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- //! @file
- #include "mmu.h"
- #include "planner.h"
- #include "language.h"
- #include "lcd.h"
- #include "uart2.h"
- #include "temperature.h"
- #include "Configuration_prusa.h"
- #include "fsensor.h"
- #include "cardreader.h"
- #include "cmdqueue.h"
- #include "ultralcd.h"
- #include "sound.h"
- #include "printers.h"
- #include <avr/pgmspace.h>
- #include "AutoDeplete.h"
- #include "fastio.h"
- #include "pins.h"
- //-//
- #include "util.h"
- #ifdef TMC2130
- #include "tmc2130.h"
- #endif //TMC2130
- #define MMU_TODELAY 100
- #define MMU_TIMEOUT 10
- #define MMU_CMD_TIMEOUT 45000ul //45s timeout for mmu commands (except P0)
- #define MMU_P0_TIMEOUT 3000ul //timeout for P0 command: 3seconds
- #define MMU_MAX_RESEND_ATTEMPTS 2
- namespace
- {
- enum class S : uint_least8_t
- {
- WaitStealthMode,
- GetFindaInit,
- GetBuildNr,
- GetVersion,
- Init,
- Disabled,
- Idle,
- GetFinda,
- WaitCmd, //!< wait for command response
- Pause,
- GetDrvError, //!< get power failures count
- SwitchMode //switch mmu between stealth and normal mode
- };
- }
- bool mmu_enabled = false;
- bool mmu_ready = false;
- bool mmu_fil_loaded = false; //if true: blocks execution of duplicit T-codes
- static S mmu_state = S::Disabled;
- MmuCmd mmu_cmd = MmuCmd::None;
- //idler ir sensor
- static uint8_t mmu_idl_sens = 0;
- bool ir_sensor_detected = false;
- static bool mmu_loading_flag = false; //when set to true, we assume that mmu2 unload was finished and loading phase is now performed; printer can send 'A' to mmu2 to abort loading process
- uint8_t mmu_extruder = MMU_FILAMENT_UNKNOWN;
- //! This variable probably has no meaning and is planed to be removed
- uint8_t tmp_extruder = MMU_FILAMENT_UNKNOWN;
- int8_t mmu_finda = -1;
- uint32_t mmu_last_finda_response = 0;
- int16_t mmu_version = -1;
- int16_t mmu_buildnr = -1;
- uint32_t mmu_last_request = 0;
- uint32_t mmu_last_response = 0;
- MmuCmd mmu_last_cmd = MmuCmd::None;
- uint16_t mmu_power_failures = 0;
- #ifdef MMU_DEBUG
- static const auto DEBUG_PUTCHAR = putchar;
- static const auto DEBUG_PUTS_P = puts_P;
- static const auto DEBUG_PRINTF_P = printf_P;
- #else //MMU_DEBUG
- #define DEBUG_PUTCHAR(c)
- #define DEBUG_PUTS_P(str)
- #define DEBUG_PRINTF_P( __fmt, ... )
- #endif //MMU_DEBUG
- #if defined(MMU_FINDA_DEBUG) && defined(MMU_DEBUG)
- static const auto FDEBUG_PUTS_P = puts_P;
- static const auto FDEBUG_PRINTF_P = printf_P;
- #else
- #define FDEBUG_PUTS_P(str)
- #define FDEBUG_PRINTF_P( __fmt, ... )
- #endif //defined(MMU_FINDA_DEBUG) && defined(MMU_DEBUG)
- //clear rx buffer
- void mmu_clr_rx_buf(void)
- {
- while (fgetc(uart2io) >= 0);
- }
- //send command - puts
- int mmu_puts_P(const char* str)
- {
- mmu_clr_rx_buf(); //clear rx buffer
- int r = fputs_P(str, uart2io); //send command
- mmu_last_request = _millis();
- return r;
- }
- //send command - printf
- int mmu_printf_P(const char* format, ...)
- {
- va_list args;
- va_start(args, format);
- mmu_clr_rx_buf(); //clear rx buffer
- int r = vfprintf_P(uart2io, format, args); //send command
- va_end(args);
- mmu_last_request = _millis();
- return r;
- }
- //check 'ok' response
- int8_t mmu_rx_ok(void)
- {
- int8_t res = uart2_rx_str_P(PSTR("ok\n"));
- if (res == 1) mmu_last_response = _millis();
- return res;
- }
- //check 'start' response
- int8_t mmu_rx_start(void)
- {
- int8_t res = uart2_rx_str_P(PSTR("start\n"));
- if (res == 1) mmu_last_response = _millis();
- return res;
- }
- //initialize mmu2 unit - first part - should be done at begining of startup process
- void mmu_init(void)
- {
- #ifdef MMU_HWRESET
- digitalWrite(MMU_RST_PIN, HIGH);
- pinMode(MMU_RST_PIN, OUTPUT); //setup reset pin
- #endif //MMU_HWRESET
- uart2_init(); //init uart2
- _delay_ms(10); //wait 10ms for sure
- mmu_reset(); //reset mmu (HW or SW), do not wait for response
- mmu_state = S::Init;
- SET_INPUT(IR_SENSOR_PIN); //input mode
- WRITE(IR_SENSOR_PIN, 1); //pullup
- }
- //if IR_SENSOR defined, always returns true
- //otherwise check for ir sensor and returns true if idler IR sensor was detected, otherwise returns false
- bool check_for_ir_sensor()
- {
- #ifdef IR_SENSOR
- return true;
- #else //IR_SENSOR
- bool detected = false;
- //if IR_SENSOR_PIN input is low and pat9125sensor is not present we detected idler sensor
- if ((READ(IR_SENSOR_PIN) == 0)
- #ifdef PAT9125
- && fsensor_not_responding
- #endif //PAT9125
- )
- {
- detected = true;
- //printf_P(PSTR("Idler IR sensor detected\n"));
- }
- else
- {
- //printf_P(PSTR("Idler IR sensor not detected\n"));
- }
- return detected;
- #endif //IR_SENSOR
- }
- static bool activate_stealth_mode()
- {
- #ifdef MMU_FORCE_STEALTH_MODE
- return true;
- #else
- return (eeprom_read_byte((uint8_t*)EEPROM_MMU_STEALTH) == 1);
- #endif
- }
- //mmu main loop - state machine processing
- void mmu_loop(void)
- {
- static uint8_t mmu_attempt_nr = 0;
- // printf_P(PSTR("MMU loop, state=%d\n"), mmu_state);
- switch (mmu_state)
- {
- case S::Disabled:
- return;
- case S::Init:
- if (mmu_rx_start() > 0)
- {
- DEBUG_PUTS_P(PSTR("MMU => 'start'"));
- DEBUG_PUTS_P(PSTR("MMU <= 'S1'"));
- mmu_puts_P(PSTR("S1\n")); //send 'read version' request
