Marlin_main.cpp 346 KB

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  1. /* -*- c++ -*- */
  2. /**
  3. * @file
  4. */
  5. /**
  6. * @mainpage Reprap 3D printer firmware based on Sprinter and grbl.
  7. *
  8. * @section intro_sec Introduction
  9. *
  10. * This firmware is a mashup between Sprinter and grbl.
  11. * https://github.com/kliment/Sprinter
  12. * https://github.com/simen/grbl/tree
  13. *
  14. * It has preliminary support for Matthew Roberts advance algorithm
  15. * http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  16. *
  17. * Prusa Research s.r.o. https://www.prusa3d.cz
  18. *
  19. * @section copyright_sec Copyright
  20. *
  21. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  22. *
  23. * This program is free software: you can redistribute it and/or modify
  24. * it under the terms of the GNU General Public License as published by
  25. * the Free Software Foundation, either version 3 of the License, or
  26. * (at your option) any later version.
  27. *
  28. * This program is distributed in the hope that it will be useful,
  29. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  30. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  31. * GNU General Public License for more details.
  32. *
  33. * You should have received a copy of the GNU General Public License
  34. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  35. *
  36. * @section notes_sec Notes
  37. *
  38. * * Do not create static objects in global functions.
  39. * Otherwise constructor guard against concurrent calls is generated costing
  40. * about 8B RAM and 14B flash.
  41. *
  42. *
  43. */
  44. //-//
  45. #include "Configuration.h"
  46. #include "Marlin.h"
  47. #ifdef ENABLE_AUTO_BED_LEVELING
  48. #include "vector_3.h"
  49. #ifdef AUTO_BED_LEVELING_GRID
  50. #include "qr_solve.h"
  51. #endif
  52. #endif // ENABLE_AUTO_BED_LEVELING
  53. #ifdef MESH_BED_LEVELING
  54. #include "mesh_bed_leveling.h"
  55. #include "mesh_bed_calibration.h"
  56. #endif
  57. #include "printers.h"
  58. #include "menu.h"
  59. #include "ultralcd.h"
  60. #include "planner.h"
  61. #include "stepper.h"
  62. #include "temperature.h"
  63. #include "motion_control.h"
  64. #include "cardreader.h"
  65. #include "ConfigurationStore.h"
  66. #include "language.h"
  67. #include "pins_arduino.h"
  68. #include "math.h"
  69. #include "util.h"
  70. #include "Timer.h"
  71. #include <avr/wdt.h>
  72. #include <avr/pgmspace.h>
  73. #include "Dcodes.h"
  74. #include "AutoDeplete.h"
  75. #ifdef SWSPI
  76. #include "swspi.h"
  77. #endif //SWSPI
  78. #include "spi.h"
  79. #ifdef SWI2C
  80. #include "swi2c.h"
  81. #endif //SWI2C
  82. #ifdef FILAMENT_SENSOR
  83. #include "fsensor.h"
  84. #endif //FILAMENT_SENSOR
  85. #ifdef TMC2130
  86. #include "tmc2130.h"
  87. #endif //TMC2130
  88. #ifdef W25X20CL
  89. #include "w25x20cl.h"
  90. #include "optiboot_w25x20cl.h"
  91. #endif //W25X20CL
  92. #ifdef BLINKM
  93. #include "BlinkM.h"
  94. #include "Wire.h"
  95. #endif
  96. #ifdef ULTRALCD
  97. #include "ultralcd.h"
  98. #endif
  99. #if NUM_SERVOS > 0
  100. #include "Servo.h"
  101. #endif
  102. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  103. #include <SPI.h>
  104. #endif
  105. #include "mmu.h"
  106. #define VERSION_STRING "1.0.2"
  107. #include "ultralcd.h"
  108. #include "sound.h"
  109. #include "cmdqueue.h"
  110. #include "io_atmega2560.h"
  111. // Macros for bit masks
  112. #define BIT(b) (1<<(b))
  113. #define TEST(n,b) (((n)&BIT(b))!=0)
  114. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  115. //Macro for print fan speed
  116. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  117. #define PRINTING_TYPE_SD 0
  118. #define PRINTING_TYPE_USB 1
  119. #define PRINTING_TYPE_NONE 2
  120. //filament types
  121. #define FILAMENT_DEFAULT 0
  122. #define FILAMENT_FLEX 1
  123. #define FILAMENT_PVA 2
  124. #define FILAMENT_UNDEFINED 255
  125. //Stepper Movement Variables
  126. //===========================================================================
  127. //=============================imported variables============================
  128. //===========================================================================
  129. //===========================================================================
  130. //=============================public variables=============================
  131. //===========================================================================
  132. #ifdef SDSUPPORT
  133. CardReader card;
  134. #endif
  135. unsigned long PingTime = _millis();
  136. unsigned long NcTime;
  137. uint8_t mbl_z_probe_nr = 3; //numer of Z measurements for each point in mesh bed leveling calibration
  138. //used for PINDA temp calibration and pause print
  139. #define DEFAULT_RETRACTION 1
  140. #define DEFAULT_RETRACTION_MM 4 //MM
  141. float default_retraction = DEFAULT_RETRACTION;
  142. float homing_feedrate[] = HOMING_FEEDRATE;
  143. // Currently only the extruder axis may be switched to a relative mode.
  144. // Other axes are always absolute or relative based on the common relative_mode flag.
  145. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  146. int feedmultiply=100; //100->1 200->2
  147. int extrudemultiply=100; //100->1 200->2
  148. int extruder_multiply[EXTRUDERS] = {100
  149. #if EXTRUDERS > 1
  150. , 100
  151. #if EXTRUDERS > 2
  152. , 100
  153. #endif
  154. #endif
  155. };
  156. int bowden_length[4] = {385, 385, 385, 385};
  157. bool is_usb_printing = false;
  158. bool homing_flag = false;
  159. bool temp_cal_active = false;
  160. unsigned long kicktime = _millis()+100000;
  161. unsigned int usb_printing_counter;
  162. int8_t lcd_change_fil_state = 0;
  163. unsigned long pause_time = 0;
  164. unsigned long start_pause_print = _millis();
  165. unsigned long t_fan_rising_edge = _millis();
  166. LongTimer safetyTimer;
  167. static LongTimer crashDetTimer;
  168. //unsigned long load_filament_time;
  169. bool mesh_bed_leveling_flag = false;
  170. bool mesh_bed_run_from_menu = false;
  171. bool prusa_sd_card_upload = false;
  172. unsigned int status_number = 0;
  173. unsigned long total_filament_used;
  174. unsigned int heating_status;
  175. unsigned int heating_status_counter;
  176. bool loading_flag = false;
  177. char snmm_filaments_used = 0;
  178. bool fan_state[2];
  179. int fan_edge_counter[2];
  180. int fan_speed[2];
  181. char dir_names[3][9];
  182. bool sortAlpha = false;
  183. float extruder_multiplier[EXTRUDERS] = {1.0
  184. #if EXTRUDERS > 1
  185. , 1.0
  186. #if EXTRUDERS > 2
  187. , 1.0
  188. #endif
  189. #endif
  190. };
  191. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  192. //shortcuts for more readable code
  193. #define _x current_position[X_AXIS]
  194. #define _y current_position[Y_AXIS]
  195. #define _z current_position[Z_AXIS]
  196. #define _e current_position[E_AXIS]
  197. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  198. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  199. bool axis_known_position[3] = {false, false, false};
  200. // Extruder offset
  201. #if EXTRUDERS > 1
  202. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  203. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  204. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  205. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  206. #endif
  207. };
  208. #endif
  209. uint8_t active_extruder = 0;
  210. int fanSpeed=0;
  211. #ifdef FWRETRACT
  212. bool retracted[EXTRUDERS]={false
  213. #if EXTRUDERS > 1
  214. , false
  215. #if EXTRUDERS > 2
  216. , false
  217. #endif
  218. #endif
  219. };
  220. bool retracted_swap[EXTRUDERS]={false
  221. #if EXTRUDERS > 1
  222. , false
  223. #if EXTRUDERS > 2
  224. , false
  225. #endif
  226. #endif
  227. };
  228. float retract_length_swap = RETRACT_LENGTH_SWAP;
  229. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  230. #endif
  231. #ifdef PS_DEFAULT_OFF
  232. bool powersupply = false;
  233. #else
  234. bool powersupply = true;
  235. #endif
  236. bool cancel_heatup = false ;
  237. int8_t busy_state = NOT_BUSY;
  238. static long prev_busy_signal_ms = -1;
  239. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  240. const char errormagic[] PROGMEM = "Error:";
  241. const char echomagic[] PROGMEM = "echo:";
  242. bool no_response = false;
  243. uint8_t important_status;
  244. uint8_t saved_filament_type;
  245. // save/restore printing in case that mmu was not responding
  246. bool mmu_print_saved = false;
  247. // storing estimated time to end of print counted by slicer
  248. uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  249. uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  250. uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  251. uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  252. bool wizard_active = false; //autoload temporarily disabled during wizard
  253. //===========================================================================
  254. //=============================Private Variables=============================
  255. //===========================================================================
  256. #define MSG_BED_LEVELING_FAILED_TIMEOUT 30
  257. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  258. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  259. // For tracing an arc
  260. static float offset[3] = {0.0, 0.0, 0.0};
  261. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  262. // Determines Absolute or Relative Coordinates.
  263. // Also there is bool axis_relative_modes[] per axis flag.
  264. static bool relative_mode = false;
  265. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  266. //static float tt = 0;
  267. //static float bt = 0;
  268. //Inactivity shutdown variables
  269. static unsigned long previous_millis_cmd = 0;
  270. unsigned long max_inactive_time = 0;
  271. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  272. static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
  273. unsigned long starttime=0;
  274. unsigned long stoptime=0;
  275. unsigned long _usb_timer = 0;
  276. bool extruder_under_pressure = true;
  277. bool Stopped=false;
  278. #if NUM_SERVOS > 0
  279. Servo servos[NUM_SERVOS];
  280. #endif
  281. bool CooldownNoWait = true;
  282. bool target_direction;
  283. //Insert variables if CHDK is defined
  284. #ifdef CHDK
  285. unsigned long chdkHigh = 0;
  286. boolean chdkActive = false;
  287. #endif
  288. //! @name RAM save/restore printing
  289. //! @{
  290. bool saved_printing = false; //!< Print is paused and saved in RAM
  291. static uint32_t saved_sdpos = 0; //!< SD card position, or line number in case of USB printing
  292. static uint8_t saved_printing_type = PRINTING_TYPE_SD;
  293. static float saved_pos[4] = { 0, 0, 0, 0 };
  294. //! Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  295. static float saved_feedrate2 = 0;
  296. static uint8_t saved_active_extruder = 0;
  297. static float saved_extruder_temperature = 0.0; //!< Active extruder temperature
  298. static bool saved_extruder_under_pressure = false;
  299. static bool saved_extruder_relative_mode = false;
  300. static int saved_fanSpeed = 0; //!< Print fan speed
  301. //! @}
  302. static int saved_feedmultiply_mm = 100;
  303. //===========================================================================
  304. //=============================Routines======================================
  305. //===========================================================================
  306. static void get_arc_coordinates();
  307. static bool setTargetedHotend(int code, uint8_t &extruder);
  308. static void print_time_remaining_init();
  309. static void wait_for_heater(long codenum, uint8_t extruder);
  310. static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
  311. uint16_t gcode_in_progress = 0;
  312. uint16_t mcode_in_progress = 0;
  313. void serial_echopair_P(const char *s_P, float v)
  314. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  315. void serial_echopair_P(const char *s_P, double v)
  316. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  317. void serial_echopair_P(const char *s_P, unsigned long v)
  318. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  319. /*FORCE_INLINE*/ void serialprintPGM(const char *str)
  320. {
  321. #if 0
  322. char ch=pgm_read_byte(str);
  323. while(ch)
  324. {
  325. MYSERIAL.write(ch);
  326. ch=pgm_read_byte(++str);
  327. }
  328. #else
  329. // hmm, same size as the above version, the compiler did a good job optimizing the above
  330. while( uint8_t ch = pgm_read_byte(str) ){
  331. MYSERIAL.write((char)ch);
  332. ++str;
  333. }
  334. #endif
  335. }
  336. #ifdef SDSUPPORT
  337. #include "SdFatUtil.h"
  338. int freeMemory() { return SdFatUtil::FreeRam(); }
  339. #else
  340. extern "C" {
  341. extern unsigned int __bss_end;
  342. extern unsigned int __heap_start;
  343. extern void *__brkval;
  344. int freeMemory() {
  345. int free_memory;
  346. if ((int)__brkval == 0)
  347. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  348. else
  349. free_memory = ((int)&free_memory) - ((int)__brkval);
  350. return free_memory;
  351. }
  352. }
  353. #endif //!SDSUPPORT
  354. void setup_killpin()
  355. {
  356. #if defined(KILL_PIN) && KILL_PIN > -1
  357. SET_INPUT(KILL_PIN);
  358. WRITE(KILL_PIN,HIGH);
  359. #endif
  360. }
  361. // Set home pin
  362. void setup_homepin(void)
  363. {
  364. #if defined(HOME_PIN) && HOME_PIN > -1
  365. SET_INPUT(HOME_PIN);
  366. WRITE(HOME_PIN,HIGH);
  367. #endif
  368. }
  369. void setup_photpin()
  370. {
  371. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  372. SET_OUTPUT(PHOTOGRAPH_PIN);
  373. WRITE(PHOTOGRAPH_PIN, LOW);
  374. #endif
  375. }
  376. void setup_powerhold()
  377. {
  378. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  379. SET_OUTPUT(SUICIDE_PIN);
  380. WRITE(SUICIDE_PIN, HIGH);
  381. #endif
  382. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  383. SET_OUTPUT(PS_ON_PIN);
  384. #if defined(PS_DEFAULT_OFF)
  385. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  386. #else
  387. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  388. #endif
  389. #endif
  390. }
  391. void suicide()
  392. {
  393. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  394. SET_OUTPUT(SUICIDE_PIN);
  395. WRITE(SUICIDE_PIN, LOW);
  396. #endif
  397. }
  398. void servo_init()
  399. {
  400. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  401. servos[0].attach(SERVO0_PIN);
  402. #endif
  403. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  404. servos[1].attach(SERVO1_PIN);
  405. #endif
  406. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  407. servos[2].attach(SERVO2_PIN);
  408. #endif
  409. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  410. servos[3].attach(SERVO3_PIN);
  411. #endif
  412. #if (NUM_SERVOS >= 5)
  413. #error "TODO: enter initalisation code for more servos"
  414. #endif
  415. }
  416. bool fans_check_enabled = true;
  417. #ifdef TMC2130
  418. void crashdet_stop_and_save_print()
  419. {
  420. stop_and_save_print_to_ram(10, -default_retraction); //XY - no change, Z 10mm up, E -1mm retract
  421. }
  422. void crashdet_restore_print_and_continue()
  423. {
  424. restore_print_from_ram_and_continue(default_retraction); //XYZ = orig, E +1mm unretract
  425. // babystep_apply();
  426. }
  427. void crashdet_stop_and_save_print2()
  428. {
  429. cli();
  430. planner_abort_hard(); //abort printing
  431. cmdqueue_reset(); //empty cmdqueue
  432. card.sdprinting = false;
  433. card.closefile();
  434. // Reset and re-enable the stepper timer just before the global interrupts are enabled.
  435. st_reset_timer();
  436. sei();
  437. }
  438. void crashdet_detected(uint8_t mask)
  439. {
  440. st_synchronize();
  441. static uint8_t crashDet_counter = 0;
  442. bool automatic_recovery_after_crash = true;
  443. if (crashDet_counter++ == 0) {
  444. crashDetTimer.start();
  445. }
  446. else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
  447. crashDetTimer.stop();
  448. crashDet_counter = 0;
  449. }
  450. else if(crashDet_counter == CRASHDET_COUNTER_MAX){
  451. automatic_recovery_after_crash = false;
  452. crashDetTimer.stop();
  453. crashDet_counter = 0;
  454. }
  455. else {
  456. crashDetTimer.start();
  457. }
  458. lcd_update_enable(true);
  459. lcd_clear();
  460. lcd_update(2);
  461. if (mask & X_AXIS_MASK)
  462. {
  463. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  464. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  465. }
  466. if (mask & Y_AXIS_MASK)
  467. {
  468. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  469. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  470. }
  471. lcd_update_enable(true);
  472. lcd_update(2);
  473. lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
  474. gcode_G28(true, true, false); //home X and Y
  475. st_synchronize();
  476. if (automatic_recovery_after_crash) {
  477. enquecommand_P(PSTR("CRASH_RECOVER"));
  478. }else{
  479. setTargetHotend(0, active_extruder);
  480. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
  481. lcd_update_enable(true);
  482. if (yesno)
  483. {
  484. enquecommand_P(PSTR("CRASH_RECOVER"));
  485. }
  486. else
  487. {
  488. enquecommand_P(PSTR("CRASH_CANCEL"));
  489. }
  490. }
  491. }
  492. void crashdet_recover()
  493. {
  494. crashdet_restore_print_and_continue();
  495. if (lcd_crash_detect_enabled()) tmc2130_sg_stop_on_crash = true;
  496. }
  497. void crashdet_cancel()
  498. {
  499. saved_printing = false;
  500. tmc2130_sg_stop_on_crash = true;
  501. if (saved_printing_type == PRINTING_TYPE_SD) {
  502. lcd_print_stop();
  503. }else if(saved_printing_type == PRINTING_TYPE_USB){
  504. SERIAL_ECHOLNPGM("// action:cancel"); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
  505. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  506. }
  507. }
  508. #endif //TMC2130
  509. void failstats_reset_print()
  510. {
  511. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  512. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  513. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  514. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  515. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  516. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  517. }
  518. #ifdef MESH_BED_LEVELING
  519. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  520. #endif
  521. // Factory reset function
  522. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  523. // Level input parameter sets depth of reset
  524. int er_progress = 0;
  525. static void factory_reset(char level)
  526. {
  527. lcd_clear();
  528. switch (level) {
  529. // Level 0: Language reset
  530. case 0:
  531. Sound_MakeCustom(100,0,false);
  532. lang_reset();
  533. break;
  534. //Level 1: Reset statistics
  535. case 1:
  536. Sound_MakeCustom(100,0,false);
  537. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  538. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  539. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  540. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  541. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  542. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  543. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  544. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  545. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  546. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  547. eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
  548. eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
  549. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  550. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  551. lcd_menu_statistics();
  552. break;
  553. // Level 2: Prepare for shipping
  554. case 2:
  555. //lcd_puts_P(PSTR("Factory RESET"));
  556. //lcd_puts_at_P(1,2,PSTR("Shipping prep"));
  557. // Force language selection at the next boot up.
  558. lang_reset();
  559. // Force the "Follow calibration flow" message at the next boot up.
  560. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  561. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  562. farm_no = 0;
  563. farm_mode = false;
  564. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  565. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  566. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  567. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  568. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  569. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  570. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  571. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  572. eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
  573. eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
  574. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  575. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  576. #ifdef FILAMENT_SENSOR
  577. fsensor_enable();
  578. fsensor_autoload_set(true);
  579. #endif //FILAMENT_SENSOR
  580. Sound_MakeCustom(100,0,false);
  581. //_delay_ms(2000);
  582. break;
  583. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  584. case 3:
  585. lcd_puts_P(PSTR("Factory RESET"));
  586. lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
  587. Sound_MakeCustom(100,0,false);
  588. er_progress = 0;
  589. lcd_puts_at_P(3, 3, PSTR(" "));
  590. lcd_set_cursor(3, 3);
  591. lcd_print(er_progress);
  592. // Erase EEPROM
  593. for (int i = 0; i < 4096; i++) {
  594. eeprom_update_byte((uint8_t*)i, 0xFF);
  595. if (i % 41 == 0) {
  596. er_progress++;
  597. lcd_puts_at_P(3, 3, PSTR(" "));
  598. lcd_set_cursor(3, 3);
  599. lcd_print(er_progress);
  600. lcd_puts_P(PSTR("%"));
  601. }
  602. }
  603. break;
  604. case 4:
  605. bowden_menu();
  606. break;
  607. default:
  608. break;
  609. }
  610. }
  611. extern "C" {
  612. FILE _uartout; //= {0}; Global variable is always zero initialized. No need to explicitly state this.
  613. }
  614. int uart_putchar(char c, FILE *)
  615. {
  616. MYSERIAL.write(c);
  617. return 0;
  618. }
  619. void lcd_splash()
  620. {
  621. lcd_clear(); // clears display and homes screen
  622. lcd_puts_P(PSTR("\n Original Prusa i3\n Prusa Research"));
  623. }
  624. void factory_reset()
  625. {
  626. KEEPALIVE_STATE(PAUSED_FOR_USER);
  627. if (!READ(BTN_ENC))
  628. {
  629. _delay_ms(1000);
  630. if (!READ(BTN_ENC))
  631. {
  632. lcd_clear();
  633. lcd_puts_P(PSTR("Factory RESET"));
  634. SET_OUTPUT(BEEPER);
  635. if(eSoundMode!=e_SOUND_MODE_SILENT)
  636. WRITE(BEEPER, HIGH);
  637. while (!READ(BTN_ENC));
  638. WRITE(BEEPER, LOW);
  639. _delay_ms(2000);
  640. char level = reset_menu();
  641. factory_reset(level);
  642. switch (level) {
  643. case 0: _delay_ms(0); break;
  644. case 1: _delay_ms(0); break;
  645. case 2: _delay_ms(0); break;
  646. case 3: _delay_ms(0); break;
  647. }
  648. }
  649. }
  650. KEEPALIVE_STATE(IN_HANDLER);
  651. }
  652. void show_fw_version_warnings() {
  653. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  654. switch (FW_DEV_VERSION) {
  655. case(FW_VERSION_ALPHA): lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage.")); break;////MSG_FW_VERSION_ALPHA c=20 r=8
  656. case(FW_VERSION_BETA): lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage.")); break;////MSG_FW_VERSION_BETA c=20 r=8
  657. case(FW_VERSION_DEVEL):
  658. case(FW_VERSION_DEBUG):
  659. lcd_update_enable(false);
  660. lcd_clear();
  661. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  662. lcd_puts_at_P(0, 0, PSTR("Development build !!"));
  663. #else
  664. lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
  665. #endif
  666. lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
  667. lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
  668. lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
  669. lcd_wait_for_click();
  670. break;
  671. // default: lcd_show_fullscreen_message_and_wait_P(_i("WARNING: This is an unofficial, unsupported build. Use at your own risk!")); break;////MSG_FW_VERSION_UNKNOWN c=20 r=8
  672. }
  673. lcd_update_enable(true);
  674. }
  675. //! @brief try to check if firmware is on right type of printer
  676. static void check_if_fw_is_on_right_printer(){
  677. #ifdef FILAMENT_SENSOR
  678. if((PRINTER_TYPE == PRINTER_MK3) || (PRINTER_TYPE == PRINTER_MK3S)){
  679. #ifdef IR_SENSOR
  680. swi2c_init();
  681. const uint8_t pat9125_detected = swi2c_readByte_A8(PAT9125_I2C_ADDR,0x00,NULL);
  682. if (pat9125_detected){
  683. lcd_show_fullscreen_message_and_wait_P(_i("MK3S firmware detected on MK3 printer"));}
  684. #endif //IR_SENSOR
  685. #ifdef PAT9125
  686. //will return 1 only if IR can detect filament in bondtech extruder so this may fail even when we have IR sensor
  687. const uint8_t ir_detected = !(PIN_GET(IR_SENSOR_PIN));
  688. if (ir_detected){
  689. lcd_show_fullscreen_message_and_wait_P(_i("MK3 firmware detected on MK3S printer"));}
  690. #endif //PAT9125
  691. }
  692. #endif //FILAMENT_SENSOR
  693. }
  694. uint8_t check_printer_version()
  695. {
  696. uint8_t version_changed = 0;
  697. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  698. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  699. if (printer_type != PRINTER_TYPE) {
  700. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  701. else version_changed |= 0b10;
  702. }
  703. if (motherboard != MOTHERBOARD) {
  704. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  705. else version_changed |= 0b01;
  706. }
  707. return version_changed;
  708. }
  709. #ifdef BOOTAPP
  710. #include "bootapp.h" //bootloader support
  711. #endif //BOOTAPP
  712. #if (LANG_MODE != 0) //secondary language support
  713. #ifdef W25X20CL
  714. // language update from external flash
  715. #define LANGBOOT_BLOCKSIZE 0x1000u
  716. #define LANGBOOT_RAMBUFFER 0x0800
  717. void update_sec_lang_from_external_flash()
  718. {
  719. if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
  720. {
  721. uint8_t lang = boot_reserved >> 4;
  722. uint8_t state = boot_reserved & 0xf;
  723. lang_table_header_t header;
  724. uint32_t src_addr;
  725. if (lang_get_header(lang, &header, &src_addr))
  726. {
  727. lcd_puts_at_P(1,3,PSTR("Language update."));
  728. for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
  729. _delay(100);
  730. boot_reserved = (state + 1) | (lang << 4);
  731. if ((state * LANGBOOT_BLOCKSIZE) < header.size)
  732. {
  733. cli();
  734. uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
  735. if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
  736. w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
  737. if (state == 0)
  738. {
  739. //TODO - check header integrity
  740. }
  741. bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
  742. }
  743. else
  744. {
  745. //TODO - check sec lang data integrity
  746. eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
  747. }
  748. }
  749. }
  750. boot_app_flags &= ~BOOT_APP_FLG_USER0;
  751. }
  752. #ifdef DEBUG_W25X20CL
  753. uint8_t lang_xflash_enum_codes(uint16_t* codes)
  754. {
  755. lang_table_header_t header;
  756. uint8_t count = 0;
  757. uint32_t addr = 0x00000;
  758. while (1)
  759. {
  760. printf_P(_n("LANGTABLE%d:"), count);
  761. w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
  762. if (header.magic != LANG_MAGIC)
  763. {
  764. printf_P(_n("NG!\n"));
  765. break;
  766. }
  767. printf_P(_n("OK\n"));
  768. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  769. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  770. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  771. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  772. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  773. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  774. addr += header.size;
  775. codes[count] = header.code;
  776. count ++;
  777. }
  778. return count;
  779. }
  780. void list_sec_lang_from_external_flash()
  781. {
  782. uint16_t codes[8];
  783. uint8_t count = lang_xflash_enum_codes(codes);
  784. printf_P(_n("XFlash lang count = %hhd\n"), count);
  785. }
  786. #endif //DEBUG_W25X20CL
  787. #endif //W25X20CL
  788. #endif //(LANG_MODE != 0)
  789. static void w25x20cl_err_msg()
  790. {
  791. lcd_clear();
  792. lcd_puts_P(_n("External SPI flash\nW25X20CL is not res-\nponding. Language\nswitch unavailable."));
  793. }
  794. // "Setup" function is called by the Arduino framework on startup.
  795. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  796. // are initialized by the main() routine provided by the Arduino framework.
  797. void setup()
  798. {
  799. mmu_init();
  800. ultralcd_init();
  801. #if (LCD_BL_PIN != -1) && defined (LCD_BL_PIN)
  802. analogWrite(LCD_BL_PIN, 255); //set full brightnes
  803. #endif //(LCD_BL_PIN != -1) && defined (LCD_BL_PIN)
  804. spi_init();
  805. lcd_splash();
  806. Sound_Init(); // also guarantee "SET_OUTPUT(BEEPER)"
  807. #ifdef W25X20CL
  808. bool w25x20cl_success = w25x20cl_init();
  809. if (w25x20cl_success)
  810. {
  811. optiboot_w25x20cl_enter();
  812. #if (LANG_MODE != 0) //secondary language support
  813. update_sec_lang_from_external_flash();
  814. #endif //(LANG_MODE != 0)
  815. }
  816. else
  817. {
  818. w25x20cl_err_msg();
  819. }
  820. #else
  821. const bool w25x20cl_success = true;
  822. #endif //W25X20CL
  823. setup_killpin();
  824. setup_powerhold();
  825. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  826. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  827. if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
  828. 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
  829. if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
  830. selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
  831. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  832. if (farm_mode)
  833. {
  834. no_response = true; //we need confirmation by recieving PRUSA thx
  835. important_status = 8;
  836. prusa_statistics(8);
  837. selectedSerialPort = 1;
  838. #ifdef TMC2130
  839. //increased extruder current (PFW363)
  840. tmc2130_current_h[E_AXIS] = 36;
  841. tmc2130_current_r[E_AXIS] = 36;
  842. #endif //TMC2130
  843. #ifdef FILAMENT_SENSOR
  844. //disabled filament autoload (PFW360)
  845. fsensor_autoload_set(false);
  846. #endif //FILAMENT_SENSOR
  847. // ~ FanCheck -> on
  848. if(!(eeprom_read_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED)))
  849. eeprom_update_byte((unsigned char *)EEPROM_FAN_CHECK_ENABLED,true);
  850. }
  851. MYSERIAL.begin(BAUDRATE);
  852. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  853. #ifndef W25X20CL
  854. SERIAL_PROTOCOLLNPGM("start");
  855. #endif //W25X20CL
  856. stdout = uartout;
  857. SERIAL_ECHO_START;
  858. printf_P(PSTR(" " FW_VERSION_FULL "\n"));
  859. //SERIAL_ECHOPAIR("Active sheet before:", static_cast<unsigned long int>(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet))));
  860. #ifdef DEBUG_SEC_LANG
  861. lang_table_header_t header;
  862. uint32_t src_addr = 0x00000;
  863. if (lang_get_header(1, &header, &src_addr))
  864. {
  865. //this is comparsion of some printing-methods regarding to flash space usage and code size/readability
  866. #define LT_PRINT_TEST 2
  867. // flash usage
  868. // total p.test
  869. //0 252718 t+c text code
  870. //1 253142 424 170 254
  871. //2 253040 322 164 158
  872. //3 253248 530 135 395
  873. #if (LT_PRINT_TEST==1) //not optimized printf
  874. printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
  875. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  876. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  877. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  878. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  879. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  880. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  881. #elif (LT_PRINT_TEST==2) //optimized printf
  882. printf_P(
  883. _n(
  884. " _src_addr = 0x%08lx\n"
  885. " _lt_magic = 0x%08lx %S\n"
  886. " _lt_size = 0x%04x (%d)\n"
  887. " _lt_count = 0x%04x (%d)\n"
  888. " _lt_chsum = 0x%04x\n"
  889. " _lt_code = 0x%04x (%c%c)\n"
  890. " _lt_resv1 = 0x%08lx\n"
  891. ),
  892. src_addr,
  893. header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
  894. header.size, header.size,
  895. header.count, header.count,
  896. header.checksum,
  897. header.code, header.code >> 8, header.code & 0xff,
  898. header.signature
  899. );
  900. #elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
  901. MYSERIAL.print(" _src_addr = 0x");
  902. MYSERIAL.println(src_addr, 16);
  903. MYSERIAL.print(" _lt_magic = 0x");
  904. MYSERIAL.print(header.magic, 16);
  905. MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
  906. MYSERIAL.print(" _lt_size = 0x");
  907. MYSERIAL.print(header.size, 16);
  908. MYSERIAL.print(" (");
  909. MYSERIAL.print(header.size, 10);
  910. MYSERIAL.println(")");
  911. MYSERIAL.print(" _lt_count = 0x");
  912. MYSERIAL.print(header.count, 16);
  913. MYSERIAL.print(" (");
  914. MYSERIAL.print(header.count, 10);
  915. MYSERIAL.println(")");
  916. MYSERIAL.print(" _lt_chsum = 0x");
  917. MYSERIAL.println(header.checksum, 16);
  918. MYSERIAL.print(" _lt_code = 0x");
  919. MYSERIAL.print(header.code, 16);
  920. MYSERIAL.print(" (");
  921. MYSERIAL.print((char)(header.code >> 8), 0);
  922. MYSERIAL.print((char)(header.code & 0xff), 0);
  923. MYSERIAL.println(")");
  924. MYSERIAL.print(" _lt_resv1 = 0x");
  925. MYSERIAL.println(header.signature, 16);
  926. #endif //(LT_PRINT_TEST==)
  927. #undef LT_PRINT_TEST
  928. #if 0
  929. w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
  930. for (uint16_t i = 0; i < 1024; i++)
  931. {
  932. if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
  933. printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
  934. if ((i % 16) == 15) putchar('\n');
  935. }
  936. #endif
  937. uint16_t sum = 0;
  938. for (uint16_t i = 0; i < header.size; i++)
  939. sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
  940. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  941. sum -= header.checksum; //subtract checksum
  942. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  943. sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
  944. if (sum == header.checksum)
  945. printf_P(_n("Checksum OK\n"), sum);
  946. else
  947. printf_P(_n("Checksum NG\n"), sum);
  948. }
  949. else
  950. printf_P(_n("lang_get_header failed!\n"));
  951. #if 0
  952. for (uint16_t i = 0; i < 1024*10; i++)
  953. {
  954. if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
  955. printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
  956. if ((i % 16) == 15) putchar('\n');
  957. }
  958. #endif
  959. #if 0
  960. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  961. for (int i = 0; i < 4096; ++i) {
  962. int b = eeprom_read_byte((unsigned char*)i);
  963. if (b != 255) {
  964. SERIAL_ECHO(i);
  965. SERIAL_ECHO(":");
  966. SERIAL_ECHO(b);
  967. SERIAL_ECHOLN("");
  968. }
  969. }
  970. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  971. #endif
  972. #endif //DEBUG_SEC_LANG
  973. // Check startup - does nothing if bootloader sets MCUSR to 0
  974. byte mcu = MCUSR;
  975. /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  976. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  977. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  978. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  979. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  980. if (mcu & 1) puts_P(MSG_POWERUP);
  981. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  982. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  983. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  984. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  985. MCUSR = 0;
  986. //SERIAL_ECHORPGM(MSG_MARLIN);
  987. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  988. #ifdef STRING_VERSION_CONFIG_H
  989. #ifdef STRING_CONFIG_H_AUTHOR
  990. SERIAL_ECHO_START;
  991. SERIAL_ECHORPGM(_n(" Last Updated: "));////MSG_CONFIGURATION_VER
  992. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  993. SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR
  994. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  995. SERIAL_ECHOPGM("Compiled: ");
  996. SERIAL_ECHOLNPGM(__DATE__);
  997. #endif
  998. #endif
  999. SERIAL_ECHO_START;
  1000. SERIAL_ECHORPGM(_n(" Free Memory: "));////MSG_FREE_MEMORY
  1001. SERIAL_ECHO(freeMemory());
  1002. SERIAL_ECHORPGM(_n(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES
  1003. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  1004. //lcd_update_enable(false); // why do we need this?? - andre
  1005. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  1006. bool previous_settings_retrieved = false;
  1007. uint8_t hw_changed = check_printer_version();
  1008. 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
  1009. previous_settings_retrieved = Config_RetrieveSettings();
  1010. }
  1011. else { //printer version was changed so use default settings
  1012. Config_ResetDefault();
  1013. }
  1014. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  1015. tp_init(); // Initialize temperature loop
  1016. if (w25x20cl_success) lcd_splash(); // we need to do this again, because tp_init() kills lcd
  1017. else
  1018. {
  1019. w25x20cl_err_msg();
  1020. printf_P(_n("W25X20CL not responding.\n"));
  1021. }
  1022. plan_init(); // Initialize planner;
  1023. factory_reset();
  1024. lcd_encoder_diff=0;
  1025. #ifdef TMC2130
  1026. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1027. if (silentMode == 0xff) silentMode = 0;
  1028. tmc2130_mode = TMC2130_MODE_NORMAL;
  1029. if (lcd_crash_detect_enabled() && !farm_mode)
  1030. {
  1031. lcd_crash_detect_enable();
  1032. puts_P(_N("CrashDetect ENABLED!"));
  1033. }
  1034. else
  1035. {
  1036. lcd_crash_detect_disable();
  1037. puts_P(_N("CrashDetect DISABLED"));
  1038. }
  1039. #ifdef TMC2130_LINEARITY_CORRECTION
  1040. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  1041. tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  1042. tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  1043. tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  1044. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  1045. tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
  1046. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  1047. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  1048. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  1049. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  1050. #endif //TMC2130_LINEARITY_CORRECTION
  1051. #ifdef TMC2130_VARIABLE_RESOLUTION
  1052. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[X_AXIS]);
  1053. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Y_AXIS]);
  1054. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Z_AXIS]);
  1055. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[E_AXIS]);
  1056. #else //TMC2130_VARIABLE_RESOLUTION
  1057. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1058. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1059. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1060. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1061. #endif //TMC2130_VARIABLE_RESOLUTION
  1062. #endif //TMC2130
  1063. st_init(); // Initialize stepper, this enables interrupts!
  1064. #ifdef UVLO_SUPPORT
  1065. setup_uvlo_interrupt();
  1066. #endif //UVLO_SUPPORT
  1067. #ifdef TMC2130
  1068. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1069. update_mode_profile();
  1070. tmc2130_init();
  1071. #endif //TMC2130
  1072. #ifdef PSU_Delta
  1073. init_force_z(); // ! important for correct Z-axis initialization
  1074. #endif // PSU_Delta
  1075. setup_photpin();
  1076. servo_init();
  1077. // Reset the machine correction matrix.
  1078. // It does not make sense to load the correction matrix until the machine is homed.
  1079. world2machine_reset();
  1080. #ifdef FILAMENT_SENSOR
  1081. fsensor_init();
  1082. #endif //FILAMENT_SENSOR
  1083. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  1084. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  1085. #endif
  1086. setup_homepin();
  1087. #ifdef TMC2130
  1088. if (1) {
  1089. // try to run to zero phase before powering the Z motor.
  1090. // Move in negative direction
  1091. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  1092. // Round the current micro-micro steps to micro steps.
  1093. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
  1094. // Until the phase counter is reset to zero.
  1095. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  1096. _delay(2);
  1097. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  1098. _delay(2);
  1099. }
  1100. }
  1101. #endif //TMC2130
  1102. #if defined(Z_AXIS_ALWAYS_ON) && !defined(PSU_Delta)
  1103. enable_z();
  1104. #endif
  1105. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  1106. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  1107. if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == static_cast<int>(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
  1108. if (farm_no == static_cast<int>(0xFFFF)) farm_no = 0;
  1109. if (farm_mode)
  1110. {
  1111. prusa_statistics(8);
  1112. }
  1113. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1114. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1115. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1116. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
  1117. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1118. // where all the EEPROM entries are set to 0x0ff.
  1119. // Once a firmware boots up, it forces at least a language selection, which changes
  1120. // EEPROM_LANG to number lower than 0x0ff.
  1121. // 1) Set a high power mode.
  1122. #ifdef TMC2130
  1123. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  1124. tmc2130_mode = TMC2130_MODE_NORMAL;
  1125. #endif //TMC2130
  1126. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  1127. }
  1128. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1129. // but this times out if a blocking dialog is shown in setup().
