Marlin_main.cpp 286 KB

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  1. /* -*- c++ -*- */
  2. /*
  3. Reprap firmware based on Sprinter and grbl.
  4. Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  5. This program is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. This program is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with this program. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. /*
  17. This firmware is a mashup between Sprinter and grbl.
  18. (https://github.com/kliment/Sprinter)
  19. (https://github.com/simen/grbl/tree)
  20. It has preliminary support for Matthew Roberts advance algorithm
  21. http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  22. */
  23. #include "Marlin.h"
  24. #ifdef ENABLE_AUTO_BED_LEVELING
  25. #include "vector_3.h"
  26. #ifdef AUTO_BED_LEVELING_GRID
  27. #include "qr_solve.h"
  28. #endif
  29. #endif // ENABLE_AUTO_BED_LEVELING
  30. #ifdef MESH_BED_LEVELING
  31. #include "mesh_bed_leveling.h"
  32. #include "mesh_bed_calibration.h"
  33. #endif
  34. #include "printers.h"
  35. #include "ultralcd.h"
  36. #include "Configuration_prusa.h"
  37. #include "planner.h"
  38. #include "stepper.h"
  39. #include "temperature.h"
  40. #include "motion_control.h"
  41. #include "cardreader.h"
  42. #include "ConfigurationStore.h"
  43. #include "language.h"
  44. #include "pins_arduino.h"
  45. #include "math.h"
  46. #include "util.h"
  47. #include "Timer.h"
  48. #include <avr/wdt.h>
  49. #include <avr/pgmspace.h>
  50. #include "Dcodes.h"
  51. #ifdef SWSPI
  52. #include "swspi.h"
  53. #endif //SWSPI
  54. #ifdef NEW_SPI
  55. #include "spi.h"
  56. #endif //NEW_SPI
  57. #ifdef SWI2C
  58. #include "swi2c.h"
  59. #endif //SWI2C
  60. #ifdef PAT9125
  61. #include "pat9125.h"
  62. #include "fsensor.h"
  63. #endif //PAT9125
  64. #ifdef TMC2130
  65. #include "tmc2130.h"
  66. #endif //TMC2130
  67. #ifdef BLINKM
  68. #include "BlinkM.h"
  69. #include "Wire.h"
  70. #endif
  71. #ifdef ULTRALCD
  72. #include "ultralcd.h"
  73. #endif
  74. #if NUM_SERVOS > 0
  75. #include "Servo.h"
  76. #endif
  77. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  78. #include <SPI.h>
  79. #endif
  80. #define VERSION_STRING "1.0.2"
  81. #include "ultralcd.h"
  82. #include "cmdqueue.h"
  83. // Macros for bit masks
  84. #define BIT(b) (1<<(b))
  85. #define TEST(n,b) (((n)&BIT(b))!=0)
  86. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  87. //Macro for print fan speed
  88. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  89. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  90. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  91. //Implemented Codes
  92. //-------------------
  93. // PRUSA CODES
  94. // P F - Returns FW versions
  95. // P R - Returns revision of printer
  96. // G0 -> G1
  97. // G1 - Coordinated Movement X Y Z E
  98. // G2 - CW ARC
  99. // G3 - CCW ARC
  100. // G4 - Dwell S<seconds> or P<milliseconds>
  101. // G10 - retract filament according to settings of M207
  102. // G11 - retract recover filament according to settings of M208
  103. // G28 - Home all Axis
  104. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  105. // G30 - Single Z Probe, probes bed at current XY location.
  106. // G31 - Dock sled (Z_PROBE_SLED only)
  107. // G32 - Undock sled (Z_PROBE_SLED only)
  108. // G80 - Automatic mesh bed leveling
  109. // G81 - Print bed profile
  110. // G90 - Use Absolute Coordinates
  111. // G91 - Use Relative Coordinates
  112. // G92 - Set current position to coordinates given
  113. // M Codes
  114. // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  115. // M1 - Same as M0
  116. // M17 - Enable/Power all stepper motors
  117. // M18 - Disable all stepper motors; same as M84
  118. // M20 - List SD card
  119. // M21 - Init SD card
  120. // M22 - Release SD card
  121. // M23 - Select SD file (M23 filename.g)
  122. // M24 - Start/resume SD print
  123. // M25 - Pause SD print
  124. // M26 - Set SD position in bytes (M26 S12345)
  125. // M27 - Report SD print status
  126. // M28 - Start SD write (M28 filename.g)
  127. // M29 - Stop SD write
  128. // M30 - Delete file from SD (M30 filename.g)
  129. // M31 - Output time since last M109 or SD card start to serial
  130. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  131. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  132. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  133. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  134. // 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.
  135. // M80 - Turn on Power Supply
  136. // M81 - Turn off Power Supply
  137. // M82 - Set E codes absolute (default)
  138. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  139. // M84 - Disable steppers until next move,
  140. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  141. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  142. // M92 - Set axis_steps_per_unit - same syntax as G92
  143. // M104 - Set extruder target temp
  144. // M105 - Read current temp
  145. // M106 - Fan on
  146. // M107 - Fan off
  147. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  148. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  149. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  150. // M112 - Emergency stop
  151. // M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  152. // M114 - Output current position to serial port
  153. // M115 - Capabilities string
  154. // M117 - display message
  155. // M119 - Output Endstop status to serial port
  156. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  157. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  158. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  159. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  160. // M140 - Set bed target temp
  161. // 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.
  162. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  163. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  164. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  165. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  166. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  167. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  168. // 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
  169. // 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
  170. // M206 - set additional homing offset
  171. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  172. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  173. // 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.
  174. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  175. // M220 S<factor in percent>- set speed factor override percentage
  176. // M221 S<factor in percent>- set extrude factor override percentage
  177. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  178. // M240 - Trigger a camera to take a photograph
  179. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  180. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  181. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  182. // M301 - Set PID parameters P I and D
  183. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  184. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  185. // M304 - Set bed PID parameters P I and D
  186. // M400 - Finish all moves
  187. // M401 - Lower z-probe if present
  188. // M402 - Raise z-probe if present
  189. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  190. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  191. // M406 - Turn off Filament Sensor extrusion control
  192. // M407 - Displays measured filament diameter
  193. // M500 - stores parameters in EEPROM
  194. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  195. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  196. // M503 - print the current settings (from memory not from EEPROM)
  197. // M509 - force language selection on next restart
  198. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  199. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  200. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  201. // M860 - Wait for PINDA thermistor to reach target temperature.
  202. // M861 - Set / Read PINDA temperature compensation offsets
  203. // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  204. // M907 - Set digital trimpot motor current using axis codes.
  205. // M908 - Control digital trimpot directly.
  206. // M350 - Set microstepping mode.
  207. // M351 - Toggle MS1 MS2 pins directly.
  208. // M928 - Start SD logging (M928 filename.g) - ended by M29
  209. // M999 - Restart after being stopped by error
  210. //Stepper Movement Variables
  211. //===========================================================================
  212. //=============================imported variables============================
  213. //===========================================================================
  214. //===========================================================================
  215. //=============================public variables=============================
  216. //===========================================================================
  217. #ifdef SDSUPPORT
  218. CardReader card;
  219. #endif
  220. unsigned long PingTime = millis();
  221. unsigned long NcTime;
  222. union Data
  223. {
  224. byte b[2];
  225. int value;
  226. };
  227. float homing_feedrate[] = HOMING_FEEDRATE;
  228. // Currently only the extruder axis may be switched to a relative mode.
  229. // Other axes are always absolute or relative based on the common relative_mode flag.
  230. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  231. int feedmultiply=100; //100->1 200->2
  232. int saved_feedmultiply;
  233. int extrudemultiply=100; //100->1 200->2
  234. int extruder_multiply[EXTRUDERS] = {100
  235. #if EXTRUDERS > 1
  236. , 100
  237. #if EXTRUDERS > 2
  238. , 100
  239. #endif
  240. #endif
  241. };
  242. int bowden_length[4] = {385, 385, 385, 385};
  243. bool is_usb_printing = false;
  244. bool homing_flag = false;
  245. bool temp_cal_active = false;
  246. unsigned long kicktime = millis()+100000;
  247. unsigned int usb_printing_counter;
  248. int lcd_change_fil_state = 0;
  249. int feedmultiplyBckp = 100;
  250. float HotendTempBckp = 0;
  251. int fanSpeedBckp = 0;
  252. float pause_lastpos[4];
  253. unsigned long pause_time = 0;
  254. unsigned long start_pause_print = millis();
  255. unsigned long t_fan_rising_edge = millis();
  256. //unsigned long load_filament_time;
  257. bool mesh_bed_leveling_flag = false;
  258. bool mesh_bed_run_from_menu = false;
  259. unsigned char lang_selected = 0;
  260. int8_t FarmMode = 0;
  261. bool prusa_sd_card_upload = false;
  262. unsigned int status_number = 0;
  263. unsigned long total_filament_used;
  264. unsigned int heating_status;
  265. unsigned int heating_status_counter;
  266. bool custom_message;
  267. bool loading_flag = false;
  268. unsigned int custom_message_type;
  269. unsigned int custom_message_state;
  270. char snmm_filaments_used = 0;
  271. float distance_from_min[2];
  272. bool fan_state[2];
  273. int fan_edge_counter[2];
  274. int fan_speed[2];
  275. char dir_names[3][9];
  276. bool sortAlpha = false;
  277. bool volumetric_enabled = false;
  278. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  279. #if EXTRUDERS > 1
  280. , DEFAULT_NOMINAL_FILAMENT_DIA
  281. #if EXTRUDERS > 2
  282. , DEFAULT_NOMINAL_FILAMENT_DIA
  283. #endif
  284. #endif
  285. };
  286. float extruder_multiplier[EXTRUDERS] = {1.0
  287. #if EXTRUDERS > 1
  288. , 1.0
  289. #if EXTRUDERS > 2
  290. , 1.0
  291. #endif
  292. #endif
  293. };
  294. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  295. float add_homing[3]={0,0,0};
  296. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  297. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  298. bool axis_known_position[3] = {false, false, false};
  299. float zprobe_zoffset;
  300. // Extruder offset
  301. #if EXTRUDERS > 1
  302. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  303. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  304. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  305. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  306. #endif
  307. };
  308. #endif
  309. uint8_t active_extruder = 0;
  310. int fanSpeed=0;
  311. #ifdef FWRETRACT
  312. bool autoretract_enabled=false;
  313. bool retracted[EXTRUDERS]={false
  314. #if EXTRUDERS > 1
  315. , false
  316. #if EXTRUDERS > 2
  317. , false
  318. #endif
  319. #endif
  320. };
  321. bool retracted_swap[EXTRUDERS]={false
  322. #if EXTRUDERS > 1
  323. , false
  324. #if EXTRUDERS > 2
  325. , false
  326. #endif
  327. #endif
  328. };
  329. float retract_length = RETRACT_LENGTH;
  330. float retract_length_swap = RETRACT_LENGTH_SWAP;
  331. float retract_feedrate = RETRACT_FEEDRATE;
  332. float retract_zlift = RETRACT_ZLIFT;
  333. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  334. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  335. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  336. #endif
  337. #ifdef ULTIPANEL
  338. #ifdef PS_DEFAULT_OFF
  339. bool powersupply = false;
  340. #else
  341. bool powersupply = true;
  342. #endif
  343. #endif
  344. bool cancel_heatup = false ;
  345. #ifdef HOST_KEEPALIVE_FEATURE
  346. int busy_state = NOT_BUSY;
  347. static long prev_busy_signal_ms = -1;
  348. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  349. #else
  350. #define host_keepalive();
  351. #define KEEPALIVE_STATE(n);
  352. #endif
  353. const char errormagic[] PROGMEM = "Error:";
  354. const char echomagic[] PROGMEM = "echo:";
  355. bool no_response = false;
  356. uint8_t important_status;
  357. uint8_t saved_filament_type;
  358. //===========================================================================
  359. //=============================Private Variables=============================
  360. //===========================================================================
  361. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  362. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  363. static float delta[3] = {0.0, 0.0, 0.0};
  364. // For tracing an arc
  365. static float offset[3] = {0.0, 0.0, 0.0};
  366. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  367. // Determines Absolute or Relative Coordinates.
  368. // Also there is bool axis_relative_modes[] per axis flag.
  369. static bool relative_mode = false;
  370. #ifndef _DISABLE_M42_M226
  371. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  372. #endif //_DISABLE_M42_M226
  373. //static float tt = 0;
  374. //static float bt = 0;
  375. //Inactivity shutdown variables
  376. static unsigned long previous_millis_cmd = 0;
  377. unsigned long max_inactive_time = 0;
  378. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  379. unsigned long starttime=0;
  380. unsigned long stoptime=0;
  381. unsigned long _usb_timer = 0;
  382. static uint8_t tmp_extruder;
  383. bool extruder_under_pressure = true;
  384. bool Stopped=false;
  385. #if NUM_SERVOS > 0
  386. Servo servos[NUM_SERVOS];
  387. #endif
  388. bool CooldownNoWait = true;
  389. bool target_direction;
  390. //Insert variables if CHDK is defined
  391. #ifdef CHDK
  392. unsigned long chdkHigh = 0;
  393. boolean chdkActive = false;
  394. #endif
  395. //===========================================================================
  396. //=============================Routines======================================
  397. //===========================================================================
  398. void get_arc_coordinates();
  399. bool setTargetedHotend(int code);
  400. void serial_echopair_P(const char *s_P, float v)
  401. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  402. void serial_echopair_P(const char *s_P, double v)
  403. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  404. void serial_echopair_P(const char *s_P, unsigned long v)
  405. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  406. #ifdef SDSUPPORT
  407. #include "SdFatUtil.h"
  408. int freeMemory() { return SdFatUtil::FreeRam(); }
  409. #else
  410. extern "C" {
  411. extern unsigned int __bss_end;
  412. extern unsigned int __heap_start;
  413. extern void *__brkval;
  414. int freeMemory() {
  415. int free_memory;
  416. if ((int)__brkval == 0)
  417. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  418. else
  419. free_memory = ((int)&free_memory) - ((int)__brkval);
  420. return free_memory;
  421. }
  422. }
  423. #endif //!SDSUPPORT
  424. void setup_killpin()
  425. {
  426. #if defined(KILL_PIN) && KILL_PIN > -1
  427. SET_INPUT(KILL_PIN);
  428. WRITE(KILL_PIN,HIGH);
  429. #endif
  430. }
  431. // Set home pin
  432. void setup_homepin(void)
  433. {
  434. #if defined(HOME_PIN) && HOME_PIN > -1
  435. SET_INPUT(HOME_PIN);
  436. WRITE(HOME_PIN,HIGH);
  437. #endif
  438. }
  439. void setup_photpin()
  440. {
  441. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  442. SET_OUTPUT(PHOTOGRAPH_PIN);
  443. WRITE(PHOTOGRAPH_PIN, LOW);
  444. #endif
  445. }
  446. void setup_powerhold()
  447. {
  448. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  449. SET_OUTPUT(SUICIDE_PIN);
  450. WRITE(SUICIDE_PIN, HIGH);
  451. #endif
  452. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  453. SET_OUTPUT(PS_ON_PIN);
  454. #if defined(PS_DEFAULT_OFF)
  455. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  456. #else
  457. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  458. #endif
  459. #endif
  460. }
  461. void suicide()
  462. {
  463. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  464. SET_OUTPUT(SUICIDE_PIN);
  465. WRITE(SUICIDE_PIN, LOW);
  466. #endif
  467. }
  468. void servo_init()
  469. {
  470. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  471. servos[0].attach(SERVO0_PIN);
  472. #endif
  473. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  474. servos[1].attach(SERVO1_PIN);
  475. #endif
  476. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  477. servos[2].attach(SERVO2_PIN);
  478. #endif
  479. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  480. servos[3].attach(SERVO3_PIN);
  481. #endif
  482. #if (NUM_SERVOS >= 5)
  483. #error "TODO: enter initalisation code for more servos"
  484. #endif
  485. }
  486. static void lcd_language_menu();
  487. void stop_and_save_print_to_ram(float z_move, float e_move);
  488. void restore_print_from_ram_and_continue(float e_move);
  489. bool fans_check_enabled = true;
  490. bool filament_autoload_enabled = true;
  491. #ifdef TMC2130
  492. extern int8_t CrashDetectMenu;
  493. void crashdet_enable()
  494. {
  495. // MYSERIAL.println("crashdet_enable");
  496. tmc2130_sg_stop_on_crash = true;
  497. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
  498. CrashDetectMenu = 1;
  499. }
  500. void crashdet_disable()
  501. {
  502. // MYSERIAL.println("crashdet_disable");
  503. tmc2130_sg_stop_on_crash = false;
  504. tmc2130_sg_crash = 0;
  505. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
  506. CrashDetectMenu = 0;
  507. }
  508. void crashdet_stop_and_save_print()
  509. {
  510. stop_and_save_print_to_ram(10, 0); //XY - no change, Z 10mm up, E - no change
  511. }
  512. void crashdet_restore_print_and_continue()
  513. {
  514. restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
  515. // babystep_apply();
  516. }
  517. void crashdet_stop_and_save_print2()
  518. {
  519. cli();
  520. planner_abort_hard(); //abort printing
  521. cmdqueue_reset(); //empty cmdqueue
  522. card.sdprinting = false;
  523. card.closefile();
  524. // Reset and re-enable the stepper timer just before the global interrupts are enabled.
  525. st_reset_timer();
  526. sei();
  527. }
  528. void crashdet_detected(uint8_t mask)
  529. {
  530. // printf("CRASH_DETECTED");
  531. /* while (!is_buffer_empty())
  532. {
  533. process_commands();
  534. cmdqueue_pop_front();
  535. }*/
  536. st_synchronize();
  537. lcd_update_enable(true);
  538. lcd_implementation_clear();
  539. lcd_update(2);
  540. if (mask & X_AXIS_MASK)
  541. {
  542. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  543. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  544. }
  545. if (mask & Y_AXIS_MASK)
  546. {
  547. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  548. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  549. }
  550. #ifdef AUTOMATIC_RECOVERY_AFTER_CRASH
  551. bool yesno = true;
  552. #else
  553. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_CRASH_DETECTED, false);
  554. #endif
  555. lcd_update_enable(true);
  556. lcd_update(2);
  557. lcd_setstatuspgm(MSG_CRASH_DETECTED);
  558. if (yesno)
  559. {
  560. enquecommand_P(PSTR("G28 X Y"));
  561. enquecommand_P(PSTR("CRASH_RECOVER"));
  562. }
  563. else
  564. {
  565. enquecommand_P(PSTR("CRASH_CANCEL"));
  566. }
  567. }
  568. void crashdet_recover()
  569. {
  570. crashdet_restore_print_and_continue();
  571. tmc2130_sg_stop_on_crash = true;
  572. }
  573. void crashdet_cancel()
  574. {
  575. card.sdprinting = false;
  576. card.closefile();
  577. tmc2130_sg_stop_on_crash = true;
  578. }
  579. #endif //TMC2130
  580. void failstats_reset_print()
  581. {
  582. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  583. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  584. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  585. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  586. }
  587. #ifdef MESH_BED_LEVELING
  588. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  589. #endif
  590. // Factory reset function
  591. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  592. // Level input parameter sets depth of reset
  593. // Quiet parameter masks all waitings for user interact.
  594. int er_progress = 0;
  595. void factory_reset(char level, bool quiet)
  596. {
  597. lcd_implementation_clear();
  598. int cursor_pos = 0;
  599. switch (level) {
  600. // Level 0: Language reset
  601. case 0:
  602. WRITE(BEEPER, HIGH);
  603. _delay_ms(100);
  604. WRITE(BEEPER, LOW);
  605. lcd_force_language_selection();
  606. break;
  607. //Level 1: Reset statistics
  608. case 1:
  609. WRITE(BEEPER, HIGH);
  610. _delay_ms(100);
  611. WRITE(BEEPER, LOW);
  612. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  613. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  614. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  615. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  616. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  617. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  618. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  619. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  620. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  621. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  622. lcd_menu_statistics();
  623. break;
  624. // Level 2: Prepare for shipping
  625. case 2:
  626. //lcd_printPGM(PSTR("Factory RESET"));
  627. //lcd_print_at_PGM(1,2,PSTR("Shipping prep"));
  628. // Force language selection at the next boot up.
  629. lcd_force_language_selection();
  630. // Force the "Follow calibration flow" message at the next boot up.
  631. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  632. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  633. farm_no = 0;
  634. farm_mode == false;
  635. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  636. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  637. WRITE(BEEPER, HIGH);
  638. _delay_ms(100);
  639. WRITE(BEEPER, LOW);
  640. //_delay_ms(2000);
  641. break;
  642. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  643. case 3:
  644. lcd_printPGM(PSTR("Factory RESET"));
  645. lcd_print_at_PGM(1, 2, PSTR("ERASING all data"));
  646. WRITE(BEEPER, HIGH);
  647. _delay_ms(100);
  648. WRITE(BEEPER, LOW);
  649. er_progress = 0;
  650. lcd_print_at_PGM(3, 3, PSTR(" "));
  651. lcd_implementation_print_at(3, 3, er_progress);
  652. // Erase EEPROM
  653. for (int i = 0; i < 4096; i++) {
  654. eeprom_write_byte((uint8_t*)i, 0xFF);
  655. if (i % 41 == 0) {
  656. er_progress++;
  657. lcd_print_at_PGM(3, 3, PSTR(" "));
  658. lcd_implementation_print_at(3, 3, er_progress);
  659. lcd_printPGM(PSTR("%"));
  660. }
  661. }
  662. break;
  663. case 4:
  664. bowden_menu();
  665. break;
  666. default:
  667. break;
  668. }
  669. }
  670. #include "LiquidCrystal_Prusa.h"
  671. extern LiquidCrystal_Prusa lcd;
  672. FILE _lcdout = {0};
  673. int lcd_putchar(char c, FILE *stream)
  674. {
  675. lcd.write(c);
  676. return 0;
  677. }
  678. FILE _uartout = {0};
  679. int uart_putchar(char c, FILE *stream)
  680. {
  681. MYSERIAL.write(c);
  682. return 0;
  683. }
  684. void lcd_splash()
  685. {
  686. // lcd_print_at_PGM(0, 1, PSTR(" Original Prusa "));
  687. // lcd_print_at_PGM(0, 2, PSTR(" 3D Printers "));
  688. // lcd.print_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
  689. fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
  690. }
  691. void factory_reset()
  692. {
  693. KEEPALIVE_STATE(PAUSED_FOR_USER);
  694. if (!READ(BTN_ENC))
  695. {
  696. _delay_ms(1000);
  697. if (!READ(BTN_ENC))
  698. {
  699. lcd_implementation_clear();
  700. lcd_printPGM(PSTR("Factory RESET"));
  701. SET_OUTPUT(BEEPER);
  702. WRITE(BEEPER, HIGH);
  703. while (!READ(BTN_ENC));
  704. WRITE(BEEPER, LOW);
  705. _delay_ms(2000);
  706. char level = reset_menu();
  707. factory_reset(level, false);
  708. switch (level) {
  709. case 0: _delay_ms(0); break;
  710. case 1: _delay_ms(0); break;
  711. case 2: _delay_ms(0); break;
  712. case 3: _delay_ms(0); break;
  713. }
  714. // _delay_ms(100);
  715. /*
  716. #ifdef MESH_BED_LEVELING
  717. _delay_ms(2000);
  718. if (!READ(BTN_ENC))
  719. {
  720. WRITE(BEEPER, HIGH);
  721. _delay_ms(100);
  722. WRITE(BEEPER, LOW);
  723. _delay_ms(200);
  724. WRITE(BEEPER, HIGH);
  725. _delay_ms(100);
  726. WRITE(BEEPER, LOW);
  727. int _z = 0;
  728. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  729. EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
  730. EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
  731. EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
  732. }
  733. else
  734. {
  735. WRITE(BEEPER, HIGH);
  736. _delay_ms(100);
  737. WRITE(BEEPER, LOW);
  738. }
  739. #endif // mesh */
  740. }
  741. }
  742. else
  743. {
  744. //_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
  745. }
  746. KEEPALIVE_STATE(IN_HANDLER);
  747. }
  748. void show_fw_version_warnings() {
  749. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  750. switch (FW_DEV_VERSION) {
  751. case(FW_VERSION_ALPHA): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_ALPHA); break;
  752. case(FW_VERSION_BETA): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_BETA); break;
  753. case(FW_VERSION_DEVEL):
  754. case(FW_VERSION_DEBUG):
  755. lcd_update_enable(false);
  756. lcd_implementation_clear();
  757. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  758. lcd_print_at_PGM(0, 0, PSTR("Development build !!"));
  759. #else
  760. lcd_print_at_PGM(0, 0, PSTR("Debbugging build !!!"));
  761. #endif
  762. lcd_print_at_PGM(0, 1, PSTR("May destroy printer!"));
  763. lcd_print_at_PGM(0, 2, PSTR("ver ")); lcd_printPGM(PSTR(FW_VERSION_FULL));
  764. lcd_print_at_PGM(0, 3, PSTR(FW_REPOSITORY));
  765. lcd_wait_for_click();
  766. break;
  767. default: lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_UNKNOWN); break;
  768. }
  769. lcd_update_enable(true);
  770. }
  771. uint8_t check_printer_version()
  772. {
  773. uint8_t version_changed = 0;
  774. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  775. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  776. if (printer_type != PRINTER_TYPE) {
  777. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  778. else version_changed |= 0b10;
  779. }
  780. if (motherboard != MOTHERBOARD) {
  781. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  782. else version_changed |= 0b01;
  783. }
  784. return version_changed;
  785. }
  786. void erase_eeprom_section(uint16_t offset, uint16_t bytes)
  787. {
  788. for (int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
  789. }
  790. // "Setup" function is called by the Arduino framework on startup.
  791. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  792. // are initialized by the main() routine provided by the Arduino framework.
  793. void setup()
  794. {
  795. lcd_init();
  796. fdev_setup_stream(lcdout, lcd_putchar, NULL, _FDEV_SETUP_WRITE); //setup lcdout stream
  797. lcd_splash();
  798. setup_killpin();
  799. setup_powerhold();
  800. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  801. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  802. if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
  803. 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
  804. if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
  805. selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
  806. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  807. if (farm_mode)
  808. {
  809. no_response = true; //we need confirmation by recieving PRUSA thx
  810. important_status = 8;
  811. prusa_statistics(8);
  812. selectedSerialPort = 1;
  813. }
  814. MYSERIAL.begin(BAUDRATE);
  815. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  816. stdout = uartout;
  817. SERIAL_PROTOCOLLNPGM("start");
  818. SERIAL_ECHO_START;
  819. printf_P(PSTR(" "FW_VERSION_FULL"\n"));
  820. #if 0
  821. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  822. for (int i = 0; i < 4096; ++i) {
  823. int b = eeprom_read_byte((unsigned char*)i);
  824. if (b != 255) {
  825. SERIAL_ECHO(i);
  826. SERIAL_ECHO(":");
  827. SERIAL_ECHO(b);
  828. SERIAL_ECHOLN("");
  829. }
  830. }
  831. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  832. #endif
  833. // Check startup - does nothing if bootloader sets MCUSR to 0
  834. byte mcu = MCUSR;
  835. /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  836. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  837. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  838. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  839. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  840. if (mcu & 1) puts_P(MSG_POWERUP);
  841. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  842. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  843. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  844. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  845. MCUSR = 0;
  846. //SERIAL_ECHORPGM(MSG_MARLIN);
  847. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  848. #ifdef STRING_VERSION_CONFIG_H
  849. #ifdef STRING_CONFIG_H_AUTHOR
  850. SERIAL_ECHO_START;
  851. SERIAL_ECHORPGM(MSG_CONFIGURATION_VER);
  852. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  853. SERIAL_ECHORPGM(MSG_AUTHOR);
  854. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  855. SERIAL_ECHOPGM("Compiled: ");
  856. SERIAL_ECHOLNPGM(__DATE__);
  857. #endif
  858. #endif
  859. SERIAL_ECHO_START;
  860. SERIAL_ECHORPGM(MSG_FREE_MEMORY);
  861. SERIAL_ECHO(freeMemory());
  862. SERIAL_ECHORPGM(MSG_PLANNER_BUFFER_BYTES);
  863. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  864. //lcd_update_enable(false); // why do we need this?? - andre
  865. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  866. bool previous_settings_retrieved = false;
  867. uint8_t hw_changed = check_printer_version();
  868. if (!(hw_changed & 0b10)) { //if printer version wasn't changed, check for eeprom version and retrieve settings from eeprom in case that version wasn't changed
  869. previous_settings_retrieved = Config_RetrieveSettings(EEPROM_OFFSET);
  870. }
  871. else { //printer version was changed so use default settings
  872. Config_ResetDefault();
  873. }
  874. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  875. tp_init(); // Initialize temperature loop
  876. lcd_splash(); // we need to do this again, because tp_init() kills lcd
  877. plan_init(); // Initialize planner;
  878. factory_reset();
  879. #ifdef TMC2130
  880. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  881. if (silentMode == 0xff) silentMode = 0;
  882. // tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  883. tmc2130_mode = TMC2130_MODE_NORMAL;
  884. uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
  885. if (crashdet)
  886. {
  887. crashdet_enable();
  888. MYSERIAL.println("CrashDetect ENABLED!");
  889. }
  890. else
  891. {
  892. crashdet_disable();
  893. MYSERIAL.println("CrashDetect DISABLED");
  894. }
  895. #ifdef TMC2130_LINEARITY_CORRECTION
  896. #ifdef EXPERIMENTAL_FEATURES
  897. tmc2130_wave_fac[X_AXIS] = eeprom_read_word((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  898. tmc2130_wave_fac[Y_AXIS] = eeprom_read_word((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  899. tmc2130_wave_fac[Z_AXIS] = eeprom_read_word((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  900. #endif //EXPERIMENTAL_FEATURES
  901. tmc2130_wave_fac[E_AXIS] = eeprom_read_word((uint16_t*)EEPROM_TMC2130_WAVE_E_FAC);
  902. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  903. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  904. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  905. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  906. #endif //TMC2130_LINEARITY_CORRECTION
  907. #ifdef TMC2130_VARIABLE_RESOLUTION
  908. tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
  909. tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
  910. tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
  911. tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
  912. if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  913. if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  914. if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  915. if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  916. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
  917. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
  918. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
  919. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
  920. #else //TMC2130_VARIABLE_RESOLUTION
  921. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  922. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  923. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  924. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  925. #endif //TMC2130_VARIABLE_RESOLUTION
  926. #endif //TMC2130
  927. #ifdef NEW_SPI
  928. spi_init();
  929. #endif //NEW_SPI
  930. st_init(); // Initialize stepper, this enables interrupts!
  931. #ifdef TMC2130
  932. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  933. tmc2130_init();
  934. #endif //TMC2130
  935. setup_photpin();
  936. servo_init();
  937. // Reset the machine correction matrix.
  938. // It does not make sense to load the correction matrix until the machine is homed.
  939. world2machine_reset();
  940. #ifdef PAT9125
  941. fsensor_init();
  942. #endif //PAT9125
  943. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  944. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  945. #endif
  946. setup_homepin();
  947. #ifdef TMC2130
  948. if (1) {
  949. /// SERIAL_ECHOPGM("initial zsteps on power up: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_AXIS));
  950. // try to run to zero phase before powering the Z motor.
  951. // Move in negative direction
  952. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  953. // Round the current micro-micro steps to micro steps.
  954. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
  955. // Until the phase counter is reset to zero.