- mmu_state = S::GetVersion;
- }
- else if (_millis() > 30000) //30sec after reset disable mmu
- {
- puts_P(PSTR("MMU not responding - DISABLED"));
- mmu_state = S::Disabled;
- }
- return;
- case S::GetVersion:
- if (mmu_rx_ok() > 0)
- {
- fscanf_P(uart2io, PSTR("%u"), &mmu_version); //scan version from buffer
- DEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_version);
- DEBUG_PUTS_P(PSTR("MMU <= 'S2'"));
- mmu_puts_P(PSTR("S2\n")); //send 'read buildnr' request
- mmu_state = S::GetBuildNr;
- }
- return;
- case S::GetBuildNr:
- if (mmu_rx_ok() > 0)
- {
- fscanf_P(uart2io, PSTR("%u"), &mmu_buildnr); //scan buildnr from buffer
- DEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_buildnr);
- bool version_valid = mmu_check_version();
- if (!version_valid) mmu_show_warning();
- else puts_P(PSTR("MMU version valid"));
-
- if (!activate_stealth_mode())
- {
- FDEBUG_PUTS_P(PSTR("MMU <= 'P0'"));
- mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
- mmu_state = S::GetFindaInit;
- }
- else
- {
- DEBUG_PUTS_P(PSTR("MMU <= 'M1'"));
- mmu_puts_P(PSTR("M1\n")); //set mmu mode to stealth
- mmu_state = S::WaitStealthMode;
- }
- }
- return;
- case S::WaitStealthMode:
- if (mmu_rx_ok() > 0)
- {
- FDEBUG_PUTS_P(PSTR("MMU <= 'P0'"));
- mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
- mmu_state = S::GetFindaInit;
- }
- return;
- case S::GetFindaInit:
- if (mmu_rx_ok() > 0)
- {
- fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer
- mmu_last_finda_response = _millis();
- FDEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_finda);
- puts_P(PSTR("MMU - ENABLED"));
- mmu_enabled = true;
- //-//
- // ... PrinterType/Name
- fSetMmuMode(true);
- mmu_state = S::Idle;
- }
- return;
- case S::Idle:
- if (mmu_cmd != MmuCmd::None) //command request ?
- {
- if ((mmu_cmd >= MmuCmd::T0) && (mmu_cmd <= MmuCmd::T4))
- {
- const uint8_t filament = mmu_cmd - MmuCmd::T0;
- DEBUG_PRINTF_P(PSTR("MMU <= 'T%d'\n"), filament);
- mmu_printf_P(PSTR("T%d\n"), filament);
- mmu_state = S::WaitCmd; // wait for response
- mmu_fil_loaded = true;
- mmu_idl_sens = 1;
- }
- else if ((mmu_cmd >= MmuCmd::L0) && (mmu_cmd <= MmuCmd::L4))
- {
- const uint8_t filament = mmu_cmd - MmuCmd::L0;
- DEBUG_PRINTF_P(PSTR("MMU <= 'L%d'\n"), filament);
- mmu_printf_P(PSTR("L%d\n"), filament);
- mmu_state = S::WaitCmd; // wait for response
- }
- else if (mmu_cmd == MmuCmd::C0)
- {
- DEBUG_PRINTF_P(PSTR("MMU <= 'C0'\n"));
- mmu_puts_P(PSTR("C0\n")); //send 'continue loading'
- mmu_state = S::WaitCmd;
- mmu_idl_sens = 1;
- }
- else if (mmu_cmd == MmuCmd::U0)
- {
- DEBUG_PRINTF_P(PSTR("MMU <= 'U0'\n"));
- mmu_puts_P(PSTR("U0\n")); //send 'unload current filament'
- mmu_fil_loaded = false;
- mmu_state = S::WaitCmd;
- }
- else if ((mmu_cmd >= MmuCmd::E0) && (mmu_cmd <= MmuCmd::E4))
- {
- const uint8_t filament = mmu_cmd - MmuCmd::E0;
- DEBUG_PRINTF_P(PSTR("MMU <= 'E%d'\n"), filament);
- mmu_printf_P(PSTR("E%d\n"), filament); //send eject filament
- mmu_fil_loaded = false;
- mmu_state = S::WaitCmd;
- }
- else if ((mmu_cmd >= MmuCmd::K0) && (mmu_cmd <= MmuCmd::K4))
- {
- const uint8_t filament = mmu_cmd - MmuCmd::K0;
- DEBUG_PRINTF_P(PSTR("MMU <= 'K%d'\n"), filament);
- mmu_printf_P(PSTR("K%d\n"), filament); //send eject filament
- mmu_fil_loaded = false;
- mmu_state = S::WaitCmd;
- }
- else if (mmu_cmd == MmuCmd::R0)
- {
- DEBUG_PRINTF_P(PSTR("MMU <= 'R0'\n"));
- mmu_puts_P(PSTR("R0\n")); //send recover after eject
- mmu_state = S::WaitCmd;
- }
- else if (mmu_cmd == MmuCmd::S3)
- {
- DEBUG_PRINTF_P(PSTR("MMU <= 'S3'\n"));
- mmu_puts_P(PSTR("S3\n")); //send power failures request
- mmu_state = S::GetDrvError;
- }
- else if (mmu_cmd == MmuCmd::W0)
- {
- DEBUG_PRINTF_P(PSTR("MMU <= 'W0'\n"));
- mmu_puts_P(PSTR("W0\n"));
- mmu_state = S::Pause;
- }
- mmu_last_cmd = mmu_cmd;
- mmu_cmd = MmuCmd::None;
- }
- else if ((eeprom_read_byte((uint8_t*)EEPROM_MMU_STEALTH) != SilentModeMenu_MMU) && mmu_ready) {
- DEBUG_PRINTF_P(PSTR("MMU <= 'M%d'\n"), SilentModeMenu_MMU);
- mmu_printf_P(PSTR("M%d\n"), SilentModeMenu_MMU);
- mmu_state = S::SwitchMode;
- }
- else if ((mmu_last_response + 300) < _millis()) //request every 300ms
- {
- #ifndef IR_SENSOR
- if(check_for_ir_sensor()) ir_sensor_detected = true;
- #endif //IR_SENSOR not defined
- FDEBUG_PUTS_P(PSTR("MMU <= 'P0'"));
- mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
- mmu_state = S::GetFinda;
- }
- return;
- case S::GetFinda: //response to command P0
- if (mmu_idl_sens)
- {
- if (READ(IR_SENSOR_PIN) == 0 && mmu_loading_flag)
- {
- #ifdef MMU_DEBUG
- printf_P(PSTR("MMU <= 'A'\n"));
- #endif //MMU_DEBUG
- mmu_puts_P(PSTR("A\n")); //send 'abort' request
- mmu_idl_sens = 0;
- //printf_P(PSTR("MMU IDLER_SENSOR = 0 - ABORT\n"));
- }
- //else
- //printf_P(PSTR("MMU IDLER_SENSOR = 1 - WAIT\n"));
- }
- if (mmu_rx_ok() > 0)
- {
- fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer
- mmu_last_finda_response = _millis();
- FDEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_finda);
- //printf_P(PSTR("Eact: %d\n"), int(e_active()));
- if (!mmu_finda && CHECK_FSENSOR && fsensor_enabled) {
- fsensor_checkpoint_print();
- if (mmu_extruder != MMU_FILAMENT_UNKNOWN) // Can't deplete unknown extruder.
