Marlin_main.cpp 302 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. #include "Marlin.h"
  45. #ifdef ENABLE_AUTO_BED_LEVELING
  46. #include "vector_3.h"
  47. #ifdef AUTO_BED_LEVELING_GRID
  48. #include "qr_solve.h"
  49. #endif
  50. #endif // ENABLE_AUTO_BED_LEVELING
  51. #ifdef MESH_BED_LEVELING
  52. #include "mesh_bed_leveling.h"
  53. #include "mesh_bed_calibration.h"
  54. #endif
  55. #include "printers.h"
  56. #include "ultralcd.h"
  57. #include "Configuration_prusa.h"
  58. #include "planner.h"
  59. #include "stepper.h"
  60. #include "temperature.h"
  61. #include "motion_control.h"
  62. #include "cardreader.h"
  63. #include "ConfigurationStore.h"
  64. #include "language.h"
  65. #include "pins_arduino.h"
  66. #include "math.h"
  67. #include "util.h"
  68. #include "Timer.h"
  69. #include <avr/wdt.h>
  70. #include <avr/pgmspace.h>
  71. #include "Dcodes.h"
  72. #ifdef SWSPI
  73. #include "swspi.h"
  74. #endif //SWSPI
  75. #include "spi.h"
  76. #ifdef SWI2C
  77. #include "swi2c.h"
  78. #endif //SWI2C
  79. #ifdef PAT9125
  80. #include "pat9125.h"
  81. #include "fsensor.h"
  82. #endif //PAT9125
  83. #ifdef TMC2130
  84. #include "tmc2130.h"
  85. #endif //TMC2130
  86. #ifdef W25X20CL
  87. #include "w25x20cl.h"
  88. #include "optiboot_w25x20cl.h"
  89. #endif //W25X20CL
  90. #ifdef BLINKM
  91. #include "BlinkM.h"
  92. #include "Wire.h"
  93. #endif
  94. #ifdef ULTRALCD
  95. #include "ultralcd.h"
  96. #endif
  97. #if NUM_SERVOS > 0
  98. #include "Servo.h"
  99. #endif
  100. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  101. #include <SPI.h>
  102. #endif
  103. #define VERSION_STRING "1.0.2"
  104. #include "ultralcd.h"
  105. #include "cmdqueue.h"
  106. // Macros for bit masks
  107. #define BIT(b) (1<<(b))
  108. #define TEST(n,b) (((n)&BIT(b))!=0)
  109. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  110. //Macro for print fan speed
  111. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  112. #define PRINTING_TYPE_SD 0
  113. #define PRINTING_TYPE_USB 1
  114. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  115. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  116. //Implemented Codes
  117. //-------------------
  118. // PRUSA CODES
  119. // P F - Returns FW versions
  120. // P R - Returns revision of printer
  121. // G0 -> G1
  122. // G1 - Coordinated Movement X Y Z E
  123. // G2 - CW ARC
  124. // G3 - CCW ARC
  125. // G4 - Dwell S<seconds> or P<milliseconds>
  126. // G10 - retract filament according to settings of M207
  127. // G11 - retract recover filament according to settings of M208
  128. // G28 - Home all Axis
  129. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  130. // G30 - Single Z Probe, probes bed at current XY location.
  131. // G31 - Dock sled (Z_PROBE_SLED only)
  132. // G32 - Undock sled (Z_PROBE_SLED only)
  133. // G80 - Automatic mesh bed leveling
  134. // G81 - Print bed profile
  135. // G90 - Use Absolute Coordinates
  136. // G91 - Use Relative Coordinates
  137. // G92 - Set current position to coordinates given
  138. // M Codes
  139. // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  140. // M1 - Same as M0
  141. // M17 - Enable/Power all stepper motors
  142. // M18 - Disable all stepper motors; same as M84
  143. // M20 - List SD card
  144. // M21 - Init SD card
  145. // M22 - Release SD card
  146. // M23 - Select SD file (M23 filename.g)
  147. // M24 - Start/resume SD print
  148. // M25 - Pause SD print
  149. // M26 - Set SD position in bytes (M26 S12345)
  150. // M27 - Report SD print status
  151. // M28 - Start SD write (M28 filename.g)
  152. // M29 - Stop SD write
  153. // M30 - Delete file from SD (M30 filename.g)
  154. // M31 - Output time since last M109 or SD card start to serial
  155. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  156. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  157. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  158. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  159. // 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.
  160. // M73 - Show percent done and print time remaining
  161. // M80 - Turn on Power Supply
  162. // M81 - Turn off Power Supply
  163. // M82 - Set E codes absolute (default)
  164. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  165. // M84 - Disable steppers until next move,
  166. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  167. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  168. // M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
  169. // M92 - Set axis_steps_per_unit - same syntax as G92
  170. // M104 - Set extruder target temp
  171. // M105 - Read current temp
  172. // M106 - Fan on
  173. // M107 - Fan off
  174. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  175. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  176. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  177. // M112 - Emergency stop
  178. // M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  179. // M114 - Output current position to serial port
  180. // M115 - Capabilities string
  181. // M117 - display message
  182. // M119 - Output Endstop status to serial port
  183. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  184. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  185. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  186. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  187. // M140 - Set bed target temp
  188. // 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.
  189. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  190. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  191. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  192. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  193. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  194. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  195. // 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
  196. // 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
  197. // M206 - set additional homing offset
  198. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  199. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  200. // 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.
  201. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  202. // M220 S<factor in percent>- set speed factor override percentage
  203. // M221 S<factor in percent>- set extrude factor override percentage
  204. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  205. // M240 - Trigger a camera to take a photograph
  206. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  207. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  208. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  209. // M301 - Set PID parameters P I and D
  210. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  211. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  212. // M304 - Set bed PID parameters P I and D
  213. // M400 - Finish all moves
  214. // M401 - Lower z-probe if present
  215. // M402 - Raise z-probe if present
  216. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  217. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  218. // M406 - Turn off Filament Sensor extrusion control
  219. // M407 - Displays measured filament diameter
  220. // M500 - stores parameters in EEPROM
  221. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  222. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  223. // M503 - print the current settings (from memory not from EEPROM)
  224. // M509 - force language selection on next restart
  225. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  226. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  227. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  228. // M860 - Wait for PINDA thermistor to reach target temperature.
  229. // M861 - Set / Read PINDA temperature compensation offsets
  230. // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  231. // M907 - Set digital trimpot motor current using axis codes.
  232. // M908 - Control digital trimpot directly.
  233. // M350 - Set microstepping mode.
  234. // M351 - Toggle MS1 MS2 pins directly.
  235. // M928 - Start SD logging (M928 filename.g) - ended by M29
  236. // M999 - Restart after being stopped by error
  237. //Stepper Movement Variables
  238. //===========================================================================
  239. //=============================imported variables============================
  240. //===========================================================================
  241. //===========================================================================
  242. //=============================public variables=============================
  243. //===========================================================================
  244. #ifdef SDSUPPORT
  245. CardReader card;
  246. #endif
  247. unsigned long PingTime = millis();
  248. unsigned long NcTime;
  249. union Data
  250. {
  251. byte b[2];
  252. int value;
  253. };
  254. float homing_feedrate[] = HOMING_FEEDRATE;
  255. // Currently only the extruder axis may be switched to a relative mode.
  256. // Other axes are always absolute or relative based on the common relative_mode flag.
  257. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  258. int feedmultiply=100; //100->1 200->2
  259. int saved_feedmultiply;
  260. int extrudemultiply=100; //100->1 200->2
  261. int extruder_multiply[EXTRUDERS] = {100
  262. #if EXTRUDERS > 1
  263. , 100
  264. #if EXTRUDERS > 2
  265. , 100
  266. #endif
  267. #endif
  268. };
  269. int bowden_length[4] = {385, 385, 385, 385};
  270. bool is_usb_printing = false;
  271. bool homing_flag = false;
  272. bool temp_cal_active = false;
  273. unsigned long kicktime = millis()+100000;
  274. unsigned int usb_printing_counter;
  275. int lcd_change_fil_state = 0;
  276. int feedmultiplyBckp = 100;
  277. float HotendTempBckp = 0;
  278. int fanSpeedBckp = 0;
  279. float pause_lastpos[4];
  280. unsigned long pause_time = 0;
  281. unsigned long start_pause_print = millis();
  282. unsigned long t_fan_rising_edge = millis();
  283. static LongTimer safetyTimer;
  284. static LongTimer crashDetTimer;
  285. //unsigned long load_filament_time;
  286. bool mesh_bed_leveling_flag = false;
  287. bool mesh_bed_run_from_menu = false;
  288. int8_t FarmMode = 0;
  289. bool prusa_sd_card_upload = false;
  290. unsigned int status_number = 0;
  291. unsigned long total_filament_used;
  292. unsigned int heating_status;
  293. unsigned int heating_status_counter;
  294. bool custom_message;
  295. bool loading_flag = false;
  296. unsigned int custom_message_type;
  297. unsigned int custom_message_state;
  298. char snmm_filaments_used = 0;
  299. bool fan_state[2];
  300. int fan_edge_counter[2];
  301. int fan_speed[2];
  302. char dir_names[3][9];
  303. bool sortAlpha = false;
  304. bool volumetric_enabled = false;
  305. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  306. #if EXTRUDERS > 1
  307. , DEFAULT_NOMINAL_FILAMENT_DIA
  308. #if EXTRUDERS > 2
  309. , DEFAULT_NOMINAL_FILAMENT_DIA
  310. #endif
  311. #endif
  312. };
  313. float extruder_multiplier[EXTRUDERS] = {1.0
  314. #if EXTRUDERS > 1
  315. , 1.0
  316. #if EXTRUDERS > 2
  317. , 1.0
  318. #endif
  319. #endif
  320. };
  321. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  322. //shortcuts for more readable code
  323. #define _x current_position[X_AXIS]
  324. #define _y current_position[Y_AXIS]
  325. #define _z current_position[Z_AXIS]
  326. #define _e current_position[E_AXIS]
  327. float add_homing[3]={0,0,0};
  328. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  329. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  330. bool axis_known_position[3] = {false, false, false};
  331. float zprobe_zoffset;
  332. // Extruder offset
  333. #if EXTRUDERS > 1
  334. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  335. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  336. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  337. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  338. #endif
  339. };
  340. #endif
  341. uint8_t active_extruder = 0;
  342. int fanSpeed=0;
  343. #ifdef FWRETRACT
  344. bool autoretract_enabled=false;
  345. bool retracted[EXTRUDERS]={false
  346. #if EXTRUDERS > 1
  347. , false
  348. #if EXTRUDERS > 2
  349. , false
  350. #endif
  351. #endif
  352. };
  353. bool retracted_swap[EXTRUDERS]={false
  354. #if EXTRUDERS > 1
  355. , false
  356. #if EXTRUDERS > 2
  357. , false
  358. #endif
  359. #endif
  360. };
  361. float retract_length = RETRACT_LENGTH;
  362. float retract_length_swap = RETRACT_LENGTH_SWAP;
  363. float retract_feedrate = RETRACT_FEEDRATE;
  364. float retract_zlift = RETRACT_ZLIFT;
  365. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  366. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  367. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  368. #endif
  369. #ifdef ULTIPANEL
  370. #ifdef PS_DEFAULT_OFF
  371. bool powersupply = false;
  372. #else
  373. bool powersupply = true;
  374. #endif
  375. #endif
  376. bool cancel_heatup = false ;
  377. #ifdef HOST_KEEPALIVE_FEATURE
  378. int busy_state = NOT_BUSY;
  379. static long prev_busy_signal_ms = -1;
  380. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  381. #else
  382. #define host_keepalive();
  383. #define KEEPALIVE_STATE(n);
  384. #endif
  385. const char errormagic[] PROGMEM = "Error:";
  386. const char echomagic[] PROGMEM = "echo:";
  387. bool no_response = false;
  388. uint8_t important_status;
  389. uint8_t saved_filament_type;
  390. // save/restore printing
  391. bool saved_printing = false;
  392. // storing estimated time to end of print counted by slicer
  393. uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  394. uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  395. uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  396. uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  397. //===========================================================================
  398. //=============================Private Variables=============================
  399. //===========================================================================
  400. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  401. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  402. static float delta[3] = {0.0, 0.0, 0.0};
  403. // For tracing an arc
  404. static float offset[3] = {0.0, 0.0, 0.0};
  405. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  406. // Determines Absolute or Relative Coordinates.
  407. // Also there is bool axis_relative_modes[] per axis flag.
  408. static bool relative_mode = false;
  409. #ifndef _DISABLE_M42_M226
  410. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  411. #endif //_DISABLE_M42_M226
  412. //static float tt = 0;
  413. //static float bt = 0;
  414. //Inactivity shutdown variables
  415. static unsigned long previous_millis_cmd = 0;
  416. unsigned long max_inactive_time = 0;
  417. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  418. static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
  419. unsigned long starttime=0;
  420. unsigned long stoptime=0;
  421. unsigned long _usb_timer = 0;
  422. static uint8_t tmp_extruder;
  423. bool extruder_under_pressure = true;
  424. bool Stopped=false;
  425. #if NUM_SERVOS > 0
  426. Servo servos[NUM_SERVOS];
  427. #endif
  428. bool CooldownNoWait = true;
  429. bool target_direction;
  430. //Insert variables if CHDK is defined
  431. #ifdef CHDK
  432. unsigned long chdkHigh = 0;
  433. boolean chdkActive = false;
  434. #endif
  435. // save/restore printing
  436. static uint32_t saved_sdpos = 0;
  437. static uint8_t saved_printing_type = PRINTING_TYPE_SD;
  438. static float saved_pos[4] = { 0, 0, 0, 0 };
  439. // Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  440. static float saved_feedrate2 = 0;
  441. static uint8_t saved_active_extruder = 0;
  442. static bool saved_extruder_under_pressure = false;
  443. static bool saved_extruder_relative_mode = false;
  444. //===========================================================================
  445. //=============================Routines======================================
  446. //===========================================================================
  447. void get_arc_coordinates();
  448. bool setTargetedHotend(int code);
  449. void serial_echopair_P(const char *s_P, float v)
  450. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  451. void serial_echopair_P(const char *s_P, double v)
  452. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  453. void serial_echopair_P(const char *s_P, unsigned long v)
  454. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  455. #ifdef SDSUPPORT
  456. #include "SdFatUtil.h"
  457. int freeMemory() { return SdFatUtil::FreeRam(); }
  458. #else
  459. extern "C" {
  460. extern unsigned int __bss_end;
  461. extern unsigned int __heap_start;
  462. extern void *__brkval;
  463. int freeMemory() {
  464. int free_memory;
  465. if ((int)__brkval == 0)
  466. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  467. else
  468. free_memory = ((int)&free_memory) - ((int)__brkval);
  469. return free_memory;
  470. }
  471. }
  472. #endif //!SDSUPPORT
  473. void setup_killpin()
  474. {
  475. #if defined(KILL_PIN) && KILL_PIN > -1
  476. SET_INPUT(KILL_PIN);
  477. WRITE(KILL_PIN,HIGH);
  478. #endif
  479. }
  480. // Set home pin
  481. void setup_homepin(void)
  482. {
  483. #if defined(HOME_PIN) && HOME_PIN > -1
  484. SET_INPUT(HOME_PIN);
  485. WRITE(HOME_PIN,HIGH);
  486. #endif
  487. }
  488. void setup_photpin()
  489. {
  490. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  491. SET_OUTPUT(PHOTOGRAPH_PIN);
  492. WRITE(PHOTOGRAPH_PIN, LOW);
  493. #endif
  494. }
  495. void setup_powerhold()
  496. {
  497. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  498. SET_OUTPUT(SUICIDE_PIN);
  499. WRITE(SUICIDE_PIN, HIGH);
  500. #endif
  501. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  502. SET_OUTPUT(PS_ON_PIN);
  503. #if defined(PS_DEFAULT_OFF)
  504. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  505. #else
  506. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  507. #endif
  508. #endif
  509. }
  510. void suicide()
  511. {
  512. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  513. SET_OUTPUT(SUICIDE_PIN);
  514. WRITE(SUICIDE_PIN, LOW);
  515. #endif
  516. }
  517. void servo_init()
  518. {
  519. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  520. servos[0].attach(SERVO0_PIN);
  521. #endif
  522. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  523. servos[1].attach(SERVO1_PIN);
  524. #endif
  525. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  526. servos[2].attach(SERVO2_PIN);
  527. #endif
  528. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  529. servos[3].attach(SERVO3_PIN);
  530. #endif
  531. #if (NUM_SERVOS >= 5)
  532. #error "TODO: enter initalisation code for more servos"
  533. #endif
  534. }
  535. void stop_and_save_print_to_ram(float z_move, float e_move);
  536. void restore_print_from_ram_and_continue(float e_move);
  537. bool fans_check_enabled = true;
  538. bool filament_autoload_enabled = true;
  539. #ifdef TMC2130
  540. extern int8_t CrashDetectMenu;
  541. void crashdet_enable()
  542. {
  543. tmc2130_sg_stop_on_crash = true;
  544. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
  545. CrashDetectMenu = 1;
  546. }
  547. void crashdet_disable()
  548. {
  549. tmc2130_sg_stop_on_crash = false;
  550. tmc2130_sg_crash = 0;
  551. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
  552. CrashDetectMenu = 0;
  553. }
  554. void crashdet_stop_and_save_print()
  555. {
  556. stop_and_save_print_to_ram(10, -DEFAULT_RETRACTION); //XY - no change, Z 10mm up, E -1mm retract
  557. }
  558. void crashdet_restore_print_and_continue()
  559. {
  560. restore_print_from_ram_and_continue(DEFAULT_RETRACTION); //XYZ = orig, E +1mm unretract
  561. // babystep_apply();
  562. }
  563. void crashdet_stop_and_save_print2()
  564. {
  565. cli();
  566. planner_abort_hard(); //abort printing
  567. cmdqueue_reset(); //empty cmdqueue
  568. card.sdprinting = false;
  569. card.closefile();
  570. // Reset and re-enable the stepper timer just before the global interrupts are enabled.
  571. st_reset_timer();
  572. sei();
  573. }
  574. void crashdet_detected(uint8_t mask)
  575. {
  576. // printf("CRASH_DETECTED");
  577. /* while (!is_buffer_empty())
  578. {
  579. process_commands();
  580. cmdqueue_pop_front();
  581. }*/
  582. st_synchronize();
  583. static uint8_t crashDet_counter = 0;
  584. bool automatic_recovery_after_crash = true;
  585. if (crashDet_counter++ == 0) {
  586. crashDetTimer.start();
  587. }
  588. else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
  589. crashDetTimer.stop();
  590. crashDet_counter = 0;
  591. }
  592. else if(crashDet_counter == CRASHDET_COUNTER_MAX){
  593. automatic_recovery_after_crash = false;
  594. crashDetTimer.stop();
  595. crashDet_counter = 0;
  596. }
  597. else {
  598. crashDetTimer.start();
  599. }
  600. lcd_update_enable(true);
  601. lcd_implementation_clear();
  602. lcd_update(2);
  603. if (mask & X_AXIS_MASK)
  604. {
  605. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  606. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  607. }
  608. if (mask & Y_AXIS_MASK)
  609. {
  610. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  611. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  612. }
  613. lcd_update_enable(true);
  614. lcd_update(2);
  615. lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
  616. gcode_G28(true, true, false, false); //home X and Y
  617. st_synchronize();
  618. if (automatic_recovery_after_crash) {
  619. enquecommand_P(PSTR("CRASH_RECOVER"));
  620. }else{
  621. HotendTempBckp = degTargetHotend(active_extruder);
  622. setTargetHotend(0, active_extruder);
  623. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
  624. lcd_update_enable(true);
  625. if (yesno)
  626. {
  627. char cmd1[10];
  628. strcpy(cmd1, "M109 S");
  629. strcat(cmd1, ftostr3(HotendTempBckp));
  630. enquecommand(cmd1);
  631. enquecommand_P(PSTR("CRASH_RECOVER"));
  632. }
  633. else
  634. {
  635. enquecommand_P(PSTR("CRASH_CANCEL"));
  636. }
  637. }
  638. }
  639. void crashdet_recover()
  640. {
  641. crashdet_restore_print_and_continue();
  642. tmc2130_sg_stop_on_crash = true;
  643. }
  644. void crashdet_cancel()
  645. {
  646. tmc2130_sg_stop_on_crash = true;
  647. if (saved_printing_type == PRINTING_TYPE_SD) {
  648. lcd_print_stop();
  649. }else if(saved_printing_type == PRINTING_TYPE_USB){
  650. SERIAL_ECHOLNPGM("// action:cancel"); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
  651. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  652. }
  653. }
  654. #endif //TMC2130
  655. void failstats_reset_print()
  656. {
  657. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  658. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  659. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  660. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  661. }
  662. #ifdef MESH_BED_LEVELING
  663. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  664. #endif
  665. // Factory reset function
  666. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  667. // Level input parameter sets depth of reset
  668. // Quiet parameter masks all waitings for user interact.
  669. int er_progress = 0;
  670. void factory_reset(char level, bool quiet)
  671. {
  672. lcd_implementation_clear();
  673. int cursor_pos = 0;
  674. switch (level) {
  675. // Level 0: Language reset
  676. case 0:
  677. WRITE(BEEPER, HIGH);
  678. _delay_ms(100);
  679. WRITE(BEEPER, LOW);
  680. lang_reset();
  681. break;
  682. //Level 1: Reset statistics
  683. case 1:
  684. WRITE(BEEPER, HIGH);
  685. _delay_ms(100);
  686. WRITE(BEEPER, LOW);
  687. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  688. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  689. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  690. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  691. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  692. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  693. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  694. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  695. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  696. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  697. lcd_menu_statistics();
  698. break;
  699. // Level 2: Prepare for shipping
  700. case 2:
  701. //lcd_printPGM(PSTR("Factory RESET"));
  702. //lcd_print_at_PGM(1,2,PSTR("Shipping prep"));
  703. // Force language selection at the next boot up.
  704. lang_reset();
  705. // Force the "Follow calibration flow" message at the next boot up.
  706. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  707. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  708. farm_no = 0;
  709. farm_mode = false;
  710. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  711. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  712. WRITE(BEEPER, HIGH);
  713. _delay_ms(100);
  714. WRITE(BEEPER, LOW);
  715. //_delay_ms(2000);
  716. break;
  717. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  718. case 3:
  719. lcd_printPGM(PSTR("Factory RESET"));
  720. lcd_print_at_PGM(1, 2, PSTR("ERASING all data"));
  721. WRITE(BEEPER, HIGH);
  722. _delay_ms(100);
  723. WRITE(BEEPER, LOW);
  724. er_progress = 0;
  725. lcd_print_at_PGM(3, 3, PSTR(" "));
  726. lcd_implementation_print_at(3, 3, er_progress);
  727. // Erase EEPROM
  728. for (int i = 0; i < 4096; i++) {
  729. eeprom_write_byte((uint8_t*)i, 0xFF);
  730. if (i % 41 == 0) {
  731. er_progress++;
  732. lcd_print_at_PGM(3, 3, PSTR(" "));
  733. lcd_implementation_print_at(3, 3, er_progress);
  734. lcd_printPGM(PSTR("%"));
  735. }
  736. }
  737. break;
  738. case 4:
  739. bowden_menu();
  740. break;
  741. default:
  742. break;
  743. }
  744. }
  745. #include "LiquidCrystal_Prusa.h"
  746. extern LiquidCrystal_Prusa lcd;
  747. FILE _lcdout = {0};
  748. int lcd_putchar(char c, FILE *stream)
  749. {
  750. lcd.write(c);
  751. return 0;
  752. }
  753. FILE _uartout = {0};
  754. int uart_putchar(char c, FILE *stream)
  755. {
  756. MYSERIAL.write(c);
  757. return 0;
  758. }
  759. void lcd_splash()
  760. {
  761. // lcd_print_at_PGM(0, 1, PSTR(" Original Prusa "));
  762. // lcd_print_at_PGM(0, 2, PSTR(" 3D Printers "));
  763. // lcd.print_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
  764. // fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
  765. lcd_puts_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"));
  766. // lcd_printf_P(_N(ESC_2J "x:%.3f\ny:%.3f\nz:%.3f\ne:%.3f"), _x, _y, _z, _e);
  767. }
  768. void factory_reset()
  769. {
  770. KEEPALIVE_STATE(PAUSED_FOR_USER);
  771. if (!READ(BTN_ENC))
  772. {
  773. _delay_ms(1000);
  774. if (!READ(BTN_ENC))
  775. {
  776. lcd_implementation_clear();
  777. lcd_printPGM(PSTR("Factory RESET"));
  778. SET_OUTPUT(BEEPER);
  779. WRITE(BEEPER, HIGH);
  780. while (!READ(BTN_ENC));
  781. WRITE(BEEPER, LOW);
  782. _delay_ms(2000);
  783. char level = reset_menu();
  784. factory_reset(level, false);
  785. switch (level) {
  786. case 0: _delay_ms(0); break;
  787. case 1: _delay_ms(0); break;
  788. case 2: _delay_ms(0); break;
  789. case 3: _delay_ms(0); break;
  790. }
  791. // _delay_ms(100);
  792. /*
  793. #ifdef MESH_BED_LEVELING
  794. _delay_ms(2000);
  795. if (!READ(BTN_ENC))
  796. {
  797. WRITE(BEEPER, HIGH);
  798. _delay_ms(100);
  799. WRITE(BEEPER, LOW);
  800. _delay_ms(200);
  801. WRITE(BEEPER, HIGH);
  802. _delay_ms(100);
  803. WRITE(BEEPER, LOW);
  804. int _z = 0;
  805. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  806. EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
  807. EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
  808. EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
  809. }
  810. else
  811. {
  812. WRITE(BEEPER, HIGH);
  813. _delay_ms(100);
  814. WRITE(BEEPER, LOW);
  815. }
  816. #endif // mesh */
  817. }
  818. }
  819. else
  820. {
  821. //_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
  822. }
  823. KEEPALIVE_STATE(IN_HANDLER);
  824. }
  825. void show_fw_version_warnings() {
  826. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  827. switch (FW_DEV_VERSION) {
  828. 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
  829. 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
  830. case(FW_VERSION_DEVEL):
  831. case(FW_VERSION_DEBUG):
  832. lcd_update_enable(false);
  833. lcd_implementation_clear();
  834. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  835. lcd_print_at_PGM(0, 0, PSTR("Development build !!"));
  836. #else
  837. lcd_print_at_PGM(0, 0, PSTR("Debbugging build !!!"));
  838. #endif
  839. lcd_print_at_PGM(0, 1, PSTR("May destroy printer!"));
  840. lcd_print_at_PGM(0, 2, PSTR("ver ")); lcd_printPGM(PSTR(FW_VERSION_FULL));
  841. lcd_print_at_PGM(0, 3, PSTR(FW_REPOSITORY));
  842. lcd_wait_for_click();
  843. break;
  844. // 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
  845. }
  846. lcd_update_enable(true);
  847. }
  848. uint8_t check_printer_version()
  849. {
  850. uint8_t version_changed = 0;
  851. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  852. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  853. if (printer_type != PRINTER_TYPE) {
  854. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  855. else version_changed |= 0b10;
  856. }
  857. if (motherboard != MOTHERBOARD) {
  858. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  859. else version_changed |= 0b01;
  860. }
  861. return version_changed;
  862. }
  863. void erase_eeprom_section(uint16_t offset, uint16_t bytes)
  864. {
  865. for (int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
  866. }
  867. #if (LANG_MODE != 0) //secondary language support
  868. #ifdef W25X20CL
  869. #include "bootapp.h" //bootloader support
  870. // language update from external flash
  871. #define LANGBOOT_BLOCKSIZE 0x1000
  872. #define LANGBOOT_RAMBUFFER 0x0800
  873. void update_sec_lang_from_external_flash()
  874. {
  875. if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
  876. {
  877. uint8_t lang = boot_reserved >> 4;
  878. uint8_t state = boot_reserved & 0xf;
  879. lang_table_header_t header;
  880. uint32_t src_addr;
  881. if (lang_get_header(lang, &header, &src_addr))
  882. {
  883. fputs_P(PSTR(ESC_H(1,3) "Language update."), lcdout);
  884. for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
  885. delay(100);
  886. boot_reserved = (state + 1) | (lang << 4);
  887. if ((state * LANGBOOT_BLOCKSIZE) < header.size)
  888. {
  889. cli();
  890. uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
  891. if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
  892. w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
  893. if (state == 0)
  894. {
  895. //TODO - check header integrity
  896. }
  897. bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
  898. }
  899. else
  900. {
  901. //TODO - check sec lang data integrity
  902. eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
  903. }
  904. }
  905. }
  906. boot_app_flags &= ~BOOT_APP_FLG_USER0;
  907. }
  908. #ifdef DEBUG_W25X20CL
  909. uint8_t lang_xflash_enum_codes(uint16_t* codes)
  910. {
  911. lang_table_header_t header;
  912. uint8_t count = 0;
  913. uint32_t addr = 0x00000;
  914. while (1)
  915. {
  916. printf_P(_n("LANGTABLE%d:"), count);
  917. w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
  918. if (header.magic != LANG_MAGIC)
  919. {
  920. printf_P(_n("NG!\n"));
  921. break;
  922. }
  923. printf_P(_n("OK\n"));
  924. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  925. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  926. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  927. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  928. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  929. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  930. addr += header.size;
  931. codes[count] = header.code;
  932. count ++;
  933. }
  934. return count;
  935. }
  936. void list_sec_lang_from_external_flash()
  937. {
  938. uint16_t codes[8];
  939. uint8_t count = lang_xflash_enum_codes(codes);
  940. printf_P(_n("XFlash lang count = %hhd\n"), count);
  941. }
  942. #endif //DEBUG_W25X20CL
  943. #endif //W25X20CL
  944. #endif //(LANG_MODE != 0)
  945. // "Setup" function is called by the Arduino framework on startup.