  1130. card.initsd();
  1131. #ifdef DEBUG_SD_SPEED_TEST
  1132. if (card.cardOK)
  1133. {
  1134. uint8_t* buff = (uint8_t*)block_buffer;
  1135. uint32_t block = 0;
  1136. uint32_t sumr = 0;
  1137. uint32_t sumw = 0;
  1138. for (int i = 0; i < 1024; i++)
  1139. {
  1140. uint32_t u = _micros();
  1141. bool res = card.card.readBlock(i, buff);
  1142. u = _micros() - u;
  1143. if (res)
  1144. {
  1145. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1146. sumr += u;
  1147. u = _micros();
  1148. res = card.card.writeBlock(i, buff);
  1149. u = _micros() - u;
  1150. if (res)
  1151. {
  1152. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1153. sumw += u;
  1154. }
  1155. else
  1156. {
  1157. printf_P(PSTR("writeBlock %4d error\n"), i);
  1158. break;
  1159. }
  1160. }
  1161. else
  1162. {
  1163. printf_P(PSTR("readBlock %4d error\n"), i);
  1164. break;
  1165. }
  1166. }
  1167. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1168. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1169. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1170. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1171. }
  1172. else
  1173. printf_P(PSTR("Card NG!\n"));
  1174. #endif //DEBUG_SD_SPEED_TEST
  1175. eeprom_init();
  1176. #ifdef SNMM
  1177. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1178. int _z = BOWDEN_LENGTH;
  1179. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1180. }
  1181. #endif
  1182. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1183. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1184. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1185. #if (LANG_MODE != 0) //secondary language support
  1186. #ifdef DEBUG_W25X20CL
  1187. W25X20CL_SPI_ENTER();
  1188. uint8_t uid[8]; // 64bit unique id
  1189. w25x20cl_rd_uid(uid);
  1190. puts_P(_n("W25X20CL UID="));
  1191. for (uint8_t i = 0; i < 8; i ++)
  1192. printf_P(PSTR("%02hhx"), uid[i]);
  1193. putchar('\n');
  1194. list_sec_lang_from_external_flash();
  1195. #endif //DEBUG_W25X20CL
  1196. // lang_reset();
  1197. if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
  1198. lcd_language();
  1199. #ifdef DEBUG_SEC_LANG
  1200. uint16_t sec_lang_code = lang_get_code(1);
  1201. uint16_t ui = _SEC_LANG_TABLE; //table pointer
  1202. printf_P(_n("lang_selected=%d\nlang_table=0x%04x\nSEC_LANG_CODE=0x%04x (%c%c)\n"), lang_selected, ui, sec_lang_code, sec_lang_code >> 8, sec_lang_code & 0xff);
  1203. lang_print_sec_lang(uartout);
  1204. #endif //DEBUG_SEC_LANG
  1205. #endif //(LANG_MODE != 0)
  1206. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1207. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1208. temp_cal_active = false;
  1209. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  1210. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1211. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1212. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1213. int16_t z_shift = 0;
  1214. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  1215. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1216. temp_cal_active = false;
  1217. }
  1218. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1219. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1220. }
  1221. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1222. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1223. }
  1224. //mbl_mode_init();
  1225. mbl_settings_init();
  1226. SilentModeMenu_MMU = eeprom_read_byte((uint8_t*)EEPROM_MMU_STEALTH);
  1227. if (SilentModeMenu_MMU == 255) {
  1228. SilentModeMenu_MMU = 1;
  1229. eeprom_write_byte((uint8_t*)EEPROM_MMU_STEALTH, SilentModeMenu_MMU);
  1230. }
  1231. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1232. setup_fan_interrupt();
  1233. #endif //DEBUG_DISABLE_FANCHECK
  1234. #ifdef PAT9125
  1235. fsensor_setup_interrupt();
  1236. #endif //PAT9125
  1237. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1238. #ifndef DEBUG_DISABLE_STARTMSGS
  1239. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1240. if (!farm_mode) {
  1241. check_if_fw_is_on_right_printer();
  1242. show_fw_version_warnings();
  1243. }
  1244. switch (hw_changed) {
  1245. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1246. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1247. case(0b01):
  1248. lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
  1249. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1250. break;
  1251. case(0b10):
  1252. lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
  1253. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1254. break;
  1255. case(0b11):
  1256. lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
  1257. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1258. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1259. break;
  1260. default: break; //no change, show no message
  1261. }
  1262. if (!previous_settings_retrieved) {
  1263. lcd_show_fullscreen_message_and_wait_P(_i("Old settings found. Default PID, Esteps etc. will be set.")); //if EEPROM version or printer type was changed, inform user that default setting were loaded////MSG_DEFAULT_SETTINGS_LOADED c=20 r=4
  1264. Config_StoreSettings();
  1265. }
  1266. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  1267. lcd_wizard(WizState::Run);
  1268. }
  1269. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1270. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1271. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1272. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1273. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1274. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1275. // Show the message.
  1276. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1277. }
  1278. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1279. // Show the message.
  1280. lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  1281. lcd_update_enable(true);
  1282. }
  1283. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  1284. //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
  1285. lcd_update_enable(true);
  1286. }
  1287. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1288. // Show the message.
  1289. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_Z_CALIBRATION_FLOW));
  1290. }
  1291. }
  1292. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1293. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1294. lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
  1295. update_current_firmware_version_to_eeprom();
  1296. lcd_selftest();
  1297. }
  1298. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1299. KEEPALIVE_STATE(IN_PROCESS);
  1300. #endif //DEBUG_DISABLE_STARTMSGS
  1301. lcd_update_enable(true);
  1302. lcd_clear();
  1303. lcd_update(2);
  1304. // Store the currently running firmware into an eeprom,
  1305. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1306. update_current_firmware_version_to_eeprom();
  1307. #ifdef TMC2130
  1308. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1309. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1310. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1311. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1312. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1313. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1314. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1315. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1316. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1317. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1318. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1319. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1320. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1321. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1322. #endif //TMC2130
  1323. #ifdef UVLO_SUPPORT
  1324. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != 0) { //previous print was terminated by UVLO
  1325. /*
  1326. if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
  1327. else {
  1328. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1329. lcd_update_enable(true);
  1330. lcd_update(2);
  1331. lcd_setstatuspgm(_T(WELCOME_MSG));
  1332. }
  1333. */
  1334. manage_heater(); // Update temperatures
  1335. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1336. printf_P(_N("Power panic detected!\nCurrent bed temp:%d\nSaved bed temp:%d\n"), (int)degBed(), eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED));
  1337. #endif
  1338. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1339. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1340. puts_P(_N("Automatic recovery!"));
  1341. #endif
  1342. recover_print(1);
  1343. }
  1344. else{
  1345. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1346. puts_P(_N("Normal recovery!"));
  1347. #endif
  1348. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
  1349. else {
  1350. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1351. lcd_update_enable(true);
  1352. lcd_update(2);
  1353. lcd_setstatuspgm(_T(WELCOME_MSG));
  1354. }
  1355. }
  1356. }
  1357. #endif //UVLO_SUPPORT
  1358. fCheckModeInit();
  1359. fSetMmuMode(mmu_enabled);
  1360. KEEPALIVE_STATE(NOT_BUSY);
  1361. #ifdef WATCHDOG
  1362. wdt_enable(WDTO_4S);
  1363. #endif //WATCHDOG
  1364. }
  1365. void trace();
  1366. #define CHUNK_SIZE 64 // bytes
  1367. #define SAFETY_MARGIN 1
  1368. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1369. int chunkHead = 0;
  1370. void serial_read_stream() {
  1371. setAllTargetHotends(0);
  1372. setTargetBed(0);
  1373. lcd_clear();
  1374. lcd_puts_P(PSTR(" Upload in progress"));
  1375. // first wait for how many bytes we will receive
  1376. uint32_t bytesToReceive;
  1377. // receive the four bytes
  1378. char bytesToReceiveBuffer[4];
  1379. for (int i=0; i<4; i++) {
  1380. int data;
  1381. while ((data = MYSERIAL.read()) == -1) {};
  1382. bytesToReceiveBuffer[i] = data;
  1383. }
  1384. // make it a uint32
  1385. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1386. // we're ready, notify the sender
  1387. MYSERIAL.write('+');
  1388. // lock in the routine
  1389. uint32_t receivedBytes = 0;
  1390. while (prusa_sd_card_upload) {
  1391. int i;
  1392. for (i=0; i<CHUNK_SIZE; i++) {
  1393. int data;
  1394. // check if we're not done
  1395. if (receivedBytes == bytesToReceive) {
  1396. break;
  1397. }
  1398. // read the next byte
  1399. while ((data = MYSERIAL.read()) == -1) {};
  1400. receivedBytes++;
  1401. // save it to the chunk
  1402. chunk[i] = data;
  1403. }
  1404. // write the chunk to SD
  1405. card.write_command_no_newline(&chunk[0]);
  1406. // notify the sender we're ready for more data
  1407. MYSERIAL.write('+');
  1408. // for safety
  1409. manage_heater();
  1410. // check if we're done
  1411. if(receivedBytes == bytesToReceive) {
  1412. trace(); // beep
  1413. card.closefile();
  1414. prusa_sd_card_upload = false;
  1415. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1416. }
  1417. }
  1418. }
  1419. /**
  1420. * Output a "busy" message at regular intervals
  1421. * while the machine is not accepting commands.
  1422. */
  1423. void host_keepalive() {
  1424. #ifndef HOST_KEEPALIVE_FEATURE
  1425. return;
  1426. #endif //HOST_KEEPALIVE_FEATURE
  1427. if (farm_mode) return;
  1428. long ms = _millis();
  1429. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1430. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1431. switch (busy_state) {
  1432. case IN_HANDLER:
  1433. case IN_PROCESS:
  1434. SERIAL_ECHO_START;
  1435. SERIAL_ECHOLNPGM("busy: processing");
  1436. break;
  1437. case PAUSED_FOR_USER:
  1438. SERIAL_ECHO_START;
  1439. SERIAL_ECHOLNPGM("busy: paused for user");
  1440. break;
  1441. case PAUSED_FOR_INPUT:
  1442. SERIAL_ECHO_START;
  1443. SERIAL_ECHOLNPGM("busy: paused for input");
  1444. break;
  1445. default:
  1446. break;
  1447. }
  1448. }
  1449. prev_busy_signal_ms = ms;
  1450. }
  1451. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1452. // Before loop(), the setup() function is called by the main() routine.
  1453. void loop()
  1454. {
  1455. KEEPALIVE_STATE(NOT_BUSY);
  1456. if ((usb_printing_counter > 0) && ((_millis()-_usb_timer) > 1000))
  1457. {
  1458. is_usb_printing = true;
  1459. usb_printing_counter--;
  1460. _usb_timer = _millis();
  1461. }
  1462. if (usb_printing_counter == 0)
  1463. {
  1464. is_usb_printing = false;
  1465. }
  1466. if (prusa_sd_card_upload)
  1467. {
  1468. //we read byte-by byte
  1469. serial_read_stream();
  1470. } else
  1471. {
  1472. get_command();
  1473. #ifdef SDSUPPORT
  1474. card.checkautostart(false);
  1475. #endif
  1476. if(buflen)
  1477. {
  1478. cmdbuffer_front_already_processed = false;
  1479. #ifdef SDSUPPORT
  1480. if(card.saving)
  1481. {
  1482. // Saving a G-code file onto an SD-card is in progress.
  1483. // Saving starts with M28, saving until M29 is seen.
  1484. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1485. card.write_command(CMDBUFFER_CURRENT_STRING);
  1486. if(card.logging)
  1487. process_commands();
  1488. else
  1489. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1490. } else {
  1491. card.closefile();
  1492. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1493. }
  1494. } else {
  1495. process_commands();
  1496. }
  1497. #else
  1498. process_commands();
  1499. #endif //SDSUPPORT
  1500. if (! cmdbuffer_front_already_processed && buflen)
  1501. {
  1502. // ptr points to the start of the block currently being processed.
  1503. // The first character in the block is the block type.
  1504. char *ptr = cmdbuffer + bufindr;
  1505. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1506. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1507. union {
  1508. struct {
  1509. char lo;
  1510. char hi;
  1511. } lohi;
  1512. uint16_t value;
  1513. } sdlen;
  1514. sdlen.value = 0;
  1515. {
  1516. // This block locks the interrupts globally for 3.25 us,
  1517. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1518. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1519. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1520. cli();
  1521. // Reset the command to something, which will be ignored by the power panic routine,
  1522. // so this buffer length will not be counted twice.
  1523. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1524. // Extract the current buffer length.
  1525. sdlen.lohi.lo = *ptr ++;
  1526. sdlen.lohi.hi = *ptr;
  1527. // and pass it to the planner queue.
  1528. planner_add_sd_length(sdlen.value);
  1529. sei();
  1530. }
  1531. }
  1532. else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
  1533. cli();
  1534. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1535. // and one for each command to previous block in the planner queue.
  1536. planner_add_sd_length(1);
  1537. sei();
  1538. }
  1539. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1540. // this block's SD card length will not be counted twice as its command type has been replaced
  1541. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1542. cmdqueue_pop_front();
  1543. }
  1544. host_keepalive();
  1545. }
  1546. }
  1547. //check heater every n milliseconds
  1548. manage_heater();
  1549. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1550. checkHitEndstops();
  1551. lcd_update(0);
  1552. #ifdef TMC2130
  1553. tmc2130_check_overtemp();
  1554. if (tmc2130_sg_crash)
  1555. {
  1556. uint8_t crash = tmc2130_sg_crash;
  1557. tmc2130_sg_crash = 0;
  1558. // crashdet_stop_and_save_print();
  1559. switch (crash)
  1560. {
  1561. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1562. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1563. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1564. }
  1565. }
  1566. #endif //TMC2130
  1567. mmu_loop();
  1568. }
  1569. #define DEFINE_PGM_READ_ANY(type, reader) \
  1570. static inline type pgm_read_any(const type *p) \
  1571. { return pgm_read_##reader##_near(p); }
  1572. DEFINE_PGM_READ_ANY(float, float);
  1573. DEFINE_PGM_READ_ANY(signed char, byte);
  1574. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1575. static const PROGMEM type array##_P[3] = \
  1576. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1577. static inline type array(int axis) \
  1578. { return pgm_read_any(&array##_P[axis]); } \
  1579. type array##_ext(int axis) \
  1580. { return pgm_read_any(&array##_P[axis]); }
  1581. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1582. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1583. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1584. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1585. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1586. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1587. static void axis_is_at_home(int axis) {
  1588. current_position[axis] = base_home_pos(axis) + cs.add_homing[axis];
  1589. min_pos[axis] = base_min_pos(axis) + cs.add_homing[axis];
  1590. max_pos[axis] = base_max_pos(axis) + cs.add_homing[axis];
  1591. }
  1592. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1593. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1594. //! @return original feedmultiply
  1595. static int setup_for_endstop_move(bool enable_endstops_now = true) {
  1596. saved_feedrate = feedrate;
  1597. int l_feedmultiply = feedmultiply;
  1598. feedmultiply = 100;
  1599. previous_millis_cmd = _millis();
  1600. enable_endstops(enable_endstops_now);
  1601. return l_feedmultiply;
  1602. }
  1603. //! @param original_feedmultiply feedmultiply to restore
  1604. static void clean_up_after_endstop_move(int original_feedmultiply) {
  1605. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1606. enable_endstops(false);
  1607. #endif
  1608. feedrate = saved_feedrate;
  1609. feedmultiply = original_feedmultiply;
  1610. previous_millis_cmd = _millis();
  1611. }
  1612. #ifdef ENABLE_AUTO_BED_LEVELING
  1613. #ifdef AUTO_BED_LEVELING_GRID
  1614. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1615. {
  1616. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1617. planeNormal.debug("planeNormal");
  1618. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1619. //bedLevel.debug("bedLevel");
  1620. //plan_bed_level_matrix.debug("bed level before");
  1621. //vector_3 uncorrected_position = plan_get_position_mm();
  1622. //uncorrected_position.debug("position before");
  1623. vector_3 corrected_position = plan_get_position();
  1624. // corrected_position.debug("position after");
  1625. current_position[X_AXIS] = corrected_position.x;
  1626. current_position[Y_AXIS] = corrected_position.y;
  1627. current_position[Z_AXIS] = corrected_position.z;
  1628. // put the bed at 0 so we don't go below it.
  1629. current_position[Z_AXIS] = cs.zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1630. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1631. }
  1632. #else // not AUTO_BED_LEVELING_GRID
  1633. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1634. plan_bed_level_matrix.set_to_identity();
  1635. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1636. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1637. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1638. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1639. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1640. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1641. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1642. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1643. vector_3 corrected_position = plan_get_position();
  1644. current_position[X_AXIS] = corrected_position.x;
  1645. current_position[Y_AXIS] = corrected_position.y;
  1646. current_position[Z_AXIS] = corrected_position.z;
  1647. // put the bed at 0 so we don't go below it.
  1648. current_position[Z_AXIS] = cs.zprobe_zoffset;
  1649. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1650. }
  1651. #endif // AUTO_BED_LEVELING_GRID
  1652. static void run_z_probe() {
  1653. plan_bed_level_matrix.set_to_identity();
  1654. feedrate = homing_feedrate[Z_AXIS];
  1655. // move down until you find the bed
  1656. float zPosition = -10;
  1657. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1658. st_synchronize();
  1659. // we have to let the planner know where we are right now as it is not where we said to go.
  1660. zPosition = st_get_position_mm(Z_AXIS);
  1661. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1662. // move up the retract distance
  1663. zPosition += home_retract_mm(Z_AXIS);
  1664. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1665. st_synchronize();
  1666. // move back down slowly to find bed
  1667. feedrate = homing_feedrate[Z_AXIS]/4;
  1668. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1669. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1670. st_synchronize();
  1671. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1672. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1673. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1674. }
  1675. static void do_blocking_move_to(float x, float y, float z) {
  1676. float oldFeedRate = feedrate;
  1677. feedrate = homing_feedrate[Z_AXIS];
  1678. current_position[Z_AXIS] = z;
  1679. plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
  1680. st_synchronize();
  1681. feedrate = XY_TRAVEL_SPEED;
  1682. current_position[X_AXIS] = x;
  1683. current_position[Y_AXIS] = y;
  1684. plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
  1685. st_synchronize();
  1686. feedrate = oldFeedRate;
  1687. }
  1688. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1689. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1690. }
  1691. /// Probe bed height at position (x,y), returns the measured z value
  1692. static float probe_pt(float x, float y, float z_before) {
  1693. // move to right place
  1694. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1695. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1696. run_z_probe();
  1697. float measured_z = current_position[Z_AXIS];
  1698. SERIAL_PROTOCOLRPGM(_T(MSG_BED));
  1699. SERIAL_PROTOCOLPGM(" x: ");
  1700. SERIAL_PROTOCOL(x);
  1701. SERIAL_PROTOCOLPGM(" y: ");
  1702. SERIAL_PROTOCOL(y);
  1703. SERIAL_PROTOCOLPGM(" z: ");
  1704. SERIAL_PROTOCOL(measured_z);
  1705. SERIAL_PROTOCOLPGM("\n");
  1706. return measured_z;
  1707. }
  1708. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1709. #ifdef LIN_ADVANCE
  1710. /**
  1711. * M900: Set and/or Get advance K factor and WH/D ratio
  1712. *
  1713. * K<factor> Set advance K factor
  1714. * R<ratio> Set ratio directly (overrides WH/D)
  1715. * W<width> H<height> D<diam> Set ratio from WH/D
  1716. */
  1717. inline void gcode_M900() {
  1718. st_synchronize();
  1719. const float newK = code_seen('K') ? code_value_float() : -1;
  1720. if (newK >= 0) extruder_advance_k = newK;
  1721. float newR = code_seen('R') ? code_value_float() : -1;
  1722. if (newR < 0) {
  1723. const float newD = code_seen('D') ? code_value_float() : -1,
  1724. newW = code_seen('W') ? code_value_float() : -1,
  1725. newH = code_seen('H') ? code_value_float() : -1;
  1726. if (newD >= 0 && newW >= 0 && newH >= 0)
  1727. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1728. }
  1729. if (newR >= 0) advance_ed_ratio = newR;
  1730. SERIAL_ECHO_START;
  1731. SERIAL_ECHOPGM("Advance K=");
  1732. SERIAL_ECHOLN(extruder_advance_k);
  1733. SERIAL_ECHOPGM(" E/D=");
  1734. const float ratio = advance_ed_ratio;
  1735. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1736. }
  1737. #endif // LIN_ADVANCE
  1738. bool check_commands() {
  1739. bool end_command_found = false;
  1740. while (buflen)
  1741. {
  1742. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1743. if (!cmdbuffer_front_already_processed)
  1744. cmdqueue_pop_front();
  1745. cmdbuffer_front_already_processed = false;
  1746. }
  1747. return end_command_found;
  1748. }
  1749. #ifdef TMC2130
  1750. bool calibrate_z_auto()
  1751. {
  1752. //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
  1753. lcd_clear();
  1754. lcd_puts_at_P(0, 1, _T(MSG_CALIBRATE_Z_AUTO));
  1755. bool endstops_enabled = enable_endstops(true);
  1756. int axis_up_dir = -home_dir(Z_AXIS);
  1757. tmc2130_home_enter(Z_AXIS_MASK);
  1758. current_position[Z_AXIS] = 0;
  1759. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1760. set_destination_to_current();
  1761. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1762. feedrate = homing_feedrate[Z_AXIS];
  1763. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate / 60, active_extruder);
  1764. st_synchronize();
  1765. // current_position[axis] = 0;
  1766. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1767. tmc2130_home_exit();
  1768. enable_endstops(false);
  1769. current_position[Z_AXIS] = 0;
  1770. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1771. set_destination_to_current();
  1772. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1773. feedrate = homing_feedrate[Z_AXIS] / 2;
  1774. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate / 60, active_extruder);
  1775. st_synchronize();
  1776. enable_endstops(endstops_enabled);
  1777. if (PRINTER_TYPE == PRINTER_MK3) {
  1778. current_position[Z_AXIS] = Z_MAX_POS + 2.0;
  1779. }
  1780. else {
  1781. current_position[Z_AXIS] = Z_MAX_POS + 9.0;
  1782. }
  1783. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1784. return true;
  1785. }
  1786. #endif //TMC2130
  1787. #ifdef TMC2130
  1788. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1789. #else
  1790. void homeaxis(int axis, uint8_t cnt)
  1791. #endif //TMC2130
  1792. {
  1793. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1794. #define HOMEAXIS_DO(LETTER) \
  1795. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1796. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1797. {
  1798. int axis_home_dir = home_dir(axis);
  1799. feedrate = homing_feedrate[axis];
  1800. #ifdef TMC2130
  1801. tmc2130_home_enter(X_AXIS_MASK << axis);
  1802. #endif //TMC2130
  1803. // Move away a bit, so that the print head does not touch the end position,
  1804. // and the following movement to endstop has a chance to achieve the required velocity
  1805. // for the stall guard to work.
  1806. current_position[axis] = 0;
  1807. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1808. set_destination_to_current();
  1809. // destination[axis] = 11.f;
  1810. destination[axis] = -3.f * axis_home_dir;
  1811. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1812. st_synchronize();
  1813. // Move away from the possible collision with opposite endstop with the collision detection disabled.
  1814. endstops_hit_on_purpose();
  1815. enable_endstops(false);
  1816. current_position[axis] = 0;
  1817. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1818. destination[axis] = 1. * axis_home_dir;
  1819. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1820. st_synchronize();
  1821. // Now continue to move up to the left end stop with the collision detection enabled.
  1822. enable_endstops(true);
  1823. destination[axis] = 1.1 * axis_home_dir * max_length(axis);
  1824. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1825. st_synchronize();
  1826. for (uint8_t i = 0; i < cnt; i++)
  1827. {
  1828. // Move away from the collision to a known distance from the left end stop with the collision detection disabled.
  1829. endstops_hit_on_purpose();
  1830. enable_endstops(false);
  1831. current_position[axis] = 0;
  1832. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1833. destination[axis] = -10.f * axis_home_dir;
  1834. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1835. st_synchronize();
  1836. endstops_hit_on_purpose();
  1837. // Now move left up to the collision, this time with a repeatable velocity.
  1838. enable_endstops(true);
  1839. destination[axis] = 11.f * axis_home_dir;
  1840. #ifdef TMC2130
  1841. feedrate = homing_feedrate[axis];
  1842. #else //TMC2130
  1843. feedrate = homing_feedrate[axis] / 2;
  1844. #endif //TMC2130
  1845. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1846. st_synchronize();
  1847. #ifdef TMC2130
  1848. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  1849. if (pstep) pstep[i] = mscnt >> 4;
  1850. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  1851. #endif //TMC2130
  1852. }
  1853. endstops_hit_on_purpose();
  1854. enable_endstops(false);
  1855. #ifdef TMC2130
  1856. uint8_t orig = tmc2130_home_origin[axis];
  1857. uint8_t back = tmc2130_home_bsteps[axis];
  1858. if (tmc2130_home_enabled && (orig <= 63))
  1859. {
  1860. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  1861. if (back > 0)
  1862. tmc2130_do_steps(axis, back, -axis_home_dir, 1000);
  1863. }
  1864. else
  1865. tmc2130_do_steps(axis, 8, -axis_home_dir, 1000);
  1866. tmc2130_home_exit();
  1867. #endif //TMC2130
  1868. axis_is_at_home(axis);
  1869. axis_known_position[axis] = true;
  1870. // Move from minimum
  1871. #ifdef TMC2130
  1872. float dist = - axis_home_dir * 0.01f * tmc2130_home_fsteps[axis];
  1873. #else //TMC2130
  1874. float dist = - axis_home_dir * 0.01f * 64;
  1875. #endif //TMC2130
  1876. current_position[axis] -= dist;
  1877. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1878. current_position[axis] += dist;
  1879. destination[axis] = current_position[axis];
  1880. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
  1881. st_synchronize();
  1882. feedrate = 0.0;
  1883. }
  1884. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  1885. {
  1886. #ifdef TMC2130
  1887. FORCE_HIGH_POWER_START;
  1888. #endif
  1889. int axis_home_dir = home_dir(axis);
  1890. current_position[axis] = 0;
  1891. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1892. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1893. feedrate = homing_feedrate[axis];
  1894. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1895. st_synchronize();
  1896. #ifdef TMC2130
  1897. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  1898. FORCE_HIGH_POWER_END;
  1899. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  1900. return;
  1901. }
  1902. #endif //TMC2130
  1903. current_position[axis] = 0;
  1904. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1905. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1906. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1907. st_synchronize();
  1908. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1909. feedrate = homing_feedrate[axis]/2 ;
  1910. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1911. st_synchronize();
  1912. #ifdef TMC2130
  1913. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  1914. FORCE_HIGH_POWER_END;
  1915. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  1916. return;
  1917. }
  1918. #endif //TMC2130
  1919. axis_is_at_home(axis);
  1920. destination[axis] = current_position[axis];
  1921. feedrate = 0.0;
  1922. endstops_hit_on_purpose();
  1923. axis_known_position[axis] = true;
  1924. #ifdef TMC2130
  1925. FORCE_HIGH_POWER_END;
  1926. #endif
  1927. }
  1928. enable_endstops(endstops_enabled);
  1929. }
  1930. /**/
  1931. void home_xy()
  1932. {
  1933. set_destination_to_current();
  1934. homeaxis(X_AXIS);
  1935. homeaxis(Y_AXIS);
  1936. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1937. endstops_hit_on_purpose();
  1938. }
  1939. void refresh_cmd_timeout(void)
  1940. {
  1941. previous_millis_cmd = _millis();
  1942. }
  1943. #ifdef FWRETRACT
  1944. void retract(bool retracting, bool swapretract = false) {
  1945. if(retracting && !retracted[active_extruder]) {
  1946. destination[X_AXIS]=current_position[X_AXIS];
  1947. destination[Y_AXIS]=current_position[Y_AXIS];
  1948. destination[Z_AXIS]=current_position[Z_AXIS];
  1949. destination[E_AXIS]=current_position[E_AXIS];
  1950. current_position[E_AXIS]+=(swapretract?retract_length_swap:cs.retract_length)*float(extrudemultiply)*0.01f;
  1951. plan_set_e_position(current_position[E_AXIS]);
  1952. float oldFeedrate = feedrate;
  1953. feedrate=cs.retract_feedrate*60;
  1954. retracted[active_extruder]=true;
  1955. prepare_move();
  1956. current_position[Z_AXIS]-=cs.retract_zlift;
  1957. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1958. prepare_move();
  1959. feedrate = oldFeedrate;
  1960. } else if(!retracting && retracted[active_extruder]) {
  1961. destination[X_AXIS]=current_position[X_AXIS];
  1962. destination[Y_AXIS]=current_position[Y_AXIS];
  1963. destination[Z_AXIS]=current_position[Z_AXIS];
  1964. destination[E_AXIS]=current_position[E_AXIS];
  1965. current_position[Z_AXIS]+=cs.retract_zlift;
  1966. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1967. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f;
  1968. plan_set_e_position(current_position[E_AXIS]);
  1969. float oldFeedrate = feedrate;
  1970. feedrate=cs.retract_recover_feedrate*60;
  1971. retracted[active_extruder]=false;
  1972. prepare_move();
  1973. feedrate = oldFeedrate;
  1974. }
  1975. } //retract
  1976. #endif //FWRETRACT
  1977. void trace() {
  1978. Sound_MakeCustom(25,440,true);
  1979. }
  1980. /*
  1981. void ramming() {
  1982. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  1983. if (current_temperature[0] < 230) {
  1984. //PLA
  1985. max_feedrate[E_AXIS] = 50;
  1986. //current_position[E_AXIS] -= 8;
  1987. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  1988. //current_position[E_AXIS] += 8;
  1989. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  1990. current_position[E_AXIS] += 5.4;
  1991. plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
  1992. current_position[E_AXIS] += 3.2;
  1993. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  1994. current_position[E_AXIS] += 3;
  1995. plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
  1996. st_synchronize();
  1997. max_feedrate[E_AXIS] = 80;
  1998. current_position[E_AXIS] -= 82;
  1999. plan_buffer_line_curposXYZE(9500 / 60, active_extruder);
  2000. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2001. current_position[E_AXIS] -= 20;
  2002. plan_buffer_line_curposXYZE(1200 / 60, active_extruder);
  2003. current_position[E_AXIS] += 5;
  2004. plan_buffer_line_curposXYZE(400 / 60, active_extruder);
  2005. current_position[E_AXIS] += 5;
  2006. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2007. current_position[E_AXIS] -= 10;
  2008. st_synchronize();
  2009. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2010. current_position[E_AXIS] += 10;
  2011. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2012. current_position[E_AXIS] -= 10;
  2013. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2014. current_position[E_AXIS] += 10;
  2015. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2016. current_position[E_AXIS] -= 10;
  2017. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2018. st_synchronize();
  2019. }
  2020. else {
  2021. //ABS
  2022. max_feedrate[E_AXIS] = 50;
  2023. //current_position[E_AXIS] -= 8;
  2024. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2025. //current_position[E_AXIS] += 8;
  2026. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2027. current_position[E_AXIS] += 3.1;
  2028. plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
  2029. current_position[E_AXIS] += 3.1;
  2030. plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
  2031. current_position[E_AXIS] += 4;
  2032. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  2033. st_synchronize();
  2034. //current_position[X_AXIS] += 23; //delay
  2035. //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
  2036. //current_position[X_AXIS] -= 23; //delay
  2037. //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
  2038. _delay(4700);
  2039. max_feedrate[E_AXIS] = 80;
  2040. current_position[E_AXIS] -= 92;
  2041. plan_buffer_line_curposXYZE(9900 / 60, active_extruder);
  2042. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2043. current_position[E_AXIS] -= 5;
  2044. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2045. current_position[E_AXIS] += 5;
  2046. plan_buffer_line_curposXYZE(400 / 60, active_extruder);
  2047. current_position[E_AXIS] -= 5;
  2048. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2049. st_synchronize();
  2050. current_position[E_AXIS] += 5;
  2051. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2052. current_position[E_AXIS] -= 5;
  2053. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2054. current_position[E_AXIS] += 5;
  2055. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2056. current_position[E_AXIS] -= 5;
  2057. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2058. st_synchronize();
  2059. }
  2060. }
  2061. */
  2062. #ifdef TMC2130
  2063. void force_high_power_mode(bool start_high_power_section) {
  2064. uint8_t silent;
  2065. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  2066. if (silent == 1) {
  2067. //we are in silent mode, set to normal mode to enable crash detection
  2068. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  2069. st_synchronize();
  2070. cli();
  2071. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  2072. update_mode_profile();
  2073. tmc2130_init();
  2074. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  2075. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  2076. st_reset_timer();
  2077. sei();
  2078. }
  2079. }
  2080. #endif //TMC2130
  2081. #ifdef TMC2130
  2082. static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl)
  2083. #else
  2084. static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool without_mbl)
  2085. #endif //TMC2130
  2086. {
  2087. st_synchronize();
  2088. #if 0
  2089. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2090. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2091. #endif
  2092. // Flag for the display update routine and to disable the print cancelation during homing.
  2093. homing_flag = true;
  2094. // Which axes should be homed?
  2095. bool home_x = home_x_axis;
  2096. bool home_y = home_y_axis;
  2097. bool home_z = home_z_axis;
  2098. // Either all X,Y,Z codes are present, or none of them.
  2099. bool home_all_axes = home_x == home_y && home_x == home_z;
  2100. if (home_all_axes)
  2101. // No X/Y/Z code provided means to home all axes.
  2102. home_x = home_y = home_z = true;
  2103. //if we are homing all axes, first move z higher to protect heatbed/steel sheet
  2104. if (home_all_axes) {
  2105. current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
  2106. feedrate = homing_feedrate[Z_AXIS];
  2107. plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
  2108. st_synchronize();
  2109. }
  2110. #ifdef ENABLE_AUTO_BED_LEVELING
  2111. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2112. #endif //ENABLE_AUTO_BED_LEVELING
  2113. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2114. // the planner will not perform any adjustments in the XY plane.
  2115. // Wait for the motors to stop and update the current position with the absolute values.
  2116. world2machine_revert_to_uncorrected();
  2117. // For mesh bed leveling deactivate the matrix temporarily.
  2118. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2119. // in a single axis only.
  2120. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2121. #ifdef MESH_BED_LEVELING
  2122. uint8_t mbl_was_active = mbl.active;
  2123. mbl.active = 0;
  2124. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2125. #endif
  2126. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2127. // consumed during the first movements following this statement.
  2128. if (home_z)
  2129. babystep_undo();
  2130. saved_feedrate = feedrate;
  2131. int l_feedmultiply = feedmultiply;
  2132. feedmultiply = 100;
  2133. previous_millis_cmd = _millis();
  2134. enable_endstops(true);
  2135. memcpy(destination, current_position, sizeof(destination));
  2136. feedrate = 0.0;
  2137. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2138. if(home_z)
  2139. homeaxis(Z_AXIS);
  2140. #endif
  2141. #ifdef QUICK_HOME
  2142. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2143. if(home_x && home_y) //first diagonal move
  2144. {
  2145. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2146. int x_axis_home_dir = home_dir(X_AXIS);
  2147. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2148. 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);
  2149. feedrate = homing_feedrate[X_AXIS];
  2150. if(homing_feedrate[Y_AXIS]<feedrate)
  2151. feedrate = homing_feedrate[Y_AXIS];
  2152. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2153. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2154. } else {
  2155. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2156. }
  2157. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2158. st_synchronize();
  2159. axis_is_at_home(X_AXIS);
  2160. axis_is_at_home(Y_AXIS);
  2161. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2162. destination[X_AXIS] = current_position[X_AXIS];
  2163. destination[Y_AXIS] = current_position[Y_AXIS];
  2164. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2165. feedrate = 0.0;
  2166. st_synchronize();
  2167. endstops_hit_on_purpose();
  2168. current_position[X_AXIS] = destination[X_AXIS];
  2169. current_position[Y_AXIS] = destination[Y_AXIS];
  2170. current_position[Z_AXIS] = destination[Z_AXIS];
  2171. }
  2172. #endif /* QUICK_HOME */
  2173. #ifdef TMC2130
  2174. if(home_x)
  2175. {
  2176. if (!calib)
  2177. homeaxis(X_AXIS);
  2178. else
  2179. tmc2130_home_calibrate(X_AXIS);
  2180. }
  2181. if(home_y)
  2182. {
  2183. if (!calib)
  2184. homeaxis(Y_AXIS);
  2185. else
  2186. tmc2130_home_calibrate(Y_AXIS);
  2187. }
  2188. #else //TMC2130
  2189. if(home_x) homeaxis(X_AXIS);
  2190. if(home_y) homeaxis(Y_AXIS);
  2191. #endif //TMC2130
  2192. if(home_x_axis && home_x_value != 0)
  2193. current_position[X_AXIS]=home_x_value+cs.add_homing[X_AXIS];
  2194. if(home_y_axis && home_y_value != 0)
  2195. current_position[Y_AXIS]=home_y_value+cs.add_homing[Y_AXIS];
  2196. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2197. #ifndef Z_SAFE_HOMING
  2198. if(home_z) {
  2199. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2200. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2201. feedrate = max_feedrate[Z_AXIS];
  2202. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2203. st_synchronize();
  2204. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2205. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
  2206. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2207. {
  2208. homeaxis(X_AXIS);
  2209. homeaxis(Y_AXIS);
  2210. }
  2211. // 1st mesh bed leveling measurement point, corrected.
  2212. world2machine_initialize();
  2213. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2214. world2machine_reset();
  2215. if (destination[Y_AXIS] < Y_MIN_POS)
  2216. destination[Y_AXIS] = Y_MIN_POS;
  2217. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2218. feedrate = homing_feedrate[Z_AXIS]/10;
  2219. current_position[Z_AXIS] = 0;
  2220. enable_endstops(false);
  2221. #ifdef DEBUG_BUILD
  2222. SERIAL_ECHOLNPGM("plan_set_position()");
  2223. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2224. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2225. #endif
  2226. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2227. #ifdef DEBUG_BUILD
  2228. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2229. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2230. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2231. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2232. #endif
  2233. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2234. st_synchronize();
  2235. current_position[X_AXIS] = destination[X_AXIS];
  2236. current_position[Y_AXIS] = destination[Y_AXIS];
  2237. enable_endstops(true);
  2238. endstops_hit_on_purpose();
  2239. homeaxis(Z_AXIS);
  2240. #else // MESH_BED_LEVELING
  2241. homeaxis(Z_AXIS);
  2242. #endif // MESH_BED_LEVELING
  2243. }
  2244. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2245. if(home_all_axes) {
  2246. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2247. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2248. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2249. feedrate = XY_TRAVEL_SPEED/60;
  2250. current_position[Z_AXIS] = 0;
  2251. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2252. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2253. st_synchronize();
  2254. current_position[X_AXIS] = destination[X_AXIS];
  2255. current_position[Y_AXIS] = destination[Y_AXIS];
  2256. homeaxis(Z_AXIS);
  2257. }
  2258. // Let's see if X and Y are homed and probe is inside bed area.
  2259. if(home_z) {
  2260. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2261. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2262. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2263. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2264. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2265. current_position[Z_AXIS] = 0;
  2266. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2267. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2268. feedrate = max_feedrate[Z_AXIS];
  2269. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2270. st_synchronize();
  2271. homeaxis(Z_AXIS);
  2272. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2273. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2274. SERIAL_ECHO_START;
  2275. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2276. } else {
  2277. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2278. SERIAL_ECHO_START;
  2279. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2280. }
  2281. }
  2282. #endif // Z_SAFE_HOMING
  2283. #endif // Z_HOME_DIR < 0
  2284. if(home_z_axis && home_z_value != 0)
  2285. current_position[Z_AXIS]=home_z_value+cs.add_homing[Z_AXIS];
  2286. #ifdef ENABLE_AUTO_BED_LEVELING
  2287. if(home_z)
  2288. current_position[Z_AXIS] += cs.zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2289. #endif
  2290. // Set the planner and stepper routine positions.
  2291. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2292. // contains the machine coordinates.
  2293. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2294. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2295. enable_endstops(false);
  2296. #endif
  2297. feedrate = saved_feedrate;
  2298. feedmultiply = l_feedmultiply;
  2299. previous_millis_cmd = _millis();
  2300. endstops_hit_on_purpose();
  2301. #ifndef MESH_BED_LEVELING
  2302. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2303. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2304. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2305. lcd_adjust_z();
  2306. #endif
  2307. // Load the machine correction matrix
  2308. world2machine_initialize();
  2309. // and correct the current_position XY axes to match the transformed coordinate system.
  2310. world2machine_update_current();
  2311. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2312. if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
  2313. {
  2314. if (! home_z && mbl_was_active) {
  2315. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2316. mbl.active = true;
  2317. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2318. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2319. }
  2320. }
  2321. else
  2322. {
  2323. st_synchronize();
  2324. homing_flag = false;
  2325. }
  2326. #endif
  2327. if (farm_mode) { prusa_statistics(20); };
  2328. homing_flag = false;
  2329. #if 0
  2330. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2331. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2332. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2333. #endif
  2334. }
  2335. static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis)
  2336. {
  2337. #ifdef TMC2130
  2338. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
  2339. #else
  2340. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, true);
  2341. #endif //TMC2130
  2342. }
  2343. void adjust_bed_reset()
  2344. {
  2345. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
  2346. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT, 0);
  2347. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, 0);
  2348. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT, 0);
  2349. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR, 0);
  2350. }
  2351. //! @brief Calibrate XYZ
  2352. //! @param onlyZ if true, calibrate only Z axis
  2353. //! @param verbosity_level
  2354. //! @retval true Succeeded
  2355. //! @retval false Failed
  2356. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  2357. {
  2358. bool final_result = false;
  2359. #ifdef TMC2130
  2360. FORCE_HIGH_POWER_START;
  2361. #endif // TMC2130
  2362. // Only Z calibration?
  2363. if (!onlyZ)
  2364. {
  2365. setTargetBed(0);
  2366. setAllTargetHotends(0);
  2367. adjust_bed_reset(); //reset bed level correction
  2368. }
  2369. // Disable the default update procedure of the display. We will do a modal dialog.
  2370. lcd_update_enable(false);
  2371. // Let the planner use the uncorrected coordinates.
  2372. mbl.reset();
  2373. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2374. // the planner will not perform any adjustments in the XY plane.
  2375. // Wait for the motors to stop and update the current position with the absolute values.
  2376. world2machine_revert_to_uncorrected();
  2377. // Reset the baby step value applied without moving the axes.
  2378. babystep_reset();
  2379. // Mark all axes as in a need for homing.
  2380. memset(axis_known_position, 0, sizeof(axis_known_position));
  2381. // Home in the XY plane.
  2382. //set_destination_to_current();
  2383. int l_feedmultiply = setup_for_endstop_move();
  2384. lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
  2385. home_xy();
  2386. enable_endstops(false);
  2387. current_position[X_AXIS] += 5;
  2388. current_position[Y_AXIS] += 5;
  2389. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
  2390. st_synchronize();
  2391. // Let the user move the Z axes up to the end stoppers.