  956. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  957. delay(2);
  958. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  959. delay(2);
  960. }
  961. // SERIAL_ECHOPGM("initial zsteps after reset: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_AXIS));
  962. }
  963. #endif //TMC2130
  964. #if defined(Z_AXIS_ALWAYS_ON)
  965. enable_z();
  966. #endif
  967. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  968. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  969. if ((farm_mode == 0xFF && farm_no == 0) || (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
  970. if (farm_no == 0xFFFF) farm_no = 0;
  971. if (farm_mode)
  972. {
  973. prusa_statistics(8);
  974. }
  975. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  976. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  977. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  978. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
  979. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  980. // where all the EEPROM entries are set to 0x0ff.
  981. // Once a firmware boots up, it forces at least a language selection, which changes
  982. // EEPROM_LANG to number lower than 0x0ff.
  983. // 1) Set a high power mode.
  984. #ifdef TMC2130
  985. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  986. tmc2130_mode = TMC2130_MODE_NORMAL;
  987. #endif //TMC2130
  988. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  989. }
  990. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  991. // but this times out if a blocking dialog is shown in setup().
  992. card.initsd();
  993. #ifdef DEBUG_SD_SPEED_TEST
  994. if (card.cardOK)
  995. {
  996. uint8_t* buff = (uint8_t*)block_buffer;
  997. uint32_t block = 0;
  998. uint32_t sumr = 0;
  999. uint32_t sumw = 0;
  1000. for (int i = 0; i < 1024; i++)
  1001. {
  1002. uint32_t u = micros();
  1003. bool res = card.card.readBlock(i, buff);
  1004. u = micros() - u;
  1005. if (res)
  1006. {
  1007. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1008. sumr += u;
  1009. u = micros();
  1010. res = card.card.writeBlock(i, buff);
  1011. u = micros() - u;
  1012. if (res)
  1013. {
  1014. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1015. sumw += u;
  1016. }
  1017. else
  1018. {
  1019. printf_P(PSTR("writeBlock %4d error\n"), i);
  1020. break;
  1021. }
  1022. }
  1023. else
  1024. {
  1025. printf_P(PSTR("readBlock %4d error\n"), i);
  1026. break;
  1027. }
  1028. }
  1029. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1030. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1031. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1032. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1033. }
  1034. else
  1035. printf_P(PSTR("Card NG!\n"));
  1036. #endif DEBUG_SD_SPEED_TEST
  1037. if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
  1038. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
  1039. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
  1040. if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
  1041. if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
  1042. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
  1043. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
  1044. if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
  1045. #ifdef SNMM
  1046. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1047. int _z = BOWDEN_LENGTH;
  1048. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1049. }
  1050. #endif
  1051. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1052. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1053. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1054. lang_selected = eeprom_read_byte((uint8_t*)EEPROM_LANG);
  1055. if (lang_selected >= LANG_NUM){
  1056. lcd_mylang();
  1057. }
  1058. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1059. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1060. temp_cal_active = false;
  1061. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  1062. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1063. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1064. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1065. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 0, 0); //40C
  1066. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 1, 0); //45C
  1067. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 2, 0); //50C
  1068. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 3, 0); //55C
  1069. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 4, 0); //60C
  1070. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1071. temp_cal_active = false;
  1072. }
  1073. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1074. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1075. }
  1076. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1077. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1078. }
  1079. check_babystep(); //checking if Z babystep is in allowed range
  1080. #ifdef UVLO_SUPPORT
  1081. setup_uvlo_interrupt();
  1082. #endif //UVLO_SUPPORT
  1083. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1084. setup_fan_interrupt();
  1085. #endif //DEBUG_DISABLE_FANCHECK
  1086. #ifdef PAT9125
  1087. #ifndef DEBUG_DISABLE_FSENSORCHECK
  1088. fsensor_setup_interrupt();
  1089. #endif //DEBUG_DISABLE_FSENSORCHECK
  1090. #endif //PAT9125
  1091. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1092. #ifndef DEBUG_DISABLE_STARTMSGS
  1093. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1094. show_fw_version_warnings();
  1095. switch (hw_changed) {
  1096. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1097. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1098. case(0b01):
  1099. lcd_show_fullscreen_message_and_wait_P(MSG_CHANGED_MOTHERBOARD);
  1100. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1101. break;
  1102. case(0b10):
  1103. lcd_show_fullscreen_message_and_wait_P(MSG_CHANGED_PRINTER);
  1104. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1105. break;
  1106. case(0b11):
  1107. lcd_show_fullscreen_message_and_wait_P(MSG_CHANGED_BOTH);
  1108. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1109. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1110. break;
  1111. default: break; //no change, show no message
  1112. }
  1113. if (!previous_settings_retrieved) {
  1114. lcd_show_fullscreen_message_and_wait_P(MSG_DEFAULT_SETTINGS_LOADED); //if EEPROM version or printer type was changed, inform user that default setting were loaded
  1115. erase_eeprom_section(EEPROM_OFFSET, 156); //erase M500 part of eeprom
  1116. }
  1117. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  1118. lcd_wizard(0);
  1119. }
  1120. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1121. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1122. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1123. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1124. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1125. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1126. // Show the message.
  1127. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  1128. }
  1129. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1130. // Show the message.
  1131. lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  1132. lcd_update_enable(true);
  1133. }
  1134. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  1135. //lcd_show_fullscreen_message_and_wait_P(MSG_PINDA_NOT_CALIBRATED);
  1136. lcd_update_enable(true);
  1137. }
  1138. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1139. // Show the message.
  1140. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  1141. }
  1142. }
  1143. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1144. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1145. lcd_show_fullscreen_message_and_wait_P(MSG_FORCE_SELFTEST);
  1146. update_current_firmware_version_to_eeprom();
  1147. lcd_selftest();
  1148. }
  1149. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1150. KEEPALIVE_STATE(IN_PROCESS);
  1151. #endif //DEBUG_DISABLE_STARTMSGS
  1152. lcd_update_enable(true);
  1153. lcd_implementation_clear();
  1154. lcd_update(2);
  1155. // Store the currently running firmware into an eeprom,
  1156. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1157. update_current_firmware_version_to_eeprom();
  1158. #ifdef TMC2130
  1159. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1160. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1161. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1162. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1163. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1164. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1165. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1166. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1167. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1168. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1169. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1170. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1171. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1172. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1173. #endif //TMC2130
  1174. #ifdef UVLO_SUPPORT
  1175. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
  1176. /*
  1177. if (lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false)) recover_print();
  1178. else {
  1179. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1180. lcd_update_enable(true);
  1181. lcd_update(2);
  1182. lcd_setstatuspgm(WELCOME_MSG);
  1183. }
  1184. */
  1185. manage_heater(); // Update temperatures
  1186. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1187. MYSERIAL.println("Power panic detected!");
  1188. MYSERIAL.print("Current bed temp:");
  1189. MYSERIAL.println(degBed());
  1190. MYSERIAL.print("Saved bed temp:");
  1191. MYSERIAL.println((float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED));
  1192. #endif
  1193. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1194. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1195. MYSERIAL.println("Automatic recovery!");
  1196. #endif
  1197. recover_print(1);
  1198. }
  1199. else{
  1200. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1201. MYSERIAL.println("Normal recovery!");
  1202. #endif
  1203. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false) ) recover_print(0);
  1204. else {
  1205. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1206. lcd_update_enable(true);
  1207. lcd_update(2);
  1208. lcd_setstatuspgm(WELCOME_MSG);
  1209. }
  1210. }
  1211. }
  1212. #endif //UVLO_SUPPORT
  1213. KEEPALIVE_STATE(NOT_BUSY);
  1214. #ifdef WATCHDOG
  1215. wdt_enable(WDTO_4S);
  1216. #endif //WATCHDOG
  1217. }
  1218. #ifdef PAT9125
  1219. void fsensor_init() {
  1220. int pat9125 = pat9125_init();
  1221. printf_P(PSTR("PAT9125_init:%d\n"), pat9125);
  1222. uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
  1223. if (!pat9125)
  1224. {
  1225. fsensor = 0; //disable sensor
  1226. fsensor_not_responding = true;
  1227. }
  1228. else {
  1229. fsensor_not_responding = false;
  1230. }
  1231. puts_P(PSTR("FSensor "));
  1232. if (fsensor)
  1233. {
  1234. puts_P(PSTR("ENABLED\n"));
  1235. fsensor_enable();
  1236. }
  1237. else
  1238. {
  1239. puts_P(PSTR("DISABLED\n"));
  1240. fsensor_disable();
  1241. }
  1242. #ifdef DEBUG_DISABLE_FSENSORCHECK
  1243. filament_autoload_enabled = false;
  1244. fsensor_disable();
  1245. #endif //DEBUG_DISABLE_FSENSORCHECK
  1246. }
  1247. #endif //PAT9125
  1248. void trace();
  1249. #define CHUNK_SIZE 64 // bytes
  1250. #define SAFETY_MARGIN 1
  1251. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1252. int chunkHead = 0;
  1253. int serial_read_stream() {
  1254. setTargetHotend(0, 0);
  1255. setTargetBed(0);
  1256. lcd_implementation_clear();
  1257. lcd_printPGM(PSTR(" Upload in progress"));
  1258. // first wait for how many bytes we will receive
  1259. uint32_t bytesToReceive;
  1260. // receive the four bytes
  1261. char bytesToReceiveBuffer[4];
  1262. for (int i=0; i<4; i++) {
  1263. int data;
  1264. while ((data = MYSERIAL.read()) == -1) {};
  1265. bytesToReceiveBuffer[i] = data;
  1266. }
  1267. // make it a uint32
  1268. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1269. // we're ready, notify the sender
  1270. MYSERIAL.write('+');
  1271. // lock in the routine
  1272. uint32_t receivedBytes = 0;
  1273. while (prusa_sd_card_upload) {
  1274. int i;
  1275. for (i=0; i<CHUNK_SIZE; i++) {
  1276. int data;
  1277. // check if we're not done
  1278. if (receivedBytes == bytesToReceive) {
  1279. break;
  1280. }
  1281. // read the next byte
  1282. while ((data = MYSERIAL.read()) == -1) {};
  1283. receivedBytes++;
  1284. // save it to the chunk
  1285. chunk[i] = data;
  1286. }
  1287. // write the chunk to SD
  1288. card.write_command_no_newline(&chunk[0]);
  1289. // notify the sender we're ready for more data
  1290. MYSERIAL.write('+');
  1291. // for safety
  1292. manage_heater();
  1293. // check if we're done
  1294. if(receivedBytes == bytesToReceive) {
  1295. trace(); // beep
  1296. card.closefile();
  1297. prusa_sd_card_upload = false;
  1298. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1299. return 0;
  1300. }
  1301. }
  1302. }
  1303. #ifdef HOST_KEEPALIVE_FEATURE
  1304. /**
  1305. * Output a "busy" message at regular intervals
  1306. * while the machine is not accepting commands.
  1307. */
  1308. void host_keepalive() {
  1309. if (farm_mode) return;
  1310. long ms = millis();
  1311. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1312. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1313. switch (busy_state) {
  1314. case IN_HANDLER:
  1315. case IN_PROCESS:
  1316. SERIAL_ECHO_START;
  1317. SERIAL_ECHOLNPGM("busy: processing");
  1318. break;
  1319. case PAUSED_FOR_USER:
  1320. SERIAL_ECHO_START;
  1321. SERIAL_ECHOLNPGM("busy: paused for user");
  1322. break;
  1323. case PAUSED_FOR_INPUT:
  1324. SERIAL_ECHO_START;
  1325. SERIAL_ECHOLNPGM("busy: paused for input");
  1326. break;
  1327. default:
  1328. break;
  1329. }
  1330. }
  1331. prev_busy_signal_ms = ms;
  1332. }
  1333. #endif
  1334. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1335. // Before loop(), the setup() function is called by the main() routine.
  1336. void loop()
  1337. {
  1338. KEEPALIVE_STATE(NOT_BUSY);
  1339. bool stack_integrity = true;
  1340. if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
  1341. {
  1342. is_usb_printing = true;
  1343. usb_printing_counter--;
  1344. _usb_timer = millis();
  1345. }
  1346. if (usb_printing_counter == 0)
  1347. {
  1348. is_usb_printing = false;
  1349. }
  1350. if (prusa_sd_card_upload)
  1351. {
  1352. //we read byte-by byte
  1353. serial_read_stream();
  1354. } else
  1355. {
  1356. get_command();
  1357. #ifdef SDSUPPORT
  1358. card.checkautostart(false);
  1359. #endif
  1360. if(buflen)
  1361. {
  1362. cmdbuffer_front_already_processed = false;
  1363. #ifdef SDSUPPORT
  1364. if(card.saving)
  1365. {
  1366. // Saving a G-code file onto an SD-card is in progress.
  1367. // Saving starts with M28, saving until M29 is seen.
  1368. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1369. card.write_command(CMDBUFFER_CURRENT_STRING);
  1370. if(card.logging)
  1371. process_commands();
  1372. else
  1373. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1374. } else {
  1375. card.closefile();
  1376. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1377. }
  1378. } else {
  1379. process_commands();
  1380. }
  1381. #else
  1382. process_commands();
  1383. #endif //SDSUPPORT
  1384. if (! cmdbuffer_front_already_processed && buflen)
  1385. {
  1386. // ptr points to the start of the block currently being processed.
  1387. // The first character in the block is the block type.
  1388. char *ptr = cmdbuffer + bufindr;
  1389. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1390. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1391. union {
  1392. struct {
  1393. char lo;
  1394. char hi;
  1395. } lohi;
  1396. uint16_t value;
  1397. } sdlen;
  1398. sdlen.value = 0;
  1399. {
  1400. // This block locks the interrupts globally for 3.25 us,
  1401. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1402. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1403. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1404. cli();
  1405. // Reset the command to something, which will be ignored by the power panic routine,
  1406. // so this buffer length will not be counted twice.
  1407. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1408. // Extract the current buffer length.
  1409. sdlen.lohi.lo = *ptr ++;
  1410. sdlen.lohi.hi = *ptr;
  1411. // and pass it to the planner queue.
  1412. planner_add_sd_length(sdlen.value);
  1413. sei();
  1414. }
  1415. }
  1416. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1417. // this block's SD card length will not be counted twice as its command type has been replaced
  1418. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1419. cmdqueue_pop_front();
  1420. }
  1421. host_keepalive();
  1422. }
  1423. }
  1424. //check heater every n milliseconds
  1425. manage_heater();
  1426. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1427. checkHitEndstops();
  1428. lcd_update();
  1429. #ifdef PAT9125
  1430. fsensor_update();
  1431. #endif //PAT9125
  1432. #ifdef TMC2130
  1433. tmc2130_check_overtemp();
  1434. if (tmc2130_sg_crash)
  1435. {
  1436. uint8_t crash = tmc2130_sg_crash;
  1437. tmc2130_sg_crash = 0;
  1438. // crashdet_stop_and_save_print();
  1439. switch (crash)
  1440. {
  1441. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1442. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1443. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1444. }
  1445. }
  1446. #endif //TMC2130
  1447. }
  1448. #define DEFINE_PGM_READ_ANY(type, reader) \
  1449. static inline type pgm_read_any(const type *p) \
  1450. { return pgm_read_##reader##_near(p); }
  1451. DEFINE_PGM_READ_ANY(float, float);
  1452. DEFINE_PGM_READ_ANY(signed char, byte);
  1453. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1454. static const PROGMEM type array##_P[3] = \
  1455. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1456. static inline type array(int axis) \
  1457. { return pgm_read_any(&array##_P[axis]); } \
  1458. type array##_ext(int axis) \
  1459. { return pgm_read_any(&array##_P[axis]); }
  1460. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1461. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1462. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1463. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1464. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1465. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1466. static void axis_is_at_home(int axis) {
  1467. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1468. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1469. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1470. }
  1471. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1472. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1473. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1474. saved_feedrate = feedrate;
  1475. saved_feedmultiply = feedmultiply;
  1476. feedmultiply = 100;
  1477. previous_millis_cmd = millis();
  1478. enable_endstops(enable_endstops_now);
  1479. }
  1480. static void clean_up_after_endstop_move() {
  1481. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1482. enable_endstops(false);
  1483. #endif
  1484. feedrate = saved_feedrate;
  1485. feedmultiply = saved_feedmultiply;
  1486. previous_millis_cmd = millis();
  1487. }
  1488. #ifdef ENABLE_AUTO_BED_LEVELING
  1489. #ifdef AUTO_BED_LEVELING_GRID
  1490. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1491. {
  1492. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1493. planeNormal.debug("planeNormal");
  1494. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1495. //bedLevel.debug("bedLevel");
  1496. //plan_bed_level_matrix.debug("bed level before");
  1497. //vector_3 uncorrected_position = plan_get_position_mm();
  1498. //uncorrected_position.debug("position before");
  1499. vector_3 corrected_position = plan_get_position();
  1500. // corrected_position.debug("position after");
  1501. current_position[X_AXIS] = corrected_position.x;
  1502. current_position[Y_AXIS] = corrected_position.y;
  1503. current_position[Z_AXIS] = corrected_position.z;
  1504. // put the bed at 0 so we don't go below it.
  1505. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1506. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1507. }
  1508. #else // not AUTO_BED_LEVELING_GRID
  1509. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1510. plan_bed_level_matrix.set_to_identity();
  1511. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1512. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1513. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1514. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1515. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1516. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1517. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1518. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1519. vector_3 corrected_position = plan_get_position();
  1520. current_position[X_AXIS] = corrected_position.x;
  1521. current_position[Y_AXIS] = corrected_position.y;
  1522. current_position[Z_AXIS] = corrected_position.z;
  1523. // put the bed at 0 so we don't go below it.
  1524. current_position[Z_AXIS] = zprobe_zoffset;
  1525. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1526. }
  1527. #endif // AUTO_BED_LEVELING_GRID
  1528. static void run_z_probe() {
  1529. plan_bed_level_matrix.set_to_identity();
  1530. feedrate = homing_feedrate[Z_AXIS];
  1531. // move down until you find the bed
  1532. float zPosition = -10;
  1533. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1534. st_synchronize();
  1535. // we have to let the planner know where we are right now as it is not where we said to go.
  1536. zPosition = st_get_position_mm(Z_AXIS);
  1537. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1538. // move up the retract distance
  1539. zPosition += home_retract_mm(Z_AXIS);
  1540. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1541. st_synchronize();
  1542. // move back down slowly to find bed
  1543. feedrate = homing_feedrate[Z_AXIS]/4;
  1544. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1545. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1546. st_synchronize();
  1547. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1548. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1549. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1550. }
  1551. static void do_blocking_move_to(float x, float y, float z) {
  1552. float oldFeedRate = feedrate;
  1553. feedrate = homing_feedrate[Z_AXIS];
  1554. current_position[Z_AXIS] = z;
  1555. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1556. st_synchronize();
  1557. feedrate = XY_TRAVEL_SPEED;
  1558. current_position[X_AXIS] = x;
  1559. current_position[Y_AXIS] = y;
  1560. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1561. st_synchronize();
  1562. feedrate = oldFeedRate;
  1563. }
  1564. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1565. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1566. }
  1567. /// Probe bed height at position (x,y), returns the measured z value
  1568. static float probe_pt(float x, float y, float z_before) {
  1569. // move to right place
  1570. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1571. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1572. run_z_probe();
  1573. float measured_z = current_position[Z_AXIS];
  1574. SERIAL_PROTOCOLRPGM(MSG_BED);
  1575. SERIAL_PROTOCOLPGM(" x: ");
  1576. SERIAL_PROTOCOL(x);
  1577. SERIAL_PROTOCOLPGM(" y: ");
  1578. SERIAL_PROTOCOL(y);
  1579. SERIAL_PROTOCOLPGM(" z: ");
  1580. SERIAL_PROTOCOL(measured_z);
  1581. SERIAL_PROTOCOLPGM("\n");
  1582. return measured_z;
  1583. }
  1584. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1585. #ifdef LIN_ADVANCE
  1586. /**
  1587. * M900: Set and/or Get advance K factor and WH/D ratio
  1588. *
  1589. * K<factor> Set advance K factor
  1590. * R<ratio> Set ratio directly (overrides WH/D)
  1591. * W<width> H<height> D<diam> Set ratio from WH/D
  1592. */
  1593. inline void gcode_M900() {
  1594. st_synchronize();
  1595. const float newK = code_seen('K') ? code_value_float() : -1;
  1596. if (newK >= 0) extruder_advance_k = newK;
  1597. float newR = code_seen('R') ? code_value_float() : -1;
  1598. if (newR < 0) {
  1599. const float newD = code_seen('D') ? code_value_float() : -1,
  1600. newW = code_seen('W') ? code_value_float() : -1,
  1601. newH = code_seen('H') ? code_value_float() : -1;
  1602. if (newD >= 0 && newW >= 0 && newH >= 0)
  1603. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1604. }
  1605. if (newR >= 0) advance_ed_ratio = newR;
  1606. SERIAL_ECHO_START;
  1607. SERIAL_ECHOPGM("Advance K=");
  1608. SERIAL_ECHOLN(extruder_advance_k);
  1609. SERIAL_ECHOPGM(" E/D=");
  1610. const float ratio = advance_ed_ratio;
  1611. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1612. }
  1613. #endif // LIN_ADVANCE
  1614. bool check_commands() {
  1615. bool end_command_found = false;
  1616. while (buflen)
  1617. {
  1618. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1619. if (!cmdbuffer_front_already_processed)
  1620. cmdqueue_pop_front();
  1621. cmdbuffer_front_already_processed = false;
  1622. }
  1623. return end_command_found;
  1624. }
  1625. #ifdef TMC2130
  1626. bool calibrate_z_auto()
  1627. {
  1628. //lcd_display_message_fullscreen_P(MSG_CALIBRATE_Z_AUTO);
  1629. lcd_implementation_clear();
  1630. lcd_print_at_PGM(0,1, MSG_CALIBRATE_Z_AUTO);
  1631. bool endstops_enabled = enable_endstops(true);
  1632. int axis_up_dir = -home_dir(Z_AXIS);
  1633. tmc2130_home_enter(Z_AXIS_MASK);
  1634. current_position[Z_AXIS] = 0;
  1635. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1636. set_destination_to_current();
  1637. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1638. feedrate = homing_feedrate[Z_AXIS];
  1639. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1640. st_synchronize();
  1641. // current_position[axis] = 0;
  1642. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1643. tmc2130_home_exit();
  1644. enable_endstops(false);
  1645. current_position[Z_AXIS] = 0;
  1646. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1647. set_destination_to_current();
  1648. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1649. feedrate = homing_feedrate[Z_AXIS] / 2;
  1650. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1651. st_synchronize();
  1652. enable_endstops(endstops_enabled);
  1653. current_position[Z_AXIS] = Z_MAX_POS+2.0;
  1654. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1655. return true;
  1656. }
  1657. #endif //TMC2130
  1658. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1659. {
  1660. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1661. #define HOMEAXIS_DO(LETTER) \
  1662. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1663. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1664. {
  1665. int axis_home_dir = home_dir(axis);
  1666. feedrate = homing_feedrate[axis];
  1667. #ifdef TMC2130
  1668. tmc2130_home_enter(X_AXIS_MASK << axis);
  1669. #endif //TMC2130
  1670. // Move right a bit, so that the print head does not touch the left end position,
  1671. // and the following left movement has a chance to achieve the required velocity
  1672. // for the stall guard to work.
  1673. current_position[axis] = 0;
  1674. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1675. set_destination_to_current();
  1676. // destination[axis] = 11.f;
  1677. destination[axis] = 3.f;
  1678. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1679. st_synchronize();
  1680. // Move left away from the possible collision with the collision detection disabled.
  1681. endstops_hit_on_purpose();
  1682. enable_endstops(false);
  1683. current_position[axis] = 0;
  1684. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1685. destination[axis] = - 1.;
  1686. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1687. st_synchronize();
  1688. // Now continue to move up to the left end stop with the collision detection enabled.
  1689. enable_endstops(true);
  1690. destination[axis] = - 1.1 * max_length(axis);
  1691. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1692. st_synchronize();
  1693. for (uint8_t i = 0; i < cnt; i++)
  1694. {
  1695. // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
  1696. endstops_hit_on_purpose();
  1697. enable_endstops(false);
  1698. current_position[axis] = 0;
  1699. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1700. destination[axis] = 10.f;
  1701. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1702. st_synchronize();
  1703. endstops_hit_on_purpose();
  1704. // Now move left up to the collision, this time with a repeatable velocity.
  1705. enable_endstops(true);
  1706. destination[axis] = - 11.f;
  1707. #ifdef TMC2130
  1708. feedrate = homing_feedrate[axis];
  1709. #else //TMC2130
  1710. feedrate = homing_feedrate[axis] / 2;
  1711. #endif //TMC2130
  1712. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1713. st_synchronize();
  1714. #ifdef TMC2130
  1715. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  1716. if (pstep) pstep[i] = mscnt >> 4;
  1717. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  1718. #endif //TMC2130
  1719. }
  1720. endstops_hit_on_purpose();
  1721. enable_endstops(false);
  1722. #ifdef TMC2130
  1723. uint8_t orig = tmc2130_home_origin[axis];
  1724. uint8_t back = tmc2130_home_bsteps[axis];
  1725. if (tmc2130_home_enabled && (orig <= 63))
  1726. {
  1727. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  1728. if (back > 0)
  1729. tmc2130_do_steps(axis, back, 1, 1000);
  1730. }
  1731. else
  1732. tmc2130_do_steps(axis, 8, 2, 1000);
  1733. tmc2130_home_exit();
  1734. #endif //TMC2130
  1735. axis_is_at_home(axis);
  1736. axis_known_position[axis] = true;
  1737. // Move from minimum
  1738. #ifdef TMC2130
  1739. float dist = 0.01f * tmc2130_home_fsteps[axis];
  1740. #else //TMC2130
  1741. float dist = 0.01f * 64;
  1742. #endif //TMC2130
  1743. current_position[axis] -= dist;
  1744. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1745. current_position[axis] += dist;
  1746. destination[axis] = current_position[axis];
  1747. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
  1748. st_synchronize();
  1749. feedrate = 0.0;
  1750. }
  1751. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  1752. {
  1753. int axis_home_dir = home_dir(axis);
  1754. current_position[axis] = 0;
  1755. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1756. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1757. feedrate = homing_feedrate[axis];
  1758. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1759. st_synchronize();
  1760. #ifdef TMC2130
  1761. if ((tmc2130_mode == TMC2130_MODE_NORMAL) && (READ(Z_TMC2130_DIAG) != 0)) return; //Z crash
  1762. #endif //TMC2130
  1763. current_position[axis] = 0;
  1764. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1765. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1766. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1767. st_synchronize();
  1768. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1769. feedrate = homing_feedrate[axis]/2 ;
  1770. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1771. st_synchronize();
  1772. #ifdef TMC2130
  1773. if ((tmc2130_mode == TMC2130_MODE_NORMAL) && (READ(Z_TMC2130_DIAG) != 0)) return; //Z crash
  1774. #endif //TMC2130
  1775. axis_is_at_home(axis);
  1776. destination[axis] = current_position[axis];
  1777. feedrate = 0.0;
  1778. endstops_hit_on_purpose();
  1779. axis_known_position[axis] = true;
  1780. }
  1781. enable_endstops(endstops_enabled);
  1782. }
  1783. /**/
  1784. void home_xy()
  1785. {
  1786. set_destination_to_current();
  1787. homeaxis(X_AXIS);
  1788. homeaxis(Y_AXIS);
  1789. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1790. endstops_hit_on_purpose();
  1791. }
  1792. void refresh_cmd_timeout(void)
  1793. {
  1794. previous_millis_cmd = millis();
  1795. }
  1796. #ifdef FWRETRACT
  1797. void retract(bool retracting, bool swapretract = false) {
  1798. if(retracting && !retracted[active_extruder]) {
  1799. destination[X_AXIS]=current_position[X_AXIS];
  1800. destination[Y_AXIS]=current_position[Y_AXIS];
  1801. destination[Z_AXIS]=current_position[Z_AXIS];
  1802. destination[E_AXIS]=current_position[E_AXIS];
  1803. current_position[E_AXIS]+=(swapretract?retract_length_swap:retract_length)*float(extrudemultiply)*0.01f;
  1804. plan_set_e_position(current_position[E_AXIS]);
  1805. float oldFeedrate = feedrate;
  1806. feedrate=retract_feedrate*60;
  1807. retracted[active_extruder]=true;
  1808. prepare_move();
  1809. current_position[Z_AXIS]-=retract_zlift;
  1810. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1811. prepare_move();
  1812. feedrate = oldFeedrate;
  1813. } else if(!retracting && retracted[active_extruder]) {
  1814. destination[X_AXIS]=current_position[X_AXIS];
  1815. destination[Y_AXIS]=current_position[Y_AXIS];
  1816. destination[Z_AXIS]=current_position[Z_AXIS];
  1817. destination[E_AXIS]=current_position[E_AXIS];
  1818. current_position[Z_AXIS]+=retract_zlift;
  1819. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1820. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(retract_length+retract_recover_length))*float(extrudemultiply)*0.01f;
  1821. plan_set_e_position(current_position[E_AXIS]);
  1822. float oldFeedrate = feedrate;
  1823. feedrate=retract_recover_feedrate*60;
  1824. retracted[active_extruder]=false;
  1825. prepare_move();
  1826. feedrate = oldFeedrate;
  1827. }
  1828. } //retract
  1829. #endif //FWRETRACT
  1830. void trace() {
  1831. tone(BEEPER, 440);
  1832. delay(25);
  1833. noTone(BEEPER);
  1834. delay(20);
  1835. }
  1836. /*
  1837. void ramming() {
  1838. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  1839. if (current_temperature[0] < 230) {
  1840. //PLA
  1841. max_feedrate[E_AXIS] = 50;
  1842. //current_position[E_AXIS] -= 8;
  1843. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1844. //current_position[E_AXIS] += 8;
  1845. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1846. current_position[E_AXIS] += 5.4;
  1847. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  1848. current_position[E_AXIS] += 3.2;
  1849. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1850. current_position[E_AXIS] += 3;
  1851. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  1852. st_synchronize();
  1853. max_feedrate[E_AXIS] = 80;
  1854. current_position[E_AXIS] -= 82;
  1855. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  1856. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1857. current_position[E_AXIS] -= 20;
  1858. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  1859. current_position[E_AXIS] += 5;
  1860. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1861. current_position[E_AXIS] += 5;
  1862. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1863. current_position[E_AXIS] -= 10;
  1864. st_synchronize();
  1865. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1866. current_position[E_AXIS] += 10;
  1867. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1868. current_position[E_AXIS] -= 10;
  1869. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1870. current_position[E_AXIS] += 10;
  1871. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1872. current_position[E_AXIS] -= 10;
  1873. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1874. st_synchronize();
  1875. }
  1876. else {
  1877. //ABS
  1878. max_feedrate[E_AXIS] = 50;
  1879. //current_position[E_AXIS] -= 8;
  1880. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1881. //current_position[E_AXIS] += 8;
  1882. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1883. current_position[E_AXIS] += 3.1;
  1884. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  1885. current_position[E_AXIS] += 3.1;
  1886. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  1887. current_position[E_AXIS] += 4;
  1888. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1889. st_synchronize();
  1890. //current_position[X_AXIS] += 23; //delay
  1891. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1892. //current_position[X_AXIS] -= 23; //delay
  1893. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1894. delay(4700);
  1895. max_feedrate[E_AXIS] = 80;
  1896. current_position[E_AXIS] -= 92;
  1897. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  1898. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1899. current_position[E_AXIS] -= 5;
  1900. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1901. current_position[E_AXIS] += 5;
  1902. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1903. current_position[E_AXIS] -= 5;
  1904. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1905. st_synchronize();
  1906. current_position[E_AXIS] += 5;
  1907. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1908. current_position[E_AXIS] -= 5;
  1909. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1910. current_position[E_AXIS] += 5;
  1911. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1912. current_position[E_AXIS] -= 5;
  1913. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1914. st_synchronize();
  1915. }
  1916. }
  1917. */
  1918. #ifdef TMC2130
  1919. void force_high_power_mode(bool start_high_power_section) {
  1920. uint8_t silent;
  1921. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1922. if (silent == 1) {
  1923. //we are in silent mode, set to normal mode to enable crash detection
  1924. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  1925. st_synchronize();
  1926. cli();
  1927. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  1928. tmc2130_init();
  1929. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  1930. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  1931. st_reset_timer();
  1932. sei();
  1933. }
  1934. }
  1935. #endif //TMC2130
  1936. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  1937. {
  1938. bool final_result = false;
  1939. #ifdef TMC2130
  1940. FORCE_HIGH_POWER_START;
  1941. #endif // TMC2130
  1942. // Only Z calibration?