  946. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  947. // are initialized by the main() routine provided by the Arduino framework.
  948. void setup()
  949. {
  950. #ifdef W25X20CL
  951. // Enter an STK500 compatible Optiboot boot loader waiting for flashing the languages to an external flash memory.
  952. optiboot_w25x20cl_enter();
  953. #endif
  954. lcd_init();
  955. fdev_setup_stream(lcdout, lcd_putchar, NULL, _FDEV_SETUP_WRITE); //setup lcdout stream
  956. spi_init();
  957. lcd_splash();
  958. #if (LANG_MODE != 0) //secondary language support
  959. #ifdef W25X20CL
  960. if (w25x20cl_init())
  961. update_sec_lang_from_external_flash();
  962. else
  963. kill(_i("External SPI flash W25X20CL not responding."));
  964. #endif //W25X20CL
  965. #endif //(LANG_MODE != 0)
  966. setup_killpin();
  967. setup_powerhold();
  968. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  969. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  970. if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
  971. 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
  972. if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
  973. selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
  974. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  975. if (farm_mode)
  976. {
  977. no_response = true; //we need confirmation by recieving PRUSA thx
  978. important_status = 8;
  979. prusa_statistics(8);
  980. selectedSerialPort = 1;
  981. #ifdef TMC2130
  982. //increased extruder current (PFW363)
  983. tmc2130_current_h[E_AXIS] = 36;
  984. tmc2130_current_r[E_AXIS] = 36;
  985. #endif //TMC2130
  986. //disabled filament autoload (PFW360)
  987. filament_autoload_enabled = false;
  988. eeprom_update_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED, 0);
  989. }
  990. MYSERIAL.begin(BAUDRATE);
  991. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  992. stdout = uartout;
  993. SERIAL_PROTOCOLLNPGM("start");
  994. SERIAL_ECHO_START;
  995. printf_P(PSTR(" " FW_VERSION_FULL "\n"));
  996. #ifdef DEBUG_SEC_LANG
  997. lang_table_header_t header;
  998. uint32_t src_addr = 0x00000;
  999. if (lang_get_header(1, &header, &src_addr))
  1000. {
  1001. //this is comparsion of some printing-methods regarding to flash space usage and code size/readability
  1002. #define LT_PRINT_TEST 2
  1003. // flash usage
  1004. // total p.test
  1005. //0 252718 t+c text code
  1006. //1 253142 424 170 254
  1007. //2 253040 322 164 158
  1008. //3 253248 530 135 395
  1009. #if (LT_PRINT_TEST==1) //not optimized printf
  1010. printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
  1011. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  1012. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  1013. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  1014. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  1015. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  1016. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  1017. #elif (LT_PRINT_TEST==2) //optimized printf
  1018. printf_P(
  1019. _n(
  1020. " _src_addr = 0x%08lx\n"
  1021. " _lt_magic = 0x%08lx %S\n"
  1022. " _lt_size = 0x%04x (%d)\n"
  1023. " _lt_count = 0x%04x (%d)\n"
  1024. " _lt_chsum = 0x%04x\n"
  1025. " _lt_code = 0x%04x (%c%c)\n"
  1026. " _lt_resv1 = 0x%08lx\n"
  1027. ),
  1028. src_addr,
  1029. header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
  1030. header.size, header.size,
  1031. header.count, header.count,
  1032. header.checksum,
  1033. header.code, header.code >> 8, header.code & 0xff,
  1034. header.signature
  1035. );
  1036. #elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
  1037. MYSERIAL.print(" _src_addr = 0x");
  1038. MYSERIAL.println(src_addr, 16);
  1039. MYSERIAL.print(" _lt_magic = 0x");
  1040. MYSERIAL.print(header.magic, 16);
  1041. MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
  1042. MYSERIAL.print(" _lt_size = 0x");
  1043. MYSERIAL.print(header.size, 16);
  1044. MYSERIAL.print(" (");
  1045. MYSERIAL.print(header.size, 10);
  1046. MYSERIAL.println(")");
  1047. MYSERIAL.print(" _lt_count = 0x");
  1048. MYSERIAL.print(header.count, 16);
  1049. MYSERIAL.print(" (");
  1050. MYSERIAL.print(header.count, 10);
  1051. MYSERIAL.println(")");
  1052. MYSERIAL.print(" _lt_chsum = 0x");
  1053. MYSERIAL.println(header.checksum, 16);
  1054. MYSERIAL.print(" _lt_code = 0x");
  1055. MYSERIAL.print(header.code, 16);
  1056. MYSERIAL.print(" (");
  1057. MYSERIAL.print((char)(header.code >> 8), 0);
  1058. MYSERIAL.print((char)(header.code & 0xff), 0);
  1059. MYSERIAL.println(")");
  1060. MYSERIAL.print(" _lt_resv1 = 0x");
  1061. MYSERIAL.println(header.signature, 16);
  1062. #endif //(LT_PRINT_TEST==)
  1063. #undef LT_PRINT_TEST
  1064. #if 0
  1065. w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
  1066. for (uint16_t i = 0; i < 1024; i++)
  1067. {
  1068. if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
  1069. printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
  1070. if ((i % 16) == 15) putchar('\n');
  1071. }
  1072. #endif
  1073. uint16_t sum = 0;
  1074. for (uint16_t i = 0; i < header.size; i++)
  1075. sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
  1076. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1077. sum -= header.checksum; //subtract checksum
  1078. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1079. sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
  1080. if (sum == header.checksum)
  1081. printf_P(_n("Checksum OK\n"), sum);
  1082. else
  1083. printf_P(_n("Checksum NG\n"), sum);
  1084. }
  1085. else
  1086. printf_P(_n("lang_get_header failed!\n"));
  1087. #if 0
  1088. for (uint16_t i = 0; i < 1024*10; i++)
  1089. {
  1090. if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
  1091. printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
  1092. if ((i % 16) == 15) putchar('\n');
  1093. }
  1094. #endif
  1095. #if 0
  1096. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  1097. for (int i = 0; i < 4096; ++i) {
  1098. int b = eeprom_read_byte((unsigned char*)i);
  1099. if (b != 255) {
  1100. SERIAL_ECHO(i);
  1101. SERIAL_ECHO(":");
  1102. SERIAL_ECHO(b);
  1103. SERIAL_ECHOLN("");
  1104. }
  1105. }
  1106. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  1107. #endif
  1108. #endif //DEBUG_SEC_LANG
  1109. // Check startup - does nothing if bootloader sets MCUSR to 0
  1110. byte mcu = MCUSR;
  1111. /* if (mcu & 1) SERIAL_ECHOLNRPGM(_T(MSG_POWERUP));
  1112. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  1113. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  1114. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  1115. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  1116. if (mcu & 1) puts_P(_T(MSG_POWERUP));
  1117. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  1118. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  1119. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  1120. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  1121. MCUSR = 0;
  1122. //SERIAL_ECHORPGM(MSG_MARLIN);
  1123. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  1124. #ifdef STRING_VERSION_CONFIG_H
  1125. #ifdef STRING_CONFIG_H_AUTHOR
  1126. SERIAL_ECHO_START;
  1127. SERIAL_ECHORPGM(_i(" Last Updated: "));////MSG_CONFIGURATION_VER c=0 r=0
  1128. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  1129. SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR c=0 r=0
  1130. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  1131. SERIAL_ECHOPGM("Compiled: ");
  1132. SERIAL_ECHOLNPGM(__DATE__);
  1133. #endif
  1134. #endif
  1135. SERIAL_ECHO_START;
  1136. SERIAL_ECHORPGM(_i(" Free Memory: "));////MSG_FREE_MEMORY c=0 r=0
  1137. SERIAL_ECHO(freeMemory());
  1138. SERIAL_ECHORPGM(_i(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES c=0 r=0
  1139. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  1140. //lcd_update_enable(false); // why do we need this?? - andre
  1141. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  1142. bool previous_settings_retrieved = false;
  1143. uint8_t hw_changed = check_printer_version();
  1144. 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
  1145. previous_settings_retrieved = Config_RetrieveSettings(EEPROM_OFFSET);
  1146. }
  1147. else { //printer version was changed so use default settings
  1148. Config_ResetDefault();
  1149. }
  1150. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  1151. tp_init(); // Initialize temperature loop
  1152. lcd_splash(); // we need to do this again, because tp_init() kills lcd
  1153. plan_init(); // Initialize planner;
  1154. factory_reset();
  1155. #ifdef TMC2130
  1156. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1157. if (silentMode == 0xff) silentMode = 0;
  1158. // tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1159. tmc2130_mode = TMC2130_MODE_NORMAL;
  1160. uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
  1161. if (crashdet && !farm_mode)
  1162. {
  1163. crashdet_enable();
  1164. puts_P(_N("CrashDetect ENABLED!"));
  1165. }
  1166. else
  1167. {
  1168. crashdet_disable();
  1169. puts_P(_N("CrashDetect DISABLED"));
  1170. }
  1171. #ifdef TMC2130_LINEARITY_CORRECTION
  1172. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  1173. tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  1174. tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  1175. tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  1176. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  1177. tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
  1178. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  1179. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  1180. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  1181. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  1182. #endif //TMC2130_LINEARITY_CORRECTION
  1183. #ifdef TMC2130_VARIABLE_RESOLUTION
  1184. tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
  1185. tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
  1186. tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
  1187. tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
  1188. if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1189. if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1190. if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1191. if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1192. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
  1193. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
  1194. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
  1195. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
  1196. #else //TMC2130_VARIABLE_RESOLUTION
  1197. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1198. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1199. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1200. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1201. #endif //TMC2130_VARIABLE_RESOLUTION
  1202. #endif //TMC2130
  1203. st_init(); // Initialize stepper, this enables interrupts!
  1204. #ifdef TMC2130
  1205. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1206. tmc2130_init();
  1207. #endif //TMC2130
  1208. setup_photpin();
  1209. servo_init();
  1210. // Reset the machine correction matrix.
  1211. // It does not make sense to load the correction matrix until the machine is homed.
  1212. world2machine_reset();
  1213. #ifdef PAT9125
  1214. fsensor_init();
  1215. #endif //PAT9125
  1216. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  1217. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  1218. #endif
  1219. setup_homepin();
  1220. #ifdef TMC2130
  1221. if (1) {
  1222. // try to run to zero phase before powering the Z motor.
  1223. // Move in negative direction
  1224. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  1225. // Round the current micro-micro steps to micro steps.
  1226. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
  1227. // Until the phase counter is reset to zero.
  1228. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  1229. delay(2);
  1230. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  1231. delay(2);
  1232. }
  1233. }
  1234. #endif //TMC2130
  1235. #if defined(Z_AXIS_ALWAYS_ON)
  1236. enable_z();
  1237. #endif
  1238. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  1239. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  1240. if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == 0xFFFF)) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
  1241. if (farm_no == 0xFFFF) farm_no = 0;
  1242. if (farm_mode)
  1243. {
  1244. prusa_statistics(8);
  1245. }
  1246. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1247. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1248. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1249. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
  1250. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1251. // where all the EEPROM entries are set to 0x0ff.
  1252. // Once a firmware boots up, it forces at least a language selection, which changes
  1253. // EEPROM_LANG to number lower than 0x0ff.
  1254. // 1) Set a high power mode.
  1255. #ifdef TMC2130
  1256. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  1257. tmc2130_mode = TMC2130_MODE_NORMAL;
  1258. #endif //TMC2130
  1259. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  1260. }
  1261. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1262. // but this times out if a blocking dialog is shown in setup().
  1263. card.initsd();
  1264. #ifdef DEBUG_SD_SPEED_TEST
  1265. if (card.cardOK)
  1266. {
  1267. uint8_t* buff = (uint8_t*)block_buffer;
  1268. uint32_t block = 0;
  1269. uint32_t sumr = 0;
  1270. uint32_t sumw = 0;
  1271. for (int i = 0; i < 1024; i++)
  1272. {
  1273. uint32_t u = micros();
  1274. bool res = card.card.readBlock(i, buff);
  1275. u = micros() - u;
  1276. if (res)
  1277. {
  1278. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1279. sumr += u;
  1280. u = micros();
  1281. res = card.card.writeBlock(i, buff);
  1282. u = micros() - u;
  1283. if (res)
  1284. {
  1285. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1286. sumw += u;
  1287. }
  1288. else
  1289. {
  1290. printf_P(PSTR("writeBlock %4d error\n"), i);
  1291. break;
  1292. }
  1293. }
  1294. else
  1295. {
  1296. printf_P(PSTR("readBlock %4d error\n"), i);
  1297. break;
  1298. }
  1299. }
  1300. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1301. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1302. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1303. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1304. }
  1305. else
  1306. printf_P(PSTR("Card NG!\n"));
  1307. #endif //DEBUG_SD_SPEED_TEST
  1308. if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
  1309. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
  1310. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
  1311. if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
  1312. if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
  1313. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
  1314. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
  1315. if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
  1316. #ifdef SNMM
  1317. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1318. int _z = BOWDEN_LENGTH;
  1319. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1320. }
  1321. #endif
  1322. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1323. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1324. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1325. #if (LANG_MODE != 0) //secondary language support
  1326. #ifdef DEBUG_W25X20CL
  1327. W25X20CL_SPI_ENTER();
  1328. uint8_t uid[8]; // 64bit unique id
  1329. w25x20cl_rd_uid(uid);
  1330. puts_P(_n("W25X20CL UID="));
  1331. for (uint8_t i = 0; i < 8; i ++)
  1332. printf_P(PSTR("%02hhx"), uid[i]);
  1333. putchar('\n');
  1334. list_sec_lang_from_external_flash();
  1335. #endif //DEBUG_W25X20CL
  1336. // lang_reset();
  1337. if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
  1338. lcd_language();
  1339. #ifdef DEBUG_SEC_LANG
  1340. uint16_t sec_lang_code = lang_get_code(1);
  1341. uint16_t ui = _SEC_LANG_TABLE; //table pointer
  1342. 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);
  1343. // lang_print_sec_lang(uartout);
  1344. #endif //DEBUG_SEC_LANG
  1345. #endif //(LANG_MODE != 0)
  1346. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1347. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1348. temp_cal_active = false;
  1349. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  1350. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1351. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1352. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1353. int16_t z_shift = 0;
  1354. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  1355. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1356. temp_cal_active = false;
  1357. }
  1358. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1359. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1360. }
  1361. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1362. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1363. }
  1364. check_babystep(); //checking if Z babystep is in allowed range
  1365. #ifdef UVLO_SUPPORT
  1366. setup_uvlo_interrupt();
  1367. #endif //UVLO_SUPPORT
  1368. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1369. setup_fan_interrupt();
  1370. #endif //DEBUG_DISABLE_FANCHECK
  1371. #ifdef PAT9125
  1372. #ifndef DEBUG_DISABLE_FSENSORCHECK
  1373. fsensor_setup_interrupt();
  1374. #endif //DEBUG_DISABLE_FSENSORCHECK
  1375. #endif //PAT9125
  1376. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1377. #ifndef DEBUG_DISABLE_STARTMSGS
  1378. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1379. show_fw_version_warnings();
  1380. switch (hw_changed) {
  1381. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1382. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1383. case(0b01):
  1384. lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
  1385. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1386. break;
  1387. case(0b10):
  1388. lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
  1389. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1390. break;
  1391. case(0b11):
  1392. lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
  1393. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1394. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1395. break;
  1396. default: break; //no change, show no message
  1397. }
  1398. if (!previous_settings_retrieved) {
  1399. 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
  1400. erase_eeprom_section(EEPROM_OFFSET, 156); //erase M500 part of eeprom
  1401. }
  1402. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  1403. lcd_wizard(0);
  1404. }
  1405. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1406. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1407. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1408. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1409. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1410. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1411. // Show the message.
  1412. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1413. }
  1414. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1415. // Show the message.
  1416. lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  1417. lcd_update_enable(true);
  1418. }
  1419. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  1420. //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
  1421. lcd_update_enable(true);
  1422. }
  1423. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1424. // Show the message.
  1425. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1426. }
  1427. }
  1428. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1429. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1430. lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
  1431. update_current_firmware_version_to_eeprom();
  1432. lcd_selftest();
  1433. }
  1434. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1435. KEEPALIVE_STATE(IN_PROCESS);
  1436. #endif //DEBUG_DISABLE_STARTMSGS
  1437. lcd_update_enable(true);
  1438. lcd_implementation_clear();
  1439. lcd_update(2);
  1440. // Store the currently running firmware into an eeprom,
  1441. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1442. update_current_firmware_version_to_eeprom();
  1443. #ifdef TMC2130
  1444. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1445. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1446. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1447. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1448. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1449. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1450. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1451. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1452. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1453. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1454. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1455. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1456. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1457. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1458. #endif //TMC2130
  1459. #ifdef UVLO_SUPPORT
  1460. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
  1461. /*
  1462. if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
  1463. else {
  1464. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1465. lcd_update_enable(true);
  1466. lcd_update(2);
  1467. lcd_setstatuspgm(_T(WELCOME_MSG));
  1468. }
  1469. */
  1470. manage_heater(); // Update temperatures
  1471. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1472. 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))
  1473. #endif
  1474. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1475. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1476. puts_P(_N("Automatic recovery!"));
  1477. #endif
  1478. recover_print(1);
  1479. }
  1480. else{
  1481. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1482. puts_P(_N("Normal recovery!"));
  1483. #endif
  1484. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
  1485. else {
  1486. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1487. lcd_update_enable(true);
  1488. lcd_update(2);
  1489. lcd_setstatuspgm(_T(WELCOME_MSG));
  1490. }
  1491. }
  1492. }
  1493. #endif //UVLO_SUPPORT
  1494. KEEPALIVE_STATE(NOT_BUSY);
  1495. #ifdef WATCHDOG
  1496. wdt_enable(WDTO_4S);
  1497. #endif //WATCHDOG
  1498. }
  1499. #ifdef PAT9125
  1500. void fsensor_init() {
  1501. int pat9125 = pat9125_init();
  1502. printf_P(_N("PAT9125_init:%d\n"), pat9125);
  1503. uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
  1504. filament_autoload_enabled=eeprom_read_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED);
  1505. if (!pat9125)
  1506. {
  1507. fsensor = 0; //disable sensor
  1508. fsensor_not_responding = true;
  1509. }
  1510. else {
  1511. fsensor_not_responding = false;
  1512. }
  1513. puts_P(PSTR("FSensor "));
  1514. if (fsensor)
  1515. {
  1516. puts_P(PSTR("ENABLED\n"));
  1517. fsensor_enable();
  1518. }
  1519. else
  1520. {
  1521. puts_P(PSTR("DISABLED\n"));
  1522. fsensor_disable();
  1523. }
  1524. #ifdef DEBUG_DISABLE_FSENSORCHECK
  1525. filament_autoload_enabled = false;
  1526. fsensor_disable();
  1527. #endif //DEBUG_DISABLE_FSENSORCHECK
  1528. }
  1529. #endif //PAT9125
  1530. void trace();
  1531. #define CHUNK_SIZE 64 // bytes
  1532. #define SAFETY_MARGIN 1
  1533. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1534. int chunkHead = 0;
  1535. int serial_read_stream() {
  1536. setTargetHotend(0, 0);
  1537. setTargetBed(0);
  1538. lcd_implementation_clear();
  1539. lcd_printPGM(PSTR(" Upload in progress"));
  1540. // first wait for how many bytes we will receive
  1541. uint32_t bytesToReceive;
  1542. // receive the four bytes
  1543. char bytesToReceiveBuffer[4];
  1544. for (int i=0; i<4; i++) {
  1545. int data;
  1546. while ((data = MYSERIAL.read()) == -1) {};
  1547. bytesToReceiveBuffer[i] = data;
  1548. }
  1549. // make it a uint32
  1550. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1551. // we're ready, notify the sender
  1552. MYSERIAL.write('+');
  1553. // lock in the routine
  1554. uint32_t receivedBytes = 0;
  1555. while (prusa_sd_card_upload) {
  1556. int i;
  1557. for (i=0; i<CHUNK_SIZE; i++) {
  1558. int data;
  1559. // check if we're not done
  1560. if (receivedBytes == bytesToReceive) {
  1561. break;
  1562. }
  1563. // read the next byte
  1564. while ((data = MYSERIAL.read()) == -1) {};
  1565. receivedBytes++;
  1566. // save it to the chunk
  1567. chunk[i] = data;
  1568. }
  1569. // write the chunk to SD
  1570. card.write_command_no_newline(&chunk[0]);
  1571. // notify the sender we're ready for more data
  1572. MYSERIAL.write('+');
  1573. // for safety
  1574. manage_heater();
  1575. // check if we're done
  1576. if(receivedBytes == bytesToReceive) {
  1577. trace(); // beep
  1578. card.closefile();
  1579. prusa_sd_card_upload = false;
  1580. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1581. return 0;
  1582. }
  1583. }
  1584. }
  1585. #ifdef HOST_KEEPALIVE_FEATURE
  1586. /**
  1587. * Output a "busy" message at regular intervals
  1588. * while the machine is not accepting commands.
  1589. */
  1590. void host_keepalive() {
  1591. if (farm_mode) return;
  1592. long ms = millis();
  1593. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1594. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1595. switch (busy_state) {
  1596. case IN_HANDLER:
  1597. case IN_PROCESS:
  1598. SERIAL_ECHO_START;
  1599. SERIAL_ECHOLNPGM("busy: processing");
  1600. break;
  1601. case PAUSED_FOR_USER:
  1602. SERIAL_ECHO_START;
  1603. SERIAL_ECHOLNPGM("busy: paused for user");
  1604. break;
  1605. case PAUSED_FOR_INPUT:
  1606. SERIAL_ECHO_START;
  1607. SERIAL_ECHOLNPGM("busy: paused for input");
  1608. break;
  1609. default:
  1610. break;
  1611. }
  1612. }
  1613. prev_busy_signal_ms = ms;
  1614. }
  1615. #endif
  1616. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1617. // Before loop(), the setup() function is called by the main() routine.
  1618. void loop()
  1619. {
  1620. KEEPALIVE_STATE(NOT_BUSY);
  1621. bool stack_integrity = true;
  1622. if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
  1623. {
  1624. is_usb_printing = true;
  1625. usb_printing_counter--;
  1626. _usb_timer = millis();
  1627. }
  1628. if (usb_printing_counter == 0)
  1629. {
  1630. is_usb_printing = false;
  1631. }
  1632. if (prusa_sd_card_upload)
  1633. {
  1634. //we read byte-by byte
  1635. serial_read_stream();
  1636. } else
  1637. {
  1638. get_command();
  1639. #ifdef SDSUPPORT
  1640. card.checkautostart(false);
  1641. #endif
  1642. if(buflen)
  1643. {
  1644. cmdbuffer_front_already_processed = false;
  1645. #ifdef SDSUPPORT
  1646. if(card.saving)
  1647. {
  1648. // Saving a G-code file onto an SD-card is in progress.
  1649. // Saving starts with M28, saving until M29 is seen.
  1650. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1651. card.write_command(CMDBUFFER_CURRENT_STRING);
  1652. if(card.logging)
  1653. process_commands();
  1654. else
  1655. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  1656. } else {
  1657. card.closefile();
  1658. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1659. }
  1660. } else {
  1661. process_commands();
  1662. }
  1663. #else
  1664. process_commands();
  1665. #endif //SDSUPPORT
  1666. if (! cmdbuffer_front_already_processed && buflen)
  1667. {
  1668. // ptr points to the start of the block currently being processed.
  1669. // The first character in the block is the block type.
  1670. char *ptr = cmdbuffer + bufindr;
  1671. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1672. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1673. union {
  1674. struct {
  1675. char lo;
  1676. char hi;
  1677. } lohi;
  1678. uint16_t value;
  1679. } sdlen;
  1680. sdlen.value = 0;
  1681. {
  1682. // This block locks the interrupts globally for 3.25 us,
  1683. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1684. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1685. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1686. cli();
  1687. // Reset the command to something, which will be ignored by the power panic routine,
  1688. // so this buffer length will not be counted twice.
  1689. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1690. // Extract the current buffer length.
  1691. sdlen.lohi.lo = *ptr ++;
  1692. sdlen.lohi.hi = *ptr;
  1693. // and pass it to the planner queue.
  1694. planner_add_sd_length(sdlen.value);
  1695. sei();
  1696. }
  1697. }
  1698. else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
  1699. cli();
  1700. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1701. // and one for each command to previous block in the planner queue.
  1702. planner_add_sd_length(1);
  1703. sei();
  1704. }
  1705. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1706. // this block's SD card length will not be counted twice as its command type has been replaced
  1707. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1708. cmdqueue_pop_front();
  1709. }
  1710. host_keepalive();
  1711. }
  1712. }
  1713. //check heater every n milliseconds
  1714. manage_heater();
  1715. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1716. checkHitEndstops();
  1717. lcd_update();
  1718. #ifdef PAT9125
  1719. fsensor_update();
  1720. #endif //PAT9125
  1721. #ifdef TMC2130
  1722. tmc2130_check_overtemp();
  1723. if (tmc2130_sg_crash)
  1724. {
  1725. uint8_t crash = tmc2130_sg_crash;
  1726. tmc2130_sg_crash = 0;
  1727. // crashdet_stop_and_save_print();
  1728. switch (crash)
  1729. {
  1730. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1731. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1732. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1733. }
  1734. }
  1735. #endif //TMC2130
  1736. }
  1737. #define DEFINE_PGM_READ_ANY(type, reader) \
  1738. static inline type pgm_read_any(const type *p) \
  1739. { return pgm_read_##reader##_near(p); }
  1740. DEFINE_PGM_READ_ANY(float, float);
  1741. DEFINE_PGM_READ_ANY(signed char, byte);
  1742. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1743. static const PROGMEM type array##_P[3] = \
  1744. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1745. static inline type array(int axis) \
  1746. { return pgm_read_any(&array##_P[axis]); } \
  1747. type array##_ext(int axis) \
  1748. { return pgm_read_any(&array##_P[axis]); }
  1749. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1750. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1751. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1752. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1753. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1754. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1755. static void axis_is_at_home(int axis) {
  1756. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1757. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1758. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1759. }
  1760. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1761. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1762. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1763. saved_feedrate = feedrate;
  1764. saved_feedmultiply = feedmultiply;
  1765. feedmultiply = 100;
  1766. previous_millis_cmd = millis();
  1767. enable_endstops(enable_endstops_now);
  1768. }
  1769. static void clean_up_after_endstop_move() {
  1770. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1771. enable_endstops(false);
  1772. #endif
  1773. feedrate = saved_feedrate;
  1774. feedmultiply = saved_feedmultiply;
  1775. previous_millis_cmd = millis();
  1776. }
  1777. #ifdef ENABLE_AUTO_BED_LEVELING
  1778. #ifdef AUTO_BED_LEVELING_GRID
  1779. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1780. {
  1781. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1782. planeNormal.debug("planeNormal");
  1783. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1784. //bedLevel.debug("bedLevel");
  1785. //plan_bed_level_matrix.debug("bed level before");
  1786. //vector_3 uncorrected_position = plan_get_position_mm();
  1787. //uncorrected_position.debug("position before");
  1788. vector_3 corrected_position = plan_get_position();
  1789. // corrected_position.debug("position after");
  1790. current_position[X_AXIS] = corrected_position.x;
  1791. current_position[Y_AXIS] = corrected_position.y;
  1792. current_position[Z_AXIS] = corrected_position.z;
  1793. // put the bed at 0 so we don't go below it.