  2392. #ifdef TMC2130
  2393. if (calibrate_z_auto())
  2394. {
  2395. #else //TMC2130
  2396. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  2397. {
  2398. #endif //TMC2130
  2399. lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
  2400. if(onlyZ){
  2401. lcd_display_message_fullscreen_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1));
  2402. lcd_set_cursor(0, 3);
  2403. lcd_print(1);
  2404. lcd_puts_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2));
  2405. }else{
  2406. //lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2407. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2408. lcd_set_cursor(0, 2);
  2409. lcd_print(1);
  2410. lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2411. }
  2412. refresh_cmd_timeout();
  2413. #ifndef STEEL_SHEET
  2414. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  2415. {
  2416. lcd_wait_for_cool_down();
  2417. }
  2418. #endif //STEEL_SHEET
  2419. if(!onlyZ)
  2420. {
  2421. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2422. #ifdef STEEL_SHEET
  2423. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  2424. if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  2425. #endif //STEEL_SHEET
  2426. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2427. KEEPALIVE_STATE(IN_HANDLER);
  2428. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2429. lcd_set_cursor(0, 2);
  2430. lcd_print(1);
  2431. lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2432. }
  2433. bool endstops_enabled = enable_endstops(false);
  2434. current_position[Z_AXIS] -= 1; //move 1mm down with disabled endstop
  2435. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
  2436. st_synchronize();
  2437. // Move the print head close to the bed.
  2438. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2439. enable_endstops(true);
  2440. #ifdef TMC2130
  2441. tmc2130_home_enter(Z_AXIS_MASK);
  2442. #endif //TMC2130
  2443. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
  2444. st_synchronize();
  2445. #ifdef TMC2130
  2446. tmc2130_home_exit();
  2447. #endif //TMC2130
  2448. enable_endstops(endstops_enabled);
  2449. if ((st_get_position_mm(Z_AXIS) <= (MESH_HOME_Z_SEARCH + HOME_Z_SEARCH_THRESHOLD)) &&
  2450. (st_get_position_mm(Z_AXIS) >= (MESH_HOME_Z_SEARCH - HOME_Z_SEARCH_THRESHOLD)))
  2451. {
  2452. if (onlyZ)
  2453. {
  2454. clean_up_after_endstop_move(l_feedmultiply);
  2455. // Z only calibration.
  2456. // Load the machine correction matrix
  2457. world2machine_initialize();
  2458. // and correct the current_position to match the transformed coordinate system.
  2459. world2machine_update_current();
  2460. //FIXME
  2461. bool result = sample_mesh_and_store_reference();
  2462. if (result)
  2463. {
  2464. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  2465. // Shipped, the nozzle height has been set already. The user can start printing now.
  2466. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2467. final_result = true;
  2468. // babystep_apply();
  2469. }
  2470. }
  2471. else
  2472. {
  2473. // Reset the baby step value and the baby step applied flag.
  2474. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  2475. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  2476. // Complete XYZ calibration.
  2477. uint8_t point_too_far_mask = 0;
  2478. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  2479. clean_up_after_endstop_move(l_feedmultiply);
  2480. // Print head up.
  2481. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2482. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
  2483. st_synchronize();
  2484. //#ifndef NEW_XYZCAL
  2485. if (result >= 0)
  2486. {
  2487. #ifdef HEATBED_V2
  2488. sample_z();
  2489. #else //HEATBED_V2
  2490. point_too_far_mask = 0;
  2491. // Second half: The fine adjustment.
  2492. // Let the planner use the uncorrected coordinates.
  2493. mbl.reset();
  2494. world2machine_reset();
  2495. // Home in the XY plane.
  2496. int l_feedmultiply = setup_for_endstop_move();
  2497. home_xy();
  2498. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  2499. clean_up_after_endstop_move(l_feedmultiply);
  2500. // Print head up.
  2501. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2502. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
  2503. st_synchronize();
  2504. // if (result >= 0) babystep_apply();
  2505. #endif //HEATBED_V2
  2506. }
  2507. //#endif //NEW_XYZCAL
  2508. lcd_update_enable(true);
  2509. lcd_update(2);
  2510. lcd_bed_calibration_show_result(result, point_too_far_mask);
  2511. if (result >= 0)
  2512. {
  2513. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  2514. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2515. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  2516. final_result = true;
  2517. }
  2518. }
  2519. #ifdef TMC2130
  2520. tmc2130_home_exit();
  2521. #endif
  2522. }
  2523. else
  2524. {
  2525. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  2526. final_result = false;
  2527. }
  2528. }
  2529. else
  2530. {
  2531. // Timeouted.
  2532. }
  2533. lcd_update_enable(true);
  2534. #ifdef TMC2130
  2535. FORCE_HIGH_POWER_END;
  2536. #endif // TMC2130
  2537. return final_result;
  2538. }
  2539. void gcode_M114()
  2540. {
  2541. SERIAL_PROTOCOLPGM("X:");
  2542. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2543. SERIAL_PROTOCOLPGM(" Y:");
  2544. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2545. SERIAL_PROTOCOLPGM(" Z:");
  2546. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2547. SERIAL_PROTOCOLPGM(" E:");
  2548. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2549. SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X
  2550. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / cs.axis_steps_per_unit[X_AXIS]);
  2551. SERIAL_PROTOCOLPGM(" Y:");
  2552. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / cs.axis_steps_per_unit[Y_AXIS]);
  2553. SERIAL_PROTOCOLPGM(" Z:");
  2554. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / cs.axis_steps_per_unit[Z_AXIS]);
  2555. SERIAL_PROTOCOLPGM(" E:");
  2556. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / cs.axis_steps_per_unit[E_AXIS]);
  2557. SERIAL_PROTOCOLLN("");
  2558. }
  2559. //! extracted code to compute z_shift for M600 in case of filament change operation
  2560. //! requested from fsensors.
  2561. //! The function ensures, that the printhead lifts to at least 25mm above the heat bed
  2562. //! unlike the previous implementation, which was adding 25mm even when the head was
  2563. //! printing at e.g. 24mm height.
  2564. //! A safety margin of FILAMENTCHANGE_ZADD is added in all cases to avoid touching
  2565. //! the printout.
  2566. //! This function is templated to enable fast change of computation data type.
  2567. //! @return new z_shift value
  2568. template<typename T>
  2569. static T gcode_M600_filament_change_z_shift()
  2570. {
  2571. #ifdef FILAMENTCHANGE_ZADD
  2572. static_assert(Z_MAX_POS < (255 - FILAMENTCHANGE_ZADD), "Z-range too high, change the T type from uint8_t to uint16_t");
  2573. // avoid floating point arithmetics when not necessary - results in shorter code
  2574. T ztmp = T( current_position[Z_AXIS] );
  2575. T z_shift = 0;
  2576. if(ztmp < T(25)){
  2577. z_shift = T(25) - ztmp; // make sure to be at least 25mm above the heat bed
  2578. }
  2579. return z_shift + T(FILAMENTCHANGE_ZADD); // always move above printout
  2580. #else
  2581. return T(0);
  2582. #endif
  2583. }
  2584. static void gcode_M600(bool automatic, float x_position, float y_position, float z_shift, float e_shift, float /*e_shift_late*/)
  2585. {
  2586. st_synchronize();
  2587. float lastpos[4];
  2588. if (farm_mode)
  2589. {
  2590. prusa_statistics(22);
  2591. }
  2592. //First backup current position and settings
  2593. int feedmultiplyBckp = feedmultiply;
  2594. float HotendTempBckp = degTargetHotend(active_extruder);
  2595. int fanSpeedBckp = fanSpeed;
  2596. lastpos[X_AXIS] = current_position[X_AXIS];
  2597. lastpos[Y_AXIS] = current_position[Y_AXIS];
  2598. lastpos[Z_AXIS] = current_position[Z_AXIS];
  2599. lastpos[E_AXIS] = current_position[E_AXIS];
  2600. //Retract E
  2601. current_position[E_AXIS] += e_shift;
  2602. plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED, active_extruder);
  2603. st_synchronize();
  2604. //Lift Z
  2605. current_position[Z_AXIS] += z_shift;
  2606. plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED, active_extruder);
  2607. st_synchronize();
  2608. //Move XY to side
  2609. current_position[X_AXIS] = x_position;
  2610. current_position[Y_AXIS] = y_position;
  2611. plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED, active_extruder);
  2612. st_synchronize();
  2613. //Beep, manage nozzle heater and wait for user to start unload filament
  2614. if(!mmu_enabled) M600_wait_for_user(HotendTempBckp);
  2615. lcd_change_fil_state = 0;
  2616. // Unload filament
  2617. if (mmu_enabled) extr_unload(); //unload just current filament for multimaterial printers (used also in M702)
  2618. else unload_filament(); //unload filament for single material (used also in M702)
  2619. //finish moves
  2620. st_synchronize();
  2621. if (!mmu_enabled)
  2622. {
  2623. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2624. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"),
  2625. false, true); ////MSG_UNLOAD_SUCCESSFUL c=20 r=2
  2626. if (lcd_change_fil_state == 0)
  2627. {
  2628. lcd_clear();
  2629. lcd_set_cursor(0, 2);
  2630. lcd_puts_P(_T(MSG_PLEASE_WAIT));
  2631. current_position[X_AXIS] -= 100;
  2632. plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED, active_extruder);
  2633. st_synchronize();
  2634. lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
  2635. }
  2636. }
  2637. if (mmu_enabled)
  2638. {
  2639. if (!automatic) {
  2640. if (saved_printing) mmu_eject_filament(mmu_extruder, false); //if M600 was invoked by filament senzor (FINDA) eject filament so user can easily remove it
  2641. mmu_M600_wait_and_beep();
  2642. if (saved_printing) {
  2643. lcd_clear();
  2644. lcd_set_cursor(0, 2);
  2645. lcd_puts_P(_T(MSG_PLEASE_WAIT));
  2646. mmu_command(MmuCmd::R0);
  2647. manage_response(false, false);
  2648. }
  2649. }
  2650. mmu_M600_load_filament(automatic, HotendTempBckp);
  2651. }
  2652. else
  2653. M600_load_filament();
  2654. if (!automatic) M600_check_state(HotendTempBckp);
  2655. lcd_update_enable(true);
  2656. //Not let's go back to print
  2657. fanSpeed = fanSpeedBckp;
  2658. //Feed a little of filament to stabilize pressure
  2659. if (!automatic)
  2660. {
  2661. current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
  2662. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED, active_extruder);
  2663. }
  2664. //Move XY back
  2665. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  2666. FILAMENTCHANGE_XYFEED, active_extruder);
  2667. st_synchronize();
  2668. //Move Z back
  2669. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS],
  2670. FILAMENTCHANGE_ZFEED, active_extruder);
  2671. st_synchronize();
  2672. //Set E position to original
  2673. plan_set_e_position(lastpos[E_AXIS]);
  2674. memcpy(current_position, lastpos, sizeof(lastpos));
  2675. memcpy(destination, current_position, sizeof(current_position));
  2676. //Recover feed rate
  2677. feedmultiply = feedmultiplyBckp;
  2678. char cmd[9];
  2679. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2680. enquecommand(cmd);
  2681. #ifdef IR_SENSOR
  2682. //this will set fsensor_watch_autoload to correct value and prevent possible M701 gcode enqueuing when M600 is finished
  2683. fsensor_check_autoload();
  2684. #endif //IR_SENSOR
  2685. lcd_setstatuspgm(_T(WELCOME_MSG));
  2686. custom_message_type = CustomMsg::Status;
  2687. }
  2688. //! @brief Rise Z if too low to avoid blob/jam before filament loading
  2689. //!
  2690. //! It doesn't plan_buffer_line(), as it expects plan_buffer_line() to be called after
  2691. //! during extruding (loading) filament.
  2692. void marlin_rise_z(void)
  2693. {
  2694. if (current_position[Z_AXIS] < 20) current_position[Z_AXIS] += 30;
  2695. }
  2696. void gcode_M701()
  2697. {
  2698. printf_P(PSTR("gcode_M701 begin\n"));
  2699. if (farm_mode)
  2700. {
  2701. prusa_statistics(22);
  2702. }
  2703. if (mmu_enabled)
  2704. {
  2705. extr_adj(tmp_extruder);//loads current extruder
  2706. mmu_extruder = tmp_extruder;
  2707. }
  2708. else
  2709. {
  2710. enable_z();
  2711. custom_message_type = CustomMsg::FilamentLoading;
  2712. #ifdef FSENSOR_QUALITY
  2713. fsensor_oq_meassure_start(40);
  2714. #endif //FSENSOR_QUALITY
  2715. lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
  2716. current_position[E_AXIS] += 40;
  2717. plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence
  2718. st_synchronize();
  2719. marlin_rise_z();
  2720. current_position[E_AXIS] += 30;
  2721. plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence
  2722. load_filament_final_feed(); //slow sequence
  2723. st_synchronize();
  2724. Sound_MakeCustom(50,500,false);
  2725. if (!farm_mode && loading_flag) {
  2726. lcd_load_filament_color_check();
  2727. }
  2728. lcd_update_enable(true);
  2729. lcd_update(2);
  2730. lcd_setstatuspgm(_T(WELCOME_MSG));
  2731. disable_z();
  2732. loading_flag = false;
  2733. custom_message_type = CustomMsg::Status;
  2734. #ifdef FSENSOR_QUALITY
  2735. fsensor_oq_meassure_stop();
  2736. if (!fsensor_oq_result())
  2737. {
  2738. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  2739. lcd_update_enable(true);
  2740. lcd_update(2);
  2741. if (disable)
  2742. fsensor_disable();
  2743. }
  2744. #endif //FSENSOR_QUALITY
  2745. }
  2746. }
  2747. /**
  2748. * @brief Get serial number from 32U2 processor
  2749. *
  2750. * Typical format of S/N is:CZPX0917X003XC13518
  2751. *
  2752. * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
  2753. *
  2754. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  2755. * reply is transmitted to serial port 1 character by character.
  2756. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  2757. * it is interrupted, so less, or no characters are retransmitted, only newline character is send
  2758. * in any case.
  2759. */
  2760. static void gcode_PRUSA_SN()
  2761. {
  2762. if (farm_mode) {
  2763. selectedSerialPort = 0;
  2764. putchar(';');
  2765. putchar('S');
  2766. int numbersRead = 0;
  2767. ShortTimer timeout;
  2768. timeout.start();
  2769. while (numbersRead < 19) {
  2770. while (MSerial.available() > 0) {
  2771. uint8_t serial_char = MSerial.read();
  2772. selectedSerialPort = 1;
  2773. putchar(serial_char);
  2774. numbersRead++;
  2775. selectedSerialPort = 0;
  2776. }
  2777. if (timeout.expired(100u)) break;
  2778. }
  2779. selectedSerialPort = 1;
  2780. putchar('\n');
  2781. #if 0
  2782. for (int b = 0; b < 3; b++) {
  2783. _tone(BEEPER, 110);
  2784. _delay(50);
  2785. _noTone(BEEPER);
  2786. _delay(50);
  2787. }
  2788. #endif
  2789. } else {
  2790. puts_P(_N("Not in farm mode."));
  2791. }
  2792. }
  2793. //! Detection of faulty RAMBo 1.1b boards equipped with bigger capacitors
  2794. //! at the TACH_1 pin, which causes bad detection of print fan speed.
  2795. //! Warning: This function is not to be used by ordinary users, it is here only for automated testing purposes,
  2796. //! it may even interfere with other functions of the printer! You have been warned!
  2797. //! The test idea is to measure the time necessary to charge the capacitor.
  2798. //! So the algorithm is as follows:
  2799. //! 1. Set TACH_1 pin to INPUT mode and LOW
  2800. //! 2. Wait a few ms
  2801. //! 3. disable interrupts and measure the time until the TACH_1 pin reaches HIGH
  2802. //! Repeat 1.-3. several times
  2803. //! Good RAMBo's times are in the range of approx. 260-320 us
  2804. //! Bad RAMBo's times are approx. 260-1200 us
  2805. //! So basically we are interested in maximum time, the minima are mostly the same.
  2806. //! May be that's why the bad RAMBo's still produce some fan RPM reading, but not corresponding to reality
  2807. static void gcode_PRUSA_BadRAMBoFanTest(){
  2808. //printf_P(PSTR("Enter fan pin test\n"));
  2809. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1 && defined(IR_SENSOR)
  2810. fan_measuring = false; // prevent EXTINT7 breaking into the measurement
  2811. unsigned long tach1max = 0;
  2812. uint8_t tach1cntr = 0;
  2813. for( /* nothing */; tach1cntr < 100; ++tach1cntr){
  2814. //printf_P(PSTR("TACH_1: %d\n"), tach1cntr);
  2815. SET_OUTPUT(TACH_1);
  2816. WRITE(TACH_1, LOW);
  2817. _delay(20); // the delay may be lower
  2818. unsigned long tachMeasure = _micros();
  2819. cli();
  2820. SET_INPUT(TACH_1);
  2821. // just wait brutally in an endless cycle until we reach HIGH
  2822. // if this becomes a problem it may be improved to non-endless cycle
  2823. while( READ(TACH_1) == 0 ) ;
  2824. sei();
  2825. tachMeasure = _micros() - tachMeasure;
  2826. if( tach1max < tachMeasure )
  2827. tach1max = tachMeasure;
  2828. //printf_P(PSTR("TACH_1: %d: capacitor check time=%lu us\n"), (int)tach1cntr, tachMeasure);
  2829. }
  2830. //printf_P(PSTR("TACH_1: max=%lu us\n"), tach1max);
  2831. SERIAL_PROTOCOLPGM("RAMBo FAN ");
  2832. if( tach1max > 500 ){
  2833. // bad RAMBo
  2834. SERIAL_PROTOCOLLNPGM("BAD");
  2835. } else {
  2836. SERIAL_PROTOCOLLNPGM("OK");
  2837. }
  2838. // cleanup after the test function
  2839. SET_INPUT(TACH_1);
  2840. WRITE(TACH_1, HIGH);
  2841. #endif
  2842. }
  2843. #ifdef BACKLASH_X
  2844. extern uint8_t st_backlash_x;
  2845. #endif //BACKLASH_X
  2846. #ifdef BACKLASH_Y
  2847. extern uint8_t st_backlash_y;
  2848. #endif //BACKLASH_Y
  2849. //! \ingroup marlin_main
  2850. //! @brief Parse and process commands
  2851. //!
  2852. //! look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  2853. //! http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  2854. //!
  2855. //!
  2856. //! Implemented Codes
  2857. //! -------------------
  2858. //!
  2859. //! * _This list is not updated. Current documentation is maintained inside the process_cmd function._
  2860. //!
  2861. //!@n PRUSA CODES
  2862. //!@n P F - Returns FW versions
  2863. //!@n P R - Returns revision of printer
  2864. //!
  2865. //!@n G0 -> G1
  2866. //!@n G1 - Coordinated Movement X Y Z E
  2867. //!@n G2 - CW ARC
  2868. //!@n G3 - CCW ARC
  2869. //!@n G4 - Dwell S<seconds> or P<milliseconds>
  2870. //!@n G10 - retract filament according to settings of M207
  2871. //!@n G11 - retract recover filament according to settings of M208
  2872. //!@n G28 - Home all Axis
  2873. //!@n G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  2874. //!@n G30 - Single Z Probe, probes bed at current XY location.
  2875. //!@n G31 - Dock sled (Z_PROBE_SLED only)
  2876. //!@n G32 - Undock sled (Z_PROBE_SLED only)
  2877. //!@n G80 - Automatic mesh bed leveling
  2878. //!@n G81 - Print bed profile
  2879. //!@n G90 - Use Absolute Coordinates
  2880. //!@n G91 - Use Relative Coordinates
  2881. //!@n G92 - Set current position to coordinates given
  2882. //!
  2883. //!@n M Codes
  2884. //!@n M0 - Unconditional stop - Wait for user to press a button on the LCD
  2885. //!@n M1 - Same as M0
  2886. //!@n M17 - Enable/Power all stepper motors
  2887. //!@n M18 - Disable all stepper motors; same as M84
  2888. //!@n M20 - List SD card
  2889. //!@n M21 - Init SD card
  2890. //!@n M22 - Release SD card
  2891. //!@n M23 - Select SD file (M23 filename.g)
  2892. //!@n M24 - Start/resume SD print
  2893. //!@n M25 - Pause SD print
  2894. //!@n M26 - Set SD position in bytes (M26 S12345)
  2895. //!@n M27 - Report SD print status
  2896. //!@n M28 - Start SD write (M28 filename.g)
  2897. //!@n M29 - Stop SD write
  2898. //!@n M30 - Delete file from SD (M30 filename.g)
  2899. //!@n M31 - Output time since last M109 or SD card start to serial
  2900. //!@n M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  2901. //! syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  2902. //! Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  2903. //! The '#' is necessary when calling from within sd files, as it stops buffer prereading
  2904. //!@n M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
  2905. //!@n M73 - Show percent done and print time remaining
  2906. //!@n M80 - Turn on Power Supply
  2907. //!@n M81 - Turn off Power Supply
  2908. //!@n M82 - Set E codes absolute (default)
  2909. //!@n M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  2910. //!@n M84 - Disable steppers until next move,
  2911. //! or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  2912. //!@n M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  2913. //!@n M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
  2914. //!@n M92 - Set axis_steps_per_unit - same syntax as G92
  2915. //!@n M104 - Set extruder target temp
  2916. //!@n M105 - Read current temp
  2917. //!@n M106 - Fan on
  2918. //!@n M107 - Fan off
  2919. //!@n M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  2920. //! Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  2921. //! IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  2922. //!@n M112 - Emergency stop
  2923. //!@n M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  2924. //!@n M114 - Output current position to serial port
  2925. //!@n M115 - Capabilities string
  2926. //!@n M117 - display message
  2927. //!@n M119 - Output Endstop status to serial port
  2928. //!@n M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  2929. //!@n M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  2930. //!@n M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  2931. //!@n M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  2932. //!@n M140 - Set bed target temp
  2933. //!@n M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
  2934. //!@n M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  2935. //! Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  2936. //!@n M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  2937. //!@n M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  2938. //!@n M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  2939. //!@n M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  2940. //!@n M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  2941. //!@n M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
  2942. //!@n M206 - set additional homing offset
  2943. //!@n M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  2944. //!@n M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  2945. //!@n M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  2946. //!@n M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  2947. //!@n M220 S<factor in percent>- set speed factor override percentage
  2948. //!@n M221 S<factor in percent>- set extrude factor override percentage
  2949. //!@n M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  2950. //!@n M240 - Trigger a camera to take a photograph
  2951. //!@n M250 - Set LCD contrast C<contrast value> (value 0..63)
  2952. //!@n M280 - set servo position absolute. P: servo index, S: angle or microseconds
  2953. //!@n M300 - Play beep sound S<frequency Hz> P<duration ms>
  2954. //!@n M301 - Set PID parameters P I and D
  2955. //!@n M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  2956. //!@n M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  2957. //!@n M304 - Set bed PID parameters P I and D
  2958. //!@n M400 - Finish all moves
  2959. //!@n M401 - Lower z-probe if present
  2960. //!@n M402 - Raise z-probe if present
  2961. //!@n M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  2962. //!@n M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  2963. //!@n M406 - Turn off Filament Sensor extrusion control
  2964. //!@n M407 - Displays measured filament diameter
  2965. //!@n M500 - stores parameters in EEPROM
  2966. //!@n M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  2967. //!@n M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  2968. //!@n M503 - print the current settings (from memory not from EEPROM)
  2969. //!@n M509 - force language selection on next restart
  2970. //!@n M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  2971. //!@n M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  2972. //!@n M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  2973. //!@n M860 - Wait for PINDA thermistor to reach target temperature.
  2974. //!@n M861 - Set / Read PINDA temperature compensation offsets
  2975. //!@n M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  2976. //!@n M907 - Set digital trimpot motor current using axis codes.
  2977. //!@n M908 - Control digital trimpot directly.
  2978. //!@n M350 - Set microstepping mode.
  2979. //!@n M351 - Toggle MS1 MS2 pins directly.
  2980. //!
  2981. //!@n M928 - Start SD logging (M928 filename.g) - ended by M29
  2982. //!@n M999 - Restart after being stopped by error
  2983. //! <br><br>
  2984. /** @defgroup marlin_main Marlin main */
  2985. /** \ingroup GCodes */
  2986. //! _This is a list of currently implemented G Codes in Prusa firmware (dynamically generated from doxygen)_
  2987. void process_commands()
  2988. {
  2989. #ifdef FANCHECK
  2990. if (fan_check_error){
  2991. if( fan_check_error == EFCE_DETECTED ){
  2992. fan_check_error = EFCE_REPORTED;
  2993. if(is_usb_printing){
  2994. SERIAL_PROTOCOLLNRPGM(MSG_OCTOPRINT_PAUSE);
  2995. }
  2996. else{
  2997. lcd_pause_print();
  2998. }
  2999. } // otherwise it has already been reported, so just ignore further processing
  3000. return;
  3001. }
  3002. #endif
  3003. if (!buflen) return; //empty command
  3004. #ifdef FILAMENT_RUNOUT_SUPPORT
  3005. SET_INPUT(FR_SENS);
  3006. #endif
  3007. #ifdef CMDBUFFER_DEBUG
  3008. SERIAL_ECHOPGM("Processing a GCODE command: ");
  3009. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  3010. SERIAL_ECHOLNPGM("");
  3011. SERIAL_ECHOPGM("In cmdqueue: ");
  3012. SERIAL_ECHO(buflen);
  3013. SERIAL_ECHOLNPGM("");
  3014. #endif /* CMDBUFFER_DEBUG */
  3015. unsigned long codenum; //throw away variable
  3016. char *starpos = NULL;
  3017. #ifdef ENABLE_AUTO_BED_LEVELING
  3018. float x_tmp, y_tmp, z_tmp, real_z;
  3019. #endif
  3020. // PRUSA GCODES
  3021. KEEPALIVE_STATE(IN_HANDLER);
  3022. #ifdef SNMM
  3023. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  3024. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  3025. int8_t SilentMode;
  3026. #endif
  3027. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  3028. starpos = (strchr(strchr_pointer + 5, '*'));
  3029. if (starpos != NULL)
  3030. *(starpos) = '\0';
  3031. lcd_setstatus(strchr_pointer + 5);
  3032. }
  3033. #ifdef TMC2130
  3034. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  3035. {
  3036. //! ### CRASH_DETECTED - TMC2130
  3037. // ---------------------------------
  3038. if(code_seen("CRASH_DETECTED"))
  3039. {
  3040. uint8_t mask = 0;
  3041. if (code_seen('X')) mask |= X_AXIS_MASK;
  3042. if (code_seen('Y')) mask |= Y_AXIS_MASK;
  3043. crashdet_detected(mask);
  3044. }
  3045. //! ### CRASH_RECOVER - TMC2130
  3046. // ----------------------------------
  3047. else if(code_seen("CRASH_RECOVER"))
  3048. crashdet_recover();
  3049. //! ### CRASH_CANCEL - TMC2130
  3050. // ----------------------------------
  3051. else if(code_seen("CRASH_CANCEL"))
  3052. crashdet_cancel();
  3053. }
  3054. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  3055. {
  3056. //! ### TMC_SET_WAVE_
  3057. // --------------------
  3058. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
  3059. {
  3060. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3061. axis = (axis == 'E')?3:(axis - 'X');
  3062. if (axis < 4)
  3063. {
  3064. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  3065. tmc2130_set_wave(axis, 247, fac);
  3066. }
  3067. }
  3068. //! ### TMC_SET_STEP_
  3069. // ------------------
  3070. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
  3071. {
  3072. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3073. axis = (axis == 'E')?3:(axis - 'X');
  3074. if (axis < 4)
  3075. {
  3076. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  3077. uint16_t res = tmc2130_get_res(axis);
  3078. tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
  3079. }
  3080. }
  3081. //! ### TMC_SET_CHOP_
  3082. // -------------------
  3083. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
  3084. {
  3085. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3086. axis = (axis == 'E')?3:(axis - 'X');
  3087. if (axis < 4)
  3088. {
  3089. uint8_t chop0 = tmc2130_chopper_config[axis].toff;
  3090. uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
  3091. uint8_t chop2 = tmc2130_chopper_config[axis].hend;
  3092. uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
  3093. char* str_end = 0;
  3094. if (CMDBUFFER_CURRENT_STRING[14])
  3095. {
  3096. chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
  3097. if (str_end && *str_end)
  3098. {
  3099. chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
  3100. if (str_end && *str_end)
  3101. {
  3102. chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
  3103. if (str_end && *str_end)
  3104. chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
  3105. }
  3106. }
  3107. }
  3108. tmc2130_chopper_config[axis].toff = chop0;
  3109. tmc2130_chopper_config[axis].hstr = chop1 & 7;
  3110. tmc2130_chopper_config[axis].hend = chop2 & 15;
  3111. tmc2130_chopper_config[axis].tbl = chop3 & 3;
  3112. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  3113. //printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
  3114. }
  3115. }
  3116. }
  3117. #ifdef BACKLASH_X
  3118. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
  3119. {
  3120. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  3121. st_backlash_x = bl;
  3122. printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
  3123. }
  3124. #endif //BACKLASH_X
  3125. #ifdef BACKLASH_Y
  3126. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
  3127. {
  3128. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  3129. st_backlash_y = bl;
  3130. printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
  3131. }
  3132. #endif //BACKLASH_Y
  3133. #endif //TMC2130
  3134. else if(code_seen("PRUSA")){
  3135. /*!
  3136. *
  3137. ### PRUSA - Internal command set
  3138. Set of internal PRUSA commands
  3139. PRUSA [ Ping | PRN | FAN | fn | thx | uvlo | fsensor_recover | MMURES | RESET | fv | M28 | SN | Fir | Rev | Lang | Lz | Beat | FR ]
  3140. - `Ping`
  3141. - `PRN` - Prints revision of the printer
  3142. - `FAN` - Prints fan details
  3143. - `fn` - Prints farm no.
  3144. - `thx`
  3145. - `uvlo`
  3146. - `fsensor_recover` - Filament sensor recover - restore print and continue
  3147. - `MMURES` - Reset MMU
  3148. - `RESET` - (Careful!)
  3149. - `fv` - ?
  3150. - `M28`
  3151. - `SN`
  3152. - `Fir` - Prints firmware version
  3153. - `Rev`- Prints filament size, elelectronics, nozzle type
  3154. - `Lang` - Reset the language
  3155. - `Lz`
  3156. - `Beat` - Kick farm link timer
  3157. - `FR` - Full factory reset
  3158. - `nozzle set <diameter>` - set nozzle diameter (farm mode only), e.g. `PRUSA nozzle set 0.4`
  3159. - `nozzle D<diameter>` - check the nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle D0.4`
  3160. - `nozzle` - prints nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle`
  3161. *
  3162. */
  3163. if (code_seen("Ping")) { // PRUSA Ping
  3164. if (farm_mode) {
  3165. PingTime = _millis();
  3166. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  3167. }
  3168. }
  3169. else if (code_seen("PRN")) { // PRUSA PRN
  3170. printf_P(_N("%d"), status_number);
  3171. } else if( code_seen("FANPINTST") ){
  3172. gcode_PRUSA_BadRAMBoFanTest();
  3173. }else if (code_seen("FAN")) { //! PRUSA FAN
  3174. printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
  3175. }else if (code_seen("fn")) { // PRUSA fn
  3176. if (farm_mode) {
  3177. printf_P(_N("%d"), farm_no);
  3178. }
  3179. else {
  3180. puts_P(_N("Not in farm mode."));
  3181. }
  3182. }
  3183. else if (code_seen("thx")) // PRUSA thx
  3184. {
  3185. no_response = false;
  3186. }
  3187. else if (code_seen("uvlo")) // PRUSA uvlo
  3188. {
  3189. eeprom_update_byte((uint8_t*)EEPROM_UVLO,0);
  3190. enquecommand_P(PSTR("M24"));
  3191. }
  3192. #ifdef FILAMENT_SENSOR
  3193. else if (code_seen("fsensor_recover")) // PRUSA fsensor_recover
  3194. {
  3195. fsensor_restore_print_and_continue();
  3196. }
  3197. #endif //FILAMENT_SENSOR
  3198. else if (code_seen("MMURES")) // PRUSA MMURES
  3199. {
  3200. mmu_reset();
  3201. }
  3202. else if (code_seen("RESET")) { // PRUSA RESET
  3203. // careful!
  3204. if (farm_mode) {
  3205. #if (defined(WATCHDOG) && (MOTHERBOARD == BOARD_EINSY_1_0a))
  3206. boot_app_magic = BOOT_APP_MAGIC;
  3207. boot_app_flags = BOOT_APP_FLG_RUN;
  3208. wdt_enable(WDTO_15MS);
  3209. cli();
  3210. while(1);
  3211. #else //WATCHDOG
  3212. asm volatile("jmp 0x3E000");
  3213. #endif //WATCHDOG
  3214. }
  3215. else {
  3216. MYSERIAL.println("Not in farm mode.");
  3217. }
  3218. }else if (code_seen("fv")) { // PRUSA fv
  3219. // get file version
  3220. #ifdef SDSUPPORT
  3221. card.openFile(strchr_pointer + 3,true);
  3222. while (true) {
  3223. uint16_t readByte = card.get();
  3224. MYSERIAL.write(readByte);
  3225. if (readByte=='\n') {
  3226. break;
  3227. }
  3228. }
  3229. card.closefile();
  3230. #endif // SDSUPPORT
  3231. } else if (code_seen("M28")) { // PRUSA M28
  3232. trace();
  3233. prusa_sd_card_upload = true;
  3234. card.openFile(strchr_pointer+4,false);
  3235. } else if (code_seen("SN")) { // PRUSA SN
  3236. gcode_PRUSA_SN();
  3237. } else if(code_seen("Fir")){ // PRUSA Fir
  3238. SERIAL_PROTOCOLLN(FW_VERSION_FULL);
  3239. } else if(code_seen("Rev")){ // PRUSA Rev
  3240. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  3241. } else if(code_seen("Lang")) { // PRUSA Lang
  3242. lang_reset();
  3243. } else if(code_seen("Lz")) { // PRUSA Lz
  3244. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  3245. } else if(code_seen("Beat")) { // PRUSA Beat
  3246. // Kick farm link timer
  3247. kicktime = _millis();
  3248. } else if(code_seen("FR")) { // PRUSA FR
  3249. // Factory full reset
  3250. factory_reset(0);
  3251. //-//
  3252. /*
  3253. } else if(code_seen("rrr")) {
  3254. MYSERIAL.println("=== checking ===");
  3255. MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_CHECK_MODE),DEC);
  3256. MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER),DEC);
  3257. MYSERIAL.println(eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM),DEC);
  3258. MYSERIAL.println(farm_mode,DEC);
  3259. MYSERIAL.println(eCheckMode,DEC);
  3260. } else if(code_seen("www")) {
  3261. MYSERIAL.println("=== @ FF ===");
  3262. eeprom_update_byte((uint8_t*)EEPROM_CHECK_MODE,0xFF);
  3263. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,0xFF);
  3264. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,0xFFFF);
  3265. */
  3266. } else if (code_seen("nozzle")) { // PRUSA nozzle
  3267. uint16_t nDiameter;
  3268. if(code_seen('D'))
  3269. {
  3270. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  3271. nozzle_diameter_check(nDiameter);
  3272. }
  3273. else if(code_seen("set") && farm_mode)
  3274. {
  3275. strchr_pointer++; // skip 1st char (~ 's')
  3276. strchr_pointer++; // skip 2nd char (~ 'e')
  3277. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  3278. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
  3279. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
  3280. }
  3281. else SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
  3282. //-// !!! SupportMenu
  3283. /*
  3284. // musi byt PRED "PRUSA model"
  3285. } else if (code_seen("smodel")) { //! PRUSA smodel
  3286. size_t nOffset;
  3287. // ! -> "l"
  3288. strchr_pointer+=5*sizeof(*strchr_pointer); // skip 1st - 5th char (~ 'smode')
  3289. nOffset=strspn(strchr_pointer+1," \t\n\r\v\f");
  3290. if(*(strchr_pointer+1+nOffset))
  3291. printer_smodel_check(strchr_pointer);
  3292. else SERIAL_PROTOCOLLN(PRINTER_NAME);
  3293. } else if (code_seen("model")) { //! PRUSA model
  3294. uint16_t nPrinterModel;
  3295. strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'mode')
  3296. nPrinterModel=(uint16_t)code_value_long();
  3297. if(nPrinterModel!=0)
  3298. printer_model_check(nPrinterModel);
  3299. else SERIAL_PROTOCOLLN(PRINTER_TYPE);
  3300. } else if (code_seen("version")) { //! PRUSA version
  3301. strchr_pointer+=7*sizeof(*strchr_pointer); // skip 1st - 7th char (~ 'version')
  3302. while(*strchr_pointer==' ') // skip leading spaces
  3303. strchr_pointer++;
  3304. if(*strchr_pointer!=0)
  3305. fw_version_check(strchr_pointer);
  3306. else SERIAL_PROTOCOLLN(FW_VERSION);
  3307. } else if (code_seen("gcode")) { //! PRUSA gcode
  3308. uint16_t nGcodeLevel;
  3309. strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'gcod')
  3310. nGcodeLevel=(uint16_t)code_value_long();
  3311. if(nGcodeLevel!=0)
  3312. gcode_level_check(nGcodeLevel);
  3313. else SERIAL_PROTOCOLLN(GCODE_LEVEL);
  3314. */
  3315. }
  3316. //else if (code_seen('Cal')) {
  3317. // lcd_calibration();
  3318. // }
  3319. }
  3320. // This prevents reading files with "^" in their names.
  3321. // Since it is unclear, if there is some usage of this construct,
  3322. // it will be deprecated in 3.9 alpha a possibly completely removed in the future:
  3323. // else if (code_seen('^')) {
  3324. // // nothing, this is a version line
  3325. // }
  3326. else if(code_seen('G'))
  3327. {
  3328. gcode_in_progress = (int)code_value();
  3329. // printf_P(_N("BEGIN G-CODE=%u\n"), gcode_in_progress);
  3330. switch (gcode_in_progress)
  3331. {
  3332. //! ### G0, G1 - Coordinated movement X Y Z E
  3333. // --------------------------------------
  3334. case 0: // G0 -> G1
  3335. case 1: // G1
  3336. if(Stopped == false) {
  3337. #ifdef FILAMENT_RUNOUT_SUPPORT
  3338. if(READ(FR_SENS)){
  3339. int feedmultiplyBckp=feedmultiply;
  3340. float target[4];
  3341. float lastpos[4];
  3342. target[X_AXIS]=current_position[X_AXIS];
  3343. target[Y_AXIS]=current_position[Y_AXIS];
  3344. target[Z_AXIS]=current_position[Z_AXIS];
  3345. target[E_AXIS]=current_position[E_AXIS];
  3346. lastpos[X_AXIS]=current_position[X_AXIS];
  3347. lastpos[Y_AXIS]=current_position[Y_AXIS];
  3348. lastpos[Z_AXIS]=current_position[Z_AXIS];
  3349. lastpos[E_AXIS]=current_position[E_AXIS];
  3350. //retract by E
  3351. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  3352. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3353. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  3354. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  3355. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  3356. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  3357. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  3358. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  3359. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3360. //finish moves
  3361. st_synchronize();
  3362. //disable extruder steppers so filament can be removed
  3363. disable_e0();
  3364. disable_e1();
  3365. disable_e2();
  3366. _delay(100);
  3367. //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
  3368. uint8_t cnt=0;
  3369. int counterBeep = 0;
  3370. lcd_wait_interact();
  3371. while(!lcd_clicked()){
  3372. cnt++;
  3373. manage_heater();
  3374. manage_inactivity(true);
  3375. //lcd_update(0);
  3376. if(cnt==0)
  3377. {
  3378. #if BEEPER > 0
  3379. if (counterBeep== 500){
  3380. counterBeep = 0;
  3381. }
  3382. SET_OUTPUT(BEEPER);
  3383. if (counterBeep== 0){
  3384. if(eSoundMode!=e_SOUND_MODE_SILENT)
  3385. WRITE(BEEPER,HIGH);
  3386. }
  3387. if (counterBeep== 20){
  3388. WRITE(BEEPER,LOW);
  3389. }
  3390. counterBeep++;
  3391. #else
  3392. #endif
  3393. }
  3394. }
  3395. WRITE(BEEPER,LOW);
  3396. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3397. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3398. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3399. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3400. lcd_change_fil_state = 0;
  3401. lcd_loading_filament();
  3402. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  3403. lcd_change_fil_state = 0;
  3404. lcd_alright();
  3405. switch(lcd_change_fil_state){
  3406. case 2:
  3407. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3408. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3409. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3410. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3411. lcd_loading_filament();
  3412. break;
  3413. case 3:
  3414. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3415. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3416. lcd_loading_color();
  3417. break;
  3418. default:
  3419. lcd_change_success();
  3420. break;
  3421. }
  3422. }
  3423. target[E_AXIS]+= 5;
  3424. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3425. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  3426. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3427. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3428. //plan_set_e_position(current_position[E_AXIS]);
  3429. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  3430. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  3431. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  3432. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  3433. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  3434. plan_set_e_position(lastpos[E_AXIS]);
  3435. feedmultiply=feedmultiplyBckp;
  3436. char cmd[9];
  3437. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  3438. enquecommand(cmd);
  3439. }
  3440. #endif
  3441. get_coordinates(); // For X Y Z E F
  3442. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  3443. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  3444. }
  3445. #ifdef FWRETRACT
  3446. if(cs.autoretract_enabled)
  3447. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  3448. float echange=destination[E_AXIS]-current_position[E_AXIS];
  3449. if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
  3450. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  3451. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  3452. retract(!retracted[active_extruder]);
  3453. return;
  3454. }
  3455. }
  3456. #endif //FWRETRACT
  3457. prepare_move();
  3458. //ClearToSend();
  3459. }
  3460. break;
  3461. //! ### G2 - CW ARC
  3462. // ------------------------------
  3463. case 2:
  3464. if(Stopped == false) {
  3465. get_arc_coordinates();
  3466. prepare_arc_move(true);
  3467. }
  3468. break;
  3469. //! ### G3 - CCW ARC
  3470. // -------------------------------
  3471. case 3:
  3472. if(Stopped == false) {
  3473. get_arc_coordinates();
  3474. prepare_arc_move(false);
  3475. }
  3476. break;
  3477. //! ### G4 - Dwell
  3478. // -------------------------------
  3479. case 4:
  3480. codenum = 0;
  3481. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  3482. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  3483. if(codenum != 0) LCD_MESSAGERPGM(_n("Sleep..."));////MSG_DWELL
  3484. st_synchronize();
  3485. codenum += _millis(); // keep track of when we started waiting
  3486. previous_millis_cmd = _millis();
  3487. while(_millis() < codenum) {
  3488. manage_heater();
  3489. manage_inactivity();
  3490. lcd_update(0);
  3491. }
  3492. break;
  3493. #ifdef FWRETRACT
  3494. //! ### G10 Retract
  3495. // ------------------------------
  3496. case 10:
  3497. #if EXTRUDERS > 1
  3498. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  3499. retract(true,retracted_swap[active_extruder]);
  3500. #else
  3501. retract(true);
  3502. #endif
  3503. break;
  3504. //! ### G11 - Retract recover
  3505. // -----------------------------
  3506. case 11:
  3507. #if EXTRUDERS > 1
  3508. retract(false,retracted_swap[active_extruder]);
  3509. #else
  3510. retract(false);
  3511. #endif
  3512. break;
  3513. #endif //FWRETRACT
  3514. //! ### G28 - Home all Axis one at a time
  3515. // --------------------------------------------
  3516. case 28:
  3517. {
  3518. long home_x_value = 0;
  3519. long home_y_value = 0;
  3520. long home_z_value = 0;
  3521. // Which axes should be homed?