  1943. if (!onlyZ)
  1944. {
  1945. setTargetBed(0);
  1946. setTargetHotend(0, 0);
  1947. setTargetHotend(0, 1);
  1948. setTargetHotend(0, 2);
  1949. adjust_bed_reset(); //reset bed level correction
  1950. }
  1951. // Disable the default update procedure of the display. We will do a modal dialog.
  1952. lcd_update_enable(false);
  1953. // Let the planner use the uncorrected coordinates.
  1954. mbl.reset();
  1955. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  1956. // the planner will not perform any adjustments in the XY plane.
  1957. // Wait for the motors to stop and update the current position with the absolute values.
  1958. world2machine_revert_to_uncorrected();
  1959. // Reset the baby step value applied without moving the axes.
  1960. babystep_reset();
  1961. // Mark all axes as in a need for homing.
  1962. memset(axis_known_position, 0, sizeof(axis_known_position));
  1963. // Home in the XY plane.
  1964. //set_destination_to_current();
  1965. setup_for_endstop_move();
  1966. lcd_display_message_fullscreen_P(MSG_AUTO_HOME);
  1967. home_xy();
  1968. enable_endstops(false);
  1969. current_position[X_AXIS] += 5;
  1970. current_position[Y_AXIS] += 5;
  1971. 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);
  1972. st_synchronize();
  1973. // Let the user move the Z axes up to the end stoppers.
  1974. #ifdef TMC2130
  1975. if (calibrate_z_auto())
  1976. {
  1977. #else //TMC2130
  1978. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  1979. {
  1980. #endif //TMC2130
  1981. refresh_cmd_timeout();
  1982. #ifndef STEEL_SHEET
  1983. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  1984. {
  1985. lcd_wait_for_cool_down();
  1986. }
  1987. #endif //STEEL_SHEET
  1988. if(!onlyZ)
  1989. {
  1990. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1991. #ifdef STEEL_SHEET
  1992. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_STEEL_SHEET_CHECK, false, false);
  1993. if(result) lcd_show_fullscreen_message_and_wait_P(MSG_REMOVE_STEEL_SHEET);
  1994. #endif //STEEL_SHEET
  1995. lcd_show_fullscreen_message_and_wait_P(MSG_CONFIRM_NOZZLE_CLEAN);
  1996. lcd_show_fullscreen_message_and_wait_P(MSG_PAPER);
  1997. KEEPALIVE_STATE(IN_HANDLER);
  1998. lcd_display_message_fullscreen_P(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1);
  1999. lcd_implementation_print_at(0, 2, 1);
  2000. lcd_printPGM(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2);
  2001. }
  2002. // Move the print head close to the bed.
  2003. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2004. bool endstops_enabled = enable_endstops(true);
  2005. #ifdef TMC2130
  2006. tmc2130_home_enter(Z_AXIS_MASK);
  2007. #endif //TMC2130
  2008. 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);
  2009. st_synchronize();
  2010. #ifdef TMC2130
  2011. tmc2130_home_exit();
  2012. #endif //TMC2130
  2013. enable_endstops(endstops_enabled);
  2014. if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
  2015. {
  2016. int8_t verbosity_level = 0;
  2017. if (code_seen('V'))
  2018. {
  2019. // Just 'V' without a number counts as V1.
  2020. char c = strchr_pointer[1];
  2021. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2022. }
  2023. if (onlyZ)
  2024. {
  2025. clean_up_after_endstop_move();
  2026. // Z only calibration.
  2027. // Load the machine correction matrix
  2028. world2machine_initialize();
  2029. // and correct the current_position to match the transformed coordinate system.
  2030. world2machine_update_current();
  2031. //FIXME
  2032. bool result = sample_mesh_and_store_reference();
  2033. if (result)
  2034. {
  2035. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  2036. // Shipped, the nozzle height has been set already. The user can start printing now.
  2037. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2038. final_result = true;
  2039. // babystep_apply();
  2040. }
  2041. }
  2042. else
  2043. {
  2044. // Reset the baby step value and the baby step applied flag.
  2045. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  2046. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  2047. // Complete XYZ calibration.
  2048. uint8_t point_too_far_mask = 0;
  2049. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  2050. clean_up_after_endstop_move();
  2051. // Print head up.
  2052. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2053. 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);
  2054. st_synchronize();
  2055. //#ifndef NEW_XYZCAL
  2056. if (result >= 0)
  2057. {
  2058. #ifdef HEATBED_V2
  2059. sample_z();
  2060. #else //HEATBED_V2
  2061. point_too_far_mask = 0;
  2062. // Second half: The fine adjustment.
  2063. // Let the planner use the uncorrected coordinates.
  2064. mbl.reset();
  2065. world2machine_reset();
  2066. // Home in the XY plane.
  2067. setup_for_endstop_move();
  2068. home_xy();
  2069. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  2070. clean_up_after_endstop_move();
  2071. // Print head up.
  2072. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2073. 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);
  2074. st_synchronize();
  2075. // if (result >= 0) babystep_apply();
  2076. #endif //HEATBED_V2
  2077. }
  2078. //#endif //NEW_XYZCAL
  2079. lcd_update_enable(true);
  2080. lcd_update(2);
  2081. lcd_bed_calibration_show_result(result, point_too_far_mask);
  2082. if (result >= 0)
  2083. {
  2084. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  2085. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2086. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  2087. final_result = true;
  2088. }
  2089. }
  2090. #ifdef TMC2130
  2091. tmc2130_home_exit();
  2092. #endif
  2093. }
  2094. else
  2095. {
  2096. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  2097. final_result = false;
  2098. }
  2099. }
  2100. else
  2101. {
  2102. // Timeouted.
  2103. }
  2104. lcd_update_enable(true);
  2105. #ifdef TMC2130
  2106. FORCE_HIGH_POWER_END;
  2107. #endif // TMC2130
  2108. return final_result;
  2109. }
  2110. void gcode_M114()
  2111. {
  2112. SERIAL_PROTOCOLPGM("X:");
  2113. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2114. SERIAL_PROTOCOLPGM(" Y:");
  2115. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2116. SERIAL_PROTOCOLPGM(" Z:");
  2117. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2118. SERIAL_PROTOCOLPGM(" E:");
  2119. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2120. SERIAL_PROTOCOLRPGM(MSG_COUNT_X);
  2121. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
  2122. SERIAL_PROTOCOLPGM(" Y:");
  2123. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
  2124. SERIAL_PROTOCOLPGM(" Z:");
  2125. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
  2126. SERIAL_PROTOCOLPGM(" E:");
  2127. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
  2128. SERIAL_PROTOCOLLN("");
  2129. }
  2130. void gcode_M701()
  2131. {
  2132. #ifdef SNMM
  2133. extr_adj(snmm_extruder);//loads current extruder
  2134. #else
  2135. enable_z();
  2136. custom_message = true;
  2137. custom_message_type = 2;
  2138. lcd_setstatuspgm(MSG_LOADING_FILAMENT);
  2139. current_position[E_AXIS] += 70;
  2140. 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
  2141. current_position[E_AXIS] += 25;
  2142. 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
  2143. st_synchronize();
  2144. tone(BEEPER, 500);
  2145. delay_keep_alive(50);
  2146. noTone(BEEPER);
  2147. if (!farm_mode && loading_flag) {
  2148. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  2149. while (!clean) {
  2150. lcd_update_enable(true);
  2151. lcd_update(2);
  2152. current_position[E_AXIS] += 25;
  2153. 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
  2154. st_synchronize();
  2155. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  2156. }
  2157. }
  2158. lcd_update_enable(true);
  2159. lcd_update(2);
  2160. lcd_setstatuspgm(WELCOME_MSG);
  2161. disable_z();
  2162. loading_flag = false;
  2163. custom_message = false;
  2164. custom_message_type = 0;
  2165. #endif
  2166. }
  2167. /**
  2168. * @brief Get serial number from 32U2 processor
  2169. *
  2170. * Typical format of S/N is:CZPX0917X003XC13518
  2171. *
  2172. * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
  2173. *
  2174. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  2175. * reply is transmitted to serial port 1 character by character.
  2176. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  2177. * it is interrupted, so less, or no characters are retransmitted, only newline character is send
  2178. * in any case.
  2179. */
  2180. static void gcode_PRUSA_SN()
  2181. {
  2182. if (farm_mode) {
  2183. selectedSerialPort = 0;
  2184. MSerial.write(";S");
  2185. int numbersRead = 0;
  2186. Timer timeout;
  2187. timeout.start();
  2188. while (numbersRead < 19) {
  2189. while (MSerial.available() > 0) {
  2190. uint8_t serial_char = MSerial.read();
  2191. selectedSerialPort = 1;
  2192. MSerial.write(serial_char);
  2193. numbersRead++;
  2194. selectedSerialPort = 0;
  2195. }
  2196. if (timeout.expired(100)) break;
  2197. }
  2198. selectedSerialPort = 1;
  2199. MSerial.write('\n');
  2200. #if 0
  2201. for (int b = 0; b < 3; b++) {
  2202. tone(BEEPER, 110);
  2203. delay(50);
  2204. noTone(BEEPER);
  2205. delay(50);
  2206. }
  2207. #endif
  2208. } else {
  2209. MYSERIAL.println("Not in farm mode.");
  2210. }
  2211. }
  2212. void process_commands()
  2213. {
  2214. if (!buflen) return; //empty command
  2215. #ifdef FILAMENT_RUNOUT_SUPPORT
  2216. SET_INPUT(FR_SENS);
  2217. #endif
  2218. #ifdef CMDBUFFER_DEBUG
  2219. SERIAL_ECHOPGM("Processing a GCODE command: ");
  2220. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  2221. SERIAL_ECHOLNPGM("");
  2222. SERIAL_ECHOPGM("In cmdqueue: ");
  2223. SERIAL_ECHO(buflen);
  2224. SERIAL_ECHOLNPGM("");
  2225. #endif /* CMDBUFFER_DEBUG */
  2226. unsigned long codenum; //throw away variable
  2227. char *starpos = NULL;
  2228. #ifdef ENABLE_AUTO_BED_LEVELING
  2229. float x_tmp, y_tmp, z_tmp, real_z;
  2230. #endif
  2231. // PRUSA GCODES
  2232. KEEPALIVE_STATE(IN_HANDLER);
  2233. #ifdef SNMM
  2234. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  2235. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  2236. int8_t SilentMode;
  2237. #endif
  2238. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  2239. starpos = (strchr(strchr_pointer + 5, '*'));
  2240. if (starpos != NULL)
  2241. *(starpos) = '\0';
  2242. lcd_setstatus(strchr_pointer + 5);
  2243. }
  2244. #ifdef TMC2130
  2245. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  2246. {
  2247. if(code_seen("CRASH_DETECTED"))
  2248. {
  2249. uint8_t mask = 0;
  2250. if (code_seen("X")) mask |= X_AXIS_MASK;
  2251. if (code_seen("Y")) mask |= Y_AXIS_MASK;
  2252. crashdet_detected(mask);
  2253. }
  2254. else if(code_seen("CRASH_RECOVER"))
  2255. crashdet_recover();
  2256. else if(code_seen("CRASH_CANCEL"))
  2257. crashdet_cancel();
  2258. }
  2259. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  2260. {
  2261. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_E"), 10) == 0)
  2262. {
  2263. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2264. tmc2130_set_wave(E_AXIS, 247, fac);
  2265. }
  2266. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_E"), 10) == 0)
  2267. {
  2268. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2269. uint16_t res = tmc2130_get_res(E_AXIS);
  2270. tmc2130_goto_step(E_AXIS, step & (4*res - 1), 2, 1000, res);
  2271. }
  2272. }
  2273. #endif //TMC2130
  2274. else if(code_seen("PRUSA")){
  2275. if (code_seen("Ping")) { //PRUSA Ping
  2276. if (farm_mode) {
  2277. PingTime = millis();
  2278. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  2279. }
  2280. }
  2281. else if (code_seen("PRN")) {
  2282. MYSERIAL.println(status_number);
  2283. }else if (code_seen("FAN")) {
  2284. MYSERIAL.print("E0:");
  2285. MYSERIAL.print(60*fan_speed[0]);
  2286. MYSERIAL.println(" RPM");
  2287. MYSERIAL.print("PRN0:");
  2288. MYSERIAL.print(60*fan_speed[1]);
  2289. MYSERIAL.println(" RPM");
  2290. }else if (code_seen("fn")) {
  2291. if (farm_mode) {
  2292. MYSERIAL.println(farm_no);
  2293. }
  2294. else {
  2295. MYSERIAL.println("Not in farm mode.");
  2296. }
  2297. }
  2298. else if (code_seen("thx")) {
  2299. no_response = false;
  2300. }else if (code_seen("fv")) {
  2301. // get file version
  2302. #ifdef SDSUPPORT
  2303. card.openFile(strchr_pointer + 3,true);
  2304. while (true) {
  2305. uint16_t readByte = card.get();
  2306. MYSERIAL.write(readByte);
  2307. if (readByte=='\n') {
  2308. break;
  2309. }
  2310. }
  2311. card.closefile();
  2312. #endif // SDSUPPORT
  2313. } else if (code_seen("M28")) {
  2314. trace();
  2315. prusa_sd_card_upload = true;
  2316. card.openFile(strchr_pointer+4,false);
  2317. } else if (code_seen("SN")) {
  2318. gcode_PRUSA_SN();
  2319. } else if(code_seen("Fir")){
  2320. SERIAL_PROTOCOLLN(FW_VERSION);
  2321. } else if(code_seen("Rev")){
  2322. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  2323. } else if(code_seen("Lang")) {
  2324. lcd_force_language_selection();
  2325. } else if(code_seen("Lz")) {
  2326. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  2327. } else if (code_seen("SERIAL LOW")) {
  2328. MYSERIAL.println("SERIAL LOW");
  2329. MYSERIAL.begin(BAUDRATE);
  2330. return;
  2331. } else if (code_seen("SERIAL HIGH")) {
  2332. MYSERIAL.println("SERIAL HIGH");
  2333. MYSERIAL.begin(1152000);
  2334. return;
  2335. } else if(code_seen("Beat")) {
  2336. // Kick farm link timer
  2337. kicktime = millis();
  2338. } else if(code_seen("FR")) {
  2339. // Factory full reset
  2340. factory_reset(0,true);
  2341. }
  2342. //else if (code_seen('Cal')) {
  2343. // lcd_calibration();
  2344. // }
  2345. }
  2346. else if (code_seen('^')) {
  2347. // nothing, this is a version line
  2348. } else if(code_seen('G'))
  2349. {
  2350. switch((int)code_value())
  2351. {
  2352. case 0: // G0 -> G1
  2353. case 1: // G1
  2354. if(Stopped == false) {
  2355. #ifdef FILAMENT_RUNOUT_SUPPORT
  2356. if(READ(FR_SENS)){
  2357. feedmultiplyBckp=feedmultiply;
  2358. float target[4];
  2359. float lastpos[4];
  2360. target[X_AXIS]=current_position[X_AXIS];
  2361. target[Y_AXIS]=current_position[Y_AXIS];
  2362. target[Z_AXIS]=current_position[Z_AXIS];
  2363. target[E_AXIS]=current_position[E_AXIS];
  2364. lastpos[X_AXIS]=current_position[X_AXIS];
  2365. lastpos[Y_AXIS]=current_position[Y_AXIS];
  2366. lastpos[Z_AXIS]=current_position[Z_AXIS];
  2367. lastpos[E_AXIS]=current_position[E_AXIS];
  2368. //retract by E
  2369. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  2370. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2371. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  2372. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  2373. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  2374. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  2375. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  2376. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  2377. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2378. //finish moves
  2379. st_synchronize();
  2380. //disable extruder steppers so filament can be removed
  2381. disable_e0();
  2382. disable_e1();
  2383. disable_e2();
  2384. delay(100);
  2385. //LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
  2386. uint8_t cnt=0;
  2387. int counterBeep = 0;
  2388. lcd_wait_interact();
  2389. while(!lcd_clicked()){
  2390. cnt++;
  2391. manage_heater();
  2392. manage_inactivity(true);
  2393. //lcd_update();
  2394. if(cnt==0)
  2395. {
  2396. #if BEEPER > 0
  2397. if (counterBeep== 500){
  2398. counterBeep = 0;
  2399. }
  2400. SET_OUTPUT(BEEPER);
  2401. if (counterBeep== 0){
  2402. WRITE(BEEPER,HIGH);
  2403. }
  2404. if (counterBeep== 20){
  2405. WRITE(BEEPER,LOW);
  2406. }
  2407. counterBeep++;
  2408. #else
  2409. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  2410. lcd_buzz(1000/6,100);
  2411. #else
  2412. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
  2413. #endif
  2414. #endif
  2415. }
  2416. }
  2417. WRITE(BEEPER,LOW);
  2418. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  2419. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2420. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2421. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2422. lcd_change_fil_state = 0;
  2423. lcd_loading_filament();
  2424. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  2425. lcd_change_fil_state = 0;
  2426. lcd_alright();
  2427. switch(lcd_change_fil_state){
  2428. case 2:
  2429. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  2430. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2431. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2432. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2433. lcd_loading_filament();
  2434. break;
  2435. case 3:
  2436. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2437. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2438. lcd_loading_color();
  2439. break;
  2440. default:
  2441. lcd_change_success();
  2442. break;
  2443. }
  2444. }
  2445. target[E_AXIS]+= 5;
  2446. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2447. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  2448. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2449. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  2450. //plan_set_e_position(current_position[E_AXIS]);
  2451. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  2452. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  2453. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  2454. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  2455. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  2456. plan_set_e_position(lastpos[E_AXIS]);
  2457. feedmultiply=feedmultiplyBckp;
  2458. char cmd[9];
  2459. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2460. enquecommand(cmd);
  2461. }
  2462. #endif
  2463. get_coordinates(); // For X Y Z E F
  2464. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  2465. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  2466. }
  2467. #ifdef FWRETRACT
  2468. if(autoretract_enabled)
  2469. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2470. float echange=destination[E_AXIS]-current_position[E_AXIS];
  2471. if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
  2472. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  2473. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  2474. retract(!retracted);
  2475. return;
  2476. }
  2477. }
  2478. #endif //FWRETRACT
  2479. prepare_move();
  2480. //ClearToSend();
  2481. }
  2482. break;
  2483. case 2: // G2 - CW ARC
  2484. if(Stopped == false) {
  2485. get_arc_coordinates();
  2486. prepare_arc_move(true);
  2487. }
  2488. break;
  2489. case 3: // G3 - CCW ARC
  2490. if(Stopped == false) {
  2491. get_arc_coordinates();
  2492. prepare_arc_move(false);
  2493. }
  2494. break;
  2495. case 4: // G4 dwell
  2496. codenum = 0;
  2497. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  2498. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  2499. if(codenum != 0) LCD_MESSAGERPGM(MSG_DWELL);
  2500. st_synchronize();
  2501. codenum += millis(); // keep track of when we started waiting
  2502. previous_millis_cmd = millis();
  2503. while(millis() < codenum) {
  2504. manage_heater();
  2505. manage_inactivity();
  2506. lcd_update();
  2507. }
  2508. break;
  2509. #ifdef FWRETRACT
  2510. case 10: // G10 retract
  2511. #if EXTRUDERS > 1
  2512. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  2513. retract(true,retracted_swap[active_extruder]);
  2514. #else
  2515. retract(true);
  2516. #endif
  2517. break;
  2518. case 11: // G11 retract_recover
  2519. #if EXTRUDERS > 1
  2520. retract(false,retracted_swap[active_extruder]);
  2521. #else
  2522. retract(false);
  2523. #endif
  2524. break;
  2525. #endif //FWRETRACT
  2526. case 28: //G28 Home all Axis one at a time
  2527. {
  2528. st_synchronize();
  2529. #if 0
  2530. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2531. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2532. #endif
  2533. // Flag for the display update routine and to disable the print cancelation during homing.
  2534. homing_flag = true;
  2535. // Which axes should be homed?
  2536. bool home_x = code_seen(axis_codes[X_AXIS]);
  2537. bool home_y = code_seen(axis_codes[Y_AXIS]);
  2538. bool home_z = code_seen(axis_codes[Z_AXIS]);
  2539. // calibrate?
  2540. bool calib = code_seen('C');
  2541. // Either all X,Y,Z codes are present, or none of them.
  2542. bool home_all_axes = home_x == home_y && home_x == home_z;
  2543. if (home_all_axes)
  2544. // No X/Y/Z code provided means to home all axes.
  2545. home_x = home_y = home_z = true;
  2546. #ifdef ENABLE_AUTO_BED_LEVELING
  2547. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2548. #endif //ENABLE_AUTO_BED_LEVELING
  2549. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2550. // the planner will not perform any adjustments in the XY plane.
  2551. // Wait for the motors to stop and update the current position with the absolute values.
  2552. world2machine_revert_to_uncorrected();
  2553. // For mesh bed leveling deactivate the matrix temporarily.
  2554. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2555. // in a single axis only.
  2556. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2557. #ifdef MESH_BED_LEVELING
  2558. uint8_t mbl_was_active = mbl.active;
  2559. mbl.active = 0;
  2560. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2561. #endif
  2562. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2563. // consumed during the first movements following this statement.
  2564. if (home_z)
  2565. babystep_undo();
  2566. saved_feedrate = feedrate;
  2567. saved_feedmultiply = feedmultiply;
  2568. feedmultiply = 100;
  2569. previous_millis_cmd = millis();
  2570. enable_endstops(true);
  2571. memcpy(destination, current_position, sizeof(destination));
  2572. feedrate = 0.0;
  2573. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2574. if(home_z)
  2575. homeaxis(Z_AXIS);
  2576. #endif
  2577. #ifdef QUICK_HOME
  2578. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2579. if(home_x && home_y) //first diagonal move
  2580. {
  2581. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2582. int x_axis_home_dir = home_dir(X_AXIS);
  2583. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2584. 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);
  2585. feedrate = homing_feedrate[X_AXIS];
  2586. if(homing_feedrate[Y_AXIS]<feedrate)
  2587. feedrate = homing_feedrate[Y_AXIS];
  2588. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2589. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2590. } else {
  2591. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2592. }
  2593. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2594. st_synchronize();
  2595. axis_is_at_home(X_AXIS);
  2596. axis_is_at_home(Y_AXIS);
  2597. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2598. destination[X_AXIS] = current_position[X_AXIS];
  2599. destination[Y_AXIS] = current_position[Y_AXIS];
  2600. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2601. feedrate = 0.0;
  2602. st_synchronize();
  2603. endstops_hit_on_purpose();
  2604. current_position[X_AXIS] = destination[X_AXIS];
  2605. current_position[Y_AXIS] = destination[Y_AXIS];
  2606. current_position[Z_AXIS] = destination[Z_AXIS];
  2607. }
  2608. #endif /* QUICK_HOME */
  2609. #ifdef TMC2130
  2610. if(home_x)
  2611. {
  2612. if (!calib)
  2613. homeaxis(X_AXIS);
  2614. else
  2615. tmc2130_home_calibrate(X_AXIS);
  2616. }
  2617. if(home_y)
  2618. {
  2619. if (!calib)
  2620. homeaxis(Y_AXIS);
  2621. else
  2622. tmc2130_home_calibrate(Y_AXIS);
  2623. }
  2624. #endif //TMC2130
  2625. if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
  2626. current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
  2627. if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
  2628. current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
  2629. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2630. #ifndef Z_SAFE_HOMING
  2631. if(home_z) {
  2632. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2633. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2634. feedrate = max_feedrate[Z_AXIS];
  2635. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2636. st_synchronize();
  2637. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2638. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
  2639. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2640. {
  2641. homeaxis(X_AXIS);
  2642. homeaxis(Y_AXIS);
  2643. }
  2644. // 1st mesh bed leveling measurement point, corrected.
  2645. world2machine_initialize();
  2646. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2647. world2machine_reset();
  2648. if (destination[Y_AXIS] < Y_MIN_POS)
  2649. destination[Y_AXIS] = Y_MIN_POS;
  2650. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2651. feedrate = homing_feedrate[Z_AXIS]/10;
  2652. current_position[Z_AXIS] = 0;
  2653. enable_endstops(false);
  2654. #ifdef DEBUG_BUILD
  2655. SERIAL_ECHOLNPGM("plan_set_position()");
  2656. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2657. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2658. #endif
  2659. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2660. #ifdef DEBUG_BUILD
  2661. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2662. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2663. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2664. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2665. #endif
  2666. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2667. st_synchronize();
  2668. current_position[X_AXIS] = destination[X_AXIS];
  2669. current_position[Y_AXIS] = destination[Y_AXIS];
  2670. enable_endstops(true);
  2671. endstops_hit_on_purpose();
  2672. homeaxis(Z_AXIS);
  2673. #else // MESH_BED_LEVELING
  2674. homeaxis(Z_AXIS);
  2675. #endif // MESH_BED_LEVELING
  2676. }
  2677. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2678. if(home_all_axes) {
  2679. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2680. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2681. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2682. feedrate = XY_TRAVEL_SPEED/60;
  2683. current_position[Z_AXIS] = 0;
  2684. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2685. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2686. st_synchronize();
  2687. current_position[X_AXIS] = destination[X_AXIS];
  2688. current_position[Y_AXIS] = destination[Y_AXIS];
  2689. homeaxis(Z_AXIS);
  2690. }
  2691. // Let's see if X and Y are homed and probe is inside bed area.
  2692. if(home_z) {
  2693. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2694. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2695. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2696. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2697. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2698. current_position[Z_AXIS] = 0;
  2699. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2700. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2701. feedrate = max_feedrate[Z_AXIS];
  2702. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2703. st_synchronize();
  2704. homeaxis(Z_AXIS);
  2705. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2706. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2707. SERIAL_ECHO_START;
  2708. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2709. } else {
  2710. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2711. SERIAL_ECHO_START;
  2712. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2713. }
  2714. }
  2715. #endif // Z_SAFE_HOMING
  2716. #endif // Z_HOME_DIR < 0
  2717. if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
  2718. current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
  2719. #ifdef ENABLE_AUTO_BED_LEVELING
  2720. if(home_z)
  2721. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2722. #endif
  2723. // Set the planner and stepper routine positions.
  2724. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2725. // contains the machine coordinates.
  2726. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2727. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2728. enable_endstops(false);
  2729. #endif
  2730. feedrate = saved_feedrate;
  2731. feedmultiply = saved_feedmultiply;
  2732. previous_millis_cmd = millis();
  2733. endstops_hit_on_purpose();
  2734. #ifndef MESH_BED_LEVELING
  2735. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2736. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2737. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2738. lcd_adjust_z();
  2739. #endif
  2740. // Load the machine correction matrix
  2741. world2machine_initialize();
  2742. // and correct the current_position XY axes to match the transformed coordinate system.
  2743. world2machine_update_current();
  2744. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2745. if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
  2746. {
  2747. if (! home_z && mbl_was_active) {
  2748. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2749. mbl.active = true;
  2750. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2751. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2752. }
  2753. }
  2754. else
  2755. {
  2756. st_synchronize();
  2757. homing_flag = false;
  2758. // Push the commands to the front of the message queue in the reverse order!
  2759. // There shall be always enough space reserved for these commands.
  2760. // enquecommand_front_P((PSTR("G80")));
  2761. goto case_G80;
  2762. }
  2763. #endif
  2764. if (farm_mode) { prusa_statistics(20); };
  2765. homing_flag = false;
  2766. #if 0
  2767. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2768. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2769. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2770. #endif
  2771. break;
  2772. }
  2773. #ifdef ENABLE_AUTO_BED_LEVELING
  2774. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  2775. {
  2776. #if Z_MIN_PIN == -1
  2777. #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."
  2778. #endif
  2779. // Prevent user from running a G29 without first homing in X and Y
  2780. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  2781. {
  2782. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2783. SERIAL_ECHO_START;
  2784. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2785. break; // abort G29, since we don't know where we are
  2786. }
  2787. st_synchronize();
  2788. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  2789. //vector_3 corrected_position = plan_get_position_mm();
  2790. //corrected_position.debug("position before G29");
  2791. plan_bed_level_matrix.set_to_identity();
  2792. vector_3 uncorrected_position = plan_get_position();
  2793. //uncorrected_position.debug("position durring G29");
  2794. current_position[X_AXIS] = uncorrected_position.x;
  2795. current_position[Y_AXIS] = uncorrected_position.y;
  2796. current_position[Z_AXIS] = uncorrected_position.z;
  2797. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2798. setup_for_endstop_move();
  2799. feedrate = homing_feedrate[Z_AXIS];
  2800. #ifdef AUTO_BED_LEVELING_GRID
  2801. // probe at the points of a lattice grid
  2802. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2803. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2804. // solve the plane equation ax + by + d = z
  2805. // A is the matrix with rows [x y 1] for all the probed points
  2806. // B is the vector of the Z positions
  2807. // 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
  2808. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  2809. // "A" matrix of the linear system of equations
  2810. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  2811. // "B" vector of Z points
  2812. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  2813. int probePointCounter = 0;
  2814. bool zig = true;
  2815. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  2816. {
  2817. int xProbe, xInc;
  2818. if (zig)
  2819. {
  2820. xProbe = LEFT_PROBE_BED_POSITION;
  2821. //xEnd = RIGHT_PROBE_BED_POSITION;
  2822. xInc = xGridSpacing;
  2823. zig = false;
  2824. } else // zag
  2825. {
  2826. xProbe = RIGHT_PROBE_BED_POSITION;
  2827. //xEnd = LEFT_PROBE_BED_POSITION;
  2828. xInc = -xGridSpacing;
  2829. zig = true;
  2830. }
  2831. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  2832. {
  2833. float z_before;
  2834. if (probePointCounter == 0)
  2835. {
  2836. // raise before probing
  2837. z_before = Z_RAISE_BEFORE_PROBING;
  2838. } else
  2839. {
  2840. // raise extruder
  2841. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  2842. }
  2843. float measured_z = probe_pt(xProbe, yProbe, z_before);
  2844. eqnBVector[probePointCounter] = measured_z;
  2845. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  2846. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  2847. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  2848. probePointCounter++;
  2849. xProbe += xInc;
  2850. }
  2851. }
  2852. clean_up_after_endstop_move();
  2853. // solve lsq problem
  2854. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  2855. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  2856. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  2857. SERIAL_PROTOCOLPGM(" b: ");
  2858. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  2859. SERIAL_PROTOCOLPGM(" d: ");
  2860. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  2861. set_bed_level_equation_lsq(plane_equation_coefficients);
  2862. free(plane_equation_coefficients);
  2863. #else // AUTO_BED_LEVELING_GRID not defined
  2864. // Probe at 3 arbitrary points
  2865. // probe 1
  2866. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  2867. // probe 2
  2868. 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);
  2869. // probe 3
  2870. 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);
  2871. clean_up_after_endstop_move();
  2872. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  2873. #endif // AUTO_BED_LEVELING_GRID
  2874. st_synchronize();
  2875. // The following code correct the Z height difference from z-probe position and hotend tip position.