  1794. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1795. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1796. }
  1797. #else // not AUTO_BED_LEVELING_GRID
  1798. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1799. plan_bed_level_matrix.set_to_identity();
  1800. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1801. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1802. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1803. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1804. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1805. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1806. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1807. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1808. vector_3 corrected_position = plan_get_position();
  1809. current_position[X_AXIS] = corrected_position.x;
  1810. current_position[Y_AXIS] = corrected_position.y;
  1811. current_position[Z_AXIS] = corrected_position.z;
  1812. // put the bed at 0 so we don't go below it.
  1813. current_position[Z_AXIS] = zprobe_zoffset;
  1814. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1815. }
  1816. #endif // AUTO_BED_LEVELING_GRID
  1817. static void run_z_probe() {
  1818. plan_bed_level_matrix.set_to_identity();
  1819. feedrate = homing_feedrate[Z_AXIS];
  1820. // move down until you find the bed
  1821. float zPosition = -10;
  1822. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1823. st_synchronize();
  1824. // we have to let the planner know where we are right now as it is not where we said to go.
  1825. zPosition = st_get_position_mm(Z_AXIS);
  1826. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1827. // move up the retract distance
  1828. zPosition += home_retract_mm(Z_AXIS);
  1829. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1830. st_synchronize();
  1831. // move back down slowly to find bed
  1832. feedrate = homing_feedrate[Z_AXIS]/4;
  1833. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1834. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1835. st_synchronize();
  1836. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1837. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1838. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1839. }
  1840. static void do_blocking_move_to(float x, float y, float z) {
  1841. float oldFeedRate = feedrate;
  1842. feedrate = homing_feedrate[Z_AXIS];
  1843. current_position[Z_AXIS] = z;
  1844. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1845. st_synchronize();
  1846. feedrate = XY_TRAVEL_SPEED;
  1847. current_position[X_AXIS] = x;
  1848. current_position[Y_AXIS] = y;
  1849. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1850. st_synchronize();
  1851. feedrate = oldFeedRate;
  1852. }
  1853. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1854. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1855. }
  1856. /// Probe bed height at position (x,y), returns the measured z value
  1857. static float probe_pt(float x, float y, float z_before) {
  1858. // move to right place
  1859. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1860. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1861. run_z_probe();
  1862. float measured_z = current_position[Z_AXIS];
  1863. SERIAL_PROTOCOLRPGM(_T(MSG_BED));
  1864. SERIAL_PROTOCOLPGM(" x: ");
  1865. SERIAL_PROTOCOL(x);
  1866. SERIAL_PROTOCOLPGM(" y: ");
  1867. SERIAL_PROTOCOL(y);
  1868. SERIAL_PROTOCOLPGM(" z: ");
  1869. SERIAL_PROTOCOL(measured_z);
  1870. SERIAL_PROTOCOLPGM("\n");
  1871. return measured_z;
  1872. }
  1873. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1874. #ifdef LIN_ADVANCE
  1875. /**
  1876. * M900: Set and/or Get advance K factor and WH/D ratio
  1877. *
  1878. * K<factor> Set advance K factor
  1879. * R<ratio> Set ratio directly (overrides WH/D)
  1880. * W<width> H<height> D<diam> Set ratio from WH/D
  1881. */
  1882. inline void gcode_M900() {
  1883. st_synchronize();
  1884. const float newK = code_seen('K') ? code_value_float() : -1;
  1885. if (newK >= 0) extruder_advance_k = newK;
  1886. float newR = code_seen('R') ? code_value_float() : -1;
  1887. if (newR < 0) {
  1888. const float newD = code_seen('D') ? code_value_float() : -1,
  1889. newW = code_seen('W') ? code_value_float() : -1,
  1890. newH = code_seen('H') ? code_value_float() : -1;
  1891. if (newD >= 0 && newW >= 0 && newH >= 0)
  1892. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1893. }
  1894. if (newR >= 0) advance_ed_ratio = newR;
  1895. SERIAL_ECHO_START;
  1896. SERIAL_ECHOPGM("Advance K=");
  1897. SERIAL_ECHOLN(extruder_advance_k);
  1898. SERIAL_ECHOPGM(" E/D=");
  1899. const float ratio = advance_ed_ratio;
  1900. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1901. }
  1902. #endif // LIN_ADVANCE
  1903. bool check_commands() {
  1904. bool end_command_found = false;
  1905. while (buflen)
  1906. {
  1907. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1908. if (!cmdbuffer_front_already_processed)
  1909. cmdqueue_pop_front();
  1910. cmdbuffer_front_already_processed = false;
  1911. }
  1912. return end_command_found;
  1913. }
  1914. #ifdef TMC2130
  1915. bool calibrate_z_auto()
  1916. {
  1917. //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
  1918. lcd_implementation_clear();
  1919. lcd_print_at_PGM(0,1, _T(MSG_CALIBRATE_Z_AUTO));
  1920. bool endstops_enabled = enable_endstops(true);
  1921. int axis_up_dir = -home_dir(Z_AXIS);
  1922. tmc2130_home_enter(Z_AXIS_MASK);
  1923. current_position[Z_AXIS] = 0;
  1924. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1925. set_destination_to_current();
  1926. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1927. feedrate = homing_feedrate[Z_AXIS];
  1928. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1929. st_synchronize();
  1930. // current_position[axis] = 0;
  1931. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1932. tmc2130_home_exit();
  1933. enable_endstops(false);
  1934. current_position[Z_AXIS] = 0;
  1935. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1936. set_destination_to_current();
  1937. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1938. feedrate = homing_feedrate[Z_AXIS] / 2;
  1939. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1940. st_synchronize();
  1941. enable_endstops(endstops_enabled);
  1942. current_position[Z_AXIS] = Z_MAX_POS+2.0;
  1943. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1944. return true;
  1945. }
  1946. #endif //TMC2130
  1947. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1948. {
  1949. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1950. #define HOMEAXIS_DO(LETTER) \
  1951. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1952. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1953. {
  1954. int axis_home_dir = home_dir(axis);
  1955. feedrate = homing_feedrate[axis];
  1956. #ifdef TMC2130
  1957. tmc2130_home_enter(X_AXIS_MASK << axis);
  1958. #endif //TMC2130
  1959. // Move right a bit, so that the print head does not touch the left end position,
  1960. // and the following left movement has a chance to achieve the required velocity
  1961. // for the stall guard to work.
  1962. current_position[axis] = 0;
  1963. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1964. set_destination_to_current();
  1965. // destination[axis] = 11.f;
  1966. destination[axis] = 3.f;
  1967. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1968. st_synchronize();
  1969. // Move left away from the possible collision with the collision detection disabled.
  1970. endstops_hit_on_purpose();
  1971. enable_endstops(false);
  1972. current_position[axis] = 0;
  1973. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1974. destination[axis] = - 1.;
  1975. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1976. st_synchronize();
  1977. // Now continue to move up to the left end stop with the collision detection enabled.
  1978. enable_endstops(true);
  1979. destination[axis] = - 1.1 * max_length(axis);
  1980. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1981. st_synchronize();
  1982. for (uint8_t i = 0; i < cnt; i++)
  1983. {
  1984. // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
  1985. endstops_hit_on_purpose();
  1986. enable_endstops(false);
  1987. current_position[axis] = 0;
  1988. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1989. destination[axis] = 10.f;
  1990. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1991. st_synchronize();
  1992. endstops_hit_on_purpose();
  1993. // Now move left up to the collision, this time with a repeatable velocity.
  1994. enable_endstops(true);
  1995. destination[axis] = - 11.f;
  1996. #ifdef TMC2130
  1997. feedrate = homing_feedrate[axis];
  1998. #else //TMC2130
  1999. feedrate = homing_feedrate[axis] / 2;
  2000. #endif //TMC2130
  2001. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2002. st_synchronize();
  2003. #ifdef TMC2130
  2004. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  2005. if (pstep) pstep[i] = mscnt >> 4;
  2006. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  2007. #endif //TMC2130
  2008. }
  2009. endstops_hit_on_purpose();
  2010. enable_endstops(false);
  2011. #ifdef TMC2130
  2012. uint8_t orig = tmc2130_home_origin[axis];
  2013. uint8_t back = tmc2130_home_bsteps[axis];
  2014. if (tmc2130_home_enabled && (orig <= 63))
  2015. {
  2016. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  2017. if (back > 0)
  2018. tmc2130_do_steps(axis, back, 1, 1000);
  2019. }
  2020. else
  2021. tmc2130_do_steps(axis, 8, 2, 1000);
  2022. tmc2130_home_exit();
  2023. #endif //TMC2130
  2024. axis_is_at_home(axis);
  2025. axis_known_position[axis] = true;
  2026. // Move from minimum
  2027. #ifdef TMC2130
  2028. float dist = 0.01f * tmc2130_home_fsteps[axis];
  2029. #else //TMC2130
  2030. float dist = 0.01f * 64;
  2031. #endif //TMC2130
  2032. current_position[axis] -= dist;
  2033. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2034. current_position[axis] += dist;
  2035. destination[axis] = current_position[axis];
  2036. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
  2037. st_synchronize();
  2038. feedrate = 0.0;
  2039. }
  2040. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  2041. {
  2042. #ifdef TMC2130
  2043. FORCE_HIGH_POWER_START;
  2044. #endif
  2045. int axis_home_dir = home_dir(axis);
  2046. current_position[axis] = 0;
  2047. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2048. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  2049. feedrate = homing_feedrate[axis];
  2050. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2051. st_synchronize();
  2052. #ifdef TMC2130
  2053. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  2054. FORCE_HIGH_POWER_END;
  2055. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2056. return;
  2057. }
  2058. #endif //TMC2130
  2059. current_position[axis] = 0;
  2060. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2061. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  2062. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2063. st_synchronize();
  2064. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  2065. feedrate = homing_feedrate[axis]/2 ;
  2066. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2067. st_synchronize();
  2068. #ifdef TMC2130
  2069. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  2070. FORCE_HIGH_POWER_END;
  2071. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2072. return;
  2073. }
  2074. #endif //TMC2130
  2075. axis_is_at_home(axis);
  2076. destination[axis] = current_position[axis];
  2077. feedrate = 0.0;
  2078. endstops_hit_on_purpose();
  2079. axis_known_position[axis] = true;
  2080. #ifdef TMC2130
  2081. FORCE_HIGH_POWER_END;
  2082. #endif
  2083. }
  2084. enable_endstops(endstops_enabled);
  2085. }
  2086. /**/
  2087. void home_xy()
  2088. {
  2089. set_destination_to_current();
  2090. homeaxis(X_AXIS);
  2091. homeaxis(Y_AXIS);
  2092. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2093. endstops_hit_on_purpose();
  2094. }
  2095. void refresh_cmd_timeout(void)
  2096. {
  2097. previous_millis_cmd = millis();
  2098. }
  2099. #ifdef FWRETRACT
  2100. void retract(bool retracting, bool swapretract = false) {
  2101. if(retracting && !retracted[active_extruder]) {
  2102. destination[X_AXIS]=current_position[X_AXIS];
  2103. destination[Y_AXIS]=current_position[Y_AXIS];
  2104. destination[Z_AXIS]=current_position[Z_AXIS];
  2105. destination[E_AXIS]=current_position[E_AXIS];
  2106. current_position[E_AXIS]+=(swapretract?retract_length_swap:retract_length)*float(extrudemultiply)*0.01f;
  2107. plan_set_e_position(current_position[E_AXIS]);
  2108. float oldFeedrate = feedrate;
  2109. feedrate=retract_feedrate*60;
  2110. retracted[active_extruder]=true;
  2111. prepare_move();
  2112. current_position[Z_AXIS]-=retract_zlift;
  2113. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2114. prepare_move();
  2115. feedrate = oldFeedrate;
  2116. } else if(!retracting && retracted[active_extruder]) {
  2117. destination[X_AXIS]=current_position[X_AXIS];
  2118. destination[Y_AXIS]=current_position[Y_AXIS];
  2119. destination[Z_AXIS]=current_position[Z_AXIS];
  2120. destination[E_AXIS]=current_position[E_AXIS];
  2121. current_position[Z_AXIS]+=retract_zlift;
  2122. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2123. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(retract_length+retract_recover_length))*float(extrudemultiply)*0.01f;
  2124. plan_set_e_position(current_position[E_AXIS]);
  2125. float oldFeedrate = feedrate;
  2126. feedrate=retract_recover_feedrate*60;
  2127. retracted[active_extruder]=false;
  2128. prepare_move();
  2129. feedrate = oldFeedrate;
  2130. }
  2131. } //retract
  2132. #endif //FWRETRACT
  2133. void trace() {
  2134. tone(BEEPER, 440);
  2135. delay(25);
  2136. noTone(BEEPER);
  2137. delay(20);
  2138. }
  2139. /*
  2140. void ramming() {
  2141. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  2142. if (current_temperature[0] < 230) {
  2143. //PLA
  2144. max_feedrate[E_AXIS] = 50;
  2145. //current_position[E_AXIS] -= 8;
  2146. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2147. //current_position[E_AXIS] += 8;
  2148. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2149. current_position[E_AXIS] += 5.4;
  2150. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  2151. current_position[E_AXIS] += 3.2;
  2152. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2153. current_position[E_AXIS] += 3;
  2154. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  2155. st_synchronize();
  2156. max_feedrate[E_AXIS] = 80;
  2157. current_position[E_AXIS] -= 82;
  2158. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  2159. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2160. current_position[E_AXIS] -= 20;
  2161. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  2162. current_position[E_AXIS] += 5;
  2163. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  2164. current_position[E_AXIS] += 5;
  2165. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2166. current_position[E_AXIS] -= 10;
  2167. st_synchronize();
  2168. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2169. current_position[E_AXIS] += 10;
  2170. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2171. current_position[E_AXIS] -= 10;
  2172. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2173. current_position[E_AXIS] += 10;
  2174. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2175. current_position[E_AXIS] -= 10;
  2176. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2177. st_synchronize();
  2178. }
  2179. else {
  2180. //ABS
  2181. max_feedrate[E_AXIS] = 50;
  2182. //current_position[E_AXIS] -= 8;
  2183. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2184. //current_position[E_AXIS] += 8;
  2185. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2186. current_position[E_AXIS] += 3.1;
  2187. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  2188. current_position[E_AXIS] += 3.1;
  2189. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  2190. current_position[E_AXIS] += 4;
  2191. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2192. st_synchronize();
  2193. //current_position[X_AXIS] += 23; //delay
  2194. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  2195. //current_position[X_AXIS] -= 23; //delay
  2196. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  2197. delay(4700);
  2198. max_feedrate[E_AXIS] = 80;
  2199. current_position[E_AXIS] -= 92;
  2200. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  2201. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2202. current_position[E_AXIS] -= 5;
  2203. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2204. current_position[E_AXIS] += 5;
  2205. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  2206. current_position[E_AXIS] -= 5;
  2207. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2208. st_synchronize();
  2209. current_position[E_AXIS] += 5;
  2210. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2211. current_position[E_AXIS] -= 5;
  2212. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2213. current_position[E_AXIS] += 5;
  2214. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2215. current_position[E_AXIS] -= 5;
  2216. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2217. st_synchronize();
  2218. }
  2219. }
  2220. */
  2221. #ifdef TMC2130
  2222. void force_high_power_mode(bool start_high_power_section) {
  2223. uint8_t silent;
  2224. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  2225. if (silent == 1) {
  2226. //we are in silent mode, set to normal mode to enable crash detection
  2227. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  2228. st_synchronize();
  2229. cli();
  2230. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  2231. tmc2130_init();
  2232. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  2233. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  2234. st_reset_timer();
  2235. sei();
  2236. }
  2237. }
  2238. #endif //TMC2130
  2239. void gcode_G28(bool home_x, bool home_y, bool home_z, bool calib) {
  2240. st_synchronize();
  2241. #if 0
  2242. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2243. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2244. #endif
  2245. // Flag for the display update routine and to disable the print cancelation during homing.
  2246. homing_flag = true;
  2247. // Either all X,Y,Z codes are present, or none of them.
  2248. bool home_all_axes = home_x == home_y && home_x == home_z;
  2249. if (home_all_axes)
  2250. // No X/Y/Z code provided means to home all axes.
  2251. home_x = home_y = home_z = true;
  2252. //if we are homing all axes, first move z higher to protect heatbed/steel sheet
  2253. if (home_all_axes) {
  2254. current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
  2255. feedrate = homing_feedrate[Z_AXIS];
  2256. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  2257. st_synchronize();
  2258. }
  2259. #ifdef ENABLE_AUTO_BED_LEVELING
  2260. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2261. #endif //ENABLE_AUTO_BED_LEVELING
  2262. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2263. // the planner will not perform any adjustments in the XY plane.
  2264. // Wait for the motors to stop and update the current position with the absolute values.
  2265. world2machine_revert_to_uncorrected();
  2266. // For mesh bed leveling deactivate the matrix temporarily.
  2267. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2268. // in a single axis only.
  2269. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2270. #ifdef MESH_BED_LEVELING
  2271. uint8_t mbl_was_active = mbl.active;
  2272. mbl.active = 0;
  2273. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2274. #endif
  2275. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2276. // consumed during the first movements following this statement.
  2277. if (home_z)
  2278. babystep_undo();
  2279. saved_feedrate = feedrate;
  2280. saved_feedmultiply = feedmultiply;
  2281. feedmultiply = 100;
  2282. previous_millis_cmd = millis();
  2283. enable_endstops(true);
  2284. memcpy(destination, current_position, sizeof(destination));
  2285. feedrate = 0.0;
  2286. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2287. if(home_z)
  2288. homeaxis(Z_AXIS);
  2289. #endif
  2290. #ifdef QUICK_HOME
  2291. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2292. if(home_x && home_y) //first diagonal move
  2293. {
  2294. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2295. int x_axis_home_dir = home_dir(X_AXIS);
  2296. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2297. 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);
  2298. feedrate = homing_feedrate[X_AXIS];
  2299. if(homing_feedrate[Y_AXIS]<feedrate)
  2300. feedrate = homing_feedrate[Y_AXIS];
  2301. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2302. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2303. } else {
  2304. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2305. }
  2306. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2307. st_synchronize();
  2308. axis_is_at_home(X_AXIS);
  2309. axis_is_at_home(Y_AXIS);
  2310. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2311. destination[X_AXIS] = current_position[X_AXIS];
  2312. destination[Y_AXIS] = current_position[Y_AXIS];
  2313. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2314. feedrate = 0.0;
  2315. st_synchronize();
  2316. endstops_hit_on_purpose();
  2317. current_position[X_AXIS] = destination[X_AXIS];
  2318. current_position[Y_AXIS] = destination[Y_AXIS];
  2319. current_position[Z_AXIS] = destination[Z_AXIS];
  2320. }
  2321. #endif /* QUICK_HOME */
  2322. #ifdef TMC2130
  2323. if(home_x)
  2324. {
  2325. if (!calib)
  2326. homeaxis(X_AXIS);
  2327. else
  2328. tmc2130_home_calibrate(X_AXIS);
  2329. }
  2330. if(home_y)
  2331. {
  2332. if (!calib)
  2333. homeaxis(Y_AXIS);
  2334. else
  2335. tmc2130_home_calibrate(Y_AXIS);
  2336. }
  2337. #endif //TMC2130
  2338. if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
  2339. current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
  2340. if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
  2341. current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
  2342. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2343. #ifndef Z_SAFE_HOMING
  2344. if(home_z) {
  2345. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2346. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2347. feedrate = max_feedrate[Z_AXIS];
  2348. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2349. st_synchronize();
  2350. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2351. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
  2352. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2353. {
  2354. homeaxis(X_AXIS);
  2355. homeaxis(Y_AXIS);
  2356. }
  2357. // 1st mesh bed leveling measurement point, corrected.
  2358. world2machine_initialize();
  2359. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2360. world2machine_reset();
  2361. if (destination[Y_AXIS] < Y_MIN_POS)
  2362. destination[Y_AXIS] = Y_MIN_POS;
  2363. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2364. feedrate = homing_feedrate[Z_AXIS]/10;
  2365. current_position[Z_AXIS] = 0;
  2366. enable_endstops(false);
  2367. #ifdef DEBUG_BUILD
  2368. SERIAL_ECHOLNPGM("plan_set_position()");
  2369. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2370. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2371. #endif
  2372. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2373. #ifdef DEBUG_BUILD
  2374. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2375. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2376. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2377. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2378. #endif
  2379. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2380. st_synchronize();
  2381. current_position[X_AXIS] = destination[X_AXIS];
  2382. current_position[Y_AXIS] = destination[Y_AXIS];
  2383. enable_endstops(true);
  2384. endstops_hit_on_purpose();
  2385. homeaxis(Z_AXIS);
  2386. #else // MESH_BED_LEVELING
  2387. homeaxis(Z_AXIS);
  2388. #endif // MESH_BED_LEVELING
  2389. }
  2390. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2391. if(home_all_axes) {
  2392. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2393. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2394. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2395. feedrate = XY_TRAVEL_SPEED/60;
  2396. current_position[Z_AXIS] = 0;
  2397. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2398. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2399. st_synchronize();
  2400. current_position[X_AXIS] = destination[X_AXIS];
  2401. current_position[Y_AXIS] = destination[Y_AXIS];
  2402. homeaxis(Z_AXIS);
  2403. }
  2404. // Let's see if X and Y are homed and probe is inside bed area.
  2405. if(home_z) {
  2406. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2407. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2408. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2409. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2410. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2411. current_position[Z_AXIS] = 0;
  2412. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2413. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2414. feedrate = max_feedrate[Z_AXIS];
  2415. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2416. st_synchronize();
  2417. homeaxis(Z_AXIS);
  2418. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2419. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2420. SERIAL_ECHO_START;
  2421. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2422. } else {
  2423. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2424. SERIAL_ECHO_START;
  2425. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2426. }
  2427. }
  2428. #endif // Z_SAFE_HOMING
  2429. #endif // Z_HOME_DIR < 0
  2430. if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
  2431. current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
  2432. #ifdef ENABLE_AUTO_BED_LEVELING
  2433. if(home_z)
  2434. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2435. #endif
  2436. // Set the planner and stepper routine positions.
  2437. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2438. // contains the machine coordinates.
  2439. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2440. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2441. enable_endstops(false);
  2442. #endif
  2443. feedrate = saved_feedrate;
  2444. feedmultiply = saved_feedmultiply;
  2445. previous_millis_cmd = millis();
  2446. endstops_hit_on_purpose();
  2447. #ifndef MESH_BED_LEVELING
  2448. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2449. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2450. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2451. lcd_adjust_z();
  2452. #endif
  2453. // Load the machine correction matrix
  2454. world2machine_initialize();
  2455. // and correct the current_position XY axes to match the transformed coordinate system.
  2456. world2machine_update_current();
  2457. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2458. if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
  2459. {
  2460. if (! home_z && mbl_was_active) {
  2461. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2462. mbl.active = true;
  2463. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2464. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2465. }
  2466. }
  2467. else
  2468. {
  2469. st_synchronize();
  2470. homing_flag = false;
  2471. // Push the commands to the front of the message queue in the reverse order!
  2472. // There shall be always enough space reserved for these commands.
  2473. enquecommand_front_P((PSTR("G80")));
  2474. //goto case_G80;
  2475. }
  2476. #endif
  2477. if (farm_mode) { prusa_statistics(20); };
  2478. homing_flag = false;
  2479. #if 0
  2480. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2481. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2482. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2483. #endif
  2484. }
  2485. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  2486. {
  2487. bool final_result = false;
  2488. #ifdef TMC2130
  2489. FORCE_HIGH_POWER_START;
  2490. #endif // TMC2130
  2491. // Only Z calibration?
  2492. if (!onlyZ)
  2493. {
  2494. setTargetBed(0);
  2495. setTargetHotend(0, 0);
  2496. setTargetHotend(0, 1);
  2497. setTargetHotend(0, 2);
  2498. adjust_bed_reset(); //reset bed level correction
  2499. }
  2500. // Disable the default update procedure of the display. We will do a modal dialog.
  2501. lcd_update_enable(false);
  2502. // Let the planner use the uncorrected coordinates.
  2503. mbl.reset();
  2504. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2505. // the planner will not perform any adjustments in the XY plane.
  2506. // Wait for the motors to stop and update the current position with the absolute values.
  2507. world2machine_revert_to_uncorrected();
  2508. // Reset the baby step value applied without moving the axes.
  2509. babystep_reset();
  2510. // Mark all axes as in a need for homing.
  2511. memset(axis_known_position, 0, sizeof(axis_known_position));
  2512. // Home in the XY plane.
  2513. //set_destination_to_current();
  2514. setup_for_endstop_move();
  2515. lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
  2516. home_xy();
  2517. enable_endstops(false);
  2518. current_position[X_AXIS] += 5;
  2519. current_position[Y_AXIS] += 5;
  2520. 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);
  2521. st_synchronize();
  2522. // Let the user move the Z axes up to the end stoppers.
  2523. #ifdef TMC2130
  2524. if (calibrate_z_auto())
  2525. {
  2526. #else //TMC2130
  2527. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  2528. {
  2529. #endif //TMC2130
  2530. refresh_cmd_timeout();
  2531. #ifndef STEEL_SHEET
  2532. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  2533. {
  2534. lcd_wait_for_cool_down();
  2535. }
  2536. #endif //STEEL_SHEET
  2537. if(!onlyZ)
  2538. {
  2539. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2540. #ifdef STEEL_SHEET
  2541. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  2542. if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  2543. #endif //STEEL_SHEET
  2544. lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
  2545. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2546. KEEPALIVE_STATE(IN_HANDLER);
  2547. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2548. lcd_implementation_print_at(0, 2, 1);
  2549. lcd_printPGM(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2550. }
  2551. // Move the print head close to the bed.
  2552. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2553. bool endstops_enabled = enable_endstops(true);
  2554. #ifdef TMC2130
  2555. tmc2130_home_enter(Z_AXIS_MASK);
  2556. #endif //TMC2130
  2557. 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);
  2558. st_synchronize();
  2559. #ifdef TMC2130
  2560. tmc2130_home_exit();
  2561. #endif //TMC2130
  2562. enable_endstops(endstops_enabled);
  2563. if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
  2564. {
  2565. int8_t verbosity_level = 0;
  2566. if (code_seen('V'))
  2567. {
  2568. // Just 'V' without a number counts as V1.
  2569. char c = strchr_pointer[1];
  2570. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2571. }
  2572. if (onlyZ)
  2573. {
  2574. clean_up_after_endstop_move();
  2575. // Z only calibration.
  2576. // Load the machine correction matrix
  2577. world2machine_initialize();
  2578. // and correct the current_position to match the transformed coordinate system.
  2579. world2machine_update_current();
  2580. //FIXME
  2581. bool result = sample_mesh_and_store_reference();
  2582. if (result)
  2583. {
  2584. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  2585. // Shipped, the nozzle height has been set already. The user can start printing now.
  2586. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2587. final_result = true;
  2588. // babystep_apply();
  2589. }
  2590. }
  2591. else
  2592. {
  2593. // Reset the baby step value and the baby step applied flag.
  2594. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  2595. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  2596. // Complete XYZ calibration.
  2597. uint8_t point_too_far_mask = 0;
  2598. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  2599. clean_up_after_endstop_move();
  2600. // Print head up.
  2601. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2602. 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);
  2603. st_synchronize();
  2604. //#ifndef NEW_XYZCAL
  2605. if (result >= 0)
  2606. {
  2607. #ifdef HEATBED_V2
  2608. sample_z();
  2609. #else //HEATBED_V2
  2610. point_too_far_mask = 0;
  2611. // Second half: The fine adjustment.
  2612. // Let the planner use the uncorrected coordinates.
  2613. mbl.reset();
  2614. world2machine_reset();
  2615. // Home in the XY plane.
  2616. setup_for_endstop_move();
  2617. home_xy();
  2618. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  2619. clean_up_after_endstop_move();
  2620. // Print head up.
  2621. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2622. 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);
  2623. st_synchronize();
  2624. // if (result >= 0) babystep_apply();
  2625. #endif //HEATBED_V2
  2626. }
  2627. //#endif //NEW_XYZCAL
  2628. lcd_update_enable(true);
  2629. lcd_update(2);
  2630. lcd_bed_calibration_show_result(result, point_too_far_mask);
  2631. if (result >= 0)
  2632. {
  2633. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  2634. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2635. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  2636. final_result = true;
  2637. }
  2638. }
  2639. #ifdef TMC2130
  2640. tmc2130_home_exit();
  2641. #endif
  2642. }
  2643. else
  2644. {
  2645. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  2646. final_result = false;
  2647. }
  2648. }
  2649. else
  2650. {
  2651. // Timeouted.