  3522. bool home_x = code_seen(axis_codes[X_AXIS]);
  3523. home_x_value = code_value_long();
  3524. bool home_y = code_seen(axis_codes[Y_AXIS]);
  3525. home_y_value = code_value_long();
  3526. bool home_z = code_seen(axis_codes[Z_AXIS]);
  3527. home_z_value = code_value_long();
  3528. bool without_mbl = code_seen('W');
  3529. // calibrate?
  3530. #ifdef TMC2130
  3531. bool calib = code_seen('C');
  3532. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
  3533. #else
  3534. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, without_mbl);
  3535. #endif //TMC2130
  3536. if ((home_x || home_y || without_mbl || home_z) == false) {
  3537. // Push the commands to the front of the message queue in the reverse order!
  3538. // There shall be always enough space reserved for these commands.
  3539. goto case_G80;
  3540. }
  3541. break;
  3542. }
  3543. #ifdef ENABLE_AUTO_BED_LEVELING
  3544. //! ### G29 - Detailed Z-Probe
  3545. // --------------------------------
  3546. case 29:
  3547. {
  3548. #if Z_MIN_PIN == -1
  3549. #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."
  3550. #endif
  3551. // Prevent user from running a G29 without first homing in X and Y
  3552. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  3553. {
  3554. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  3555. SERIAL_ECHO_START;
  3556. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  3557. break; // abort G29, since we don't know where we are
  3558. }
  3559. st_synchronize();
  3560. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  3561. //vector_3 corrected_position = plan_get_position_mm();
  3562. //corrected_position.debug("position before G29");
  3563. plan_bed_level_matrix.set_to_identity();
  3564. vector_3 uncorrected_position = plan_get_position();
  3565. //uncorrected_position.debug("position durring G29");
  3566. current_position[X_AXIS] = uncorrected_position.x;
  3567. current_position[Y_AXIS] = uncorrected_position.y;
  3568. current_position[Z_AXIS] = uncorrected_position.z;
  3569. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3570. int l_feedmultiply = setup_for_endstop_move();
  3571. feedrate = homing_feedrate[Z_AXIS];
  3572. #ifdef AUTO_BED_LEVELING_GRID
  3573. // probe at the points of a lattice grid
  3574. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3575. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3576. // solve the plane equation ax + by + d = z
  3577. // A is the matrix with rows [x y 1] for all the probed points
  3578. // B is the vector of the Z positions
  3579. // 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
  3580. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3581. // "A" matrix of the linear system of equations
  3582. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  3583. // "B" vector of Z points
  3584. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  3585. int probePointCounter = 0;
  3586. bool zig = true;
  3587. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  3588. {
  3589. int xProbe, xInc;
  3590. if (zig)
  3591. {
  3592. xProbe = LEFT_PROBE_BED_POSITION;
  3593. //xEnd = RIGHT_PROBE_BED_POSITION;
  3594. xInc = xGridSpacing;
  3595. zig = false;
  3596. } else // zag
  3597. {
  3598. xProbe = RIGHT_PROBE_BED_POSITION;
  3599. //xEnd = LEFT_PROBE_BED_POSITION;
  3600. xInc = -xGridSpacing;
  3601. zig = true;
  3602. }
  3603. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  3604. {
  3605. float z_before;
  3606. if (probePointCounter == 0)
  3607. {
  3608. // raise before probing
  3609. z_before = Z_RAISE_BEFORE_PROBING;
  3610. } else
  3611. {
  3612. // raise extruder
  3613. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  3614. }
  3615. float measured_z = probe_pt(xProbe, yProbe, z_before);
  3616. eqnBVector[probePointCounter] = measured_z;
  3617. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  3618. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  3619. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  3620. probePointCounter++;
  3621. xProbe += xInc;
  3622. }
  3623. }
  3624. clean_up_after_endstop_move(l_feedmultiply);
  3625. // solve lsq problem
  3626. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  3627. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3628. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  3629. SERIAL_PROTOCOLPGM(" b: ");
  3630. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  3631. SERIAL_PROTOCOLPGM(" d: ");
  3632. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  3633. set_bed_level_equation_lsq(plane_equation_coefficients);
  3634. free(plane_equation_coefficients);
  3635. #else // AUTO_BED_LEVELING_GRID not defined
  3636. // Probe at 3 arbitrary points
  3637. // probe 1
  3638. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  3639. // probe 2
  3640. 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);
  3641. // probe 3
  3642. 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);
  3643. clean_up_after_endstop_move(l_feedmultiply);
  3644. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  3645. #endif // AUTO_BED_LEVELING_GRID
  3646. st_synchronize();
  3647. // The following code correct the Z height difference from z-probe position and hotend tip position.
  3648. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  3649. // When the bed is uneven, this height must be corrected.
  3650. real_z = float(st_get_position(Z_AXIS))/cs.axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
  3651. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  3652. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3653. z_tmp = current_position[Z_AXIS];
  3654. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  3655. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  3656. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3657. }
  3658. break;
  3659. #ifndef Z_PROBE_SLED
  3660. //! ### G30 - Single Z Probe
  3661. // ------------------------------------
  3662. case 30:
  3663. {
  3664. st_synchronize();
  3665. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3666. int l_feedmultiply = setup_for_endstop_move();
  3667. feedrate = homing_feedrate[Z_AXIS];
  3668. run_z_probe();
  3669. SERIAL_PROTOCOLPGM(_T(MSG_BED));
  3670. SERIAL_PROTOCOLPGM(" X: ");
  3671. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3672. SERIAL_PROTOCOLPGM(" Y: ");
  3673. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3674. SERIAL_PROTOCOLPGM(" Z: ");
  3675. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3676. SERIAL_PROTOCOLPGM("\n");
  3677. clean_up_after_endstop_move(l_feedmultiply);
  3678. }
  3679. break;
  3680. #else
  3681. //! ### G31 - Dock the sled
  3682. // ---------------------------
  3683. case 31:
  3684. dock_sled(true);
  3685. break;
  3686. //! ### G32 - Undock the sled
  3687. // ----------------------------
  3688. case 32:
  3689. dock_sled(false);
  3690. break;
  3691. #endif // Z_PROBE_SLED
  3692. #endif // ENABLE_AUTO_BED_LEVELING
  3693. #ifdef MESH_BED_LEVELING
  3694. //! ### G30 - Single Z Probe
  3695. // ----------------------------
  3696. case 30:
  3697. {
  3698. st_synchronize();
  3699. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3700. int l_feedmultiply = setup_for_endstop_move();
  3701. feedrate = homing_feedrate[Z_AXIS];
  3702. find_bed_induction_sensor_point_z(-10.f, 3);
  3703. printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
  3704. clean_up_after_endstop_move(l_feedmultiply);
  3705. }
  3706. break;
  3707. //! ### G75 - Print temperature interpolation
  3708. // ---------------------------------------------
  3709. case 75:
  3710. {
  3711. for (int i = 40; i <= 110; i++)
  3712. printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
  3713. }
  3714. break;
  3715. //! ### G76 - PINDA probe temperature calibration
  3716. // ------------------------------------------------
  3717. case 76:
  3718. {
  3719. #ifdef PINDA_THERMISTOR
  3720. if (true)
  3721. {
  3722. if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
  3723. //we need to know accurate position of first calibration point
  3724. //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
  3725. lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
  3726. break;
  3727. }
  3728. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  3729. {
  3730. // We don't know where we are! HOME!
  3731. // Push the commands to the front of the message queue in the reverse order!
  3732. // There shall be always enough space reserved for these commands.
  3733. repeatcommand_front(); // repeat G76 with all its parameters
  3734. enquecommand_front_P((PSTR("G28 W0")));
  3735. break;
  3736. }
  3737. lcd_show_fullscreen_message_and_wait_P(_i("Stable ambient temperature 21-26C is needed a rigid stand is required."));////MSG_TEMP_CAL_WARNING c=20 r=4
  3738. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  3739. if (result)
  3740. {
  3741. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3742. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3743. current_position[Z_AXIS] = 50;
  3744. current_position[Y_AXIS] = 180;
  3745. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3746. st_synchronize();
  3747. lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  3748. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3749. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3750. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3751. st_synchronize();
  3752. gcode_G28(false, false, true);
  3753. }
  3754. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  3755. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  3756. current_position[Z_AXIS] = 100;
  3757. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3758. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  3759. lcd_temp_cal_show_result(false);
  3760. break;
  3761. }
  3762. }
  3763. lcd_update_enable(true);
  3764. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  3765. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  3766. float zero_z;
  3767. int z_shift = 0; //unit: steps
  3768. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  3769. if (start_temp < 35) start_temp = 35;
  3770. if (start_temp < current_temperature_pinda) start_temp += 5;
  3771. printf_P(_N("start temperature: %.1f\n"), start_temp);
  3772. // setTargetHotend(200, 0);
  3773. setTargetBed(70 + (start_temp - 30));
  3774. custom_message_type = CustomMsg::TempCal;
  3775. custom_message_state = 1;
  3776. lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
  3777. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3778. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3779. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3780. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3781. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3782. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3783. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3784. st_synchronize();
  3785. while (current_temperature_pinda < start_temp)
  3786. {
  3787. delay_keep_alive(1000);
  3788. serialecho_temperatures();
  3789. }
  3790. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3791. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3792. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3793. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3794. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3795. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3796. st_synchronize();
  3797. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3798. if (find_z_result == false) {
  3799. lcd_temp_cal_show_result(find_z_result);
  3800. break;
  3801. }
  3802. zero_z = current_position[Z_AXIS];
  3803. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3804. int i = -1; for (; i < 5; i++)
  3805. {
  3806. float temp = (40 + i * 5);
  3807. printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
  3808. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3809. if (start_temp <= temp) break;
  3810. }
  3811. for (i++; i < 5; i++)
  3812. {
  3813. float temp = (40 + i * 5);
  3814. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3815. custom_message_state = i + 2;
  3816. setTargetBed(50 + 10 * (temp - 30) / 5);
  3817. // setTargetHotend(255, 0);
  3818. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3819. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3820. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3821. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3822. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3823. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3824. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3825. st_synchronize();
  3826. while (current_temperature_pinda < temp)
  3827. {
  3828. delay_keep_alive(1000);
  3829. serialecho_temperatures();
  3830. }
  3831. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3832. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3833. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3834. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3835. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3836. st_synchronize();
  3837. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3838. if (find_z_result == false) {
  3839. lcd_temp_cal_show_result(find_z_result);
  3840. break;
  3841. }
  3842. z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
  3843. printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
  3844. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3845. }
  3846. lcd_temp_cal_show_result(true);
  3847. break;
  3848. }
  3849. #endif //PINDA_THERMISTOR
  3850. setTargetBed(PINDA_MIN_T);
  3851. float zero_z;
  3852. int z_shift = 0; //unit: steps
  3853. int t_c; // temperature
  3854. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3855. // We don't know where we are! HOME!
  3856. // Push the commands to the front of the message queue in the reverse order!
  3857. // There shall be always enough space reserved for these commands.
  3858. repeatcommand_front(); // repeat G76 with all its parameters
  3859. enquecommand_front_P((PSTR("G28 W0")));
  3860. break;
  3861. }
  3862. puts_P(_N("PINDA probe calibration start"));
  3863. custom_message_type = CustomMsg::TempCal;
  3864. custom_message_state = 1;
  3865. lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
  3866. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3867. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3868. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3869. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3870. st_synchronize();
  3871. while (abs(degBed() - PINDA_MIN_T) > 1) {
  3872. delay_keep_alive(1000);
  3873. serialecho_temperatures();
  3874. }
  3875. //enquecommand_P(PSTR("M190 S50"));
  3876. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3877. delay_keep_alive(1000);
  3878. serialecho_temperatures();
  3879. }
  3880. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3881. current_position[Z_AXIS] = 5;
  3882. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3883. current_position[X_AXIS] = BED_X0;
  3884. current_position[Y_AXIS] = BED_Y0;
  3885. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3886. st_synchronize();
  3887. find_bed_induction_sensor_point_z(-1.f);
  3888. zero_z = current_position[Z_AXIS];
  3889. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3890. for (int i = 0; i<5; i++) {
  3891. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3892. custom_message_state = i + 2;
  3893. t_c = 60 + i * 10;
  3894. setTargetBed(t_c);
  3895. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3896. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3897. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3898. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3899. st_synchronize();
  3900. while (degBed() < t_c) {
  3901. delay_keep_alive(1000);
  3902. serialecho_temperatures();
  3903. }
  3904. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3905. delay_keep_alive(1000);
  3906. serialecho_temperatures();
  3907. }
  3908. current_position[Z_AXIS] = 5;
  3909. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3910. current_position[X_AXIS] = BED_X0;
  3911. current_position[Y_AXIS] = BED_Y0;
  3912. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  3913. st_synchronize();
  3914. find_bed_induction_sensor_point_z(-1.f);
  3915. z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
  3916. printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
  3917. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  3918. }
  3919. custom_message_type = CustomMsg::Status;
  3920. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  3921. puts_P(_N("Temperature calibration done."));
  3922. disable_x();
  3923. disable_y();
  3924. disable_z();
  3925. disable_e0();
  3926. disable_e1();
  3927. disable_e2();
  3928. setTargetBed(0); //set bed target temperature back to 0
  3929. lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
  3930. temp_cal_active = true;
  3931. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  3932. lcd_update_enable(true);
  3933. lcd_update(2);
  3934. }
  3935. break;
  3936. //! ### G80 - Mesh-based Z probe
  3937. // -----------------------------------
  3938. /*
  3939. * Probes a grid and produces a mesh to compensate for variable bed height
  3940. * The S0 report the points as below
  3941. * +----> X-axis
  3942. * |
  3943. * |
  3944. * v Y-axis
  3945. */
  3946. case 80:
  3947. #ifdef MK1BP
  3948. break;
  3949. #endif //MK1BP
  3950. case_G80:
  3951. {
  3952. mesh_bed_leveling_flag = true;
  3953. static bool run = false;
  3954. #ifdef SUPPORT_VERBOSITY
  3955. int8_t verbosity_level = 0;
  3956. if (code_seen('V')) {
  3957. // Just 'V' without a number counts as V1.
  3958. char c = strchr_pointer[1];
  3959. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3960. }
  3961. #endif //SUPPORT_VERBOSITY
  3962. // Firstly check if we know where we are
  3963. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3964. // We don't know where we are! HOME!
  3965. // Push the commands to the front of the message queue in the reverse order!
  3966. // There shall be always enough space reserved for these commands.
  3967. if (lcd_commands_type != LcdCommands::StopPrint) {
  3968. repeatcommand_front(); // repeat G80 with all its parameters
  3969. enquecommand_front_P((PSTR("G28 W0")));
  3970. }
  3971. else {
  3972. mesh_bed_leveling_flag = false;
  3973. }
  3974. break;
  3975. }
  3976. uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS;
  3977. if (code_seen('N')) {
  3978. nMeasPoints = code_value_uint8();
  3979. if (nMeasPoints != 7) {
  3980. nMeasPoints = 3;
  3981. }
  3982. }
  3983. else {
  3984. nMeasPoints = eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
  3985. }
  3986. uint8_t nProbeRetry = 3;
  3987. if (code_seen('R')) {
  3988. nProbeRetry = code_value_uint8();
  3989. if (nProbeRetry > 10) {
  3990. nProbeRetry = 10;
  3991. }
  3992. }
  3993. else {
  3994. nProbeRetry = eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR);
  3995. }
  3996. bool magnet_elimination = (eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION) > 0);
  3997. bool temp_comp_start = true;
  3998. #ifdef PINDA_THERMISTOR
  3999. temp_comp_start = false;
  4000. #endif //PINDA_THERMISTOR
  4001. if (temp_comp_start)
  4002. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  4003. if (lcd_commands_type != LcdCommands::StopPrint) {
  4004. temp_compensation_start();
  4005. run = true;
  4006. repeatcommand_front(); // repeat G80 with all its parameters
  4007. enquecommand_front_P((PSTR("G28 W0")));
  4008. }
  4009. else {
  4010. mesh_bed_leveling_flag = false;
  4011. }
  4012. break;
  4013. }
  4014. run = false;
  4015. if (lcd_commands_type == LcdCommands::StopPrint) {
  4016. mesh_bed_leveling_flag = false;
  4017. break;
  4018. }
  4019. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  4020. CustomMsg custom_message_type_old = custom_message_type;
  4021. unsigned int custom_message_state_old = custom_message_state;
  4022. custom_message_type = CustomMsg::MeshBedLeveling;
  4023. custom_message_state = (nMeasPoints * nMeasPoints) + 10;
  4024. lcd_update(1);
  4025. mbl.reset(); //reset mesh bed leveling
  4026. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  4027. // consumed during the first movements following this statement.
  4028. babystep_undo();
  4029. // Cycle through all points and probe them
  4030. // First move up. During this first movement, the babystepping will be reverted.
  4031. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4032. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
  4033. // The move to the first calibration point.
  4034. current_position[X_AXIS] = BED_X0;
  4035. current_position[Y_AXIS] = BED_Y0;
  4036. #ifdef SUPPORT_VERBOSITY
  4037. if (verbosity_level >= 1)
  4038. {
  4039. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4040. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  4041. }
  4042. #else //SUPPORT_VERBOSITY
  4043. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4044. #endif //SUPPORT_VERBOSITY
  4045. plan_buffer_line_curposXYZE(homing_feedrate[X_AXIS] / 30, active_extruder);
  4046. // Wait until the move is finished.
  4047. st_synchronize();
  4048. uint8_t mesh_point = 0; //index number of calibration point
  4049. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  4050. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  4051. 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)
  4052. #ifdef SUPPORT_VERBOSITY
  4053. if (verbosity_level >= 1) {
  4054. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  4055. }
  4056. #endif // SUPPORT_VERBOSITY
  4057. int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  4058. const char *kill_message = NULL;
  4059. while (mesh_point != nMeasPoints * nMeasPoints) {
  4060. // Get coords of a measuring point.
  4061. uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
  4062. uint8_t iy = mesh_point / nMeasPoints;
  4063. /*if (!mbl_point_measurement_valid(ix, iy, nMeasPoints, true)) {
  4064. printf_P(PSTR("Skipping point [%d;%d] \n"), ix, iy);
  4065. custom_message_state--;
  4066. mesh_point++;
  4067. continue; //skip
  4068. }*/
  4069. if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
  4070. if (nMeasPoints == 7) //if we have 7x7 mesh, compare with Z-calibration for points which are in 3x3 mesh
  4071. {
  4072. has_z = ((ix % 3 == 0) && (iy % 3 == 0)) && is_bed_z_jitter_data_valid();
  4073. }
  4074. float z0 = 0.f;
  4075. if (has_z && (mesh_point > 0)) {
  4076. uint16_t z_offset_u = 0;
  4077. if (nMeasPoints == 7) {
  4078. z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1)));
  4079. }
  4080. else {
  4081. z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  4082. }
  4083. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  4084. #ifdef SUPPORT_VERBOSITY
  4085. if (verbosity_level >= 1) {
  4086. printf_P(PSTR("Bed leveling, point: %d, calibration Z stored in eeprom: %d, calibration z: %f \n"), mesh_point, z_offset_u, z0);
  4087. }
  4088. #endif // SUPPORT_VERBOSITY
  4089. }
  4090. // Move Z up to MESH_HOME_Z_SEARCH.
  4091. if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4092. else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
  4093. float init_z_bckp = current_position[Z_AXIS];
  4094. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
  4095. st_synchronize();
  4096. // Move to XY position of the sensor point.
  4097. current_position[X_AXIS] = BED_X(ix, nMeasPoints);
  4098. current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
  4099. //printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  4100. #ifdef SUPPORT_VERBOSITY
  4101. if (verbosity_level >= 1) {
  4102. clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4103. SERIAL_PROTOCOL(mesh_point);
  4104. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  4105. }
  4106. #else //SUPPORT_VERBOSITY
  4107. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  4108. #endif // SUPPORT_VERBOSITY
  4109. //printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  4110. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
  4111. st_synchronize();
  4112. // Go down until endstop is hit
  4113. const float Z_CALIBRATION_THRESHOLD = 1.f;
  4114. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  4115. printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  4116. break;
  4117. }
  4118. if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
  4119. //printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
  4120. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4121. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
  4122. st_synchronize();
  4123. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  4124. printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  4125. break;
  4126. }
  4127. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  4128. printf_P(PSTR("Bed leveling failed. Sensor disconnected or cable broken.\n"));
  4129. break;
  4130. }
  4131. }
  4132. 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
  4133. printf_P(PSTR("Bed leveling failed. Sensor triggered too high.\n"));
  4134. break;
  4135. }
  4136. #ifdef SUPPORT_VERBOSITY
  4137. if (verbosity_level >= 10) {
  4138. SERIAL_ECHOPGM("X: ");
  4139. MYSERIAL.print(current_position[X_AXIS], 5);
  4140. SERIAL_ECHOLNPGM("");
  4141. SERIAL_ECHOPGM("Y: ");
  4142. MYSERIAL.print(current_position[Y_AXIS], 5);
  4143. SERIAL_PROTOCOLPGM("\n");
  4144. }
  4145. #endif // SUPPORT_VERBOSITY
  4146. float offset_z = 0;
  4147. #ifdef PINDA_THERMISTOR
  4148. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  4149. #endif //PINDA_THERMISTOR
  4150. // #ifdef SUPPORT_VERBOSITY
  4151. /* if (verbosity_level >= 1)
  4152. {
  4153. SERIAL_ECHOPGM("mesh bed leveling: ");
  4154. MYSERIAL.print(current_position[Z_AXIS], 5);
  4155. SERIAL_ECHOPGM(" offset: ");
  4156. MYSERIAL.print(offset_z, 5);
  4157. SERIAL_ECHOLNPGM("");
  4158. }*/
  4159. // #endif // SUPPORT_VERBOSITY
  4160. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  4161. custom_message_state--;
  4162. mesh_point++;
  4163. lcd_update(1);
  4164. }
  4165. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4166. #ifdef SUPPORT_VERBOSITY
  4167. if (verbosity_level >= 20) {
  4168. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  4169. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  4170. MYSERIAL.print(current_position[Z_AXIS], 5);
  4171. }
  4172. #endif // SUPPORT_VERBOSITY
  4173. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
  4174. st_synchronize();
  4175. if (mesh_point != nMeasPoints * nMeasPoints) {
  4176. Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
  4177. bool bState;
  4178. do { // repeat until Z-leveling o.k.
  4179. lcd_display_message_fullscreen_P(_i("Some problem encountered, Z-leveling enforced ..."));
  4180. #ifdef TMC2130
  4181. lcd_wait_for_click_delay(MSG_BED_LEVELING_FAILED_TIMEOUT);
  4182. calibrate_z_auto(); // Z-leveling (X-assembly stay up!!!)
  4183. #else // TMC2130
  4184. lcd_wait_for_click_delay(0); // ~ no timeout
  4185. lcd_calibrate_z_end_stop_manual(true); // Z-leveling (X-assembly stay up!!!)
  4186. #endif // TMC2130
  4187. // ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
  4188. bState=enable_z_endstop(false);
  4189. current_position[Z_AXIS] -= 1;
  4190. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
  4191. st_synchronize();
  4192. enable_z_endstop(true);
  4193. #ifdef TMC2130
  4194. tmc2130_home_enter(Z_AXIS_MASK);
  4195. #endif // TMC2130
  4196. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4197. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
  4198. st_synchronize();
  4199. #ifdef TMC2130
  4200. tmc2130_home_exit();
  4201. #endif // TMC2130
  4202. enable_z_endstop(bState);
  4203. } while (st_get_position_mm(Z_AXIS) > MESH_HOME_Z_SEARCH); // i.e. Z-leveling not o.k.
  4204. // plan_set_z_position(MESH_HOME_Z_SEARCH); // is not necessary ('do-while' loop always ends at the expected Z-position)
  4205. custom_message_type=CustomMsg::Status; // display / status-line recovery
  4206. lcd_update_enable(true); // display / status-line recovery
  4207. gcode_G28(true, true, true); // X & Y & Z-homing (must be after individual Z-homing (problem with spool-holder)!)
  4208. repeatcommand_front(); // re-run (i.e. of "G80")
  4209. break;
  4210. }
  4211. clean_up_after_endstop_move(l_feedmultiply);
  4212. // SERIAL_ECHOLNPGM("clean up finished ");
  4213. bool apply_temp_comp = true;
  4214. #ifdef PINDA_THERMISTOR
  4215. apply_temp_comp = false;
  4216. #endif
  4217. if (apply_temp_comp)
  4218. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  4219. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  4220. // SERIAL_ECHOLNPGM("babystep applied");
  4221. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  4222. #ifdef SUPPORT_VERBOSITY
  4223. if (verbosity_level >= 1) {
  4224. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  4225. }
  4226. #endif // SUPPORT_VERBOSITY
  4227. for (uint8_t i = 0; i < 4; ++i) {
  4228. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  4229. long correction = 0;
  4230. if (code_seen(codes[i]))
  4231. correction = code_value_long();
  4232. else if (eeprom_bed_correction_valid) {
  4233. unsigned char *addr = (i < 2) ?
  4234. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  4235. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  4236. correction = eeprom_read_int8(addr);
  4237. }
  4238. if (correction == 0)
  4239. continue;
  4240. if (labs(correction) > BED_ADJUSTMENT_UM_MAX) {
  4241. SERIAL_ERROR_START;
  4242. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  4243. SERIAL_ECHO(correction);
  4244. SERIAL_ECHOLNPGM(" microns");
  4245. }
  4246. else {
  4247. float offset = float(correction) * 0.001f;
  4248. switch (i) {
  4249. case 0:
  4250. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  4251. for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
  4252. mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
  4253. }
  4254. }
  4255. break;
  4256. case 1:
  4257. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  4258. for (uint8_t col = 1; col < nMeasPoints; ++col) {
  4259. mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
  4260. }
  4261. }
  4262. break;
  4263. case 2:
  4264. for (uint8_t col = 0; col < nMeasPoints; ++col) {
  4265. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  4266. mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
  4267. }
  4268. }
  4269. break;
  4270. case 3:
  4271. for (uint8_t col = 0; col < nMeasPoints; ++col) {
  4272. for (uint8_t row = 1; row < nMeasPoints; ++row) {
  4273. mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
  4274. }
  4275. }
  4276. break;
  4277. }
  4278. }
  4279. }
  4280. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  4281. if (nMeasPoints == 3) {
  4282. mbl.upsample_3x3(); //interpolation from 3x3 to 7x7 points using largrangian polynomials while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
  4283. }
  4284. /*
  4285. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4286. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4287. SERIAL_PROTOCOLPGM(",");
  4288. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4289. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4290. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4291. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4292. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  4293. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  4294. SERIAL_PROTOCOLPGM(" ");
  4295. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4296. }
  4297. SERIAL_PROTOCOLPGM("\n");
  4298. }
  4299. */
  4300. if (nMeasPoints == 7 && magnet_elimination) {
  4301. mbl_interpolation(nMeasPoints);
  4302. }
  4303. /*
  4304. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4305. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4306. SERIAL_PROTOCOLPGM(",");
  4307. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4308. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4309. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4310. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4311. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  4312. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  4313. SERIAL_PROTOCOLPGM(" ");
  4314. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4315. }
  4316. SERIAL_PROTOCOLPGM("\n");
  4317. }
  4318. */
  4319. // SERIAL_ECHOLNPGM("Upsample finished");
  4320. mbl.active = 1; //activate mesh bed leveling
  4321. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  4322. go_home_with_z_lift();
  4323. // SERIAL_ECHOLNPGM("Go home finished");
  4324. //unretract (after PINDA preheat retraction)
  4325. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  4326. current_position[E_AXIS] += default_retraction;
  4327. plan_buffer_line_curposXYZE(400, active_extruder);
  4328. }
  4329. KEEPALIVE_STATE(NOT_BUSY);
  4330. // Restore custom message state
  4331. lcd_setstatuspgm(_T(WELCOME_MSG));
  4332. custom_message_type = custom_message_type_old;
  4333. custom_message_state = custom_message_state_old;
  4334. mesh_bed_leveling_flag = false;
  4335. mesh_bed_run_from_menu = false;
  4336. lcd_update(2);
  4337. }
  4338. break;
  4339. //! ### G81 - Mesh bed leveling status
  4340. // -----------------------------------------
  4341. /*
  4342. * Prints mesh bed leveling status and bed profile if activated
  4343. */
  4344. case 81:
  4345. if (mbl.active) {
  4346. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4347. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4348. SERIAL_PROTOCOLPGM(",");
  4349. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4350. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4351. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4352. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4353. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  4354. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  4355. SERIAL_PROTOCOLPGM(" ");
  4356. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4357. }
  4358. SERIAL_PROTOCOLPGM("\n");
  4359. }
  4360. }
  4361. else
  4362. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  4363. break;
  4364. #if 0
  4365. /*
  4366. * G82: Single Z probe at current location
  4367. *
  4368. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  4369. *
  4370. */
  4371. case 82:
  4372. SERIAL_PROTOCOLLNPGM("Finding bed ");
  4373. int l_feedmultiply = setup_for_endstop_move();
  4374. find_bed_induction_sensor_point_z();
  4375. clean_up_after_endstop_move(l_feedmultiply);
  4376. SERIAL_PROTOCOLPGM("Bed found at: ");
  4377. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  4378. SERIAL_PROTOCOLPGM("\n");
  4379. break;
  4380. /*
  4381. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  4382. */
  4383. case 83:
  4384. {
  4385. int babystepz = code_seen('S') ? code_value() : 0;
  4386. int BabyPosition = code_seen('P') ? code_value() : 0;
  4387. if (babystepz != 0) {
  4388. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  4389. // Is the axis indexed starting with zero or one?
  4390. if (BabyPosition > 4) {
  4391. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  4392. }else{
  4393. // Save it to the eeprom
  4394. babystepLoadZ = babystepz;
  4395. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  4396. // adjust the Z
  4397. babystepsTodoZadd(babystepLoadZ);
  4398. }
  4399. }
  4400. }
  4401. break;
  4402. /*
  4403. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  4404. */
  4405. case 84:
  4406. babystepsTodoZsubtract(babystepLoadZ);
  4407. // babystepLoadZ = 0;
  4408. break;
  4409. /*
  4410. * G85: Prusa3D specific: Pick best babystep
  4411. */
  4412. case 85:
  4413. lcd_pick_babystep();
  4414. break;
  4415. #endif
  4416. /**
  4417. * ### G86 - Disable babystep correction after home
  4418. *
  4419. * This G-code will be performed at the start of a calibration script.
  4420. * (Prusa3D specific)
  4421. */
  4422. case 86:
  4423. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  4424. break;
  4425. /**
  4426. * ### G87 - Enable babystep correction after home
  4427. *
  4428. *
  4429. * This G-code will be performed at the end of a calibration script.
  4430. * (Prusa3D specific)
  4431. */
  4432. case 87:
  4433. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  4434. break;
  4435. /**
  4436. * ### G88 - Reserved
  4437. *
  4438. * Currently has no effect.
  4439. */
  4440. // Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  4441. case 88:
  4442. break;
  4443. #endif // ENABLE_MESH_BED_LEVELING
  4444. //! ### G90 - Switch off relative mode
  4445. // -------------------------------
  4446. case 90:
  4447. relative_mode = false;
  4448. break;
  4449. //! ### G91 - Switch on relative mode
  4450. // -------------------------------
  4451. case 91:
  4452. relative_mode = true;
  4453. break;
  4454. //! ### G92 - Set position
  4455. // -----------------------------
  4456. case 92:
  4457. if(!code_seen(axis_codes[E_AXIS]))
  4458. st_synchronize();
  4459. for(int8_t i=0; i < NUM_AXIS; i++) {
  4460. if(code_seen(axis_codes[i])) {
  4461. if(i == E_AXIS) {
  4462. current_position[i] = code_value();
  4463. plan_set_e_position(current_position[E_AXIS]);
  4464. }
  4465. else {
  4466. current_position[i] = code_value()+cs.add_homing[i];
  4467. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  4468. }
  4469. }
  4470. }
  4471. break;
  4472. //! ### G98 - Activate farm mode
  4473. // -----------------------------------
  4474. case 98:
  4475. farm_mode = 1;
  4476. PingTime = _millis();
  4477. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4478. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  4479. SilentModeMenu = SILENT_MODE_OFF;
  4480. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  4481. fCheckModeInit(); // alternatively invoke printer reset
  4482. break;
  4483. //! ### G99 - Deactivate farm mode
  4484. // -------------------------------------
  4485. case 99:
  4486. farm_mode = 0;
  4487. lcd_printer_connected();
  4488. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4489. lcd_update(2);
  4490. fCheckModeInit(); // alternatively invoke printer reset
  4491. break;
  4492. default:
  4493. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4494. }
  4495. // printf_P(_N("END G-CODE=%u\n"), gcode_in_progress);
  4496. gcode_in_progress = 0;
  4497. } // end if(code_seen('G'))
  4498. //! ---------------------------------------------------------------------------------
  4499. else if(code_seen('M'))
  4500. {
  4501. int index;
  4502. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  4503. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  4504. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  4505. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4506. } else
  4507. {
  4508. mcode_in_progress = (int)code_value();
  4509. // printf_P(_N("BEGIN M-CODE=%u\n"), mcode_in_progress);
  4510. switch(mcode_in_progress)
  4511. {
  4512. //! ### M0, M1 - Stop the printer
  4513. // ---------------------------------------------------------------
  4514. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  4515. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  4516. {
  4517. char *src = strchr_pointer + 2;
  4518. codenum = 0;
  4519. bool hasP = false, hasS = false;
  4520. if (code_seen('P')) {
  4521. codenum = code_value(); // milliseconds to wait
  4522. hasP = codenum > 0;
  4523. }
  4524. if (code_seen('S')) {
  4525. codenum = code_value() * 1000; // seconds to wait
  4526. hasS = codenum > 0;
  4527. }
  4528. starpos = strchr(src, '*');
  4529. if (starpos != NULL) *(starpos) = '\0';
  4530. while (*src == ' ') ++src;
  4531. if (!hasP && !hasS && *src != '\0') {
  4532. lcd_setstatus(src);
  4533. } else {
  4534. LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT
  4535. }
  4536. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  4537. st_synchronize();
  4538. previous_millis_cmd = _millis();
  4539. if (codenum > 0){
  4540. codenum += _millis(); // keep track of when we started waiting
  4541. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4542. while(_millis() < codenum && !lcd_clicked()){
  4543. manage_heater();
  4544. manage_inactivity(true);
  4545. lcd_update(0);
  4546. }
  4547. KEEPALIVE_STATE(IN_HANDLER);
  4548. lcd_ignore_click(false);
  4549. }else{
  4550. marlin_wait_for_click();
  4551. }
  4552. if (IS_SD_PRINTING)
  4553. LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
  4554. else
  4555. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4556. }
  4557. break;
  4558. //! ### M17 - Enable axes
  4559. // ---------------------------------
  4560. case 17:
  4561. LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE
  4562. enable_x();
  4563. enable_y();
  4564. enable_z();
  4565. enable_e0();
  4566. enable_e1();
  4567. enable_e2();
  4568. break;
  4569. #ifdef SDSUPPORT
  4570. //! ### M20 - SD Card file list
  4571. // -----------------------------------
  4572. case 20:
  4573. SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST
  4574. card.ls();
  4575. SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST
  4576. break;
  4577. //! ### M21 - Init SD card
  4578. // ------------------------------------
  4579. case 21:
  4580. card.initsd();
  4581. break;
  4582. //! ### M22 - Release SD card
  4583. // -----------------------------------
  4584. case 22:
  4585. card.release();
  4586. break;
  4587. //! ### M23 - Select file
  4588. // -----------------------------------
  4589. case 23:
  4590. starpos = (strchr(strchr_pointer + 4,'*'));
  4591. if(starpos!=NULL)
  4592. *(starpos)='\0';
  4593. card.openFile(strchr_pointer + 4,true);
  4594. break;
  4595. //! ### M24 - Start SD print
  4596. // ----------------------------------
  4597. case 24:
  4598. if (!card.paused)
  4599. failstats_reset_print();
  4600. card.startFileprint();
  4601. starttime=_millis();
  4602. break;
  4603. //! ### M25 - Pause SD print
  4604. // ----------------------------------
  4605. case 25:
  4606. card.pauseSDPrint();
  4607. break;
  4608. //! ### M26 S\<index\> - Set SD index
  4609. //! Set position in SD card file to index in bytes.
  4610. //! This command is expected to be called after M23 and before M24.
  4611. //! Otherwise effect of this command is undefined.
  4612. // ----------------------------------
  4613. case 26:
  4614. if(card.cardOK && code_seen('S')) {
  4615. long index = code_value_long();
  4616. card.setIndex(index);
  4617. // We don't disable interrupt during update of sdpos_atomic
  4618. // as we expect, that SD card print is not active in this moment
  4619. sdpos_atomic = index;
  4620. }
  4621. break;
  4622. //! ### M27 - Get SD status
  4623. // ----------------------------------
  4624. case 27:
  4625. card.getStatus();
  4626. break;
  4627. //! ### M28 - Start SD write
  4628. // ---------------------------------
  4629. case 28:
  4630. starpos = (strchr(strchr_pointer + 4,'*'));
  4631. if(starpos != NULL){
  4632. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4633. strchr_pointer = strchr(npos,' ') + 1;
  4634. *(starpos) = '\0';
  4635. }
  4636. card.openFile(strchr_pointer+4,false);
  4637. break;
  4638. //! ### M29 - Stop SD write
  4639. // -------------------------------------
  4640. //! Currently has no effect.