  2876. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  2877. // When the bed is uneven, this height must be corrected.
  2878. 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)
  2879. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  2880. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  2881. z_tmp = current_position[Z_AXIS];
  2882. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  2883. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  2884. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2885. }
  2886. break;
  2887. #ifndef Z_PROBE_SLED
  2888. case 30: // G30 Single Z Probe
  2889. {
  2890. st_synchronize();
  2891. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2892. setup_for_endstop_move();
  2893. feedrate = homing_feedrate[Z_AXIS];
  2894. run_z_probe();
  2895. SERIAL_PROTOCOLPGM(MSG_BED);
  2896. SERIAL_PROTOCOLPGM(" X: ");
  2897. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2898. SERIAL_PROTOCOLPGM(" Y: ");
  2899. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2900. SERIAL_PROTOCOLPGM(" Z: ");
  2901. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2902. SERIAL_PROTOCOLPGM("\n");
  2903. clean_up_after_endstop_move();
  2904. }
  2905. break;
  2906. #else
  2907. case 31: // dock the sled
  2908. dock_sled(true);
  2909. break;
  2910. case 32: // undock the sled
  2911. dock_sled(false);
  2912. break;
  2913. #endif // Z_PROBE_SLED
  2914. #endif // ENABLE_AUTO_BED_LEVELING
  2915. #ifdef MESH_BED_LEVELING
  2916. case 30: // G30 Single Z Probe
  2917. {
  2918. st_synchronize();
  2919. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2920. setup_for_endstop_move();
  2921. feedrate = homing_feedrate[Z_AXIS];
  2922. find_bed_induction_sensor_point_z(-10.f, 3);
  2923. SERIAL_PROTOCOLRPGM(MSG_BED);
  2924. SERIAL_PROTOCOLPGM(" X: ");
  2925. MYSERIAL.print(current_position[X_AXIS], 5);
  2926. SERIAL_PROTOCOLPGM(" Y: ");
  2927. MYSERIAL.print(current_position[Y_AXIS], 5);
  2928. SERIAL_PROTOCOLPGM(" Z: ");
  2929. MYSERIAL.print(current_position[Z_AXIS], 5);
  2930. SERIAL_PROTOCOLPGM("\n");
  2931. clean_up_after_endstop_move();
  2932. }
  2933. break;
  2934. case 75:
  2935. {
  2936. for (int i = 40; i <= 110; i++) {
  2937. MYSERIAL.print(i);
  2938. MYSERIAL.print(" ");
  2939. MYSERIAL.println(temp_comp_interpolation(i));// / axis_steps_per_unit[Z_AXIS]);
  2940. }
  2941. }
  2942. break;
  2943. case 76: //PINDA probe temperature calibration
  2944. {
  2945. #ifdef PINDA_THERMISTOR
  2946. if (true)
  2947. {
  2948. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  2949. {
  2950. // We don't know where we are! HOME!
  2951. // Push the commands to the front of the message queue in the reverse order!
  2952. // There shall be always enough space reserved for these commands.
  2953. repeatcommand_front(); // repeat G76 with all its parameters
  2954. enquecommand_front_P((PSTR("G28 W0")));
  2955. break;
  2956. }
  2957. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CAL_WARNING);
  2958. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_STEEL_SHEET_CHECK, false, false);
  2959. if (result)
  2960. {
  2961. current_position[Z_AXIS] = 50;
  2962. current_position[Y_AXIS] += 180;
  2963. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2964. st_synchronize();
  2965. lcd_show_fullscreen_message_and_wait_P(MSG_REMOVE_STEEL_SHEET);
  2966. current_position[Y_AXIS] -= 180;
  2967. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2968. st_synchronize();
  2969. feedrate = homing_feedrate[Z_AXIS] / 10;
  2970. enable_endstops(true);
  2971. endstops_hit_on_purpose();
  2972. homeaxis(Z_AXIS);
  2973. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2974. enable_endstops(false);
  2975. }
  2976. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  2977. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  2978. current_position[Z_AXIS] = 100;
  2979. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2980. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  2981. lcd_temp_cal_show_result(false);
  2982. break;
  2983. }
  2984. }
  2985. lcd_update_enable(true);
  2986. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  2987. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  2988. float zero_z;
  2989. int z_shift = 0; //unit: steps
  2990. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  2991. if (start_temp < 35) start_temp = 35;
  2992. if (start_temp < current_temperature_pinda) start_temp += 5;
  2993. SERIAL_ECHOPGM("start temperature: ");
  2994. MYSERIAL.println(start_temp);
  2995. // setTargetHotend(200, 0);
  2996. setTargetBed(70 + (start_temp - 30));
  2997. custom_message = true;
  2998. custom_message_type = 4;
  2999. custom_message_state = 1;
  3000. custom_message = MSG_TEMP_CALIBRATION;
  3001. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3002. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3003. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3004. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3005. st_synchronize();
  3006. while (current_temperature_pinda < start_temp)
  3007. {
  3008. delay_keep_alive(1000);
  3009. serialecho_temperatures();
  3010. }
  3011. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3012. current_position[Z_AXIS] = 5;
  3013. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3014. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3015. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3016. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3017. st_synchronize();
  3018. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3019. if(find_z_result == false) lcd_temp_cal_show_result(find_z_result);
  3020. zero_z = current_position[Z_AXIS];
  3021. //current_position[Z_AXIS]
  3022. SERIAL_ECHOLNPGM("");
  3023. SERIAL_ECHOPGM("ZERO: ");
  3024. MYSERIAL.print(current_position[Z_AXIS]);
  3025. SERIAL_ECHOLNPGM("");
  3026. int i = -1; for (; i < 5; i++)
  3027. {
  3028. float temp = (40 + i * 5);
  3029. SERIAL_ECHOPGM("Step: ");
  3030. MYSERIAL.print(i + 2);
  3031. SERIAL_ECHOLNPGM("/6 (skipped)");
  3032. SERIAL_ECHOPGM("PINDA temperature: ");
  3033. MYSERIAL.print((40 + i*5));
  3034. SERIAL_ECHOPGM(" Z shift (mm):");
  3035. MYSERIAL.print(0);
  3036. SERIAL_ECHOLNPGM("");
  3037. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3038. if (start_temp <= temp) break;
  3039. }
  3040. for (i++; i < 5; i++)
  3041. {
  3042. float temp = (40 + i * 5);
  3043. SERIAL_ECHOPGM("Step: ");
  3044. MYSERIAL.print(i + 2);
  3045. SERIAL_ECHOLNPGM("/6");
  3046. custom_message_state = i + 2;
  3047. setTargetBed(50 + 10 * (temp - 30) / 5);
  3048. // setTargetHotend(255, 0);
  3049. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3050. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3051. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3052. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3053. st_synchronize();
  3054. while (current_temperature_pinda < temp)
  3055. {
  3056. delay_keep_alive(1000);
  3057. serialecho_temperatures();
  3058. }
  3059. current_position[Z_AXIS] = 5;
  3060. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3061. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3062. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3063. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3064. st_synchronize();
  3065. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3066. if (find_z_result == false) lcd_temp_cal_show_result(find_z_result);
  3067. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3068. SERIAL_ECHOLNPGM("");
  3069. SERIAL_ECHOPGM("PINDA temperature: ");
  3070. MYSERIAL.print(current_temperature_pinda);
  3071. SERIAL_ECHOPGM(" Z shift (mm):");
  3072. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  3073. SERIAL_ECHOLNPGM("");
  3074. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3075. }
  3076. lcd_temp_cal_show_result(true);
  3077. break;
  3078. }
  3079. #endif //PINDA_THERMISTOR
  3080. setTargetBed(PINDA_MIN_T);
  3081. float zero_z;
  3082. int z_shift = 0; //unit: steps
  3083. int t_c; // temperature
  3084. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3085. // We don't know where we are! HOME!
  3086. // Push the commands to the front of the message queue in the reverse order!
  3087. // There shall be always enough space reserved for these commands.
  3088. repeatcommand_front(); // repeat G76 with all its parameters
  3089. enquecommand_front_P((PSTR("G28 W0")));
  3090. break;
  3091. }
  3092. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  3093. custom_message = true;
  3094. custom_message_type = 4;
  3095. custom_message_state = 1;
  3096. custom_message = MSG_TEMP_CALIBRATION;
  3097. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3098. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3099. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3100. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3101. st_synchronize();
  3102. while (abs(degBed() - PINDA_MIN_T) > 1) {
  3103. delay_keep_alive(1000);
  3104. serialecho_temperatures();
  3105. }
  3106. //enquecommand_P(PSTR("M190 S50"));
  3107. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3108. delay_keep_alive(1000);
  3109. serialecho_temperatures();
  3110. }
  3111. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3112. current_position[Z_AXIS] = 5;
  3113. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3114. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3115. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3116. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3117. st_synchronize();
  3118. find_bed_induction_sensor_point_z(-1.f);
  3119. zero_z = current_position[Z_AXIS];
  3120. //current_position[Z_AXIS]
  3121. SERIAL_ECHOLNPGM("");
  3122. SERIAL_ECHOPGM("ZERO: ");
  3123. MYSERIAL.print(current_position[Z_AXIS]);
  3124. SERIAL_ECHOLNPGM("");
  3125. for (int i = 0; i<5; i++) {
  3126. SERIAL_ECHOPGM("Step: ");
  3127. MYSERIAL.print(i+2);
  3128. SERIAL_ECHOLNPGM("/6");
  3129. custom_message_state = i + 2;
  3130. t_c = 60 + i * 10;
  3131. setTargetBed(t_c);
  3132. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3133. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3134. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3135. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3136. st_synchronize();
  3137. while (degBed() < t_c) {
  3138. delay_keep_alive(1000);
  3139. serialecho_temperatures();
  3140. }
  3141. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3142. delay_keep_alive(1000);
  3143. serialecho_temperatures();
  3144. }
  3145. current_position[Z_AXIS] = 5;
  3146. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3147. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3148. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3149. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3150. st_synchronize();
  3151. find_bed_induction_sensor_point_z(-1.f);
  3152. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3153. SERIAL_ECHOLNPGM("");
  3154. SERIAL_ECHOPGM("Temperature: ");
  3155. MYSERIAL.print(t_c);
  3156. SERIAL_ECHOPGM(" Z shift (mm):");
  3157. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  3158. SERIAL_ECHOLNPGM("");
  3159. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  3160. }
  3161. custom_message_type = 0;
  3162. custom_message = false;
  3163. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  3164. SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
  3165. disable_x();
  3166. disable_y();
  3167. disable_z();
  3168. disable_e0();
  3169. disable_e1();
  3170. disable_e2();
  3171. setTargetBed(0); //set bed target temperature back to 0
  3172. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
  3173. temp_cal_active = true;
  3174. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  3175. lcd_update_enable(true);
  3176. lcd_update(2);
  3177. }
  3178. break;
  3179. #ifdef DIS
  3180. case 77:
  3181. {
  3182. //G77 X200 Y150 XP100 YP15 XO10 Y015
  3183. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  3184. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  3185. float dimension_x = 40;
  3186. float dimension_y = 40;
  3187. int points_x = 40;
  3188. int points_y = 40;
  3189. float offset_x = 74;
  3190. float offset_y = 33;
  3191. if (code_seen('X')) dimension_x = code_value();
  3192. if (code_seen('Y')) dimension_y = code_value();
  3193. if (code_seen('XP')) points_x = code_value();
  3194. if (code_seen('YP')) points_y = code_value();
  3195. if (code_seen('XO')) offset_x = code_value();
  3196. if (code_seen('YO')) offset_y = code_value();
  3197. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  3198. } break;
  3199. #endif
  3200. case 79: {
  3201. for (int i = 255; i > 0; i = i - 5) {
  3202. fanSpeed = i;
  3203. //delay_keep_alive(2000);
  3204. for (int j = 0; j < 100; j++) {
  3205. delay_keep_alive(100);
  3206. }
  3207. fan_speed[1];
  3208. MYSERIAL.print(i); SERIAL_ECHOPGM(": "); MYSERIAL.println(fan_speed[1]);
  3209. }
  3210. }break;
  3211. /**
  3212. * G80: Mesh-based Z probe, probes a grid and produces a
  3213. * mesh to compensate for variable bed height
  3214. *
  3215. * The S0 report the points as below
  3216. *
  3217. * +----> X-axis
  3218. * |
  3219. * |
  3220. * v Y-axis
  3221. *
  3222. */
  3223. case 80:
  3224. #ifdef MK1BP
  3225. break;
  3226. #endif //MK1BP
  3227. case_G80:
  3228. {
  3229. #ifdef TMC2130
  3230. //previously enqueued "G28 W0" failed (crash Z)
  3231. if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && !axis_known_position[Z_AXIS] && (READ(Z_TMC2130_DIAG) != 0))
  3232. {
  3233. kill(MSG_BED_LEVELING_FAILED_POINT_LOW);
  3234. break;
  3235. }
  3236. #endif //TMC2130
  3237. mesh_bed_leveling_flag = true;
  3238. int8_t verbosity_level = 0;
  3239. static bool run = false;
  3240. if (code_seen('V')) {
  3241. // Just 'V' without a number counts as V1.
  3242. char c = strchr_pointer[1];
  3243. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3244. }
  3245. // Firstly check if we know where we are
  3246. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3247. // We don't know where we are! HOME!
  3248. // Push the commands to the front of the message queue in the reverse order!
  3249. // There shall be always enough space reserved for these commands.
  3250. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3251. repeatcommand_front(); // repeat G80 with all its parameters
  3252. enquecommand_front_P((PSTR("G28 W0")));
  3253. }
  3254. else {
  3255. mesh_bed_leveling_flag = false;
  3256. }
  3257. break;
  3258. }
  3259. bool temp_comp_start = true;
  3260. #ifdef PINDA_THERMISTOR
  3261. temp_comp_start = false;
  3262. #endif //PINDA_THERMISTOR
  3263. if (temp_comp_start)
  3264. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3265. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3266. temp_compensation_start();
  3267. run = true;
  3268. repeatcommand_front(); // repeat G80 with all its parameters
  3269. enquecommand_front_P((PSTR("G28 W0")));
  3270. }
  3271. else {
  3272. mesh_bed_leveling_flag = false;
  3273. }
  3274. break;
  3275. }
  3276. run = false;
  3277. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  3278. mesh_bed_leveling_flag = false;
  3279. break;
  3280. }
  3281. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  3282. bool custom_message_old = custom_message;
  3283. unsigned int custom_message_type_old = custom_message_type;
  3284. unsigned int custom_message_state_old = custom_message_state;
  3285. custom_message = true;
  3286. custom_message_type = 1;
  3287. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  3288. lcd_update(1);
  3289. mbl.reset(); //reset mesh bed leveling
  3290. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  3291. // consumed during the first movements following this statement.
  3292. babystep_undo();
  3293. // Cycle through all points and probe them
  3294. // First move up. During this first movement, the babystepping will be reverted.
  3295. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3296. 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);
  3297. // The move to the first calibration point.
  3298. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3299. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3300. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3301. #ifdef SUPPORT_VERBOSITY
  3302. if (verbosity_level >= 1) {
  3303. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  3304. }
  3305. #endif //SUPPORT_VERBOSITY
  3306. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  3307. 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);
  3308. // Wait until the move is finished.
  3309. st_synchronize();
  3310. int mesh_point = 0; //index number of calibration point
  3311. int ix = 0;
  3312. int iy = 0;
  3313. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  3314. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  3315. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  3316. 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)
  3317. #ifdef SUPPORT_VERBOSITY
  3318. if (verbosity_level >= 1) {
  3319. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  3320. }
  3321. #endif // SUPPORT_VERBOSITY
  3322. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  3323. const char *kill_message = NULL;
  3324. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3325. // Get coords of a measuring point.
  3326. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  3327. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  3328. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  3329. float z0 = 0.f;
  3330. if (has_z && mesh_point > 0) {
  3331. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  3332. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  3333. //#if 0
  3334. #ifdef SUPPORT_VERBOSITY
  3335. if (verbosity_level >= 1) {
  3336. SERIAL_ECHOLNPGM("");
  3337. SERIAL_ECHOPGM("Bed leveling, point: ");
  3338. MYSERIAL.print(mesh_point);
  3339. SERIAL_ECHOPGM(", calibration z: ");
  3340. MYSERIAL.print(z0, 5);
  3341. SERIAL_ECHOLNPGM("");
  3342. }
  3343. #endif // SUPPORT_VERBOSITY
  3344. //#endif
  3345. }
  3346. // Move Z up to MESH_HOME_Z_SEARCH.
  3347. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3348. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3349. st_synchronize();
  3350. // Move to XY position of the sensor point.
  3351. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  3352. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  3353. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3354. #ifdef SUPPORT_VERBOSITY
  3355. if (verbosity_level >= 1) {
  3356. SERIAL_PROTOCOL(mesh_point);
  3357. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  3358. }
  3359. #endif // SUPPORT_VERBOSITY
  3360. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  3361. st_synchronize();
  3362. // Go down until endstop is hit
  3363. const float Z_CALIBRATION_THRESHOLD = 1.f;
  3364. 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
  3365. kill_message = MSG_BED_LEVELING_FAILED_POINT_LOW;
  3366. break;
  3367. }
  3368. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  3369. kill_message = MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED;
  3370. break;
  3371. }
  3372. 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
  3373. kill_message = MSG_BED_LEVELING_FAILED_POINT_HIGH;
  3374. break;
  3375. }
  3376. #ifdef SUPPORT_VERBOSITY
  3377. if (verbosity_level >= 10) {
  3378. SERIAL_ECHOPGM("X: ");
  3379. MYSERIAL.print(current_position[X_AXIS], 5);
  3380. SERIAL_ECHOLNPGM("");
  3381. SERIAL_ECHOPGM("Y: ");
  3382. MYSERIAL.print(current_position[Y_AXIS], 5);
  3383. SERIAL_PROTOCOLPGM("\n");
  3384. }
  3385. #endif // SUPPORT_VERBOSITY
  3386. float offset_z = 0;
  3387. #ifdef PINDA_THERMISTOR
  3388. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  3389. #endif //PINDA_THERMISTOR
  3390. // #ifdef SUPPORT_VERBOSITY
  3391. /* if (verbosity_level >= 1)
  3392. {
  3393. SERIAL_ECHOPGM("mesh bed leveling: ");
  3394. MYSERIAL.print(current_position[Z_AXIS], 5);
  3395. SERIAL_ECHOPGM(" offset: ");
  3396. MYSERIAL.print(offset_z, 5);
  3397. SERIAL_ECHOLNPGM("");
  3398. }*/
  3399. // #endif // SUPPORT_VERBOSITY
  3400. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  3401. custom_message_state--;
  3402. mesh_point++;
  3403. lcd_update(1);
  3404. }
  3405. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3406. #ifdef SUPPORT_VERBOSITY
  3407. if (verbosity_level >= 20) {
  3408. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  3409. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  3410. MYSERIAL.print(current_position[Z_AXIS], 5);
  3411. }
  3412. #endif // SUPPORT_VERBOSITY
  3413. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3414. st_synchronize();
  3415. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3416. kill(kill_message);
  3417. SERIAL_ECHOLNPGM("killed");
  3418. }
  3419. clean_up_after_endstop_move();
  3420. // SERIAL_ECHOLNPGM("clean up finished ");
  3421. bool apply_temp_comp = true;
  3422. #ifdef PINDA_THERMISTOR
  3423. apply_temp_comp = false;
  3424. #endif
  3425. if (apply_temp_comp)
  3426. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  3427. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  3428. // SERIAL_ECHOLNPGM("babystep applied");
  3429. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  3430. #ifdef SUPPORT_VERBOSITY
  3431. if (verbosity_level >= 1) {
  3432. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  3433. }
  3434. #endif // SUPPORT_VERBOSITY
  3435. for (uint8_t i = 0; i < 4; ++i) {
  3436. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  3437. long correction = 0;
  3438. if (code_seen(codes[i]))
  3439. correction = code_value_long();
  3440. else if (eeprom_bed_correction_valid) {
  3441. unsigned char *addr = (i < 2) ?
  3442. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  3443. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  3444. correction = eeprom_read_int8(addr);
  3445. }
  3446. if (correction == 0)
  3447. continue;
  3448. float offset = float(correction) * 0.001f;
  3449. if (fabs(offset) > 0.101f) {
  3450. SERIAL_ERROR_START;
  3451. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  3452. SERIAL_ECHO(offset);
  3453. SERIAL_ECHOLNPGM(" microns");
  3454. }
  3455. else {
  3456. switch (i) {
  3457. case 0:
  3458. for (uint8_t row = 0; row < 3; ++row) {
  3459. mbl.z_values[row][1] += 0.5f * offset;
  3460. mbl.z_values[row][0] += offset;
  3461. }
  3462. break;
  3463. case 1:
  3464. for (uint8_t row = 0; row < 3; ++row) {
  3465. mbl.z_values[row][1] += 0.5f * offset;
  3466. mbl.z_values[row][2] += offset;
  3467. }
  3468. break;
  3469. case 2:
  3470. for (uint8_t col = 0; col < 3; ++col) {
  3471. mbl.z_values[1][col] += 0.5f * offset;
  3472. mbl.z_values[0][col] += offset;
  3473. }
  3474. break;
  3475. case 3:
  3476. for (uint8_t col = 0; col < 3; ++col) {
  3477. mbl.z_values[1][col] += 0.5f * offset;
  3478. mbl.z_values[2][col] += offset;
  3479. }
  3480. break;
  3481. }
  3482. }
  3483. }
  3484. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  3485. 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)
  3486. // SERIAL_ECHOLNPGM("Upsample finished");
  3487. mbl.active = 1; //activate mesh bed leveling
  3488. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  3489. go_home_with_z_lift();
  3490. // SERIAL_ECHOLNPGM("Go home finished");
  3491. //unretract (after PINDA preheat retraction)
  3492. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3493. current_position[E_AXIS] += DEFAULT_RETRACTION;
  3494. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  3495. }
  3496. KEEPALIVE_STATE(NOT_BUSY);
  3497. // Restore custom message state
  3498. custom_message = custom_message_old;
  3499. custom_message_type = custom_message_type_old;
  3500. custom_message_state = custom_message_state_old;
  3501. mesh_bed_leveling_flag = false;
  3502. mesh_bed_run_from_menu = false;
  3503. lcd_update(2);
  3504. }
  3505. break;
  3506. /**
  3507. * G81: Print mesh bed leveling status and bed profile if activated
  3508. */
  3509. case 81:
  3510. if (mbl.active) {
  3511. SERIAL_PROTOCOLPGM("Num X,Y: ");
  3512. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  3513. SERIAL_PROTOCOLPGM(",");
  3514. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  3515. SERIAL_PROTOCOLPGM("\nZ search height: ");
  3516. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  3517. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3518. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  3519. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  3520. SERIAL_PROTOCOLPGM(" ");
  3521. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  3522. }
  3523. SERIAL_PROTOCOLPGM("\n");
  3524. }
  3525. }
  3526. else
  3527. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3528. break;
  3529. #if 0
  3530. /**
  3531. * G82: Single Z probe at current location
  3532. *
  3533. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  3534. *
  3535. */
  3536. case 82:
  3537. SERIAL_PROTOCOLLNPGM("Finding bed ");
  3538. setup_for_endstop_move();
  3539. find_bed_induction_sensor_point_z();
  3540. clean_up_after_endstop_move();
  3541. SERIAL_PROTOCOLPGM("Bed found at: ");
  3542. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  3543. SERIAL_PROTOCOLPGM("\n");
  3544. break;
  3545. /**
  3546. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  3547. */
  3548. case 83:
  3549. {
  3550. int babystepz = code_seen('S') ? code_value() : 0;
  3551. int BabyPosition = code_seen('P') ? code_value() : 0;
  3552. if (babystepz != 0) {
  3553. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  3554. // Is the axis indexed starting with zero or one?
  3555. if (BabyPosition > 4) {
  3556. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  3557. }else{
  3558. // Save it to the eeprom
  3559. babystepLoadZ = babystepz;
  3560. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  3561. // adjust the Z
  3562. babystepsTodoZadd(babystepLoadZ);
  3563. }
  3564. }
  3565. }
  3566. break;
  3567. /**
  3568. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  3569. */
  3570. case 84:
  3571. babystepsTodoZsubtract(babystepLoadZ);
  3572. // babystepLoadZ = 0;
  3573. break;
  3574. /**
  3575. * G85: Prusa3D specific: Pick best babystep
  3576. */
  3577. case 85:
  3578. lcd_pick_babystep();
  3579. break;
  3580. #endif
  3581. /**
  3582. * G86: Prusa3D specific: Disable babystep correction after home.
  3583. * This G-code will be performed at the start of a calibration script.
  3584. */
  3585. case 86:
  3586. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3587. break;
  3588. /**
  3589. * G87: Prusa3D specific: Enable babystep correction after home
  3590. * This G-code will be performed at the end of a calibration script.
  3591. */
  3592. case 87:
  3593. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3594. break;
  3595. /**
  3596. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  3597. */
  3598. case 88:
  3599. break;
  3600. #endif // ENABLE_MESH_BED_LEVELING
  3601. case 90: // G90
  3602. relative_mode = false;
  3603. break;
  3604. case 91: // G91
  3605. relative_mode = true;
  3606. break;
  3607. case 92: // G92
  3608. if(!code_seen(axis_codes[E_AXIS]))
  3609. st_synchronize();
  3610. for(int8_t i=0; i < NUM_AXIS; i++) {
  3611. if(code_seen(axis_codes[i])) {
  3612. if(i == E_AXIS) {
  3613. current_position[i] = code_value();
  3614. plan_set_e_position(current_position[E_AXIS]);
  3615. }
  3616. else {
  3617. current_position[i] = code_value()+add_homing[i];
  3618. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3619. }
  3620. }
  3621. }
  3622. break;
  3623. case 98: //activate farm mode
  3624. farm_mode = 1;
  3625. PingTime = millis();
  3626. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3627. break;
  3628. case 99: //deactivate farm mode
  3629. farm_mode = 0;
  3630. lcd_printer_connected();
  3631. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3632. lcd_update(2);
  3633. break;
  3634. default:
  3635. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  3636. }
  3637. } // end if(code_seen('G'))
  3638. else if(code_seen('M'))
  3639. {
  3640. int index;
  3641. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  3642. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  3643. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  3644. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  3645. } else
  3646. switch((int)code_value())
  3647. {
  3648. #ifdef ULTIPANEL
  3649. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  3650. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  3651. {
  3652. char *src = strchr_pointer + 2;
  3653. codenum = 0;
  3654. bool hasP = false, hasS = false;
  3655. if (code_seen('P')) {
  3656. codenum = code_value(); // milliseconds to wait
  3657. hasP = codenum > 0;
  3658. }
  3659. if (code_seen('S')) {
  3660. codenum = code_value() * 1000; // seconds to wait
  3661. hasS = codenum > 0;
  3662. }
  3663. starpos = strchr(src, '*');
  3664. if (starpos != NULL) *(starpos) = '\0';
  3665. while (*src == ' ') ++src;
  3666. if (!hasP && !hasS && *src != '\0') {
  3667. lcd_setstatus(src);
  3668. } else {
  3669. LCD_MESSAGERPGM(MSG_USERWAIT);
  3670. }
  3671. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  3672. st_synchronize();
  3673. previous_millis_cmd = millis();
  3674. if (codenum > 0){
  3675. codenum += millis(); // keep track of when we started waiting
  3676. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3677. while(millis() < codenum && !lcd_clicked()){
  3678. manage_heater();
  3679. manage_inactivity(true);
  3680. lcd_update();
  3681. }
  3682. KEEPALIVE_STATE(IN_HANDLER);
  3683. lcd_ignore_click(false);
  3684. }else{
  3685. if (!lcd_detected())
  3686. break;
  3687. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3688. while(!lcd_clicked()){
  3689. manage_heater();
  3690. manage_inactivity(true);
  3691. lcd_update();
  3692. }
  3693. KEEPALIVE_STATE(IN_HANDLER);
  3694. }
  3695. if (IS_SD_PRINTING)
  3696. LCD_MESSAGERPGM(MSG_RESUMING);
  3697. else
  3698. LCD_MESSAGERPGM(WELCOME_MSG);
  3699. }
  3700. break;
  3701. #endif
  3702. case 17:
  3703. LCD_MESSAGERPGM(MSG_NO_MOVE);
  3704. enable_x();
  3705. enable_y();
  3706. enable_z();
  3707. enable_e0();
  3708. enable_e1();
  3709. enable_e2();
  3710. break;
  3711. #ifdef SDSUPPORT
  3712. case 20: // M20 - list SD card
  3713. SERIAL_PROTOCOLLNRPGM(MSG_BEGIN_FILE_LIST);
  3714. card.ls();
  3715. SERIAL_PROTOCOLLNRPGM(MSG_END_FILE_LIST);
  3716. break;
  3717. case 21: // M21 - init SD card
  3718. card.initsd();
  3719. break;
  3720. case 22: //M22 - release SD card
  3721. card.release();
  3722. break;
  3723. case 23: //M23 - Select file
  3724. starpos = (strchr(strchr_pointer + 4,'*'));
  3725. if(starpos!=NULL)
  3726. *(starpos)='\0';
  3727. card.openFile(strchr_pointer + 4,true);
  3728. break;
  3729. case 24: //M24 - Start SD print
  3730. if (!card.paused)
  3731. failstats_reset_print();
  3732. card.startFileprint();
  3733. starttime=millis();
  3734. break;
  3735. case 25: //M25 - Pause SD print
  3736. card.pauseSDPrint();
  3737. break;
  3738. case 26: //M26 - Set SD index
  3739. if(card.cardOK && code_seen('S')) {
  3740. card.setIndex(code_value_long());
  3741. }
  3742. break;
  3743. case 27: //M27 - Get SD status
  3744. card.getStatus();
  3745. break;
  3746. case 28: //M28 - Start SD write
  3747. starpos = (strchr(strchr_pointer + 4,'*'));
  3748. if(starpos != NULL){
  3749. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3750. strchr_pointer = strchr(npos,' ') + 1;
  3751. *(starpos) = '\0';
  3752. }
  3753. card.openFile(strchr_pointer+4,false);
  3754. break;
  3755. case 29: //M29 - Stop SD write
  3756. //processed in write to file routine above
  3757. //card,saving = false;
  3758. break;
  3759. case 30: //M30 <filename> Delete File
  3760. if (card.cardOK){
  3761. card.closefile();
  3762. starpos = (strchr(strchr_pointer + 4,'*'));
  3763. if(starpos != NULL){
  3764. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3765. strchr_pointer = strchr(npos,' ') + 1;
  3766. *(starpos) = '\0';
  3767. }
  3768. card.removeFile(strchr_pointer + 4);
  3769. }
  3770. break;
  3771. case 32: //M32 - Select file and start SD print
  3772. {
  3773. if(card.sdprinting) {
  3774. st_synchronize();
  3775. }
  3776. starpos = (strchr(strchr_pointer + 4,'*'));
  3777. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  3778. if(namestartpos==NULL)
  3779. {
  3780. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  3781. }
  3782. else
  3783. namestartpos++; //to skip the '!'