  2652. }
  2653. lcd_update_enable(true);
  2654. #ifdef TMC2130
  2655. FORCE_HIGH_POWER_END;
  2656. #endif // TMC2130
  2657. return final_result;
  2658. }
  2659. void gcode_M114()
  2660. {
  2661. SERIAL_PROTOCOLPGM("X:");
  2662. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2663. SERIAL_PROTOCOLPGM(" Y:");
  2664. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2665. SERIAL_PROTOCOLPGM(" Z:");
  2666. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2667. SERIAL_PROTOCOLPGM(" E:");
  2668. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2669. SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
  2670. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
  2671. SERIAL_PROTOCOLPGM(" Y:");
  2672. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
  2673. SERIAL_PROTOCOLPGM(" Z:");
  2674. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
  2675. SERIAL_PROTOCOLPGM(" E:");
  2676. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
  2677. SERIAL_PROTOCOLLN("");
  2678. }
  2679. void gcode_M701()
  2680. {
  2681. #ifdef SNMM
  2682. extr_adj(snmm_extruder);//loads current extruder
  2683. #else
  2684. enable_z();
  2685. custom_message = true;
  2686. custom_message_type = 2;
  2687. lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
  2688. current_position[E_AXIS] += 70;
  2689. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
  2690. current_position[E_AXIS] += 25;
  2691. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
  2692. st_synchronize();
  2693. tone(BEEPER, 500);
  2694. delay_keep_alive(50);
  2695. noTone(BEEPER);
  2696. if (!farm_mode && loading_flag) {
  2697. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
  2698. while (!clean) {
  2699. lcd_update_enable(true);
  2700. lcd_update(2);
  2701. current_position[E_AXIS] += 25;
  2702. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
  2703. st_synchronize();
  2704. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
  2705. }
  2706. }
  2707. lcd_update_enable(true);
  2708. lcd_update(2);
  2709. lcd_setstatuspgm(_T(WELCOME_MSG));
  2710. disable_z();
  2711. loading_flag = false;
  2712. custom_message = false;
  2713. custom_message_type = 0;
  2714. #endif
  2715. }
  2716. /**
  2717. * @brief Get serial number from 32U2 processor
  2718. *
  2719. * Typical format of S/N is:CZPX0917X003XC13518
  2720. *
  2721. * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
  2722. *
  2723. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  2724. * reply is transmitted to serial port 1 character by character.
  2725. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  2726. * it is interrupted, so less, or no characters are retransmitted, only newline character is send
  2727. * in any case.
  2728. */
  2729. static void gcode_PRUSA_SN()
  2730. {
  2731. if (farm_mode) {
  2732. selectedSerialPort = 0;
  2733. putchar(';');
  2734. putchar('S');
  2735. int numbersRead = 0;
  2736. ShortTimer timeout;
  2737. timeout.start();
  2738. while (numbersRead < 19) {
  2739. while (MSerial.available() > 0) {
  2740. uint8_t serial_char = MSerial.read();
  2741. selectedSerialPort = 1;
  2742. putchar(serial_char);
  2743. numbersRead++;
  2744. selectedSerialPort = 0;
  2745. }
  2746. if (timeout.expired(100u)) break;
  2747. }
  2748. selectedSerialPort = 1;
  2749. putchar('\n');
  2750. #if 0
  2751. for (int b = 0; b < 3; b++) {
  2752. tone(BEEPER, 110);
  2753. delay(50);
  2754. noTone(BEEPER);
  2755. delay(50);
  2756. }
  2757. #endif
  2758. } else {
  2759. puts_P(_N("Not in farm mode."));
  2760. }
  2761. }
  2762. void process_commands()
  2763. {
  2764. if (!buflen) return; //empty command
  2765. #ifdef FILAMENT_RUNOUT_SUPPORT
  2766. SET_INPUT(FR_SENS);
  2767. #endif
  2768. #ifdef CMDBUFFER_DEBUG
  2769. SERIAL_ECHOPGM("Processing a GCODE command: ");
  2770. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  2771. SERIAL_ECHOLNPGM("");
  2772. SERIAL_ECHOPGM("In cmdqueue: ");
  2773. SERIAL_ECHO(buflen);
  2774. SERIAL_ECHOLNPGM("");
  2775. #endif /* CMDBUFFER_DEBUG */
  2776. unsigned long codenum; //throw away variable
  2777. char *starpos = NULL;
  2778. #ifdef ENABLE_AUTO_BED_LEVELING
  2779. float x_tmp, y_tmp, z_tmp, real_z;
  2780. #endif
  2781. // PRUSA GCODES
  2782. KEEPALIVE_STATE(IN_HANDLER);
  2783. #ifdef SNMM
  2784. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  2785. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  2786. int8_t SilentMode;
  2787. #endif
  2788. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  2789. starpos = (strchr(strchr_pointer + 5, '*'));
  2790. if (starpos != NULL)
  2791. *(starpos) = '\0';
  2792. lcd_setstatus(strchr_pointer + 5);
  2793. }
  2794. #ifdef TMC2130
  2795. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  2796. {
  2797. if(code_seen("CRASH_DETECTED"))
  2798. {
  2799. uint8_t mask = 0;
  2800. if (code_seen("X")) mask |= X_AXIS_MASK;
  2801. if (code_seen("Y")) mask |= Y_AXIS_MASK;
  2802. crashdet_detected(mask);
  2803. }
  2804. else if(code_seen("CRASH_RECOVER"))
  2805. crashdet_recover();
  2806. else if(code_seen("CRASH_CANCEL"))
  2807. crashdet_cancel();
  2808. }
  2809. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  2810. {
  2811. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_E"), 10) == 0)
  2812. {
  2813. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2814. tmc2130_set_wave(E_AXIS, 247, fac);
  2815. }
  2816. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_E"), 10) == 0)
  2817. {
  2818. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2819. uint16_t res = tmc2130_get_res(E_AXIS);
  2820. tmc2130_goto_step(E_AXIS, step & (4*res - 1), 2, 1000, res);
  2821. }
  2822. }
  2823. #endif //TMC2130
  2824. else if(code_seen("PRUSA")){
  2825. if (code_seen("Ping")) { //PRUSA Ping
  2826. if (farm_mode) {
  2827. PingTime = millis();
  2828. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  2829. }
  2830. }
  2831. else if (code_seen("PRN")) {
  2832. printf_P(_N("%d"), status_number);
  2833. }else if (code_seen("FAN")) {
  2834. printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
  2835. }else if (code_seen("fn")) {
  2836. if (farm_mode) {
  2837. printf_P(_N("%d"), farm_no);
  2838. }
  2839. else {
  2840. puts_P(_N("Not in farm mode."));
  2841. }
  2842. }
  2843. else if (code_seen("thx")) {
  2844. no_response = false;
  2845. } else if (code_seen("RESET")) {
  2846. // careful!
  2847. if (farm_mode) {
  2848. #ifdef WATCHDOG
  2849. wdt_enable(WDTO_15MS);
  2850. cli();
  2851. while(1);
  2852. #else //WATCHDOG
  2853. asm volatile("jmp 0x3E000");
  2854. #endif //WATCHDOG
  2855. }
  2856. else {
  2857. MYSERIAL.println("Not in farm mode.");
  2858. }
  2859. }else if (code_seen("fv")) {
  2860. // get file version
  2861. #ifdef SDSUPPORT
  2862. card.openFile(strchr_pointer + 3,true);
  2863. while (true) {
  2864. uint16_t readByte = card.get();
  2865. MYSERIAL.write(readByte);
  2866. if (readByte=='\n') {
  2867. break;
  2868. }
  2869. }
  2870. card.closefile();
  2871. #endif // SDSUPPORT
  2872. } else if (code_seen("M28")) {
  2873. trace();
  2874. prusa_sd_card_upload = true;
  2875. card.openFile(strchr_pointer+4,false);
  2876. } else if (code_seen("SN")) {
  2877. gcode_PRUSA_SN();
  2878. } else if(code_seen("Fir")){
  2879. SERIAL_PROTOCOLLN(FW_VERSION);
  2880. } else if(code_seen("Rev")){
  2881. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  2882. } else if(code_seen("Lang")) {
  2883. lang_reset();
  2884. } else if(code_seen("Lz")) {
  2885. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  2886. } else if(code_seen("Beat")) {
  2887. // Kick farm link timer
  2888. kicktime = millis();
  2889. } else if(code_seen("FR")) {
  2890. // Factory full reset
  2891. factory_reset(0,true);
  2892. }
  2893. //else if (code_seen('Cal')) {
  2894. // lcd_calibration();
  2895. // }
  2896. }
  2897. else if (code_seen('^')) {
  2898. // nothing, this is a version line
  2899. } else if(code_seen('G'))
  2900. {
  2901. switch((int)code_value())
  2902. {
  2903. case 0: // G0 -> G1
  2904. case 1: // G1
  2905. if(Stopped == false) {
  2906. #ifdef FILAMENT_RUNOUT_SUPPORT
  2907. if(READ(FR_SENS)){
  2908. feedmultiplyBckp=feedmultiply;
  2909. float target[4];
  2910. float lastpos[4];
  2911. target[X_AXIS]=current_position[X_AXIS];
  2912. target[Y_AXIS]=current_position[Y_AXIS];
  2913. target[Z_AXIS]=current_position[Z_AXIS];
  2914. target[E_AXIS]=current_position[E_AXIS];
  2915. lastpos[X_AXIS]=current_position[X_AXIS];
  2916. lastpos[Y_AXIS]=current_position[Y_AXIS];
  2917. lastpos[Z_AXIS]=current_position[Z_AXIS];
  2918. lastpos[E_AXIS]=current_position[E_AXIS];
  2919. //retract by E
  2920. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  2921. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2922. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  2923. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  2924. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  2925. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  2926. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  2927. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  2928. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2929. //finish moves
  2930. st_synchronize();
  2931. //disable extruder steppers so filament can be removed
  2932. disable_e0();
  2933. disable_e1();
  2934. disable_e2();
  2935. delay(100);
  2936. //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
  2937. uint8_t cnt=0;
  2938. int counterBeep = 0;
  2939. lcd_wait_interact();
  2940. while(!lcd_clicked()){
  2941. cnt++;
  2942. manage_heater();
  2943. manage_inactivity(true);
  2944. //lcd_update();
  2945. if(cnt==0)
  2946. {
  2947. #if BEEPER > 0
  2948. if (counterBeep== 500){
  2949. counterBeep = 0;
  2950. }
  2951. SET_OUTPUT(BEEPER);
  2952. if (counterBeep== 0){
  2953. WRITE(BEEPER,HIGH);
  2954. }
  2955. if (counterBeep== 20){
  2956. WRITE(BEEPER,LOW);
  2957. }
  2958. counterBeep++;
  2959. #else
  2960. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  2961. lcd_buzz(1000/6,100);
  2962. #else
  2963. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
  2964. #endif
  2965. #endif
  2966. }
  2967. }
  2968. WRITE(BEEPER,LOW);
  2969. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  2970. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2971. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2972. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2973. lcd_change_fil_state = 0;
  2974. lcd_loading_filament();
  2975. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  2976. lcd_change_fil_state = 0;
  2977. lcd_alright();
  2978. switch(lcd_change_fil_state){
  2979. case 2:
  2980. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  2981. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2982. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2983. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2984. lcd_loading_filament();
  2985. break;
  2986. case 3:
  2987. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2988. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2989. lcd_loading_color();
  2990. break;
  2991. default:
  2992. lcd_change_success();
  2993. break;
  2994. }
  2995. }
  2996. target[E_AXIS]+= 5;
  2997. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2998. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  2999. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3000. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3001. //plan_set_e_position(current_position[E_AXIS]);
  3002. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  3003. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  3004. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  3005. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  3006. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  3007. plan_set_e_position(lastpos[E_AXIS]);
  3008. feedmultiply=feedmultiplyBckp;
  3009. char cmd[9];
  3010. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  3011. enquecommand(cmd);
  3012. }
  3013. #endif
  3014. get_coordinates(); // For X Y Z E F
  3015. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  3016. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  3017. }
  3018. #ifdef FWRETRACT
  3019. if(autoretract_enabled)
  3020. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  3021. float echange=destination[E_AXIS]-current_position[E_AXIS];
  3022. if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
  3023. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  3024. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  3025. retract(!retracted[active_extruder]);
  3026. return;
  3027. }
  3028. }
  3029. #endif //FWRETRACT
  3030. prepare_move();
  3031. //ClearToSend();
  3032. }
  3033. break;
  3034. case 2: // G2 - CW ARC
  3035. if(Stopped == false) {
  3036. get_arc_coordinates();
  3037. prepare_arc_move(true);
  3038. }
  3039. break;
  3040. case 3: // G3 - CCW ARC
  3041. if(Stopped == false) {
  3042. get_arc_coordinates();
  3043. prepare_arc_move(false);
  3044. }
  3045. break;
  3046. case 4: // G4 dwell
  3047. codenum = 0;
  3048. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  3049. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  3050. if(codenum != 0) LCD_MESSAGERPGM(_i("Sleep..."));////MSG_DWELL c=0 r=0
  3051. st_synchronize();
  3052. codenum += millis(); // keep track of when we started waiting
  3053. previous_millis_cmd = millis();
  3054. while(millis() < codenum) {
  3055. manage_heater();
  3056. manage_inactivity();
  3057. lcd_update();
  3058. }
  3059. break;
  3060. #ifdef FWRETRACT
  3061. case 10: // G10 retract
  3062. #if EXTRUDERS > 1
  3063. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  3064. retract(true,retracted_swap[active_extruder]);
  3065. #else
  3066. retract(true);
  3067. #endif
  3068. break;
  3069. case 11: // G11 retract_recover
  3070. #if EXTRUDERS > 1
  3071. retract(false,retracted_swap[active_extruder]);
  3072. #else
  3073. retract(false);
  3074. #endif
  3075. break;
  3076. #endif //FWRETRACT
  3077. case 28: //G28 Home all Axis one at a time
  3078. {
  3079. // Which axes should be homed?
  3080. bool home_x = code_seen(axis_codes[X_AXIS]);
  3081. bool home_y = code_seen(axis_codes[Y_AXIS]);
  3082. bool home_z = code_seen(axis_codes[Z_AXIS]);
  3083. // calibrate?
  3084. bool calib = code_seen('C');
  3085. gcode_G28(home_x, home_y, home_z, calib);
  3086. break;
  3087. }
  3088. #ifdef ENABLE_AUTO_BED_LEVELING
  3089. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  3090. {
  3091. #if Z_MIN_PIN == -1
  3092. #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."
  3093. #endif
  3094. // Prevent user from running a G29 without first homing in X and Y
  3095. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  3096. {
  3097. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  3098. SERIAL_ECHO_START;
  3099. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  3100. break; // abort G29, since we don't know where we are
  3101. }
  3102. st_synchronize();
  3103. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  3104. //vector_3 corrected_position = plan_get_position_mm();
  3105. //corrected_position.debug("position before G29");
  3106. plan_bed_level_matrix.set_to_identity();
  3107. vector_3 uncorrected_position = plan_get_position();
  3108. //uncorrected_position.debug("position durring G29");
  3109. current_position[X_AXIS] = uncorrected_position.x;
  3110. current_position[Y_AXIS] = uncorrected_position.y;
  3111. current_position[Z_AXIS] = uncorrected_position.z;
  3112. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3113. setup_for_endstop_move();
  3114. feedrate = homing_feedrate[Z_AXIS];
  3115. #ifdef AUTO_BED_LEVELING_GRID
  3116. // probe at the points of a lattice grid
  3117. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3118. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3119. // solve the plane equation ax + by + d = z
  3120. // A is the matrix with rows [x y 1] for all the probed points
  3121. // B is the vector of the Z positions
  3122. // 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
  3123. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3124. // "A" matrix of the linear system of equations
  3125. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  3126. // "B" vector of Z points
  3127. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  3128. int probePointCounter = 0;
  3129. bool zig = true;
  3130. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  3131. {
  3132. int xProbe, xInc;
  3133. if (zig)
  3134. {
  3135. xProbe = LEFT_PROBE_BED_POSITION;
  3136. //xEnd = RIGHT_PROBE_BED_POSITION;
  3137. xInc = xGridSpacing;
  3138. zig = false;
  3139. } else // zag
  3140. {
  3141. xProbe = RIGHT_PROBE_BED_POSITION;
  3142. //xEnd = LEFT_PROBE_BED_POSITION;
  3143. xInc = -xGridSpacing;
  3144. zig = true;
  3145. }
  3146. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  3147. {
  3148. float z_before;
  3149. if (probePointCounter == 0)
  3150. {
  3151. // raise before probing
  3152. z_before = Z_RAISE_BEFORE_PROBING;
  3153. } else
  3154. {
  3155. // raise extruder
  3156. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  3157. }
  3158. float measured_z = probe_pt(xProbe, yProbe, z_before);
  3159. eqnBVector[probePointCounter] = measured_z;
  3160. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  3161. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  3162. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  3163. probePointCounter++;
  3164. xProbe += xInc;
  3165. }
  3166. }
  3167. clean_up_after_endstop_move();
  3168. // solve lsq problem
  3169. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  3170. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3171. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  3172. SERIAL_PROTOCOLPGM(" b: ");
  3173. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  3174. SERIAL_PROTOCOLPGM(" d: ");
  3175. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  3176. set_bed_level_equation_lsq(plane_equation_coefficients);
  3177. free(plane_equation_coefficients);
  3178. #else // AUTO_BED_LEVELING_GRID not defined
  3179. // Probe at 3 arbitrary points
  3180. // probe 1
  3181. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  3182. // probe 2
  3183. 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);
  3184. // probe 3
  3185. 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);
  3186. clean_up_after_endstop_move();
  3187. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  3188. #endif // AUTO_BED_LEVELING_GRID
  3189. st_synchronize();
  3190. // The following code correct the Z height difference from z-probe position and hotend tip position.
  3191. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  3192. // When the bed is uneven, this height must be corrected.
  3193. real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
  3194. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  3195. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3196. z_tmp = current_position[Z_AXIS];
  3197. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  3198. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  3199. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3200. }
  3201. break;
  3202. #ifndef Z_PROBE_SLED
  3203. case 30: // G30 Single Z Probe
  3204. {
  3205. st_synchronize();
  3206. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3207. setup_for_endstop_move();
  3208. feedrate = homing_feedrate[Z_AXIS];
  3209. run_z_probe();
  3210. SERIAL_PROTOCOLPGM(_T(MSG_BED));
  3211. SERIAL_PROTOCOLPGM(" X: ");
  3212. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3213. SERIAL_PROTOCOLPGM(" Y: ");
  3214. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3215. SERIAL_PROTOCOLPGM(" Z: ");
  3216. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3217. SERIAL_PROTOCOLPGM("\n");
  3218. clean_up_after_endstop_move();
  3219. }
  3220. break;
  3221. #else
  3222. case 31: // dock the sled
  3223. dock_sled(true);
  3224. break;
  3225. case 32: // undock the sled
  3226. dock_sled(false);
  3227. break;
  3228. #endif // Z_PROBE_SLED
  3229. #endif // ENABLE_AUTO_BED_LEVELING
  3230. #ifdef MESH_BED_LEVELING
  3231. case 30: // G30 Single Z Probe
  3232. {
  3233. st_synchronize();
  3234. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3235. setup_for_endstop_move();
  3236. feedrate = homing_feedrate[Z_AXIS];
  3237. find_bed_induction_sensor_point_z(-10.f, 3);
  3238. printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
  3239. clean_up_after_endstop_move();
  3240. }
  3241. break;
  3242. case 75:
  3243. {
  3244. for (int i = 40; i <= 110; i++)
  3245. printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
  3246. }
  3247. break;
  3248. case 76: //PINDA probe temperature calibration
  3249. {
  3250. #ifdef PINDA_THERMISTOR
  3251. if (true)
  3252. {
  3253. if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
  3254. //we need to know accurate position of first calibration point
  3255. //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
  3256. lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
  3257. break;
  3258. }
  3259. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  3260. {
  3261. // We don't know where we are! HOME!
  3262. // Push the commands to the front of the message queue in the reverse order!
  3263. // There shall be always enough space reserved for these commands.
  3264. repeatcommand_front(); // repeat G76 with all its parameters
  3265. enquecommand_front_P((PSTR("G28 W0")));
  3266. break;
  3267. }
  3268. 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
  3269. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  3270. if (result)
  3271. {
  3272. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3273. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3274. current_position[Z_AXIS] = 50;
  3275. current_position[Y_AXIS] = 180;
  3276. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3277. st_synchronize();
  3278. lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  3279. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3280. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3281. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3282. st_synchronize();
  3283. gcode_G28(false, false, true, false);
  3284. }
  3285. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  3286. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  3287. current_position[Z_AXIS] = 100;
  3288. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3289. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  3290. lcd_temp_cal_show_result(false);
  3291. break;
  3292. }
  3293. }
  3294. lcd_update_enable(true);
  3295. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  3296. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  3297. float zero_z;
  3298. int z_shift = 0; //unit: steps
  3299. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  3300. if (start_temp < 35) start_temp = 35;
  3301. if (start_temp < current_temperature_pinda) start_temp += 5;
  3302. printf_P(_N("start temperature: %.1f\n"), start_temp);
  3303. // setTargetHotend(200, 0);
  3304. setTargetBed(70 + (start_temp - 30));
  3305. custom_message = true;
  3306. custom_message_type = 4;
  3307. custom_message_state = 1;
  3308. custom_message = _T(MSG_TEMP_CALIBRATION);
  3309. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3310. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3311. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3312. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3313. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3314. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3315. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3316. st_synchronize();
  3317. while (current_temperature_pinda < start_temp)
  3318. {
  3319. delay_keep_alive(1000);
  3320. serialecho_temperatures();
  3321. }
  3322. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3323. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3324. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3325. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3326. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3327. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3328. st_synchronize();
  3329. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3330. if (find_z_result == false) {
  3331. lcd_temp_cal_show_result(find_z_result);
  3332. break;
  3333. }
  3334. zero_z = current_position[Z_AXIS];
  3335. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3336. int i = -1; for (; i < 5; i++)
  3337. {
  3338. float temp = (40 + i * 5);
  3339. printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
  3340. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3341. if (start_temp <= temp) break;
  3342. }
  3343. for (i++; i < 5; i++)
  3344. {
  3345. float temp = (40 + i * 5);
  3346. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3347. custom_message_state = i + 2;
  3348. setTargetBed(50 + 10 * (temp - 30) / 5);
  3349. // setTargetHotend(255, 0);
  3350. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3351. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3352. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3353. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3354. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3355. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3356. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3357. st_synchronize();
  3358. while (current_temperature_pinda < temp)
  3359. {
  3360. delay_keep_alive(1000);
  3361. serialecho_temperatures();
  3362. }
  3363. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3364. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3365. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3366. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3367. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3368. st_synchronize();
  3369. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3370. if (find_z_result == false) {
  3371. lcd_temp_cal_show_result(find_z_result);
  3372. break;
  3373. }
  3374. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3375. printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
  3376. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3377. }
  3378. lcd_temp_cal_show_result(true);
  3379. break;
  3380. }
  3381. #endif //PINDA_THERMISTOR
  3382. setTargetBed(PINDA_MIN_T);
  3383. float zero_z;
  3384. int z_shift = 0; //unit: steps
  3385. int t_c; // temperature
  3386. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3387. // We don't know where we are! HOME!
  3388. // Push the commands to the front of the message queue in the reverse order!
  3389. // There shall be always enough space reserved for these commands.
  3390. repeatcommand_front(); // repeat G76 with all its parameters
  3391. enquecommand_front_P((PSTR("G28 W0")));
  3392. break;
  3393. }
  3394. puts_P(_N("PINDA probe calibration start"));
  3395. custom_message = true;
  3396. custom_message_type = 4;
  3397. custom_message_state = 1;
  3398. custom_message = _T(MSG_TEMP_CALIBRATION);
  3399. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3400. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3401. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3402. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3403. st_synchronize();
  3404. while (abs(degBed() - PINDA_MIN_T) > 1) {
  3405. delay_keep_alive(1000);
  3406. serialecho_temperatures();
  3407. }
  3408. //enquecommand_P(PSTR("M190 S50"));
  3409. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3410. delay_keep_alive(1000);
  3411. serialecho_temperatures();
  3412. }
  3413. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3414. current_position[Z_AXIS] = 5;
  3415. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3416. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3417. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3418. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3419. st_synchronize();
  3420. find_bed_induction_sensor_point_z(-1.f);
  3421. zero_z = current_position[Z_AXIS];
  3422. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3423. for (int i = 0; i<5; i++) {
  3424. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3425. custom_message_state = i + 2;
  3426. t_c = 60 + i * 10;
  3427. setTargetBed(t_c);
  3428. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3429. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3430. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3431. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3432. st_synchronize();
  3433. while (degBed() < t_c) {
  3434. delay_keep_alive(1000);
  3435. serialecho_temperatures();
  3436. }
  3437. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3438. delay_keep_alive(1000);
  3439. serialecho_temperatures();
  3440. }
  3441. current_position[Z_AXIS] = 5;
  3442. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3443. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3444. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3445. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3446. st_synchronize();
  3447. find_bed_induction_sensor_point_z(-1.f);
  3448. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3449. printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
  3450. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  3451. }
  3452. custom_message_type = 0;
  3453. custom_message = false;
  3454. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  3455. puts_P(_N("Temperature calibration done."));
  3456. disable_x();
  3457. disable_y();
  3458. disable_z();
  3459. disable_e0();
  3460. disable_e1();
  3461. disable_e2();
  3462. setTargetBed(0); //set bed target temperature back to 0
  3463. lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
  3464. temp_cal_active = true;
  3465. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  3466. lcd_update_enable(true);
  3467. lcd_update(2);
  3468. }
  3469. break;
  3470. #ifdef DIS
  3471. case 77:
  3472. {
  3473. //G77 X200 Y150 XP100 YP15 XO10 Y015
  3474. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  3475. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  3476. float dimension_x = 40;
  3477. float dimension_y = 40;
  3478. int points_x = 40;
  3479. int points_y = 40;
  3480. float offset_x = 74;
  3481. float offset_y = 33;
  3482. if (code_seen('X')) dimension_x = code_value();
  3483. if (code_seen('Y')) dimension_y = code_value();
  3484. if (code_seen('XP')) points_x = code_value();
  3485. if (code_seen('YP')) points_y = code_value();
  3486. if (code_seen('XO')) offset_x = code_value();
  3487. if (code_seen('YO')) offset_y = code_value();
  3488. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  3489. } break;
  3490. #endif
  3491. case 79: {
  3492. for (int i = 255; i > 0; i = i - 5) {
  3493. fanSpeed = i;
  3494. //delay_keep_alive(2000);
  3495. for (int j = 0; j < 100; j++) {
  3496. delay_keep_alive(100);
  3497. }
  3498. fan_speed[1];
  3499. printf_P(_N("%d: %d\n"), i, fan_speed[1]);
  3500. }
  3501. }break;
  3502. /**
  3503. * G80: Mesh-based Z probe, probes a grid and produces a
  3504. * mesh to compensate for variable bed height
  3505. *
  3506. * The S0 report the points as below
  3507. *
  3508. * +----> X-axis
  3509. * |
  3510. * |
  3511. * v Y-axis
  3512. *
  3513. */
  3514. case 80:
  3515. #ifdef MK1BP
  3516. break;
  3517. #endif //MK1BP
  3518. case_G80:
  3519. {
  3520. mesh_bed_leveling_flag = true;
  3521. int8_t verbosity_level = 0;
  3522. static bool run = false;
  3523. if (code_seen('V')) {
  3524. // Just 'V' without a number counts as V1.
  3525. char c = strchr_pointer[1];
  3526. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3527. }
  3528. // Firstly check if we know where we are
  3529. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3530. // We don't know where we are! HOME!
  3531. // Push the commands to the front of the message queue in the reverse order!
  3532. // There shall be always enough space reserved for these commands.
  3533. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3534. repeatcommand_front(); // repeat G80 with all its parameters
  3535. enquecommand_front_P((PSTR("G28 W0")));
  3536. }
  3537. else {
  3538. mesh_bed_leveling_flag = false;
  3539. }
  3540. break;
  3541. }
  3542. bool temp_comp_start = true;
  3543. #ifdef PINDA_THERMISTOR
  3544. temp_comp_start = false;
  3545. #endif //PINDA_THERMISTOR
  3546. if (temp_comp_start)
  3547. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3548. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3549. temp_compensation_start();
  3550. run = true;
  3551. repeatcommand_front(); // repeat G80 with all its parameters
  3552. enquecommand_front_P((PSTR("G28 W0")));
  3553. }
  3554. else {
  3555. mesh_bed_leveling_flag = false;
  3556. }
  3557. break;
  3558. }
  3559. run = false;
  3560. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  3561. mesh_bed_leveling_flag = false;
  3562. break;
  3563. }
  3564. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  3565. bool custom_message_old = custom_message;
  3566. unsigned int custom_message_type_old = custom_message_type;
  3567. unsigned int custom_message_state_old = custom_message_state;
  3568. custom_message = true;
  3569. custom_message_type = 1;
  3570. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  3571. lcd_update(1);
  3572. mbl.reset(); //reset mesh bed leveling
  3573. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  3574. // consumed during the first movements following this statement.