  4641. case 29:
  4642. //processed in write to file routine above
  4643. //card,saving = false;
  4644. break;
  4645. //! ### M30 - Delete file <filename>
  4646. // ----------------------------------
  4647. case 30:
  4648. if (card.cardOK){
  4649. card.closefile();
  4650. starpos = (strchr(strchr_pointer + 4,'*'));
  4651. if(starpos != NULL){
  4652. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4653. strchr_pointer = strchr(npos,' ') + 1;
  4654. *(starpos) = '\0';
  4655. }
  4656. card.removeFile(strchr_pointer + 4);
  4657. }
  4658. break;
  4659. //! ### M32 - Select file and start SD print
  4660. // ------------------------------------
  4661. case 32:
  4662. {
  4663. if(card.sdprinting) {
  4664. st_synchronize();
  4665. }
  4666. starpos = (strchr(strchr_pointer + 4,'*'));
  4667. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  4668. if(namestartpos==NULL)
  4669. {
  4670. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  4671. }
  4672. else
  4673. namestartpos++; //to skip the '!'
  4674. if(starpos!=NULL)
  4675. *(starpos)='\0';
  4676. bool call_procedure=(code_seen('P'));
  4677. if(strchr_pointer>namestartpos)
  4678. call_procedure=false; //false alert, 'P' found within filename
  4679. if( card.cardOK )
  4680. {
  4681. card.openFile(namestartpos,true,!call_procedure);
  4682. if(code_seen('S'))
  4683. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  4684. card.setIndex(code_value_long());
  4685. card.startFileprint();
  4686. if(!call_procedure)
  4687. starttime=_millis(); //procedure calls count as normal print time.
  4688. }
  4689. } break;
  4690. //! ### M982 - Start SD write
  4691. // ---------------------------------
  4692. case 928:
  4693. starpos = (strchr(strchr_pointer + 5,'*'));
  4694. if(starpos != NULL){
  4695. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4696. strchr_pointer = strchr(npos,' ') + 1;
  4697. *(starpos) = '\0';
  4698. }
  4699. card.openLogFile(strchr_pointer+5);
  4700. break;
  4701. #endif //SDSUPPORT
  4702. //! ### M31 - Report current print time
  4703. // --------------------------------------------------
  4704. case 31: //M31 take time since the start of the SD print or an M109 command
  4705. {
  4706. stoptime=_millis();
  4707. char time[30];
  4708. unsigned long t=(stoptime-starttime)/1000;
  4709. int sec,min;
  4710. min=t/60;
  4711. sec=t%60;
  4712. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  4713. SERIAL_ECHO_START;
  4714. SERIAL_ECHOLN(time);
  4715. lcd_setstatus(time);
  4716. autotempShutdown();
  4717. }
  4718. break;
  4719. //! ### M42 - Set pin state
  4720. // -----------------------------
  4721. case 42:
  4722. if (code_seen('S'))
  4723. {
  4724. int pin_status = code_value();
  4725. int pin_number = LED_PIN;
  4726. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  4727. pin_number = code_value();
  4728. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4729. {
  4730. if (sensitive_pins[i] == pin_number)
  4731. {
  4732. pin_number = -1;
  4733. break;
  4734. }
  4735. }
  4736. #if defined(FAN_PIN) && FAN_PIN > -1
  4737. if (pin_number == FAN_PIN)
  4738. fanSpeed = pin_status;
  4739. #endif
  4740. if (pin_number > -1)
  4741. {
  4742. pinMode(pin_number, OUTPUT);
  4743. digitalWrite(pin_number, pin_status);
  4744. analogWrite(pin_number, pin_status);
  4745. }
  4746. }
  4747. break;
  4748. //! ### M44 - Reset the bed skew and offset calibration (Prusa specific)
  4749. // --------------------------------------------------------------------
  4750. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  4751. // Reset the baby step value and the baby step applied flag.
  4752. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  4753. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  4754. // Reset the skew and offset in both RAM and EEPROM.
  4755. reset_bed_offset_and_skew();
  4756. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4757. // the planner will not perform any adjustments in the XY plane.
  4758. // Wait for the motors to stop and update the current position with the absolute values.
  4759. world2machine_revert_to_uncorrected();
  4760. break;
  4761. //! ### M45 - Bed skew and offset with manual Z up (Prusa specific)
  4762. // ------------------------------------------------------
  4763. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  4764. {
  4765. int8_t verbosity_level = 0;
  4766. bool only_Z = code_seen('Z');
  4767. #ifdef SUPPORT_VERBOSITY
  4768. if (code_seen('V'))
  4769. {
  4770. // Just 'V' without a number counts as V1.
  4771. char c = strchr_pointer[1];
  4772. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4773. }
  4774. #endif //SUPPORT_VERBOSITY
  4775. gcode_M45(only_Z, verbosity_level);
  4776. }
  4777. break;
  4778. /*
  4779. case 46:
  4780. {
  4781. // M46: Prusa3D: Show the assigned IP address.
  4782. uint8_t ip[4];
  4783. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  4784. if (hasIP) {
  4785. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  4786. SERIAL_ECHO(int(ip[0]));
  4787. SERIAL_ECHOPGM(".");
  4788. SERIAL_ECHO(int(ip[1]));
  4789. SERIAL_ECHOPGM(".");
  4790. SERIAL_ECHO(int(ip[2]));
  4791. SERIAL_ECHOPGM(".");
  4792. SERIAL_ECHO(int(ip[3]));
  4793. SERIAL_ECHOLNPGM("");
  4794. } else {
  4795. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  4796. }
  4797. break;
  4798. }
  4799. */
  4800. //! ### M47 - Show end stops dialog on the display (Prusa specific)
  4801. // ----------------------------------------------------
  4802. case 47:
  4803. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4804. lcd_diag_show_end_stops();
  4805. KEEPALIVE_STATE(IN_HANDLER);
  4806. break;
  4807. #if 0
  4808. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  4809. {
  4810. // Disable the default update procedure of the display. We will do a modal dialog.
  4811. lcd_update_enable(false);
  4812. // Let the planner use the uncorrected coordinates.
  4813. mbl.reset();
  4814. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4815. // the planner will not perform any adjustments in the XY plane.
  4816. // Wait for the motors to stop and update the current position with the absolute values.
  4817. world2machine_revert_to_uncorrected();
  4818. // Move the print head close to the bed.
  4819. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4820. 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);
  4821. st_synchronize();
  4822. // Home in the XY plane.
  4823. set_destination_to_current();
  4824. int l_feedmultiply = setup_for_endstop_move();
  4825. home_xy();
  4826. int8_t verbosity_level = 0;
  4827. if (code_seen('V')) {
  4828. // Just 'V' without a number counts as V1.
  4829. char c = strchr_pointer[1];
  4830. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4831. }
  4832. bool success = scan_bed_induction_points(verbosity_level);
  4833. clean_up_after_endstop_move(l_feedmultiply);
  4834. // Print head up.
  4835. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4836. 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);
  4837. st_synchronize();
  4838. lcd_update_enable(true);
  4839. break;
  4840. }
  4841. #endif
  4842. #ifdef ENABLE_AUTO_BED_LEVELING
  4843. #ifdef Z_PROBE_REPEATABILITY_TEST
  4844. //! ### M48 - Z-Probe repeatability measurement function.
  4845. // ------------------------------------------------------
  4846. //!
  4847. //! _Usage:_
  4848. //!
  4849. //! M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <L legs_of_movement_prior_to_doing_probe>
  4850. //!
  4851. //! This function assumes the bed has been homed. Specifically, that a G28 command
  4852. //! as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  4853. //! Any information generated by a prior G29 Bed leveling command will be lost and need to be
  4854. //! regenerated.
  4855. //!
  4856. //! The number of samples will default to 10 if not specified. You can use upper or lower case
  4857. //! letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  4858. //! N for its communication protocol and will get horribly confused if you send it a capital N.
  4859. //!
  4860. case 48: // M48 Z-Probe repeatability
  4861. {
  4862. #if Z_MIN_PIN == -1
  4863. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  4864. #endif
  4865. double sum=0.0;
  4866. double mean=0.0;
  4867. double sigma=0.0;
  4868. double sample_set[50];
  4869. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  4870. double X_current, Y_current, Z_current;
  4871. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  4872. if (code_seen('V') || code_seen('v')) {
  4873. verbose_level = code_value();
  4874. if (verbose_level<0 || verbose_level>4 ) {
  4875. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  4876. goto Sigma_Exit;
  4877. }
  4878. }
  4879. if (verbose_level > 0) {
  4880. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  4881. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  4882. }
  4883. if (code_seen('n')) {
  4884. n_samples = code_value();
  4885. if (n_samples<4 || n_samples>50 ) {
  4886. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  4887. goto Sigma_Exit;
  4888. }
  4889. }
  4890. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  4891. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  4892. Z_current = st_get_position_mm(Z_AXIS);
  4893. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4894. ext_position = st_get_position_mm(E_AXIS);
  4895. if (code_seen('X') || code_seen('x') ) {
  4896. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  4897. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  4898. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  4899. goto Sigma_Exit;
  4900. }
  4901. }
  4902. if (code_seen('Y') || code_seen('y') ) {
  4903. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  4904. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  4905. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  4906. goto Sigma_Exit;
  4907. }
  4908. }
  4909. if (code_seen('L') || code_seen('l') ) {
  4910. n_legs = code_value();
  4911. if ( n_legs==1 )
  4912. n_legs = 2;
  4913. if ( n_legs<0 || n_legs>15 ) {
  4914. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  4915. goto Sigma_Exit;
  4916. }
  4917. }
  4918. //
  4919. // Do all the preliminary setup work. First raise the probe.
  4920. //
  4921. st_synchronize();
  4922. plan_bed_level_matrix.set_to_identity();
  4923. plan_buffer_line( X_current, Y_current, Z_start_location,
  4924. ext_position,
  4925. homing_feedrate[Z_AXIS]/60,
  4926. active_extruder);
  4927. st_synchronize();
  4928. //
  4929. // Now get everything to the specified probe point So we can safely do a probe to
  4930. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  4931. // use that as a starting point for each probe.
  4932. //
  4933. if (verbose_level > 2)
  4934. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  4935. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4936. ext_position,
  4937. homing_feedrate[X_AXIS]/60,
  4938. active_extruder);
  4939. st_synchronize();
  4940. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  4941. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  4942. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4943. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  4944. //
  4945. // OK, do the inital probe to get us close to the bed.
  4946. // Then retrace the right amount and use that in subsequent probes
  4947. //
  4948. int l_feedmultiply = setup_for_endstop_move();
  4949. run_z_probe();
  4950. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4951. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4952. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4953. ext_position,
  4954. homing_feedrate[X_AXIS]/60,
  4955. active_extruder);
  4956. st_synchronize();
  4957. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4958. for( n=0; n<n_samples; n++) {
  4959. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  4960. if ( n_legs) {
  4961. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  4962. int rotational_direction, l;
  4963. rotational_direction = (unsigned long) _millis() & 0x0001; // clockwise or counter clockwise
  4964. radius = (unsigned long) _millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  4965. theta = (float) ((unsigned long) _millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  4966. //SERIAL_ECHOPAIR("starting radius: ",radius);
  4967. //SERIAL_ECHOPAIR(" theta: ",theta);
  4968. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  4969. //SERIAL_PROTOCOLLNPGM("");
  4970. for( l=0; l<n_legs-1; l++) {
  4971. if (rotational_direction==1)
  4972. theta += (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4973. else
  4974. theta -= (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4975. radius += (float) ( ((long) ((unsigned long) _millis() % (long) 10)) - 5);
  4976. if ( radius<0.0 )
  4977. radius = -radius;
  4978. X_current = X_probe_location + cos(theta) * radius;
  4979. Y_current = Y_probe_location + sin(theta) * radius;
  4980. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  4981. X_current = X_MIN_POS;
  4982. if ( X_current>X_MAX_POS)
  4983. X_current = X_MAX_POS;
  4984. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  4985. Y_current = Y_MIN_POS;
  4986. if ( Y_current>Y_MAX_POS)
  4987. Y_current = Y_MAX_POS;
  4988. if (verbose_level>3 ) {
  4989. SERIAL_ECHOPAIR("x: ", X_current);
  4990. SERIAL_ECHOPAIR("y: ", Y_current);
  4991. SERIAL_PROTOCOLLNPGM("");
  4992. }
  4993. do_blocking_move_to( X_current, Y_current, Z_current );
  4994. }
  4995. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  4996. }
  4997. int l_feedmultiply = setup_for_endstop_move();
  4998. run_z_probe();
  4999. sample_set[n] = current_position[Z_AXIS];
  5000. //
  5001. // Get the current mean for the data points we have so far
  5002. //
  5003. sum=0.0;
  5004. for( j=0; j<=n; j++) {
  5005. sum = sum + sample_set[j];
  5006. }
  5007. mean = sum / (double (n+1));
  5008. //
  5009. // Now, use that mean to calculate the standard deviation for the
  5010. // data points we have so far
  5011. //
  5012. sum=0.0;
  5013. for( j=0; j<=n; j++) {
  5014. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  5015. }
  5016. sigma = sqrt( sum / (double (n+1)) );
  5017. if (verbose_level > 1) {
  5018. SERIAL_PROTOCOL(n+1);
  5019. SERIAL_PROTOCOL(" of ");
  5020. SERIAL_PROTOCOL(n_samples);
  5021. SERIAL_PROTOCOLPGM(" z: ");
  5022. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  5023. }
  5024. if (verbose_level > 2) {
  5025. SERIAL_PROTOCOL(" mean: ");
  5026. SERIAL_PROTOCOL_F(mean,6);
  5027. SERIAL_PROTOCOL(" sigma: ");
  5028. SERIAL_PROTOCOL_F(sigma,6);
  5029. }
  5030. if (verbose_level > 0)
  5031. SERIAL_PROTOCOLPGM("\n");
  5032. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5033. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  5034. st_synchronize();
  5035. }
  5036. _delay(1000);
  5037. clean_up_after_endstop_move(l_feedmultiply);
  5038. // enable_endstops(true);
  5039. if (verbose_level > 0) {
  5040. SERIAL_PROTOCOLPGM("Mean: ");
  5041. SERIAL_PROTOCOL_F(mean, 6);
  5042. SERIAL_PROTOCOLPGM("\n");
  5043. }
  5044. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  5045. SERIAL_PROTOCOL_F(sigma, 6);
  5046. SERIAL_PROTOCOLPGM("\n\n");
  5047. Sigma_Exit:
  5048. break;
  5049. }
  5050. #endif // Z_PROBE_REPEATABILITY_TEST
  5051. #endif // ENABLE_AUTO_BED_LEVELING
  5052. //! ### M73 - Set/get print progress
  5053. // -------------------------------------
  5054. //! _Usage:_
  5055. //!
  5056. //! M73 P<percent> R<time_remaining> Q<percent_silent> S<time_remaining_silent>
  5057. //!
  5058. case 73: //M73 show percent done and time remaining
  5059. if(code_seen('P')) print_percent_done_normal = code_value();
  5060. if(code_seen('R')) print_time_remaining_normal = code_value();
  5061. if(code_seen('Q')) print_percent_done_silent = code_value();
  5062. if(code_seen('S')) print_time_remaining_silent = code_value();
  5063. {
  5064. const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
  5065. printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
  5066. printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
  5067. }
  5068. break;
  5069. //! ### M104 - Set hotend temperature
  5070. // -----------------------------------------
  5071. case 104: // M104
  5072. {
  5073. uint8_t extruder;
  5074. if(setTargetedHotend(104,extruder)){
  5075. break;
  5076. }
  5077. if (code_seen('S'))
  5078. {
  5079. setTargetHotendSafe(code_value(), extruder);
  5080. }
  5081. setWatch();
  5082. break;
  5083. }
  5084. //! ### M112 - Emergency stop
  5085. // -----------------------------------------
  5086. case 112:
  5087. kill(_n(""), 3);
  5088. break;
  5089. //! ### M140 - Set bed temperature
  5090. // -----------------------------------------
  5091. case 140:
  5092. if (code_seen('S')) setTargetBed(code_value());
  5093. break;
  5094. //! ### M105 - Report temperatures
  5095. // -----------------------------------------
  5096. case 105:
  5097. {
  5098. uint8_t extruder;
  5099. if(setTargetedHotend(105, extruder)){
  5100. break;
  5101. }
  5102. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  5103. SERIAL_PROTOCOLPGM("ok T:");
  5104. SERIAL_PROTOCOL_F(degHotend(extruder),1);
  5105. SERIAL_PROTOCOLPGM(" /");
  5106. SERIAL_PROTOCOL_F(degTargetHotend(extruder),1);
  5107. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5108. SERIAL_PROTOCOLPGM(" B:");
  5109. SERIAL_PROTOCOL_F(degBed(),1);
  5110. SERIAL_PROTOCOLPGM(" /");
  5111. SERIAL_PROTOCOL_F(degTargetBed(),1);
  5112. #endif //TEMP_BED_PIN
  5113. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  5114. SERIAL_PROTOCOLPGM(" T");
  5115. SERIAL_PROTOCOL(cur_extruder);
  5116. SERIAL_PROTOCOLPGM(":");
  5117. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  5118. SERIAL_PROTOCOLPGM(" /");
  5119. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  5120. }
  5121. #else
  5122. SERIAL_ERROR_START;
  5123. SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS
  5124. #endif
  5125. SERIAL_PROTOCOLPGM(" @:");
  5126. #ifdef EXTRUDER_WATTS
  5127. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  5128. SERIAL_PROTOCOLPGM("W");
  5129. #else
  5130. SERIAL_PROTOCOL(getHeaterPower(extruder));
  5131. #endif
  5132. SERIAL_PROTOCOLPGM(" B@:");
  5133. #ifdef BED_WATTS
  5134. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  5135. SERIAL_PROTOCOLPGM("W");
  5136. #else
  5137. SERIAL_PROTOCOL(getHeaterPower(-1));
  5138. #endif
  5139. #ifdef PINDA_THERMISTOR
  5140. SERIAL_PROTOCOLPGM(" P:");
  5141. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  5142. #endif //PINDA_THERMISTOR
  5143. #ifdef AMBIENT_THERMISTOR
  5144. SERIAL_PROTOCOLPGM(" A:");
  5145. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  5146. #endif //AMBIENT_THERMISTOR
  5147. #ifdef SHOW_TEMP_ADC_VALUES
  5148. {float raw = 0.0;
  5149. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5150. SERIAL_PROTOCOLPGM(" ADC B:");
  5151. SERIAL_PROTOCOL_F(degBed(),1);
  5152. SERIAL_PROTOCOLPGM("C->");
  5153. raw = rawBedTemp();
  5154. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  5155. SERIAL_PROTOCOLPGM(" Rb->");
  5156. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  5157. SERIAL_PROTOCOLPGM(" Rxb->");
  5158. SERIAL_PROTOCOL_F(raw, 5);
  5159. #endif
  5160. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  5161. SERIAL_PROTOCOLPGM(" T");
  5162. SERIAL_PROTOCOL(cur_extruder);
  5163. SERIAL_PROTOCOLPGM(":");
  5164. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  5165. SERIAL_PROTOCOLPGM("C->");
  5166. raw = rawHotendTemp(cur_extruder);
  5167. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  5168. SERIAL_PROTOCOLPGM(" Rt");
  5169. SERIAL_PROTOCOL(cur_extruder);
  5170. SERIAL_PROTOCOLPGM("->");
  5171. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  5172. SERIAL_PROTOCOLPGM(" Rx");
  5173. SERIAL_PROTOCOL(cur_extruder);
  5174. SERIAL_PROTOCOLPGM("->");
  5175. SERIAL_PROTOCOL_F(raw, 5);
  5176. }}
  5177. #endif
  5178. SERIAL_PROTOCOLLN("");
  5179. KEEPALIVE_STATE(NOT_BUSY);
  5180. return;
  5181. break;
  5182. }
  5183. //! ### M109 - Wait for extruder temperature
  5184. // -------------------------------------------------
  5185. case 109:
  5186. {
  5187. uint8_t extruder;
  5188. if(setTargetedHotend(109, extruder)){
  5189. break;
  5190. }
  5191. LCD_MESSAGERPGM(_T(MSG_HEATING));
  5192. heating_status = 1;
  5193. if (farm_mode) { prusa_statistics(1); };
  5194. #ifdef AUTOTEMP
  5195. autotemp_enabled=false;
  5196. #endif
  5197. if (code_seen('S')) {
  5198. setTargetHotendSafe(code_value(), extruder);
  5199. CooldownNoWait = true;
  5200. } else if (code_seen('R')) {
  5201. setTargetHotendSafe(code_value(), extruder);
  5202. CooldownNoWait = false;
  5203. }
  5204. #ifdef AUTOTEMP
  5205. if (code_seen('S')) autotemp_min=code_value();
  5206. if (code_seen('B')) autotemp_max=code_value();
  5207. if (code_seen('F'))
  5208. {
  5209. autotemp_factor=code_value();
  5210. autotemp_enabled=true;
  5211. }
  5212. #endif
  5213. setWatch();
  5214. codenum = _millis();
  5215. /* See if we are heating up or cooling down */
  5216. target_direction = isHeatingHotend(extruder); // true if heating, false if cooling
  5217. KEEPALIVE_STATE(NOT_BUSY);
  5218. cancel_heatup = false;
  5219. wait_for_heater(codenum, extruder); //loops until target temperature is reached
  5220. LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
  5221. KEEPALIVE_STATE(IN_HANDLER);
  5222. heating_status = 2;
  5223. if (farm_mode) { prusa_statistics(2); };
  5224. //starttime=_millis();
  5225. previous_millis_cmd = _millis();
  5226. }
  5227. break;
  5228. //! ### M190 - Wait for bed temperature
  5229. // ---------------------------------------
  5230. case 190:
  5231. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5232. LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
  5233. heating_status = 3;
  5234. if (farm_mode) { prusa_statistics(1); };
  5235. if (code_seen('S'))
  5236. {
  5237. setTargetBed(code_value());
  5238. CooldownNoWait = true;
  5239. }
  5240. else if (code_seen('R'))
  5241. {
  5242. setTargetBed(code_value());
  5243. CooldownNoWait = false;
  5244. }
  5245. codenum = _millis();
  5246. cancel_heatup = false;
  5247. target_direction = isHeatingBed(); // true if heating, false if cooling
  5248. KEEPALIVE_STATE(NOT_BUSY);
  5249. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  5250. {
  5251. if(( _millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  5252. {
  5253. if (!farm_mode) {
  5254. float tt = degHotend(active_extruder);
  5255. SERIAL_PROTOCOLPGM("T:");
  5256. SERIAL_PROTOCOL(tt);
  5257. SERIAL_PROTOCOLPGM(" E:");
  5258. SERIAL_PROTOCOL((int)active_extruder);
  5259. SERIAL_PROTOCOLPGM(" B:");
  5260. SERIAL_PROTOCOL_F(degBed(), 1);
  5261. SERIAL_PROTOCOLLN("");
  5262. }
  5263. codenum = _millis();
  5264. }
  5265. manage_heater();
  5266. manage_inactivity();
  5267. lcd_update(0);
  5268. }
  5269. LCD_MESSAGERPGM(_T(MSG_BED_DONE));
  5270. KEEPALIVE_STATE(IN_HANDLER);
  5271. heating_status = 4;
  5272. previous_millis_cmd = _millis();
  5273. #endif
  5274. break;
  5275. #if defined(FAN_PIN) && FAN_PIN > -1
  5276. //! ### M106 - Set fan speed
  5277. // -------------------------------------------
  5278. case 106: // M106 Sxxx Fan On S<speed> 0 .. 255
  5279. if (code_seen('S')){
  5280. fanSpeed=constrain(code_value(),0,255);
  5281. }
  5282. else {
  5283. fanSpeed=255;
  5284. }
  5285. break;
  5286. //! ### M107 - Fan off
  5287. // -------------------------------
  5288. case 107:
  5289. fanSpeed = 0;
  5290. break;
  5291. #endif //FAN_PIN
  5292. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  5293. //! ### M80 - Turn on the Power Supply
  5294. // -------------------------------
  5295. case 80:
  5296. SET_OUTPUT(PS_ON_PIN); //GND
  5297. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  5298. // If you have a switch on suicide pin, this is useful
  5299. // if you want to start another print with suicide feature after
  5300. // a print without suicide...
  5301. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  5302. SET_OUTPUT(SUICIDE_PIN);
  5303. WRITE(SUICIDE_PIN, HIGH);
  5304. #endif
  5305. powersupply = true;
  5306. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  5307. lcd_update(0);
  5308. break;
  5309. #endif
  5310. //! ### M81 - Turn off Power Supply
  5311. // --------------------------------------
  5312. case 81:
  5313. disable_heater();
  5314. st_synchronize();
  5315. disable_e0();
  5316. disable_e1();
  5317. disable_e2();
  5318. finishAndDisableSteppers();
  5319. fanSpeed = 0;
  5320. _delay(1000); // Wait a little before to switch off
  5321. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  5322. st_synchronize();
  5323. suicide();
  5324. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  5325. SET_OUTPUT(PS_ON_PIN);
  5326. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  5327. #endif
  5328. powersupply = false;
  5329. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
  5330. lcd_update(0);
  5331. break;
  5332. //! ### M82 - Set E axis to absolute mode
  5333. // ---------------------------------------
  5334. case 82:
  5335. axis_relative_modes[3] = false;
  5336. break;
  5337. //! ### M83 - Set E axis to relative mode
  5338. // ---------------------------------------
  5339. case 83:
  5340. axis_relative_modes[3] = true;
  5341. break;
  5342. //! ### M84, M18 - Disable steppers
  5343. //---------------------------------------
  5344. //! This command can be used to set the stepper inactivity timeout (`S`) or to disable steppers (`X`,`Y`,`Z`,`E`)
  5345. //!
  5346. //! M84 [E<flag>] [S<seconds>] [X<flag>] [Y<flag>] [Z<flag>]
  5347. //!
  5348. case 18: //compatibility
  5349. case 84: // M84
  5350. if(code_seen('S')){
  5351. stepper_inactive_time = code_value() * 1000;
  5352. }
  5353. else
  5354. {
  5355. 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])));
  5356. if(all_axis)
  5357. {
  5358. st_synchronize();
  5359. disable_e0();
  5360. disable_e1();
  5361. disable_e2();
  5362. finishAndDisableSteppers();
  5363. }
  5364. else
  5365. {
  5366. st_synchronize();
  5367. if (code_seen('X')) disable_x();
  5368. if (code_seen('Y')) disable_y();
  5369. if (code_seen('Z')) disable_z();
  5370. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  5371. if (code_seen('E')) {
  5372. disable_e0();
  5373. disable_e1();
  5374. disable_e2();
  5375. }
  5376. #endif
  5377. }
  5378. }
  5379. //in the end of print set estimated time to end of print and extruders used during print to default values for next print
  5380. print_time_remaining_init();
  5381. snmm_filaments_used = 0;
  5382. break;
  5383. //! ### M85 - Set max inactive time
  5384. // ---------------------------------------
  5385. case 85: // M85
  5386. if(code_seen('S')) {
  5387. max_inactive_time = code_value() * 1000;
  5388. }
  5389. break;
  5390. #ifdef SAFETYTIMER
  5391. //! ### M86 - Set safety timer expiration time
  5392. //!
  5393. //! _Usage:_
  5394. //! M86 S<seconds>
  5395. //!
  5396. //! Sets the safety timer expiration time in seconds. M86 S0 will disable safety timer.
  5397. //! When safety timer expires, heatbed and nozzle target temperatures are set to zero.
  5398. case 86:
  5399. if (code_seen('S')) {
  5400. safetytimer_inactive_time = code_value() * 1000;
  5401. safetyTimer.start();
  5402. }
  5403. break;
  5404. #endif
  5405. //! ### M92 Set Axis steps-per-unit
  5406. // ---------------------------------------
  5407. //! Same syntax as G92
  5408. case 92:
  5409. for(int8_t i=0; i < NUM_AXIS; i++)
  5410. {
  5411. if(code_seen(axis_codes[i]))
  5412. {
  5413. if(i == 3) { // E
  5414. float value = code_value();
  5415. if(value < 20.0) {
  5416. float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  5417. cs.max_jerk[E_AXIS] *= factor;
  5418. max_feedrate[i] *= factor;
  5419. axis_steps_per_sqr_second[i] *= factor;
  5420. }
  5421. cs.axis_steps_per_unit[i] = value;
  5422. }
  5423. else {
  5424. cs.axis_steps_per_unit[i] = code_value();
  5425. }
  5426. }
  5427. }
  5428. break;
  5429. //! ### M110 - Set Line number
  5430. // ---------------------------------------
  5431. case 110:
  5432. if (code_seen('N'))
  5433. gcode_LastN = code_value_long();
  5434. break;
  5435. //! ### M113 - Get or set host keep-alive interval
  5436. // ------------------------------------------
  5437. case 113:
  5438. if (code_seen('S')) {
  5439. host_keepalive_interval = (uint8_t)code_value_short();
  5440. // NOMORE(host_keepalive_interval, 60);
  5441. }
  5442. else {
  5443. SERIAL_ECHO_START;
  5444. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  5445. SERIAL_PROTOCOLLN("");
  5446. }
  5447. break;
  5448. //! ### M115 - Firmware info
  5449. // --------------------------------------
  5450. //! Print the firmware info and capabilities
  5451. //!
  5452. //! M115 [V] [U<version>]
  5453. //!
  5454. //! Without any arguments, prints Prusa firmware version number, machine type, extruder count and UUID.
  5455. //! `M115 U` Checks the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  5456. //! pause the print for 30s and ask the user to upgrade the firmware.
  5457. case 115: // M115
  5458. if (code_seen('V')) {
  5459. // Report the Prusa version number.
  5460. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  5461. } else if (code_seen('U')) {
  5462. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  5463. // pause the print for 30s and ask the user to upgrade the firmware.
  5464. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  5465. } else {
  5466. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  5467. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  5468. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  5469. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  5470. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  5471. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  5472. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  5473. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  5474. SERIAL_ECHOPGM(" UUID:");
  5475. SERIAL_ECHOLNPGM(MACHINE_UUID);
  5476. }
  5477. break;
  5478. //! ### M114 - Get current position
  5479. // -------------------------------------
  5480. case 114:
  5481. gcode_M114();
  5482. break;
  5483. //! ### M117 - Set LCD Message
  5484. // --------------------------------------
  5485. /*
  5486. M117 moved up to get the high priority
  5487. case 117: // M117 display message
  5488. starpos = (strchr(strchr_pointer + 5,'*'));
  5489. if(starpos!=NULL)
  5490. *(starpos)='\0';
  5491. lcd_setstatus(strchr_pointer + 5);
  5492. break;*/
  5493. //! ### M120 - Disable endstops
  5494. // ----------------------------------------
  5495. case 120:
  5496. enable_endstops(false) ;
  5497. break;
  5498. //! ### M121 - Enable endstops
  5499. // ----------------------------------------
  5500. case 121:
  5501. enable_endstops(true) ;
  5502. break;
  5503. //! ### M119 - Get endstop states
  5504. // ----------------------------------------
  5505. case 119:
  5506. SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT
  5507. SERIAL_PROTOCOLLN("");
  5508. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  5509. SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN
  5510. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  5511. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5512. }else{
  5513. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5514. }
  5515. SERIAL_PROTOCOLLN("");
  5516. #endif
  5517. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  5518. SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX
  5519. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  5520. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5521. }else{
  5522. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5523. }
  5524. SERIAL_PROTOCOLLN("");
  5525. #endif
  5526. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  5527. SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN
  5528. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  5529. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5530. }else{
  5531. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5532. }
  5533. SERIAL_PROTOCOLLN("");
  5534. #endif
  5535. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  5536. SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX
  5537. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  5538. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5539. }else{
  5540. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5541. }
  5542. SERIAL_PROTOCOLLN("");
  5543. #endif
  5544. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  5545. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  5546. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  5547. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5548. }else{
  5549. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5550. }
  5551. SERIAL_PROTOCOLLN("");
  5552. #endif
  5553. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  5554. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  5555. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  5556. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  5557. }else{
  5558. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  5559. }
  5560. SERIAL_PROTOCOLLN("");
  5561. #endif
  5562. break;
  5563. //TODO: update for all axis, use for loop
  5564. #ifdef BLINKM
  5565. //! ### M150 - Set RGB(W) Color
  5566. // -------------------------------------------
  5567. case 150:
  5568. {
  5569. byte red;
  5570. byte grn;
  5571. byte blu;
  5572. if(code_seen('R')) red = code_value();
  5573. if(code_seen('U')) grn = code_value();
  5574. if(code_seen('B')) blu = code_value();
  5575. SendColors(red,grn,blu);
  5576. }
  5577. break;
  5578. #endif //BLINKM
  5579. //! ### M200 - Set filament diameter
  5580. // ----------------------------------------
  5581. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  5582. {
  5583. uint8_t extruder = active_extruder;
  5584. if(code_seen('T')) {
  5585. extruder = code_value();
  5586. if(extruder >= EXTRUDERS) {
  5587. SERIAL_ECHO_START;
  5588. SERIAL_ECHO(_n("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER
  5589. break;
  5590. }
  5591. }
  5592. if(code_seen('D')) {
  5593. float diameter = (float)code_value();
  5594. if (diameter == 0.0) {
  5595. // setting any extruder filament size disables volumetric on the assumption that
  5596. // slicers either generate in extruder values as cubic mm or as as filament feeds
  5597. // for all extruders
  5598. cs.volumetric_enabled = false;
  5599. } else {
  5600. cs.filament_size[extruder] = (float)code_value();
  5601. // make sure all extruders have some sane value for the filament size
  5602. cs.filament_size[0] = (cs.filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[0]);
  5603. #if EXTRUDERS > 1
  5604. cs.filament_size[1] = (cs.filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[1]);
  5605. #if EXTRUDERS > 2
  5606. cs.filament_size[2] = (cs.filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[2]);
  5607. #endif
  5608. #endif
  5609. cs.volumetric_enabled = true;
  5610. }
  5611. } else {
  5612. //reserved for setting filament diameter via UFID or filament measuring device
  5613. break;
  5614. }
  5615. calculate_extruder_multipliers();
  5616. }
  5617. break;
  5618. //! ### M201 - Set Print Max Acceleration
  5619. // -------------------------------------------
  5620. case 201:
  5621. for (int8_t i = 0; i < NUM_AXIS; i++)
  5622. {
  5623. if (code_seen(axis_codes[i]))
  5624. {
  5625. unsigned long val = code_value();
  5626. #ifdef TMC2130
  5627. unsigned long val_silent = val;
  5628. if ((i == X_AXIS) || (i == Y_AXIS))
  5629. {
  5630. if (val > NORMAL_MAX_ACCEL_XY)
  5631. val = NORMAL_MAX_ACCEL_XY;
  5632. if (val_silent > SILENT_MAX_ACCEL_XY)
  5633. val_silent = SILENT_MAX_ACCEL_XY;
  5634. }
  5635. cs.max_acceleration_units_per_sq_second_normal[i] = val;
  5636. cs.max_acceleration_units_per_sq_second_silent[i] = val_silent;
  5637. #else //TMC2130
  5638. max_acceleration_units_per_sq_second[i] = val;
  5639. #endif //TMC2130
  5640. }
  5641. }
  5642. // 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)
  5643. reset_acceleration_rates();
  5644. break;
  5645. #if 0 // Not used for Sprinter/grbl gen6
  5646. case 202: // M202
  5647. for(int8_t i=0; i < NUM_AXIS; i++) {
  5648. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * cs.axis_steps_per_unit[i];
  5649. }
  5650. break;
  5651. #endif
  5652. //! ### M203 - Set Max Feedrate
  5653. // ---------------------------------------
  5654. case 203: // M203 max feedrate mm/sec
  5655. for (int8_t i = 0; i < NUM_AXIS; i++)
  5656. {
  5657. if (code_seen(axis_codes[i]))
  5658. {
  5659. float val = code_value();
  5660. #ifdef TMC2130
  5661. float val_silent = val;
  5662. if ((i == X_AXIS) || (i == Y_AXIS))
  5663. {
  5664. if (val > NORMAL_MAX_FEEDRATE_XY)
  5665. val = NORMAL_MAX_FEEDRATE_XY;
  5666. if (val_silent > SILENT_MAX_FEEDRATE_XY)
  5667. val_silent = SILENT_MAX_FEEDRATE_XY;
  5668. }
  5669. cs.max_feedrate_normal[i] = val;
  5670. cs.max_feedrate_silent[i] = val_silent;
  5671. #else //TMC2130
  5672. max_feedrate[i] = val;
  5673. #endif //TMC2130
  5674. }
  5675. }
  5676. break;
  5677. //! ### M204 - Acceleration settings
  5678. // ------------------------------------------
  5679. //! Supporting old format:
  5680. //!
  5681. //! M204 S[normal moves] T[filmanent only moves]
  5682. //!
  5683. //! and new format:
  5684. //!
  5685. //! M204 P[printing moves] R[filmanent only moves] T[travel moves] (as of now T is ignored)
  5686. case 204:
  5687. {
  5688. if(code_seen('S')) {
  5689. // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
  5690. // and it is also generated by Slic3r to control acceleration per extrusion type
  5691. // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
  5692. cs.acceleration = code_value();
  5693. // Interpret the T value as retract acceleration in the old Marlin format.
  5694. if(code_seen('T'))
  5695. cs.retract_acceleration = code_value();
  5696. } else {
  5697. // New acceleration format, compatible with the upstream Marlin.
  5698. if(code_seen('P'))
  5699. cs.acceleration = code_value();
  5700. if(code_seen('R'))
  5701. cs.retract_acceleration = code_value();
  5702. if(code_seen('T')) {
  5703. // Interpret the T value as the travel acceleration in the new Marlin format.
  5704. //FIXME Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
  5705. // travel_acceleration = code_value();
  5706. }
  5707. }
  5708. }
  5709. break;
  5710. //! ### M205 - Set advanced settings
  5711. // ---------------------------------------------
  5712. //! Set some advanced settings related to movement.
  5713. //!
  5714. //! M205 [S] [T] [B] [X] [Y] [Z] [E]
  5715. /*!
  5716. - `S` - Minimum feedrate for print moves (unit/s)
  5717. - `T` - Minimum feedrate for travel moves (units/s)
  5718. - `B` - Minimum segment time (us)
  5719. - `X` - Maximum X jerk (units/s), similarly for other axes
  5720. */
  5721. case 205:
  5722. {
  5723. if(code_seen('S')) cs.minimumfeedrate = code_value();
  5724. if(code_seen('T')) cs.mintravelfeedrate = code_value();
  5725. if(code_seen('B')) cs.minsegmenttime = code_value() ;
  5726. if(code_seen('X')) cs.max_jerk[X_AXIS] = cs.max_jerk[Y_AXIS] = code_value();
  5727. if(code_seen('Y')) cs.max_jerk[Y_AXIS] = code_value();
  5728. if(code_seen('Z')) cs.max_jerk[Z_AXIS] = code_value();
  5729. if(code_seen('E')) cs.max_jerk[E_AXIS] = code_value();
  5730. if (cs.max_jerk[X_AXIS] > DEFAULT_XJERK) cs.max_jerk[X_AXIS] = DEFAULT_XJERK;
  5731. if (cs.max_jerk[Y_AXIS] > DEFAULT_YJERK) cs.max_jerk[Y_AXIS] = DEFAULT_YJERK;
  5732. }
  5733. break;
  5734. //! ### M206 - Set additional homing offsets
  5735. // ----------------------------------------------
  5736. case 206:
  5737. for(int8_t i=0; i < 3; i++)
  5738. {
  5739. if(code_seen(axis_codes[i])) cs.add_homing[i] = code_value();
  5740. }
  5741. break;
  5742. #ifdef FWRETRACT
  5743. //! ### M207 - Set firmware retraction
  5744. // --------------------------------------------------
  5745. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  5746. {
  5747. if(code_seen('S'))
  5748. {
  5749. cs.retract_length = code_value() ;
  5750. }
  5751. if(code_seen('F'))
  5752. {
  5753. cs.retract_feedrate = code_value()/60 ;
  5754. }
  5755. if(code_seen('Z'))
  5756. {
  5757. cs.retract_zlift = code_value() ;
  5758. }
  5759. }break;
  5760. //! ### M208 - Set retract recover length
  5761. // --------------------------------------------
  5762. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  5763. {
  5764. if(code_seen('S'))
  5765. {
  5766. cs.retract_recover_length = code_value() ;
  5767. }
  5768. if(code_seen('F'))
  5769. {
  5770. cs.retract_recover_feedrate = code_value()/60 ;
  5771. }
  5772. }break;
  5773. //! ### M209 - Enable/disable automatict retract
  5774. // ---------------------------------------------
  5775. 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.