  3784. if(starpos!=NULL)
  3785. *(starpos)='\0';
  3786. bool call_procedure=(code_seen('P'));
  3787. if(strchr_pointer>namestartpos)
  3788. call_procedure=false; //false alert, 'P' found within filename
  3789. if( card.cardOK )
  3790. {
  3791. card.openFile(namestartpos,true,!call_procedure);
  3792. if(code_seen('S'))
  3793. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  3794. card.setIndex(code_value_long());
  3795. card.startFileprint();
  3796. if(!call_procedure)
  3797. starttime=millis(); //procedure calls count as normal print time.
  3798. }
  3799. } break;
  3800. case 928: //M928 - Start SD write
  3801. starpos = (strchr(strchr_pointer + 5,'*'));
  3802. if(starpos != NULL){
  3803. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3804. strchr_pointer = strchr(npos,' ') + 1;
  3805. *(starpos) = '\0';
  3806. }
  3807. card.openLogFile(strchr_pointer+5);
  3808. break;
  3809. #endif //SDSUPPORT
  3810. case 31: //M31 take time since the start of the SD print or an M109 command
  3811. {
  3812. stoptime=millis();
  3813. char time[30];
  3814. unsigned long t=(stoptime-starttime)/1000;
  3815. int sec,min;
  3816. min=t/60;
  3817. sec=t%60;
  3818. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  3819. SERIAL_ECHO_START;
  3820. SERIAL_ECHOLN(time);
  3821. lcd_setstatus(time);
  3822. autotempShutdown();
  3823. }
  3824. break;
  3825. #ifndef _DISABLE_M42_M226
  3826. case 42: //M42 -Change pin status via gcode
  3827. if (code_seen('S'))
  3828. {
  3829. int pin_status = code_value();
  3830. int pin_number = LED_PIN;
  3831. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  3832. pin_number = code_value();
  3833. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  3834. {
  3835. if (sensitive_pins[i] == pin_number)
  3836. {
  3837. pin_number = -1;
  3838. break;
  3839. }
  3840. }
  3841. #if defined(FAN_PIN) && FAN_PIN > -1
  3842. if (pin_number == FAN_PIN)
  3843. fanSpeed = pin_status;
  3844. #endif
  3845. if (pin_number > -1)
  3846. {
  3847. pinMode(pin_number, OUTPUT);
  3848. digitalWrite(pin_number, pin_status);
  3849. analogWrite(pin_number, pin_status);
  3850. }
  3851. }
  3852. break;
  3853. #endif //_DISABLE_M42_M226
  3854. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  3855. // Reset the baby step value and the baby step applied flag.
  3856. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  3857. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  3858. // Reset the skew and offset in both RAM and EEPROM.
  3859. reset_bed_offset_and_skew();
  3860. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3861. // the planner will not perform any adjustments in the XY plane.
  3862. // Wait for the motors to stop and update the current position with the absolute values.
  3863. world2machine_revert_to_uncorrected();
  3864. break;
  3865. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  3866. {
  3867. int8_t verbosity_level = 0;
  3868. bool only_Z = code_seen('Z');
  3869. #ifdef SUPPORT_VERBOSITY
  3870. if (code_seen('V'))
  3871. {
  3872. // Just 'V' without a number counts as V1.
  3873. char c = strchr_pointer[1];
  3874. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3875. }
  3876. #endif //SUPPORT_VERBOSITY
  3877. gcode_M45(only_Z, verbosity_level);
  3878. }
  3879. break;
  3880. /*
  3881. case 46:
  3882. {
  3883. // M46: Prusa3D: Show the assigned IP address.
  3884. uint8_t ip[4];
  3885. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  3886. if (hasIP) {
  3887. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  3888. SERIAL_ECHO(int(ip[0]));
  3889. SERIAL_ECHOPGM(".");
  3890. SERIAL_ECHO(int(ip[1]));
  3891. SERIAL_ECHOPGM(".");
  3892. SERIAL_ECHO(int(ip[2]));
  3893. SERIAL_ECHOPGM(".");
  3894. SERIAL_ECHO(int(ip[3]));
  3895. SERIAL_ECHOLNPGM("");
  3896. } else {
  3897. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  3898. }
  3899. break;
  3900. }
  3901. */
  3902. case 47:
  3903. // M47: Prusa3D: Show end stops dialog on the display.
  3904. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3905. lcd_diag_show_end_stops();
  3906. KEEPALIVE_STATE(IN_HANDLER);
  3907. break;
  3908. #if 0
  3909. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  3910. {
  3911. // Disable the default update procedure of the display. We will do a modal dialog.
  3912. lcd_update_enable(false);
  3913. // Let the planner use the uncorrected coordinates.
  3914. mbl.reset();
  3915. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3916. // the planner will not perform any adjustments in the XY plane.
  3917. // Wait for the motors to stop and update the current position with the absolute values.
  3918. world2machine_revert_to_uncorrected();
  3919. // Move the print head close to the bed.
  3920. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3921. 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);
  3922. st_synchronize();
  3923. // Home in the XY plane.
  3924. set_destination_to_current();
  3925. setup_for_endstop_move();
  3926. home_xy();
  3927. int8_t verbosity_level = 0;
  3928. if (code_seen('V')) {
  3929. // Just 'V' without a number counts as V1.
  3930. char c = strchr_pointer[1];
  3931. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3932. }
  3933. bool success = scan_bed_induction_points(verbosity_level);
  3934. clean_up_after_endstop_move();
  3935. // Print head up.
  3936. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3937. 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);
  3938. st_synchronize();
  3939. lcd_update_enable(true);
  3940. break;
  3941. }
  3942. #endif
  3943. // M48 Z-Probe repeatability measurement function.
  3944. //
  3945. // 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>
  3946. //
  3947. // This function assumes the bed has been homed. Specificaly, that a G28 command
  3948. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  3949. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3950. // regenerated.
  3951. //
  3952. // The number of samples will default to 10 if not specified. You can use upper or lower case
  3953. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  3954. // N for its communication protocol and will get horribly confused if you send it a capital N.
  3955. //
  3956. #ifdef ENABLE_AUTO_BED_LEVELING
  3957. #ifdef Z_PROBE_REPEATABILITY_TEST
  3958. case 48: // M48 Z-Probe repeatability
  3959. {
  3960. #if Z_MIN_PIN == -1
  3961. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  3962. #endif
  3963. double sum=0.0;
  3964. double mean=0.0;
  3965. double sigma=0.0;
  3966. double sample_set[50];
  3967. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  3968. double X_current, Y_current, Z_current;
  3969. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  3970. if (code_seen('V') || code_seen('v')) {
  3971. verbose_level = code_value();
  3972. if (verbose_level<0 || verbose_level>4 ) {
  3973. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  3974. goto Sigma_Exit;
  3975. }
  3976. }
  3977. if (verbose_level > 0) {
  3978. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  3979. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  3980. }
  3981. if (code_seen('n')) {
  3982. n_samples = code_value();
  3983. if (n_samples<4 || n_samples>50 ) {
  3984. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  3985. goto Sigma_Exit;
  3986. }
  3987. }
  3988. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  3989. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  3990. Z_current = st_get_position_mm(Z_AXIS);
  3991. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  3992. ext_position = st_get_position_mm(E_AXIS);
  3993. if (code_seen('X') || code_seen('x') ) {
  3994. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  3995. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  3996. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  3997. goto Sigma_Exit;
  3998. }
  3999. }
  4000. if (code_seen('Y') || code_seen('y') ) {
  4001. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  4002. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  4003. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  4004. goto Sigma_Exit;
  4005. }
  4006. }
  4007. if (code_seen('L') || code_seen('l') ) {
  4008. n_legs = code_value();
  4009. if ( n_legs==1 )
  4010. n_legs = 2;
  4011. if ( n_legs<0 || n_legs>15 ) {
  4012. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  4013. goto Sigma_Exit;
  4014. }
  4015. }
  4016. //
  4017. // Do all the preliminary setup work. First raise the probe.
  4018. //
  4019. st_synchronize();
  4020. plan_bed_level_matrix.set_to_identity();
  4021. plan_buffer_line( X_current, Y_current, Z_start_location,
  4022. ext_position,
  4023. homing_feedrate[Z_AXIS]/60,
  4024. active_extruder);
  4025. st_synchronize();
  4026. //
  4027. // Now get everything to the specified probe point So we can safely do a probe to
  4028. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  4029. // use that as a starting point for each probe.
  4030. //
  4031. if (verbose_level > 2)
  4032. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  4033. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4034. ext_position,
  4035. homing_feedrate[X_AXIS]/60,
  4036. active_extruder);
  4037. st_synchronize();
  4038. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  4039. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  4040. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4041. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  4042. //
  4043. // OK, do the inital probe to get us close to the bed.
  4044. // Then retrace the right amount and use that in subsequent probes
  4045. //
  4046. setup_for_endstop_move();
  4047. run_z_probe();
  4048. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4049. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4050. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4051. ext_position,
  4052. homing_feedrate[X_AXIS]/60,
  4053. active_extruder);
  4054. st_synchronize();
  4055. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4056. for( n=0; n<n_samples; n++) {
  4057. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  4058. if ( n_legs) {
  4059. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  4060. int rotational_direction, l;
  4061. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  4062. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  4063. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  4064. //SERIAL_ECHOPAIR("starting radius: ",radius);
  4065. //SERIAL_ECHOPAIR(" theta: ",theta);
  4066. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  4067. //SERIAL_PROTOCOLLNPGM("");
  4068. for( l=0; l<n_legs-1; l++) {
  4069. if (rotational_direction==1)
  4070. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4071. else
  4072. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4073. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  4074. if ( radius<0.0 )
  4075. radius = -radius;
  4076. X_current = X_probe_location + cos(theta) * radius;
  4077. Y_current = Y_probe_location + sin(theta) * radius;
  4078. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  4079. X_current = X_MIN_POS;
  4080. if ( X_current>X_MAX_POS)
  4081. X_current = X_MAX_POS;
  4082. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  4083. Y_current = Y_MIN_POS;
  4084. if ( Y_current>Y_MAX_POS)
  4085. Y_current = Y_MAX_POS;
  4086. if (verbose_level>3 ) {
  4087. SERIAL_ECHOPAIR("x: ", X_current);
  4088. SERIAL_ECHOPAIR("y: ", Y_current);
  4089. SERIAL_PROTOCOLLNPGM("");
  4090. }
  4091. do_blocking_move_to( X_current, Y_current, Z_current );
  4092. }
  4093. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  4094. }
  4095. setup_for_endstop_move();
  4096. run_z_probe();
  4097. sample_set[n] = current_position[Z_AXIS];
  4098. //
  4099. // Get the current mean for the data points we have so far
  4100. //
  4101. sum=0.0;
  4102. for( j=0; j<=n; j++) {
  4103. sum = sum + sample_set[j];
  4104. }
  4105. mean = sum / (double (n+1));
  4106. //
  4107. // Now, use that mean to calculate the standard deviation for the
  4108. // data points we have so far
  4109. //
  4110. sum=0.0;
  4111. for( j=0; j<=n; j++) {
  4112. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  4113. }
  4114. sigma = sqrt( sum / (double (n+1)) );
  4115. if (verbose_level > 1) {
  4116. SERIAL_PROTOCOL(n+1);
  4117. SERIAL_PROTOCOL(" of ");
  4118. SERIAL_PROTOCOL(n_samples);
  4119. SERIAL_PROTOCOLPGM(" z: ");
  4120. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  4121. }
  4122. if (verbose_level > 2) {
  4123. SERIAL_PROTOCOL(" mean: ");
  4124. SERIAL_PROTOCOL_F(mean,6);
  4125. SERIAL_PROTOCOL(" sigma: ");
  4126. SERIAL_PROTOCOL_F(sigma,6);
  4127. }
  4128. if (verbose_level > 0)
  4129. SERIAL_PROTOCOLPGM("\n");
  4130. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4131. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  4132. st_synchronize();
  4133. }
  4134. delay(1000);
  4135. clean_up_after_endstop_move();
  4136. // enable_endstops(true);
  4137. if (verbose_level > 0) {
  4138. SERIAL_PROTOCOLPGM("Mean: ");
  4139. SERIAL_PROTOCOL_F(mean, 6);
  4140. SERIAL_PROTOCOLPGM("\n");
  4141. }
  4142. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  4143. SERIAL_PROTOCOL_F(sigma, 6);
  4144. SERIAL_PROTOCOLPGM("\n\n");
  4145. Sigma_Exit:
  4146. break;
  4147. }
  4148. #endif // Z_PROBE_REPEATABILITY_TEST
  4149. #endif // ENABLE_AUTO_BED_LEVELING
  4150. case 104: // M104
  4151. if(setTargetedHotend(104)){
  4152. break;
  4153. }
  4154. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  4155. setWatch();
  4156. break;
  4157. case 112: // M112 -Emergency Stop
  4158. kill("", 3);
  4159. break;
  4160. case 140: // M140 set bed temp
  4161. if (code_seen('S')) setTargetBed(code_value());
  4162. break;
  4163. case 105 : // M105
  4164. if(setTargetedHotend(105)){
  4165. break;
  4166. }
  4167. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  4168. SERIAL_PROTOCOLPGM("ok T:");
  4169. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  4170. SERIAL_PROTOCOLPGM(" /");
  4171. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  4172. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4173. SERIAL_PROTOCOLPGM(" B:");
  4174. SERIAL_PROTOCOL_F(degBed(),1);
  4175. SERIAL_PROTOCOLPGM(" /");
  4176. SERIAL_PROTOCOL_F(degTargetBed(),1);
  4177. #endif //TEMP_BED_PIN
  4178. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4179. SERIAL_PROTOCOLPGM(" T");
  4180. SERIAL_PROTOCOL(cur_extruder);
  4181. SERIAL_PROTOCOLPGM(":");
  4182. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4183. SERIAL_PROTOCOLPGM(" /");
  4184. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  4185. }
  4186. #else
  4187. SERIAL_ERROR_START;
  4188. SERIAL_ERRORLNRPGM(MSG_ERR_NO_THERMISTORS);
  4189. #endif
  4190. SERIAL_PROTOCOLPGM(" @:");
  4191. #ifdef EXTRUDER_WATTS
  4192. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  4193. SERIAL_PROTOCOLPGM("W");
  4194. #else
  4195. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  4196. #endif
  4197. SERIAL_PROTOCOLPGM(" B@:");
  4198. #ifdef BED_WATTS
  4199. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  4200. SERIAL_PROTOCOLPGM("W");
  4201. #else
  4202. SERIAL_PROTOCOL(getHeaterPower(-1));
  4203. #endif
  4204. #ifdef PINDA_THERMISTOR
  4205. SERIAL_PROTOCOLPGM(" P:");
  4206. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  4207. #endif //PINDA_THERMISTOR
  4208. #ifdef AMBIENT_THERMISTOR
  4209. SERIAL_PROTOCOLPGM(" A:");
  4210. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  4211. #endif //AMBIENT_THERMISTOR
  4212. #ifdef SHOW_TEMP_ADC_VALUES
  4213. {float raw = 0.0;
  4214. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4215. SERIAL_PROTOCOLPGM(" ADC B:");
  4216. SERIAL_PROTOCOL_F(degBed(),1);
  4217. SERIAL_PROTOCOLPGM("C->");
  4218. raw = rawBedTemp();
  4219. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4220. SERIAL_PROTOCOLPGM(" Rb->");
  4221. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4222. SERIAL_PROTOCOLPGM(" Rxb->");
  4223. SERIAL_PROTOCOL_F(raw, 5);
  4224. #endif
  4225. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4226. SERIAL_PROTOCOLPGM(" T");
  4227. SERIAL_PROTOCOL(cur_extruder);
  4228. SERIAL_PROTOCOLPGM(":");
  4229. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4230. SERIAL_PROTOCOLPGM("C->");
  4231. raw = rawHotendTemp(cur_extruder);
  4232. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4233. SERIAL_PROTOCOLPGM(" Rt");
  4234. SERIAL_PROTOCOL(cur_extruder);
  4235. SERIAL_PROTOCOLPGM("->");
  4236. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4237. SERIAL_PROTOCOLPGM(" Rx");
  4238. SERIAL_PROTOCOL(cur_extruder);
  4239. SERIAL_PROTOCOLPGM("->");
  4240. SERIAL_PROTOCOL_F(raw, 5);
  4241. }}
  4242. #endif
  4243. SERIAL_PROTOCOLLN("");
  4244. KEEPALIVE_STATE(NOT_BUSY);
  4245. return;
  4246. break;
  4247. case 109:
  4248. {// M109 - Wait for extruder heater to reach target.
  4249. if(setTargetedHotend(109)){
  4250. break;
  4251. }
  4252. LCD_MESSAGERPGM(MSG_HEATING);
  4253. heating_status = 1;
  4254. if (farm_mode) { prusa_statistics(1); };
  4255. #ifdef AUTOTEMP
  4256. autotemp_enabled=false;
  4257. #endif
  4258. if (code_seen('S')) {
  4259. setTargetHotend(code_value(), tmp_extruder);
  4260. CooldownNoWait = true;
  4261. } else if (code_seen('R')) {
  4262. setTargetHotend(code_value(), tmp_extruder);
  4263. CooldownNoWait = false;
  4264. }
  4265. #ifdef AUTOTEMP
  4266. if (code_seen('S')) autotemp_min=code_value();
  4267. if (code_seen('B')) autotemp_max=code_value();
  4268. if (code_seen('F'))
  4269. {
  4270. autotemp_factor=code_value();
  4271. autotemp_enabled=true;
  4272. }
  4273. #endif
  4274. setWatch();
  4275. codenum = millis();
  4276. /* See if we are heating up or cooling down */
  4277. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  4278. KEEPALIVE_STATE(NOT_BUSY);
  4279. cancel_heatup = false;
  4280. wait_for_heater(codenum); //loops until target temperature is reached
  4281. LCD_MESSAGERPGM(MSG_HEATING_COMPLETE);
  4282. KEEPALIVE_STATE(IN_HANDLER);
  4283. heating_status = 2;
  4284. if (farm_mode) { prusa_statistics(2); };
  4285. //starttime=millis();
  4286. previous_millis_cmd = millis();
  4287. }
  4288. break;
  4289. case 190: // M190 - Wait for bed heater to reach target.
  4290. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4291. LCD_MESSAGERPGM(MSG_BED_HEATING);
  4292. heating_status = 3;
  4293. if (farm_mode) { prusa_statistics(1); };
  4294. if (code_seen('S'))
  4295. {
  4296. setTargetBed(code_value());
  4297. CooldownNoWait = true;
  4298. }
  4299. else if (code_seen('R'))
  4300. {
  4301. setTargetBed(code_value());
  4302. CooldownNoWait = false;
  4303. }
  4304. codenum = millis();
  4305. cancel_heatup = false;
  4306. target_direction = isHeatingBed(); // true if heating, false if cooling
  4307. KEEPALIVE_STATE(NOT_BUSY);
  4308. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  4309. {
  4310. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  4311. {
  4312. if (!farm_mode) {
  4313. float tt = degHotend(active_extruder);
  4314. SERIAL_PROTOCOLPGM("T:");
  4315. SERIAL_PROTOCOL(tt);
  4316. SERIAL_PROTOCOLPGM(" E:");
  4317. SERIAL_PROTOCOL((int)active_extruder);
  4318. SERIAL_PROTOCOLPGM(" B:");
  4319. SERIAL_PROTOCOL_F(degBed(), 1);
  4320. SERIAL_PROTOCOLLN("");
  4321. }
  4322. codenum = millis();
  4323. }
  4324. manage_heater();
  4325. manage_inactivity();
  4326. lcd_update();
  4327. }
  4328. LCD_MESSAGERPGM(MSG_BED_DONE);
  4329. KEEPALIVE_STATE(IN_HANDLER);
  4330. heating_status = 4;
  4331. previous_millis_cmd = millis();
  4332. #endif
  4333. break;
  4334. #if defined(FAN_PIN) && FAN_PIN > -1
  4335. case 106: //M106 Fan On
  4336. if (code_seen('S')){
  4337. fanSpeed=constrain(code_value(),0,255);
  4338. }
  4339. else {
  4340. fanSpeed=255;
  4341. }
  4342. break;
  4343. case 107: //M107 Fan Off
  4344. fanSpeed = 0;
  4345. break;
  4346. #endif //FAN_PIN
  4347. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  4348. case 80: // M80 - Turn on Power Supply
  4349. SET_OUTPUT(PS_ON_PIN); //GND
  4350. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  4351. // If you have a switch on suicide pin, this is useful
  4352. // if you want to start another print with suicide feature after
  4353. // a print without suicide...
  4354. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  4355. SET_OUTPUT(SUICIDE_PIN);
  4356. WRITE(SUICIDE_PIN, HIGH);
  4357. #endif
  4358. #ifdef ULTIPANEL
  4359. powersupply = true;
  4360. LCD_MESSAGERPGM(WELCOME_MSG);
  4361. lcd_update();
  4362. #endif
  4363. break;
  4364. #endif
  4365. case 81: // M81 - Turn off Power Supply
  4366. disable_heater();
  4367. st_synchronize();
  4368. disable_e0();
  4369. disable_e1();
  4370. disable_e2();
  4371. finishAndDisableSteppers();
  4372. fanSpeed = 0;
  4373. delay(1000); // Wait a little before to switch off
  4374. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  4375. st_synchronize();
  4376. suicide();
  4377. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  4378. SET_OUTPUT(PS_ON_PIN);
  4379. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4380. #endif
  4381. #ifdef ULTIPANEL
  4382. powersupply = false;
  4383. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR("."))); //!!
  4384. /*
  4385. MACHNAME = "Prusa i3"
  4386. MSGOFF = "Vypnuto"
  4387. "Prusai3"" ""vypnuto""."
  4388. "Prusa i3"" "MSG_ALL[lang_selected][50]"."
  4389. */
  4390. lcd_update();
  4391. #endif
  4392. break;
  4393. case 82:
  4394. axis_relative_modes[3] = false;
  4395. break;
  4396. case 83:
  4397. axis_relative_modes[3] = true;
  4398. break;
  4399. case 18: //compatibility
  4400. case 84: // M84
  4401. if(code_seen('S')){
  4402. stepper_inactive_time = code_value() * 1000;
  4403. }
  4404. else
  4405. {
  4406. 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])));
  4407. if(all_axis)
  4408. {
  4409. st_synchronize();
  4410. disable_e0();
  4411. disable_e1();
  4412. disable_e2();
  4413. finishAndDisableSteppers();
  4414. }
  4415. else
  4416. {
  4417. st_synchronize();
  4418. if (code_seen('X')) disable_x();
  4419. if (code_seen('Y')) disable_y();
  4420. if (code_seen('Z')) disable_z();
  4421. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4422. if (code_seen('E')) {
  4423. disable_e0();
  4424. disable_e1();
  4425. disable_e2();
  4426. }
  4427. #endif
  4428. }
  4429. }
  4430. snmm_filaments_used = 0;
  4431. break;
  4432. case 85: // M85
  4433. if(code_seen('S')) {
  4434. max_inactive_time = code_value() * 1000;
  4435. }
  4436. break;
  4437. case 92: // M92
  4438. for(int8_t i=0; i < NUM_AXIS; i++)
  4439. {
  4440. if(code_seen(axis_codes[i]))
  4441. {
  4442. if(i == 3) { // E
  4443. float value = code_value();
  4444. if(value < 20.0) {
  4445. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  4446. max_jerk[E_AXIS] *= factor;
  4447. max_feedrate[i] *= factor;
  4448. axis_steps_per_sqr_second[i] *= factor;
  4449. }
  4450. axis_steps_per_unit[i] = value;
  4451. }
  4452. else {
  4453. axis_steps_per_unit[i] = code_value();
  4454. }
  4455. }
  4456. }
  4457. break;
  4458. case 110: // M110 - reset line pos
  4459. if (code_seen('N'))
  4460. gcode_LastN = code_value_long();
  4461. break;
  4462. #ifdef HOST_KEEPALIVE_FEATURE
  4463. case 113: // M113 - Get or set Host Keepalive interval
  4464. if (code_seen('S')) {
  4465. host_keepalive_interval = (uint8_t)code_value_short();
  4466. // NOMORE(host_keepalive_interval, 60);
  4467. }
  4468. else {
  4469. SERIAL_ECHO_START;
  4470. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4471. SERIAL_PROTOCOLLN("");
  4472. }
  4473. break;
  4474. #endif
  4475. case 115: // M115
  4476. if (code_seen('V')) {
  4477. // Report the Prusa version number.
  4478. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  4479. } else if (code_seen('U')) {
  4480. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  4481. // pause the print and ask the user to upgrade the firmware.
  4482. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  4483. } else {
  4484. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  4485. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  4486. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  4487. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  4488. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  4489. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  4490. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  4491. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  4492. SERIAL_ECHOPGM(" UUID:");
  4493. SERIAL_ECHOLNPGM(MACHINE_UUID);
  4494. }
  4495. break;
  4496. /* case 117: // M117 display message
  4497. starpos = (strchr(strchr_pointer + 5,'*'));
  4498. if(starpos!=NULL)
  4499. *(starpos)='\0';
  4500. lcd_setstatus(strchr_pointer + 5);
  4501. break;*/
  4502. case 114: // M114
  4503. gcode_M114();
  4504. break;
  4505. case 120: // M120
  4506. enable_endstops(false) ;
  4507. break;
  4508. case 121: // M121
  4509. enable_endstops(true) ;
  4510. break;
  4511. case 119: // M119
  4512. SERIAL_PROTOCOLRPGM(MSG_M119_REPORT);
  4513. SERIAL_PROTOCOLLN("");
  4514. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  4515. SERIAL_PROTOCOLRPGM(MSG_X_MIN);
  4516. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  4517. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4518. }else{
  4519. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4520. }
  4521. SERIAL_PROTOCOLLN("");
  4522. #endif
  4523. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  4524. SERIAL_PROTOCOLRPGM(MSG_X_MAX);
  4525. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  4526. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4527. }else{
  4528. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4529. }
  4530. SERIAL_PROTOCOLLN("");
  4531. #endif
  4532. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  4533. SERIAL_PROTOCOLRPGM(MSG_Y_MIN);
  4534. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  4535. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4536. }else{
  4537. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4538. }
  4539. SERIAL_PROTOCOLLN("");
  4540. #endif
  4541. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  4542. SERIAL_PROTOCOLRPGM(MSG_Y_MAX);
  4543. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  4544. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4545. }else{
  4546. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4547. }
  4548. SERIAL_PROTOCOLLN("");
  4549. #endif
  4550. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  4551. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  4552. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  4553. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4554. }else{
  4555. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4556. }
  4557. SERIAL_PROTOCOLLN("");
  4558. #endif
  4559. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  4560. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  4561. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  4562. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4563. }else{
  4564. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4565. }
  4566. SERIAL_PROTOCOLLN("");
  4567. #endif
  4568. break;
  4569. //TODO: update for all axis, use for loop
  4570. #ifdef BLINKM
  4571. case 150: // M150
  4572. {
  4573. byte red;
  4574. byte grn;
  4575. byte blu;
  4576. if(code_seen('R')) red = code_value();
  4577. if(code_seen('U')) grn = code_value();
  4578. if(code_seen('B')) blu = code_value();
  4579. SendColors(red,grn,blu);
  4580. }
  4581. break;
  4582. #endif //BLINKM
  4583. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  4584. {
  4585. tmp_extruder = active_extruder;
  4586. if(code_seen('T')) {
  4587. tmp_extruder = code_value();
  4588. if(tmp_extruder >= EXTRUDERS) {
  4589. SERIAL_ECHO_START;
  4590. SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
  4591. break;
  4592. }
  4593. }
  4594. float area = .0;
  4595. if(code_seen('D')) {
  4596. float diameter = (float)code_value();
  4597. if (diameter == 0.0) {
  4598. // setting any extruder filament size disables volumetric on the assumption that
  4599. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4600. // for all extruders
  4601. volumetric_enabled = false;
  4602. } else {
  4603. filament_size[tmp_extruder] = (float)code_value();
  4604. // make sure all extruders have some sane value for the filament size
  4605. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  4606. #if EXTRUDERS > 1
  4607. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  4608. #if EXTRUDERS > 2
  4609. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  4610. #endif
  4611. #endif
  4612. volumetric_enabled = true;
  4613. }
  4614. } else {
  4615. //reserved for setting filament diameter via UFID or filament measuring device
  4616. break;
  4617. }
  4618. calculate_extruder_multipliers();
  4619. }
  4620. break;
  4621. case 201: // M201
  4622. for(int8_t i=0; i < NUM_AXIS; i++)
  4623. {
  4624. if(code_seen(axis_codes[i]))
  4625. {
  4626. max_acceleration_units_per_sq_second[i] = code_value();
  4627. }
  4628. }
  4629. // 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)
  4630. reset_acceleration_rates();
  4631. break;
  4632. #if 0 // Not used for Sprinter/grbl gen6
  4633. case 202: // M202
  4634. for(int8_t i=0; i < NUM_AXIS; i++) {
  4635. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  4636. }
  4637. break;
  4638. #endif
  4639. case 203: // M203 max feedrate mm/sec
  4640. for(int8_t i=0; i < NUM_AXIS; i++) {
  4641. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  4642. }
  4643. break;
  4644. case 204: // M204 acclereration S normal moves T filmanent only moves
  4645. {
  4646. if(code_seen('S')) acceleration = code_value() ;
  4647. if(code_seen('T')) retract_acceleration = code_value() ;
  4648. }
  4649. break;
  4650. 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
  4651. {
  4652. if(code_seen('S')) minimumfeedrate = code_value();
  4653. if(code_seen('T')) mintravelfeedrate = code_value();
  4654. if(code_seen('B')) minsegmenttime = code_value() ;
  4655. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  4656. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  4657. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  4658. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  4659. if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
  4660. if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
  4661. }
  4662. break;
  4663. case 206: // M206 additional homing offset
  4664. for(int8_t i=0; i < 3; i++)
  4665. {
  4666. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  4667. }
  4668. break;
  4669. #ifdef FWRETRACT
  4670. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  4671. {
  4672. if(code_seen('S'))
  4673. {
  4674. retract_length = code_value() ;
  4675. }
  4676. if(code_seen('F'))
  4677. {
  4678. retract_feedrate = code_value()/60 ;
  4679. }
  4680. if(code_seen('Z'))
  4681. {
  4682. retract_zlift = code_value() ;
  4683. }
  4684. }break;
  4685. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  4686. {
  4687. if(code_seen('S'))
  4688. {
  4689. retract_recover_length = code_value() ;
  4690. }
  4691. if(code_seen('F'))
  4692. {
  4693. retract_recover_feedrate = code_value()/60 ;
  4694. }
  4695. }break;
  4696. 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.