  3575. babystep_undo();
  3576. // Cycle through all points and probe them
  3577. // First move up. During this first movement, the babystepping will be reverted.
  3578. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3579. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
  3580. // The move to the first calibration point.
  3581. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3582. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3583. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3584. #ifdef SUPPORT_VERBOSITY
  3585. if (verbosity_level >= 1) {
  3586. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  3587. }
  3588. #endif //SUPPORT_VERBOSITY
  3589. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  3590. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder);
  3591. // Wait until the move is finished.
  3592. st_synchronize();
  3593. int mesh_point = 0; //index number of calibration point
  3594. int ix = 0;
  3595. int iy = 0;
  3596. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  3597. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  3598. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  3599. 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)
  3600. #ifdef SUPPORT_VERBOSITY
  3601. if (verbosity_level >= 1) {
  3602. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  3603. }
  3604. #endif // SUPPORT_VERBOSITY
  3605. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  3606. const char *kill_message = NULL;
  3607. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3608. // Get coords of a measuring point.
  3609. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  3610. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  3611. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  3612. float z0 = 0.f;
  3613. if (has_z && mesh_point > 0) {
  3614. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  3615. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  3616. //#if 0
  3617. #ifdef SUPPORT_VERBOSITY
  3618. if (verbosity_level >= 1) {
  3619. SERIAL_ECHOLNPGM("");
  3620. SERIAL_ECHOPGM("Bed leveling, point: ");
  3621. MYSERIAL.print(mesh_point);
  3622. SERIAL_ECHOPGM(", calibration z: ");
  3623. MYSERIAL.print(z0, 5);
  3624. SERIAL_ECHOLNPGM("");
  3625. }
  3626. #endif // SUPPORT_VERBOSITY
  3627. //#endif
  3628. }
  3629. // Move Z up to MESH_HOME_Z_SEARCH.
  3630. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3631. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3632. st_synchronize();
  3633. // Move to XY position of the sensor point.
  3634. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  3635. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  3636. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3637. #ifdef SUPPORT_VERBOSITY
  3638. if (verbosity_level >= 1) {
  3639. SERIAL_PROTOCOL(mesh_point);
  3640. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  3641. }
  3642. #endif // SUPPORT_VERBOSITY
  3643. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  3644. st_synchronize();
  3645. // Go down until endstop is hit
  3646. const float Z_CALIBRATION_THRESHOLD = 1.f;
  3647. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  3648. kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW);
  3649. break;
  3650. }
  3651. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  3652. kill_message = _i("Bed leveling failed. Sensor disconnected or cable broken. Waiting for reset.");////MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED c=20 r=4
  3653. break;
  3654. }
  3655. 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
  3656. kill_message = _i("Bed leveling failed. Sensor triggered too high. Waiting for reset.");////MSG_BED_LEVELING_FAILED_POINT_HIGH c=20 r=4
  3657. break;
  3658. }
  3659. #ifdef SUPPORT_VERBOSITY
  3660. if (verbosity_level >= 10) {
  3661. SERIAL_ECHOPGM("X: ");
  3662. MYSERIAL.print(current_position[X_AXIS], 5);
  3663. SERIAL_ECHOLNPGM("");
  3664. SERIAL_ECHOPGM("Y: ");
  3665. MYSERIAL.print(current_position[Y_AXIS], 5);
  3666. SERIAL_PROTOCOLPGM("\n");
  3667. }
  3668. #endif // SUPPORT_VERBOSITY
  3669. float offset_z = 0;
  3670. #ifdef PINDA_THERMISTOR
  3671. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  3672. #endif //PINDA_THERMISTOR
  3673. // #ifdef SUPPORT_VERBOSITY
  3674. /* if (verbosity_level >= 1)
  3675. {
  3676. SERIAL_ECHOPGM("mesh bed leveling: ");
  3677. MYSERIAL.print(current_position[Z_AXIS], 5);
  3678. SERIAL_ECHOPGM(" offset: ");
  3679. MYSERIAL.print(offset_z, 5);
  3680. SERIAL_ECHOLNPGM("");
  3681. }*/
  3682. // #endif // SUPPORT_VERBOSITY
  3683. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  3684. custom_message_state--;
  3685. mesh_point++;
  3686. lcd_update(1);
  3687. }
  3688. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3689. #ifdef SUPPORT_VERBOSITY
  3690. if (verbosity_level >= 20) {
  3691. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  3692. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  3693. MYSERIAL.print(current_position[Z_AXIS], 5);
  3694. }
  3695. #endif // SUPPORT_VERBOSITY
  3696. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3697. st_synchronize();
  3698. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3699. kill(kill_message);
  3700. SERIAL_ECHOLNPGM("killed");
  3701. }
  3702. clean_up_after_endstop_move();
  3703. // SERIAL_ECHOLNPGM("clean up finished ");
  3704. bool apply_temp_comp = true;
  3705. #ifdef PINDA_THERMISTOR
  3706. apply_temp_comp = false;
  3707. #endif
  3708. if (apply_temp_comp)
  3709. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  3710. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  3711. // SERIAL_ECHOLNPGM("babystep applied");
  3712. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  3713. #ifdef SUPPORT_VERBOSITY
  3714. if (verbosity_level >= 1) {
  3715. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  3716. }
  3717. #endif // SUPPORT_VERBOSITY
  3718. for (uint8_t i = 0; i < 4; ++i) {
  3719. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  3720. long correction = 0;
  3721. if (code_seen(codes[i]))
  3722. correction = code_value_long();
  3723. else if (eeprom_bed_correction_valid) {
  3724. unsigned char *addr = (i < 2) ?
  3725. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  3726. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  3727. correction = eeprom_read_int8(addr);
  3728. }
  3729. if (correction == 0)
  3730. continue;
  3731. float offset = float(correction) * 0.001f;
  3732. if (fabs(offset) > 0.101f) {
  3733. SERIAL_ERROR_START;
  3734. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  3735. SERIAL_ECHO(offset);
  3736. SERIAL_ECHOLNPGM(" microns");
  3737. }
  3738. else {
  3739. switch (i) {
  3740. case 0:
  3741. for (uint8_t row = 0; row < 3; ++row) {
  3742. mbl.z_values[row][1] += 0.5f * offset;
  3743. mbl.z_values[row][0] += offset;
  3744. }
  3745. break;
  3746. case 1:
  3747. for (uint8_t row = 0; row < 3; ++row) {
  3748. mbl.z_values[row][1] += 0.5f * offset;
  3749. mbl.z_values[row][2] += offset;
  3750. }
  3751. break;
  3752. case 2:
  3753. for (uint8_t col = 0; col < 3; ++col) {
  3754. mbl.z_values[1][col] += 0.5f * offset;
  3755. mbl.z_values[0][col] += offset;
  3756. }
  3757. break;
  3758. case 3:
  3759. for (uint8_t col = 0; col < 3; ++col) {
  3760. mbl.z_values[1][col] += 0.5f * offset;
  3761. mbl.z_values[2][col] += offset;
  3762. }
  3763. break;
  3764. }
  3765. }
  3766. }
  3767. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  3768. mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
  3769. // SERIAL_ECHOLNPGM("Upsample finished");
  3770. mbl.active = 1; //activate mesh bed leveling
  3771. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  3772. go_home_with_z_lift();
  3773. // SERIAL_ECHOLNPGM("Go home finished");
  3774. //unretract (after PINDA preheat retraction)
  3775. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3776. current_position[E_AXIS] += DEFAULT_RETRACTION;
  3777. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  3778. }
  3779. KEEPALIVE_STATE(NOT_BUSY);
  3780. // Restore custom message state
  3781. lcd_setstatuspgm(_T(WELCOME_MSG));
  3782. custom_message = custom_message_old;
  3783. custom_message_type = custom_message_type_old;
  3784. custom_message_state = custom_message_state_old;
  3785. mesh_bed_leveling_flag = false;
  3786. mesh_bed_run_from_menu = false;
  3787. lcd_update(2);
  3788. }
  3789. break;
  3790. /**
  3791. * G81: Print mesh bed leveling status and bed profile if activated
  3792. */
  3793. case 81:
  3794. if (mbl.active) {
  3795. SERIAL_PROTOCOLPGM("Num X,Y: ");
  3796. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  3797. SERIAL_PROTOCOLPGM(",");
  3798. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  3799. SERIAL_PROTOCOLPGM("\nZ search height: ");
  3800. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  3801. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3802. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  3803. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  3804. SERIAL_PROTOCOLPGM(" ");
  3805. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  3806. }
  3807. SERIAL_PROTOCOLPGM("\n");
  3808. }
  3809. }
  3810. else
  3811. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3812. break;
  3813. #if 0
  3814. /**
  3815. * G82: Single Z probe at current location
  3816. *
  3817. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  3818. *
  3819. */
  3820. case 82:
  3821. SERIAL_PROTOCOLLNPGM("Finding bed ");
  3822. setup_for_endstop_move();
  3823. find_bed_induction_sensor_point_z();
  3824. clean_up_after_endstop_move();
  3825. SERIAL_PROTOCOLPGM("Bed found at: ");
  3826. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  3827. SERIAL_PROTOCOLPGM("\n");
  3828. break;
  3829. /**
  3830. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  3831. */
  3832. case 83:
  3833. {
  3834. int babystepz = code_seen('S') ? code_value() : 0;
  3835. int BabyPosition = code_seen('P') ? code_value() : 0;
  3836. if (babystepz != 0) {
  3837. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  3838. // Is the axis indexed starting with zero or one?
  3839. if (BabyPosition > 4) {
  3840. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  3841. }else{
  3842. // Save it to the eeprom
  3843. babystepLoadZ = babystepz;
  3844. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  3845. // adjust the Z
  3846. babystepsTodoZadd(babystepLoadZ);
  3847. }
  3848. }
  3849. }
  3850. break;
  3851. /**
  3852. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  3853. */
  3854. case 84:
  3855. babystepsTodoZsubtract(babystepLoadZ);
  3856. // babystepLoadZ = 0;
  3857. break;
  3858. /**
  3859. * G85: Prusa3D specific: Pick best babystep
  3860. */
  3861. case 85:
  3862. lcd_pick_babystep();
  3863. break;
  3864. #endif
  3865. /**
  3866. * G86: Prusa3D specific: Disable babystep correction after home.
  3867. * This G-code will be performed at the start of a calibration script.
  3868. */
  3869. case 86:
  3870. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3871. break;
  3872. /**
  3873. * G87: Prusa3D specific: Enable babystep correction after home
  3874. * This G-code will be performed at the end of a calibration script.
  3875. */
  3876. case 87:
  3877. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3878. break;
  3879. /**
  3880. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  3881. */
  3882. case 88:
  3883. break;
  3884. #endif // ENABLE_MESH_BED_LEVELING
  3885. case 90: // G90
  3886. relative_mode = false;
  3887. break;
  3888. case 91: // G91
  3889. relative_mode = true;
  3890. break;
  3891. case 92: // G92
  3892. if(!code_seen(axis_codes[E_AXIS]))
  3893. st_synchronize();
  3894. for(int8_t i=0; i < NUM_AXIS; i++) {
  3895. if(code_seen(axis_codes[i])) {
  3896. if(i == E_AXIS) {
  3897. current_position[i] = code_value();
  3898. plan_set_e_position(current_position[E_AXIS]);
  3899. }
  3900. else {
  3901. current_position[i] = code_value()+add_homing[i];
  3902. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3903. }
  3904. }
  3905. }
  3906. break;
  3907. case 98: // G98 (activate farm mode)
  3908. farm_mode = 1;
  3909. PingTime = millis();
  3910. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3911. SilentModeMenu = SILENT_MODE_OFF;
  3912. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  3913. break;
  3914. case 99: // G99 (deactivate farm mode)
  3915. farm_mode = 0;
  3916. lcd_printer_connected();
  3917. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3918. lcd_update(2);
  3919. break;
  3920. default:
  3921. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  3922. }
  3923. } // end if(code_seen('G'))
  3924. else if(code_seen('M'))
  3925. {
  3926. int index;
  3927. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  3928. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  3929. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  3930. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  3931. } else
  3932. switch((int)code_value())
  3933. {
  3934. #ifdef ULTIPANEL
  3935. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  3936. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  3937. {
  3938. char *src = strchr_pointer + 2;
  3939. codenum = 0;
  3940. bool hasP = false, hasS = false;
  3941. if (code_seen('P')) {
  3942. codenum = code_value(); // milliseconds to wait
  3943. hasP = codenum > 0;
  3944. }
  3945. if (code_seen('S')) {
  3946. codenum = code_value() * 1000; // seconds to wait
  3947. hasS = codenum > 0;
  3948. }
  3949. starpos = strchr(src, '*');
  3950. if (starpos != NULL) *(starpos) = '\0';
  3951. while (*src == ' ') ++src;
  3952. if (!hasP && !hasS && *src != '\0') {
  3953. lcd_setstatus(src);
  3954. } else {
  3955. LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT c=0 r=0
  3956. }
  3957. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  3958. st_synchronize();
  3959. previous_millis_cmd = millis();
  3960. if (codenum > 0){
  3961. codenum += millis(); // keep track of when we started waiting
  3962. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3963. while(millis() < codenum && !lcd_clicked()){
  3964. manage_heater();
  3965. manage_inactivity(true);
  3966. lcd_update();
  3967. }
  3968. KEEPALIVE_STATE(IN_HANDLER);
  3969. lcd_ignore_click(false);
  3970. }else{
  3971. if (!lcd_detected())
  3972. break;
  3973. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3974. while(!lcd_clicked()){
  3975. manage_heater();
  3976. manage_inactivity(true);
  3977. lcd_update();
  3978. }
  3979. KEEPALIVE_STATE(IN_HANDLER);
  3980. }
  3981. if (IS_SD_PRINTING)
  3982. LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
  3983. else
  3984. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  3985. }
  3986. break;
  3987. #endif
  3988. case 17:
  3989. LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE c=0 r=0
  3990. enable_x();
  3991. enable_y();
  3992. enable_z();
  3993. enable_e0();
  3994. enable_e1();
  3995. enable_e2();
  3996. break;
  3997. #ifdef SDSUPPORT
  3998. case 20: // M20 - list SD card
  3999. SERIAL_PROTOCOLLNRPGM(_i("Begin file list"));////MSG_BEGIN_FILE_LIST c=0 r=0
  4000. card.ls();
  4001. SERIAL_PROTOCOLLNRPGM(_i("End file list"));////MSG_END_FILE_LIST c=0 r=0
  4002. break;
  4003. case 21: // M21 - init SD card
  4004. card.initsd();
  4005. break;
  4006. case 22: //M22 - release SD card
  4007. card.release();
  4008. break;
  4009. case 23: //M23 - Select file
  4010. starpos = (strchr(strchr_pointer + 4,'*'));
  4011. if(starpos!=NULL)
  4012. *(starpos)='\0';
  4013. card.openFile(strchr_pointer + 4,true);
  4014. break;
  4015. case 24: //M24 - Start SD print
  4016. if (!card.paused)
  4017. failstats_reset_print();
  4018. card.startFileprint();
  4019. starttime=millis();
  4020. break;
  4021. case 25: //M25 - Pause SD print
  4022. card.pauseSDPrint();
  4023. break;
  4024. case 26: //M26 - Set SD index
  4025. if(card.cardOK && code_seen('S')) {
  4026. card.setIndex(code_value_long());
  4027. }
  4028. break;
  4029. case 27: //M27 - Get SD status
  4030. card.getStatus();
  4031. break;
  4032. case 28: //M28 - Start SD write
  4033. starpos = (strchr(strchr_pointer + 4,'*'));
  4034. if(starpos != NULL){
  4035. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4036. strchr_pointer = strchr(npos,' ') + 1;
  4037. *(starpos) = '\0';
  4038. }
  4039. card.openFile(strchr_pointer+4,false);
  4040. break;
  4041. case 29: //M29 - Stop SD write
  4042. //processed in write to file routine above
  4043. //card,saving = false;
  4044. break;
  4045. case 30: //M30 <filename> Delete File
  4046. if (card.cardOK){
  4047. card.closefile();
  4048. starpos = (strchr(strchr_pointer + 4,'*'));
  4049. if(starpos != NULL){
  4050. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4051. strchr_pointer = strchr(npos,' ') + 1;
  4052. *(starpos) = '\0';
  4053. }
  4054. card.removeFile(strchr_pointer + 4);
  4055. }
  4056. break;
  4057. case 32: //M32 - Select file and start SD print
  4058. {
  4059. if(card.sdprinting) {
  4060. st_synchronize();
  4061. }
  4062. starpos = (strchr(strchr_pointer + 4,'*'));
  4063. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  4064. if(namestartpos==NULL)
  4065. {
  4066. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  4067. }
  4068. else
  4069. namestartpos++; //to skip the '!'
  4070. if(starpos!=NULL)
  4071. *(starpos)='\0';
  4072. bool call_procedure=(code_seen('P'));
  4073. if(strchr_pointer>namestartpos)
  4074. call_procedure=false; //false alert, 'P' found within filename
  4075. if( card.cardOK )
  4076. {
  4077. card.openFile(namestartpos,true,!call_procedure);
  4078. if(code_seen('S'))
  4079. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  4080. card.setIndex(code_value_long());
  4081. card.startFileprint();
  4082. if(!call_procedure)
  4083. starttime=millis(); //procedure calls count as normal print time.
  4084. }
  4085. } break;
  4086. case 928: //M928 - Start SD write
  4087. starpos = (strchr(strchr_pointer + 5,'*'));
  4088. if(starpos != NULL){
  4089. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4090. strchr_pointer = strchr(npos,' ') + 1;
  4091. *(starpos) = '\0';
  4092. }
  4093. card.openLogFile(strchr_pointer+5);
  4094. break;
  4095. #endif //SDSUPPORT
  4096. case 31: //M31 take time since the start of the SD print or an M109 command
  4097. {
  4098. stoptime=millis();
  4099. char time[30];
  4100. unsigned long t=(stoptime-starttime)/1000;
  4101. int sec,min;
  4102. min=t/60;
  4103. sec=t%60;
  4104. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  4105. SERIAL_ECHO_START;
  4106. SERIAL_ECHOLN(time);
  4107. lcd_setstatus(time);
  4108. autotempShutdown();
  4109. }
  4110. break;
  4111. #ifndef _DISABLE_M42_M226
  4112. case 42: //M42 -Change pin status via gcode
  4113. if (code_seen('S'))
  4114. {
  4115. int pin_status = code_value();
  4116. int pin_number = LED_PIN;
  4117. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  4118. pin_number = code_value();
  4119. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4120. {
  4121. if (sensitive_pins[i] == pin_number)
  4122. {
  4123. pin_number = -1;
  4124. break;
  4125. }
  4126. }
  4127. #if defined(FAN_PIN) && FAN_PIN > -1
  4128. if (pin_number == FAN_PIN)
  4129. fanSpeed = pin_status;
  4130. #endif
  4131. if (pin_number > -1)
  4132. {
  4133. pinMode(pin_number, OUTPUT);
  4134. digitalWrite(pin_number, pin_status);
  4135. analogWrite(pin_number, pin_status);
  4136. }
  4137. }
  4138. break;
  4139. #endif //_DISABLE_M42_M226
  4140. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  4141. // Reset the baby step value and the baby step applied flag.
  4142. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  4143. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  4144. // Reset the skew and offset in both RAM and EEPROM.
  4145. reset_bed_offset_and_skew();
  4146. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4147. // the planner will not perform any adjustments in the XY plane.
  4148. // Wait for the motors to stop and update the current position with the absolute values.
  4149. world2machine_revert_to_uncorrected();
  4150. break;
  4151. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  4152. {
  4153. int8_t verbosity_level = 0;
  4154. bool only_Z = code_seen('Z');
  4155. #ifdef SUPPORT_VERBOSITY
  4156. if (code_seen('V'))
  4157. {
  4158. // Just 'V' without a number counts as V1.
  4159. char c = strchr_pointer[1];
  4160. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4161. }
  4162. #endif //SUPPORT_VERBOSITY
  4163. gcode_M45(only_Z, verbosity_level);
  4164. }
  4165. break;
  4166. /*
  4167. case 46:
  4168. {
  4169. // M46: Prusa3D: Show the assigned IP address.
  4170. uint8_t ip[4];
  4171. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  4172. if (hasIP) {
  4173. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  4174. SERIAL_ECHO(int(ip[0]));
  4175. SERIAL_ECHOPGM(".");
  4176. SERIAL_ECHO(int(ip[1]));
  4177. SERIAL_ECHOPGM(".");
  4178. SERIAL_ECHO(int(ip[2]));
  4179. SERIAL_ECHOPGM(".");
  4180. SERIAL_ECHO(int(ip[3]));
  4181. SERIAL_ECHOLNPGM("");
  4182. } else {
  4183. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  4184. }
  4185. break;
  4186. }
  4187. */
  4188. case 47:
  4189. // M47: Prusa3D: Show end stops dialog on the display.
  4190. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4191. lcd_diag_show_end_stops();
  4192. KEEPALIVE_STATE(IN_HANDLER);
  4193. break;
  4194. #if 0
  4195. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  4196. {
  4197. // Disable the default update procedure of the display. We will do a modal dialog.
  4198. lcd_update_enable(false);
  4199. // Let the planner use the uncorrected coordinates.
  4200. mbl.reset();
  4201. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4202. // the planner will not perform any adjustments in the XY plane.
  4203. // Wait for the motors to stop and update the current position with the absolute values.
  4204. world2machine_revert_to_uncorrected();
  4205. // Move the print head close to the bed.
  4206. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4207. 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);
  4208. st_synchronize();
  4209. // Home in the XY plane.
  4210. set_destination_to_current();
  4211. setup_for_endstop_move();
  4212. home_xy();
  4213. int8_t verbosity_level = 0;
  4214. if (code_seen('V')) {
  4215. // Just 'V' without a number counts as V1.
  4216. char c = strchr_pointer[1];
  4217. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4218. }
  4219. bool success = scan_bed_induction_points(verbosity_level);
  4220. clean_up_after_endstop_move();
  4221. // Print head up.
  4222. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4223. 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);
  4224. st_synchronize();
  4225. lcd_update_enable(true);
  4226. break;
  4227. }
  4228. #endif
  4229. // M48 Z-Probe repeatability measurement function.
  4230. //
  4231. // Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <L legs_of_movement_prior_to_doing_probe>
  4232. //
  4233. // This function assumes the bed has been homed. Specificaly, that a G28 command
  4234. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  4235. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  4236. // regenerated.
  4237. //
  4238. // The number of samples will default to 10 if not specified. You can use upper or lower case
  4239. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  4240. // N for its communication protocol and will get horribly confused if you send it a capital N.
  4241. //
  4242. #ifdef ENABLE_AUTO_BED_LEVELING
  4243. #ifdef Z_PROBE_REPEATABILITY_TEST
  4244. case 48: // M48 Z-Probe repeatability
  4245. {
  4246. #if Z_MIN_PIN == -1
  4247. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  4248. #endif
  4249. double sum=0.0;
  4250. double mean=0.0;
  4251. double sigma=0.0;
  4252. double sample_set[50];
  4253. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  4254. double X_current, Y_current, Z_current;
  4255. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  4256. if (code_seen('V') || code_seen('v')) {
  4257. verbose_level = code_value();
  4258. if (verbose_level<0 || verbose_level>4 ) {
  4259. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  4260. goto Sigma_Exit;
  4261. }
  4262. }
  4263. if (verbose_level > 0) {
  4264. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  4265. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  4266. }
  4267. if (code_seen('n')) {
  4268. n_samples = code_value();
  4269. if (n_samples<4 || n_samples>50 ) {
  4270. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  4271. goto Sigma_Exit;
  4272. }
  4273. }
  4274. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  4275. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  4276. Z_current = st_get_position_mm(Z_AXIS);
  4277. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4278. ext_position = st_get_position_mm(E_AXIS);
  4279. if (code_seen('X') || code_seen('x') ) {
  4280. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  4281. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  4282. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  4283. goto Sigma_Exit;
  4284. }
  4285. }
  4286. if (code_seen('Y') || code_seen('y') ) {
  4287. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  4288. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  4289. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  4290. goto Sigma_Exit;
  4291. }
  4292. }
  4293. if (code_seen('L') || code_seen('l') ) {
  4294. n_legs = code_value();
  4295. if ( n_legs==1 )
  4296. n_legs = 2;
  4297. if ( n_legs<0 || n_legs>15 ) {
  4298. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  4299. goto Sigma_Exit;
  4300. }
  4301. }
  4302. //
  4303. // Do all the preliminary setup work. First raise the probe.
  4304. //
  4305. st_synchronize();
  4306. plan_bed_level_matrix.set_to_identity();
  4307. plan_buffer_line( X_current, Y_current, Z_start_location,
  4308. ext_position,
  4309. homing_feedrate[Z_AXIS]/60,
  4310. active_extruder);
  4311. st_synchronize();
  4312. //
  4313. // Now get everything to the specified probe point So we can safely do a probe to
  4314. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  4315. // use that as a starting point for each probe.
  4316. //
  4317. if (verbose_level > 2)
  4318. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  4319. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4320. ext_position,
  4321. homing_feedrate[X_AXIS]/60,
  4322. active_extruder);
  4323. st_synchronize();
  4324. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  4325. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  4326. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4327. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  4328. //
  4329. // OK, do the inital probe to get us close to the bed.