- ad_markDepleted(mmu_extruder);
- if (lcd_autoDepleteEnabled() && !ad_allDepleted() && mmu_extruder != MMU_FILAMENT_UNKNOWN) // Can't auto if F=?
- {
- enquecommand_front_P(PSTR("M600 AUTO")); //save print and run M600 command
- }
- else
- {
- enquecommand_front_P(PSTR("M600")); //save print and run M600 command
- }
- }
- mmu_state = S::Idle;
- if (mmu_cmd == MmuCmd::None)
- mmu_ready = true;
- }
- else if ((mmu_last_request + MMU_P0_TIMEOUT) < _millis())
- { //resend request after timeout (30s)
- mmu_state = S::Idle;
- }
- return;
- case S::WaitCmd: //response to mmu commands
- if (mmu_idl_sens)
- {
- if (READ(IR_SENSOR_PIN) == 0 && mmu_loading_flag)
- {
- DEBUG_PRINTF_P(PSTR("MMU <= 'A'\n"));
- mmu_puts_P(PSTR("A\n")); //send 'abort' request
- mmu_idl_sens = 0;
- //printf_P(PSTR("MMU IDLER_SENSOR = 0 - ABORT\n"));
- }
- //else
- //printf_P(PSTR("MMU IDLER_SENSOR = 1 - WAIT\n"));
- }
- if (mmu_rx_ok() > 0)
- {
- DEBUG_PRINTF_P(PSTR("MMU => 'ok'\n"));
- mmu_attempt_nr = 0;
- mmu_last_cmd = MmuCmd::None;
- mmu_ready = true;
- mmu_state = S::Idle;
- }
- else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis())
- { //resend request after timeout (5 min)
- if (mmu_last_cmd != MmuCmd::None)
- {
- if (mmu_attempt_nr++ < MMU_MAX_RESEND_ATTEMPTS &&
- mmu_last_cmd >= MmuCmd::T0 && mmu_last_cmd <= MmuCmd::T4)
- {
- DEBUG_PRINTF_P(PSTR("MMU retry attempt nr. %d\n"), mmu_attempt_nr - 1);
- mmu_cmd = mmu_last_cmd;
- }
- else {
- mmu_cmd = MmuCmd::None;
- mmu_last_cmd = MmuCmd::None; //check
- mmu_attempt_nr = 0;
- }
- }
- mmu_state = S::Idle;
- }
- return;
- case S::Pause:
- if (mmu_rx_ok() > 0)
- {
- DEBUG_PRINTF_P(PSTR("MMU => 'ok', resume print\n"));
- mmu_attempt_nr = 0;
- mmu_last_cmd = MmuCmd::None;
- mmu_ready = true;
- mmu_state = S::Idle;
- lcd_resume_print();
- }
- if (mmu_cmd != MmuCmd::None)
- {
- mmu_state = S::Idle;
- }
- return;
- case S::GetDrvError:
- if (mmu_rx_ok() > 0)
- {
- fscanf_P(uart2io, PSTR("%d"), &mmu_power_failures); //scan power failures
- DEBUG_PRINTF_P(PSTR("MMU => 'ok'\n"));
- mmu_last_cmd = MmuCmd::None;
- mmu_ready = true;
- mmu_state = S::Idle;
- }
- else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis())
- { //timeout 45 s
- mmu_state = S::Idle;
- }
- return;
- case S::SwitchMode:
- if (mmu_rx_ok() > 0)
- {
- DEBUG_PRINTF_P(PSTR("MMU => 'ok'\n"));
- eeprom_update_byte((uint8_t*)EEPROM_MMU_STEALTH, SilentModeMenu_MMU);
- mmu_state = S::Idle;
- }
- else if ((mmu_last_request + MMU_CMD_TIMEOUT) < _millis())
- { //timeout 45 s
- mmu_state = S::Idle;
- }
- return;
- }
- }
- void mmu_reset(void)
- {
- #ifdef MMU_HWRESET //HW - pulse reset pin
- digitalWrite(MMU_RST_PIN, LOW);
- _delay_us(100);
- digitalWrite(MMU_RST_PIN, HIGH);
- #else //SW - send X0 command
- mmu_puts_P(PSTR("X0\n"));
- #endif
- }
- int8_t mmu_set_filament_type(uint8_t extruder, uint8_t filament)
- {
- printf_P(PSTR("MMU <= 'F%d %d'\n"), extruder, filament);
- mmu_printf_P(PSTR("F%d %d\n"), extruder, filament);
- unsigned char timeout = MMU_TIMEOUT; //10x100ms
- while ((mmu_rx_ok() <= 0) && (--timeout))
- delay_keep_alive(MMU_TODELAY);
- return timeout?1:0;
- }
- //! @brief Enqueue MMUv2 command
- //!
- //! Call manage_response() after enqueuing to process command.
- //! If T command is enqueued, it disables current for extruder motor if TMC2130 driver present.
- //! If T or L command is enqueued, it marks filament loaded in AutoDeplete module.
- void mmu_command(MmuCmd cmd)
- {
- if ((cmd >= MmuCmd::T0) && (cmd <= MmuCmd::T4))
- {
- //disable extruder motor
- #ifdef TMC2130
- tmc2130_set_pwr(E_AXIS, 0);
- #endif //TMC2130
- //printf_P(PSTR("E-axis disabled\n"));
- ad_markLoaded(cmd - MmuCmd::T0);
- }
- if ((cmd >= MmuCmd::L0) && (cmd <= MmuCmd::L4))
- {
- ad_markLoaded(cmd - MmuCmd::L0);
- }
- mmu_cmd = cmd;
- mmu_ready = false;
- }
- //! @brief Rotate extruder idler to catch filament
- //! @par synchronize
- //! * true blocking call
- //! * false non-blocking call
- void mmu_load_step(bool synchronize)
- {
- current_position[E_AXIS] = current_position[E_AXIS] + MMU_LOAD_FEEDRATE * 0.1;
- plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
- if (synchronize) st_synchronize();
- }
- //! @brief Is nozzle hot enough to move extruder wheels and do we have idler sensor?