  5776. {
  5777. if(code_seen('S'))
  5778. {
  5779. int t= code_value() ;
  5780. switch(t)
  5781. {
  5782. case 0:
  5783. {
  5784. cs.autoretract_enabled=false;
  5785. retracted[0]=false;
  5786. #if EXTRUDERS > 1
  5787. retracted[1]=false;
  5788. #endif
  5789. #if EXTRUDERS > 2
  5790. retracted[2]=false;
  5791. #endif
  5792. }break;
  5793. case 1:
  5794. {
  5795. cs.autoretract_enabled=true;
  5796. retracted[0]=false;
  5797. #if EXTRUDERS > 1
  5798. retracted[1]=false;
  5799. #endif
  5800. #if EXTRUDERS > 2
  5801. retracted[2]=false;
  5802. #endif
  5803. }break;
  5804. default:
  5805. SERIAL_ECHO_START;
  5806. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5807. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5808. SERIAL_ECHOLNPGM("\"(1)");
  5809. }
  5810. }
  5811. }break;
  5812. #endif // FWRETRACT
  5813. #if EXTRUDERS > 1
  5814. // ### M218 - Set hotend offset
  5815. // ----------------------------------------
  5816. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  5817. {
  5818. uint8_t extruder;
  5819. if(setTargetedHotend(218, extruder)){
  5820. break;
  5821. }
  5822. if(code_seen('X'))
  5823. {
  5824. extruder_offset[X_AXIS][extruder] = code_value();
  5825. }
  5826. if(code_seen('Y'))
  5827. {
  5828. extruder_offset[Y_AXIS][extruder] = code_value();
  5829. }
  5830. SERIAL_ECHO_START;
  5831. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  5832. for(extruder = 0; extruder < EXTRUDERS; extruder++)
  5833. {
  5834. SERIAL_ECHO(" ");
  5835. SERIAL_ECHO(extruder_offset[X_AXIS][extruder]);
  5836. SERIAL_ECHO(",");
  5837. SERIAL_ECHO(extruder_offset[Y_AXIS][extruder]);
  5838. }
  5839. SERIAL_ECHOLN("");
  5840. }break;
  5841. #endif
  5842. //! ### M220 Set feedrate percentage
  5843. // -----------------------------------------------
  5844. case 220: // M220 S<factor in percent>- set speed factor override percentage
  5845. {
  5846. if (code_seen('B')) //backup current speed factor
  5847. {
  5848. saved_feedmultiply_mm = feedmultiply;
  5849. }
  5850. if(code_seen('S'))
  5851. {
  5852. feedmultiply = code_value() ;
  5853. }
  5854. if (code_seen('R')) { //restore previous feedmultiply
  5855. feedmultiply = saved_feedmultiply_mm;
  5856. }
  5857. }
  5858. break;
  5859. //! ### M221 - Set extrude factor override percentage
  5860. // ----------------------------------------------------
  5861. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  5862. {
  5863. if(code_seen('S'))
  5864. {
  5865. int tmp_code = code_value();
  5866. if (code_seen('T'))
  5867. {
  5868. uint8_t extruder;
  5869. if(setTargetedHotend(221, extruder)){
  5870. break;
  5871. }
  5872. extruder_multiply[extruder] = tmp_code;
  5873. }
  5874. else
  5875. {
  5876. extrudemultiply = tmp_code ;
  5877. }
  5878. }
  5879. calculate_extruder_multipliers();
  5880. }
  5881. break;
  5882. //! ### M226 - Wait for Pin state
  5883. // ------------------------------------------
  5884. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  5885. {
  5886. if(code_seen('P')){
  5887. int pin_number = code_value(); // pin number
  5888. int pin_state = -1; // required pin state - default is inverted
  5889. if(code_seen('S')) pin_state = code_value(); // required pin state
  5890. if(pin_state >= -1 && pin_state <= 1){
  5891. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  5892. {
  5893. if (sensitive_pins[i] == pin_number)
  5894. {
  5895. pin_number = -1;
  5896. break;
  5897. }
  5898. }
  5899. if (pin_number > -1)
  5900. {
  5901. int target = LOW;
  5902. st_synchronize();
  5903. pinMode(pin_number, INPUT);
  5904. switch(pin_state){
  5905. case 1:
  5906. target = HIGH;
  5907. break;
  5908. case 0:
  5909. target = LOW;
  5910. break;
  5911. case -1:
  5912. target = !digitalRead(pin_number);
  5913. break;
  5914. }
  5915. while(digitalRead(pin_number) != target){
  5916. manage_heater();
  5917. manage_inactivity();
  5918. lcd_update(0);
  5919. }
  5920. }
  5921. }
  5922. }
  5923. }
  5924. break;
  5925. #if NUM_SERVOS > 0
  5926. //! ### M280 - Set/Get servo position
  5927. // --------------------------------------------
  5928. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  5929. {
  5930. int servo_index = -1;
  5931. int servo_position = 0;
  5932. if (code_seen('P'))
  5933. servo_index = code_value();
  5934. if (code_seen('S')) {
  5935. servo_position = code_value();
  5936. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  5937. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5938. servos[servo_index].attach(0);
  5939. #endif
  5940. servos[servo_index].write(servo_position);
  5941. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5942. _delay(PROBE_SERVO_DEACTIVATION_DELAY);
  5943. servos[servo_index].detach();
  5944. #endif
  5945. }
  5946. else {
  5947. SERIAL_ECHO_START;
  5948. SERIAL_ECHO("Servo ");
  5949. SERIAL_ECHO(servo_index);
  5950. SERIAL_ECHOLN(" out of range");
  5951. }
  5952. }
  5953. else if (servo_index >= 0) {
  5954. SERIAL_PROTOCOL(MSG_OK);
  5955. SERIAL_PROTOCOL(" Servo ");
  5956. SERIAL_PROTOCOL(servo_index);
  5957. SERIAL_PROTOCOL(": ");
  5958. SERIAL_PROTOCOL(servos[servo_index].read());
  5959. SERIAL_PROTOCOLLN("");
  5960. }
  5961. }
  5962. break;
  5963. #endif // NUM_SERVOS > 0
  5964. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  5965. //! ### M300 - Play tone
  5966. // -----------------------
  5967. case 300: // M300
  5968. {
  5969. int beepS = code_seen('S') ? code_value() : 110;
  5970. int beepP = code_seen('P') ? code_value() : 1000;
  5971. if (beepS > 0)
  5972. {
  5973. #if BEEPER > 0
  5974. Sound_MakeCustom(beepP,beepS,false);
  5975. #endif
  5976. }
  5977. else
  5978. {
  5979. _delay(beepP);
  5980. }
  5981. }
  5982. break;
  5983. #endif // M300
  5984. #ifdef PIDTEMP
  5985. //! ### M301 - Set hotend PID
  5986. // ---------------------------------------
  5987. case 301:
  5988. {
  5989. if(code_seen('P')) cs.Kp = code_value();
  5990. if(code_seen('I')) cs.Ki = scalePID_i(code_value());
  5991. if(code_seen('D')) cs.Kd = scalePID_d(code_value());
  5992. #ifdef PID_ADD_EXTRUSION_RATE
  5993. if(code_seen('C')) Kc = code_value();
  5994. #endif
  5995. updatePID();
  5996. SERIAL_PROTOCOLRPGM(MSG_OK);
  5997. SERIAL_PROTOCOL(" p:");
  5998. SERIAL_PROTOCOL(cs.Kp);
  5999. SERIAL_PROTOCOL(" i:");
  6000. SERIAL_PROTOCOL(unscalePID_i(cs.Ki));
  6001. SERIAL_PROTOCOL(" d:");
  6002. SERIAL_PROTOCOL(unscalePID_d(cs.Kd));
  6003. #ifdef PID_ADD_EXTRUSION_RATE
  6004. SERIAL_PROTOCOL(" c:");
  6005. //Kc does not have scaling applied above, or in resetting defaults
  6006. SERIAL_PROTOCOL(Kc);
  6007. #endif
  6008. SERIAL_PROTOCOLLN("");
  6009. }
  6010. break;
  6011. #endif //PIDTEMP
  6012. #ifdef PIDTEMPBED
  6013. //! ### M304 - Set bed PID
  6014. // --------------------------------------
  6015. case 304:
  6016. {
  6017. if(code_seen('P')) cs.bedKp = code_value();
  6018. if(code_seen('I')) cs.bedKi = scalePID_i(code_value());
  6019. if(code_seen('D')) cs.bedKd = scalePID_d(code_value());
  6020. updatePID();
  6021. SERIAL_PROTOCOLRPGM(MSG_OK);
  6022. SERIAL_PROTOCOL(" p:");
  6023. SERIAL_PROTOCOL(cs.bedKp);
  6024. SERIAL_PROTOCOL(" i:");
  6025. SERIAL_PROTOCOL(unscalePID_i(cs.bedKi));
  6026. SERIAL_PROTOCOL(" d:");
  6027. SERIAL_PROTOCOL(unscalePID_d(cs.bedKd));
  6028. SERIAL_PROTOCOLLN("");
  6029. }
  6030. break;
  6031. #endif //PIDTEMP
  6032. //! ### M240 - Trigger camera
  6033. // --------------------------------------------
  6034. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  6035. {
  6036. #ifdef CHDK
  6037. SET_OUTPUT(CHDK);
  6038. WRITE(CHDK, HIGH);
  6039. chdkHigh = _millis();
  6040. chdkActive = true;
  6041. #else
  6042. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  6043. const uint8_t NUM_PULSES=16;
  6044. const float PULSE_LENGTH=0.01524;
  6045. for(int i=0; i < NUM_PULSES; i++) {
  6046. WRITE(PHOTOGRAPH_PIN, HIGH);
  6047. _delay_ms(PULSE_LENGTH);
  6048. WRITE(PHOTOGRAPH_PIN, LOW);
  6049. _delay_ms(PULSE_LENGTH);
  6050. }
  6051. _delay(7.33);
  6052. for(int i=0; i < NUM_PULSES; i++) {
  6053. WRITE(PHOTOGRAPH_PIN, HIGH);
  6054. _delay_ms(PULSE_LENGTH);
  6055. WRITE(PHOTOGRAPH_PIN, LOW);
  6056. _delay_ms(PULSE_LENGTH);
  6057. }
  6058. #endif
  6059. #endif //chdk end if
  6060. }
  6061. break;
  6062. #ifdef PREVENT_DANGEROUS_EXTRUDE
  6063. //! ### M302 - Allow cold extrude, or set minimum extrude temperature
  6064. // -------------------------------------------------------------------
  6065. case 302:
  6066. {
  6067. float temp = .0;
  6068. if (code_seen('S')) temp=code_value();
  6069. set_extrude_min_temp(temp);
  6070. }
  6071. break;
  6072. #endif
  6073. //! ### M303 - PID autotune
  6074. // -------------------------------------
  6075. case 303:
  6076. {
  6077. float temp = 150.0;
  6078. int e=0;
  6079. int c=5;
  6080. if (code_seen('E')) e=code_value();
  6081. if (e<0)
  6082. temp=70;
  6083. if (code_seen('S')) temp=code_value();
  6084. if (code_seen('C')) c=code_value();
  6085. PID_autotune(temp, e, c);
  6086. }
  6087. break;
  6088. //! ### M400 - Wait for all moves to finish
  6089. // -----------------------------------------
  6090. case 400:
  6091. {
  6092. st_synchronize();
  6093. }
  6094. break;
  6095. //! ### M403 - Set filament type (material) for particular extruder and notify the MMU
  6096. // ----------------------------------------------
  6097. case 403:
  6098. {
  6099. // currently three different materials are needed (default, flex and PVA)
  6100. // add storing this information for different load/unload profiles etc. in the future
  6101. // firmware does not wait for "ok" from mmu
  6102. if (mmu_enabled)
  6103. {
  6104. uint8_t extruder = 255;
  6105. uint8_t filament = FILAMENT_UNDEFINED;
  6106. if(code_seen('E')) extruder = code_value();
  6107. if(code_seen('F')) filament = code_value();
  6108. mmu_set_filament_type(extruder, filament);
  6109. }
  6110. }
  6111. break;
  6112. //! ### M500 - Store settings in EEPROM
  6113. // -----------------------------------------
  6114. case 500:
  6115. {
  6116. Config_StoreSettings();
  6117. }
  6118. break;
  6119. //! ### M501 - Read settings from EEPROM
  6120. // ----------------------------------------
  6121. case 501:
  6122. {
  6123. Config_RetrieveSettings();
  6124. }
  6125. break;
  6126. //! ### M502 - Revert all settings to factory default
  6127. // -------------------------------------------------
  6128. case 502:
  6129. {
  6130. Config_ResetDefault();
  6131. }
  6132. break;
  6133. //! ### M503 - Repport all settings currently in memory
  6134. // -------------------------------------------------
  6135. case 503:
  6136. {
  6137. Config_PrintSettings();
  6138. }
  6139. break;
  6140. //! ### M509 - Force language selection
  6141. // ------------------------------------------------
  6142. case 509:
  6143. {
  6144. lang_reset();
  6145. SERIAL_ECHO_START;
  6146. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  6147. }
  6148. break;
  6149. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  6150. //! ### M540 - Abort print on endstop hit (enable/disable)
  6151. // -----------------------------------------------------
  6152. case 540:
  6153. {
  6154. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  6155. }
  6156. break;
  6157. #endif
  6158. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  6159. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  6160. {
  6161. float value;
  6162. if (code_seen('Z'))
  6163. {
  6164. value = code_value();
  6165. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  6166. {
  6167. cs.zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  6168. SERIAL_ECHO_START;
  6169. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  6170. SERIAL_PROTOCOLLN("");
  6171. }
  6172. else
  6173. {
  6174. SERIAL_ECHO_START;
  6175. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  6176. SERIAL_ECHORPGM(MSG_Z_MIN);
  6177. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  6178. SERIAL_ECHORPGM(MSG_Z_MAX);
  6179. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  6180. SERIAL_PROTOCOLLN("");
  6181. }
  6182. }
  6183. else
  6184. {
  6185. SERIAL_ECHO_START;
  6186. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  6187. SERIAL_ECHO(-cs.zprobe_zoffset);
  6188. SERIAL_PROTOCOLLN("");
  6189. }
  6190. break;
  6191. }
  6192. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  6193. #ifdef FILAMENTCHANGEENABLE
  6194. //! ### M600 - Initiate Filament change procedure
  6195. // --------------------------------------
  6196. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  6197. {
  6198. st_synchronize();
  6199. float x_position = current_position[X_AXIS];
  6200. float y_position = current_position[Y_AXIS];
  6201. float z_shift = 0; // is it necessary to be a float?
  6202. float e_shift_init = 0;
  6203. float e_shift_late = 0;
  6204. bool automatic = false;
  6205. //Retract extruder
  6206. if(code_seen('E'))
  6207. {
  6208. e_shift_init = code_value();
  6209. }
  6210. else
  6211. {
  6212. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  6213. e_shift_init = FILAMENTCHANGE_FIRSTRETRACT ;
  6214. #endif
  6215. }
  6216. //currently don't work as we are using the same unload sequence as in M702, needs re-work
  6217. if (code_seen('L'))
  6218. {
  6219. e_shift_late = code_value();
  6220. }
  6221. else
  6222. {
  6223. #ifdef FILAMENTCHANGE_FINALRETRACT
  6224. e_shift_late = FILAMENTCHANGE_FINALRETRACT;
  6225. #endif
  6226. }
  6227. //Lift Z
  6228. if(code_seen('Z'))
  6229. {
  6230. z_shift = code_value();
  6231. }
  6232. else
  6233. {
  6234. z_shift = gcode_M600_filament_change_z_shift<uint8_t>();
  6235. }
  6236. //Move XY to side
  6237. if(code_seen('X'))
  6238. {
  6239. x_position = code_value();
  6240. }
  6241. else
  6242. {
  6243. #ifdef FILAMENTCHANGE_XPOS
  6244. x_position = FILAMENTCHANGE_XPOS;
  6245. #endif
  6246. }
  6247. if(code_seen('Y'))
  6248. {
  6249. y_position = code_value();
  6250. }
  6251. else
  6252. {
  6253. #ifdef FILAMENTCHANGE_YPOS
  6254. y_position = FILAMENTCHANGE_YPOS ;
  6255. #endif
  6256. }
  6257. if (mmu_enabled && code_seen("AUTO"))
  6258. automatic = true;
  6259. gcode_M600(automatic, x_position, y_position, z_shift, e_shift_init, e_shift_late);
  6260. }
  6261. break;
  6262. #endif //FILAMENTCHANGEENABLE
  6263. //! ### M601 - Pause print
  6264. // -------------------------------
  6265. case 601:
  6266. {
  6267. cmdqueue_pop_front(); //trick because we want skip this command (M601) after restore
  6268. lcd_pause_print();
  6269. }
  6270. break;
  6271. //! ### M602 - Resume print
  6272. // -------------------------------
  6273. case 602: {
  6274. lcd_resume_print();
  6275. }
  6276. break;
  6277. //! ### M603 - Stop print
  6278. // -------------------------------
  6279. case 603: {
  6280. lcd_print_stop();
  6281. }
  6282. #ifdef PINDA_THERMISTOR
  6283. //! ### M860 - Wait for extruder temperature (PINDA)
  6284. // --------------------------------------------------------------
  6285. /*!
  6286. Wait for PINDA thermistor to reach target temperature
  6287. M860 [S<target_temperature>]
  6288. */
  6289. case 860:
  6290. {
  6291. int set_target_pinda = 0;
  6292. if (code_seen('S')) {
  6293. set_target_pinda = code_value();
  6294. }
  6295. else {
  6296. break;
  6297. }
  6298. LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
  6299. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  6300. SERIAL_PROTOCOL(set_target_pinda);
  6301. SERIAL_PROTOCOLLN("");
  6302. codenum = _millis();
  6303. cancel_heatup = false;
  6304. bool is_pinda_cooling = false;
  6305. if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
  6306. is_pinda_cooling = true;
  6307. }
  6308. while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
  6309. if ((_millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  6310. {
  6311. SERIAL_PROTOCOLPGM("P:");
  6312. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  6313. SERIAL_PROTOCOLPGM("/");
  6314. SERIAL_PROTOCOL(set_target_pinda);
  6315. SERIAL_PROTOCOLLN("");
  6316. codenum = _millis();
  6317. }
  6318. manage_heater();
  6319. manage_inactivity();
  6320. lcd_update(0);
  6321. }
  6322. LCD_MESSAGERPGM(MSG_OK);
  6323. break;
  6324. }
  6325. //! ### M861 - Set/Get PINDA temperature compensation offsets
  6326. // -----------------------------------------------------------
  6327. /*!
  6328. M861 [ ? | ! | Z | S<microsteps> [I<table_index>] ]
  6329. - `?` - Print current EEPROM offset values
  6330. - `!` - Set factory default values
  6331. - `Z` - Set all values to 0 (effectively disabling PINDA temperature compensation)
  6332. - `S<microsteps>` `I<table_index>` - Set compensation ustep value S for compensation table index I
  6333. */
  6334. case 861:
  6335. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  6336. uint8_t cal_status = calibration_status_pinda();
  6337. int16_t usteps = 0;
  6338. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  6339. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  6340. for (uint8_t i = 0; i < 6; i++)
  6341. {
  6342. if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
  6343. float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
  6344. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  6345. SERIAL_PROTOCOLPGM(", ");
  6346. SERIAL_PROTOCOL(35 + (i * 5));
  6347. SERIAL_PROTOCOLPGM(", ");
  6348. SERIAL_PROTOCOL(usteps);
  6349. SERIAL_PROTOCOLPGM(", ");
  6350. SERIAL_PROTOCOL(mm * 1000);
  6351. SERIAL_PROTOCOLLN("");
  6352. }
  6353. }
  6354. else if (code_seen('!')) { // ! - Set factory default values
  6355. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  6356. int16_t z_shift = 8; //40C - 20um - 8usteps
  6357. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
  6358. z_shift = 24; //45C - 60um - 24usteps
  6359. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
  6360. z_shift = 48; //50C - 120um - 48usteps
  6361. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
  6362. z_shift = 80; //55C - 200um - 80usteps
  6363. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
  6364. z_shift = 120; //60C - 300um - 120usteps
  6365. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
  6366. SERIAL_PROTOCOLLN("factory restored");
  6367. }
  6368. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  6369. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  6370. int16_t z_shift = 0;
  6371. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  6372. SERIAL_PROTOCOLLN("zerorized");
  6373. }
  6374. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  6375. int16_t usteps = code_value();
  6376. if (code_seen('I')) {
  6377. uint8_t index = code_value();
  6378. if (index < 5) {
  6379. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
  6380. SERIAL_PROTOCOLLN("OK");
  6381. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  6382. for (uint8_t i = 0; i < 6; i++)
  6383. {
  6384. usteps = 0;
  6385. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
  6386. float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
  6387. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  6388. SERIAL_PROTOCOLPGM(", ");
  6389. SERIAL_PROTOCOL(35 + (i * 5));
  6390. SERIAL_PROTOCOLPGM(", ");
  6391. SERIAL_PROTOCOL(usteps);
  6392. SERIAL_PROTOCOLPGM(", ");
  6393. SERIAL_PROTOCOL(mm * 1000);
  6394. SERIAL_PROTOCOLLN("");
  6395. }
  6396. }
  6397. }
  6398. }
  6399. else {
  6400. SERIAL_PROTOCOLPGM("no valid command");
  6401. }
  6402. break;
  6403. #endif //PINDA_THERMISTOR
  6404. //! ### M862 - Print checking
  6405. // ----------------------------------------------
  6406. /*!
  6407. Checks the parameters of the printer and gcode and performs compatibility check
  6408. - M862.1 { P<nozzle_diameter> | Q }
  6409. - M862.2 { P<model_code> | Q }
  6410. - M862.3 { P"<model_name>" | Q }
  6411. - M862.4 { P<fw_version> | Q }
  6412. - M862.5 { P<gcode_level> | Q }
  6413. When run with P<> argument, the check is performed against the input value.
  6414. When run with Q argument, the current value is shown.
  6415. M862.3 accepts text identifiers of printer types too.
  6416. The syntax of M862.3 is (note the quotes around the type):
  6417. M862.3 P "MK3S"
  6418. Accepted printer type identifiers and their numeric counterparts:
  6419. - MK1 (100)
  6420. - MK2 (200)
  6421. - MK2MM (201)
  6422. - MK2S (202)
  6423. - MK2SMM (203)
  6424. - MK2.5 (250)
  6425. - MK2.5MMU2 (20250)
  6426. - MK2.5S (252)
  6427. - MK2.5SMMU2S (20252)
  6428. - MK3 (300)
  6429. - MK3MMU2 (20300)
  6430. - MK3S (302)
  6431. - MK3SMMU2S (20302)
  6432. */
  6433. case 862: // M862: print checking
  6434. float nDummy;
  6435. uint8_t nCommand;
  6436. nCommand=(uint8_t)(modff(code_value_float(),&nDummy)*10.0+0.5);
  6437. switch((ClPrintChecking)nCommand)
  6438. {
  6439. case ClPrintChecking::_Nozzle: // ~ .1
  6440. uint16_t nDiameter;
  6441. if(code_seen('P'))
  6442. {
  6443. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  6444. nozzle_diameter_check(nDiameter);
  6445. }
  6446. /*
  6447. else if(code_seen('S')&&farm_mode)
  6448. {
  6449. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  6450. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
  6451. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
  6452. }
  6453. */
  6454. else if(code_seen('Q'))
  6455. SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
  6456. break;
  6457. case ClPrintChecking::_Model: // ~ .2
  6458. if(code_seen('P'))
  6459. {
  6460. uint16_t nPrinterModel;
  6461. nPrinterModel=(uint16_t)code_value_long();
  6462. printer_model_check(nPrinterModel);
  6463. }
  6464. else if(code_seen('Q'))
  6465. SERIAL_PROTOCOLLN(nPrinterType);
  6466. break;
  6467. case ClPrintChecking::_Smodel: // ~ .3
  6468. if(code_seen('P'))
  6469. printer_smodel_check(strchr_pointer);
  6470. else if(code_seen('Q'))
  6471. SERIAL_PROTOCOLLNRPGM(sPrinterName);
  6472. break;
  6473. case ClPrintChecking::_Version: // ~ .4
  6474. if(code_seen('P'))
  6475. fw_version_check(++strchr_pointer);
  6476. else if(code_seen('Q'))
  6477. SERIAL_PROTOCOLLN(FW_VERSION);
  6478. break;
  6479. case ClPrintChecking::_Gcode: // ~ .5
  6480. if(code_seen('P'))
  6481. {
  6482. uint16_t nGcodeLevel;
  6483. nGcodeLevel=(uint16_t)code_value_long();
  6484. gcode_level_check(nGcodeLevel);
  6485. }
  6486. else if(code_seen('Q'))
  6487. SERIAL_PROTOCOLLN(GCODE_LEVEL);
  6488. break;
  6489. }
  6490. break;
  6491. #ifdef LIN_ADVANCE
  6492. //! ### M900 - Set Linear advance options
  6493. // ----------------------------------------------
  6494. case 900:
  6495. gcode_M900();
  6496. break;
  6497. #endif
  6498. //! ### M907 - Set digital trimpot motor current using axis codes
  6499. // ---------------------------------------------------------------
  6500. case 907:
  6501. {
  6502. #ifdef TMC2130
  6503. for (int i = 0; i < NUM_AXIS; i++)
  6504. if(code_seen(axis_codes[i]))
  6505. {
  6506. long cur_mA = code_value_long();
  6507. uint8_t val = tmc2130_cur2val(cur_mA);
  6508. tmc2130_set_current_h(i, val);
  6509. tmc2130_set_current_r(i, val);
  6510. //if (i == E_AXIS) printf_P(PSTR("E-axis current=%ldmA\n"), cur_mA);
  6511. }
  6512. #else //TMC2130
  6513. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  6514. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  6515. if(code_seen('B')) st_current_set(4,code_value());
  6516. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  6517. #endif
  6518. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  6519. if(code_seen('X')) st_current_set(0, code_value());
  6520. #endif
  6521. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  6522. if(code_seen('Z')) st_current_set(1, code_value());
  6523. #endif
  6524. #ifdef MOTOR_CURRENT_PWM_E_PIN
  6525. if(code_seen('E')) st_current_set(2, code_value());
  6526. #endif
  6527. #endif //TMC2130
  6528. }
  6529. break;
  6530. //! ### M908 - Control digital trimpot directly
  6531. // ---------------------------------------------------------
  6532. case 908:
  6533. {
  6534. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  6535. uint8_t channel,current;
  6536. if(code_seen('P')) channel=code_value();
  6537. if(code_seen('S')) current=code_value();
  6538. digitalPotWrite(channel, current);
  6539. #endif
  6540. }
  6541. break;
  6542. #ifdef TMC2130_SERVICE_CODES_M910_M918
  6543. //! ### M910 - TMC2130 init
  6544. // -----------------------------------------------
  6545. case 910:
  6546. {
  6547. tmc2130_init();
  6548. }
  6549. break;
  6550. //! ### M911 - Set TMC2130 holding currents
  6551. // -------------------------------------------------
  6552. case 911:
  6553. {
  6554. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  6555. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  6556. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  6557. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  6558. }
  6559. break;
  6560. //! ### M912 - Set TMC2130 running currents
  6561. // -----------------------------------------------
  6562. case 912:
  6563. {
  6564. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  6565. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  6566. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  6567. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  6568. }
  6569. break;
  6570. //! ### M913 - Print TMC2130 currents
  6571. // -----------------------------
  6572. case 913:
  6573. {
  6574. tmc2130_print_currents();
  6575. }
  6576. break;
  6577. //! ### M914 - Set TMC2130 normal mode
  6578. // ------------------------------
  6579. case 914:
  6580. {
  6581. tmc2130_mode = TMC2130_MODE_NORMAL;
  6582. update_mode_profile();
  6583. tmc2130_init();
  6584. }
  6585. break;
  6586. //! ### M95 - Set TMC2130 silent mode
  6587. // ------------------------------
  6588. case 915:
  6589. {
  6590. tmc2130_mode = TMC2130_MODE_SILENT;
  6591. update_mode_profile();
  6592. tmc2130_init();
  6593. }
  6594. break;
  6595. //! ### M916 - Set TMC2130 Stallguard sensitivity threshold
  6596. // -------------------------------------------------------
  6597. case 916:
  6598. {
  6599. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  6600. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  6601. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  6602. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  6603. for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
  6604. printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
  6605. }
  6606. break;
  6607. //! ### M917 - Set TMC2130 PWM amplitude offset (pwm_ampl)
  6608. // --------------------------------------------------------------
  6609. case 917:
  6610. {
  6611. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  6612. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  6613. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  6614. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  6615. }
  6616. break;
  6617. //! ### M918 - Set TMC2130 PWM amplitude gradient (pwm_grad)
  6618. // -------------------------------------------------------------
  6619. case 918:
  6620. {
  6621. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  6622. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  6623. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  6624. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  6625. }
  6626. break;
  6627. #endif //TMC2130_SERVICE_CODES_M910_M918
  6628. //! ### M350 - Set microstepping mode
  6629. // ---------------------------------------------------
  6630. //! Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  6631. case 350:
  6632. {
  6633. #ifdef TMC2130
  6634. if(code_seen('E'))
  6635. {
  6636. uint16_t res_new = code_value();
  6637. if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
  6638. {
  6639. st_synchronize();
  6640. uint8_t axis = E_AXIS;
  6641. uint16_t res = tmc2130_get_res(axis);
  6642. tmc2130_set_res(axis, res_new);
  6643. cs.axis_ustep_resolution[axis] = res_new;
  6644. if (res_new > res)
  6645. {
  6646. uint16_t fac = (res_new / res);
  6647. cs.axis_steps_per_unit[axis] *= fac;
  6648. position[E_AXIS] *= fac;
  6649. }
  6650. else
  6651. {
  6652. uint16_t fac = (res / res_new);
  6653. cs.axis_steps_per_unit[axis] /= fac;
  6654. position[E_AXIS] /= fac;
  6655. }
  6656. }
  6657. }
  6658. #else //TMC2130
  6659. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  6660. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  6661. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  6662. if(code_seen('B')) microstep_mode(4,code_value());
  6663. microstep_readings();
  6664. #endif
  6665. #endif //TMC2130
  6666. }
  6667. break;
  6668. //! ### M351 - Toggle Microstep Pins
  6669. // -----------------------------------
  6670. //! Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  6671. //!
  6672. //! M351 [B<0|1>] [E<0|1>] S<1|2> [X<0|1>] [Y<0|1>] [Z<0|1>]
  6673. case 351:
  6674. {
  6675. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  6676. if(code_seen('S')) switch((int)code_value())
  6677. {
  6678. case 1:
  6679. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  6680. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  6681. break;
  6682. case 2:
  6683. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  6684. if(code_seen('B')) microstep_ms(4,-1,code_value());
  6685. break;
  6686. }
  6687. microstep_readings();
  6688. #endif
  6689. }
  6690. break;
  6691. //! ### M701 - Load filament
  6692. // -------------------------
  6693. case 701:
  6694. {
  6695. if (mmu_enabled && code_seen('E'))
  6696. tmp_extruder = code_value();
  6697. gcode_M701();
  6698. }
  6699. break;
  6700. //! ### M702 - Unload filament
  6701. // ------------------------
  6702. /*!
  6703. M702 [U C]
  6704. - `U` Unload all filaments used in current print
  6705. - `C` Unload just current filament
  6706. - without any parameters unload all filaments
  6707. */
  6708. case 702:
  6709. {
  6710. #ifdef SNMM
  6711. if (code_seen('U'))
  6712. extr_unload_used(); //! if "U" unload all filaments which were used in current print
  6713. else if (code_seen('C'))
  6714. extr_unload(); //! if "C" unload just current filament
  6715. else
  6716. extr_unload_all(); //! otherwise unload all filaments
  6717. #else
  6718. if (code_seen('C')) {
  6719. if(mmu_enabled) extr_unload(); //! if "C" unload current filament; if mmu is not present no action is performed
  6720. }
  6721. else {
  6722. if(mmu_enabled) extr_unload(); //! unload current filament
  6723. else unload_filament();
  6724. }
  6725. #endif //SNMM
  6726. }
  6727. break;
  6728. //! ### M999 - Restart after being stopped
  6729. // ------------------------------------
  6730. case 999:
  6731. Stopped = false;
  6732. lcd_reset_alert_level();
  6733. gcode_LastN = Stopped_gcode_LastN;
  6734. FlushSerialRequestResend();
  6735. break;
  6736. default:
  6737. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  6738. }
  6739. // printf_P(_N("END M-CODE=%u\n"), mcode_in_progress);
  6740. mcode_in_progress = 0;
  6741. }
  6742. }
  6743. // end if(code_seen('M')) (end of M codes)
  6744. //! -----------------------------------------------------------------------------------------
  6745. //! T Codes
  6746. //!
  6747. //! T<extruder nr.> - select extruder in case of multi extruder printer
  6748. //! select filament in case of MMU_V2
  6749. //! if extruder is "?", open menu to let the user select extruder/filament
  6750. //!
  6751. //! For MMU_V2:
  6752. //! @n T<n> Gcode to extrude at least 38.10 mm at feedrate 19.02 mm/s must follow immediately to load to extruder wheels.
  6753. //! @n T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
  6754. //! @n Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
  6755. //! @n Tc Load to nozzle after filament was prepared by Tc and extruder nozzle is already heated.
  6756. else if(code_seen('T'))
  6757. {
  6758. int index;
  6759. bool load_to_nozzle = false;
  6760. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  6761. *(strchr_pointer + index) = tolower(*(strchr_pointer + index));
  6762. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '4') && *(strchr_pointer + index) != '?' && *(strchr_pointer + index) != 'x' && *(strchr_pointer + index) != 'c') {
  6763. SERIAL_ECHOLNPGM("Invalid T code.");
  6764. }
  6765. else if (*(strchr_pointer + index) == 'x'){ //load to bondtech gears; if mmu is not present do nothing
  6766. if (mmu_enabled)
  6767. {
  6768. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
  6769. if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
  6770. {
  6771. printf_P(PSTR("Duplicate T-code ignored.\n"));
  6772. }
  6773. else
  6774. {
  6775. st_synchronize();
  6776. mmu_command(MmuCmd::T0 + tmp_extruder);
  6777. manage_response(true, true, MMU_TCODE_MOVE);
  6778. }
  6779. }
  6780. }
  6781. else if (*(strchr_pointer + index) == 'c') { //load to from bondtech gears to nozzle (nozzle should be preheated)
  6782. if (mmu_enabled)
  6783. {
  6784. st_synchronize();
  6785. mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
  6786. mmu_extruder = tmp_extruder; //filament change is finished
  6787. mmu_load_to_nozzle();
  6788. }
  6789. }
  6790. else {
  6791. if (*(strchr_pointer + index) == '?')
  6792. {
  6793. if(mmu_enabled)
  6794. {
  6795. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
  6796. load_to_nozzle = true;
  6797. } else
  6798. {
  6799. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_EXTRUDER), _T(MSG_EXTRUDER));
  6800. }
  6801. }
  6802. else {
  6803. tmp_extruder = code_value();
  6804. if (mmu_enabled && lcd_autoDepleteEnabled())
  6805. {
  6806. tmp_extruder = ad_getAlternative(tmp_extruder);
  6807. }
  6808. }
  6809. st_synchronize();
  6810. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  6811. if (mmu_enabled)
  6812. {
  6813. if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
  6814. {
  6815. printf_P(PSTR("Duplicate T-code ignored.\n"));
  6816. }
  6817. else
  6818. {
  6819. #if defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
  6820. if (EEPROM_MMU_CUTTER_ENABLED_always == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
  6821. {
  6822. mmu_command(MmuCmd::K0 + tmp_extruder);
  6823. manage_response(true, true, MMU_UNLOAD_MOVE);
  6824. }
  6825. #endif //defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
  6826. mmu_command(MmuCmd::T0 + tmp_extruder);
  6827. manage_response(true, true, MMU_TCODE_MOVE);
  6828. mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
  6829. mmu_extruder = tmp_extruder; //filament change is finished
  6830. if (load_to_nozzle)// for single material usage with mmu
  6831. {
  6832. mmu_load_to_nozzle();
  6833. }
  6834. }
  6835. }
  6836. else
  6837. {
  6838. #ifdef SNMM
  6839. #ifdef LIN_ADVANCE
  6840. if (mmu_extruder != tmp_extruder)
  6841. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  6842. #endif
  6843. mmu_extruder = tmp_extruder;
  6844. _delay(100);
  6845. disable_e0();
  6846. disable_e1();
  6847. disable_e2();
  6848. pinMode(E_MUX0_PIN, OUTPUT);
  6849. pinMode(E_MUX1_PIN, OUTPUT);
  6850. _delay(100);
  6851. SERIAL_ECHO_START;
  6852. SERIAL_ECHO("T:");
  6853. SERIAL_ECHOLN((int)tmp_extruder);
  6854. switch (tmp_extruder) {
  6855. case 1:
  6856. WRITE(E_MUX0_PIN, HIGH);
  6857. WRITE(E_MUX1_PIN, LOW);
  6858. break;
  6859. case 2:
  6860. WRITE(E_MUX0_PIN, LOW);
  6861. WRITE(E_MUX1_PIN, HIGH);
  6862. break;
  6863. case 3:
  6864. WRITE(E_MUX0_PIN, HIGH);
  6865. WRITE(E_MUX1_PIN, HIGH);
  6866. break;
  6867. default:
  6868. WRITE(E_MUX0_PIN, LOW);
  6869. WRITE(E_MUX1_PIN, LOW);
  6870. break;
  6871. }
  6872. _delay(100);
  6873. #else //SNMM
  6874. if (tmp_extruder >= EXTRUDERS) {
  6875. SERIAL_ECHO_START;
  6876. SERIAL_ECHOPGM("T");
  6877. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6878. SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER
  6879. }
  6880. else {
  6881. #if EXTRUDERS > 1
  6882. boolean make_move = false;
  6883. #endif
  6884. if (code_seen('F')) {
  6885. #if EXTRUDERS > 1
  6886. make_move = true;
  6887. #endif
  6888. next_feedrate = code_value();
  6889. if (next_feedrate > 0.0) {
  6890. feedrate = next_feedrate;
  6891. }
  6892. }
  6893. #if EXTRUDERS > 1
  6894. if (tmp_extruder != active_extruder) {
  6895. // Save current position to return to after applying extruder offset
  6896. memcpy(destination, current_position, sizeof(destination));
  6897. // Offset extruder (only by XY)
  6898. int i;
  6899. for (i = 0; i < 2; i++) {
  6900. current_position[i] = current_position[i] -
  6901. extruder_offset[i][active_extruder] +
  6902. extruder_offset[i][tmp_extruder];
  6903. }
  6904. // Set the new active extruder and position
  6905. active_extruder = tmp_extruder;
  6906. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6907. // Move to the old position if 'F' was in the parameters
  6908. if (make_move && Stopped == false) {
  6909. prepare_move();
  6910. }
  6911. }
  6912. #endif
  6913. SERIAL_ECHO_START;
  6914. SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER
  6915. SERIAL_PROTOCOLLN((int)active_extruder);
  6916. }
  6917. #endif //SNMM
  6918. }
  6919. }
  6920. } // end if(code_seen('T')) (end of T codes)
  6921. //! ----------------------------------------------------------------------------------------------
  6922. else if (code_seen('D')) // D codes (debug)
  6923. {
  6924. switch((int)code_value())
  6925. {
  6926. //! ### D-1 - Endless loop
  6927. // -------------------
  6928. case -1:
  6929. dcode__1(); break;
  6930. #ifdef DEBUG_DCODES
  6931. //! ### D0 - Reset
  6932. // --------------
  6933. case 0:
  6934. dcode_0(); break;
  6935. //! ### D1 - Clear EEPROM
  6936. // ------------------
  6937. case 1:
  6938. dcode_1(); break;
  6939. //! ### D2 - Read/Write RAM
  6940. // --------------------
  6941. case 2:
  6942. dcode_2(); break;
  6943. #endif //DEBUG_DCODES
  6944. #ifdef DEBUG_DCODE3
  6945. //! ### D3 - Read/Write EEPROM
  6946. // -----------------------
  6947. case 3:
  6948. dcode_3(); break;
  6949. #endif //DEBUG_DCODE3
  6950. #ifdef DEBUG_DCODES
  6951. //! ### D4 - Read/Write PIN
  6952. // ---------------------
  6953. case 4:
  6954. dcode_4(); break;
  6955. #endif //DEBUG_DCODES
  6956. #ifdef DEBUG_DCODE5
  6957. //! ### D5 - Read/Write FLASH
  6958. // ------------------------
  6959. case 5:
  6960. dcode_5(); break;
  6961. break;
  6962. #endif //DEBUG_DCODE5
  6963. #ifdef DEBUG_DCODES
  6964. //! ### D6 - Read/Write external FLASH
  6965. // ---------------------------------------
  6966. case 6:
  6967. dcode_6(); break;
  6968. //! ### D7 - Read/Write Bootloader
  6969. // -------------------------------
  6970. case 7:
  6971. dcode_7(); break;
  6972. //! ### D8 - Read/Write PINDA
  6973. // ---------------------------
  6974. case 8:
  6975. dcode_8(); break;
  6976. // ### D9 - Read/Write ADC
  6977. // ------------------------
  6978. case 9:
  6979. dcode_9(); break;
  6980. //! ### D10 - XYZ calibration = OK
  6981. // ------------------------------
  6982. case 10:
  6983. dcode_10(); break;
  6984. #endif //DEBUG_DCODES
  6985. #ifdef HEATBED_ANALYSIS
  6986. //! ### D80 - Bed check
  6987. // ---------------------
  6988. /*!