  4697. {
  4698. if(code_seen('S'))
  4699. {
  4700. int t= code_value() ;
  4701. switch(t)
  4702. {
  4703. case 0:
  4704. {
  4705. autoretract_enabled=false;
  4706. retracted[0]=false;
  4707. #if EXTRUDERS > 1
  4708. retracted[1]=false;
  4709. #endif
  4710. #if EXTRUDERS > 2
  4711. retracted[2]=false;
  4712. #endif
  4713. }break;
  4714. case 1:
  4715. {
  4716. autoretract_enabled=true;
  4717. retracted[0]=false;
  4718. #if EXTRUDERS > 1
  4719. retracted[1]=false;
  4720. #endif
  4721. #if EXTRUDERS > 2
  4722. retracted[2]=false;
  4723. #endif
  4724. }break;
  4725. default:
  4726. SERIAL_ECHO_START;
  4727. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  4728. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  4729. SERIAL_ECHOLNPGM("\"(1)");
  4730. }
  4731. }
  4732. }break;
  4733. #endif // FWRETRACT
  4734. #if EXTRUDERS > 1
  4735. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  4736. {
  4737. if(setTargetedHotend(218)){
  4738. break;
  4739. }
  4740. if(code_seen('X'))
  4741. {
  4742. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  4743. }
  4744. if(code_seen('Y'))
  4745. {
  4746. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  4747. }
  4748. SERIAL_ECHO_START;
  4749. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  4750. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  4751. {
  4752. SERIAL_ECHO(" ");
  4753. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  4754. SERIAL_ECHO(",");
  4755. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  4756. }
  4757. SERIAL_ECHOLN("");
  4758. }break;
  4759. #endif
  4760. case 220: // M220 S<factor in percent>- set speed factor override percentage
  4761. {
  4762. if(code_seen('S'))
  4763. {
  4764. feedmultiply = code_value() ;
  4765. }
  4766. }
  4767. break;
  4768. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  4769. {
  4770. if(code_seen('S'))
  4771. {
  4772. int tmp_code = code_value();
  4773. if (code_seen('T'))
  4774. {
  4775. if(setTargetedHotend(221)){
  4776. break;
  4777. }
  4778. extruder_multiply[tmp_extruder] = tmp_code;
  4779. }
  4780. else
  4781. {
  4782. extrudemultiply = tmp_code ;
  4783. }
  4784. }
  4785. calculate_extruder_multipliers();
  4786. }
  4787. break;
  4788. #ifndef _DISABLE_M42_M226
  4789. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  4790. {
  4791. if(code_seen('P')){
  4792. int pin_number = code_value(); // pin number
  4793. int pin_state = -1; // required pin state - default is inverted
  4794. if(code_seen('S')) pin_state = code_value(); // required pin state
  4795. if(pin_state >= -1 && pin_state <= 1){
  4796. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4797. {
  4798. if (sensitive_pins[i] == pin_number)
  4799. {
  4800. pin_number = -1;
  4801. break;
  4802. }
  4803. }
  4804. if (pin_number > -1)
  4805. {
  4806. int target = LOW;
  4807. st_synchronize();
  4808. pinMode(pin_number, INPUT);
  4809. switch(pin_state){
  4810. case 1:
  4811. target = HIGH;
  4812. break;
  4813. case 0:
  4814. target = LOW;
  4815. break;
  4816. case -1:
  4817. target = !digitalRead(pin_number);
  4818. break;
  4819. }
  4820. while(digitalRead(pin_number) != target){
  4821. manage_heater();
  4822. manage_inactivity();
  4823. lcd_update();
  4824. }
  4825. }
  4826. }
  4827. }
  4828. }
  4829. break;
  4830. #endif //_DISABLE_M42_M226
  4831. #if NUM_SERVOS > 0
  4832. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  4833. {
  4834. int servo_index = -1;
  4835. int servo_position = 0;
  4836. if (code_seen('P'))
  4837. servo_index = code_value();
  4838. if (code_seen('S')) {
  4839. servo_position = code_value();
  4840. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  4841. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4842. servos[servo_index].attach(0);
  4843. #endif
  4844. servos[servo_index].write(servo_position);
  4845. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4846. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  4847. servos[servo_index].detach();
  4848. #endif
  4849. }
  4850. else {
  4851. SERIAL_ECHO_START;
  4852. SERIAL_ECHO("Servo ");
  4853. SERIAL_ECHO(servo_index);
  4854. SERIAL_ECHOLN(" out of range");
  4855. }
  4856. }
  4857. else if (servo_index >= 0) {
  4858. SERIAL_PROTOCOL(MSG_OK);
  4859. SERIAL_PROTOCOL(" Servo ");
  4860. SERIAL_PROTOCOL(servo_index);
  4861. SERIAL_PROTOCOL(": ");
  4862. SERIAL_PROTOCOL(servos[servo_index].read());
  4863. SERIAL_PROTOCOLLN("");
  4864. }
  4865. }
  4866. break;
  4867. #endif // NUM_SERVOS > 0
  4868. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  4869. case 300: // M300
  4870. {
  4871. int beepS = code_seen('S') ? code_value() : 110;
  4872. int beepP = code_seen('P') ? code_value() : 1000;
  4873. if (beepS > 0)
  4874. {
  4875. #if BEEPER > 0
  4876. tone(BEEPER, beepS);
  4877. delay(beepP);
  4878. noTone(BEEPER);
  4879. #elif defined(ULTRALCD)
  4880. lcd_buzz(beepS, beepP);
  4881. #elif defined(LCD_USE_I2C_BUZZER)
  4882. lcd_buzz(beepP, beepS);
  4883. #endif
  4884. }
  4885. else
  4886. {
  4887. delay(beepP);
  4888. }
  4889. }
  4890. break;
  4891. #endif // M300
  4892. #ifdef PIDTEMP
  4893. case 301: // M301
  4894. {
  4895. if(code_seen('P')) Kp = code_value();
  4896. if(code_seen('I')) Ki = scalePID_i(code_value());
  4897. if(code_seen('D')) Kd = scalePID_d(code_value());
  4898. #ifdef PID_ADD_EXTRUSION_RATE
  4899. if(code_seen('C')) Kc = code_value();
  4900. #endif
  4901. updatePID();
  4902. SERIAL_PROTOCOLRPGM(MSG_OK);
  4903. SERIAL_PROTOCOL(" p:");
  4904. SERIAL_PROTOCOL(Kp);
  4905. SERIAL_PROTOCOL(" i:");
  4906. SERIAL_PROTOCOL(unscalePID_i(Ki));
  4907. SERIAL_PROTOCOL(" d:");
  4908. SERIAL_PROTOCOL(unscalePID_d(Kd));
  4909. #ifdef PID_ADD_EXTRUSION_RATE
  4910. SERIAL_PROTOCOL(" c:");
  4911. //Kc does not have scaling applied above, or in resetting defaults
  4912. SERIAL_PROTOCOL(Kc);
  4913. #endif
  4914. SERIAL_PROTOCOLLN("");
  4915. }
  4916. break;
  4917. #endif //PIDTEMP
  4918. #ifdef PIDTEMPBED
  4919. case 304: // M304
  4920. {
  4921. if(code_seen('P')) bedKp = code_value();
  4922. if(code_seen('I')) bedKi = scalePID_i(code_value());
  4923. if(code_seen('D')) bedKd = scalePID_d(code_value());
  4924. updatePID();
  4925. SERIAL_PROTOCOLRPGM(MSG_OK);
  4926. SERIAL_PROTOCOL(" p:");
  4927. SERIAL_PROTOCOL(bedKp);
  4928. SERIAL_PROTOCOL(" i:");
  4929. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  4930. SERIAL_PROTOCOL(" d:");
  4931. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  4932. SERIAL_PROTOCOLLN("");
  4933. }
  4934. break;
  4935. #endif //PIDTEMP
  4936. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  4937. {
  4938. #ifdef CHDK
  4939. SET_OUTPUT(CHDK);
  4940. WRITE(CHDK, HIGH);
  4941. chdkHigh = millis();
  4942. chdkActive = true;
  4943. #else
  4944. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  4945. const uint8_t NUM_PULSES=16;
  4946. const float PULSE_LENGTH=0.01524;
  4947. for(int i=0; i < NUM_PULSES; i++) {
  4948. WRITE(PHOTOGRAPH_PIN, HIGH);
  4949. _delay_ms(PULSE_LENGTH);
  4950. WRITE(PHOTOGRAPH_PIN, LOW);
  4951. _delay_ms(PULSE_LENGTH);
  4952. }
  4953. delay(7.33);
  4954. for(int i=0; i < NUM_PULSES; i++) {
  4955. WRITE(PHOTOGRAPH_PIN, HIGH);
  4956. _delay_ms(PULSE_LENGTH);
  4957. WRITE(PHOTOGRAPH_PIN, LOW);
  4958. _delay_ms(PULSE_LENGTH);
  4959. }
  4960. #endif
  4961. #endif //chdk end if
  4962. }
  4963. break;
  4964. #ifdef DOGLCD
  4965. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  4966. {
  4967. if (code_seen('C')) {
  4968. lcd_setcontrast( ((int)code_value())&63 );
  4969. }
  4970. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4971. SERIAL_PROTOCOL(lcd_contrast);
  4972. SERIAL_PROTOCOLLN("");
  4973. }
  4974. break;
  4975. #endif
  4976. #ifdef PREVENT_DANGEROUS_EXTRUDE
  4977. case 302: // allow cold extrudes, or set the minimum extrude temperature
  4978. {
  4979. float temp = .0;
  4980. if (code_seen('S')) temp=code_value();
  4981. set_extrude_min_temp(temp);
  4982. }
  4983. break;
  4984. #endif
  4985. case 303: // M303 PID autotune
  4986. {
  4987. float temp = 150.0;
  4988. int e=0;
  4989. int c=5;
  4990. if (code_seen('E')) e=code_value();
  4991. if (e<0)
  4992. temp=70;
  4993. if (code_seen('S')) temp=code_value();
  4994. if (code_seen('C')) c=code_value();
  4995. PID_autotune(temp, e, c);
  4996. }
  4997. break;
  4998. case 400: // M400 finish all moves
  4999. {
  5000. st_synchronize();
  5001. }
  5002. break;
  5003. case 500: // M500 Store settings in EEPROM
  5004. {
  5005. Config_StoreSettings(EEPROM_OFFSET);
  5006. }
  5007. break;
  5008. case 501: // M501 Read settings from EEPROM
  5009. {
  5010. Config_RetrieveSettings(EEPROM_OFFSET);
  5011. }
  5012. break;
  5013. case 502: // M502 Revert to default settings
  5014. {
  5015. Config_ResetDefault();
  5016. }
  5017. break;
  5018. case 503: // M503 print settings currently in memory
  5019. {
  5020. Config_PrintSettings();
  5021. }
  5022. break;
  5023. case 509: //M509 Force language selection
  5024. {
  5025. lcd_force_language_selection();
  5026. SERIAL_ECHO_START;
  5027. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  5028. }
  5029. break;
  5030. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5031. case 540:
  5032. {
  5033. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  5034. }
  5035. break;
  5036. #endif
  5037. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5038. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  5039. {
  5040. float value;
  5041. if (code_seen('Z'))
  5042. {
  5043. value = code_value();
  5044. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  5045. {
  5046. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  5047. SERIAL_ECHO_START;
  5048. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  5049. SERIAL_PROTOCOLLN("");
  5050. }
  5051. else
  5052. {
  5053. SERIAL_ECHO_START;
  5054. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  5055. SERIAL_ECHORPGM(MSG_Z_MIN);
  5056. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  5057. SERIAL_ECHORPGM(MSG_Z_MAX);
  5058. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  5059. SERIAL_PROTOCOLLN("");
  5060. }
  5061. }
  5062. else
  5063. {
  5064. SERIAL_ECHO_START;
  5065. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  5066. SERIAL_ECHO(-zprobe_zoffset);
  5067. SERIAL_PROTOCOLLN("");
  5068. }
  5069. break;
  5070. }
  5071. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5072. #ifdef FILAMENTCHANGEENABLE
  5073. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  5074. {
  5075. #ifdef PAT9125
  5076. bool old_fsensor_enabled = fsensor_enabled;
  5077. fsensor_enabled = false; //temporary solution for unexpected restarting
  5078. #endif //PAT9125
  5079. st_synchronize();
  5080. float target[4];
  5081. float lastpos[4];
  5082. if (farm_mode)
  5083. {
  5084. prusa_statistics(22);
  5085. }
  5086. feedmultiplyBckp=feedmultiply;
  5087. int8_t TooLowZ = 0;
  5088. float HotendTempBckp = degTargetHotend(active_extruder);
  5089. int fanSpeedBckp = fanSpeed;
  5090. target[X_AXIS]=current_position[X_AXIS];
  5091. target[Y_AXIS]=current_position[Y_AXIS];
  5092. target[Z_AXIS]=current_position[Z_AXIS];
  5093. target[E_AXIS]=current_position[E_AXIS];
  5094. lastpos[X_AXIS]=current_position[X_AXIS];
  5095. lastpos[Y_AXIS]=current_position[Y_AXIS];
  5096. lastpos[Z_AXIS]=current_position[Z_AXIS];
  5097. lastpos[E_AXIS]=current_position[E_AXIS];
  5098. //Restract extruder
  5099. if(code_seen('E'))
  5100. {
  5101. target[E_AXIS]+= code_value();
  5102. }
  5103. else
  5104. {
  5105. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  5106. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  5107. #endif
  5108. }
  5109. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5110. //Lift Z
  5111. if(code_seen('Z'))
  5112. {
  5113. target[Z_AXIS]+= code_value();
  5114. }
  5115. else
  5116. {
  5117. #ifdef FILAMENTCHANGE_ZADD
  5118. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  5119. if(target[Z_AXIS] < 10){
  5120. target[Z_AXIS]+= 10 ;
  5121. TooLowZ = 1;
  5122. }else{
  5123. TooLowZ = 0;
  5124. }
  5125. #endif
  5126. }
  5127. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5128. //Move XY to side
  5129. if(code_seen('X'))
  5130. {
  5131. target[X_AXIS]+= code_value();
  5132. }
  5133. else
  5134. {
  5135. #ifdef FILAMENTCHANGE_XPOS
  5136. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  5137. #endif
  5138. }
  5139. if(code_seen('Y'))
  5140. {
  5141. target[Y_AXIS]= code_value();
  5142. }
  5143. else
  5144. {
  5145. #ifdef FILAMENTCHANGE_YPOS
  5146. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  5147. #endif
  5148. }
  5149. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5150. st_synchronize();
  5151. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5152. uint8_t cnt = 0;
  5153. int counterBeep = 0;
  5154. fanSpeed = 0;
  5155. unsigned long waiting_start_time = millis();
  5156. uint8_t wait_for_user_state = 0;
  5157. lcd_display_message_fullscreen_P(MSG_PRESS_TO_UNLOAD);
  5158. while (!(wait_for_user_state == 0 && lcd_clicked())){
  5159. //cnt++;
  5160. manage_heater();
  5161. manage_inactivity(true);
  5162. /*#ifdef SNMM
  5163. target[E_AXIS] += 0.002;
  5164. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5165. #endif // SNMM*/
  5166. //if (cnt == 0)
  5167. {
  5168. #if BEEPER > 0
  5169. if (counterBeep == 500) {
  5170. counterBeep = 0;
  5171. }
  5172. SET_OUTPUT(BEEPER);
  5173. if (counterBeep == 0) {
  5174. WRITE(BEEPER, HIGH);
  5175. }
  5176. if (counterBeep == 20) {
  5177. WRITE(BEEPER, LOW);
  5178. }
  5179. counterBeep++;
  5180. #else
  5181. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  5182. lcd_buzz(1000 / 6, 100);
  5183. #else
  5184. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
  5185. #endif
  5186. #endif
  5187. }
  5188. switch (wait_for_user_state) {
  5189. case 0:
  5190. delay_keep_alive(4);
  5191. if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  5192. lcd_display_message_fullscreen_P(MSG_PRESS_TO_PREHEAT);
  5193. wait_for_user_state = 1;
  5194. setTargetHotend(0, 0);
  5195. setTargetHotend(0, 1);
  5196. setTargetHotend(0, 2);
  5197. st_synchronize();
  5198. disable_e0();
  5199. disable_e1();
  5200. disable_e2();
  5201. }
  5202. break;
  5203. case 1:
  5204. delay_keep_alive(4);
  5205. if (lcd_clicked()) {
  5206. setTargetHotend(HotendTempBckp, active_extruder);
  5207. lcd_wait_for_heater();
  5208. wait_for_user_state = 2;
  5209. }
  5210. break;
  5211. case 2:
  5212. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  5213. lcd_display_message_fullscreen_P(MSG_PRESS_TO_UNLOAD);
  5214. waiting_start_time = millis();
  5215. wait_for_user_state = 0;
  5216. }
  5217. else {
  5218. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  5219. lcd.setCursor(1, 4);
  5220. lcd.print(ftostr3(degHotend(active_extruder)));
  5221. }
  5222. break;
  5223. }
  5224. }
  5225. WRITE(BEEPER, LOW);
  5226. lcd_change_fil_state = 0;
  5227. // Unload filament
  5228. lcd_display_message_fullscreen_P(MSG_UNLOADING_FILAMENT);
  5229. KEEPALIVE_STATE(IN_HANDLER);
  5230. custom_message = true;
  5231. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  5232. if (code_seen('L'))
  5233. {
  5234. target[E_AXIS] += code_value();
  5235. }
  5236. else
  5237. {
  5238. #ifdef SNMM
  5239. #else
  5240. #ifdef FILAMENTCHANGE_FINALRETRACT
  5241. target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  5242. #endif
  5243. #endif // SNMM
  5244. }
  5245. #ifdef SNMM
  5246. target[E_AXIS] += 12;
  5247. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
  5248. target[E_AXIS] += 6;
  5249. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  5250. target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
  5251. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  5252. st_synchronize();
  5253. target[E_AXIS] += (FIL_COOLING);
  5254. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5255. target[E_AXIS] += (FIL_COOLING*-1);
  5256. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5257. target[E_AXIS] += (bowden_length[snmm_extruder] * -1);
  5258. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5259. st_synchronize();
  5260. #else
  5261. // plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5262. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500 / 60, active_extruder);
  5263. target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
  5264. st_synchronize();
  5265. #ifdef TMC2130
  5266. uint8_t tmc2130_current_r_bckp = tmc2130_current_r[E_AXIS];
  5267. tmc2130_set_current_r(E_AXIS, TMC2130_UNLOAD_CURRENT_R);
  5268. #else
  5269. st_current_set(2, 200); //set lower E motor current for unload to protect filament sensor and ptfe tube
  5270. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  5271. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  5272. #endif //TMC2130
  5273. target[E_AXIS] -= 45;
  5274. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5200 / 60, active_extruder);
  5275. st_synchronize();
  5276. target[E_AXIS] -= 15;
  5277. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
  5278. st_synchronize();
  5279. target[E_AXIS] -= 20;
  5280. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
  5281. st_synchronize();
  5282. #ifdef TMC2130
  5283. tmc2130_set_current_r(E_AXIS, tmc2130_current_r_bckp);
  5284. #else
  5285. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  5286. if(silentMode != SILENT_MODE_POWER) st_current_set(2, tmp_motor[2]); //set E back to normal operation currents
  5287. else st_current_set(2, tmp_motor_loud[2]);
  5288. #endif //TMC2130
  5289. #endif // SNMM
  5290. //finish moves
  5291. st_synchronize();
  5292. lcd_display_message_fullscreen_P(MSG_PULL_OUT_FILAMENT);
  5293. //disable extruder steppers so filament can be removed
  5294. disable_e0();
  5295. disable_e1();
  5296. disable_e2();
  5297. delay(100);
  5298. WRITE(BEEPER, HIGH);
  5299. counterBeep = 0;
  5300. while(!lcd_clicked() && (counterBeep < 50)) {
  5301. if(counterBeep > 5) WRITE(BEEPER, LOW);
  5302. delay_keep_alive(100);
  5303. counterBeep++;
  5304. }
  5305. WRITE(BEEPER, LOW);
  5306. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5307. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_UNLOAD_SUCCESSFUL, false, true);
  5308. if (lcd_change_fil_state == 0) lcd_show_fullscreen_message_and_wait_P(MSG_CHECK_IDLER);
  5309. //lcd_return_to_status();
  5310. lcd_update_enable(true);
  5311. //Wait for user to insert filament
  5312. lcd_wait_interact();
  5313. //load_filament_time = millis();
  5314. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5315. #ifdef PAT9125
  5316. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_start();
  5317. #endif //PAT9125
  5318. // printf_P(PSTR("M600 PAT9125 filament_autoload_enabled=%d, old_fsensor_enabled=%d, fsensor_M600=%d"), filament_autoload_enabled, old_fsensor_enabled, fsensor_M600);
  5319. while(!lcd_clicked())
  5320. {
  5321. manage_heater();
  5322. manage_inactivity(true);
  5323. #ifdef PAT9125
  5324. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600) && fsensor_check_autoload())
  5325. {
  5326. tone(BEEPER, 1000);
  5327. delay_keep_alive(50);
  5328. noTone(BEEPER);
  5329. break;
  5330. }
  5331. #endif //PAT9125
  5332. /*#ifdef SNMM
  5333. target[E_AXIS] += 0.002;
  5334. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5335. #endif // SNMM*/
  5336. }
  5337. #ifdef PAT9125
  5338. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_stop();
  5339. #endif //PAT9125
  5340. //WRITE(BEEPER, LOW);
  5341. KEEPALIVE_STATE(IN_HANDLER);
  5342. #ifdef SNMM
  5343. display_loading();
  5344. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5345. do {
  5346. target[E_AXIS] += 0.002;
  5347. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5348. delay_keep_alive(2);
  5349. } while (!lcd_clicked());
  5350. KEEPALIVE_STATE(IN_HANDLER);
  5351. /*if (millis() - load_filament_time > 2) {
  5352. load_filament_time = millis();
  5353. target[E_AXIS] += 0.001;
  5354. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
  5355. }*/
  5356. //Filament inserted
  5357. //Feed the filament to the end of nozzle quickly
  5358. st_synchronize();
  5359. target[E_AXIS] += bowden_length[snmm_extruder];
  5360. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5361. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  5362. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  5363. target[E_AXIS] += 40;
  5364. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  5365. target[E_AXIS] += 10;
  5366. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5367. #else
  5368. target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
  5369. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  5370. #endif // SNMM
  5371. //Extrude some filament
  5372. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5373. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5374. //Wait for user to check the state
  5375. lcd_change_fil_state = 0;
  5376. lcd_loading_filament();
  5377. tone(BEEPER, 500);
  5378. delay_keep_alive(50);
  5379. noTone(BEEPER);
  5380. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  5381. lcd_change_fil_state = 0;
  5382. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5383. lcd_alright();
  5384. KEEPALIVE_STATE(IN_HANDLER);
  5385. switch(lcd_change_fil_state){
  5386. // Filament failed to load so load it again
  5387. case 2:
  5388. #ifdef SNMM
  5389. display_loading();
  5390. do {
  5391. target[E_AXIS] += 0.002;
  5392. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5393. delay_keep_alive(2);
  5394. } while (!lcd_clicked());
  5395. st_synchronize();
  5396. target[E_AXIS] += bowden_length[snmm_extruder];
  5397. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5398. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  5399. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  5400. target[E_AXIS] += 40;
  5401. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  5402. target[E_AXIS] += 10;
  5403. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5404. #else
  5405. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  5406. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  5407. #endif
  5408. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5409. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5410. lcd_loading_filament();
  5411. break;
  5412. // Filament loaded properly but color is not clear
  5413. case 3:
  5414. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5415. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  5416. lcd_loading_color();
  5417. break;
  5418. // Everything good
  5419. default:
  5420. lcd_change_success();
  5421. lcd_update_enable(true);
  5422. break;
  5423. }
  5424. }
  5425. //Not let's go back to print
  5426. fanSpeed = fanSpeedBckp;
  5427. //Feed a little of filament to stabilize pressure
  5428. target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
  5429. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5430. //Retract
  5431. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  5432. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5433. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  5434. //Move XY back
  5435. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5436. //Move Z back
  5437. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5438. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  5439. //Unretract
  5440. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5441. //Set E position to original
  5442. plan_set_e_position(lastpos[E_AXIS]);
  5443. //Recover feed rate
  5444. feedmultiply=feedmultiplyBckp;
  5445. char cmd[9];
  5446. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  5447. enquecommand(cmd);
  5448. lcd_setstatuspgm(WELCOME_MSG);
  5449. custom_message = false;
  5450. custom_message_type = 0;
  5451. #ifdef PAT9125
  5452. fsensor_enabled = old_fsensor_enabled; //temporary solution for unexpected restarting
  5453. if (fsensor_M600)
  5454. {
  5455. cmdqueue_pop_front(); //hack because M600 repeated 2x when enqueued to front
  5456. st_synchronize();
  5457. while (!is_buffer_empty())
  5458. {
  5459. process_commands();
  5460. cmdqueue_pop_front();
  5461. }
  5462. fsensor_enable();
  5463. fsensor_restore_print_and_continue();
  5464. }
  5465. #endif //PAT9125
  5466. }
  5467. break;
  5468. #endif //FILAMENTCHANGEENABLE
  5469. case 601: {
  5470. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  5471. }
  5472. break;
  5473. case 602: {
  5474. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  5475. }
  5476. break;
  5477. #ifdef PINDA_THERMISTOR
  5478. case 860: // M860 - Wait for PINDA thermistor to reach target temperature.
  5479. {
  5480. int setTargetPinda = 0;
  5481. if (code_seen('S')) {
  5482. setTargetPinda = code_value();
  5483. }
  5484. else {
  5485. break;
  5486. }
  5487. LCD_MESSAGERPGM(MSG_PLEASE_WAIT);
  5488. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  5489. SERIAL_PROTOCOL(setTargetPinda);
  5490. SERIAL_PROTOCOLLN("");
  5491. codenum = millis();
  5492. cancel_heatup = false;
  5493. KEEPALIVE_STATE(NOT_BUSY);
  5494. while ((!cancel_heatup) && current_temperature_pinda < setTargetPinda) {
  5495. if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  5496. {
  5497. SERIAL_PROTOCOLPGM("P:");
  5498. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  5499. SERIAL_PROTOCOLPGM("/");
  5500. SERIAL_PROTOCOL(setTargetPinda);
  5501. SERIAL_PROTOCOLLN("");
  5502. codenum = millis();
  5503. }
  5504. manage_heater();
  5505. manage_inactivity();
  5506. lcd_update();
  5507. }
  5508. LCD_MESSAGERPGM(MSG_OK);
  5509. break;
  5510. }
  5511. case 861: // M861 - Set/Read PINDA temperature compensation offsets
  5512. if (code_seen('?')) { // ? - Print out current EEPRO offset values
  5513. uint8_t cal_status = calibration_status_pinda();
  5514. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  5515. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5516. for (uint8_t i = 0; i < 6; i++)
  5517. {
  5518. uint16_t usteps = 0;
  5519. if (i > 0) usteps = eeprom_read_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + (i - 1));
  5520. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5521. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5522. SERIAL_PROTOCOLPGM(", ");
  5523. SERIAL_PROTOCOL(35 + (i * 5));
  5524. SERIAL_PROTOCOLPGM(", ");
  5525. SERIAL_PROTOCOL(usteps);
  5526. SERIAL_PROTOCOLPGM(", ");
  5527. SERIAL_PROTOCOL(mm * 1000);
  5528. SERIAL_PROTOCOLLN("");
  5529. }
  5530. }
  5531. else if (code_seen('!')) { // ! - Set factory default values
  5532. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5533. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 0, 8); //40C - 20um - 8usteps
  5534. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 1, 24); //45C - 60um - 24usteps
  5535. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 2, 48); //50C - 120um - 48usteps
  5536. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 3, 80); //55C - 200um - 80usteps
  5537. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 4, 120); //60C - 300um - 120usteps
  5538. SERIAL_PROTOCOLLN("factory restored");
  5539. }
  5540. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  5541. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5542. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 0, 0);
  5543. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 1, 0);
  5544. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 2, 0);
  5545. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 3, 0);
  5546. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 4, 0);
  5547. SERIAL_PROTOCOLLN("zerorized");
  5548. }
  5549. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  5550. uint16_t usteps = code_value();
  5551. if (code_seen('I')) {
  5552. byte index = code_value();
  5553. if ((index >= 0) && (index < 5)) {
  5554. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + index, usteps);
  5555. SERIAL_PROTOCOLLN("OK");
  5556. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5557. for (uint8_t i = 0; i < 6; i++)
  5558. {
  5559. uint16_t usteps = 0;
  5560. if (i > 0) usteps = eeprom_read_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + (i - 1));
  5561. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5562. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5563. SERIAL_PROTOCOLPGM(", ");
  5564. SERIAL_PROTOCOL(35 + (i * 5));
  5565. SERIAL_PROTOCOLPGM(", ");
  5566. SERIAL_PROTOCOL(usteps);
  5567. SERIAL_PROTOCOLPGM(", ");
  5568. SERIAL_PROTOCOL(mm * 1000);
  5569. SERIAL_PROTOCOLLN("");
  5570. }
  5571. }
  5572. }
  5573. }
  5574. else {
  5575. SERIAL_PROTOCOLPGM("no valid command");
  5576. }
  5577. break;
  5578. #endif //PINDA_THERMISTOR
  5579. #ifdef LIN_ADVANCE
  5580. case 900: // M900: Set LIN_ADVANCE options.
  5581. gcode_M900();
  5582. break;
  5583. #endif
  5584. case 907: // M907 Set digital trimpot motor current using axis codes.
  5585. {
  5586. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5587. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  5588. if(code_seen('B')) st_current_set(4,code_value());
  5589. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  5590. #endif
  5591. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  5592. if(code_seen('X')) st_current_set(0, code_value());
  5593. #endif
  5594. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  5595. if(code_seen('Z')) st_current_set(1, code_value());
  5596. #endif
  5597. #ifdef MOTOR_CURRENT_PWM_E_PIN
  5598. if(code_seen('E')) st_current_set(2, code_value());
  5599. #endif
  5600. }
  5601. break;
  5602. case 908: // M908 Control digital trimpot directly.