- //!
- //! Do load steps only if temperature is higher then min. temp for safe extrusion and
- //! idler sensor present.
- //! Otherwise "cold extrusion prevented" would be send to serial line periodically
- //! and watchdog reset will be triggered by lack of keep_alive processing.
- //!
- //! @retval true temperature is high enough to move extruder
- //! @retval false temperature is not high enough to move extruder, turned
- //! off E-stepper to prevent over-heating and allow filament pull-out if necessary
- bool can_extrude()
- {
- if ((degHotend(active_extruder) < EXTRUDE_MINTEMP) || !ir_sensor_detected)
- {
- disable_e0();
- delay_keep_alive(100);
- return false;
- }
- return true;
- }
- static void get_response_print_info(uint8_t move) {
- printf_P(PSTR("mmu_get_response - begin move: "), move);
- switch (move) {
- case MMU_LOAD_MOVE: puts_P(PSTR("load")); break;
- case MMU_UNLOAD_MOVE: puts_P(PSTR("unload")); break;
- case MMU_TCODE_MOVE: puts_P(PSTR("T-code")); break;
- case MMU_NO_MOVE: puts_P(PSTR("no move")); break;
- default: puts_P(PSTR("error: unknown move")); break;
- }
- }
- bool mmu_get_response(uint8_t move)
- {
- get_response_print_info(move);
- KEEPALIVE_STATE(IN_PROCESS);
- while (mmu_cmd != MmuCmd::None)
- {
- delay_keep_alive(100);
- }
- while (!mmu_ready)
- {
- if ((mmu_state != S::WaitCmd) && (mmu_last_cmd == MmuCmd::None))
- break;
- switch (move) {
- case MMU_LOAD_MOVE:
- mmu_loading_flag = true;
- if (can_extrude()) mmu_load_step();
- //don't rely on "ok" signal from mmu unit; if filament detected by idler sensor during loading stop loading movements to prevent infinite loading
- if (READ(IR_SENSOR_PIN) == 0) move = MMU_NO_MOVE;
- break;
- case MMU_UNLOAD_MOVE:
- if (READ(IR_SENSOR_PIN) == 0) //filament is still detected by idler sensor, printer helps with unlading
- {
- if (can_extrude())
- {
- puts_P(PSTR("Unload 1"));
- current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
- plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
- st_synchronize();
- }
- }
- else //filament was unloaded from idler, no additional movements needed
- {
- puts_P(PSTR("Unloading finished 1"));
- disable_e0(); //turn off E-stepper to prevent overheating and alow filament pull-out if necessary
- move = MMU_NO_MOVE;
- }
- break;
- case MMU_TCODE_MOVE: //first do unload and then continue with infinite loading movements
- if (READ(IR_SENSOR_PIN) == 0) //filament detected by idler sensor, we must unload first
- {
- if (can_extrude())
- {
- puts_P(PSTR("Unload 2"));
- current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
- plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
- st_synchronize();
- }
- }
- else //delay to allow mmu unit to pull out filament from bondtech gears and then start with infinite loading
- {
- puts_P(PSTR("Unloading finished 2"));
- disable_e0(); //turn off E-stepper to prevent overheating and alow filament pull-out if necessary
- delay_keep_alive(MMU_LOAD_TIME_MS);
- move = MMU_LOAD_MOVE;
- get_response_print_info(move);
- }
- break;
- case MMU_NO_MOVE:
- default:
- delay_keep_alive(100);
- break;
- }
- }
- printf_P(PSTR("mmu_get_response() returning: %d\n"), mmu_ready);
- bool ret = mmu_ready;
- mmu_ready = false;
- // printf_P(PSTR("mmu_get_response - end %d\n"), ret?1:0);
- return ret;
- }
- //! @brief Wait for active extruder to reach temperature set
- //!
- //! This function is blocking and showing lcd_wait_for_heater() screen
- //! which is constantly updated with nozzle temperature.
- void mmu_wait_for_heater_blocking()
- {
- while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5)
- {
- delay_keep_alive(1000);
- lcd_wait_for_heater();
- }
- }
- void manage_response(bool move_axes, bool turn_off_nozzle, uint8_t move)
- {
- bool response = false;
- mmu_print_saved = false;
- bool lcd_update_was_enabled = false;
- float hotend_temp_bckp = degTargetHotend(active_extruder);
- float z_position_bckp = current_position[Z_AXIS];
- float x_position_bckp = current_position[X_AXIS];
- float y_position_bckp = current_position[Y_AXIS];
- uint8_t screen = 0; //used for showing multiscreen messages
- mmu_loading_flag = false;
- while(!response)
- {
- response = mmu_get_response(move); //wait for "ok" from mmu
- if (!response) { //no "ok" was received in reserved time frame, user will fix the issue on mmu unit
- if (!mmu_print_saved) { //first occurence, we are saving current position, park print head in certain position and disable nozzle heater
-
- uint8_t mmu_fail = eeprom_read_byte((uint8_t*)EEPROM_MMU_FAIL);
- uint16_t mmu_fail_tot = eeprom_read_word((uint16_t*)EEPROM_MMU_FAIL_TOT);
- if(mmu_fail < 255) eeprom_update_byte((uint8_t*)EEPROM_MMU_FAIL, mmu_fail + 1);
- if(mmu_fail_tot < 65535) eeprom_update_word((uint16_t*)EEPROM_MMU_FAIL_TOT, mmu_fail_tot + 1);
- if (lcd_update_enabled) {
- lcd_update_was_enabled = true;
- lcd_update_enable(false);
- }
- st_synchronize();
- mmu_print_saved = true;
- puts_P(PSTR("MMU not responding"));
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- hotend_temp_bckp = degTargetHotend(active_extruder);
- if (move_axes) {
- z_position_bckp = current_position[Z_AXIS];
- x_position_bckp = current_position[X_AXIS];
- y_position_bckp = current_position[Y_AXIS];
-
- //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_curposXYZE(15);
- st_synchronize();
-
- //Move XY to side
- current_position[X_AXIS] = X_PAUSE_POS;
- current_position[Y_AXIS] = Y_PAUSE_POS;
- plan_buffer_line_curposXYZE(50);
- st_synchronize();
- }
- if (turn_off_nozzle) {
- //set nozzle target temperature to 0
- setAllTargetHotends(0);
- }
- disable_e0(); //turn off E-stepper to prevent overheating and alow filament pull-out if necessary
- }
- //first three lines are used for printing multiscreen message; last line contains measured and target nozzle temperature