  6989. - `E` - dimension x
  6990. - `F` - dimention y
  6991. - `G` - points_x
  6992. - `H` - points_y
  6993. - `I` - offset_x
  6994. - `J` - offset_y
  6995. */
  6996. case 80:
  6997. {
  6998. float dimension_x = 40;
  6999. float dimension_y = 40;
  7000. int points_x = 40;
  7001. int points_y = 40;
  7002. float offset_x = 74;
  7003. float offset_y = 33;
  7004. if (code_seen('E')) dimension_x = code_value();
  7005. if (code_seen('F')) dimension_y = code_value();
  7006. if (code_seen('G')) {points_x = code_value(); }
  7007. if (code_seen('H')) {points_y = code_value(); }
  7008. if (code_seen('I')) {offset_x = code_value(); }
  7009. if (code_seen('J')) {offset_y = code_value(); }
  7010. printf_P(PSTR("DIM X: %f\n"), dimension_x);
  7011. printf_P(PSTR("DIM Y: %f\n"), dimension_y);
  7012. printf_P(PSTR("POINTS X: %d\n"), points_x);
  7013. printf_P(PSTR("POINTS Y: %d\n"), points_y);
  7014. printf_P(PSTR("OFFSET X: %f\n"), offset_x);
  7015. printf_P(PSTR("OFFSET Y: %f\n"), offset_y);
  7016. bed_check(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  7017. }break;
  7018. //! ### D81 - Bed analysis
  7019. // -----------------------------
  7020. /*!
  7021. - `E` - dimension x
  7022. - `F` - dimention y
  7023. - `G` - points_x
  7024. - `H` - points_y
  7025. - `I` - offset_x
  7026. - `J` - offset_y
  7027. */
  7028. case 81:
  7029. {
  7030. float dimension_x = 40;
  7031. float dimension_y = 40;
  7032. int points_x = 40;
  7033. int points_y = 40;
  7034. float offset_x = 74;
  7035. float offset_y = 33;
  7036. if (code_seen('E')) dimension_x = code_value();
  7037. if (code_seen('F')) dimension_y = code_value();
  7038. if (code_seen("G")) { strchr_pointer+=1; points_x = code_value(); }
  7039. if (code_seen("H")) { strchr_pointer+=1; points_y = code_value(); }
  7040. if (code_seen("I")) { strchr_pointer+=1; offset_x = code_value(); }
  7041. if (code_seen("J")) { strchr_pointer+=1; offset_y = code_value(); }
  7042. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  7043. } break;
  7044. #endif //HEATBED_ANALYSIS
  7045. #ifdef DEBUG_DCODES
  7046. //! ### D106 print measured fan speed for different pwm values
  7047. // --------------------------------------------------------------
  7048. case 106:
  7049. {
  7050. for (int i = 255; i > 0; i = i - 5) {
  7051. fanSpeed = i;
  7052. //delay_keep_alive(2000);
  7053. for (int j = 0; j < 100; j++) {
  7054. delay_keep_alive(100);
  7055. }
  7056. printf_P(_N("%d: %d\n"), i, fan_speed[1]);
  7057. }
  7058. }break;
  7059. #ifdef TMC2130
  7060. //! ### D2130 - TMC2130 Trinamic stepper controller
  7061. // ---------------------------
  7062. /*!
  7063. D2130<axis><command>[subcommand][value]
  7064. - <command>:
  7065. - '0' current off
  7066. - '1' current on
  7067. - '+' single step
  7068. - * value sereval steps
  7069. - '-' dtto oposite direction
  7070. - '?' read register
  7071. - * "mres"
  7072. - * "step"
  7073. - * "mscnt"
  7074. - * "mscuract"
  7075. - * "wave"
  7076. - '!' set register
  7077. - * "mres"
  7078. - * "step"
  7079. - * "wave"
  7080. - '@' home calibrate axis
  7081. Example:
  7082. D2130E?wave ... print extruder microstep linearity compensation curve
  7083. D2130E!wave0 ... disable extruder linearity compensation curve, (sine curve is used)
  7084. D2130E!wave220 ... (sin(x))^1.1 extruder microstep compensation curve used
  7085. */
  7086. case 2130:
  7087. dcode_2130(); break;
  7088. #endif //TMC2130
  7089. #if (defined (FILAMENT_SENSOR) && defined(PAT9125))
  7090. //! ### D9125 - FILAMENT_SENSOR
  7091. // ---------------------------------
  7092. case 9125:
  7093. dcode_9125(); break;
  7094. #endif //FILAMENT_SENSOR
  7095. #endif //DEBUG_DCODES
  7096. }
  7097. }
  7098. else
  7099. {
  7100. SERIAL_ECHO_START;
  7101. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  7102. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  7103. SERIAL_ECHOLNPGM("\"(2)");
  7104. }
  7105. KEEPALIVE_STATE(NOT_BUSY);
  7106. ClearToSend();
  7107. }
  7108. /** @defgroup GCodes G-Code List
  7109. */
  7110. // ---------------------------------------------------
  7111. void FlushSerialRequestResend()
  7112. {
  7113. //char cmdbuffer[bufindr][100]="Resend:";
  7114. MYSERIAL.flush();
  7115. printf_P(_N("%S: %ld\n%S\n"), _n("Resend"), gcode_LastN + 1, MSG_OK);
  7116. }
  7117. // Confirm the execution of a command, if sent from a serial line.
  7118. // Execution of a command from a SD card will not be confirmed.
  7119. void ClearToSend()
  7120. {
  7121. previous_millis_cmd = _millis();
  7122. if ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR))
  7123. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  7124. }
  7125. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  7126. void update_currents() {
  7127. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  7128. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  7129. float tmp_motor[3];
  7130. //SERIAL_ECHOLNPGM("Currents updated: ");
  7131. if (destination[Z_AXIS] < Z_SILENT) {
  7132. //SERIAL_ECHOLNPGM("LOW");
  7133. for (uint8_t i = 0; i < 3; i++) {
  7134. st_current_set(i, current_low[i]);
  7135. /*MYSERIAL.print(int(i));
  7136. SERIAL_ECHOPGM(": ");
  7137. MYSERIAL.println(current_low[i]);*/
  7138. }
  7139. }
  7140. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  7141. //SERIAL_ECHOLNPGM("HIGH");
  7142. for (uint8_t i = 0; i < 3; i++) {
  7143. st_current_set(i, current_high[i]);
  7144. /*MYSERIAL.print(int(i));
  7145. SERIAL_ECHOPGM(": ");
  7146. MYSERIAL.println(current_high[i]);*/
  7147. }
  7148. }
  7149. else {
  7150. for (uint8_t i = 0; i < 3; i++) {
  7151. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  7152. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  7153. st_current_set(i, tmp_motor[i]);
  7154. /*MYSERIAL.print(int(i));
  7155. SERIAL_ECHOPGM(": ");
  7156. MYSERIAL.println(tmp_motor[i]);*/
  7157. }
  7158. }
  7159. }
  7160. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  7161. void get_coordinates()
  7162. {
  7163. bool seen[4]={false,false,false,false};
  7164. for(int8_t i=0; i < NUM_AXIS; i++) {
  7165. if(code_seen(axis_codes[i]))
  7166. {
  7167. bool relative = axis_relative_modes[i] || relative_mode;
  7168. destination[i] = (float)code_value();
  7169. if (i == E_AXIS) {
  7170. float emult = extruder_multiplier[active_extruder];
  7171. if (emult != 1.) {
  7172. if (! relative) {
  7173. destination[i] -= current_position[i];
  7174. relative = true;
  7175. }
  7176. destination[i] *= emult;
  7177. }
  7178. }
  7179. if (relative)
  7180. destination[i] += current_position[i];
  7181. seen[i]=true;
  7182. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  7183. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  7184. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  7185. }
  7186. else destination[i] = current_position[i]; //Are these else lines really needed?
  7187. }
  7188. if(code_seen('F')) {
  7189. next_feedrate = code_value();
  7190. #ifdef MAX_SILENT_FEEDRATE
  7191. if (tmc2130_mode == TMC2130_MODE_SILENT)
  7192. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  7193. #endif //MAX_SILENT_FEEDRATE
  7194. if(next_feedrate > 0.0) feedrate = next_feedrate;
  7195. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  7196. {
  7197. // float e_max_speed =
  7198. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  7199. }
  7200. }
  7201. }
  7202. void get_arc_coordinates()
  7203. {
  7204. #ifdef SF_ARC_FIX
  7205. bool relative_mode_backup = relative_mode;
  7206. relative_mode = true;
  7207. #endif
  7208. get_coordinates();
  7209. #ifdef SF_ARC_FIX
  7210. relative_mode=relative_mode_backup;
  7211. #endif
  7212. if(code_seen('I')) {
  7213. offset[0] = code_value();
  7214. }
  7215. else {
  7216. offset[0] = 0.0;
  7217. }
  7218. if(code_seen('J')) {
  7219. offset[1] = code_value();
  7220. }
  7221. else {
  7222. offset[1] = 0.0;
  7223. }
  7224. }
  7225. void clamp_to_software_endstops(float target[3])
  7226. {
  7227. #ifdef DEBUG_DISABLE_SWLIMITS
  7228. return;
  7229. #endif //DEBUG_DISABLE_SWLIMITS
  7230. world2machine_clamp(target[0], target[1]);
  7231. // Clamp the Z coordinate.
  7232. if (min_software_endstops) {
  7233. float negative_z_offset = 0;
  7234. #ifdef ENABLE_AUTO_BED_LEVELING
  7235. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  7236. if (cs.add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + cs.add_homing[Z_AXIS];
  7237. #endif
  7238. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  7239. }
  7240. if (max_software_endstops) {
  7241. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  7242. }
  7243. }
  7244. #ifdef MESH_BED_LEVELING
  7245. 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) {
  7246. float dx = x - current_position[X_AXIS];
  7247. float dy = y - current_position[Y_AXIS];
  7248. float dz = z - current_position[Z_AXIS];
  7249. int n_segments = 0;
  7250. if (mbl.active) {
  7251. float len = abs(dx) + abs(dy);
  7252. if (len > 0)
  7253. // Split to 3cm segments or shorter.
  7254. n_segments = int(ceil(len / 30.f));
  7255. }
  7256. if (n_segments > 1) {
  7257. float de = e - current_position[E_AXIS];
  7258. for (int i = 1; i < n_segments; ++ i) {
  7259. float t = float(i) / float(n_segments);
  7260. if (saved_printing || (mbl.active == false)) return;
  7261. plan_buffer_line(
  7262. current_position[X_AXIS] + t * dx,
  7263. current_position[Y_AXIS] + t * dy,
  7264. current_position[Z_AXIS] + t * dz,
  7265. current_position[E_AXIS] + t * de,
  7266. feed_rate, extruder);
  7267. }
  7268. }
  7269. // The rest of the path.
  7270. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  7271. current_position[X_AXIS] = x;
  7272. current_position[Y_AXIS] = y;
  7273. current_position[Z_AXIS] = z;
  7274. current_position[E_AXIS] = e;
  7275. }
  7276. #endif // MESH_BED_LEVELING
  7277. void prepare_move()
  7278. {
  7279. clamp_to_software_endstops(destination);
  7280. previous_millis_cmd = _millis();
  7281. // Do not use feedmultiply for E or Z only moves
  7282. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  7283. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  7284. }
  7285. else {
  7286. #ifdef MESH_BED_LEVELING
  7287. 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);
  7288. #else
  7289. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  7290. #endif
  7291. }
  7292. for(int8_t i=0; i < NUM_AXIS; i++) {
  7293. current_position[i] = destination[i];
  7294. }
  7295. }
  7296. void prepare_arc_move(char isclockwise) {
  7297. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  7298. // Trace the arc
  7299. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  7300. // As far as the parser is concerned, the position is now == target. In reality the
  7301. // motion control system might still be processing the action and the real tool position
  7302. // in any intermediate location.
  7303. for(int8_t i=0; i < NUM_AXIS; i++) {
  7304. current_position[i] = destination[i];
  7305. }
  7306. previous_millis_cmd = _millis();
  7307. }
  7308. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  7309. #if defined(FAN_PIN)
  7310. #if CONTROLLERFAN_PIN == FAN_PIN
  7311. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  7312. #endif
  7313. #endif
  7314. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  7315. unsigned long lastMotorCheck = 0;
  7316. void controllerFan()
  7317. {
  7318. if ((_millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  7319. {
  7320. lastMotorCheck = _millis();
  7321. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  7322. #if EXTRUDERS > 2
  7323. || !READ(E2_ENABLE_PIN)
  7324. #endif
  7325. #if EXTRUDER > 1
  7326. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  7327. || !READ(X2_ENABLE_PIN)
  7328. #endif
  7329. || !READ(E1_ENABLE_PIN)
  7330. #endif
  7331. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  7332. {
  7333. lastMotor = _millis(); //... set time to NOW so the fan will turn on
  7334. }
  7335. if ((_millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  7336. {
  7337. digitalWrite(CONTROLLERFAN_PIN, 0);
  7338. analogWrite(CONTROLLERFAN_PIN, 0);
  7339. }
  7340. else
  7341. {
  7342. // allows digital or PWM fan output to be used (see M42 handling)
  7343. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  7344. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  7345. }
  7346. }
  7347. }
  7348. #endif
  7349. #ifdef TEMP_STAT_LEDS
  7350. static bool blue_led = false;
  7351. static bool red_led = false;
  7352. static uint32_t stat_update = 0;
  7353. void handle_status_leds(void) {
  7354. float max_temp = 0.0;
  7355. if(_millis() > stat_update) {
  7356. stat_update += 500; // Update every 0.5s
  7357. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  7358. max_temp = max(max_temp, degHotend(cur_extruder));
  7359. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  7360. }
  7361. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  7362. max_temp = max(max_temp, degTargetBed());
  7363. max_temp = max(max_temp, degBed());
  7364. #endif
  7365. if((max_temp > 55.0) && (red_led == false)) {
  7366. digitalWrite(STAT_LED_RED, 1);
  7367. digitalWrite(STAT_LED_BLUE, 0);
  7368. red_led = true;
  7369. blue_led = false;
  7370. }
  7371. if((max_temp < 54.0) && (blue_led == false)) {
  7372. digitalWrite(STAT_LED_RED, 0);
  7373. digitalWrite(STAT_LED_BLUE, 1);
  7374. red_led = false;
  7375. blue_led = true;
  7376. }
  7377. }
  7378. }
  7379. #endif
  7380. #ifdef SAFETYTIMER
  7381. /**
  7382. * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
  7383. *
  7384. * Full screen blocking notification message is shown after heater turning off.
  7385. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  7386. * damage print.
  7387. *
  7388. * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
  7389. */
  7390. static void handleSafetyTimer()
  7391. {
  7392. #if (EXTRUDERS > 1)
  7393. #error Implemented only for one extruder.
  7394. #endif //(EXTRUDERS > 1)
  7395. if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
  7396. {
  7397. safetyTimer.stop();
  7398. }
  7399. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  7400. {
  7401. safetyTimer.start();
  7402. }
  7403. else if (safetyTimer.expired(farm_mode?FARM_DEFAULT_SAFETYTIMER_TIME_ms:safetytimer_inactive_time))
  7404. {
  7405. setTargetBed(0);
  7406. setAllTargetHotends(0);
  7407. lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED
  7408. }
  7409. }
  7410. #endif //SAFETYTIMER
  7411. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  7412. {
  7413. bool bInhibitFlag;
  7414. #ifdef FILAMENT_SENSOR
  7415. if (mmu_enabled == false)
  7416. {
  7417. //-// if (mcode_in_progress != 600) //M600 not in progress
  7418. #ifdef PAT9125
  7419. bInhibitFlag=(menu_menu==lcd_menu_extruder_info); // Support::ExtruderInfo menu active
  7420. #endif // PAT9125
  7421. #ifdef IR_SENSOR
  7422. bInhibitFlag=(menu_menu==lcd_menu_show_sensors_state); // Support::SensorInfo menu active
  7423. #endif // IR_SENSOR
  7424. if ((mcode_in_progress != 600) && (eFilamentAction != FilamentAction::AutoLoad) && (!bInhibitFlag)) //M600 not in progress, preHeat @ autoLoad menu not active, Support::ExtruderInfo/SensorInfo menu not active
  7425. {
  7426. if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LcdCommands::Layer1Cal) && !wizard_active)
  7427. {
  7428. if (fsensor_check_autoload())
  7429. {
  7430. #ifdef PAT9125
  7431. fsensor_autoload_check_stop();
  7432. #endif //PAT9125
  7433. //-// if (degHotend0() > EXTRUDE_MINTEMP)
  7434. if(0)
  7435. {
  7436. Sound_MakeCustom(50,1000,false);
  7437. loading_flag = true;
  7438. enquecommand_front_P((PSTR("M701")));
  7439. }
  7440. else
  7441. {
  7442. /*
  7443. lcd_update_enable(false);
  7444. show_preheat_nozzle_warning();
  7445. lcd_update_enable(true);
  7446. */
  7447. eFilamentAction=FilamentAction::AutoLoad;
  7448. bFilamentFirstRun=false;
  7449. if(target_temperature[0]>=EXTRUDE_MINTEMP)
  7450. {
  7451. bFilamentPreheatState=true;
  7452. // mFilamentItem(target_temperature[0],target_temperature_bed);
  7453. menu_submenu(mFilamentItemForce);
  7454. }
  7455. else
  7456. {
  7457. menu_submenu(mFilamentMenu);
  7458. lcd_timeoutToStatus.start();
  7459. }
  7460. }
  7461. }
  7462. }
  7463. else
  7464. {
  7465. #ifdef PAT9125
  7466. fsensor_autoload_check_stop();
  7467. #endif //PAT9125
  7468. fsensor_update();
  7469. }
  7470. }
  7471. }
  7472. #endif //FILAMENT_SENSOR
  7473. #ifdef SAFETYTIMER
  7474. handleSafetyTimer();
  7475. #endif //SAFETYTIMER
  7476. #if defined(KILL_PIN) && KILL_PIN > -1
  7477. static int killCount = 0; // make the inactivity button a bit less responsive
  7478. const int KILL_DELAY = 10000;
  7479. #endif
  7480. if(buflen < (BUFSIZE-1)){
  7481. get_command();
  7482. }
  7483. if( (_millis() - previous_millis_cmd) > max_inactive_time )
  7484. if(max_inactive_time)
  7485. kill(_n(""), 4);
  7486. if(stepper_inactive_time) {
  7487. if( (_millis() - previous_millis_cmd) > stepper_inactive_time )
  7488. {
  7489. if(blocks_queued() == false && ignore_stepper_queue == false) {
  7490. disable_x();
  7491. disable_y();
  7492. disable_z();
  7493. disable_e0();
  7494. disable_e1();
  7495. disable_e2();
  7496. }
  7497. }
  7498. }
  7499. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  7500. if (chdkActive && (_millis() - chdkHigh > CHDK_DELAY))
  7501. {
  7502. chdkActive = false;
  7503. WRITE(CHDK, LOW);
  7504. }
  7505. #endif
  7506. #if defined(KILL_PIN) && KILL_PIN > -1
  7507. // Check if the kill button was pressed and wait just in case it was an accidental
  7508. // key kill key press
  7509. // -------------------------------------------------------------------------------
  7510. if( 0 == READ(KILL_PIN) )
  7511. {
  7512. killCount++;
  7513. }
  7514. else if (killCount > 0)
  7515. {
  7516. killCount--;
  7517. }
  7518. // Exceeded threshold and we can confirm that it was not accidental
  7519. // KILL the machine
  7520. // ----------------------------------------------------------------
  7521. if ( killCount >= KILL_DELAY)
  7522. {
  7523. kill("", 5);
  7524. }
  7525. #endif
  7526. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  7527. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  7528. #endif
  7529. #ifdef EXTRUDER_RUNOUT_PREVENT
  7530. if( (_millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  7531. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  7532. {
  7533. bool oldstatus=READ(E0_ENABLE_PIN);
  7534. enable_e0();
  7535. float oldepos=current_position[E_AXIS];
  7536. float oldedes=destination[E_AXIS];
  7537. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  7538. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS],
  7539. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS], active_extruder);
  7540. current_position[E_AXIS]=oldepos;
  7541. destination[E_AXIS]=oldedes;
  7542. plan_set_e_position(oldepos);
  7543. previous_millis_cmd=_millis();
  7544. st_synchronize();
  7545. WRITE(E0_ENABLE_PIN,oldstatus);
  7546. }
  7547. #endif
  7548. #ifdef TEMP_STAT_LEDS
  7549. handle_status_leds();
  7550. #endif
  7551. check_axes_activity();
  7552. mmu_loop();
  7553. }
  7554. void kill(const char *full_screen_message, unsigned char id)
  7555. {
  7556. printf_P(_N("KILL: %d\n"), id);
  7557. //return;
  7558. cli(); // Stop interrupts
  7559. disable_heater();
  7560. disable_x();
  7561. // SERIAL_ECHOLNPGM("kill - disable Y");
  7562. disable_y();
  7563. disable_z();
  7564. disable_e0();
  7565. disable_e1();
  7566. disable_e2();
  7567. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  7568. pinMode(PS_ON_PIN,INPUT);
  7569. #endif
  7570. SERIAL_ERROR_START;
  7571. SERIAL_ERRORLNRPGM(_n("Printer halted. kill() called!"));////MSG_ERR_KILLED
  7572. if (full_screen_message != NULL) {
  7573. SERIAL_ERRORLNRPGM(full_screen_message);
  7574. lcd_display_message_fullscreen_P(full_screen_message);
  7575. } else {
  7576. LCD_ALERTMESSAGERPGM(_n("KILLED. "));////MSG_KILLED
  7577. }
  7578. // FMC small patch to update the LCD before ending
  7579. sei(); // enable interrupts
  7580. for ( int i=5; i--; lcd_update(0))
  7581. {
  7582. _delay(200);
  7583. }
  7584. cli(); // disable interrupts
  7585. suicide();
  7586. while(1)
  7587. {
  7588. #ifdef WATCHDOG
  7589. wdt_reset();
  7590. #endif //WATCHDOG
  7591. /* Intentionally left empty */
  7592. } // Wait for reset
  7593. }
  7594. void Stop()
  7595. {
  7596. disable_heater();
  7597. if(Stopped == false) {
  7598. Stopped = true;
  7599. lcd_print_stop();
  7600. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  7601. SERIAL_ERROR_START;
  7602. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  7603. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  7604. }
  7605. }
  7606. bool IsStopped() { return Stopped; };
  7607. #ifdef FAST_PWM_FAN
  7608. void setPwmFrequency(uint8_t pin, int val)
  7609. {
  7610. val &= 0x07;
  7611. switch(digitalPinToTimer(pin))
  7612. {
  7613. #if defined(TCCR0A)
  7614. case TIMER0A:
  7615. case TIMER0B:
  7616. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  7617. // TCCR0B |= val;
  7618. break;
  7619. #endif
  7620. #if defined(TCCR1A)
  7621. case TIMER1A:
  7622. case TIMER1B:
  7623. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7624. // TCCR1B |= val;
  7625. break;
  7626. #endif
  7627. #if defined(TCCR2)
  7628. case TIMER2:
  7629. case TIMER2:
  7630. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7631. TCCR2 |= val;
  7632. break;
  7633. #endif
  7634. #if defined(TCCR2A)
  7635. case TIMER2A:
  7636. case TIMER2B:
  7637. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  7638. TCCR2B |= val;
  7639. break;
  7640. #endif
  7641. #if defined(TCCR3A)
  7642. case TIMER3A:
  7643. case TIMER3B:
  7644. case TIMER3C:
  7645. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  7646. TCCR3B |= val;
  7647. break;
  7648. #endif
  7649. #if defined(TCCR4A)
  7650. case TIMER4A:
  7651. case TIMER4B:
  7652. case TIMER4C:
  7653. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  7654. TCCR4B |= val;
  7655. break;
  7656. #endif
  7657. #if defined(TCCR5A)
  7658. case TIMER5A:
  7659. case TIMER5B:
  7660. case TIMER5C:
  7661. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  7662. TCCR5B |= val;
  7663. break;
  7664. #endif
  7665. }
  7666. }
  7667. #endif //FAST_PWM_FAN
  7668. //! @brief Get and validate extruder number
  7669. //!
  7670. //! If it is not specified, active_extruder is returned in parameter extruder.
  7671. //! @param [in] code M code number
  7672. //! @param [out] extruder
  7673. //! @return error
  7674. //! @retval true Invalid extruder specified in T code
  7675. //! @retval false Valid extruder specified in T code, or not specifiead
  7676. bool setTargetedHotend(int code, uint8_t &extruder)
  7677. {
  7678. extruder = active_extruder;
  7679. if(code_seen('T')) {
  7680. extruder = code_value();
  7681. if(extruder >= EXTRUDERS) {
  7682. SERIAL_ECHO_START;
  7683. switch(code){
  7684. case 104:
  7685. SERIAL_ECHORPGM(_n("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER
  7686. break;
  7687. case 105:
  7688. SERIAL_ECHO(_n("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER
  7689. break;
  7690. case 109:
  7691. SERIAL_ECHO(_n("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER
  7692. break;
  7693. case 218:
  7694. SERIAL_ECHO(_n("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER
  7695. break;
  7696. case 221:
  7697. SERIAL_ECHO(_n("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER
  7698. break;
  7699. }
  7700. SERIAL_PROTOCOLLN((int)extruder);
  7701. return true;
  7702. }
  7703. }
  7704. return false;
  7705. }
  7706. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  7707. {
  7708. 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)
  7709. {
  7710. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  7711. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  7712. }
  7713. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  7714. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  7715. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  7716. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  7717. total_filament_used = 0;
  7718. }
  7719. float calculate_extruder_multiplier(float diameter) {
  7720. float out = 1.f;
  7721. if (cs.volumetric_enabled && diameter > 0.f) {
  7722. float area = M_PI * diameter * diameter * 0.25;
  7723. out = 1.f / area;
  7724. }
  7725. if (extrudemultiply != 100)
  7726. out *= float(extrudemultiply) * 0.01f;
  7727. return out;
  7728. }
  7729. void calculate_extruder_multipliers() {
  7730. extruder_multiplier[0] = calculate_extruder_multiplier(cs.filament_size[0]);
  7731. #if EXTRUDERS > 1
  7732. extruder_multiplier[1] = calculate_extruder_multiplier(cs.filament_size[1]);
  7733. #if EXTRUDERS > 2
  7734. extruder_multiplier[2] = calculate_extruder_multiplier(cs.filament_size[2]);
  7735. #endif
  7736. #endif
  7737. }
  7738. void delay_keep_alive(unsigned int ms)
  7739. {
  7740. for (;;) {
  7741. manage_heater();
  7742. // Manage inactivity, but don't disable steppers on timeout.
  7743. manage_inactivity(true);
  7744. lcd_update(0);
  7745. if (ms == 0)
  7746. break;
  7747. else if (ms >= 50) {
  7748. _delay(50);
  7749. ms -= 50;
  7750. } else {
  7751. _delay(ms);
  7752. ms = 0;
  7753. }
  7754. }
  7755. }
  7756. static void wait_for_heater(long codenum, uint8_t extruder) {
  7757. #ifdef TEMP_RESIDENCY_TIME
  7758. long residencyStart;
  7759. residencyStart = -1;
  7760. /* continue to loop until we have reached the target temp
  7761. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  7762. while ((!cancel_heatup) && ((residencyStart == -1) ||
  7763. (residencyStart >= 0 && (((unsigned int)(_millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  7764. #else
  7765. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  7766. #endif //TEMP_RESIDENCY_TIME
  7767. if ((_millis() - codenum) > 1000UL)
  7768. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  7769. if (!farm_mode) {
  7770. SERIAL_PROTOCOLPGM("T:");
  7771. SERIAL_PROTOCOL_F(degHotend(extruder), 1);
  7772. SERIAL_PROTOCOLPGM(" E:");
  7773. SERIAL_PROTOCOL((int)extruder);
  7774. #ifdef TEMP_RESIDENCY_TIME
  7775. SERIAL_PROTOCOLPGM(" W:");
  7776. if (residencyStart > -1)
  7777. {
  7778. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (_millis() - residencyStart)) / 1000UL;
  7779. SERIAL_PROTOCOLLN(codenum);
  7780. }
  7781. else
  7782. {
  7783. SERIAL_PROTOCOLLN("?");
  7784. }
  7785. }
  7786. #else
  7787. SERIAL_PROTOCOLLN("");
  7788. #endif
  7789. codenum = _millis();
  7790. }
  7791. manage_heater();
  7792. manage_inactivity(true); //do not disable steppers
  7793. lcd_update(0);
  7794. #ifdef TEMP_RESIDENCY_TIME
  7795. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  7796. or when current temp falls outside the hysteresis after target temp was reached */
  7797. if ((residencyStart == -1 && target_direction && (degHotend(extruder) >= (degTargetHotend(extruder) - TEMP_WINDOW))) ||
  7798. (residencyStart == -1 && !target_direction && (degHotend(extruder) <= (degTargetHotend(extruder) + TEMP_WINDOW))) ||
  7799. (residencyStart > -1 && labs(degHotend(extruder) - degTargetHotend(extruder)) > TEMP_HYSTERESIS))
  7800. {
  7801. residencyStart = _millis();
  7802. }
  7803. #endif //TEMP_RESIDENCY_TIME
  7804. }
  7805. }
  7806. void check_babystep()
  7807. {
  7808. int babystep_z = eeprom_read_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
  7809. s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)));
  7810. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  7811. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  7812. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  7813. eeprom_write_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
  7814. s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),
  7815. babystep_z);
  7816. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  7817. lcd_update_enable(true);
  7818. }
  7819. }
  7820. #ifdef HEATBED_ANALYSIS
  7821. void d_setup()
  7822. {
  7823. pinMode(D_DATACLOCK, INPUT_PULLUP);
  7824. pinMode(D_DATA, INPUT_PULLUP);
  7825. pinMode(D_REQUIRE, OUTPUT);
  7826. digitalWrite(D_REQUIRE, HIGH);
  7827. }
  7828. float d_ReadData()
  7829. {
  7830. int digit[13];
  7831. String mergeOutput;
  7832. float output;
  7833. digitalWrite(D_REQUIRE, HIGH);
  7834. for (int i = 0; i<13; i++)
  7835. {
  7836. for (int j = 0; j < 4; j++)
  7837. {
  7838. while (digitalRead(D_DATACLOCK) == LOW) {}
  7839. while (digitalRead(D_DATACLOCK) == HIGH) {}
  7840. bitWrite(digit[i], j, digitalRead(D_DATA));
  7841. }
  7842. }
  7843. digitalWrite(D_REQUIRE, LOW);
  7844. mergeOutput = "";
  7845. output = 0;
  7846. for (int r = 5; r <= 10; r++) //Merge digits
  7847. {
  7848. mergeOutput += digit[r];
  7849. }
  7850. output = mergeOutput.toFloat();
  7851. if (digit[4] == 8) //Handle sign
  7852. {
  7853. output *= -1;
  7854. }
  7855. for (int i = digit[11]; i > 0; i--) //Handle floating point
  7856. {
  7857. output /= 10;
  7858. }
  7859. return output;
  7860. }
  7861. void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  7862. int t1 = 0;
  7863. int t_delay = 0;
  7864. int digit[13];
  7865. int m;
  7866. char str[3];
  7867. //String mergeOutput;
  7868. char mergeOutput[15];
  7869. float output;
  7870. int mesh_point = 0; //index number of calibration point
  7871. 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
  7872. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  7873. float mesh_home_z_search = 4;
  7874. float measure_z_height = 0.2f;
  7875. float row[x_points_num];
  7876. int ix = 0;
  7877. int iy = 0;
  7878. const char* filename_wldsd = "mesh.txt";
  7879. char data_wldsd[x_points_num * 7 + 1]; //6 chars(" -A.BCD")for each measurement + null
  7880. char numb_wldsd[8]; // (" -A.BCD" + null)
  7881. #ifdef MICROMETER_LOGGING
  7882. d_setup();
  7883. #endif //MICROMETER_LOGGING
  7884. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  7885. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  7886. unsigned int custom_message_type_old = custom_message_type;
  7887. unsigned int custom_message_state_old = custom_message_state;
  7888. custom_message_type = CustomMsg::MeshBedLeveling;
  7889. custom_message_state = (x_points_num * y_points_num) + 10;
  7890. lcd_update(1);
  7891. //mbl.reset();
  7892. babystep_undo();
  7893. card.openFile(filename_wldsd, false);
  7894. /*destination[Z_AXIS] = mesh_home_z_search;
  7895. //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
  7896. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  7897. for(int8_t i=0; i < NUM_AXIS; i++) {
  7898. current_position[i] = destination[i];
  7899. }
  7900. st_synchronize();
  7901. */
  7902. destination[Z_AXIS] = measure_z_height;
  7903. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  7904. for(int8_t i=0; i < NUM_AXIS; i++) {
  7905. current_position[i] = destination[i];
  7906. }
  7907. st_synchronize();
  7908. /*int l_feedmultiply = */setup_for_endstop_move(false);
  7909. SERIAL_PROTOCOLPGM("Num X,Y: ");
  7910. SERIAL_PROTOCOL(x_points_num);
  7911. SERIAL_PROTOCOLPGM(",");
  7912. SERIAL_PROTOCOL(y_points_num);
  7913. SERIAL_PROTOCOLPGM("\nZ search height: ");
  7914. SERIAL_PROTOCOL(mesh_home_z_search);
  7915. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  7916. SERIAL_PROTOCOL(x_dimension);
  7917. SERIAL_PROTOCOLPGM(",");
  7918. SERIAL_PROTOCOL(y_dimension);
  7919. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  7920. while (mesh_point != x_points_num * y_points_num) {
  7921. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  7922. iy = mesh_point / x_points_num;
  7923. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  7924. float z0 = 0.f;
  7925. /*destination[Z_AXIS] = mesh_home_z_search;
  7926. //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
  7927. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  7928. for(int8_t i=0; i < NUM_AXIS; i++) {
  7929. current_position[i] = destination[i];
  7930. }
  7931. st_synchronize();*/
  7932. //current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  7933. //current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  7934. destination[X_AXIS] = ix * (x_dimension / (x_points_num - 1)) + shift_x;
  7935. destination[Y_AXIS] = iy * (y_dimension / (y_points_num - 1)) + shift_y;
  7936. mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], XY_AXIS_FEEDRATE/6, active_extruder);
  7937. for(int8_t i=0; i < NUM_AXIS; i++) {
  7938. current_position[i] = destination[i];
  7939. }
  7940. st_synchronize();
  7941. // printf_P(PSTR("X = %f; Y= %f \n"), current_position[X_AXIS], current_position[Y_AXIS]);
  7942. delay_keep_alive(1000);
  7943. #ifdef MICROMETER_LOGGING
  7944. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7945. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  7946. //strcat(data_wldsd, numb_wldsd);
  7947. //MYSERIAL.println(data_wldsd);
  7948. //delay(1000);
  7949. //delay(3000);
  7950. //t1 = millis();
  7951. //while (digitalRead(D_DATACLOCK) == LOW) {}
  7952. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  7953. memset(digit, 0, sizeof(digit));
  7954. //cli();
  7955. digitalWrite(D_REQUIRE, LOW);
  7956. for (int i = 0; i<13; i++)
  7957. {
  7958. //t1 = millis();
  7959. for (int j = 0; j < 4; j++)
  7960. {
  7961. while (digitalRead(D_DATACLOCK) == LOW) {}
  7962. while (digitalRead(D_DATACLOCK) == HIGH) {}
  7963. //printf_P(PSTR("Done %d\n"), j);
  7964. bitWrite(digit[i], j, digitalRead(D_DATA));
  7965. }
  7966. //t_delay = (millis() - t1);
  7967. //SERIAL_PROTOCOLPGM(" ");
  7968. //SERIAL_PROTOCOL_F(t_delay, 5);
  7969. //SERIAL_PROTOCOLPGM(" ");
  7970. }
  7971. //sei();
  7972. digitalWrite(D_REQUIRE, HIGH);
  7973. mergeOutput[0] = '\0';
  7974. output = 0;
  7975. for (int r = 5; r <= 10; r++) //Merge digits
  7976. {
  7977. sprintf(str, "%d", digit[r]);
  7978. strcat(mergeOutput, str);
  7979. }
  7980. output = atof(mergeOutput);
  7981. if (digit[4] == 8) //Handle sign
  7982. {
  7983. output *= -1;
  7984. }
  7985. for (int i = digit[11]; i > 0; i--) //Handle floating point
  7986. {
  7987. output *= 0.1;
  7988. }
  7989. //output = d_ReadData();
  7990. //row[ix] = current_position[Z_AXIS];
  7991. //row[ix] = d_ReadData();
  7992. row[ix] = output;
  7993. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  7994. memset(data_wldsd, 0, sizeof(data_wldsd));
  7995. for (int i = 0; i < x_points_num; i++) {
  7996. SERIAL_PROTOCOLPGM(" ");
  7997. SERIAL_PROTOCOL_F(row[i], 5);
  7998. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7999. dtostrf(row[i], 7, 3, numb_wldsd);
  8000. strcat(data_wldsd, numb_wldsd);
  8001. }
  8002. card.write_command(data_wldsd);
  8003. SERIAL_PROTOCOLPGM("\n");
  8004. }
  8005. custom_message_state--;
  8006. mesh_point++;
  8007. lcd_update(1);
  8008. }
  8009. #endif //MICROMETER_LOGGING
  8010. card.closefile();
  8011. //clean_up_after_endstop_move(l_feedmultiply);
  8012. }
  8013. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  8014. int t1 = 0;
  8015. int t_delay = 0;
  8016. int digit[13];
  8017. int m;
  8018. char str[3];
  8019. //String mergeOutput;
  8020. char mergeOutput[15];
  8021. float output;
  8022. int mesh_point = 0; //index number of calibration point
  8023. 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
  8024. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  8025. float mesh_home_z_search = 4;
  8026. float row[x_points_num];
  8027. int ix = 0;
  8028. int iy = 0;
  8029. const char* filename_wldsd = "wldsd.txt";
  8030. char data_wldsd[70];
  8031. char numb_wldsd[10];
  8032. d_setup();
  8033. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  8034. // We don't know where we are! HOME!
  8035. // Push the commands to the front of the message queue in the reverse order!
  8036. // There shall be always enough space reserved for these commands.