  5603. {
  5604. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5605. uint8_t channel,current;
  5606. if(code_seen('P')) channel=code_value();
  5607. if(code_seen('S')) current=code_value();
  5608. digitalPotWrite(channel, current);
  5609. #endif
  5610. }
  5611. break;
  5612. #ifdef TMC2130
  5613. case 910: // M910 TMC2130 init
  5614. {
  5615. tmc2130_init();
  5616. }
  5617. break;
  5618. case 911: // M911 Set TMC2130 holding currents
  5619. {
  5620. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  5621. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  5622. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  5623. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  5624. }
  5625. break;
  5626. case 912: // M912 Set TMC2130 running currents
  5627. {
  5628. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  5629. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  5630. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  5631. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  5632. }
  5633. break;
  5634. case 913: // M913 Print TMC2130 currents
  5635. {
  5636. tmc2130_print_currents();
  5637. }
  5638. break;
  5639. case 914: // M914 Set normal mode
  5640. {
  5641. tmc2130_mode = TMC2130_MODE_NORMAL;
  5642. tmc2130_init();
  5643. }
  5644. break;
  5645. case 915: // M915 Set silent mode
  5646. {
  5647. tmc2130_mode = TMC2130_MODE_SILENT;
  5648. tmc2130_init();
  5649. }
  5650. break;
  5651. case 916: // M916 Set sg_thrs
  5652. {
  5653. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  5654. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  5655. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  5656. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  5657. MYSERIAL.print("tmc2130_sg_thr[X]=");
  5658. MYSERIAL.println(tmc2130_sg_thr[X_AXIS], DEC);
  5659. MYSERIAL.print("tmc2130_sg_thr[Y]=");
  5660. MYSERIAL.println(tmc2130_sg_thr[Y_AXIS], DEC);
  5661. MYSERIAL.print("tmc2130_sg_thr[Z]=");
  5662. MYSERIAL.println(tmc2130_sg_thr[Z_AXIS], DEC);
  5663. MYSERIAL.print("tmc2130_sg_thr[E]=");
  5664. MYSERIAL.println(tmc2130_sg_thr[E_AXIS], DEC);
  5665. }
  5666. break;
  5667. case 917: // M917 Set TMC2130 pwm_ampl
  5668. {
  5669. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  5670. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  5671. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  5672. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  5673. }
  5674. break;
  5675. case 918: // M918 Set TMC2130 pwm_grad
  5676. {
  5677. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  5678. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  5679. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  5680. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  5681. }
  5682. break;
  5683. #endif //TMC2130
  5684. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5685. {
  5686. #ifdef TMC2130
  5687. if(code_seen('E'))
  5688. {
  5689. uint16_t res_new = code_value();
  5690. if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
  5691. {
  5692. st_synchronize();
  5693. uint8_t axis = E_AXIS;
  5694. uint16_t res = tmc2130_get_res(axis);
  5695. tmc2130_set_res(axis, res_new);
  5696. if (res_new > res)
  5697. {
  5698. uint16_t fac = (res_new / res);
  5699. axis_steps_per_unit[axis] *= fac;
  5700. position[E_AXIS] *= fac;
  5701. }
  5702. else
  5703. {
  5704. uint16_t fac = (res / res_new);
  5705. axis_steps_per_unit[axis] /= fac;
  5706. position[E_AXIS] /= fac;
  5707. }
  5708. }
  5709. }
  5710. #else //TMC2130
  5711. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5712. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  5713. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  5714. if(code_seen('B')) microstep_mode(4,code_value());
  5715. microstep_readings();
  5716. #endif
  5717. #endif //TMC2130
  5718. }
  5719. break;
  5720. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  5721. {
  5722. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5723. if(code_seen('S')) switch((int)code_value())
  5724. {
  5725. case 1:
  5726. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  5727. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  5728. break;
  5729. case 2:
  5730. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  5731. if(code_seen('B')) microstep_ms(4,-1,code_value());
  5732. break;
  5733. }
  5734. microstep_readings();
  5735. #endif
  5736. }
  5737. break;
  5738. case 701: //M701: load filament
  5739. {
  5740. gcode_M701();
  5741. }
  5742. break;
  5743. case 702:
  5744. {
  5745. #ifdef SNMM
  5746. if (code_seen('U')) {
  5747. extr_unload_used(); //unload all filaments which were used in current print
  5748. }
  5749. else if (code_seen('C')) {
  5750. extr_unload(); //unload just current filament
  5751. }
  5752. else {
  5753. extr_unload_all(); //unload all filaments
  5754. }
  5755. #else
  5756. #ifdef PAT9125
  5757. bool old_fsensor_enabled = fsensor_enabled;
  5758. fsensor_enabled = false;
  5759. #endif //PAT9125
  5760. custom_message = true;
  5761. custom_message_type = 2;
  5762. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  5763. // extr_unload2();
  5764. current_position[E_AXIS] -= 45;
  5765. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
  5766. st_synchronize();
  5767. current_position[E_AXIS] -= 15;
  5768. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  5769. st_synchronize();
  5770. current_position[E_AXIS] -= 20;
  5771. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  5772. st_synchronize();
  5773. lcd_display_message_fullscreen_P(MSG_PULL_OUT_FILAMENT);
  5774. //disable extruder steppers so filament can be removed
  5775. disable_e0();
  5776. disable_e1();
  5777. disable_e2();
  5778. delay(100);
  5779. WRITE(BEEPER, HIGH);
  5780. uint8_t counterBeep = 0;
  5781. while (!lcd_clicked() && (counterBeep < 50)) {
  5782. if (counterBeep > 5) WRITE(BEEPER, LOW);
  5783. delay_keep_alive(100);
  5784. counterBeep++;
  5785. }
  5786. WRITE(BEEPER, LOW);
  5787. st_synchronize();
  5788. while (lcd_clicked()) delay_keep_alive(100);
  5789. lcd_update_enable(true);
  5790. lcd_setstatuspgm(WELCOME_MSG);
  5791. custom_message = false;
  5792. custom_message_type = 0;
  5793. #ifdef PAT9125
  5794. fsensor_enabled = old_fsensor_enabled;
  5795. #endif //PAT9125
  5796. #endif
  5797. }
  5798. break;
  5799. case 999: // M999: Restart after being stopped
  5800. Stopped = false;
  5801. lcd_reset_alert_level();
  5802. gcode_LastN = Stopped_gcode_LastN;
  5803. FlushSerialRequestResend();
  5804. break;
  5805. default:
  5806. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  5807. }
  5808. } // end if(code_seen('M')) (end of M codes)
  5809. else if(code_seen('T'))
  5810. {
  5811. int index;
  5812. st_synchronize();
  5813. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  5814. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
  5815. SERIAL_ECHOLNPGM("Invalid T code.");
  5816. }
  5817. else {
  5818. if (*(strchr_pointer + index) == '?') {
  5819. tmp_extruder = choose_extruder_menu();
  5820. }
  5821. else {
  5822. tmp_extruder = code_value();
  5823. }
  5824. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  5825. #ifdef SNMM
  5826. #ifdef LIN_ADVANCE
  5827. if (snmm_extruder != tmp_extruder)
  5828. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  5829. #endif
  5830. snmm_extruder = tmp_extruder;
  5831. delay(100);
  5832. disable_e0();
  5833. disable_e1();
  5834. disable_e2();
  5835. pinMode(E_MUX0_PIN, OUTPUT);
  5836. pinMode(E_MUX1_PIN, OUTPUT);
  5837. delay(100);
  5838. SERIAL_ECHO_START;
  5839. SERIAL_ECHO("T:");
  5840. SERIAL_ECHOLN((int)tmp_extruder);
  5841. switch (tmp_extruder) {
  5842. case 1:
  5843. WRITE(E_MUX0_PIN, HIGH);
  5844. WRITE(E_MUX1_PIN, LOW);
  5845. break;
  5846. case 2:
  5847. WRITE(E_MUX0_PIN, LOW);
  5848. WRITE(E_MUX1_PIN, HIGH);
  5849. break;
  5850. case 3:
  5851. WRITE(E_MUX0_PIN, HIGH);
  5852. WRITE(E_MUX1_PIN, HIGH);
  5853. break;
  5854. default:
  5855. WRITE(E_MUX0_PIN, LOW);
  5856. WRITE(E_MUX1_PIN, LOW);
  5857. break;
  5858. }
  5859. delay(100);
  5860. #else
  5861. if (tmp_extruder >= EXTRUDERS) {
  5862. SERIAL_ECHO_START;
  5863. SERIAL_ECHOPGM("T");
  5864. SERIAL_PROTOCOLLN((int)tmp_extruder);
  5865. SERIAL_ECHOLNRPGM(MSG_INVALID_EXTRUDER);
  5866. }
  5867. else {
  5868. boolean make_move = false;
  5869. if (code_seen('F')) {
  5870. make_move = true;
  5871. next_feedrate = code_value();
  5872. if (next_feedrate > 0.0) {
  5873. feedrate = next_feedrate;
  5874. }
  5875. }
  5876. #if EXTRUDERS > 1
  5877. if (tmp_extruder != active_extruder) {
  5878. // Save current position to return to after applying extruder offset
  5879. memcpy(destination, current_position, sizeof(destination));
  5880. // Offset extruder (only by XY)
  5881. int i;
  5882. for (i = 0; i < 2; i++) {
  5883. current_position[i] = current_position[i] -
  5884. extruder_offset[i][active_extruder] +
  5885. extruder_offset[i][tmp_extruder];
  5886. }
  5887. // Set the new active extruder and position
  5888. active_extruder = tmp_extruder;
  5889. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  5890. // Move to the old position if 'F' was in the parameters
  5891. if (make_move && Stopped == false) {
  5892. prepare_move();
  5893. }
  5894. }
  5895. #endif
  5896. SERIAL_ECHO_START;
  5897. SERIAL_ECHORPGM(MSG_ACTIVE_EXTRUDER);
  5898. SERIAL_PROTOCOLLN((int)active_extruder);
  5899. }
  5900. #endif
  5901. }
  5902. } // end if(code_seen('T')) (end of T codes)
  5903. #ifdef DEBUG_DCODES
  5904. else if (code_seen('D')) // D codes (debug)
  5905. {
  5906. switch((int)code_value())
  5907. {
  5908. case -1: // D-1 - Endless loop
  5909. dcode__1(); break;
  5910. case 0: // D0 - Reset
  5911. dcode_0(); break;
  5912. case 1: // D1 - Clear EEPROM
  5913. dcode_1(); break;
  5914. case 2: // D2 - Read/Write RAM
  5915. dcode_2(); break;
  5916. case 3: // D3 - Read/Write EEPROM
  5917. dcode_3(); break;
  5918. case 4: // D4 - Read/Write PIN
  5919. dcode_4(); break;
  5920. case 5: // D5 - Read/Write FLASH
  5921. // dcode_5(); break;
  5922. break;
  5923. case 6: // D6 - Read/Write external FLASH
  5924. dcode_6(); break;
  5925. case 7: // D7 - Read/Write Bootloader
  5926. dcode_7(); break;
  5927. case 8: // D8 - Read/Write PINDA
  5928. dcode_8(); break;
  5929. case 9: // D9 - Read/Write ADC
  5930. dcode_9(); break;
  5931. case 10: // D10 - XYZ calibration = OK
  5932. dcode_10(); break;
  5933. #ifdef TMC2130
  5934. case 2130: // D9125 - TMC2130
  5935. dcode_2130(); break;
  5936. #endif //TMC2130
  5937. #ifdef PAT9125
  5938. case 9125: // D9125 - PAT9125
  5939. dcode_9125(); break;
  5940. #endif //PAT9125
  5941. }
  5942. }
  5943. #endif //DEBUG_DCODES
  5944. else
  5945. {
  5946. SERIAL_ECHO_START;
  5947. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5948. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5949. SERIAL_ECHOLNPGM("\"(2)");
  5950. }
  5951. KEEPALIVE_STATE(NOT_BUSY);
  5952. ClearToSend();
  5953. }
  5954. void FlushSerialRequestResend()
  5955. {
  5956. //char cmdbuffer[bufindr][100]="Resend:";
  5957. MYSERIAL.flush();
  5958. SERIAL_PROTOCOLRPGM(MSG_RESEND);
  5959. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  5960. previous_millis_cmd = millis();
  5961. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  5962. }
  5963. // Confirm the execution of a command, if sent from a serial line.
  5964. // Execution of a command from a SD card will not be confirmed.
  5965. void ClearToSend()
  5966. {
  5967. previous_millis_cmd = millis();
  5968. if (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB)
  5969. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  5970. }
  5971. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  5972. void update_currents() {
  5973. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  5974. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  5975. float tmp_motor[3];
  5976. //SERIAL_ECHOLNPGM("Currents updated: ");
  5977. if (destination[Z_AXIS] < Z_SILENT) {
  5978. //SERIAL_ECHOLNPGM("LOW");
  5979. for (uint8_t i = 0; i < 3; i++) {
  5980. st_current_set(i, current_low[i]);
  5981. /*MYSERIAL.print(int(i));
  5982. SERIAL_ECHOPGM(": ");
  5983. MYSERIAL.println(current_low[i]);*/
  5984. }
  5985. }
  5986. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  5987. //SERIAL_ECHOLNPGM("HIGH");
  5988. for (uint8_t i = 0; i < 3; i++) {
  5989. st_current_set(i, current_high[i]);
  5990. /*MYSERIAL.print(int(i));
  5991. SERIAL_ECHOPGM(": ");
  5992. MYSERIAL.println(current_high[i]);*/
  5993. }
  5994. }
  5995. else {
  5996. for (uint8_t i = 0; i < 3; i++) {
  5997. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  5998. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  5999. st_current_set(i, tmp_motor[i]);
  6000. /*MYSERIAL.print(int(i));
  6001. SERIAL_ECHOPGM(": ");
  6002. MYSERIAL.println(tmp_motor[i]);*/
  6003. }
  6004. }
  6005. }
  6006. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6007. void get_coordinates()
  6008. {
  6009. bool seen[4]={false,false,false,false};
  6010. for(int8_t i=0; i < NUM_AXIS; i++) {
  6011. if(code_seen(axis_codes[i]))
  6012. {
  6013. bool relative = axis_relative_modes[i] || relative_mode;
  6014. destination[i] = (float)code_value();
  6015. if (i == E_AXIS) {
  6016. float emult = extruder_multiplier[active_extruder];
  6017. if (emult != 1.) {
  6018. if (! relative) {
  6019. destination[i] -= current_position[i];
  6020. relative = true;
  6021. }
  6022. destination[i] *= emult;
  6023. }
  6024. }
  6025. if (relative)
  6026. destination[i] += current_position[i];
  6027. seen[i]=true;
  6028. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6029. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  6030. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6031. }
  6032. else destination[i] = current_position[i]; //Are these else lines really needed?
  6033. }
  6034. if(code_seen('F')) {
  6035. next_feedrate = code_value();
  6036. #ifdef MAX_SILENT_FEEDRATE
  6037. if (tmc2130_mode == TMC2130_MODE_SILENT)
  6038. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  6039. #endif //MAX_SILENT_FEEDRATE
  6040. if(next_feedrate > 0.0) feedrate = next_feedrate;
  6041. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  6042. {
  6043. // float e_max_speed =
  6044. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  6045. }
  6046. }
  6047. }
  6048. void get_arc_coordinates()
  6049. {
  6050. #ifdef SF_ARC_FIX
  6051. bool relative_mode_backup = relative_mode;
  6052. relative_mode = true;
  6053. #endif
  6054. get_coordinates();
  6055. #ifdef SF_ARC_FIX
  6056. relative_mode=relative_mode_backup;
  6057. #endif
  6058. if(code_seen('I')) {
  6059. offset[0] = code_value();
  6060. }
  6061. else {
  6062. offset[0] = 0.0;
  6063. }
  6064. if(code_seen('J')) {
  6065. offset[1] = code_value();
  6066. }
  6067. else {
  6068. offset[1] = 0.0;
  6069. }
  6070. }
  6071. void clamp_to_software_endstops(float target[3])
  6072. {
  6073. #ifdef DEBUG_DISABLE_SWLIMITS
  6074. return;
  6075. #endif //DEBUG_DISABLE_SWLIMITS
  6076. world2machine_clamp(target[0], target[1]);
  6077. // Clamp the Z coordinate.
  6078. if (min_software_endstops) {
  6079. float negative_z_offset = 0;
  6080. #ifdef ENABLE_AUTO_BED_LEVELING
  6081. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  6082. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  6083. #endif
  6084. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  6085. }
  6086. if (max_software_endstops) {
  6087. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  6088. }
  6089. }
  6090. #ifdef MESH_BED_LEVELING
  6091. 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) {
  6092. float dx = x - current_position[X_AXIS];
  6093. float dy = y - current_position[Y_AXIS];
  6094. float dz = z - current_position[Z_AXIS];
  6095. int n_segments = 0;
  6096. if (mbl.active) {
  6097. float len = abs(dx) + abs(dy);
  6098. if (len > 0)
  6099. // Split to 3cm segments or shorter.
  6100. n_segments = int(ceil(len / 30.f));
  6101. }
  6102. if (n_segments > 1) {
  6103. float de = e - current_position[E_AXIS];
  6104. for (int i = 1; i < n_segments; ++ i) {
  6105. float t = float(i) / float(n_segments);
  6106. plan_buffer_line(
  6107. current_position[X_AXIS] + t * dx,
  6108. current_position[Y_AXIS] + t * dy,
  6109. current_position[Z_AXIS] + t * dz,
  6110. current_position[E_AXIS] + t * de,
  6111. feed_rate, extruder);
  6112. }
  6113. }
  6114. // The rest of the path.
  6115. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  6116. current_position[X_AXIS] = x;
  6117. current_position[Y_AXIS] = y;
  6118. current_position[Z_AXIS] = z;
  6119. current_position[E_AXIS] = e;
  6120. }
  6121. #endif // MESH_BED_LEVELING
  6122. void prepare_move()
  6123. {
  6124. clamp_to_software_endstops(destination);
  6125. previous_millis_cmd = millis();
  6126. // Do not use feedmultiply for E or Z only moves
  6127. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  6128. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  6129. }
  6130. else {
  6131. #ifdef MESH_BED_LEVELING
  6132. 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);
  6133. #else
  6134. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  6135. #endif
  6136. }
  6137. for(int8_t i=0; i < NUM_AXIS; i++) {
  6138. current_position[i] = destination[i];
  6139. }
  6140. }
  6141. void prepare_arc_move(char isclockwise) {
  6142. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  6143. // Trace the arc
  6144. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  6145. // As far as the parser is concerned, the position is now == target. In reality the
  6146. // motion control system might still be processing the action and the real tool position
  6147. // in any intermediate location.
  6148. for(int8_t i=0; i < NUM_AXIS; i++) {
  6149. current_position[i] = destination[i];
  6150. }
  6151. previous_millis_cmd = millis();
  6152. }
  6153. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6154. #if defined(FAN_PIN)
  6155. #if CONTROLLERFAN_PIN == FAN_PIN
  6156. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  6157. #endif
  6158. #endif
  6159. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  6160. unsigned long lastMotorCheck = 0;
  6161. void controllerFan()
  6162. {
  6163. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  6164. {
  6165. lastMotorCheck = millis();
  6166. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  6167. #if EXTRUDERS > 2
  6168. || !READ(E2_ENABLE_PIN)
  6169. #endif
  6170. #if EXTRUDER > 1
  6171. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  6172. || !READ(X2_ENABLE_PIN)
  6173. #endif
  6174. || !READ(E1_ENABLE_PIN)
  6175. #endif
  6176. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  6177. {
  6178. lastMotor = millis(); //... set time to NOW so the fan will turn on
  6179. }
  6180. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  6181. {
  6182. digitalWrite(CONTROLLERFAN_PIN, 0);
  6183. analogWrite(CONTROLLERFAN_PIN, 0);
  6184. }
  6185. else
  6186. {
  6187. // allows digital or PWM fan output to be used (see M42 handling)
  6188. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6189. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6190. }
  6191. }
  6192. }
  6193. #endif
  6194. #ifdef TEMP_STAT_LEDS
  6195. static bool blue_led = false;
  6196. static bool red_led = false;
  6197. static uint32_t stat_update = 0;
  6198. void handle_status_leds(void) {
  6199. float max_temp = 0.0;
  6200. if(millis() > stat_update) {
  6201. stat_update += 500; // Update every 0.5s
  6202. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  6203. max_temp = max(max_temp, degHotend(cur_extruder));
  6204. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  6205. }
  6206. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  6207. max_temp = max(max_temp, degTargetBed());
  6208. max_temp = max(max_temp, degBed());
  6209. #endif
  6210. if((max_temp > 55.0) && (red_led == false)) {
  6211. digitalWrite(STAT_LED_RED, 1);
  6212. digitalWrite(STAT_LED_BLUE, 0);
  6213. red_led = true;
  6214. blue_led = false;
  6215. }
  6216. if((max_temp < 54.0) && (blue_led == false)) {
  6217. digitalWrite(STAT_LED_RED, 0);
  6218. digitalWrite(STAT_LED_BLUE, 1);
  6219. red_led = false;
  6220. blue_led = true;
  6221. }
  6222. }
  6223. }
  6224. #endif
  6225. #ifdef SAFETYTIMER
  6226. /**
  6227. * @brief Turn off heating after 15 minutes of inactivity
  6228. */
  6229. static void handleSafetyTimer()
  6230. {
  6231. #if (EXTRUDERS > 1)
  6232. #error Implemented only for one extruder.
  6233. #endif //(EXTRUDERS > 1)
  6234. static Timer safetyTimer;
  6235. if (IS_SD_PRINTING || is_usb_printing || (custom_message_type == 4) || (lcd_commands_type == LCD_COMMAND_V2_CAL) ||
  6236. (!degTargetBed() && !degTargetHotend(0)))
  6237. {
  6238. safetyTimer.stop();
  6239. }
  6240. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  6241. {
  6242. safetyTimer.start();
  6243. }
  6244. else if (safetyTimer.expired(900000ul))
  6245. {
  6246. setTargetBed(0);
  6247. setTargetHotend(0, 0);
  6248. }
  6249. }
  6250. #endif //SAFETYTIMER
  6251. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  6252. {
  6253. #ifdef PAT9125
  6254. if (fsensor_enabled && filament_autoload_enabled && !fsensor_M600 && !moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
  6255. {
  6256. if (fsensor_autoload_enabled)
  6257. {
  6258. if (fsensor_check_autoload())
  6259. {
  6260. if (degHotend0() > EXTRUDE_MINTEMP)
  6261. {
  6262. fsensor_autoload_check_stop();
  6263. tone(BEEPER, 1000);
  6264. delay_keep_alive(50);
  6265. noTone(BEEPER);
  6266. loading_flag = true;
  6267. enquecommand_front_P((PSTR("M701")));
  6268. }
  6269. else
  6270. {
  6271. lcd_update_enable(false);
  6272. lcd_implementation_clear();
  6273. lcd.setCursor(0, 0);
  6274. lcd_printPGM(MSG_ERROR);
  6275. lcd.setCursor(0, 2);
  6276. lcd_printPGM(MSG_PREHEAT_NOZZLE);
  6277. delay(2000);
  6278. lcd_implementation_clear();
  6279. lcd_update_enable(true);
  6280. }
  6281. }
  6282. }
  6283. else
  6284. fsensor_autoload_check_start();
  6285. }
  6286. else
  6287. if (fsensor_autoload_enabled)
  6288. fsensor_autoload_check_stop();
  6289. #endif //PAT9125
  6290. #ifdef SAFETYTIMER
  6291. handleSafetyTimer();
  6292. #endif //SAFETYTIMER
  6293. #ifdef SAFETYTIMER
  6294. handleSafetyTimer();
  6295. #endif //SAFETYTIMER
  6296. #if defined(KILL_PIN) && KILL_PIN > -1
  6297. static int killCount = 0; // make the inactivity button a bit less responsive
  6298. const int KILL_DELAY = 10000;
  6299. #endif
  6300. if(buflen < (BUFSIZE-1)){
  6301. get_command();
  6302. }
  6303. if( (millis() - previous_millis_cmd) > max_inactive_time )
  6304. if(max_inactive_time)
  6305. kill("", 4);
  6306. if(stepper_inactive_time) {
  6307. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  6308. {
  6309. if(blocks_queued() == false && ignore_stepper_queue == false) {
  6310. disable_x();
  6311. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  6312. disable_y();
  6313. disable_z();
  6314. disable_e0();
  6315. disable_e1();
  6316. disable_e2();
  6317. }
  6318. }
  6319. }
  6320. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  6321. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  6322. {
  6323. chdkActive = false;
  6324. WRITE(CHDK, LOW);
  6325. }
  6326. #endif
  6327. #if defined(KILL_PIN) && KILL_PIN > -1
  6328. // Check if the kill button was pressed and wait just in case it was an accidental
  6329. // key kill key press
  6330. // -------------------------------------------------------------------------------
  6331. if( 0 == READ(KILL_PIN) )
  6332. {
  6333. killCount++;
  6334. }
  6335. else if (killCount > 0)
  6336. {
  6337. killCount--;
  6338. }
  6339. // Exceeded threshold and we can confirm that it was not accidental
  6340. // KILL the machine
  6341. // ----------------------------------------------------------------
  6342. if ( killCount >= KILL_DELAY)
  6343. {
  6344. kill("", 5);
  6345. }
  6346. #endif
  6347. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6348. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  6349. #endif
  6350. #ifdef EXTRUDER_RUNOUT_PREVENT
  6351. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  6352. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  6353. {
  6354. bool oldstatus=READ(E0_ENABLE_PIN);
  6355. enable_e0();
  6356. float oldepos=current_position[E_AXIS];
  6357. float oldedes=destination[E_AXIS];
  6358. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  6359. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  6360. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  6361. current_position[E_AXIS]=oldepos;
  6362. destination[E_AXIS]=oldedes;
  6363. plan_set_e_position(oldepos);
  6364. previous_millis_cmd=millis();
  6365. st_synchronize();
  6366. WRITE(E0_ENABLE_PIN,oldstatus);
  6367. }
  6368. #endif
  6369. #ifdef TEMP_STAT_LEDS
  6370. handle_status_leds();
  6371. #endif
  6372. check_axes_activity();
  6373. }
  6374. void kill(const char *full_screen_message, unsigned char id)
  6375. {
  6376. SERIAL_ECHOPGM("KILL: ");
  6377. MYSERIAL.println(int(id));
  6378. //return;
  6379. cli(); // Stop interrupts
  6380. disable_heater();
  6381. disable_x();
  6382. // SERIAL_ECHOLNPGM("kill - disable Y");
  6383. disable_y();
  6384. disable_z();
  6385. disable_e0();
  6386. disable_e1();
  6387. disable_e2();
  6388. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  6389. pinMode(PS_ON_PIN,INPUT);
  6390. #endif
  6391. SERIAL_ERROR_START;
  6392. SERIAL_ERRORLNRPGM(MSG_ERR_KILLED);
  6393. if (full_screen_message != NULL) {
  6394. SERIAL_ERRORLNRPGM(full_screen_message);
  6395. lcd_display_message_fullscreen_P(full_screen_message);
  6396. } else {
  6397. LCD_ALERTMESSAGERPGM(MSG_KILLED);
  6398. }
  6399. // FMC small patch to update the LCD before ending
  6400. sei(); // enable interrupts
  6401. for ( int i=5; i--; lcd_update())
  6402. {
  6403. delay(200);
  6404. }
  6405. cli(); // disable interrupts
  6406. suicide();
  6407. while(1)
  6408. {
  6409. #ifdef WATCHDOG
  6410. wdt_reset();
  6411. #endif //WATCHDOG
  6412. /* Intentionally left empty */
  6413. } // Wait for reset
  6414. }
  6415. void Stop()
  6416. {
  6417. disable_heater();
  6418. if(Stopped == false) {
  6419. Stopped = true;
  6420. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  6421. SERIAL_ERROR_START;
  6422. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  6423. LCD_MESSAGERPGM(MSG_STOPPED);
  6424. }
  6425. }
  6426. bool IsStopped() { return Stopped; };
  6427. #ifdef FAST_PWM_FAN
  6428. void setPwmFrequency(uint8_t pin, int val)
  6429. {
  6430. val &= 0x07;
  6431. switch(digitalPinToTimer(pin))
  6432. {
  6433. #if defined(TCCR0A)
  6434. case TIMER0A:
  6435. case TIMER0B:
  6436. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  6437. // TCCR0B |= val;
  6438. break;
  6439. #endif
  6440. #if defined(TCCR1A)
  6441. case TIMER1A:
  6442. case TIMER1B:
  6443. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6444. // TCCR1B |= val;
  6445. break;
  6446. #endif
  6447. #if defined(TCCR2)
  6448. case TIMER2:
  6449. case TIMER2:
  6450. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6451. TCCR2 |= val;
  6452. break;
  6453. #endif
  6454. #if defined(TCCR2A)
  6455. case TIMER2A:
  6456. case TIMER2B:
  6457. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  6458. TCCR2B |= val;
  6459. break;
  6460. #endif
  6461. #if defined(TCCR3A)
  6462. case TIMER3A:
  6463. case TIMER3B:
  6464. case TIMER3C:
  6465. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  6466. TCCR3B |= val;
  6467. break;
  6468. #endif
  6469. #if defined(TCCR4A)
  6470. case TIMER4A:
  6471. case TIMER4B:
  6472. case TIMER4C:
  6473. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  6474. TCCR4B |= val;
  6475. break;
  6476. #endif
  6477. #if defined(TCCR5A)
  6478. case TIMER5A:
  6479. case TIMER5B:
  6480. case TIMER5C:
  6481. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  6482. TCCR5B |= val;
  6483. break;
  6484. #endif
  6485. }
  6486. }
  6487. #endif //FAST_PWM_FAN
  6488. bool setTargetedHotend(int code){
  6489. tmp_extruder = active_extruder;
  6490. if(code_seen('T')) {
  6491. tmp_extruder = code_value();
  6492. if(tmp_extruder >= EXTRUDERS) {
  6493. SERIAL_ECHO_START;
  6494. switch(code){
  6495. case 104:
  6496. SERIAL_ECHORPGM(MSG_M104_INVALID_EXTRUDER);
  6497. break;
  6498. case 105:
  6499. SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
  6500. break;
  6501. case 109:
  6502. SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
  6503. break;
  6504. case 218:
  6505. SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
  6506. break;
  6507. case 221:
  6508. SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
  6509. break;
  6510. }
  6511. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6512. return true;
  6513. }
  6514. }
  6515. return false;
  6516. }
  6517. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  6518. {
  6519. 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)
  6520. {
  6521. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  6522. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  6523. }
  6524. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  6525. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  6526. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  6527. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  6528. total_filament_used = 0;
  6529. }
  6530. float calculate_extruder_multiplier(float diameter) {
  6531. float out = 1.f;
  6532. if (volumetric_enabled && diameter > 0.f) {
  6533. float area = M_PI * diameter * diameter * 0.25;
  6534. out = 1.f / area;
  6535. }
  6536. if (extrudemultiply != 100)
  6537. out *= float(extrudemultiply) * 0.01f;
  6538. return out;
  6539. }
  6540. void calculate_extruder_multipliers() {
  6541. extruder_multiplier[0] = calculate_extruder_multiplier(filament_size[0]);
  6542. #if EXTRUDERS > 1
  6543. extruder_multiplier[1] = calculate_extruder_multiplier(filament_size[1]);
  6544. #if EXTRUDERS > 2
  6545. extruder_multiplier[2] = calculate_extruder_multiplier(filament_size[2]);
  6546. #endif
  6547. #endif
  6548. }
  6549. void delay_keep_alive(unsigned int ms)
  6550. {
  6551. for (;;) {
  6552. manage_heater();
  6553. // Manage inactivity, but don't disable steppers on timeout.
  6554. manage_inactivity(true);
  6555. lcd_update();
  6556. if (ms == 0)
  6557. break;
  6558. else if (ms >= 50) {
  6559. delay(50);
  6560. ms -= 50;
  6561. } else {
  6562. delay(ms);
  6563. ms = 0;
  6564. }
  6565. }
  6566. }
  6567. void wait_for_heater(long codenum) {
  6568. #ifdef TEMP_RESIDENCY_TIME
  6569. long residencyStart;
  6570. residencyStart = -1;
  6571. /* continue to loop until we have reached the target temp
  6572. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  6573. while ((!cancel_heatup) && ((residencyStart == -1) ||
  6574. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  6575. #else
  6576. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  6577. #endif //TEMP_RESIDENCY_TIME
  6578. if ((millis() - codenum) > 1000UL)
  6579. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  6580. if (!farm_mode) {
  6581. SERIAL_PROTOCOLPGM("T:");
  6582. SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
  6583. SERIAL_PROTOCOLPGM(" E:");
  6584. SERIAL_PROTOCOL((int)tmp_extruder);
  6585. #ifdef TEMP_RESIDENCY_TIME
  6586. SERIAL_PROTOCOLPGM(" W:");
  6587. if (residencyStart > -1)
  6588. {
  6589. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  6590. SERIAL_PROTOCOLLN(codenum);
  6591. }
  6592. else
  6593. {
  6594. SERIAL_PROTOCOLLN("?");
  6595. }
  6596. }
  6597. #else
  6598. SERIAL_PROTOCOLLN("");
  6599. #endif
  6600. codenum = millis();
  6601. }
  6602. manage_heater();
  6603. manage_inactivity();
  6604. lcd_update();
  6605. #ifdef TEMP_RESIDENCY_TIME
  6606. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  6607. or when current temp falls outside the hysteresis after target temp was reached */
  6608. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
  6609. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
  6610. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
  6611. {
  6612. residencyStart = millis();
  6613. }
  6614. #endif //TEMP_RESIDENCY_TIME
  6615. }
  6616. }
  6617. void check_babystep() {
  6618. int babystep_z;
  6619. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6620. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  6621. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  6622. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  6623. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6624. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  6625. lcd_update_enable(true);
  6626. }
  6627. }
  6628. #ifdef DIS
  6629. void d_setup()
  6630. {
  6631. pinMode(D_DATACLOCK, INPUT_PULLUP);
  6632. pinMode(D_DATA, INPUT_PULLUP);
  6633. pinMode(D_REQUIRE, OUTPUT);
  6634. digitalWrite(D_REQUIRE, HIGH);
  6635. }
  6636. float d_ReadData()
  6637. {
  6638. int digit[13];
  6639. String mergeOutput;
  6640. float output;
  6641. digitalWrite(D_REQUIRE, HIGH);
  6642. for (int i = 0; i<13; i++)
  6643. {
  6644. for (int j = 0; j < 4; j++)
  6645. {
  6646. while (digitalRead(D_DATACLOCK) == LOW) {}
  6647. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6648. bitWrite(digit[i], j, digitalRead(D_DATA));
  6649. }
  6650. }
  6651. digitalWrite(D_REQUIRE, LOW);
  6652. mergeOutput = "";
  6653. output = 0;
  6654. for (int r = 5; r <= 10; r++) //Merge digits
  6655. {
  6656. mergeOutput += digit[r];
  6657. }
  6658. output = mergeOutput.toFloat();
  6659. if (digit[4] == 8) //Handle sign
  6660. {
  6661. output *= -1;
  6662. }
  6663. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6664. {
  6665. output /= 10;
  6666. }
  6667. return output;
  6668. }
  6669. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  6670. int t1 = 0;
  6671. int t_delay = 0;
  6672. int digit[13];
  6673. int m;
  6674. char str[3];
  6675. //String mergeOutput;
  6676. char mergeOutput[15];
  6677. float output;
  6678. int mesh_point = 0; //index number of calibration point
  6679. 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
  6680. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  6681. float mesh_home_z_search = 4;
  6682. float row[x_points_num];
  6683. int ix = 0;
  6684. int iy = 0;
  6685. char* filename_wldsd = "wldsd.txt";
  6686. char data_wldsd[70];
  6687. char numb_wldsd[10];
  6688. d_setup();
  6689. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  6690. // We don't know where we are! HOME!