- if (screen == 0) { //screen 0
- lcd_display_message_fullscreen_P(_i("MMU needs user attention."));
- screen++;
- }
- else { //screen 1
- if((degTargetHotend(active_extruder) == 0) && turn_off_nozzle) lcd_display_message_fullscreen_P(_i("Press the knob to resume nozzle temperature."));////c=20 r=4
- else lcd_display_message_fullscreen_P(_i("Fix the issue and then press button on MMU unit."));////c=20 r=4
- screen=0;
- }
- lcd_set_degree();
- //5 seconds delay
- for (uint8_t i = 0; i < 5; i++) {
- if (lcd_clicked()) {
- setTargetHotend(hotend_temp_bckp, active_extruder);
- /// mmu_cmd = mmu_last_cmd;
- break;
- }
- //Print the hotend temperature (9 chars total) and fill rest of the line with space
- lcd_set_cursor(0, 4); //line 4
- int chars = lcd_printf_P(_N("%c%3d/%d%c"), LCD_STR_THERMOMETER[0],(int)(degHotend(active_extruder) + 0.5), (int)(degTargetHotend(active_extruder) + 0.5), LCD_STR_DEGREE[0]);
- lcd_space(9 - chars);
- delay_keep_alive(1000);
- }
- }
- else if (mmu_print_saved) {
- puts_P(PSTR("MMU starts responding"));
- KEEPALIVE_STATE(IN_HANDLER);
- mmu_loading_flag = false;
- if (turn_off_nozzle)
- {
- lcd_clear();
- setTargetHotend(hotend_temp_bckp, active_extruder);
- if (((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5)) {
- lcd_display_message_fullscreen_P(_i("MMU OK. Resuming temperature..."));
- delay_keep_alive(3000);
- }
- mmu_wait_for_heater_blocking();
- }
- if (move_axes) {
- lcd_clear();
- lcd_display_message_fullscreen_P(_i("MMU OK. Resuming position..."));
- current_position[X_AXIS] = x_position_bckp;
- current_position[Y_AXIS] = y_position_bckp;
- plan_buffer_line_curposXYZE(50);
- st_synchronize();
- current_position[Z_AXIS] = z_position_bckp;
- plan_buffer_line_curposXYZE(15);
- st_synchronize();
- }
- else {
- lcd_clear();
- lcd_display_message_fullscreen_P(_i("MMU OK. Resuming..."));
- delay_keep_alive(1000); //delay just for showing MMU OK message for a while in case that there are no xyz movements
- }
- }
- }
- if (lcd_update_was_enabled) lcd_update_enable(true);
- #ifdef TMC2130
- //enable extruder motor (disabled in mmu_command, start of T-code processing)
- tmc2130_set_pwr(E_AXIS, 1);
- //printf_P(PSTR("E-axis enabled\n"));
- #endif //TMC2130
- }
- //! @brief load filament to nozzle of multimaterial printer
- //!
- //! This function is used only only after T? (user select filament) and M600 (change filament).
- //! It is not used after T0 .. T4 command (select filament), in such case, gcode is responsible for loading
- //! filament to nozzle.
- //!
- void mmu_load_to_nozzle()
- {
- st_synchronize();
-
- const bool saved_e_relative_mode = axis_relative_modes & E_AXIS_MASK;
- if (!saved_e_relative_mode) axis_relative_modes |= E_AXIS_MASK;
- if (ir_sensor_detected)
- {
- current_position[E_AXIS] += 3.0f;
- }
- else
- {
- current_position[E_AXIS] += 7.2f;
- }
- float feedrate = 562;
- plan_buffer_line_curposXYZE(feedrate / 60);
- st_synchronize();
- current_position[E_AXIS] += 14.4f;
- feedrate = 871;
- plan_buffer_line_curposXYZE(feedrate / 60);
- st_synchronize();
- current_position[E_AXIS] += 36.0f;
- feedrate = 1393;
- plan_buffer_line_curposXYZE(feedrate / 60);
- st_synchronize();
- current_position[E_AXIS] += 14.4f;
- feedrate = 871;
- plan_buffer_line_curposXYZE(feedrate / 60);
- st_synchronize();
- if (!saved_e_relative_mode) axis_relative_modes &= ~E_AXIS_MASK;
- }
- void mmu_M600_wait_and_beep() {
- //Beep and wait for user to remove old filament and prepare new filament for load
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- int counterBeep = 0;
- lcd_display_message_fullscreen_P(_i("Remove old filament and press the knob to start loading new filament.")); ////MSG_REMOVE_OLD_FILAMENT c=20 r=5
- bool bFirst=true;
- while (!lcd_clicked()){
- manage_heater();
- manage_inactivity(true);
- #if BEEPER > 0
- if (counterBeep == 500) {
- counterBeep = 0;
- }
- SET_OUTPUT(BEEPER);
- if (counterBeep == 0) {
- if((eSoundMode==e_SOUND_MODE_BLIND)|| (eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
- {
- bFirst=false;
- WRITE(BEEPER, HIGH);
- }
- }
- if (counterBeep == 20) {
- WRITE(BEEPER, LOW);
- }
-
- counterBeep++;
- #endif //BEEPER > 0
- delay_keep_alive(4);
- }
- WRITE(BEEPER, LOW);
- }
- //! @brief load filament for mmu v2
- //! @par nozzle_temp nozzle temperature to load filament
- void mmu_M600_load_filament(bool automatic, float nozzle_temp)
- {
- tmp_extruder = mmu_extruder;
- if (!automatic)
- {
- #ifdef MMU_M600_SWITCH_EXTRUDER
- bool yes = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Do you want to switch extruder?"), false);
- if(yes) tmp_extruder = choose_extruder_menu();
- #endif //MMU_M600_SWITCH_EXTRUDER
- }
- else
- {
- tmp_extruder = ad_getAlternative(tmp_extruder);
- }
- lcd_update_enable(false);
- lcd_clear();
- lcd_puts_at_P(0, 1, _T(MSG_LOADING_FILAMENT));
- lcd_print(' ');
- lcd_print(tmp_extruder + 1);
- snmm_filaments_used |= (1 << tmp_extruder); //for stop print
- //printf_P(PSTR("T code: %d \n"), tmp_extruder);
- //mmu_printf_P(PSTR("T%d\n"), tmp_extruder);
- setTargetHotend(nozzle_temp,active_extruder);
- mmu_wait_for_heater_blocking();
- mmu_command(MmuCmd::T0 + tmp_extruder);
- manage_response(false, true, MMU_LOAD_MOVE);
- mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
- mmu_extruder = tmp_extruder; //filament change is finished
- mmu_load_to_nozzle();
- load_filament_final_feed();
- st_synchronize();
- }
- #ifdef SNMM
- void extr_mov(float shift, float feed_rate)
- { //move extruder no matter what the current heater temperature is
- set_extrude_min_temp(.0);
- current_position[E_AXIS] += shift;
- plan_buffer_line_curposXYZE(feed_rate, active_extruder);
- set_extrude_min_temp(EXTRUDE_MINTEMP);
- }
- #endif //SNMM
- void change_extr(int