  4330. // Then retrace the right amount and use that in subsequent probes
  4331. //
  4332. setup_for_endstop_move();
  4333. run_z_probe();
  4334. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4335. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4336. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4337. ext_position,
  4338. homing_feedrate[X_AXIS]/60,
  4339. active_extruder);
  4340. st_synchronize();
  4341. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4342. for( n=0; n<n_samples; n++) {
  4343. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  4344. if ( n_legs) {
  4345. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  4346. int rotational_direction, l;
  4347. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  4348. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  4349. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  4350. //SERIAL_ECHOPAIR("starting radius: ",radius);
  4351. //SERIAL_ECHOPAIR(" theta: ",theta);
  4352. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  4353. //SERIAL_PROTOCOLLNPGM("");
  4354. for( l=0; l<n_legs-1; l++) {
  4355. if (rotational_direction==1)
  4356. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4357. else
  4358. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4359. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  4360. if ( radius<0.0 )
  4361. radius = -radius;
  4362. X_current = X_probe_location + cos(theta) * radius;
  4363. Y_current = Y_probe_location + sin(theta) * radius;
  4364. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  4365. X_current = X_MIN_POS;
  4366. if ( X_current>X_MAX_POS)
  4367. X_current = X_MAX_POS;
  4368. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  4369. Y_current = Y_MIN_POS;
  4370. if ( Y_current>Y_MAX_POS)
  4371. Y_current = Y_MAX_POS;
  4372. if (verbose_level>3 ) {
  4373. SERIAL_ECHOPAIR("x: ", X_current);
  4374. SERIAL_ECHOPAIR("y: ", Y_current);
  4375. SERIAL_PROTOCOLLNPGM("");
  4376. }
  4377. do_blocking_move_to( X_current, Y_current, Z_current );
  4378. }
  4379. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  4380. }
  4381. setup_for_endstop_move();
  4382. run_z_probe();
  4383. sample_set[n] = current_position[Z_AXIS];
  4384. //
  4385. // Get the current mean for the data points we have so far
  4386. //
  4387. sum=0.0;
  4388. for( j=0; j<=n; j++) {
  4389. sum = sum + sample_set[j];
  4390. }
  4391. mean = sum / (double (n+1));
  4392. //
  4393. // Now, use that mean to calculate the standard deviation for the
  4394. // data points we have so far
  4395. //
  4396. sum=0.0;
  4397. for( j=0; j<=n; j++) {
  4398. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  4399. }
  4400. sigma = sqrt( sum / (double (n+1)) );
  4401. if (verbose_level > 1) {
  4402. SERIAL_PROTOCOL(n+1);
  4403. SERIAL_PROTOCOL(" of ");
  4404. SERIAL_PROTOCOL(n_samples);
  4405. SERIAL_PROTOCOLPGM(" z: ");
  4406. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  4407. }
  4408. if (verbose_level > 2) {
  4409. SERIAL_PROTOCOL(" mean: ");
  4410. SERIAL_PROTOCOL_F(mean,6);
  4411. SERIAL_PROTOCOL(" sigma: ");
  4412. SERIAL_PROTOCOL_F(sigma,6);
  4413. }
  4414. if (verbose_level > 0)
  4415. SERIAL_PROTOCOLPGM("\n");
  4416. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4417. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  4418. st_synchronize();
  4419. }
  4420. delay(1000);
  4421. clean_up_after_endstop_move();
  4422. // enable_endstops(true);
  4423. if (verbose_level > 0) {
  4424. SERIAL_PROTOCOLPGM("Mean: ");
  4425. SERIAL_PROTOCOL_F(mean, 6);
  4426. SERIAL_PROTOCOLPGM("\n");
  4427. }
  4428. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  4429. SERIAL_PROTOCOL_F(sigma, 6);
  4430. SERIAL_PROTOCOLPGM("\n\n");
  4431. Sigma_Exit:
  4432. break;
  4433. }
  4434. #endif // Z_PROBE_REPEATABILITY_TEST
  4435. #endif // ENABLE_AUTO_BED_LEVELING
  4436. case 73: //M73 show percent done and time remaining
  4437. if(code_seen('P')) print_percent_done_normal = code_value();
  4438. if(code_seen('R')) print_time_remaining_normal = code_value();
  4439. if(code_seen('Q')) print_percent_done_silent = code_value();
  4440. if(code_seen('S')) print_time_remaining_silent = code_value();
  4441. {
  4442. const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
  4443. printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
  4444. printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
  4445. }
  4446. break;
  4447. case 104: // M104
  4448. if(setTargetedHotend(104)){
  4449. break;
  4450. }
  4451. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  4452. setWatch();
  4453. break;
  4454. case 112: // M112 -Emergency Stop
  4455. kill(_n(""), 3);
  4456. break;
  4457. case 140: // M140 set bed temp
  4458. if (code_seen('S')) setTargetBed(code_value());
  4459. break;
  4460. case 105 : // M105
  4461. if(setTargetedHotend(105)){
  4462. break;
  4463. }
  4464. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  4465. SERIAL_PROTOCOLPGM("ok T:");
  4466. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  4467. SERIAL_PROTOCOLPGM(" /");
  4468. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  4469. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4470. SERIAL_PROTOCOLPGM(" B:");
  4471. SERIAL_PROTOCOL_F(degBed(),1);
  4472. SERIAL_PROTOCOLPGM(" /");
  4473. SERIAL_PROTOCOL_F(degTargetBed(),1);
  4474. #endif //TEMP_BED_PIN
  4475. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4476. SERIAL_PROTOCOLPGM(" T");
  4477. SERIAL_PROTOCOL(cur_extruder);
  4478. SERIAL_PROTOCOLPGM(":");
  4479. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4480. SERIAL_PROTOCOLPGM(" /");
  4481. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  4482. }
  4483. #else
  4484. SERIAL_ERROR_START;
  4485. SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS c=0 r=0
  4486. #endif
  4487. SERIAL_PROTOCOLPGM(" @:");
  4488. #ifdef EXTRUDER_WATTS
  4489. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  4490. SERIAL_PROTOCOLPGM("W");
  4491. #else
  4492. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  4493. #endif
  4494. SERIAL_PROTOCOLPGM(" B@:");
  4495. #ifdef BED_WATTS
  4496. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  4497. SERIAL_PROTOCOLPGM("W");
  4498. #else
  4499. SERIAL_PROTOCOL(getHeaterPower(-1));
  4500. #endif
  4501. #ifdef PINDA_THERMISTOR
  4502. SERIAL_PROTOCOLPGM(" P:");
  4503. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  4504. #endif //PINDA_THERMISTOR
  4505. #ifdef AMBIENT_THERMISTOR
  4506. SERIAL_PROTOCOLPGM(" A:");
  4507. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  4508. #endif //AMBIENT_THERMISTOR
  4509. #ifdef SHOW_TEMP_ADC_VALUES
  4510. {float raw = 0.0;
  4511. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4512. SERIAL_PROTOCOLPGM(" ADC B:");
  4513. SERIAL_PROTOCOL_F(degBed(),1);
  4514. SERIAL_PROTOCOLPGM("C->");
  4515. raw = rawBedTemp();
  4516. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4517. SERIAL_PROTOCOLPGM(" Rb->");
  4518. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4519. SERIAL_PROTOCOLPGM(" Rxb->");
  4520. SERIAL_PROTOCOL_F(raw, 5);
  4521. #endif
  4522. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4523. SERIAL_PROTOCOLPGM(" T");
  4524. SERIAL_PROTOCOL(cur_extruder);
  4525. SERIAL_PROTOCOLPGM(":");
  4526. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4527. SERIAL_PROTOCOLPGM("C->");
  4528. raw = rawHotendTemp(cur_extruder);
  4529. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4530. SERIAL_PROTOCOLPGM(" Rt");
  4531. SERIAL_PROTOCOL(cur_extruder);
  4532. SERIAL_PROTOCOLPGM("->");
  4533. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4534. SERIAL_PROTOCOLPGM(" Rx");
  4535. SERIAL_PROTOCOL(cur_extruder);
  4536. SERIAL_PROTOCOLPGM("->");
  4537. SERIAL_PROTOCOL_F(raw, 5);
  4538. }}
  4539. #endif
  4540. SERIAL_PROTOCOLLN("");
  4541. KEEPALIVE_STATE(NOT_BUSY);
  4542. return;
  4543. break;
  4544. case 109:
  4545. {// M109 - Wait for extruder heater to reach target.
  4546. if(setTargetedHotend(109)){
  4547. break;
  4548. }
  4549. LCD_MESSAGERPGM(_T(MSG_HEATING));
  4550. heating_status = 1;
  4551. if (farm_mode) { prusa_statistics(1); };
  4552. #ifdef AUTOTEMP
  4553. autotemp_enabled=false;
  4554. #endif
  4555. if (code_seen('S')) {
  4556. setTargetHotend(code_value(), tmp_extruder);
  4557. CooldownNoWait = true;
  4558. } else if (code_seen('R')) {
  4559. setTargetHotend(code_value(), tmp_extruder);
  4560. CooldownNoWait = false;
  4561. }
  4562. #ifdef AUTOTEMP
  4563. if (code_seen('S')) autotemp_min=code_value();
  4564. if (code_seen('B')) autotemp_max=code_value();
  4565. if (code_seen('F'))
  4566. {
  4567. autotemp_factor=code_value();
  4568. autotemp_enabled=true;
  4569. }
  4570. #endif
  4571. setWatch();
  4572. codenum = millis();
  4573. /* See if we are heating up or cooling down */
  4574. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  4575. KEEPALIVE_STATE(NOT_BUSY);
  4576. cancel_heatup = false;
  4577. wait_for_heater(codenum); //loops until target temperature is reached
  4578. LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
  4579. KEEPALIVE_STATE(IN_HANDLER);
  4580. heating_status = 2;
  4581. if (farm_mode) { prusa_statistics(2); };
  4582. //starttime=millis();
  4583. previous_millis_cmd = millis();
  4584. }
  4585. break;
  4586. case 190: // M190 - Wait for bed heater to reach target.
  4587. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4588. LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
  4589. heating_status = 3;
  4590. if (farm_mode) { prusa_statistics(1); };
  4591. if (code_seen('S'))
  4592. {
  4593. setTargetBed(code_value());
  4594. CooldownNoWait = true;
  4595. }
  4596. else if (code_seen('R'))
  4597. {
  4598. setTargetBed(code_value());
  4599. CooldownNoWait = false;
  4600. }
  4601. codenum = millis();
  4602. cancel_heatup = false;
  4603. target_direction = isHeatingBed(); // true if heating, false if cooling
  4604. KEEPALIVE_STATE(NOT_BUSY);
  4605. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  4606. {
  4607. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  4608. {
  4609. if (!farm_mode) {
  4610. float tt = degHotend(active_extruder);
  4611. SERIAL_PROTOCOLPGM("T:");
  4612. SERIAL_PROTOCOL(tt);
  4613. SERIAL_PROTOCOLPGM(" E:");
  4614. SERIAL_PROTOCOL((int)active_extruder);
  4615. SERIAL_PROTOCOLPGM(" B:");
  4616. SERIAL_PROTOCOL_F(degBed(), 1);
  4617. SERIAL_PROTOCOLLN("");
  4618. }
  4619. codenum = millis();
  4620. }
  4621. manage_heater();
  4622. manage_inactivity();
  4623. lcd_update();
  4624. }
  4625. LCD_MESSAGERPGM(_T(MSG_BED_DONE));
  4626. KEEPALIVE_STATE(IN_HANDLER);
  4627. heating_status = 4;
  4628. previous_millis_cmd = millis();
  4629. #endif
  4630. break;
  4631. #if defined(FAN_PIN) && FAN_PIN > -1
  4632. case 106: //M106 Fan On
  4633. if (code_seen('S')){
  4634. fanSpeed=constrain(code_value(),0,255);
  4635. }
  4636. else {
  4637. fanSpeed=255;
  4638. }
  4639. break;
  4640. case 107: //M107 Fan Off
  4641. fanSpeed = 0;
  4642. break;
  4643. #endif //FAN_PIN
  4644. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  4645. case 80: // M80 - Turn on Power Supply
  4646. SET_OUTPUT(PS_ON_PIN); //GND
  4647. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  4648. // If you have a switch on suicide pin, this is useful
  4649. // if you want to start another print with suicide feature after
  4650. // a print without suicide...
  4651. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  4652. SET_OUTPUT(SUICIDE_PIN);
  4653. WRITE(SUICIDE_PIN, HIGH);
  4654. #endif
  4655. #ifdef ULTIPANEL
  4656. powersupply = true;
  4657. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4658. lcd_update();
  4659. #endif
  4660. break;
  4661. #endif
  4662. case 81: // M81 - Turn off Power Supply
  4663. disable_heater();
  4664. st_synchronize();
  4665. disable_e0();
  4666. disable_e1();
  4667. disable_e2();
  4668. finishAndDisableSteppers();
  4669. fanSpeed = 0;
  4670. delay(1000); // Wait a little before to switch off
  4671. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  4672. st_synchronize();
  4673. suicide();
  4674. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  4675. SET_OUTPUT(PS_ON_PIN);
  4676. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4677. #endif
  4678. #ifdef ULTIPANEL
  4679. powersupply = false;
  4680. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
  4681. lcd_update();
  4682. #endif
  4683. break;
  4684. case 82:
  4685. axis_relative_modes[3] = false;
  4686. break;
  4687. case 83:
  4688. axis_relative_modes[3] = true;
  4689. break;
  4690. case 18: //compatibility
  4691. case 84: // M84
  4692. if(code_seen('S')){
  4693. stepper_inactive_time = code_value() * 1000;
  4694. }
  4695. else
  4696. {
  4697. 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])));
  4698. if(all_axis)
  4699. {
  4700. st_synchronize();
  4701. disable_e0();
  4702. disable_e1();
  4703. disable_e2();
  4704. finishAndDisableSteppers();
  4705. }
  4706. else
  4707. {
  4708. st_synchronize();
  4709. if (code_seen('X')) disable_x();
  4710. if (code_seen('Y')) disable_y();
  4711. if (code_seen('Z')) disable_z();
  4712. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4713. if (code_seen('E')) {
  4714. disable_e0();
  4715. disable_e1();
  4716. disable_e2();
  4717. }
  4718. #endif
  4719. }
  4720. }
  4721. //in the end of print set estimated time to end of print and extruders used during print to default values for next print
  4722. print_time_remaining_init();
  4723. snmm_filaments_used = 0;
  4724. break;
  4725. case 85: // M85
  4726. if(code_seen('S')) {
  4727. max_inactive_time = code_value() * 1000;
  4728. }
  4729. break;
  4730. #ifdef SAFETYTIMER
  4731. case 86: // M86 - set safety timer expiration time in seconds; M86 S0 will disable safety timer
  4732. //when safety timer expires heatbed and nozzle target temperatures are set to zero
  4733. if (code_seen('S')) {
  4734. safetytimer_inactive_time = code_value() * 1000;
  4735. safetyTimer.start();
  4736. }
  4737. break;
  4738. #endif
  4739. case 92: // M92
  4740. for(int8_t i=0; i < NUM_AXIS; i++)
  4741. {
  4742. if(code_seen(axis_codes[i]))
  4743. {
  4744. if(i == 3) { // E
  4745. float value = code_value();
  4746. if(value < 20.0) {
  4747. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  4748. max_jerk[E_AXIS] *= factor;
  4749. max_feedrate[i] *= factor;
  4750. axis_steps_per_sqr_second[i] *= factor;
  4751. }
  4752. axis_steps_per_unit[i] = value;
  4753. }
  4754. else {
  4755. axis_steps_per_unit[i] = code_value();
  4756. }
  4757. }
  4758. }
  4759. break;
  4760. case 110: // M110 - reset line pos
  4761. if (code_seen('N'))
  4762. gcode_LastN = code_value_long();
  4763. break;
  4764. #ifdef HOST_KEEPALIVE_FEATURE
  4765. case 113: // M113 - Get or set Host Keepalive interval
  4766. if (code_seen('S')) {
  4767. host_keepalive_interval = (uint8_t)code_value_short();
  4768. // NOMORE(host_keepalive_interval, 60);
  4769. }
  4770. else {
  4771. SERIAL_ECHO_START;
  4772. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4773. SERIAL_PROTOCOLLN("");
  4774. }
  4775. break;
  4776. #endif
  4777. case 115: // M115
  4778. if (code_seen('V')) {
  4779. // Report the Prusa version number.
  4780. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  4781. } else if (code_seen('U')) {
  4782. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  4783. // pause the print and ask the user to upgrade the firmware.
  4784. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  4785. } else {
  4786. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  4787. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  4788. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  4789. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  4790. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  4791. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  4792. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  4793. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  4794. SERIAL_ECHOPGM(" UUID:");
  4795. SERIAL_ECHOLNPGM(MACHINE_UUID);
  4796. }
  4797. break;
  4798. /* case 117: // M117 display message
  4799. starpos = (strchr(strchr_pointer + 5,'*'));
  4800. if(starpos!=NULL)
  4801. *(starpos)='\0';
  4802. lcd_setstatus(strchr_pointer + 5);
  4803. break;*/
  4804. case 114: // M114
  4805. gcode_M114();
  4806. break;
  4807. case 120: // M120
  4808. enable_endstops(false) ;
  4809. break;
  4810. case 121: // M121
  4811. enable_endstops(true) ;
  4812. break;
  4813. case 119: // M119
  4814. SERIAL_PROTOCOLRPGM(_i("Reporting endstop status"));////MSG_M119_REPORT c=0 r=0
  4815. SERIAL_PROTOCOLLN("");
  4816. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  4817. SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN c=0 r=0
  4818. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  4819. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4820. }else{
  4821. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4822. }
  4823. SERIAL_PROTOCOLLN("");
  4824. #endif
  4825. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  4826. SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX c=0 r=0
  4827. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  4828. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4829. }else{
  4830. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4831. }
  4832. SERIAL_PROTOCOLLN("");
  4833. #endif
  4834. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  4835. SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN c=0 r=0
  4836. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  4837. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4838. }else{
  4839. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4840. }
  4841. SERIAL_PROTOCOLLN("");
  4842. #endif
  4843. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  4844. SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX c=0 r=0
  4845. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  4846. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4847. }else{
  4848. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4849. }
  4850. SERIAL_PROTOCOLLN("");
  4851. #endif
  4852. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  4853. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  4854. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  4855. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4856. }else{
  4857. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4858. }
  4859. SERIAL_PROTOCOLLN("");
  4860. #endif
  4861. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  4862. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  4863. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  4864. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4865. }else{
  4866. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4867. }
  4868. SERIAL_PROTOCOLLN("");
  4869. #endif
  4870. break;
  4871. //TODO: update for all axis, use for loop
  4872. #ifdef BLINKM
  4873. case 150: // M150
  4874. {
  4875. byte red;
  4876. byte grn;
  4877. byte blu;
  4878. if(code_seen('R')) red = code_value();
  4879. if(code_seen('U')) grn = code_value();
  4880. if(code_seen('B')) blu = code_value();
  4881. SendColors(red,grn,blu);
  4882. }
  4883. break;
  4884. #endif //BLINKM
  4885. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  4886. {
  4887. tmp_extruder = active_extruder;
  4888. if(code_seen('T')) {
  4889. tmp_extruder = code_value();
  4890. if(tmp_extruder >= EXTRUDERS) {
  4891. SERIAL_ECHO_START;
  4892. SERIAL_ECHO(_i("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER c=0 r=0
  4893. break;
  4894. }
  4895. }
  4896. float area = .0;
  4897. if(code_seen('D')) {
  4898. float diameter = (float)code_value();
  4899. if (diameter == 0.0) {
  4900. // setting any extruder filament size disables volumetric on the assumption that
  4901. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4902. // for all extruders
  4903. volumetric_enabled = false;
  4904. } else {
  4905. filament_size[tmp_extruder] = (float)code_value();
  4906. // make sure all extruders have some sane value for the filament size
  4907. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  4908. #if EXTRUDERS > 1
  4909. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  4910. #if EXTRUDERS > 2
  4911. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  4912. #endif
  4913. #endif
  4914. volumetric_enabled = true;
  4915. }
  4916. } else {
  4917. //reserved for setting filament diameter via UFID or filament measuring device
  4918. break;
  4919. }
  4920. calculate_extruder_multipliers();
  4921. }
  4922. break;
  4923. case 201: // M201
  4924. for(int8_t i=0; i < NUM_AXIS; i++)
  4925. {
  4926. if(code_seen(axis_codes[i]))
  4927. {
  4928. max_acceleration_units_per_sq_second[i] = code_value();
  4929. }
  4930. }
  4931. // 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)
  4932. reset_acceleration_rates();
  4933. break;
  4934. #if 0 // Not used for Sprinter/grbl gen6
  4935. case 202: // M202
  4936. for(int8_t i=0; i < NUM_AXIS; i++) {
  4937. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  4938. }
  4939. break;
  4940. #endif
  4941. case 203: // M203 max feedrate mm/sec
  4942. for(int8_t i=0; i < NUM_AXIS; i++) {
  4943. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  4944. }
  4945. break;
  4946. case 204: // M204 acclereration S normal moves T filmanent only moves
  4947. {
  4948. if(code_seen('S')) acceleration = code_value() ;
  4949. if(code_seen('T')) retract_acceleration = code_value() ;
  4950. }
  4951. break;
  4952. case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
  4953. {
  4954. if(code_seen('S')) minimumfeedrate = code_value();
  4955. if(code_seen('T')) mintravelfeedrate = code_value();
  4956. if(code_seen('B')) minsegmenttime = code_value() ;
  4957. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  4958. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  4959. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  4960. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  4961. if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
  4962. if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
  4963. }
  4964. break;
  4965. case 206: // M206 additional homing offset
  4966. for(int8_t i=0; i < 3; i++)
  4967. {
  4968. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  4969. }
  4970. break;
  4971. #ifdef FWRETRACT
  4972. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  4973. {
  4974. if(code_seen('S'))
  4975. {
  4976. retract_length = code_value() ;
  4977. }
  4978. if(code_seen('F'))
  4979. {
  4980. retract_feedrate = code_value()/60 ;
  4981. }
  4982. if(code_seen('Z'))
  4983. {
  4984. retract_zlift = code_value() ;
  4985. }
  4986. }break;
  4987. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  4988. {
  4989. if(code_seen('S'))
  4990. {
  4991. retract_recover_length = code_value() ;
  4992. }
  4993. if(code_seen('F'))
  4994. {
  4995. retract_recover_feedrate = code_value()/60 ;
  4996. }
  4997. }break;
  4998. 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.
  4999. {
  5000. if(code_seen('S'))
  5001. {
  5002. int t= code_value() ;
  5003. switch(t)
  5004. {
  5005. case 0:
  5006. {
  5007. autoretract_enabled=false;
  5008. retracted[0]=false;
  5009. #if EXTRUDERS > 1
  5010. retracted[1]=false;
  5011. #endif
  5012. #if EXTRUDERS > 2
  5013. retracted[2]=false;
  5014. #endif
  5015. }break;
  5016. case 1:
  5017. {
  5018. autoretract_enabled=true;
  5019. retracted[0]=false;
  5020. #if EXTRUDERS > 1
  5021. retracted[1]=false;
  5022. #endif
  5023. #if EXTRUDERS > 2
  5024. retracted[2]=false;
  5025. #endif
  5026. }break;
  5027. default:
  5028. SERIAL_ECHO_START;
  5029. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5030. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5031. SERIAL_ECHOLNPGM("\"(1)");
  5032. }
  5033. }
  5034. }break;
  5035. #endif // FWRETRACT
  5036. #if EXTRUDERS > 1
  5037. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  5038. {
  5039. if(setTargetedHotend(218)){
  5040. break;
  5041. }
  5042. if(code_seen('X'))
  5043. {
  5044. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  5045. }
  5046. if(code_seen('Y'))
  5047. {
  5048. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  5049. }
  5050. SERIAL_ECHO_START;
  5051. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  5052. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  5053. {
  5054. SERIAL_ECHO(" ");
  5055. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  5056. SERIAL_ECHO(",");
  5057. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  5058. }
  5059. SERIAL_ECHOLN("");
  5060. }break;
  5061. #endif
  5062. case 220: // M220 S<factor in percent>- set speed factor override percentage
  5063. {
  5064. if(code_seen('S'))
  5065. {
  5066. feedmultiply = code_value() ;
  5067. }
  5068. }
  5069. break;
  5070. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  5071. {
  5072. if(code_seen('S'))
  5073. {
  5074. int tmp_code = code_value();
  5075. if (code_seen('T'))
  5076. {
  5077. if(setTargetedHotend(221)){
  5078. break;
  5079. }
  5080. extruder_multiply[tmp_extruder] = tmp_code;
  5081. }
  5082. else
  5083. {
  5084. extrudemultiply = tmp_code ;
  5085. }
  5086. }
  5087. calculate_extruder_multipliers();
  5088. }
  5089. break;
  5090. #ifndef _DISABLE_M42_M226
  5091. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  5092. {
  5093. if(code_seen('P')){
  5094. int pin_number = code_value(); // pin number
  5095. int pin_state = -1; // required pin state - default is inverted
  5096. if(code_seen('S')) pin_state = code_value(); // required pin state
  5097. if(pin_state >= -1 && pin_state <= 1){
  5098. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  5099. {
  5100. if (sensitive_pins[i] == pin_number)
  5101. {
  5102. pin_number = -1;
  5103. break;
  5104. }
  5105. }
  5106. if (pin_number > -1)
  5107. {
  5108. int target = LOW;
  5109. st_synchronize();
  5110. pinMode(pin_number, INPUT);
  5111. switch(pin_state){
  5112. case 1:
  5113. target = HIGH;
  5114. break;
  5115. case 0:
  5116. target = LOW;
  5117. break;
  5118. case -1:
  5119. target = !digitalRead(pin_number);
  5120. break;
  5121. }
  5122. while(digitalRead(pin_number) != target){
  5123. manage_heater();
  5124. manage_inactivity();
  5125. lcd_update();
  5126. }
  5127. }
  5128. }
  5129. }
  5130. }
  5131. break;
  5132. #endif //_DISABLE_M42_M226
  5133. #if NUM_SERVOS > 0
  5134. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  5135. {
  5136. int servo_index = -1;
  5137. int servo_position = 0;
  5138. if (code_seen('P'))
  5139. servo_index = code_value();
  5140. if (code_seen('S')) {
  5141. servo_position = code_value();
  5142. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  5143. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5144. servos[servo_index].attach(0);
  5145. #endif
  5146. servos[servo_index].write(servo_position);
  5147. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5148. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  5149. servos[servo_index].detach();
  5150. #endif
  5151. }
  5152. else {
  5153. SERIAL_ECHO_START;
  5154. SERIAL_ECHO("Servo ");
  5155. SERIAL_ECHO(servo_index);
  5156. SERIAL_ECHOLN(" out of range");
  5157. }
  5158. }
  5159. else if (servo_index >= 0) {
  5160. SERIAL_PROTOCOL(_T(MSG_OK));
  5161. SERIAL_PROTOCOL(" Servo ");
  5162. SERIAL_PROTOCOL(servo_index);
  5163. SERIAL_PROTOCOL(": ");
  5164. SERIAL_PROTOCOL(servos[servo_index].read());
  5165. SERIAL_PROTOCOLLN("");
  5166. }
  5167. }
  5168. break;
  5169. #endif // NUM_SERVOS > 0
  5170. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  5171. case 300: // M300
  5172. {
  5173. int beepS = code_seen('S') ? code_value() : 110;
  5174. int beepP = code_seen('P') ? code_value() : 1000;
  5175. if (beepS > 0)
  5176. {
  5177. #if BEEPER > 0
  5178. tone(BEEPER, beepS);
  5179. delay(beepP);
  5180. noTone(BEEPER);
  5181. #elif defined(ULTRALCD)
  5182. lcd_buzz(beepS, beepP);
  5183. #elif defined(LCD_USE_I2C_BUZZER)
  5184. lcd_buzz(beepP, beepS);
  5185. #endif
  5186. }
  5187. else
  5188. {
  5189. delay(beepP);
  5190. }
  5191. }
  5192. break;
  5193. #endif // M300
  5194. #ifdef PIDTEMP
  5195. case 301: // M301
  5196. {
  5197. if(code_seen('P')) Kp = code_value();
  5198. if(code_seen('I')) Ki = scalePID_i(code_value());
  5199. if(code_seen('D')) Kd = scalePID_d(code_value());
  5200. #ifdef PID_ADD_EXTRUSION_RATE
  5201. if(code_seen('C')) Kc = code_value();
  5202. #endif
  5203. updatePID();
  5204. SERIAL_PROTOCOLRPGM(_T(MSG_OK));
  5205. SERIAL_PROTOCOL(" p:");
  5206. SERIAL_PROTOCOL(Kp);
  5207. SERIAL_PROTOCOL(" i:");
  5208. SERIAL_PROTOCOL(unscalePID_i(Ki));
  5209. SERIAL_PROTOCOL(" d:");
  5210. SERIAL_PROTOCOL(unscalePID_d(Kd));
  5211. #ifdef PID_ADD_EXTRUSION_RATE
  5212. SERIAL_PROTOCOL(" c:");
  5213. //Kc does not have scaling applied above, or in resetting defaults
  5214. SERIAL_PROTOCOL(Kc);
  5215. #endif
  5216. SERIAL_PROTOCOLLN("");
  5217. }
  5218. break;
  5219. #endif //PIDTEMP
  5220. #ifdef PIDTEMPBED
  5221. case 304: // M304
  5222. {
  5223. if(code_seen('P')) bedKp = code_value();
  5224. if(code_seen('I')) bedKi = scalePID_i(code_value());
  5225. if(code_seen('D')) bedKd = scalePID_d(code_value());
  5226. updatePID();
  5227. SERIAL_PROTOCOLRPGM(_T(MSG_OK));
  5228. SERIAL_PROTOCOL(" p:");
  5229. SERIAL_PROTOCOL(bedKp);
  5230. SERIAL_PROTOCOL(" i:");
  5231. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  5232. SERIAL_PROTOCOL(" d:");
  5233. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  5234. SERIAL_PROTOCOLLN("");
  5235. }
  5236. break;
  5237. #endif //PIDTEMP
  5238. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  5239. {
  5240. #ifdef CHDK
  5241. SET_OUTPUT(CHDK);
  5242. WRITE(CHDK, HIGH);
  5243. chdkHigh = millis();
  5244. chdkActive = true;
  5245. #else
  5246. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  5247. const uint8_t NUM_PULSES=16;
  5248. const float PULSE_LENGTH=0.01524;
  5249. for(int i=0; i < NUM_PULSES; i++) {
  5250. WRITE(PHOTOGRAPH_PIN, HIGH);
  5251. _delay_ms(PULSE_LENGTH);
  5252. WRITE(PHOTOGRAPH_PIN, LOW);
  5253. _delay_ms(PULSE_LENGTH);
  5254. }
  5255. delay(7.33);
  5256. for(int i=0; i < NUM_PULSES; i++) {
  5257. WRITE(PHOTOGRAPH_PIN, HIGH);
  5258. _delay_ms(PULSE_LENGTH);
  5259. WRITE(PHOTOGRAPH_PIN, LOW);
  5260. _delay_ms(PULSE_LENGTH);
  5261. }
  5262. #endif
  5263. #endif //chdk end if
  5264. }
  5265. break;
  5266. #ifdef DOGLCD
  5267. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  5268. {
  5269. if (code_seen('C')) {
  5270. lcd_setcontrast( ((int)code_value())&63 );
  5271. }
  5272. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  5273. SERIAL_PROTOCOL(lcd_contrast);
  5274. SERIAL_PROTOCOLLN("");
  5275. }
  5276. break;
  5277. #endif
  5278. #ifdef PREVENT_DANGEROUS_EXTRUDE
  5279. case 302: // allow cold extrudes, or set the minimum extrude temperature
  5280. {
  5281. float temp = .0;
  5282. if (code_seen('S')) temp=code_value();
  5283. set_extrude_min_temp(temp);
  5284. }
  5285. break;
  5286. #endif
  5287. case 303: // M303 PID autotune
  5288. {
  5289. float temp = 150.0;
  5290. int e=0;
  5291. int c=5;
  5292. if (code_seen('E')) e=code_value();
  5293. if (e<0)
  5294. temp=70;
  5295. if (code_seen('S')) temp=code_value();
  5296. if (code_seen('C')) c=code_value();
  5297. PID_autotune(temp, e, c);
  5298. }
  5299. break;
  5300. case 400: // M400 finish all moves
  5301. {
  5302. st_synchronize();
  5303. }
  5304. break;
  5305. case 500: // M500 Store settings in EEPROM
  5306. {
  5307. Config_StoreSettings(EEPROM_OFFSET);
  5308. }
  5309. break;
  5310. case 501: // M501 Read settings from EEPROM
  5311. {
  5312. Config_RetrieveSettings(EEPROM_OFFSET);
  5313. }
  5314. break;
  5315. case 502: // M502 Revert to default settings
