MSG_KILLED);
- }
- // FMC small patch to update the LCD before ending
- sei(); // enable interrupts
- for ( int i=5; i--; lcd_update())
- {
- delay(200);
- }
- cli(); // disable interrupts
- suicide();
- while(1) { /* Intentionally left empty */ } // Wait for reset
- }
- void Stop()
- {
- disable_heater();
- if(Stopped == false) {
- Stopped = true;
- lcd_print_stop();
- Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
- SERIAL_ERROR_START;
- SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
- LCD_MESSAGERPGM(MSG_STOPPED);
- }
- }
- bool IsStopped() { return Stopped; };
- #ifdef FAST_PWM_FAN
- void setPwmFrequency(uint8_t pin, int val)
- {
- val &= 0x07;
- switch(digitalPinToTimer(pin))
- {
- #if defined(TCCR0A)
- case TIMER0A:
- case TIMER0B:
- // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
- // TCCR0B |= val;
- break;
- #endif
- #if defined(TCCR1A)
- case TIMER1A:
- case TIMER1B:
- // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- // TCCR1B |= val;
- break;
- #endif
- #if defined(TCCR2)
- case TIMER2:
- case TIMER2:
- TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- TCCR2 |= val;
- break;
- #endif
- #if defined(TCCR2A)
- case TIMER2A:
- case TIMER2B:
- TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
- TCCR2B |= val;
- break;
- #endif
- #if defined(TCCR3A)
- case TIMER3A:
- case TIMER3B:
- case TIMER3C:
- TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
- TCCR3B |= val;
- break;
- #endif
- #if defined(TCCR4A)
- case TIMER4A:
- case TIMER4B:
- case TIMER4C:
- TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
- TCCR4B |= val;
- break;
- #endif
- #if defined(TCCR5A)
- case TIMER5A:
- case TIMER5B:
- case TIMER5C:
- TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
- TCCR5B |= val;
- break;
- #endif
- }
- }
- #endif //FAST_PWM_FAN
- bool setTargetedHotend(int code){
- tmp_extruder = active_extruder;
- if(code_seen('T')) {
- tmp_extruder = code_value();
- if(tmp_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- switch(code){
- case 104:
- SERIAL_ECHORPGM(MSG_M104_INVALID_EXTRUDER);
- break;
- case 105:
- SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
- break;
- case 109:
- SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
- break;
- case 218:
- SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
- break;
- case 221:
- SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
- break;
- }
- SERIAL_PROTOCOLLN((int)tmp_extruder);
- return true;
- }
- }
- return false;
- }
- void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
- {
- 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)
- {
- eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
- eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
- }
- unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
- unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
- eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
- eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
- total_filament_used = 0;
- }
- float calculate_volumetric_multiplier(float diameter) {
- float area = .0;
- float radius = .0;
- radius = diameter * .5;
- if (! volumetric_enabled || radius == 0) {
- area = 1;
- }
- else {
- area = M_PI * pow(radius, 2);
- }
- return 1.0 / area;
- }
- void calculate_volumetric_multipliers() {
- volumetric_multiplier[0] = calculate_volumetric_multiplier(filament_size[0]);
- #if EXTRUDERS > 1
- volumetric_multiplier[1] = calculate_volumetric_multiplier(filament_size[1]);
- #if EXTRUDERS > 2
- volumetric_multiplier[2] = calculate_volumetric_multiplier(filament_size[2]);
- #endif
- #endif
- }
- void delay_keep_alive(unsigned int ms)
- {
- for (;;) {
- manage_heater();
- // Manage inactivity, but don't disable steppers on timeout.