  6691. // Push the commands to the front of the message queue in the reverse order!
  6692. // There shall be always enough space reserved for these commands.
  6693. repeatcommand_front(); // repeat G80 with all its parameters
  6694. enquecommand_front_P((PSTR("G28 W0")));
  6695. enquecommand_front_P((PSTR("G1 Z5")));
  6696. return;
  6697. }
  6698. bool custom_message_old = custom_message;
  6699. unsigned int custom_message_type_old = custom_message_type;
  6700. unsigned int custom_message_state_old = custom_message_state;
  6701. custom_message = true;
  6702. custom_message_type = 1;
  6703. custom_message_state = (x_points_num * y_points_num) + 10;
  6704. lcd_update(1);
  6705. mbl.reset();
  6706. babystep_undo();
  6707. card.openFile(filename_wldsd, false);
  6708. current_position[Z_AXIS] = mesh_home_z_search;
  6709. 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);
  6710. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  6711. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  6712. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  6713. setup_for_endstop_move(false);
  6714. SERIAL_PROTOCOLPGM("Num X,Y: ");
  6715. SERIAL_PROTOCOL(x_points_num);
  6716. SERIAL_PROTOCOLPGM(",");
  6717. SERIAL_PROTOCOL(y_points_num);
  6718. SERIAL_PROTOCOLPGM("\nZ search height: ");
  6719. SERIAL_PROTOCOL(mesh_home_z_search);
  6720. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  6721. SERIAL_PROTOCOL(x_dimension);
  6722. SERIAL_PROTOCOLPGM(",");
  6723. SERIAL_PROTOCOL(y_dimension);
  6724. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  6725. while (mesh_point != x_points_num * y_points_num) {
  6726. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  6727. iy = mesh_point / x_points_num;
  6728. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  6729. float z0 = 0.f;
  6730. current_position[Z_AXIS] = mesh_home_z_search;
  6731. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  6732. st_synchronize();
  6733. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  6734. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  6735. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  6736. st_synchronize();
  6737. 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
  6738. break;
  6739. card.closefile();
  6740. }
  6741. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6742. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  6743. //strcat(data_wldsd, numb_wldsd);
  6744. //MYSERIAL.println(data_wldsd);
  6745. //delay(1000);
  6746. //delay(3000);
  6747. //t1 = millis();
  6748. //while (digitalRead(D_DATACLOCK) == LOW) {}
  6749. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  6750. memset(digit, 0, sizeof(digit));
  6751. //cli();
  6752. digitalWrite(D_REQUIRE, LOW);
  6753. for (int i = 0; i<13; i++)
  6754. {
  6755. //t1 = millis();
  6756. for (int j = 0; j < 4; j++)
  6757. {
  6758. while (digitalRead(D_DATACLOCK) == LOW) {}
  6759. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6760. bitWrite(digit[i], j, digitalRead(D_DATA));
  6761. }
  6762. //t_delay = (millis() - t1);
  6763. //SERIAL_PROTOCOLPGM(" ");
  6764. //SERIAL_PROTOCOL_F(t_delay, 5);
  6765. //SERIAL_PROTOCOLPGM(" ");
  6766. }
  6767. //sei();
  6768. digitalWrite(D_REQUIRE, HIGH);
  6769. mergeOutput[0] = '\0';
  6770. output = 0;
  6771. for (int r = 5; r <= 10; r++) //Merge digits
  6772. {
  6773. sprintf(str, "%d", digit[r]);
  6774. strcat(mergeOutput, str);
  6775. }
  6776. output = atof(mergeOutput);
  6777. if (digit[4] == 8) //Handle sign
  6778. {
  6779. output *= -1;
  6780. }
  6781. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6782. {
  6783. output *= 0.1;
  6784. }
  6785. //output = d_ReadData();
  6786. //row[ix] = current_position[Z_AXIS];
  6787. memset(data_wldsd, 0, sizeof(data_wldsd));
  6788. for (int i = 0; i <3; i++) {
  6789. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6790. dtostrf(current_position[i], 8, 5, numb_wldsd);
  6791. strcat(data_wldsd, numb_wldsd);
  6792. strcat(data_wldsd, ";");
  6793. }
  6794. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6795. dtostrf(output, 8, 5, numb_wldsd);
  6796. strcat(data_wldsd, numb_wldsd);
  6797. //strcat(data_wldsd, ";");
  6798. card.write_command(data_wldsd);
  6799. //row[ix] = d_ReadData();
  6800. row[ix] = output; // current_position[Z_AXIS];
  6801. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  6802. for (int i = 0; i < x_points_num; i++) {
  6803. SERIAL_PROTOCOLPGM(" ");
  6804. SERIAL_PROTOCOL_F(row[i], 5);
  6805. }
  6806. SERIAL_PROTOCOLPGM("\n");
  6807. }
  6808. custom_message_state--;
  6809. mesh_point++;
  6810. lcd_update(1);
  6811. }
  6812. card.closefile();
  6813. }
  6814. #endif
  6815. void temp_compensation_start() {
  6816. custom_message = true;
  6817. custom_message_type = 5;
  6818. custom_message_state = PINDA_HEAT_T + 1;
  6819. lcd_update(2);
  6820. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  6821. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  6822. }
  6823. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  6824. current_position[X_AXIS] = PINDA_PREHEAT_X;
  6825. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  6826. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  6827. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  6828. st_synchronize();
  6829. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  6830. for (int i = 0; i < PINDA_HEAT_T; i++) {
  6831. delay_keep_alive(1000);
  6832. custom_message_state = PINDA_HEAT_T - i;
  6833. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  6834. else lcd_update(1);
  6835. }
  6836. custom_message_type = 0;
  6837. custom_message_state = 0;
  6838. custom_message = false;
  6839. }
  6840. void temp_compensation_apply() {
  6841. int i_add;
  6842. int compensation_value;
  6843. int z_shift = 0;
  6844. float z_shift_mm;
  6845. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  6846. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  6847. i_add = (target_temperature_bed - 60) / 10;
  6848. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  6849. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  6850. }else {
  6851. //interpolation
  6852. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  6853. }
  6854. SERIAL_PROTOCOLPGM("\n");
  6855. SERIAL_PROTOCOLPGM("Z shift applied:");
  6856. MYSERIAL.print(z_shift_mm);
  6857. 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);
  6858. st_synchronize();
  6859. plan_set_z_position(current_position[Z_AXIS]);
  6860. }
  6861. else {
  6862. //we have no temp compensation data
  6863. }
  6864. }
  6865. float temp_comp_interpolation(float inp_temperature) {
  6866. //cubic spline interpolation
  6867. int n, i, j, k;
  6868. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  6869. int shift[10];
  6870. int temp_C[10];
  6871. n = 6; //number of measured points
  6872. shift[0] = 0;
  6873. for (i = 0; i < n; i++) {
  6874. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  6875. temp_C[i] = 50 + i * 10; //temperature in C
  6876. #ifdef PINDA_THERMISTOR
  6877. temp_C[i] = 35 + i * 5; //temperature in C
  6878. #else
  6879. temp_C[i] = 50 + i * 10; //temperature in C
  6880. #endif
  6881. x[i] = (float)temp_C[i];
  6882. f[i] = (float)shift[i];
  6883. }
  6884. if (inp_temperature < x[0]) return 0;
  6885. for (i = n - 1; i>0; i--) {
  6886. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  6887. h[i - 1] = x[i] - x[i - 1];
  6888. }
  6889. //*********** formation of h, s , f matrix **************
  6890. for (i = 1; i<n - 1; i++) {
  6891. m[i][i] = 2 * (h[i - 1] + h[i]);
  6892. if (i != 1) {
  6893. m[i][i - 1] = h[i - 1];
  6894. m[i - 1][i] = h[i - 1];
  6895. }
  6896. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  6897. }
  6898. //*********** forward elimination **************
  6899. for (i = 1; i<n - 2; i++) {
  6900. temp = (m[i + 1][i] / m[i][i]);
  6901. for (j = 1; j <= n - 1; j++)
  6902. m[i + 1][j] -= temp*m[i][j];
  6903. }
  6904. //*********** backward substitution *********
  6905. for (i = n - 2; i>0; i--) {
  6906. sum = 0;
  6907. for (j = i; j <= n - 2; j++)
  6908. sum += m[i][j] * s[j];
  6909. s[i] = (m[i][n - 1] - sum) / m[i][i];
  6910. }
  6911. for (i = 0; i<n - 1; i++)
  6912. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  6913. a = (s[i + 1] - s[i]) / (6 * h[i]);
  6914. b = s[i] / 2;
  6915. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  6916. d = f[i];
  6917. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  6918. }
  6919. return sum;
  6920. }
  6921. #ifdef PINDA_THERMISTOR
  6922. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  6923. {
  6924. if (!temp_cal_active) return 0;
  6925. if (!calibration_status_pinda()) return 0;
  6926. return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
  6927. }
  6928. #endif //PINDA_THERMISTOR
  6929. void long_pause() //long pause print
  6930. {
  6931. st_synchronize();
  6932. //save currently set parameters to global variables
  6933. saved_feedmultiply = feedmultiply;
  6934. HotendTempBckp = degTargetHotend(active_extruder);
  6935. fanSpeedBckp = fanSpeed;
  6936. start_pause_print = millis();
  6937. //save position
  6938. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  6939. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  6940. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  6941. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  6942. //retract
  6943. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  6944. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  6945. //lift z
  6946. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  6947. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  6948. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  6949. //set nozzle target temperature to 0
  6950. setTargetHotend(0, 0);
  6951. setTargetHotend(0, 1);
  6952. setTargetHotend(0, 2);
  6953. //Move XY to side
  6954. current_position[X_AXIS] = X_PAUSE_POS;
  6955. current_position[Y_AXIS] = Y_PAUSE_POS;
  6956. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  6957. // Turn off the print fan
  6958. fanSpeed = 0;
  6959. st_synchronize();
  6960. }
  6961. void serialecho_temperatures() {
  6962. float tt = degHotend(active_extruder);
  6963. SERIAL_PROTOCOLPGM("T:");
  6964. SERIAL_PROTOCOL(tt);
  6965. SERIAL_PROTOCOLPGM(" E:");
  6966. SERIAL_PROTOCOL((int)active_extruder);
  6967. SERIAL_PROTOCOLPGM(" B:");
  6968. SERIAL_PROTOCOL_F(degBed(), 1);
  6969. SERIAL_PROTOCOLLN("");
  6970. }
  6971. extern uint32_t sdpos_atomic;
  6972. #ifdef UVLO_SUPPORT
  6973. void uvlo_()
  6974. {
  6975. unsigned long time_start = millis();
  6976. bool sd_print = card.sdprinting;
  6977. // Conserve power as soon as possible.
  6978. disable_x();
  6979. disable_y();
  6980. disable_e0();
  6981. #ifdef TMC2130
  6982. tmc2130_set_current_h(Z_AXIS, 20);
  6983. tmc2130_set_current_r(Z_AXIS, 20);
  6984. tmc2130_set_current_h(E_AXIS, 20);
  6985. tmc2130_set_current_r(E_AXIS, 20);
  6986. #endif //TMC2130
  6987. // Indicate that the interrupt has been triggered.
  6988. // SERIAL_ECHOLNPGM("UVLO");
  6989. // Read out the current Z motor microstep counter. This will be later used
  6990. // for reaching the zero full step before powering off.
  6991. uint16_t z_microsteps = 0;
  6992. #ifdef TMC2130
  6993. z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  6994. #endif //TMC2130
  6995. // Calculate the file position, from which to resume this print.
  6996. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  6997. {
  6998. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  6999. sd_position -= sdlen_planner;
  7000. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7001. sd_position -= sdlen_cmdqueue;
  7002. if (sd_position < 0) sd_position = 0;
  7003. }
  7004. // Backup the feedrate in mm/min.
  7005. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7006. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  7007. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  7008. // are in action.
  7009. planner_abort_hard();
  7010. // Store the current extruder position.
  7011. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  7012. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  7013. // Clean the input command queue.
  7014. cmdqueue_reset();
  7015. card.sdprinting = false;
  7016. // card.closefile();
  7017. // Enable stepper driver interrupt to move Z axis.
  7018. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  7019. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  7020. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  7021. sei();
  7022. plan_buffer_line(
  7023. current_position[X_AXIS],
  7024. current_position[Y_AXIS],
  7025. current_position[Z_AXIS],
  7026. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7027. 95, active_extruder);
  7028. st_synchronize();
  7029. disable_e0();
  7030. plan_buffer_line(
  7031. current_position[X_AXIS],
  7032. current_position[Y_AXIS],
  7033. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7034. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7035. 40, active_extruder);
  7036. st_synchronize();
  7037. disable_e0();
  7038. plan_buffer_line(
  7039. current_position[X_AXIS],
  7040. current_position[Y_AXIS],
  7041. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7042. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7043. 40, active_extruder);
  7044. st_synchronize();
  7045. disable_e0();
  7046. disable_z();
  7047. // Move Z up to the next 0th full step.
  7048. // Write the file position.
  7049. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  7050. // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7051. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7052. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7053. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7054. // Scale the z value to 1u resolution.
  7055. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
  7056. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  7057. }
  7058. // Read out the current Z motor microstep counter. This will be later used
  7059. // for reaching the zero full step before powering off.
  7060. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  7061. // Store the current position.
  7062. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  7063. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  7064. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  7065. // Store the current feed rate, temperatures and fan speed.
  7066. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  7067. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  7068. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  7069. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  7070. // Finaly store the "power outage" flag.
  7071. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  7072. st_synchronize();
  7073. SERIAL_ECHOPGM("stps");
  7074. MYSERIAL.println(tmc2130_rd_MSCNT(Z_AXIS));
  7075. disable_z();
  7076. // Increment power failure counter
  7077. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  7078. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  7079. SERIAL_ECHOLNPGM("UVLO - end");
  7080. MYSERIAL.println(millis() - time_start);
  7081. #if 0
  7082. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  7083. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  7084. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  7085. st_synchronize();
  7086. #endif
  7087. cli();
  7088. volatile unsigned int ppcount = 0;
  7089. SET_OUTPUT(BEEPER);
  7090. WRITE(BEEPER, HIGH);
  7091. for(ppcount = 0; ppcount < 2000; ppcount ++){
  7092. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  7093. }
  7094. WRITE(BEEPER, LOW);
  7095. while(1){
  7096. #if 1
  7097. WRITE(BEEPER, LOW);
  7098. for(ppcount = 0; ppcount < 8000; ppcount ++){
  7099. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  7100. }
  7101. #endif
  7102. };
  7103. }
  7104. #endif //UVLO_SUPPORT
  7105. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  7106. void setup_fan_interrupt() {
  7107. //INT7
  7108. DDRE &= ~(1 << 7); //input pin
  7109. PORTE &= ~(1 << 7); //no internal pull-up
  7110. //start with sensing rising edge
  7111. EICRB &= ~(1 << 6);
  7112. EICRB |= (1 << 7);
  7113. //enable INT7 interrupt
  7114. EIMSK |= (1 << 7);
  7115. }
  7116. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  7117. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  7118. ISR(INT7_vect) {
  7119. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  7120. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  7121. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  7122. t_fan_rising_edge = millis_nc();
  7123. }
  7124. else { //interrupt was triggered by falling edge
  7125. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  7126. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  7127. }
  7128. }
  7129. EICRB ^= (1 << 6); //change edge
  7130. }
  7131. #endif
  7132. #ifdef UVLO_SUPPORT
  7133. void setup_uvlo_interrupt() {
  7134. DDRE &= ~(1 << 4); //input pin
  7135. PORTE &= ~(1 << 4); //no internal pull-up
  7136. //sensing falling edge
  7137. EICRB |= (1 << 0);
  7138. EICRB &= ~(1 << 1);
  7139. //enable INT4 interrupt
  7140. EIMSK |= (1 << 4);
  7141. }
  7142. ISR(INT4_vect) {
  7143. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  7144. SERIAL_ECHOLNPGM("INT4");
  7145. if (IS_SD_PRINTING) uvlo_();
  7146. }
  7147. void recover_print(uint8_t automatic) {
  7148. char cmd[30];
  7149. lcd_update_enable(true);
  7150. lcd_update(2);
  7151. lcd_setstatuspgm(MSG_RECOVERING_PRINT);
  7152. recover_machine_state_after_power_panic();
  7153. // Set the target bed and nozzle temperatures.
  7154. sprintf_P(cmd, PSTR("M104 S%d"), target_temperature[active_extruder]);
  7155. enquecommand(cmd);
  7156. sprintf_P(cmd, PSTR("M140 S%d"), target_temperature_bed);
  7157. enquecommand(cmd);
  7158. // Lift the print head, so one may remove the excess priming material.
  7159. if (current_position[Z_AXIS] < 25)
  7160. enquecommand_P(PSTR("G1 Z25 F800"));
  7161. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  7162. enquecommand_P(PSTR("G28 X Y"));
  7163. // Set the target bed and nozzle temperatures and wait.
  7164. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  7165. enquecommand(cmd);
  7166. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  7167. enquecommand(cmd);
  7168. enquecommand_P(PSTR("M83")); //E axis relative mode
  7169. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7170. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  7171. if(automatic == 0){
  7172. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7173. }
  7174. enquecommand_P(PSTR("G1 E" STRINGIFY(-DEFAULT_RETRACTION)" F480"));
  7175. // Mark the power panic status as inactive.
  7176. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  7177. /*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
  7178. delay_keep_alive(1000);
  7179. }*/
  7180. SERIAL_ECHOPGM("After waiting for temp:");
  7181. SERIAL_ECHOPGM("Current position X_AXIS:");
  7182. MYSERIAL.println(current_position[X_AXIS]);
  7183. SERIAL_ECHOPGM("Current position Y_AXIS:");
  7184. MYSERIAL.println(current_position[Y_AXIS]);
  7185. // Restart the print.
  7186. restore_print_from_eeprom();
  7187. SERIAL_ECHOPGM("current_position[Z_AXIS]:");
  7188. MYSERIAL.print(current_position[Z_AXIS]);
  7189. SERIAL_ECHOPGM("current_position[E_AXIS]:");
  7190. MYSERIAL.print(current_position[E_AXIS]);
  7191. }
  7192. void recover_machine_state_after_power_panic()
  7193. {
  7194. char cmd[30];
  7195. // 1) Recover the logical cordinates at the time of the power panic.
  7196. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  7197. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  7198. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  7199. // Recover the logical coordinate of the Z axis at the time of the power panic.
  7200. // The current position after power panic is moved to the next closest 0th full step.
  7201. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  7202. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  7203. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
  7204. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7205. sprintf_P(cmd, PSTR("G92 E"));
  7206. dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
  7207. enquecommand(cmd);
  7208. }
  7209. memcpy(destination, current_position, sizeof(destination));
  7210. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7211. print_world_coordinates();
  7212. // 2) Initialize the logical to physical coordinate system transformation.
  7213. world2machine_initialize();
  7214. // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7215. mbl.active = false;
  7216. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7217. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7218. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7219. // Scale the z value to 10u resolution.
  7220. int16_t v;
  7221. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
  7222. if (v != 0)
  7223. mbl.active = true;
  7224. mbl.z_values[iy][ix] = float(v) * 0.001f;
  7225. }
  7226. if (mbl.active)
  7227. mbl.upsample_3x3();
  7228. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7229. // print_mesh_bed_leveling_table();
  7230. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  7231. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  7232. babystep_load();
  7233. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  7234. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  7235. // 6) Power up the motors, mark their positions as known.
  7236. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  7237. axis_known_position[X_AXIS] = true; enable_x();
  7238. axis_known_position[Y_AXIS] = true; enable_y();
  7239. axis_known_position[Z_AXIS] = true; enable_z();
  7240. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7241. print_physical_coordinates();
  7242. // 7) Recover the target temperatures.
  7243. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  7244. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  7245. }
  7246. void restore_print_from_eeprom() {
  7247. float x_rec, y_rec, z_pos;
  7248. int feedrate_rec;
  7249. uint8_t fan_speed_rec;
  7250. char cmd[30];
  7251. char* c;
  7252. char filename[13];
  7253. uint8_t depth = 0;
  7254. char dir_name[9];
  7255. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  7256. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  7257. SERIAL_ECHOPGM("Feedrate:");
  7258. MYSERIAL.println(feedrate_rec);
  7259. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  7260. MYSERIAL.println(int(depth));
  7261. for (int i = 0; i < depth; i++) {
  7262. for (int j = 0; j < 8; j++) {
  7263. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  7264. }
  7265. dir_name[8] = '\0';
  7266. MYSERIAL.println(dir_name);
  7267. card.chdir(dir_name);
  7268. }
  7269. for (int i = 0; i < 8; i++) {
  7270. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  7271. }
  7272. filename[8] = '\0';
  7273. MYSERIAL.print(filename);
  7274. strcat_P(filename, PSTR(".gco"));
  7275. sprintf_P(cmd, PSTR("M23 %s"), filename);
  7276. for (c = &cmd[4]; *c; c++)
  7277. *c = tolower(*c);
  7278. enquecommand(cmd);
  7279. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  7280. SERIAL_ECHOPGM("Position read from eeprom:");
  7281. MYSERIAL.println(position);
  7282. // E axis relative mode.
  7283. enquecommand_P(PSTR("M83"));
  7284. // Move to the XY print position in logical coordinates, where the print has been killed.
  7285. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  7286. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  7287. strcat_P(cmd, PSTR(" F2000"));
  7288. enquecommand(cmd);
  7289. // Move the Z axis down to the print, in logical coordinates.
  7290. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  7291. enquecommand(cmd);
  7292. // Unretract.
  7293. enquecommand_P(PSTR("G1 E" STRINGIFY(2*DEFAULT_RETRACTION)" F480"));
  7294. // Set the feedrate saved at the power panic.
  7295. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  7296. enquecommand(cmd);
  7297. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  7298. {
  7299. float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7300. enquecommand_P(PSTR("M82")); //E axis abslute mode
  7301. }
  7302. // Set the fan speed saved at the power panic.
  7303. strcpy_P(cmd, PSTR("M106 S"));
  7304. strcat(cmd, itostr3(int(fan_speed_rec)));
  7305. enquecommand(cmd);
  7306. // Set a position in the file.
  7307. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  7308. enquecommand(cmd);
  7309. // Start SD print.
  7310. enquecommand_P(PSTR("M24"));
  7311. }
  7312. #endif //UVLO_SUPPORT
  7313. ////////////////////////////////////////////////////////////////////////////////
  7314. // new save/restore printing
  7315. //extern uint32_t sdpos_atomic;
  7316. bool saved_printing = false;
  7317. uint32_t saved_sdpos = 0;
  7318. float saved_pos[4] = {0, 0, 0, 0};
  7319. // Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  7320. float saved_feedrate2 = 0;
  7321. uint8_t saved_active_extruder = 0;
  7322. bool saved_extruder_under_pressure = false;
  7323. void stop_and_save_print_to_ram(float z_move, float e_move)
  7324. {
  7325. if (saved_printing) return;
  7326. cli();
  7327. unsigned char nplanner_blocks = number_of_blocks();
  7328. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  7329. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7330. saved_sdpos -= sdlen_planner;
  7331. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7332. saved_sdpos -= sdlen_cmdqueue;
  7333. #if 0
  7334. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  7335. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  7336. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  7337. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  7338. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  7339. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  7340. SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  7341. {
  7342. card.setIndex(saved_sdpos);
  7343. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  7344. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  7345. MYSERIAL.print(char(card.get()));
  7346. SERIAL_ECHOLNPGM("Content of command buffer: ");
  7347. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  7348. MYSERIAL.print(char(card.get()));
  7349. SERIAL_ECHOLNPGM("End of command buffer");
  7350. }
  7351. {
  7352. // Print the content of the planner buffer, line by line:
  7353. card.setIndex(saved_sdpos);
  7354. int8_t iline = 0;
  7355. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  7356. SERIAL_ECHOPGM("Planner line (from file): ");
  7357. MYSERIAL.print(int(iline), DEC);
  7358. SERIAL_ECHOPGM(", length: ");
  7359. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  7360. SERIAL_ECHOPGM(", steps: (");
  7361. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  7362. SERIAL_ECHOPGM(",");
  7363. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  7364. SERIAL_ECHOPGM(",");
  7365. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  7366. SERIAL_ECHOPGM(",");
  7367. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  7368. SERIAL_ECHOPGM("), events: ");
  7369. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  7370. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  7371. MYSERIAL.print(char(card.get()));
  7372. }
  7373. }
  7374. {
  7375. // Print the content of the command buffer, line by line:
  7376. int8_t iline = 0;
  7377. union {
  7378. struct {
  7379. char lo;
  7380. char hi;
  7381. } lohi;
  7382. uint16_t value;
  7383. } sdlen_single;
  7384. int _bufindr = bufindr;
  7385. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  7386. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  7387. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  7388. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  7389. }
  7390. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  7391. MYSERIAL.print(int(iline), DEC);
  7392. SERIAL_ECHOPGM(", type: ");
  7393. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  7394. SERIAL_ECHOPGM(", len: ");
  7395. MYSERIAL.println(sdlen_single.value, DEC);
  7396. // Print the content of the buffer line.
  7397. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  7398. SERIAL_ECHOPGM("Buffer line (from file): ");
  7399. MYSERIAL.print(int(iline), DEC);
  7400. MYSERIAL.println(int(iline), DEC);
  7401. for (; sdlen_single.value > 0; -- sdlen_single.value)
  7402. MYSERIAL.print(char(card.get()));
  7403. if (-- _buflen == 0)
  7404. break;
  7405. // First skip the current command ID and iterate up to the end of the string.
  7406. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  7407. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  7408. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7409. // If the end of the buffer was empty,
  7410. if (_bufindr == sizeof(cmdbuffer)) {
  7411. // skip to the start and find the nonzero command.
  7412. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7413. }
  7414. }
  7415. }
  7416. #endif
  7417. #if 0
  7418. saved_feedrate2 = feedrate; //save feedrate
  7419. #else
  7420. // Try to deduce the feedrate from the first block of the planner.
  7421. // Speed is in mm/min.
  7422. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7423. #endif
  7424. planner_abort_hard(); //abort printing
  7425. memcpy(saved_pos, current_position, sizeof(saved_pos));
  7426. saved_active_extruder = active_extruder; //save active_extruder
  7427. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  7428. cmdqueue_reset(); //empty cmdqueue
  7429. card.sdprinting = false;
  7430. // card.closefile();
  7431. saved_printing = true;
  7432. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  7433. st_reset_timer();
  7434. sei();
  7435. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  7436. #if 1
  7437. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  7438. char buf[48];
  7439. strcpy_P(buf, PSTR("G1 Z"));
  7440. dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
  7441. strcat_P(buf, PSTR(" E"));
  7442. // Relative extrusion
  7443. dtostrf(e_move, 6, 3, buf + strlen(buf));
  7444. strcat_P(buf, PSTR(" F"));
  7445. dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
  7446. // At this point the command queue is empty.
  7447. enquecommand(buf, false);
  7448. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  7449. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  7450. repeatcommand_front();
  7451. #else
  7452. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS] + z_move, saved_pos[E_AXIS] + e_move, homing_feedrate[Z_AXIS], active_extruder);
  7453. st_synchronize(); //wait moving
  7454. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7455. memcpy(destination, current_position, sizeof(destination));
  7456. #endif
  7457. }
  7458. }
  7459. void restore_print_from_ram_and_continue(float e_move)
  7460. {
  7461. if (!saved_printing) return;
  7462. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  7463. // current_position[axis] = st_get_position_mm(axis);
  7464. active_extruder = saved_active_extruder; //restore active_extruder
  7465. feedrate = saved_feedrate2; //restore feedrate
  7466. float e = saved_pos[E_AXIS] - e_move;
  7467. plan_set_e_position(e);
  7468. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], homing_feedrate[Z_AXIS]/13, active_extruder);
  7469. st_synchronize();
  7470. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7471. memcpy(destination, current_position, sizeof(destination));
  7472. card.setIndex(saved_sdpos);
  7473. sdpos_atomic = saved_sdpos;
  7474. card.sdprinting = true;
  7475. saved_printing = false;
  7476. printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
  7477. }
  7478. void print_world_coordinates()
  7479. {
  7480. SERIAL_ECHOPGM("world coordinates: (");
  7481. MYSERIAL.print(current_position[X_AXIS], 3);
  7482. SERIAL_ECHOPGM(", ");
  7483. MYSERIAL.print(current_position[Y_AXIS], 3);
  7484. SERIAL_ECHOPGM(", ");
  7485. MYSERIAL.print(current_position[Z_AXIS], 3);
  7486. SERIAL_ECHOLNPGM(")");
  7487. }
  7488. void print_physical_coordinates()
  7489. {
  7490. SERIAL_ECHOPGM("physical coordinates: (");
  7491. MYSERIAL.print(st_get_position_mm(X_AXIS), 3);
  7492. SERIAL_ECHOPGM(", ");
  7493. MYSERIAL.print(st_get_position_mm(Y_AXIS), 3);
  7494. SERIAL_ECHOPGM(", ");
  7495. MYSERIAL.print(st_get_position_mm(Z_AXIS), 3);
  7496. SERIAL_ECHOLNPGM(")");
  7497. }
  7498. void print_mesh_bed_leveling_table()
  7499. {
  7500. SERIAL_ECHOPGM("mesh bed leveling: ");
  7501. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  7502. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  7503. MYSERIAL.print(mbl.z_values[y][x], 3);
  7504. SERIAL_ECHOPGM(" ");
  7505. }
  7506. SERIAL_ECHOLNPGM("");
  7507. }
  7508. #define FIL_LOAD_LENGTH 60