  5316. {
  5317. Config_ResetDefault();
  5318. }
  5319. break;
  5320. case 503: // M503 print settings currently in memory
  5321. {
  5322. Config_PrintSettings();
  5323. }
  5324. break;
  5325. case 509: //M509 Force language selection
  5326. {
  5327. lang_reset();
  5328. SERIAL_ECHO_START;
  5329. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  5330. }
  5331. break;
  5332. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5333. case 540:
  5334. {
  5335. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  5336. }
  5337. break;
  5338. #endif
  5339. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5340. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  5341. {
  5342. float value;
  5343. if (code_seen('Z'))
  5344. {
  5345. value = code_value();
  5346. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  5347. {
  5348. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  5349. SERIAL_ECHO_START;
  5350. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", _T(MSG_OK),PSTR("")));
  5351. SERIAL_PROTOCOLLN("");
  5352. }
  5353. else
  5354. {
  5355. SERIAL_ECHO_START;
  5356. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  5357. SERIAL_ECHORPGM(MSG_Z_MIN);
  5358. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  5359. SERIAL_ECHORPGM(MSG_Z_MAX);
  5360. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  5361. SERIAL_PROTOCOLLN("");
  5362. }
  5363. }
  5364. else
  5365. {
  5366. SERIAL_ECHO_START;
  5367. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  5368. SERIAL_ECHO(-zprobe_zoffset);
  5369. SERIAL_PROTOCOLLN("");
  5370. }
  5371. break;
  5372. }
  5373. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5374. #ifdef FILAMENTCHANGEENABLE
  5375. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  5376. {
  5377. #ifdef PAT9125
  5378. bool old_fsensor_enabled = fsensor_enabled;
  5379. fsensor_enabled = false; //temporary solution for unexpected restarting
  5380. #endif //PAT9125
  5381. st_synchronize();
  5382. float target[4];
  5383. float lastpos[4];
  5384. if (farm_mode)
  5385. {
  5386. prusa_statistics(22);
  5387. }
  5388. feedmultiplyBckp=feedmultiply;
  5389. int8_t TooLowZ = 0;
  5390. float HotendTempBckp = degTargetHotend(active_extruder);
  5391. int fanSpeedBckp = fanSpeed;
  5392. target[X_AXIS]=current_position[X_AXIS];
  5393. target[Y_AXIS]=current_position[Y_AXIS];
  5394. target[Z_AXIS]=current_position[Z_AXIS];
  5395. target[E_AXIS]=current_position[E_AXIS];
  5396. lastpos[X_AXIS]=current_position[X_AXIS];
  5397. lastpos[Y_AXIS]=current_position[Y_AXIS];
  5398. lastpos[Z_AXIS]=current_position[Z_AXIS];
  5399. lastpos[E_AXIS]=current_position[E_AXIS];
  5400. //Restract extruder
  5401. if(code_seen('E'))
  5402. {
  5403. target[E_AXIS]+= code_value();
  5404. }
  5405. else
  5406. {
  5407. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  5408. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  5409. #endif
  5410. }
  5411. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5412. //Lift Z
  5413. if(code_seen('Z'))
  5414. {
  5415. target[Z_AXIS]+= code_value();
  5416. }
  5417. else
  5418. {
  5419. #ifdef FILAMENTCHANGE_ZADD
  5420. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  5421. if(target[Z_AXIS] < 10){
  5422. target[Z_AXIS]+= 10 ;
  5423. TooLowZ = 1;
  5424. }else{
  5425. TooLowZ = 0;
  5426. }
  5427. #endif
  5428. }
  5429. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5430. //Move XY to side
  5431. if(code_seen('X'))
  5432. {
  5433. target[X_AXIS]+= code_value();
  5434. }
  5435. else
  5436. {
  5437. #ifdef FILAMENTCHANGE_XPOS
  5438. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  5439. #endif
  5440. }
  5441. if(code_seen('Y'))
  5442. {
  5443. target[Y_AXIS]= code_value();
  5444. }
  5445. else
  5446. {
  5447. #ifdef FILAMENTCHANGE_YPOS
  5448. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  5449. #endif
  5450. }
  5451. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5452. st_synchronize();
  5453. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5454. uint8_t cnt = 0;
  5455. int counterBeep = 0;
  5456. fanSpeed = 0;
  5457. unsigned long waiting_start_time = millis();
  5458. uint8_t wait_for_user_state = 0;
  5459. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  5460. while (!(wait_for_user_state == 0 && lcd_clicked())){
  5461. //cnt++;
  5462. manage_heater();
  5463. manage_inactivity(true);
  5464. /*#ifdef SNMM
  5465. target[E_AXIS] += 0.002;
  5466. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5467. #endif // SNMM*/
  5468. //if (cnt == 0)
  5469. {
  5470. #if BEEPER > 0
  5471. if (counterBeep == 500) {
  5472. counterBeep = 0;
  5473. }
  5474. SET_OUTPUT(BEEPER);
  5475. if (counterBeep == 0) {
  5476. WRITE(BEEPER, HIGH);
  5477. }
  5478. if (counterBeep == 20) {
  5479. WRITE(BEEPER, LOW);
  5480. }
  5481. counterBeep++;
  5482. #else
  5483. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  5484. lcd_buzz(1000 / 6, 100);
  5485. #else
  5486. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
  5487. #endif
  5488. #endif
  5489. }
  5490. switch (wait_for_user_state) {
  5491. case 0:
  5492. delay_keep_alive(4);
  5493. if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  5494. lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
  5495. wait_for_user_state = 1;
  5496. setTargetHotend(0, 0);
  5497. setTargetHotend(0, 1);
  5498. setTargetHotend(0, 2);
  5499. st_synchronize();
  5500. disable_e0();
  5501. disable_e1();
  5502. disable_e2();
  5503. }
  5504. break;
  5505. case 1:
  5506. delay_keep_alive(4);
  5507. if (lcd_clicked()) {
  5508. setTargetHotend(HotendTempBckp, active_extruder);
  5509. lcd_wait_for_heater();
  5510. wait_for_user_state = 2;
  5511. }
  5512. break;
  5513. case 2:
  5514. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  5515. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  5516. waiting_start_time = millis();
  5517. wait_for_user_state = 0;
  5518. }
  5519. else {
  5520. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  5521. lcd.setCursor(1, 4);
  5522. lcd.print(ftostr3(degHotend(active_extruder)));
  5523. }
  5524. break;
  5525. }
  5526. }
  5527. WRITE(BEEPER, LOW);
  5528. lcd_change_fil_state = 0;
  5529. // Unload filament
  5530. lcd_display_message_fullscreen_P(_T(MSG_UNLOADING_FILAMENT));
  5531. KEEPALIVE_STATE(IN_HANDLER);
  5532. custom_message = true;
  5533. lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
  5534. if (code_seen('L'))
  5535. {
  5536. target[E_AXIS] += code_value();
  5537. }
  5538. else
  5539. {
  5540. #ifdef SNMM
  5541. #else
  5542. #ifdef FILAMENTCHANGE_FINALRETRACT
  5543. target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  5544. #endif
  5545. #endif // SNMM
  5546. }
  5547. #ifdef SNMM
  5548. target[E_AXIS] += 12;
  5549. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
  5550. target[E_AXIS] += 6;
  5551. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  5552. target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
  5553. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  5554. st_synchronize();
  5555. target[E_AXIS] += (FIL_COOLING);
  5556. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5557. target[E_AXIS] += (FIL_COOLING*-1);
  5558. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5559. target[E_AXIS] += (bowden_length[snmm_extruder] * -1);
  5560. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5561. st_synchronize();
  5562. #else
  5563. // plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5564. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500 / 60, active_extruder);
  5565. target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
  5566. st_synchronize();
  5567. #ifdef TMC2130
  5568. uint8_t tmc2130_current_r_bckp = tmc2130_current_r[E_AXIS];
  5569. tmc2130_set_current_r(E_AXIS, TMC2130_UNLOAD_CURRENT_R);
  5570. #else
  5571. st_current_set(2, 200); //set lower E motor current for unload to protect filament sensor and ptfe tube
  5572. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  5573. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  5574. #endif //TMC2130
  5575. target[E_AXIS] -= 45;
  5576. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5200 / 60, active_extruder);
  5577. st_synchronize();
  5578. target[E_AXIS] -= 15;
  5579. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
  5580. st_synchronize();
  5581. target[E_AXIS] -= 20;
  5582. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
  5583. st_synchronize();
  5584. #ifdef TMC2130
  5585. tmc2130_set_current_r(E_AXIS, tmc2130_current_r_bckp);
  5586. #else
  5587. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  5588. if(silentMode != SILENT_MODE_POWER) st_current_set(2, tmp_motor[2]); //set E back to normal operation currents
  5589. else st_current_set(2, tmp_motor_loud[2]);
  5590. #endif //TMC2130
  5591. #endif // SNMM
  5592. //finish moves
  5593. st_synchronize();
  5594. lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
  5595. //disable extruder steppers so filament can be removed
  5596. disable_e0();
  5597. disable_e1();
  5598. disable_e2();
  5599. delay(100);
  5600. WRITE(BEEPER, HIGH);
  5601. counterBeep = 0;
  5602. while(!lcd_clicked() && (counterBeep < 50)) {
  5603. if(counterBeep > 5) WRITE(BEEPER, LOW);
  5604. delay_keep_alive(100);
  5605. counterBeep++;
  5606. }
  5607. WRITE(BEEPER, LOW);
  5608. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5609. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"), false, true);////MSG_UNLOAD_SUCCESSFUL c=20 r=2
  5610. if (lcd_change_fil_state == 0) lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
  5611. //lcd_return_to_status();
  5612. lcd_update_enable(true);
  5613. //Wait for user to insert filament
  5614. lcd_wait_interact();
  5615. //load_filament_time = millis();
  5616. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5617. #ifdef PAT9125
  5618. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_start();
  5619. #endif //PAT9125
  5620. // printf_P(PSTR("M600 PAT9125 filament_autoload_enabled=%d, old_fsensor_enabled=%d, fsensor_M600=%d"), filament_autoload_enabled, old_fsensor_enabled, fsensor_M600);
  5621. while(!lcd_clicked())
  5622. {
  5623. manage_heater();
  5624. manage_inactivity(true);
  5625. #ifdef PAT9125
  5626. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600) && fsensor_check_autoload())
  5627. {
  5628. tone(BEEPER, 1000);
  5629. delay_keep_alive(50);
  5630. noTone(BEEPER);
  5631. break;
  5632. }
  5633. #endif //PAT9125
  5634. /*#ifdef SNMM
  5635. target[E_AXIS] += 0.002;
  5636. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5637. #endif // SNMM*/
  5638. }
  5639. #ifdef PAT9125
  5640. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_stop();
  5641. #endif //PAT9125
  5642. //WRITE(BEEPER, LOW);
  5643. KEEPALIVE_STATE(IN_HANDLER);
  5644. #ifdef SNMM
  5645. display_loading();
  5646. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5647. do {
  5648. target[E_AXIS] += 0.002;
  5649. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5650. delay_keep_alive(2);
  5651. } while (!lcd_clicked());
  5652. KEEPALIVE_STATE(IN_HANDLER);
  5653. /*if (millis() - load_filament_time > 2) {
  5654. load_filament_time = millis();
  5655. target[E_AXIS] += 0.001;
  5656. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
  5657. }*/
  5658. //Filament inserted
  5659. //Feed the filament to the end of nozzle quickly
  5660. st_synchronize();
  5661. target[E_AXIS] += bowden_length[snmm_extruder];
  5662. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5663. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  5664. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  5665. target[E_AXIS] += 40;
  5666. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  5667. target[E_AXIS] += 10;
  5668. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5669. #else
  5670. target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
  5671. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  5672. #endif // SNMM
  5673. //Extrude some filament
  5674. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5675. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5676. //Wait for user to check the state
  5677. lcd_change_fil_state = 0;
  5678. lcd_loading_filament();
  5679. tone(BEEPER, 500);
  5680. delay_keep_alive(50);
  5681. noTone(BEEPER);
  5682. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  5683. lcd_change_fil_state = 0;
  5684. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5685. lcd_alright();
  5686. KEEPALIVE_STATE(IN_HANDLER);
  5687. switch(lcd_change_fil_state){
  5688. // Filament failed to load so load it again
  5689. case 2:
  5690. #ifdef SNMM
  5691. display_loading();
  5692. do {
  5693. target[E_AXIS] += 0.002;
  5694. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5695. delay_keep_alive(2);
  5696. } while (!lcd_clicked());
  5697. st_synchronize();
  5698. target[E_AXIS] += bowden_length[snmm_extruder];
  5699. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5700. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  5701. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  5702. target[E_AXIS] += 40;
  5703. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  5704. target[E_AXIS] += 10;
  5705. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5706. #else
  5707. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  5708. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  5709. #endif
  5710. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5711. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5712. lcd_loading_filament();
  5713. break;
  5714. // Filament loaded properly but color is not clear
  5715. case 3:
  5716. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5717. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  5718. lcd_loading_color();
  5719. break;
  5720. // Everything good
  5721. default:
  5722. lcd_change_success();
  5723. lcd_update_enable(true);
  5724. break;
  5725. }
  5726. }
  5727. //Not let's go back to print
  5728. fanSpeed = fanSpeedBckp;
  5729. //Feed a little of filament to stabilize pressure
  5730. target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
  5731. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5732. //Retract
  5733. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  5734. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5735. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  5736. //Move XY back
  5737. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5738. //Move Z back
  5739. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5740. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  5741. //Unretract
  5742. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5743. //Set E position to original
  5744. plan_set_e_position(lastpos[E_AXIS]);
  5745. //Recover feed rate
  5746. feedmultiply=feedmultiplyBckp;
  5747. char cmd[9];
  5748. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  5749. enquecommand(cmd);
  5750. lcd_setstatuspgm(_T(WELCOME_MSG));
  5751. custom_message = false;
  5752. custom_message_type = 0;
  5753. #ifdef PAT9125
  5754. fsensor_enabled = old_fsensor_enabled; //temporary solution for unexpected restarting
  5755. if (fsensor_M600)
  5756. {
  5757. cmdqueue_pop_front(); //hack because M600 repeated 2x when enqueued to front
  5758. st_synchronize();
  5759. while (!is_buffer_empty())
  5760. {
  5761. process_commands();
  5762. cmdqueue_pop_front();
  5763. }
  5764. KEEPALIVE_STATE(IN_HANDLER);
  5765. fsensor_enable();
  5766. fsensor_restore_print_and_continue();
  5767. }
  5768. #endif //PAT9125
  5769. }
  5770. break;
  5771. #endif //FILAMENTCHANGEENABLE
  5772. case 601: {
  5773. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  5774. }
  5775. break;
  5776. case 602: {
  5777. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  5778. }
  5779. break;
  5780. #ifdef PINDA_THERMISTOR
  5781. case 860: // M860 - Wait for PINDA thermistor to reach target temperature.
  5782. {
  5783. int set_target_pinda = 0;
  5784. if (code_seen('S')) {
  5785. set_target_pinda = code_value();
  5786. }
  5787. else {
  5788. break;
  5789. }
  5790. LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
  5791. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  5792. SERIAL_PROTOCOL(set_target_pinda);
  5793. SERIAL_PROTOCOLLN("");
  5794. codenum = millis();
  5795. cancel_heatup = false;
  5796. bool is_pinda_cooling = false;
  5797. if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
  5798. is_pinda_cooling = true;
  5799. }
  5800. while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
  5801. if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  5802. {
  5803. SERIAL_PROTOCOLPGM("P:");
  5804. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  5805. SERIAL_PROTOCOLPGM("/");
  5806. SERIAL_PROTOCOL(set_target_pinda);
  5807. SERIAL_PROTOCOLLN("");
  5808. codenum = millis();
  5809. }
  5810. manage_heater();
  5811. manage_inactivity();
  5812. lcd_update();
  5813. }
  5814. LCD_MESSAGERPGM(_T(MSG_OK));
  5815. break;
  5816. }
  5817. case 861: // M861 - Set/Read PINDA temperature compensation offsets
  5818. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  5819. uint8_t cal_status = calibration_status_pinda();
  5820. int16_t usteps = 0;
  5821. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  5822. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5823. for (uint8_t i = 0; i < 6; i++)
  5824. {
  5825. if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
  5826. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5827. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5828. SERIAL_PROTOCOLPGM(", ");
  5829. SERIAL_PROTOCOL(35 + (i * 5));
  5830. SERIAL_PROTOCOLPGM(", ");
  5831. SERIAL_PROTOCOL(usteps);
  5832. SERIAL_PROTOCOLPGM(", ");
  5833. SERIAL_PROTOCOL(mm * 1000);
  5834. SERIAL_PROTOCOLLN("");
  5835. }
  5836. }
  5837. else if (code_seen('!')) { // ! - Set factory default values
  5838. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5839. int16_t z_shift = 8; //40C - 20um - 8usteps
  5840. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
  5841. z_shift = 24; //45C - 60um - 24usteps
  5842. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
  5843. z_shift = 48; //50C - 120um - 48usteps
  5844. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
  5845. z_shift = 80; //55C - 200um - 80usteps
  5846. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
  5847. z_shift = 120; //60C - 300um - 120usteps
  5848. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
  5849. SERIAL_PROTOCOLLN("factory restored");
  5850. }
  5851. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  5852. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5853. int16_t z_shift = 0;
  5854. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  5855. SERIAL_PROTOCOLLN("zerorized");
  5856. }
  5857. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  5858. int16_t usteps = code_value();
  5859. if (code_seen('I')) {
  5860. byte index = code_value();
  5861. if ((index >= 0) && (index < 5)) {
  5862. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
  5863. SERIAL_PROTOCOLLN("OK");
  5864. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5865. for (uint8_t i = 0; i < 6; i++)
  5866. {
  5867. usteps = 0;
  5868. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
  5869. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5870. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5871. SERIAL_PROTOCOLPGM(", ");
  5872. SERIAL_PROTOCOL(35 + (i * 5));
  5873. SERIAL_PROTOCOLPGM(", ");
  5874. SERIAL_PROTOCOL(usteps);
  5875. SERIAL_PROTOCOLPGM(", ");
  5876. SERIAL_PROTOCOL(mm * 1000);
  5877. SERIAL_PROTOCOLLN("");
  5878. }
  5879. }
  5880. }
  5881. }
  5882. else {
  5883. SERIAL_PROTOCOLPGM("no valid command");
  5884. }
  5885. break;
  5886. #endif //PINDA_THERMISTOR
  5887. #ifdef LIN_ADVANCE
  5888. case 900: // M900: Set LIN_ADVANCE options.
  5889. gcode_M900();
  5890. break;
  5891. #endif
  5892. case 907: // M907 Set digital trimpot motor current using axis codes.
  5893. {
  5894. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5895. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  5896. if(code_seen('B')) st_current_set(4,code_value());
  5897. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  5898. #endif
  5899. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  5900. if(code_seen('X')) st_current_set(0, code_value());
  5901. #endif
  5902. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  5903. if(code_seen('Z')) st_current_set(1, code_value());
  5904. #endif
  5905. #ifdef MOTOR_CURRENT_PWM_E_PIN
  5906. if(code_seen('E')) st_current_set(2, code_value());
  5907. #endif
  5908. }
  5909. break;
  5910. case 908: // M908 Control digital trimpot directly.
  5911. {
  5912. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5913. uint8_t channel,current;
  5914. if(code_seen('P')) channel=code_value();
  5915. if(code_seen('S')) current=code_value();
  5916. digitalPotWrite(channel, current);
  5917. #endif
  5918. }
  5919. break;
  5920. #ifdef TMC2130
  5921. case 910: // M910 TMC2130 init
  5922. {
  5923. tmc2130_init();
  5924. }
  5925. break;
  5926. case 911: // M911 Set TMC2130 holding currents
  5927. {
  5928. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  5929. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  5930. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  5931. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  5932. }
  5933. break;
  5934. case 912: // M912 Set TMC2130 running currents
  5935. {
  5936. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  5937. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  5938. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  5939. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  5940. }
  5941. break;
  5942. case 913: // M913 Print TMC2130 currents
  5943. {
  5944. tmc2130_print_currents();
  5945. }
  5946. break;
  5947. case 914: // M914 Set normal mode
  5948. {
  5949. tmc2130_mode = TMC2130_MODE_NORMAL;
  5950. tmc2130_init();
  5951. }
  5952. break;
  5953. case 915: // M915 Set silent mode
  5954. {
  5955. tmc2130_mode = TMC2130_MODE_SILENT;
  5956. tmc2130_init();
  5957. }
  5958. break;
  5959. case 916: // M916 Set sg_thrs
  5960. {
  5961. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  5962. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  5963. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  5964. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  5965. for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
  5966. printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
  5967. }
  5968. break;
  5969. case 917: // M917 Set TMC2130 pwm_ampl
  5970. {
  5971. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  5972. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  5973. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  5974. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  5975. }
  5976. break;
  5977. case 918: // M918 Set TMC2130 pwm_grad
  5978. {
  5979. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  5980. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  5981. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  5982. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  5983. }
  5984. break;
  5985. #endif //TMC2130
  5986. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5987. {
  5988. #ifdef TMC2130
  5989. if(code_seen('E'))
  5990. {
  5991. uint16_t res_new = code_value();
  5992. if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
  5993. {
  5994. st_synchronize();
  5995. uint8_t axis = E_AXIS;
  5996. uint16_t res = tmc2130_get_res(axis);
  5997. tmc2130_set_res(axis, res_new);
  5998. if (res_new > res)
  5999. {
  6000. uint16_t fac = (res_new / res);
  6001. axis_steps_per_unit[axis] *= fac;
  6002. position[E_AXIS] *= fac;
  6003. }
  6004. else
  6005. {
  6006. uint16_t fac = (res / res_new);
  6007. axis_steps_per_unit[axis] /= fac;
  6008. position[E_AXIS] /= fac;
  6009. }
  6010. }
  6011. }
  6012. #else //TMC2130
  6013. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  6014. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  6015. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  6016. if(code_seen('B')) microstep_mode(4,code_value());
  6017. microstep_readings();
  6018. #endif
  6019. #endif //TMC2130
  6020. }
  6021. break;
  6022. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  6023. {
  6024. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  6025. if(code_seen('S')) switch((int)code_value())
  6026. {
  6027. case 1:
  6028. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  6029. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  6030. break;
  6031. case 2:
  6032. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  6033. if(code_seen('B')) microstep_ms(4,-1,code_value());
  6034. break;
  6035. }
  6036. microstep_readings();
  6037. #endif
  6038. }
  6039. break;
  6040. case 701: //M701: load filament
  6041. {
  6042. gcode_M701();
  6043. }
  6044. break;
  6045. case 702:
  6046. {
  6047. #ifdef SNMM
  6048. if (code_seen('U')) {
  6049. extr_unload_used(); //unload all filaments which were used in current print
  6050. }
  6051. else if (code_seen('C')) {
  6052. extr_unload(); //unload just current filament
  6053. }
  6054. else {
  6055. extr_unload_all(); //unload all filaments
  6056. }
  6057. #else
  6058. #ifdef PAT9125
  6059. bool old_fsensor_enabled = fsensor_enabled;
  6060. fsensor_enabled = false;
  6061. #endif //PAT9125
  6062. custom_message = true;
  6063. custom_message_type = 2;
  6064. lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
  6065. // extr_unload2();
  6066. current_position[E_AXIS] -= 45;
  6067. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
  6068. st_synchronize();
  6069. current_position[E_AXIS] -= 15;
  6070. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  6071. st_synchronize();
  6072. current_position[E_AXIS] -= 20;
  6073. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  6074. st_synchronize();
  6075. lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
  6076. //disable extruder steppers so filament can be removed
  6077. disable_e0();
  6078. disable_e1();
  6079. disable_e2();
  6080. delay(100);
  6081. WRITE(BEEPER, HIGH);
  6082. uint8_t counterBeep = 0;
  6083. while (!lcd_clicked() && (counterBeep < 50)) {
  6084. if (counterBeep > 5) WRITE(BEEPER, LOW);
  6085. delay_keep_alive(100);
  6086. counterBeep++;
  6087. }
  6088. WRITE(BEEPER, LOW);
  6089. st_synchronize();
  6090. while (lcd_clicked()) delay_keep_alive(100);
  6091. lcd_update_enable(true);
  6092. lcd_setstatuspgm(_T(WELCOME_MSG));
  6093. custom_message = false;
  6094. custom_message_type = 0;
  6095. #ifdef PAT9125
  6096. fsensor_enabled = old_fsensor_enabled;
  6097. #endif //PAT9125
  6098. #endif
  6099. }
  6100. break;
  6101. case 999: // M999: Restart after being stopped
  6102. Stopped = false;
  6103. lcd_reset_alert_level();
  6104. gcode_LastN = Stopped_gcode_LastN;
  6105. FlushSerialRequestResend();
  6106. break;
  6107. default:
  6108. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  6109. }
  6110. } // end if(code_seen('M')) (end of M codes)
  6111. else if(code_seen('T'))
  6112. {
  6113. int index;
  6114. st_synchronize();
  6115. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  6116. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
  6117. SERIAL_ECHOLNPGM("Invalid T code.");
  6118. }
  6119. else {
  6120. if (*(strchr_pointer + index) == '?') {
  6121. tmp_extruder = choose_extruder_menu();
  6122. }
  6123. else {
  6124. tmp_extruder = code_value();
  6125. }
  6126. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  6127. #ifdef SNMM
  6128. #ifdef LIN_ADVANCE
  6129. if (snmm_extruder != tmp_extruder)
  6130. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  6131. #endif
  6132. snmm_extruder = tmp_extruder;
  6133. delay(100);
  6134. disable_e0();
  6135. disable_e1();
  6136. disable_e2();
  6137. pinMode(E_MUX0_PIN, OUTPUT);
  6138. pinMode(E_MUX1_PIN, OUTPUT);
  6139. delay(100);
  6140. SERIAL_ECHO_START;
  6141. SERIAL_ECHO("T:");
  6142. SERIAL_ECHOLN((int)tmp_extruder);
  6143. switch (tmp_extruder) {
  6144. case 1:
  6145. WRITE(E_MUX0_PIN, HIGH);
  6146. WRITE(E_MUX1_PIN, LOW);
  6147. break;
  6148. case 2:
  6149. WRITE(E_MUX0_PIN, LOW);
  6150. WRITE(E_MUX1_PIN, HIGH);
  6151. break;
  6152. case 3:
  6153. WRITE(E_MUX0_PIN, HIGH);
  6154. WRITE(E_MUX1_PIN, HIGH);
  6155. break;
  6156. default:
  6157. WRITE(E_MUX0_PIN, LOW);
  6158. WRITE(E_MUX1_PIN, LOW);
  6159. break;
  6160. }
  6161. delay(100);
  6162. #else
  6163. if (tmp_extruder >= EXTRUDERS) {
  6164. SERIAL_ECHO_START;
  6165. SERIAL_ECHOPGM("T");
  6166. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6167. SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER c=0 r=0
  6168. }
  6169. else {
  6170. boolean make_move = false;
  6171. if (code_seen('F')) {
  6172. make_move = true;
  6173. next_feedrate = code_value();
  6174. if (next_feedrate > 0.0) {
  6175. feedrate = next_feedrate;
  6176. }
  6177. }
  6178. #if EXTRUDERS > 1
  6179. if (tmp_extruder != active_extruder) {
  6180. // Save current position to return to after applying extruder offset
  6181. memcpy(destination, current_position, sizeof(destination));
  6182. // Offset extruder (only by XY)
  6183. int i;
  6184. for (i = 0; i < 2; i++) {
  6185. current_position[i] = current_position[i] -
  6186. extruder_offset[i][active_extruder] +
  6187. extruder_offset[i][tmp_extruder];
  6188. }
  6189. // Set the new active extruder and position
  6190. active_extruder = tmp_extruder;
  6191. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6192. // Move to the old position if 'F' was in the parameters
  6193. if (make_move && Stopped == false) {
  6194. prepare_move();
  6195. }
  6196. }
  6197. #endif
  6198. SERIAL_ECHO_START;
  6199. SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER c=0 r=0
  6200. SERIAL_PROTOCOLLN((int)active_extruder);
  6201. }
  6202. #endif
  6203. }
  6204. } // end if(code_seen('T')) (end of T codes)
  6205. #ifdef DEBUG_DCODES
  6206. else if (code_seen('D')) // D codes (debug)
  6207. {
  6208. switch((int)code_value())
  6209. {
  6210. case -1: // D-1 - Endless loop
  6211. dcode__1(); break;
  6212. case 0: // D0 - Reset
  6213. dcode_0(); break;
  6214. case 1: // D1 - Clear EEPROM
  6215. dcode_1(); break;
  6216. case 2: // D2 - Read/Write RAM
  6217. dcode_2(); break;
  6218. case 3: // D3 - Read/Write EEPROM
  6219. dcode_3(); break;
  6220. case 4: // D4 - Read/Write PIN
  6221. dcode_4(); break;
  6222. case 5: // D5 - Read/Write FLASH
  6223. // dcode_5(); break;
  6224. break;
  6225. case 6: // D6 - Read/Write external FLASH
  6226. dcode_6(); break;
  6227. case 7: // D7 - Read/Write Bootloader
  6228. dcode_7(); break;
  6229. case 8: // D8 - Read/Write PINDA
  6230. dcode_8(); break;
  6231. case 9: // D9 - Read/Write ADC
  6232. dcode_9(); break;
  6233. case 10: // D10 - XYZ calibration = OK
  6234. dcode_10(); break;
  6235. #ifdef TMC2130
  6236. case 2130: // D9125 - TMC2130
  6237. dcode_2130(); break;
  6238. #endif //TMC2130
  6239. #ifdef PAT9125
  6240. case 9125: // D9125 - PAT9125
  6241. dcode_9125(); break;
  6242. #endif //PAT9125
  6243. }
  6244. }
  6245. #endif //DEBUG_DCODES
  6246. else
  6247. {
  6248. SERIAL_ECHO_START;
  6249. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  6250. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  6251. SERIAL_ECHOLNPGM("\"(2)");
  6252. }
  6253. KEEPALIVE_STATE(NOT_BUSY);
  6254. ClearToSend();
  6255. }
  6256. void FlushSerialRequestResend()
  6257. {
  6258. //char cmdbuffer[bufindr][100]="Resend:";
  6259. MYSERIAL.flush();
  6260. printf_P(_N("%S: %ld\n%S\n"), _i("Resend"), gcode_LastN + 1, _T(MSG_OK));
  6261. }
  6262. // Confirm the execution of a command, if sent from a serial line.