- manage_inactivity(true);
- lcd_update();
- if (ms == 0)
- break;
- else if (ms >= 50) {
- delay(50);
- ms -= 50;
- } else {
- delay(ms);
- ms = 0;
- }
- }
- }
- void wait_for_heater(long codenum) {
- #ifdef TEMP_RESIDENCY_TIME
- long residencyStart;
- residencyStart = -1;
- /* continue to loop until we have reached the target temp
- _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
- while ((!cancel_heatup) && ((residencyStart == -1) ||
- (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
- #else
- while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
- #endif //TEMP_RESIDENCY_TIME
- if ((millis() - codenum) > 1000UL)
- { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
- if (!farm_mode) {
- SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)tmp_extruder);
- #ifdef TEMP_RESIDENCY_TIME
- SERIAL_PROTOCOLPGM(" W:");
- if (residencyStart > -1)
- {
- codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
- SERIAL_PROTOCOLLN(codenum);
- }
- else
- {
- SERIAL_PROTOCOLLN("?");
- }
- }
- #else
- SERIAL_PROTOCOLLN("");
- #endif
- codenum = millis();
- }
- manage_heater();
- manage_inactivity();
- lcd_update();
- #ifdef TEMP_RESIDENCY_TIME
- /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
- or when current temp falls outside the hysteresis after target temp was reached */
- if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
- (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
- (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
- {
- residencyStart = millis();
- }
- #endif //TEMP_RESIDENCY_TIME
- }
- }
- void check_babystep() {
- int babystep_z;
- EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
- if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
- babystep_z = 0; //if babystep value is out of min max range, set it to 0
- SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
- EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
- lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
- lcd_update_enable(true);
- }
- }
- #ifdef DIS
- void d_setup()
- {
- pinMode(D_DATACLOCK, INPUT_PULLUP);
- pinMode(D_DATA, INPUT_PULLUP);
- pinMode(D_REQUIRE, OUTPUT);
- digitalWrite(D_REQUIRE, HIGH);
- }
- float d_ReadData()
- {
- int digit[13];
- String mergeOutput;
- float output;
- digitalWrite(D_REQUIRE, HIGH);
- for (int i = 0; i<13; i++)
- {
- for (int j = 0; j < 4; j++)
- {
- while (digitalRead(D_DATACLOCK) == LOW) {}
- while (digitalRead(D_DATACLOCK) == HIGH) {}
- bitWrite(digit[i], j, digitalRead(D_DATA));
- }
- }
- digitalWrite(D_REQUIRE, LOW);
- mergeOutput = "";
- output = 0;
- for (int r = 5; r <= 10; r++) //Merge digits
- {
- mergeOutput += digit[r];
- }
- output = mergeOutput.toFloat();
- if (digit[4] == 8) //Handle sign
- {
- output *= -1;
- }
- for (int i = digit[11]; i > 0; i--) //Handle floating point
- {
- output /= 10;
- }
- return output;
- }
- void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
- int t1 = 0;
- int t_delay = 0;
- int digit[13];
- int m;
- char str[3];
- //String mergeOutput;
- char mergeOutput[15];
- float output;
- int mesh_point = 0; //index number of calibration point
- 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
- float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
- float mesh_home_z_search = 4;
- float row[x_points_num];
- int ix = 0;
- int iy = 0;
- char* filename_wldsd = "wldsd.txt";
- char data_wldsd[70];
- char numb_wldsd[10];
- d_setup();
- if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
- // We don't know where we are! HOME!
- // Push the commands to the front of the message queue in the reverse order!
- // There shall be always enough space reserved for these commands.