- #ifdef SNMM
- extr
- #endif //SNMM
- ) { //switches multiplexer for extruders
- #ifdef SNMM
- st_synchronize();
- _delay(100);
- disable_e0();
- disable_e1();
- disable_e2();
- mmu_extruder = extr;
- pinMode(E_MUX0_PIN, OUTPUT);
- pinMode(E_MUX1_PIN, OUTPUT);
- switch (extr) {
- 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);
- #endif
- }
- int get_ext_nr()
- { //reads multiplexer input pins and return current extruder number (counted from 0)
- #ifndef SNMM
- return(mmu_extruder); //update needed
- #else
- return(2 * READ(E_MUX1_PIN) + READ(E_MUX0_PIN));
- #endif
- }
- void display_loading()
- {
- switch (mmu_extruder)
- {
- case 1: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T1)); break;
- case 2: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T2)); break;
- case 3: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T3)); break;
- default: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T0)); break;
- }
- }
- void extr_adj(uint8_t extruder) //loading filament for SNMM
- {
- #ifndef SNMM
- MmuCmd cmd = MmuCmd::L0 + extruder;
- if (extruder > (MmuCmd::L4 - MmuCmd::L0))
- {
- printf_P(PSTR("Filament out of range %d \n"),extruder);
- return;
- }
- mmu_command(cmd);
-
- //show which filament is currently loaded
-
- lcd_update_enable(false);
- lcd_clear();
- lcd_puts_at_P(0, 1, _T(MSG_LOADING_FILAMENT));
- //if(strlen(_T(MSG_LOADING_FILAMENT))>18) lcd.setCursor(0, 1);
- //else lcd.print(" ");
- lcd_print(' ');
- lcd_print(extruder + 1);
- // get response
- manage_response(false, false);
- lcd_update_enable(true);
-
-
- //lcd_return_to_status();
- #else
- bool correct;
- max_feedrate[E_AXIS] =80;
- //max_feedrate[E_AXIS] = 50;
- START:
- lcd_clear();
- lcd_set_cursor(0, 0);
- switch (extruder) {
- case 1: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T1)); break;
- case 2: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T2)); break;
- case 3: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T3)); break;
- default: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T0)); break;
- }
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- do{
- extr_mov(0.001,1000);
- delay_keep_alive(2);
- } while (!lcd_clicked());
- //delay_keep_alive(500);
- KEEPALIVE_STATE(IN_HANDLER);
- st_synchronize();
- //correct = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FIL_LOADED_CHECK, false);
- //if (!correct) goto START;
- //extr_mov(BOWDEN_LENGTH/2.f, 500); //dividing by 2 is there because of max. extrusion length limitation (x_max + y_max)
- //extr_mov(BOWDEN_LENGTH/2.f, 500);
- extr_mov(bowden_length[extruder], 500);
- lcd_clear();
- lcd_set_cursor(0, 0); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
- if(strlen(_T(MSG_LOADING_FILAMENT))>18) lcd_set_cursor(0, 1);
- else lcd_print(' ');
- lcd_print(mmu_extruder + 1);
- lcd_set_cursor(0, 2); lcd_puts_P(_T(MSG_PLEASE_WAIT));
- st_synchronize();
- max_feedrate[E_AXIS] = 50;
- lcd_update_enable(true);
- lcd_return_to_status();
- lcdDrawUpdate = 2;
- #endif
- }
- struct E_step
- {
- float extrude; //!< extrude distance in mm
- float feed_rate; //!< feed rate in mm/s
- };
- static const E_step ramming_sequence[] PROGMEM =
- {
- {1.0, 1000.0/60},
- {1.0, 1500.0/60},
- {2.0, 2000.0/60},
- {1.5, 3000.0/60},
- {2.5, 4000.0/60},
- {-15.0, 5000.0/60},
- {-14.0, 1200.0/60},
- {-6.0, 600.0/60},
- {10.0, 700.0/60},
- {-10.0, 400.0/60},
- {-50.0, 2000.0/60},
- };
- //! @brief Unload sequence to optimize shape of the tip of the unloaded filament
- void mmu_filament_ramming()
- {
- for(uint8_t i = 0; i < (sizeof(ramming_sequence)/sizeof(E_step));++i)
- {
- current_position[E_AXIS] += pgm_read_float(&(ramming_sequence[i].extrude));
- plan_buffer_line_curposXYZE(pgm_read_float(&(ramming_sequence[i].feed_rate)));
- st_synchronize();
- }
- }
- //! @brief show which filament is currently unloaded
- void extr_unload_view()
- {
- lcd_clear();
- lcd_puts_at_P(0, 1, _T(MSG_UNLOADING_FILAMENT));
- lcd_print(' ');
- if (mmu_extruder == MMU_FILAMENT_UNKNOWN) lcd_print(' ');
- else lcd_print(mmu_extruder + 1);
- }
- void extr_unload()
- { //unload just current filament for multimaterial printers
- #ifdef SNMM
- float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
- float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
- uint8_t SilentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
- #endif
- if (degHotend0() > EXTRUDE_MINTEMP)
- {
- #ifndef SNMM
- st_synchronize();
- menu_submenu(extr_unload_view);
- mmu_filament_ramming();
- mmu_command(MmuCmd::U0);
- // get response
- manage_response(false, true, MMU_UNLOAD_MOVE);
- menu_back();
- #else //SNMM
- lcd_clear();
- lcd_display_message_fullscreen_P(PSTR(""));
- max_feedrate[E_AXIS] = 50;
- lcd_set_cursor(0, 0); lcd_puts_P(_T(MSG_UNLOADING_FILAMENT));
- lcd_print(' ');
- lcd_print(mmu_extruder + 1);
- lcd_set_cursor(0, 2); lcd_puts_P(_T(MSG_PLEASE_WAIT));
- if (current_position[Z_AXIS] < 15) {
- current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
- plan_buffer_line_curposXYZE(25, active_extruder);
- }
-
- current_position[E_AXIS] += 10; //extrusion
- plan_buffer_line_curposXYZE(10, active_extruder);
- st_current_set(2, E_MOTOR_HIGH_CURRENT);
- if (current_temperature[0] < 230) { //PLA & all other filaments
- current_position[E_AXIS] += 5.4;
- plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
- current_position[E_AXIS] += 3.2;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[E_AXIS] += 3;
- plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
- }
- else { //ABS
- current_position[E_AXIS] += 3.1;
- plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
- current_position[E_AXIS] += 3.1;
- plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
- current_position[E_AXIS] += 4;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- /*current_position[X_AXIS] += 23; //delay