  8037. repeatcommand_front(); // repeat G80 with all its parameters
  8038. enquecommand_front_P((PSTR("G28 W0")));
  8039. enquecommand_front_P((PSTR("G1 Z5")));
  8040. return;
  8041. }
  8042. unsigned int custom_message_type_old = custom_message_type;
  8043. unsigned int custom_message_state_old = custom_message_state;
  8044. custom_message_type = CustomMsg::MeshBedLeveling;
  8045. custom_message_state = (x_points_num * y_points_num) + 10;
  8046. lcd_update(1);
  8047. mbl.reset();
  8048. babystep_undo();
  8049. card.openFile(filename_wldsd, false);
  8050. current_position[Z_AXIS] = mesh_home_z_search;
  8051. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
  8052. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  8053. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  8054. int l_feedmultiply = setup_for_endstop_move(false);
  8055. SERIAL_PROTOCOLPGM("Num X,Y: ");
  8056. SERIAL_PROTOCOL(x_points_num);
  8057. SERIAL_PROTOCOLPGM(",");
  8058. SERIAL_PROTOCOL(y_points_num);
  8059. SERIAL_PROTOCOLPGM("\nZ search height: ");
  8060. SERIAL_PROTOCOL(mesh_home_z_search);
  8061. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  8062. SERIAL_PROTOCOL(x_dimension);
  8063. SERIAL_PROTOCOLPGM(",");
  8064. SERIAL_PROTOCOL(y_dimension);
  8065. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  8066. while (mesh_point != x_points_num * y_points_num) {
  8067. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  8068. iy = mesh_point / x_points_num;
  8069. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  8070. float z0 = 0.f;
  8071. current_position[Z_AXIS] = mesh_home_z_search;
  8072. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
  8073. st_synchronize();
  8074. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  8075. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  8076. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
  8077. st_synchronize();
  8078. 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
  8079. break;
  8080. card.closefile();
  8081. }
  8082. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  8083. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  8084. //strcat(data_wldsd, numb_wldsd);
  8085. //MYSERIAL.println(data_wldsd);
  8086. //_delay(1000);
  8087. //_delay(3000);
  8088. //t1 = _millis();
  8089. //while (digitalRead(D_DATACLOCK) == LOW) {}
  8090. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  8091. memset(digit, 0, sizeof(digit));
  8092. //cli();
  8093. digitalWrite(D_REQUIRE, LOW);
  8094. for (int i = 0; i<13; i++)
  8095. {
  8096. //t1 = _millis();
  8097. for (int j = 0; j < 4; j++)
  8098. {
  8099. while (digitalRead(D_DATACLOCK) == LOW) {}
  8100. while (digitalRead(D_DATACLOCK) == HIGH) {}
  8101. bitWrite(digit[i], j, digitalRead(D_DATA));
  8102. }
  8103. //t_delay = (_millis() - t1);
  8104. //SERIAL_PROTOCOLPGM(" ");
  8105. //SERIAL_PROTOCOL_F(t_delay, 5);
  8106. //SERIAL_PROTOCOLPGM(" ");
  8107. }
  8108. //sei();
  8109. digitalWrite(D_REQUIRE, HIGH);
  8110. mergeOutput[0] = '\0';
  8111. output = 0;
  8112. for (int r = 5; r <= 10; r++) //Merge digits
  8113. {
  8114. sprintf(str, "%d", digit[r]);
  8115. strcat(mergeOutput, str);
  8116. }
  8117. output = atof(mergeOutput);
  8118. if (digit[4] == 8) //Handle sign
  8119. {
  8120. output *= -1;
  8121. }
  8122. for (int i = digit[11]; i > 0; i--) //Handle floating point
  8123. {
  8124. output *= 0.1;
  8125. }
  8126. //output = d_ReadData();
  8127. //row[ix] = current_position[Z_AXIS];
  8128. memset(data_wldsd, 0, sizeof(data_wldsd));
  8129. for (int i = 0; i <3; i++) {
  8130. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  8131. dtostrf(current_position[i], 8, 5, numb_wldsd);
  8132. strcat(data_wldsd, numb_wldsd);
  8133. strcat(data_wldsd, ";");
  8134. }
  8135. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  8136. dtostrf(output, 8, 5, numb_wldsd);
  8137. strcat(data_wldsd, numb_wldsd);
  8138. //strcat(data_wldsd, ";");
  8139. card.write_command(data_wldsd);
  8140. //row[ix] = d_ReadData();
  8141. row[ix] = output; // current_position[Z_AXIS];
  8142. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  8143. for (int i = 0; i < x_points_num; i++) {
  8144. SERIAL_PROTOCOLPGM(" ");
  8145. SERIAL_PROTOCOL_F(row[i], 5);
  8146. }
  8147. SERIAL_PROTOCOLPGM("\n");
  8148. }
  8149. custom_message_state--;
  8150. mesh_point++;
  8151. lcd_update(1);
  8152. }
  8153. card.closefile();
  8154. clean_up_after_endstop_move(l_feedmultiply);
  8155. }
  8156. #endif //HEATBED_ANALYSIS
  8157. void temp_compensation_start() {
  8158. custom_message_type = CustomMsg::TempCompPreheat;
  8159. custom_message_state = PINDA_HEAT_T + 1;
  8160. lcd_update(2);
  8161. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  8162. current_position[E_AXIS] -= default_retraction;
  8163. }
  8164. plan_buffer_line_curposXYZE(400, active_extruder);
  8165. current_position[X_AXIS] = PINDA_PREHEAT_X;
  8166. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  8167. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  8168. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  8169. st_synchronize();
  8170. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  8171. for (int i = 0; i < PINDA_HEAT_T; i++) {
  8172. delay_keep_alive(1000);
  8173. custom_message_state = PINDA_HEAT_T - i;
  8174. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  8175. else lcd_update(1);
  8176. }
  8177. custom_message_type = CustomMsg::Status;
  8178. custom_message_state = 0;
  8179. }
  8180. void temp_compensation_apply() {
  8181. int i_add;
  8182. int z_shift = 0;
  8183. float z_shift_mm;
  8184. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  8185. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  8186. i_add = (target_temperature_bed - 60) / 10;
  8187. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  8188. z_shift_mm = z_shift / cs.axis_steps_per_unit[Z_AXIS];
  8189. }else {
  8190. //interpolation
  8191. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / cs.axis_steps_per_unit[Z_AXIS];
  8192. }
  8193. printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
  8194. 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);
  8195. st_synchronize();
  8196. plan_set_z_position(current_position[Z_AXIS]);
  8197. }
  8198. else {
  8199. //we have no temp compensation data
  8200. }
  8201. }
  8202. float temp_comp_interpolation(float inp_temperature) {
  8203. //cubic spline interpolation
  8204. int n, i, j;
  8205. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  8206. int shift[10];
  8207. int temp_C[10];
  8208. n = 6; //number of measured points
  8209. shift[0] = 0;
  8210. for (i = 0; i < n; i++) {
  8211. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  8212. temp_C[i] = 50 + i * 10; //temperature in C
  8213. #ifdef PINDA_THERMISTOR
  8214. temp_C[i] = 35 + i * 5; //temperature in C
  8215. #else
  8216. temp_C[i] = 50 + i * 10; //temperature in C
  8217. #endif
  8218. x[i] = (float)temp_C[i];
  8219. f[i] = (float)shift[i];
  8220. }
  8221. if (inp_temperature < x[0]) return 0;
  8222. for (i = n - 1; i>0; i--) {
  8223. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  8224. h[i - 1] = x[i] - x[i - 1];
  8225. }
  8226. //*********** formation of h, s , f matrix **************
  8227. for (i = 1; i<n - 1; i++) {
  8228. m[i][i] = 2 * (h[i - 1] + h[i]);
  8229. if (i != 1) {
  8230. m[i][i - 1] = h[i - 1];
  8231. m[i - 1][i] = h[i - 1];
  8232. }
  8233. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  8234. }
  8235. //*********** forward elimination **************
  8236. for (i = 1; i<n - 2; i++) {
  8237. temp = (m[i + 1][i] / m[i][i]);
  8238. for (j = 1; j <= n - 1; j++)
  8239. m[i + 1][j] -= temp*m[i][j];
  8240. }
  8241. //*********** backward substitution *********
  8242. for (i = n - 2; i>0; i--) {
  8243. sum = 0;
  8244. for (j = i; j <= n - 2; j++)
  8245. sum += m[i][j] * s[j];
  8246. s[i] = (m[i][n - 1] - sum) / m[i][i];
  8247. }
  8248. for (i = 0; i<n - 1; i++)
  8249. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  8250. a = (s[i + 1] - s[i]) / (6 * h[i]);
  8251. b = s[i] / 2;
  8252. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  8253. d = f[i];
  8254. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  8255. }
  8256. return sum;
  8257. }
  8258. #ifdef PINDA_THERMISTOR
  8259. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  8260. {
  8261. if (!temp_cal_active) return 0;
  8262. if (!calibration_status_pinda()) return 0;
  8263. return temp_comp_interpolation(temperature_pinda) / cs.axis_steps_per_unit[Z_AXIS];
  8264. }
  8265. #endif //PINDA_THERMISTOR
  8266. void long_pause() //long pause print
  8267. {
  8268. st_synchronize();
  8269. start_pause_print = _millis();
  8270. //retract
  8271. current_position[E_AXIS] -= default_retraction;
  8272. plan_buffer_line_curposXYZE(400, active_extruder);
  8273. //lift z
  8274. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  8275. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  8276. plan_buffer_line_curposXYZE(15, active_extruder);
  8277. //Move XY to side
  8278. current_position[X_AXIS] = X_PAUSE_POS;
  8279. current_position[Y_AXIS] = Y_PAUSE_POS;
  8280. plan_buffer_line_curposXYZE(50, active_extruder);
  8281. // Turn off the print fan
  8282. fanSpeed = 0;
  8283. st_synchronize();
  8284. }
  8285. void serialecho_temperatures() {
  8286. float tt = degHotend(active_extruder);
  8287. SERIAL_PROTOCOLPGM("T:");
  8288. SERIAL_PROTOCOL(tt);
  8289. SERIAL_PROTOCOLPGM(" E:");
  8290. SERIAL_PROTOCOL((int)active_extruder);
  8291. SERIAL_PROTOCOLPGM(" B:");
  8292. SERIAL_PROTOCOL_F(degBed(), 1);
  8293. SERIAL_PROTOCOLLN("");
  8294. }
  8295. #ifdef UVLO_SUPPORT
  8296. void uvlo_()
  8297. {
  8298. unsigned long time_start = _millis();
  8299. bool sd_print = card.sdprinting;
  8300. // Conserve power as soon as possible.
  8301. disable_x();
  8302. disable_y();
  8303. #ifdef TMC2130
  8304. tmc2130_set_current_h(Z_AXIS, 20);
  8305. tmc2130_set_current_r(Z_AXIS, 20);
  8306. tmc2130_set_current_h(E_AXIS, 20);
  8307. tmc2130_set_current_r(E_AXIS, 20);
  8308. #endif //TMC2130
  8309. // Indicate that the interrupt has been triggered.
  8310. // SERIAL_ECHOLNPGM("UVLO");
  8311. // Read out the current Z motor microstep counter. This will be later used
  8312. // for reaching the zero full step before powering off.
  8313. uint16_t z_microsteps = 0;
  8314. #ifdef TMC2130
  8315. z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  8316. #endif //TMC2130
  8317. // Calculate the file position, from which to resume this print.
  8318. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  8319. {
  8320. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  8321. sd_position -= sdlen_planner;
  8322. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  8323. sd_position -= sdlen_cmdqueue;
  8324. if (sd_position < 0) sd_position = 0;
  8325. }
  8326. // Backup the feedrate in mm/min.
  8327. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  8328. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  8329. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  8330. // are in action.
  8331. planner_abort_hard();
  8332. // Store the current extruder position.
  8333. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  8334. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  8335. // Clean the input command queue.
  8336. cmdqueue_reset();
  8337. card.sdprinting = false;
  8338. // card.closefile();
  8339. // Enable stepper driver interrupt to move Z axis.
  8340. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  8341. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  8342. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  8343. sei();
  8344. plan_buffer_line(
  8345. current_position[X_AXIS],
  8346. current_position[Y_AXIS],
  8347. current_position[Z_AXIS],
  8348. current_position[E_AXIS] - default_retraction,
  8349. 95, active_extruder);
  8350. st_synchronize();
  8351. disable_e0();
  8352. plan_buffer_line(
  8353. current_position[X_AXIS],
  8354. current_position[Y_AXIS],
  8355. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
  8356. current_position[E_AXIS] - default_retraction,
  8357. 40, active_extruder);
  8358. st_synchronize();
  8359. disable_e0();
  8360. plan_buffer_line(
  8361. current_position[X_AXIS],
  8362. current_position[Y_AXIS],
  8363. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
  8364. current_position[E_AXIS] - default_retraction,
  8365. 40, active_extruder);
  8366. st_synchronize();
  8367. disable_e0();
  8368. // Move Z up to the next 0th full step.
  8369. // Write the file position.
  8370. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  8371. // Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
  8372. for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
  8373. uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  8374. uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
  8375. // Scale the z value to 1u resolution.
  8376. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
  8377. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  8378. }
  8379. // Read out the current Z motor microstep counter. This will be later used
  8380. // for reaching the zero full step before powering off.
  8381. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  8382. // Store the current position.
  8383. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  8384. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  8385. eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z , current_position[Z_AXIS]);
  8386. // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
  8387. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  8388. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  8389. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  8390. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  8391. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
  8392. #if EXTRUDERS > 1
  8393. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
  8394. #if EXTRUDERS > 2
  8395. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
  8396. #endif
  8397. #endif
  8398. eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
  8399. // Finaly store the "power outage" flag.
  8400. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  8401. st_synchronize();
  8402. printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
  8403. // Increment power failure counter
  8404. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  8405. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  8406. printf_P(_N("UVLO - end %d\n"), _millis() - time_start);
  8407. #if 0
  8408. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  8409. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  8410. plan_buffer_line_curposXYZE(500, active_extruder);
  8411. st_synchronize();
  8412. #endif
  8413. wdt_enable(WDTO_500MS);
  8414. WRITE(BEEPER,HIGH);
  8415. while(1)
  8416. ;
  8417. }
  8418. void uvlo_tiny()
  8419. {
  8420. uint16_t z_microsteps=0;
  8421. // Conserve power as soon as possible.
  8422. disable_x();
  8423. disable_y();
  8424. disable_e0();
  8425. #ifdef TMC2130
  8426. tmc2130_set_current_h(Z_AXIS, 20);
  8427. tmc2130_set_current_r(Z_AXIS, 20);
  8428. #endif //TMC2130
  8429. // Read out the current Z motor microstep counter
  8430. #ifdef TMC2130
  8431. z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
  8432. #endif //TMC2130
  8433. planner_abort_hard();
  8434. //save current position only in case, where the printer is moving on Z axis, which is only when EEPROM_UVLO is 1
  8435. //EEPROM_UVLO is 1 after normal uvlo or after recover_print(), when the extruder is moving on Z axis after rehome
  8436. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)!=2){
  8437. eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  8438. eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS),z_microsteps);
  8439. }
  8440. //after multiple power panics current Z axis is unknow
  8441. //in this case we set EEPROM_UVLO_TINY_CURRENT_POSITION_Z to last know position which is EEPROM_UVLO_CURRENT_POSITION_Z
  8442. if(eeprom_read_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z) < 0.001f){
  8443. eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), eeprom_read_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z));
  8444. eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS), eeprom_read_word((uint16_t*)EEPROM_UVLO_Z_MICROSTEPS));
  8445. }
  8446. // Finaly store the "power outage" flag.
  8447. eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
  8448. // Increment power failure counter
  8449. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  8450. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  8451. wdt_enable(WDTO_500MS);
  8452. WRITE(BEEPER,HIGH);
  8453. while(1)
  8454. ;
  8455. }
  8456. #endif //UVLO_SUPPORT
  8457. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  8458. void setup_fan_interrupt() {
  8459. //INT7
  8460. DDRE &= ~(1 << 7); //input pin
  8461. PORTE &= ~(1 << 7); //no internal pull-up
  8462. //start with sensing rising edge
  8463. EICRB &= ~(1 << 6);
  8464. EICRB |= (1 << 7);
  8465. //enable INT7 interrupt
  8466. EIMSK |= (1 << 7);
  8467. }
  8468. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  8469. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  8470. ISR(INT7_vect) {
  8471. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  8472. #ifdef FAN_SOFT_PWM
  8473. if (!fan_measuring || (fanSpeedSoftPwm < MIN_PRINT_FAN_SPEED)) return;
  8474. #else //FAN_SOFT_PWM
  8475. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  8476. #endif //FAN_SOFT_PWM
  8477. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  8478. t_fan_rising_edge = millis_nc();
  8479. }
  8480. else { //interrupt was triggered by falling edge
  8481. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  8482. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  8483. }
  8484. }
  8485. EICRB ^= (1 << 6); //change edge
  8486. }
  8487. #endif
  8488. #ifdef UVLO_SUPPORT
  8489. void setup_uvlo_interrupt() {
  8490. DDRE &= ~(1 << 4); //input pin
  8491. PORTE &= ~(1 << 4); //no internal pull-up
  8492. //sensing falling edge
  8493. EICRB |= (1 << 0);
  8494. EICRB &= ~(1 << 1);
  8495. //enable INT4 interrupt
  8496. EIMSK |= (1 << 4);
  8497. }
  8498. ISR(INT4_vect) {
  8499. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  8500. SERIAL_ECHOLNPGM("INT4");
  8501. //fire normal uvlo only in case where EEPROM_UVLO is 0 or if IS_SD_PRINTING is 1.
  8502. if(PRINTER_ACTIVE && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))) uvlo_();
  8503. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
  8504. }
  8505. void recover_print(uint8_t automatic) {
  8506. char cmd[30];
  8507. lcd_update_enable(true);
  8508. lcd_update(2);
  8509. lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
  8510. bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
  8511. recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers
  8512. // Lift the print head, so one may remove the excess priming material.
  8513. if(!bTiny&&(current_position[Z_AXIS]<25))
  8514. enquecommand_P(PSTR("G1 Z25 F800"));
  8515. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  8516. enquecommand_P(PSTR("G28 X Y"));
  8517. // Set the target bed and nozzle temperatures and wait.
  8518. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  8519. enquecommand(cmd);
  8520. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  8521. enquecommand(cmd);
  8522. enquecommand_P(PSTR("M83")); //E axis relative mode
  8523. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  8524. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  8525. if(automatic == 0){
  8526. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  8527. }
  8528. enquecommand_P(PSTR("G1 E" STRINGIFY(-default_retraction)" F480"));
  8529. printf_P(_N("After waiting for temp:\nCurrent pos X_AXIS:%.3f\nCurrent pos Y_AXIS:%.3f\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  8530. // Restart the print.
  8531. restore_print_from_eeprom();
  8532. printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
  8533. }
  8534. void recover_machine_state_after_power_panic(bool bTiny)
  8535. {
  8536. char cmd[30];
  8537. // 1) Recover the logical cordinates at the time of the power panic.
  8538. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  8539. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  8540. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  8541. // 2) Restore the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
  8542. mbl.active = false;
  8543. for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
  8544. uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  8545. uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
  8546. // Scale the z value to 10u resolution.
  8547. int16_t v;
  8548. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
  8549. if (v != 0)
  8550. mbl.active = true;
  8551. mbl.z_values[iy][ix] = float(v) * 0.001f;
  8552. }
  8553. // Recover the logical coordinate of the Z axis at the time of the power panic.
  8554. // The current position after power panic is moved to the next closest 0th full step.
  8555. if(bTiny){
  8556. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))
  8557. + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS))
  8558. + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
  8559. //after multiple power panics the print is slightly in the air so get it little bit down.
  8560. //Not exactly sure why is this happening, but it has something to do with bed leveling and world2machine coordinates
  8561. current_position[Z_AXIS] -= 0.4*mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
  8562. }
  8563. else{
  8564. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  8565. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS))
  8566. + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
  8567. }
  8568. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
  8569. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  8570. sprintf_P(cmd, PSTR("G92 E"));
  8571. dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
  8572. enquecommand(cmd);
  8573. }
  8574. memcpy(destination, current_position, sizeof(destination));
  8575. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  8576. print_world_coordinates();
  8577. // 3) Initialize the logical to physical coordinate system transformation.
  8578. world2machine_initialize();
  8579. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  8580. // print_mesh_bed_leveling_table();
  8581. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  8582. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  8583. babystep_load();
  8584. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  8585. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  8586. // 6) Power up the motors, mark their positions as known.
  8587. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  8588. axis_known_position[X_AXIS] = true; enable_x();
  8589. axis_known_position[Y_AXIS] = true; enable_y();
  8590. axis_known_position[Z_AXIS] = true; enable_z();
  8591. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  8592. print_physical_coordinates();
  8593. // 7) Recover the target temperatures.
  8594. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  8595. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  8596. // 8) Recover extruder multipilers
  8597. extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
  8598. #if EXTRUDERS > 1
  8599. extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
  8600. #if EXTRUDERS > 2
  8601. extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
  8602. #endif
  8603. #endif
  8604. extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
  8605. }
  8606. void restore_print_from_eeprom() {
  8607. int feedrate_rec;
  8608. uint8_t fan_speed_rec;
  8609. char cmd[30];
  8610. char filename[13];
  8611. uint8_t depth = 0;
  8612. char dir_name[9];
  8613. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  8614. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  8615. SERIAL_ECHOPGM("Feedrate:");
  8616. MYSERIAL.println(feedrate_rec);
  8617. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  8618. MYSERIAL.println(int(depth));
  8619. for (int i = 0; i < depth; i++) {
  8620. for (int j = 0; j < 8; j++) {
  8621. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  8622. }
  8623. dir_name[8] = '\0';
  8624. MYSERIAL.println(dir_name);
  8625. strcpy(dir_names[i], dir_name);
  8626. card.chdir(dir_name);
  8627. }
  8628. for (int i = 0; i < 8; i++) {
  8629. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  8630. }
  8631. filename[8] = '\0';
  8632. MYSERIAL.print(filename);
  8633. strcat_P(filename, PSTR(".gco"));
  8634. sprintf_P(cmd, PSTR("M23 %s"), filename);
  8635. enquecommand(cmd);
  8636. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  8637. SERIAL_ECHOPGM("Position read from eeprom:");
  8638. MYSERIAL.println(position);
  8639. // E axis relative mode.
  8640. enquecommand_P(PSTR("M83"));
  8641. // Move to the XY print position in logical coordinates, where the print has been killed.
  8642. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  8643. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  8644. strcat_P(cmd, PSTR(" F2000"));
  8645. enquecommand(cmd);
  8646. //moving on Z axis ahead, set EEPROM_UVLO to 1, so normal uvlo can fire
  8647. eeprom_update_byte((uint8_t*)EEPROM_UVLO,1);
  8648. // Move the Z axis down to the print, in logical coordinates.
  8649. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  8650. enquecommand(cmd);
  8651. // Unretract.
  8652. enquecommand_P(PSTR("G1 E" STRINGIFY(2*default_retraction)" F480"));
  8653. // Set the feedrate saved at the power panic.
  8654. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  8655. enquecommand(cmd);
  8656. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  8657. {
  8658. enquecommand_P(PSTR("M82")); //E axis abslute mode
  8659. }
  8660. // Set the fan speed saved at the power panic.
  8661. strcpy_P(cmd, PSTR("M106 S"));
  8662. strcat(cmd, itostr3(int(fan_speed_rec)));
  8663. enquecommand(cmd);
  8664. // Set a position in the file.
  8665. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  8666. enquecommand(cmd);
  8667. enquecommand_P(PSTR("G4 S0"));
  8668. enquecommand_P(PSTR("PRUSA uvlo"));
  8669. }
  8670. #endif //UVLO_SUPPORT
  8671. //! @brief Immediately stop print moves
  8672. //!
  8673. //! Immediately stop print moves, save current extruder temperature and position to RAM.
  8674. //! If printing from sd card, position in file is saved.
  8675. //! If printing from USB, line number is saved.
  8676. //!
  8677. //! @param z_move
  8678. //! @param e_move
  8679. void stop_and_save_print_to_ram(float z_move, float e_move)
  8680. {
  8681. if (saved_printing) return;
  8682. #if 0
  8683. unsigned char nplanner_blocks;
  8684. #endif
  8685. unsigned char nlines;
  8686. uint16_t sdlen_planner;
  8687. uint16_t sdlen_cmdqueue;
  8688. cli();
  8689. if (card.sdprinting) {
  8690. #if 0
  8691. nplanner_blocks = number_of_blocks();
  8692. #endif
  8693. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  8694. sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  8695. saved_sdpos -= sdlen_planner;
  8696. sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  8697. saved_sdpos -= sdlen_cmdqueue;
  8698. saved_printing_type = PRINTING_TYPE_SD;
  8699. }
  8700. else if (is_usb_printing) { //reuse saved_sdpos for storing line number
  8701. saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
  8702. //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
  8703. nlines = planner_calc_sd_length(); //number of lines of commands in planner
  8704. saved_sdpos -= nlines;
  8705. saved_sdpos -= buflen; //number of blocks in cmd buffer
  8706. saved_printing_type = PRINTING_TYPE_USB;
  8707. }
  8708. else {
  8709. saved_printing_type = PRINTING_TYPE_NONE;
  8710. //not sd printing nor usb printing
  8711. }
  8712. #if 0
  8713. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  8714. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  8715. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  8716. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  8717. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  8718. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  8719. //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  8720. {
  8721. card.setIndex(saved_sdpos);
  8722. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  8723. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  8724. MYSERIAL.print(char(card.get()));
  8725. SERIAL_ECHOLNPGM("Content of command buffer: ");
  8726. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  8727. MYSERIAL.print(char(card.get()));
  8728. SERIAL_ECHOLNPGM("End of command buffer");
  8729. }
  8730. {
  8731. // Print the content of the planner buffer, line by line:
  8732. card.setIndex(saved_sdpos);
  8733. int8_t iline = 0;
  8734. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  8735. SERIAL_ECHOPGM("Planner line (from file): ");
  8736. MYSERIAL.print(int(iline), DEC);
  8737. SERIAL_ECHOPGM(", length: ");
  8738. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  8739. SERIAL_ECHOPGM(", steps: (");
  8740. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  8741. SERIAL_ECHOPGM(",");
  8742. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  8743. SERIAL_ECHOPGM(",");
  8744. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  8745. SERIAL_ECHOPGM(",");
  8746. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  8747. SERIAL_ECHOPGM("), events: ");
  8748. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  8749. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  8750. MYSERIAL.print(char(card.get()));
  8751. }
  8752. }
  8753. {
  8754. // Print the content of the command buffer, line by line:
  8755. int8_t iline = 0;
  8756. union {
  8757. struct {
  8758. char lo;
  8759. char hi;
  8760. } lohi;
  8761. uint16_t value;
  8762. } sdlen_single;
  8763. int _bufindr = bufindr;
  8764. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  8765. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  8766. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  8767. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  8768. }
  8769. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  8770. MYSERIAL.print(int(iline), DEC);
  8771. SERIAL_ECHOPGM(", type: ");
  8772. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  8773. SERIAL_ECHOPGM(", len: ");
  8774. MYSERIAL.println(sdlen_single.value, DEC);
  8775. // Print the content of the buffer line.
  8776. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  8777. SERIAL_ECHOPGM("Buffer line (from file): ");
  8778. MYSERIAL.println(int(iline), DEC);
  8779. for (; sdlen_single.value > 0; -- sdlen_single.value)
  8780. MYSERIAL.print(char(card.get()));
  8781. if (-- _buflen == 0)
  8782. break;
  8783. // First skip the current command ID and iterate up to the end of the string.
  8784. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  8785. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  8786. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  8787. // If the end of the buffer was empty,
  8788. if (_bufindr == sizeof(cmdbuffer)) {
  8789. // skip to the start and find the nonzero command.
  8790. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  8791. }
  8792. }
  8793. }
  8794. #endif
  8795. #if 0
  8796. saved_feedrate2 = feedrate; //save feedrate
  8797. #else
  8798. // Try to deduce the feedrate from the first block of the planner.
  8799. // Speed is in mm/min.
  8800. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  8801. #endif
  8802. planner_abort_hard(); //abort printing
  8803. memcpy(saved_pos, current_position, sizeof(saved_pos));
  8804. saved_active_extruder = active_extruder; //save active_extruder
  8805. saved_extruder_temperature = degTargetHotend(active_extruder);
  8806. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  8807. saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
  8808. saved_fanSpeed = fanSpeed;
  8809. cmdqueue_reset(); //empty cmdqueue
  8810. card.sdprinting = false;
  8811. // card.closefile();
  8812. saved_printing = true;
  8813. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  8814. st_reset_timer();
  8815. sei();
  8816. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  8817. #if 1
  8818. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  8819. char buf[48];
  8820. // First unretract (relative extrusion)
  8821. if(!saved_extruder_relative_mode){
  8822. enquecommand(PSTR("M83"), true);
  8823. }
  8824. //retract 45mm/s
  8825. // A single sprintf may not be faster, but is definitely 20B shorter
  8826. // than a sequence of commands building the string piece by piece
  8827. // A snprintf would have been a safer call, but since it is not used
  8828. // in the whole program, its implementation would bring more bytes to the total size
  8829. // The behavior of dtostrf 8,3 should be roughly the same as %-0.3
  8830. sprintf_P(buf, PSTR("G1 E%-0.3f F2700"), e_move);
  8831. enquecommand(buf, false);
  8832. // Then lift Z axis
  8833. sprintf_P(buf, PSTR("G1 Z%-0.3f F%-0.3f"), saved_pos[Z_AXIS] + z_move, homing_feedrate[Z_AXIS]);
  8834. // At this point the command queue is empty.
  8835. enquecommand(buf, false);
  8836. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  8837. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  8838. repeatcommand_front();
  8839. #else
  8840. 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);
  8841. st_synchronize(); //wait moving
  8842. memcpy(current_position, saved_pos, sizeof(saved_pos));
  8843. memcpy(destination, current_position, sizeof(destination));
  8844. #endif
  8845. }
  8846. }
  8847. //! @brief Restore print from ram
  8848. //!
  8849. //! Restore print saved by stop_and_save_print_to_ram(). Is blocking, restores
  8850. //! print fan speed, waits for extruder temperature restore, then restores
  8851. //! position and continues print moves.
  8852. //!
  8853. //! Internally lcd_update() is called by wait_for_heater().
  8854. //!
  8855. //! @param e_move
  8856. void restore_print_from_ram_and_continue(float e_move)
  8857. {
  8858. if (!saved_printing) return;
  8859. #ifdef FANCHECK
  8860. // Do not allow resume printing if fans are still not ok
  8861. if( fan_check_error != EFCE_OK )return;
  8862. #endif
  8863. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  8864. // current_position[axis] = st_get_position_mm(axis);
  8865. active_extruder = saved_active_extruder; //restore active_extruder
  8866. fanSpeed = saved_fanSpeed;
  8867. if (degTargetHotend(saved_active_extruder) != saved_extruder_temperature)
  8868. {
  8869. setTargetHotendSafe(saved_extruder_temperature, saved_active_extruder);
  8870. heating_status = 1;
  8871. wait_for_heater(_millis(), saved_active_extruder);
  8872. heating_status = 2;
  8873. }
  8874. feedrate = saved_feedrate2; //restore feedrate
  8875. axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
  8876. float e = saved_pos[E_AXIS] - e_move;
  8877. plan_set_e_position(e);
  8878. #ifdef FANCHECK
  8879. fans_check_enabled = false;
  8880. #endif
  8881. //first move print head in XY to the saved position:
  8882. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], current_position[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
  8883. st_synchronize();
  8884. //then move Z
  8885. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
  8886. st_synchronize();
  8887. //and finaly unretract (35mm/s)
  8888. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], 35, active_extruder);
  8889. st_synchronize();
  8890. #ifdef FANCHECK
  8891. fans_check_enabled = true;
  8892. #endif
  8893. memcpy(current_position, saved_pos, sizeof(saved_pos));
  8894. memcpy(destination, current_position, sizeof(destination));
  8895. if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
  8896. card.setIndex(saved_sdpos);
  8897. sdpos_atomic = saved_sdpos;
  8898. card.sdprinting = true;
  8899. }
  8900. else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
  8901. gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
  8902. serial_count = 0;
  8903. FlushSerialRequestResend();
  8904. }
  8905. else {
  8906. //not sd printing nor usb printing
  8907. }
  8908. SERIAL_PROTOCOLLNRPGM(MSG_OK); //dummy response because of octoprint is waiting for this
  8909. lcd_setstatuspgm(_T(WELCOME_MSG));
  8910. saved_printing = false;
  8911. }
  8912. void print_world_coordinates()
  8913. {
  8914. printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  8915. }
  8916. void print_physical_coordinates()
  8917. {
  8918. printf_P(_N("physical coordinates: (%.3f, %.3f, %.3f)\n"), st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
  8919. }
  8920. void print_mesh_bed_leveling_table()
  8921. {
  8922. SERIAL_ECHOPGM("mesh bed leveling: ");
  8923. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  8924. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  8925. MYSERIAL.print(mbl.z_values[y][x], 3);
  8926. SERIAL_ECHOPGM(" ");
  8927. }
  8928. SERIAL_ECHOLNPGM("");
  8929. }
  8930. uint16_t print_time_remaining() {
  8931. uint16_t print_t = PRINT_TIME_REMAINING_INIT;
  8932. #ifdef TMC2130
  8933. if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
  8934. else print_t = print_time_remaining_silent;
  8935. #else
  8936. print_t = print_time_remaining_normal;
  8937. #endif //TMC2130
  8938. if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100ul * print_t / feedmultiply;
  8939. return print_t;
  8940. }
  8941. uint8_t calc_percent_done()
  8942. {
  8943. //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
  8944. uint8_t percent_done = 0;
  8945. #ifdef TMC2130
  8946. if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
  8947. percent_done = print_percent_done_normal;
  8948. }
  8949. else if (print_percent_done_silent <= 100) {
  8950. percent_done = print_percent_done_silent;
  8951. }
  8952. #else
  8953. if (print_percent_done_normal <= 100) {
  8954. percent_done = print_percent_done_normal;
  8955. }
  8956. #endif //TMC2130
  8957. else {
  8958. percent_done = card.percentDone();
  8959. }
  8960. return percent_done;
  8961. }
  8962. static void print_time_remaining_init()
  8963. {
  8964. print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
  8965. print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
  8966. print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  8967. print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  8968. }
  8969. void load_filament_final_feed()
  8970. {
  8971. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED;
  8972. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FINAL, active_extruder);
  8973. }
  8974. //! @brief Wait for user to check the state
  8975. //! @par nozzle_temp nozzle temperature to load filament
  8976. void M600_check_state(float nozzle_temp)
  8977. {
  8978. lcd_change_fil_state = 0;
  8979. while (lcd_change_fil_state != 1)
  8980. {
  8981. lcd_change_fil_state = 0;
  8982. KEEPALIVE_STATE(PAUSED_FOR_USER);
  8983. lcd_alright();
  8984. KEEPALIVE_STATE(IN_HANDLER);
  8985. switch(lcd_change_fil_state)
  8986. {
  8987. // Filament failed to load so load it again
  8988. case 2:
  8989. if (mmu_enabled)
  8990. mmu_M600_load_filament(false, nozzle_temp); //nonautomatic load; change to "wrong filament loaded" option?
  8991. else
  8992. M600_load_filament_movements();
  8993. break;
  8994. // Filament loaded properly but color is not clear
  8995. case 3:
  8996. st_synchronize();
  8997. load_filament_final_feed();
  8998. lcd_loading_color();
  8999. st_synchronize();
  9000. break;
  9001. // Everything good
  9002. default:
  9003. lcd_change_success();
  9004. break;
  9005. }
  9006. }
  9007. }
  9008. //! @brief Wait for user action
  9009. //!
  9010. //! Beep, manage nozzle heater and wait for user to start unload filament
  9011. //! If times out, active extruder temperature is set to 0.
  9012. //!
  9013. //! @param HotendTempBckp Temperature to be restored for active extruder, after user resolves MMU problem.
  9014. void M600_wait_for_user(float HotendTempBckp) {
  9015. KEEPALIVE_STATE(PAUSED_FOR_USER);
  9016. int counterBeep = 0;
  9017. unsigned long waiting_start_time = _millis();
  9018. uint8_t wait_for_user_state = 0;
  9019. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  9020. bool bFirst=true;
  9021. while (!(wait_for_user_state == 0 && lcd_clicked())){
  9022. manage_heater();
  9023. manage_inactivity(true);
  9024. #if BEEPER > 0
  9025. if (counterBeep == 500) {
  9026. counterBeep = 0;
  9027. }
  9028. SET_OUTPUT(BEEPER);
  9029. if (counterBeep == 0) {
  9030. if((eSoundMode==e_SOUND_MODE_BLIND)|| (eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
  9031. {
  9032. bFirst=false;
  9033. WRITE(BEEPER, HIGH);
  9034. }
  9035. }
  9036. if (counterBeep == 20) {
  9037. WRITE(BEEPER, LOW);
  9038. }
  9039. counterBeep++;
  9040. #endif //BEEPER > 0
  9041. switch (wait_for_user_state) {
  9042. case 0: //nozzle is hot, waiting for user to press the knob to unload filament
  9043. delay_keep_alive(4);
  9044. if (_millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  9045. lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
  9046. wait_for_user_state = 1;
  9047. setAllTargetHotends(0);
  9048. st_synchronize();
  9049. disable_e0();
  9050. disable_e1();
  9051. disable_e2();
  9052. }
  9053. break;
  9054. case 1: //nozzle target temperature is set to zero, waiting for user to start nozzle preheat
  9055. delay_keep_alive(4);
  9056. if (lcd_clicked()) {
  9057. setTargetHotend(HotendTempBckp, active_extruder);
  9058. lcd_wait_for_heater();
  9059. wait_for_user_state = 2;
  9060. }
  9061. break;
  9062. case 2: //waiting for nozzle to reach target temperature
  9063. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  9064. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  9065. waiting_start_time = _millis();
  9066. wait_for_user_state = 0;
  9067. }
  9068. else {
  9069. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  9070. lcd_set_cursor(1, 4);
  9071. lcd_print(ftostr3(degHotend(active_extruder)));
  9072. }
  9073. break;
  9074. }
  9075. }
  9076. WRITE(BEEPER, LOW);
  9077. }
  9078. void M600_load_filament_movements()
  9079. {
  9080. #ifdef SNMM
  9081. display_loading();
  9082. do
  9083. {
  9084. current_position[E_AXIS] += 0.002;
  9085. plan_buffer_line_curposXYZE(500, active_extruder);
  9086. delay_keep_alive(2);
  9087. }
  9088. while (!lcd_clicked());
  9089. st_synchronize();
  9090. current_position[E_AXIS] += bowden_length[mmu_extruder];
  9091. plan_buffer_line_curposXYZE(3000, active_extruder);
  9092. current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
  9093. plan_buffer_line_curposXYZE(1400, active_extruder);
  9094. current_position[E_AXIS] += 40;
  9095. plan_buffer_line_curposXYZE(400, active_extruder);
  9096. current_position[E_AXIS] += 10;
  9097. plan_buffer_line_curposXYZE(50, active_extruder);
  9098. #else
  9099. current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  9100. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FIRST, active_extruder);
  9101. #endif
  9102. load_filament_final_feed();
  9103. lcd_loading_filament();
  9104. st_synchronize();
  9105. }
  9106. void M600_load_filament() {
  9107. //load filament for single material and SNMM
  9108. lcd_wait_interact();
  9109. //load_filament_time = _millis();
  9110. KEEPALIVE_STATE(PAUSED_FOR_USER);
  9111. #ifdef PAT9125
  9112. fsensor_autoload_check_start();
  9113. #endif //PAT9125
  9114. while(!lcd_clicked())
  9115. {
  9116. manage_heater();
  9117. manage_inactivity(true);
  9118. #ifdef FILAMENT_SENSOR
  9119. if (fsensor_check_autoload())
  9120. {
  9121. Sound_MakeCustom(50,1000,false);
  9122. break;
  9123. }
  9124. #endif //FILAMENT_SENSOR
  9125. }
  9126. #ifdef PAT9125
  9127. fsensor_autoload_check_stop();
  9128. #endif //PAT9125
  9129. KEEPALIVE_STATE(IN_HANDLER);
  9130. #ifdef FSENSOR_QUALITY
  9131. fsensor_oq_meassure_start(70);
  9132. #endif //FSENSOR_QUALITY
  9133. M600_load_filament_movements();
  9134. Sound_MakeCustom(50,1000,false);
  9135. #ifdef FSENSOR_QUALITY
  9136. fsensor_oq_meassure_stop();
  9137. if (!fsensor_oq_result())
  9138. {
  9139. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  9140. lcd_update_enable(true);
  9141. lcd_update(2);
  9142. if (disable)
  9143. fsensor_disable();
  9144. }
  9145. #endif //FSENSOR_QUALITY
  9146. lcd_update_enable(false);
  9147. }
  9148. //! @brief Wait for click
  9149. //!
  9150. //! Set
  9151. void marlin_wait_for_click()
  9152. {
  9153. int8_t busy_state_backup = busy_state;
  9154. KEEPALIVE_STATE(PAUSED_FOR_USER);
  9155. lcd_consume_click();
  9156. while(!lcd_clicked())
  9157. {
  9158. manage_heater();
  9159. manage_inactivity(true);
  9160. lcd_update(0);
  9161. }
  9162. KEEPALIVE_STATE(busy_state_backup);
  9163. }
  9164. #define FIL_LOAD_LENGTH 60
  9165. #ifdef PSU_Delta
  9166. bool bEnableForce_z;
  9167. void init_force_z()
  9168. {
  9169. WRITE(Z_ENABLE_PIN,Z_ENABLE_ON);
  9170. bEnableForce_z=true; // "true"-value enforce "disable_force_z()" executing
  9171. disable_force_z();
  9172. }
  9173. void check_force_z()
  9174. {
  9175. if(!(bEnableForce_z||eeprom_read_byte((uint8_t*)EEPROM_SILENT)))
  9176. init_force_z(); // causes enforced switching into disable-state
  9177. }
  9178. void disable_force_z()
  9179. {
  9180. uint16_t z_microsteps=0;
  9181. if(!bEnableForce_z) return; // motor already disabled (may be ;-p )
  9182. bEnableForce_z=false;
  9183. // switching to silent mode
  9184. #ifdef TMC2130
  9185. tmc2130_mode=TMC2130_MODE_SILENT;
  9186. update_mode_profile();
  9187. tmc2130_init(true);
  9188. #endif // TMC2130
  9189. axis_known_position[Z_AXIS]=false;
  9190. }
  9191. void enable_force_z()
  9192. {
  9193. if(bEnableForce_z)
  9194. return; // motor already enabled (may be ;-p )
  9195. bEnableForce_z=true;
  9196. // mode recovering
  9197. #ifdef TMC2130
  9198. tmc2130_mode=eeprom_read_byte((uint8_t*)EEPROM_SILENT)?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  9199. update_mode_profile();
  9200. tmc2130_init(true);
  9201. #endif // TMC2130
  9202. WRITE(Z_ENABLE_PIN,Z_ENABLE_ON); // slightly redundant ;-p
  9203. }
  9204. #endif // PSU_Delta