- repeatcommand_front(); // repeat G80 with all its parameters
-
- enquecommand_front_P((PSTR("G28 W0")));
- enquecommand_front_P((PSTR("G1 Z5")));
- return;
- }
- bool custom_message_old = custom_message;
- unsigned int custom_message_type_old = custom_message_type;
- unsigned int custom_message_state_old = custom_message_state;
- custom_message = true;
- custom_message_type = 1;
- custom_message_state = (x_points_num * y_points_num) + 10;
- lcd_update(1);
- mbl.reset();
- babystep_undo();
- card.openFile(filename_wldsd, false);
- current_position[Z_AXIS] = mesh_home_z_search;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
- int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
- int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
- setup_for_endstop_move(false);
- SERIAL_PROTOCOLPGM("Num X,Y: ");
- SERIAL_PROTOCOL(x_points_num);
- SERIAL_PROTOCOLPGM(",");
- SERIAL_PROTOCOL(y_points_num);
- SERIAL_PROTOCOLPGM("\nZ search height: ");
- SERIAL_PROTOCOL(mesh_home_z_search);
- SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
- SERIAL_PROTOCOL(x_dimension);
- SERIAL_PROTOCOLPGM(",");
- SERIAL_PROTOCOL(y_dimension);
- SERIAL_PROTOCOLLNPGM("\nMeasured points:");
- while (mesh_point != x_points_num * y_points_num) {
- ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
- iy = mesh_point / x_points_num;
- if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
- float z0 = 0.f;
- current_position[Z_AXIS] = mesh_home_z_search;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
- st_synchronize();
- current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
- current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
- st_synchronize();
- 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
- break;
- card.closefile();
- }
- //memset(numb_wldsd, 0, sizeof(numb_wldsd));
- //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
- //strcat(data_wldsd, numb_wldsd);
-
- //MYSERIAL.println(data_wldsd);
- //delay(1000);
- //delay(3000);
- //t1 = millis();
-
- //while (digitalRead(D_DATACLOCK) == LOW) {}
- //while (digitalRead(D_DATACLOCK) == HIGH) {}
- memset(digit, 0, sizeof(digit));
- //cli();
- digitalWrite(D_REQUIRE, LOW);
-
- for (int i = 0; i<13; i++)
- {
- //t1 = millis();
- for (int j = 0; j < 4; j++)
- {
- while (digitalRead(D_DATACLOCK) == LOW) {}
- while (digitalRead(D_DATACLOCK) == HIGH) {}
- bitWrite(digit[i], j, digitalRead(D_DATA));
- }
- //t_delay = (millis() - t1);
- //SERIAL_PROTOCOLPGM(" ");
- //SERIAL_PROTOCOL_F(t_delay, 5);
- //SERIAL_PROTOCOLPGM(" ");
- }
- //sei();
- digitalWrite(D_REQUIRE, HIGH);
- mergeOutput[0] = '\0';
- output = 0;
- for (int r = 5; r <= 10; r++) //Merge digits
- {
- sprintf(str, "%d", digit[r]);
- strcat(mergeOutput, str);
- }
-
- output = atof(mergeOutput);
- if (digit[4] == 8) //Handle sign
- {
- output *= -1;
- }
- for (int i = digit[11]; i > 0; i--) //Handle floating point
- {
- output *= 0.1;
- }
-
- //output = d_ReadData();
- //row[ix] = current_position[Z_AXIS];
- memset(data_wldsd, 0, sizeof(data_wldsd));
- for (int i = 0; i <3; i++) {
- memset(numb_wldsd, 0, sizeof(numb_wldsd));
- dtostrf(current_position[i], 8, 5, numb_wldsd);
- strcat(data_wldsd, numb_wldsd);
- strcat(data_wldsd, ";");
- }
- memset(numb_wldsd, 0, sizeof(numb_wldsd));
- dtostrf(output, 8, 5, numb_wldsd);
- strcat(data_wldsd, numb_wldsd);
- //strcat(data_wldsd, ";");
- card.write_command(data_wldsd);
-
- //row[ix] = d_ReadData();
-
- row[ix] = output; // current_position[Z_AXIS];
- if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
- for (int i = 0; i < x_points_num; i++) {
- SERIAL_PROTOCOLPGM(" ");
- SERIAL_PROTOCOL_F(row[i], 5);
- }
- SERIAL_PROTOCOLPGM("\n");
- }
- custom_message_state--;
- mesh_point++;
- lcd_update(1);
- }
- card.closefile();
- }
- #endif
- void temp_compensation_start() {
-
- custom_message = true;
- custom_message_type = 5;
- custom_message_state = PINDA_HEAT_T + 1;
- lcd_update(2);
- if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
- current_position[E_AXIS] -= DEFAULT_RETRACTION;
- }
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
-
- current_position[X_AXIS] = PINDA_PREHEAT_X;
- current_position[Y_AXIS] = PINDA_PREHEAT_Y;
- current_position[Z_AXIS] = PINDA_PREHEAT_Z;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
- st_synchronize();
- while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
- for (int i = 0; i < PINDA_HEAT_T; i++) {
- delay_keep_alive(1000);
- custom_message_state = PINDA_HEAT_T - i;
- if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
- else lcd_update(1);
- }