- plan_buffer_line_curposXYZE(600 / 60, active_extruder); //delay
- current_position[X_AXIS] -= 23; //delay
- plan_buffer_line_curposXYZE(600 / 60, active_extruder); //delay*/
- delay_keep_alive(4700);
- }
-
- max_feedrate[E_AXIS] = 80;
- current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
- plan_buffer_line_curposXYZE(500, active_extruder);
- current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
- plan_buffer_line_curposXYZE(500, active_extruder);
- st_synchronize();
- //st_current_init();
- if (SilentMode != SILENT_MODE_OFF) st_current_set(2, tmp_motor[2]); //set back to normal operation currents
- else st_current_set(2, tmp_motor_loud[2]);
- lcd_update_enable(true);
- lcd_return_to_status();
- max_feedrate[E_AXIS] = 50;
- #endif //SNMM
- }
- else
- {
- show_preheat_nozzle_warning();
- }
- }
- //wrapper functions for loading filament
- void extr_adj_0()
- {
- #ifndef SNMM
- enquecommand_P(PSTR("M701 E0"));
- #else
- change_extr(0);
- extr_adj(0);
- #endif
- }
- void extr_adj_1()
- {
- #ifndef SNMM
- enquecommand_P(PSTR("M701 E1"));
- #else
- change_extr(1);
- extr_adj(1);
- #endif
- }
- void extr_adj_2()
- {
- #ifndef SNMM
- enquecommand_P(PSTR("M701 E2"));
- #else
- change_extr(2);
- extr_adj(2);
- #endif
- }
- void extr_adj_3()
- {
- #ifndef SNMM
- enquecommand_P(PSTR("M701 E3"));
- #else
- change_extr(3);
- extr_adj(3);
- #endif
- }
- void extr_adj_4()
- {
- #ifndef SNMM
- enquecommand_P(PSTR("M701 E4"));
- #else
- change_extr(4);
- extr_adj(4);
- #endif
- }
- void load_all()
- {
- #ifndef SNMM
- enquecommand_P(PSTR("M701 E0"));
- enquecommand_P(PSTR("M701 E1"));
- enquecommand_P(PSTR("M701 E2"));
- enquecommand_P(PSTR("M701 E3"));
- enquecommand_P(PSTR("M701 E4"));
- #else
- for (int i = 0; i < 4; i++)
- {
- change_extr(i);
- extr_adj(i);
- }
- #endif
- }
- //wrapper functions for changing extruders
- void extr_change_0()
- {
- change_extr(0);
- lcd_return_to_status();
- }
- void extr_change_1()
- {
- change_extr(1);
- lcd_return_to_status();
- }
- void extr_change_2()
- {
- change_extr(2);
- lcd_return_to_status();
- }
- void extr_change_3()
- {
- change_extr(3);
- lcd_return_to_status();
- }
- #ifdef SNMM
- //wrapper functions for unloading filament
- void extr_unload_all()
- {
- if (degHotend0() > EXTRUDE_MINTEMP)
- {
- for (int i = 0; i < 4; i++)
- {
- change_extr(i);
- extr_unload();
- }
- }
- else
- {
- show_preheat_nozzle_warning();
- lcd_return_to_status();
- }
- }
- //unloading just used filament (for snmm)
- void extr_unload_used()
- {
- if (degHotend0() > EXTRUDE_MINTEMP) {
- for (int i = 0; i < 4; i++) {
- if (snmm_filaments_used & (1 << i)) {
- change_extr(i);
- extr_unload();
- }
- }
- snmm_filaments_used = 0;
- }
- else {
- show_preheat_nozzle_warning();
- lcd_return_to_status();
- }
- }
- #endif //SNMM
- void extr_unload_0()
- {
- change_extr(0);
- extr_unload();
- }
- void extr_unload_1()
- {
- change_extr(1);
- extr_unload();
- }
- void extr_unload_2()
- {
- change_extr(2);
- extr_unload();
- }
- void extr_unload_3()
- {
- change_extr(3);
- extr_unload();
- }
- void extr_unload_4()
- {
- change_extr(4);
- extr_unload();
- }
- bool mmu_check_version()
- {
- return (mmu_buildnr >= MMU_REQUIRED_FW_BUILDNR);
- }
- void mmu_show_warning()
- {
- printf_P(PSTR("MMU2 firmware version invalid. Required version: build number %d or higher."), MMU_REQUIRED_FW_BUILDNR);
- kill(_i("Please update firmware in your MMU2. Waiting for reset."));
- }
- void lcd_mmu_load_to_nozzle(uint8_t filament_nr)
- {
- menu_back();
- bFilamentAction = false; // NOT in "mmu_load_to_nozzle_menu()"
- if (degHotend0() > EXTRUDE_MINTEMP)
- {
- tmp_extruder = filament_nr;
- lcd_update_enable(false);
- lcd_clear();
- lcd_puts_at_P(0, 1, _T(MSG_LOADING_FILAMENT));
- lcd_print(' ');
- lcd_print(tmp_extruder + 1);
- mmu_command(MmuCmd::T0 + tmp_extruder);
- manage_response(true, true, MMU_TCODE_MOVE);
- mmu_continue_loading(false);
- mmu_extruder = tmp_extruder; //filament change is finished
- raise_z_above(MIN_Z_FOR_LOAD, false);
- mmu_load_to_nozzle();
- load_filament_final_feed();
- st_synchronize();
- custom_message_type = CustomMsg::FilamentLoading;
- lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
- lcd_return_to_status();
- lcd_update_enable(true);
- lcd_load_filament_color_check();
- lcd_setstatuspgm(_T(WELCOME_MSG));
- custom_message_type = CustomMsg::Status;
- }
- else
- {
- show_preheat_nozzle_warning();
- }
- }
- #ifdef MMU_HAS_CUTTER
- void mmu_cut_filament(uint8_t filament_nr)
- {
- menu_back();
- bFilamentAction=false; // NOT in "mmu_load_to_nozzle_menu()"
- if (degHotend0() > EXTRUDE_MINTEMP)
- {
- LcdUpdateDisabler disableLcdUpdate;
- lcd_clear();
- lcd_puts_at_P(0, 1, _i("Cutting filament")); //// c=18
- lcd_print(' ');
- lcd_print(filament_nr + 1);
- mmu_filament_ramming();
- mmu_command(MmuCmd::K0 + filament_nr);
- manage_response(false, false, MMU_UNLOAD_MOVE);
- }
- else
- {
- show_preheat_nozzle_warning();
- }
- }
- #endif //MMU_HAS_CUTTER
- void mmu_eject_filament(uint8_t filament, bool recover)
- {
- //-//
- bFilamentAction=false; // NOT in "mmu_fil_eject_menu()"
- if (filament < 5)
- {
- if (degHotend0() > EXTRUDE_MINTEMP)
- {
- st_synchronize();
- {
- LcdUpdateDisabler disableLcdUpdate;
- lcd_clear();
- lcd_puts_at_P(0, 1, _i("Ejecting filament"));
- mmu_filament_ramming();
- mmu_command(MmuCmd::E0 + filament);
- manage_response(false, false, MMU_UNLOAD_MOVE);
- if (recover)
- {
- lcd_show_fullscreen_message_and_wait_P(_i("Please remove filament and then press the knob."));
- mmu_command(MmuCmd::R0);
- manage_response(false, false);
- }
- }
- }
- else
- {
- show_preheat_nozzle_warning();
- }
- }
- else
- {
- puts_P(PSTR("Filament nr out of range!"));
- }
- }
- //! @brief Fits filament tip into heatbreak?