- custom_message_type = 0;
- custom_message_state = 0;
- custom_message = false;
- }
- void temp_compensation_apply() {
- int i_add;
- int z_shift = 0;
- float z_shift_mm;
- if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
- if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
- i_add = (target_temperature_bed - 60) / 10;
- EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
- z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
- }else {
- //interpolation
- z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
- }
- SERIAL_PROTOCOLPGM("\n");
- SERIAL_PROTOCOLPGM("Z shift applied:");
- MYSERIAL.print(z_shift_mm);
- 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);
- st_synchronize();
- plan_set_z_position(current_position[Z_AXIS]);
- }
- else {
- //we have no temp compensation data
- }
- }
- float temp_comp_interpolation(float inp_temperature) {
- //cubic spline interpolation
- int n, i, j;
- float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
- int shift[10];
- int temp_C[10];
- n = 6; //number of measured points
- shift[0] = 0;
- for (i = 0; i < n; i++) {
- if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
- temp_C[i] = 50 + i * 10; //temperature in C
-
- x[i] = (float)temp_C[i];
- f[i] = (float)shift[i];
- }
- if (inp_temperature < x[0]) return 0;
- for (i = n - 1; i>0; i--) {
- F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
- h[i - 1] = x[i] - x[i - 1];
- }
- //*********** formation of h, s , f matrix **************
- for (i = 1; i<n - 1; i++) {
- m[i][i] = 2 * (h[i - 1] + h[i]);
- if (i != 1) {
- m[i][i - 1] = h[i - 1];
- m[i - 1][i] = h[i - 1];
- }
- m[i][n - 1] = 6 * (F[i + 1] - F[i]);
- }
- //*********** forward elimination **************
- for (i = 1; i<n - 2; i++) {
- temp = (m[i + 1][i] / m[i][i]);
- for (j = 1; j <= n - 1; j++)
- m[i + 1][j] -= temp*m[i][j];
- }
- //*********** backward substitution *********
- for (i = n - 2; i>0; i--) {
- sum = 0;
- for (j = i; j <= n - 2; j++)
- sum += m[i][j] * s[j];
- s[i] = (m[i][n - 1] - sum) / m[i][i];
- }
- for (i = 0; i<n - 1; i++)
- if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
- a = (s[i + 1] - s[i]) / (6 * h[i]);
- b = s[i] / 2;
- c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
- d = f[i];
- sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
- }
- return sum;
- }
- void long_pause() //long pause print
- {
- st_synchronize();
-
- //save currently set parameters to global variables
- saved_feedmultiply = feedmultiply;
- HotendTempBckp = degTargetHotend(active_extruder);
- fanSpeedBckp = fanSpeed;
- start_pause_print = millis();
-
- //save position
- pause_lastpos[X_AXIS] = current_position[X_AXIS];
- pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
- pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
- pause_lastpos[E_AXIS] = current_position[E_AXIS];
- //retract
- current_position[E_AXIS] -= DEFAULT_RETRACTION;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
- //lift z
- current_position[Z_AXIS] += Z_PAUSE_LIFT;
- if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
- //set nozzle target temperature to 0
- setTargetHotend(0, 0);
- setTargetHotend(0, 1);
- setTargetHotend(0, 2);
- //Move XY to side
- current_position[X_AXIS] = X_PAUSE_POS;
- current_position[Y_AXIS] = Y_PAUSE_POS;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
- // Turn off the print fan
- fanSpeed = 0;
- st_synchronize();
- }
- void serialecho_temperatures() {
- float tt = degHotend(active_extruder);
- SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL(tt);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)active_extruder);
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(), 1);
- SERIAL_PROTOCOLLN("");
- }
- uint16_t print_time_remaining() {
- uint16_t print_t = PRINT_TIME_REMAINING_INIT;
- print_t = print_time_remaining_normal;
- if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100ul * print_t / feedmultiply;
- return print_t;
- }
- uint8_t print_percent_done() {
- //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
- uint8_t percent_done = 0;
- if (print_percent_done_normal <= 100) {
- percent_done = print_percent_done_normal;
- }
- else {
- percent_done = card.percentDone();
- }
- return percent_done;
- }
- static void print_time_remaining_init() {
- print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
- print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
- print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
- print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
- }
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