- //!
- //! If PTFE tube is jammed, this causes filament to be unloaded and no longer
- //! being detected by the pulley IR sensor.
- //! @retval true Fits
- //! @retval false Doesn't fit
- static bool can_load()
- {
- current_position[E_AXIS] += 60;
- plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
- current_position[E_AXIS] -= 52;
- plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
- st_synchronize();
- uint_least8_t filament_detected_count = 0;
- const float e_increment = 0.2;
- const uint_least8_t steps = 6.0 / e_increment;
- DEBUG_PUTS_P(PSTR("MMU can_load:"));
- for(uint_least8_t i = 0; i < steps; ++i)
- {
- current_position[E_AXIS] -= e_increment;
- plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE);
- st_synchronize();
- if(0 == READ(IR_SENSOR_PIN))
- {
- ++filament_detected_count;
- DEBUG_PUTCHAR('O');
- }
- else
- {
- DEBUG_PUTCHAR('o');
- }
- }
- if (filament_detected_count > steps - 4)
- {
- DEBUG_PUTS_P(PSTR(" succeeded."));
- return true;
- }
- else
- {
- DEBUG_PUTS_P(PSTR(" failed."));
- return false;
- }
- }
- //! @brief load more
- //!
- //! Try to feed more filament from MMU if it is not detected by filament sensor.
- //! @retval true Success, filament detected by IR sensor
- //! @retval false Failed, filament not detected by IR sensor after maximum number of attempts
- static bool load_more()
- {
- for (uint8_t i = 0; i < MMU_IDLER_SENSOR_ATTEMPTS_NR; i++)
- {
- if (READ(IR_SENSOR_PIN) == 0) return true;
- DEBUG_PRINTF_P(PSTR("Additional load attempt nr. %d\n"), i);
- mmu_command(MmuCmd::C0);
- manage_response(true, true, MMU_LOAD_MOVE);
- }
- return false;
- }
- static void increment_load_fail()
- {
- uint8_t mmu_load_fail = eeprom_read_byte((uint8_t*)EEPROM_MMU_LOAD_FAIL);
- uint16_t mmu_load_fail_tot = eeprom_read_word((uint16_t*)EEPROM_MMU_LOAD_FAIL_TOT);
- if(mmu_load_fail < 255) eeprom_update_byte((uint8_t*)EEPROM_MMU_LOAD_FAIL, mmu_load_fail + 1);
- if(mmu_load_fail_tot < 65535) eeprom_update_word((uint16_t*)EEPROM_MMU_LOAD_FAIL_TOT, mmu_load_fail_tot + 1);
- }
- //! @brief continue loading filament
- //! @par blocking
- //! * true blocking - do not return until successful load
- //! * false non-blocking - pause print and return on load failure
- //!
- //! @startuml
- //! [*] --> [*] : !ir_sensor_detected /\n send MmuCmd::C0
- //! [*] --> LoadMore
- //! LoadMore --> [*] : filament \ndetected
- //! LoadMore --> Retry : !filament detected /\n increment load fail
- //! Retry --> [*] : filament \ndetected
- //! Retry --> Unload : !filament \ndetected
- //! Unload --> [*] : non-blocking
- //! Unload --> Retry : button \nclicked
- //!
- //! Retry : Cut filament if enabled
- //! Retry : repeat last T-code
- //! Unload : unload filament
- //! Unload : pause print
- //! Unload : show error message
- //!
- //! @enduml
- void mmu_continue_loading(bool blocking)
- {
- if (!ir_sensor_detected)
- {
- mmu_command(MmuCmd::C0);
- return;
- }
- bool success = load_more();
- if (success) success = can_load();
- enum class Ls : uint_least8_t
- {
- Enter,
- Retry,
- Unload,
- };
- Ls state = Ls::Enter;
- const uint_least8_t max_retry = 3;
- uint_least8_t retry = 0;
- while (!success)
- {
- switch (state)
- {
- case Ls::Enter:
- increment_load_fail();
- // no break
- case Ls::Retry:
- ++retry; // overflow not handled, as it is not dangerous.
- if (retry >= max_retry)
- {
- state = Ls::Unload;
- #ifdef MMU_HAS_CUTTER
- if (1 == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
- {
- mmu_command(MmuCmd::K0 + tmp_extruder);
- manage_response(true, true, MMU_UNLOAD_MOVE);
- }
- #endif //MMU_HAS_CUTTER
- }
- mmu_command(MmuCmd::T0 + tmp_extruder);
- manage_response(true, true, MMU_TCODE_MOVE);
- success = load_more();
- if (success) success = can_load();
- break;
- case Ls::Unload:
- stop_and_save_print_to_ram(0, 0);
- long_pause();
- mmu_command(MmuCmd::U0);
- manage_response(false, true, MMU_UNLOAD_MOVE);
- setAllTargetHotends(0);
- lcd_setstatuspgm(_i("MMU load failed "));////c=20 r=1
- if (blocking)
- {
- marlin_wait_for_click();
- st_synchronize();
- restore_print_from_ram_and_continue(0);
- state = Ls::Retry;
- }
- else
- {
- mmu_fil_loaded = false; //so we can retry same T-code again
- isPrintPaused = true;
- mmu_command(MmuCmd::W0);
- return;
- }
- break;
- }
- }
- }
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