  6263. // Execution of a command from a SD card will not be confirmed.
  6264. void ClearToSend()
  6265. {
  6266. previous_millis_cmd = millis();
  6267. if ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR))
  6268. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  6269. }
  6270. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6271. void update_currents() {
  6272. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  6273. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  6274. float tmp_motor[3];
  6275. //SERIAL_ECHOLNPGM("Currents updated: ");
  6276. if (destination[Z_AXIS] < Z_SILENT) {
  6277. //SERIAL_ECHOLNPGM("LOW");
  6278. for (uint8_t i = 0; i < 3; i++) {
  6279. st_current_set(i, current_low[i]);
  6280. /*MYSERIAL.print(int(i));
  6281. SERIAL_ECHOPGM(": ");
  6282. MYSERIAL.println(current_low[i]);*/
  6283. }
  6284. }
  6285. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  6286. //SERIAL_ECHOLNPGM("HIGH");
  6287. for (uint8_t i = 0; i < 3; i++) {
  6288. st_current_set(i, current_high[i]);
  6289. /*MYSERIAL.print(int(i));
  6290. SERIAL_ECHOPGM(": ");
  6291. MYSERIAL.println(current_high[i]);*/
  6292. }
  6293. }
  6294. else {
  6295. for (uint8_t i = 0; i < 3; i++) {
  6296. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  6297. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  6298. st_current_set(i, tmp_motor[i]);
  6299. /*MYSERIAL.print(int(i));
  6300. SERIAL_ECHOPGM(": ");
  6301. MYSERIAL.println(tmp_motor[i]);*/
  6302. }
  6303. }
  6304. }
  6305. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6306. void get_coordinates()
  6307. {
  6308. bool seen[4]={false,false,false,false};
  6309. for(int8_t i=0; i < NUM_AXIS; i++) {
  6310. if(code_seen(axis_codes[i]))
  6311. {
  6312. bool relative = axis_relative_modes[i] || relative_mode;
  6313. destination[i] = (float)code_value();
  6314. if (i == E_AXIS) {
  6315. float emult = extruder_multiplier[active_extruder];
  6316. if (emult != 1.) {
  6317. if (! relative) {
  6318. destination[i] -= current_position[i];
  6319. relative = true;
  6320. }
  6321. destination[i] *= emult;
  6322. }
  6323. }
  6324. if (relative)
  6325. destination[i] += current_position[i];
  6326. seen[i]=true;
  6327. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6328. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  6329. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6330. }
  6331. else destination[i] = current_position[i]; //Are these else lines really needed?
  6332. }
  6333. if(code_seen('F')) {
  6334. next_feedrate = code_value();
  6335. #ifdef MAX_SILENT_FEEDRATE
  6336. if (tmc2130_mode == TMC2130_MODE_SILENT)
  6337. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  6338. #endif //MAX_SILENT_FEEDRATE
  6339. if(next_feedrate > 0.0) feedrate = next_feedrate;
  6340. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  6341. {
  6342. // float e_max_speed =
  6343. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  6344. }
  6345. }
  6346. }
  6347. void get_arc_coordinates()
  6348. {
  6349. #ifdef SF_ARC_FIX
  6350. bool relative_mode_backup = relative_mode;
  6351. relative_mode = true;
  6352. #endif
  6353. get_coordinates();
  6354. #ifdef SF_ARC_FIX
  6355. relative_mode=relative_mode_backup;
  6356. #endif
  6357. if(code_seen('I')) {
  6358. offset[0] = code_value();
  6359. }
  6360. else {
  6361. offset[0] = 0.0;
  6362. }
  6363. if(code_seen('J')) {
  6364. offset[1] = code_value();
  6365. }
  6366. else {
  6367. offset[1] = 0.0;
  6368. }
  6369. }
  6370. void clamp_to_software_endstops(float target[3])
  6371. {
  6372. #ifdef DEBUG_DISABLE_SWLIMITS
  6373. return;
  6374. #endif //DEBUG_DISABLE_SWLIMITS
  6375. world2machine_clamp(target[0], target[1]);
  6376. // Clamp the Z coordinate.
  6377. if (min_software_endstops) {
  6378. float negative_z_offset = 0;
  6379. #ifdef ENABLE_AUTO_BED_LEVELING
  6380. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  6381. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  6382. #endif
  6383. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  6384. }
  6385. if (max_software_endstops) {
  6386. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  6387. }
  6388. }
  6389. #ifdef MESH_BED_LEVELING
  6390. 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) {
  6391. float dx = x - current_position[X_AXIS];
  6392. float dy = y - current_position[Y_AXIS];
  6393. float dz = z - current_position[Z_AXIS];
  6394. int n_segments = 0;
  6395. if (mbl.active) {
  6396. float len = abs(dx) + abs(dy);
  6397. if (len > 0)
  6398. // Split to 3cm segments or shorter.
  6399. n_segments = int(ceil(len / 30.f));
  6400. }
  6401. if (n_segments > 1) {
  6402. float de = e - current_position[E_AXIS];
  6403. for (int i = 1; i < n_segments; ++ i) {
  6404. float t = float(i) / float(n_segments);
  6405. if (saved_printing || (mbl.active == false)) return;
  6406. plan_buffer_line(
  6407. current_position[X_AXIS] + t * dx,
  6408. current_position[Y_AXIS] + t * dy,
  6409. current_position[Z_AXIS] + t * dz,
  6410. current_position[E_AXIS] + t * de,
  6411. feed_rate, extruder);
  6412. }
  6413. }
  6414. // The rest of the path.
  6415. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  6416. current_position[X_AXIS] = x;
  6417. current_position[Y_AXIS] = y;
  6418. current_position[Z_AXIS] = z;
  6419. current_position[E_AXIS] = e;
  6420. }
  6421. #endif // MESH_BED_LEVELING
  6422. void prepare_move()
  6423. {
  6424. clamp_to_software_endstops(destination);
  6425. previous_millis_cmd = millis();
  6426. // Do not use feedmultiply for E or Z only moves
  6427. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  6428. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  6429. }
  6430. else {
  6431. #ifdef MESH_BED_LEVELING
  6432. 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);
  6433. #else
  6434. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  6435. #endif
  6436. }
  6437. for(int8_t i=0; i < NUM_AXIS; i++) {
  6438. current_position[i] = destination[i];
  6439. }
  6440. }
  6441. void prepare_arc_move(char isclockwise) {
  6442. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  6443. // Trace the arc
  6444. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  6445. // As far as the parser is concerned, the position is now == target. In reality the
  6446. // motion control system might still be processing the action and the real tool position
  6447. // in any intermediate location.
  6448. for(int8_t i=0; i < NUM_AXIS; i++) {
  6449. current_position[i] = destination[i];
  6450. }
  6451. previous_millis_cmd = millis();
  6452. }
  6453. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6454. #if defined(FAN_PIN)
  6455. #if CONTROLLERFAN_PIN == FAN_PIN
  6456. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  6457. #endif
  6458. #endif
  6459. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  6460. unsigned long lastMotorCheck = 0;
  6461. void controllerFan()
  6462. {
  6463. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  6464. {
  6465. lastMotorCheck = millis();
  6466. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  6467. #if EXTRUDERS > 2
  6468. || !READ(E2_ENABLE_PIN)
  6469. #endif
  6470. #if EXTRUDER > 1
  6471. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  6472. || !READ(X2_ENABLE_PIN)
  6473. #endif
  6474. || !READ(E1_ENABLE_PIN)
  6475. #endif
  6476. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  6477. {
  6478. lastMotor = millis(); //... set time to NOW so the fan will turn on
  6479. }
  6480. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  6481. {
  6482. digitalWrite(CONTROLLERFAN_PIN, 0);
  6483. analogWrite(CONTROLLERFAN_PIN, 0);
  6484. }
  6485. else
  6486. {
  6487. // allows digital or PWM fan output to be used (see M42 handling)
  6488. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6489. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6490. }
  6491. }
  6492. }
  6493. #endif
  6494. #ifdef TEMP_STAT_LEDS
  6495. static bool blue_led = false;
  6496. static bool red_led = false;
  6497. static uint32_t stat_update = 0;
  6498. void handle_status_leds(void) {
  6499. float max_temp = 0.0;
  6500. if(millis() > stat_update) {
  6501. stat_update += 500; // Update every 0.5s
  6502. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  6503. max_temp = max(max_temp, degHotend(cur_extruder));
  6504. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  6505. }
  6506. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  6507. max_temp = max(max_temp, degTargetBed());
  6508. max_temp = max(max_temp, degBed());
  6509. #endif
  6510. if((max_temp > 55.0) && (red_led == false)) {
  6511. digitalWrite(STAT_LED_RED, 1);
  6512. digitalWrite(STAT_LED_BLUE, 0);
  6513. red_led = true;
  6514. blue_led = false;
  6515. }
  6516. if((max_temp < 54.0) && (blue_led == false)) {
  6517. digitalWrite(STAT_LED_RED, 0);
  6518. digitalWrite(STAT_LED_BLUE, 1);
  6519. red_led = false;
  6520. blue_led = true;
  6521. }
  6522. }
  6523. }
  6524. #endif
  6525. #ifdef SAFETYTIMER
  6526. /**
  6527. * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
  6528. *
  6529. * Full screen blocking notification message is shown after heater turning off.
  6530. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  6531. * damage print.
  6532. *
  6533. * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
  6534. */
  6535. static void handleSafetyTimer()
  6536. {
  6537. #if (EXTRUDERS > 1)
  6538. #error Implemented only for one extruder.
  6539. #endif //(EXTRUDERS > 1)
  6540. if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
  6541. {
  6542. safetyTimer.stop();
  6543. }
  6544. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  6545. {
  6546. safetyTimer.start();
  6547. }
  6548. else if (safetyTimer.expired(safetytimer_inactive_time))
  6549. {
  6550. setTargetBed(0);
  6551. setTargetHotend(0, 0);
  6552. lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
  6553. }
  6554. }
  6555. #endif //SAFETYTIMER
  6556. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  6557. {
  6558. #ifdef PAT9125
  6559. if (fsensor_enabled && filament_autoload_enabled && !fsensor_M600 && !moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
  6560. {
  6561. if (fsensor_autoload_enabled)
  6562. {
  6563. if (fsensor_check_autoload())
  6564. {
  6565. if (degHotend0() > EXTRUDE_MINTEMP)
  6566. {
  6567. fsensor_autoload_check_stop();
  6568. tone(BEEPER, 1000);
  6569. delay_keep_alive(50);
  6570. noTone(BEEPER);
  6571. loading_flag = true;
  6572. enquecommand_front_P((PSTR("M701")));
  6573. }
  6574. else
  6575. {
  6576. lcd_update_enable(false);
  6577. lcd_implementation_clear();
  6578. lcd.setCursor(0, 0);
  6579. lcd_printPGM(_T(MSG_ERROR));
  6580. lcd.setCursor(0, 2);
  6581. lcd_printPGM(_T(MSG_PREHEAT_NOZZLE));
  6582. delay(2000);
  6583. lcd_implementation_clear();
  6584. lcd_update_enable(true);
  6585. }
  6586. }
  6587. }
  6588. else
  6589. fsensor_autoload_check_start();
  6590. }
  6591. else
  6592. if (fsensor_autoload_enabled)
  6593. fsensor_autoload_check_stop();
  6594. #endif //PAT9125
  6595. #ifdef SAFETYTIMER
  6596. handleSafetyTimer();
  6597. #endif //SAFETYTIMER
  6598. #if defined(KILL_PIN) && KILL_PIN > -1
  6599. static int killCount = 0; // make the inactivity button a bit less responsive
  6600. const int KILL_DELAY = 10000;
  6601. #endif
  6602. if(buflen < (BUFSIZE-1)){
  6603. get_command();
  6604. }
  6605. if( (millis() - previous_millis_cmd) > max_inactive_time )
  6606. if(max_inactive_time)
  6607. kill(_n(""), 4);
  6608. if(stepper_inactive_time) {
  6609. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  6610. {
  6611. if(blocks_queued() == false && ignore_stepper_queue == false) {
  6612. disable_x();
  6613. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  6614. disable_y();
  6615. disable_z();
  6616. disable_e0();
  6617. disable_e1();
  6618. disable_e2();
  6619. }
  6620. }
  6621. }
  6622. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  6623. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  6624. {
  6625. chdkActive = false;
  6626. WRITE(CHDK, LOW);
  6627. }
  6628. #endif
  6629. #if defined(KILL_PIN) && KILL_PIN > -1
  6630. // Check if the kill button was pressed and wait just in case it was an accidental
  6631. // key kill key press
  6632. // -------------------------------------------------------------------------------
  6633. if( 0 == READ(KILL_PIN) )
  6634. {
  6635. killCount++;
  6636. }
  6637. else if (killCount > 0)
  6638. {
  6639. killCount--;
  6640. }
  6641. // Exceeded threshold and we can confirm that it was not accidental
  6642. // KILL the machine
  6643. // ----------------------------------------------------------------
  6644. if ( killCount >= KILL_DELAY)
  6645. {
  6646. kill("", 5);
  6647. }
  6648. #endif
  6649. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6650. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  6651. #endif
  6652. #ifdef EXTRUDER_RUNOUT_PREVENT
  6653. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  6654. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  6655. {
  6656. bool oldstatus=READ(E0_ENABLE_PIN);
  6657. enable_e0();
  6658. float oldepos=current_position[E_AXIS];
  6659. float oldedes=destination[E_AXIS];
  6660. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  6661. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  6662. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  6663. current_position[E_AXIS]=oldepos;
  6664. destination[E_AXIS]=oldedes;
  6665. plan_set_e_position(oldepos);
  6666. previous_millis_cmd=millis();
  6667. st_synchronize();
  6668. WRITE(E0_ENABLE_PIN,oldstatus);
  6669. }
  6670. #endif
  6671. #ifdef TEMP_STAT_LEDS
  6672. handle_status_leds();
  6673. #endif
  6674. check_axes_activity();
  6675. }
  6676. void kill(const char *full_screen_message, unsigned char id)
  6677. {
  6678. printf_P(_N("KILL: %d\n"), id);
  6679. //return;
  6680. cli(); // Stop interrupts
  6681. disable_heater();
  6682. disable_x();
  6683. // SERIAL_ECHOLNPGM("kill - disable Y");
  6684. disable_y();
  6685. disable_z();
  6686. disable_e0();
  6687. disable_e1();
  6688. disable_e2();
  6689. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  6690. pinMode(PS_ON_PIN,INPUT);
  6691. #endif
  6692. SERIAL_ERROR_START;
  6693. SERIAL_ERRORLNRPGM(_i("Printer halted. kill() called!"));////MSG_ERR_KILLED c=0 r=0
  6694. if (full_screen_message != NULL) {
  6695. SERIAL_ERRORLNRPGM(full_screen_message);
  6696. lcd_display_message_fullscreen_P(full_screen_message);
  6697. } else {
  6698. LCD_ALERTMESSAGERPGM(_i("KILLED. "));////MSG_KILLED c=0 r=0
  6699. }
  6700. // FMC small patch to update the LCD before ending
  6701. sei(); // enable interrupts
  6702. for ( int i=5; i--; lcd_update())
  6703. {
  6704. delay(200);
  6705. }
  6706. cli(); // disable interrupts
  6707. suicide();
  6708. while(1)
  6709. {
  6710. #ifdef WATCHDOG
  6711. wdt_reset();
  6712. #endif //WATCHDOG
  6713. /* Intentionally left empty */
  6714. } // Wait for reset
  6715. }
  6716. void Stop()
  6717. {
  6718. disable_heater();
  6719. if(Stopped == false) {
  6720. Stopped = true;
  6721. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  6722. SERIAL_ERROR_START;
  6723. SERIAL_ERRORLNRPGM(_T(MSG_ERR_STOPPED));
  6724. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  6725. }
  6726. }
  6727. bool IsStopped() { return Stopped; };
  6728. #ifdef FAST_PWM_FAN
  6729. void setPwmFrequency(uint8_t pin, int val)
  6730. {
  6731. val &= 0x07;
  6732. switch(digitalPinToTimer(pin))
  6733. {
  6734. #if defined(TCCR0A)
  6735. case TIMER0A:
  6736. case TIMER0B:
  6737. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  6738. // TCCR0B |= val;
  6739. break;
  6740. #endif
  6741. #if defined(TCCR1A)
  6742. case TIMER1A:
  6743. case TIMER1B:
  6744. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6745. // TCCR1B |= val;
  6746. break;
  6747. #endif
  6748. #if defined(TCCR2)
  6749. case TIMER2:
  6750. case TIMER2:
  6751. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6752. TCCR2 |= val;
  6753. break;
  6754. #endif
  6755. #if defined(TCCR2A)
  6756. case TIMER2A:
  6757. case TIMER2B:
  6758. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  6759. TCCR2B |= val;
  6760. break;
  6761. #endif
  6762. #if defined(TCCR3A)
  6763. case TIMER3A:
  6764. case TIMER3B:
  6765. case TIMER3C:
  6766. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  6767. TCCR3B |= val;
  6768. break;
  6769. #endif
  6770. #if defined(TCCR4A)
  6771. case TIMER4A:
  6772. case TIMER4B:
  6773. case TIMER4C:
  6774. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  6775. TCCR4B |= val;
  6776. break;
  6777. #endif
  6778. #if defined(TCCR5A)
  6779. case TIMER5A:
  6780. case TIMER5B:
  6781. case TIMER5C:
  6782. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  6783. TCCR5B |= val;
  6784. break;
  6785. #endif
  6786. }
  6787. }
  6788. #endif //FAST_PWM_FAN
  6789. bool setTargetedHotend(int code){
  6790. tmp_extruder = active_extruder;
  6791. if(code_seen('T')) {
  6792. tmp_extruder = code_value();
  6793. if(tmp_extruder >= EXTRUDERS) {
  6794. SERIAL_ECHO_START;
  6795. switch(code){
  6796. case 104:
  6797. SERIAL_ECHORPGM(_i("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER c=0 r=0
  6798. break;
  6799. case 105:
  6800. SERIAL_ECHO(_i("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER c=0 r=0
  6801. break;
  6802. case 109:
  6803. SERIAL_ECHO(_i("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER c=0 r=0
  6804. break;
  6805. case 218:
  6806. SERIAL_ECHO(_i("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER c=0 r=0
  6807. break;
  6808. case 221:
  6809. SERIAL_ECHO(_i("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER c=0 r=0
  6810. break;
  6811. }
  6812. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6813. return true;
  6814. }
  6815. }
  6816. return false;
  6817. }
  6818. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  6819. {
  6820. 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)
  6821. {
  6822. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  6823. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  6824. }
  6825. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  6826. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  6827. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  6828. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  6829. total_filament_used = 0;
  6830. }
  6831. float calculate_extruder_multiplier(float diameter) {
  6832. float out = 1.f;
  6833. if (volumetric_enabled && diameter > 0.f) {
  6834. float area = M_PI * diameter * diameter * 0.25;
  6835. out = 1.f / area;
  6836. }
  6837. if (extrudemultiply != 100)
  6838. out *= float(extrudemultiply) * 0.01f;
  6839. return out;
  6840. }
  6841. void calculate_extruder_multipliers() {
  6842. extruder_multiplier[0] = calculate_extruder_multiplier(filament_size[0]);
  6843. #if EXTRUDERS > 1
  6844. extruder_multiplier[1] = calculate_extruder_multiplier(filament_size[1]);
  6845. #if EXTRUDERS > 2
  6846. extruder_multiplier[2] = calculate_extruder_multiplier(filament_size[2]);
  6847. #endif
  6848. #endif
  6849. }
  6850. void delay_keep_alive(unsigned int ms)
  6851. {
  6852. for (;;) {
  6853. manage_heater();
  6854. // Manage inactivity, but don't disable steppers on timeout.
  6855. manage_inactivity(true);
  6856. lcd_update();
  6857. if (ms == 0)
  6858. break;
  6859. else if (ms >= 50) {
  6860. delay(50);
  6861. ms -= 50;
  6862. } else {
  6863. delay(ms);
  6864. ms = 0;
  6865. }
  6866. }
  6867. }
  6868. void wait_for_heater(long codenum) {
  6869. #ifdef TEMP_RESIDENCY_TIME
  6870. long residencyStart;
  6871. residencyStart = -1;
  6872. /* continue to loop until we have reached the target temp
  6873. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  6874. while ((!cancel_heatup) && ((residencyStart == -1) ||
  6875. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  6876. #else
  6877. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  6878. #endif //TEMP_RESIDENCY_TIME
  6879. if ((millis() - codenum) > 1000UL)
  6880. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  6881. if (!farm_mode) {
  6882. SERIAL_PROTOCOLPGM("T:");
  6883. SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
  6884. SERIAL_PROTOCOLPGM(" E:");
  6885. SERIAL_PROTOCOL((int)tmp_extruder);
  6886. #ifdef TEMP_RESIDENCY_TIME
  6887. SERIAL_PROTOCOLPGM(" W:");
  6888. if (residencyStart > -1)
  6889. {
  6890. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  6891. SERIAL_PROTOCOLLN(codenum);
  6892. }
  6893. else
  6894. {
  6895. SERIAL_PROTOCOLLN("?");
  6896. }
  6897. }
  6898. #else
  6899. SERIAL_PROTOCOLLN("");
  6900. #endif
  6901. codenum = millis();
  6902. }
  6903. manage_heater();
  6904. manage_inactivity();
  6905. lcd_update();
  6906. #ifdef TEMP_RESIDENCY_TIME
  6907. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  6908. or when current temp falls outside the hysteresis after target temp was reached */
  6909. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
  6910. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
  6911. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
  6912. {
  6913. residencyStart = millis();
  6914. }
  6915. #endif //TEMP_RESIDENCY_TIME
  6916. }
  6917. }
  6918. void check_babystep() {
  6919. int babystep_z;
  6920. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6921. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  6922. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  6923. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  6924. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6925. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  6926. lcd_update_enable(true);
  6927. }
  6928. }
  6929. #ifdef DIS
  6930. void d_setup()
  6931. {
  6932. pinMode(D_DATACLOCK, INPUT_PULLUP);
  6933. pinMode(D_DATA, INPUT_PULLUP);
  6934. pinMode(D_REQUIRE, OUTPUT);
  6935. digitalWrite(D_REQUIRE, HIGH);
  6936. }
  6937. float d_ReadData()
  6938. {
  6939. int digit[13];
  6940. String mergeOutput;
  6941. float output;
  6942. digitalWrite(D_REQUIRE, HIGH);
  6943. for (int i = 0; i<13; i++)
  6944. {
  6945. for (int j = 0; j < 4; j++)
  6946. {
  6947. while (digitalRead(D_DATACLOCK) == LOW) {}
  6948. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6949. bitWrite(digit[i], j, digitalRead(D_DATA));
  6950. }
  6951. }
  6952. digitalWrite(D_REQUIRE, LOW);
  6953. mergeOutput = "";
  6954. output = 0;
  6955. for (int r = 5; r <= 10; r++) //Merge digits
  6956. {
  6957. mergeOutput += digit[r];
  6958. }
  6959. output = mergeOutput.toFloat();
  6960. if (digit[4] == 8) //Handle sign
  6961. {
  6962. output *= -1;
  6963. }
  6964. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6965. {
  6966. output /= 10;
  6967. }
  6968. return output;
  6969. }
  6970. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  6971. int t1 = 0;
  6972. int t_delay = 0;
  6973. int digit[13];
  6974. int m;
  6975. char str[3];
  6976. //String mergeOutput;
  6977. char mergeOutput[15];
  6978. float output;
  6979. int mesh_point = 0; //index number of calibration point
  6980. 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
  6981. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  6982. float mesh_home_z_search = 4;
  6983. float row[x_points_num];
  6984. int ix = 0;
  6985. int iy = 0;
  6986. char* filename_wldsd = "wldsd.txt";
  6987. char data_wldsd[70];
  6988. char numb_wldsd[10];
  6989. d_setup();
  6990. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  6991. // We don't know where we are! HOME!
  6992. // Push the commands to the front of the message queue in the reverse order!
  6993. // There shall be always enough space reserved for these commands.
  6994. repeatcommand_front(); // repeat G80 with all its parameters
  6995. enquecommand_front_P((PSTR("G28 W0")));
  6996. enquecommand_front_P((PSTR("G1 Z5")));
  6997. return;
  6998. }
  6999. bool custom_message_old = custom_message;
  7000. unsigned int custom_message_type_old = custom_message_type;
  7001. unsigned int custom_message_state_old = custom_message_state;
  7002. custom_message = true;
  7003. custom_message_type = 1;
  7004. custom_message_state = (x_points_num * y_points_num) + 10;
  7005. lcd_update(1);
  7006. mbl.reset();
  7007. babystep_undo();
  7008. card.openFile(filename_wldsd, false);
  7009. current_position[Z_AXIS] = mesh_home_z_search;
  7010. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
  7011. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  7012. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  7013. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  7014. setup_for_endstop_move(false);
  7015. SERIAL_PROTOCOLPGM("Num X,Y: ");
  7016. SERIAL_PROTOCOL(x_points_num);
  7017. SERIAL_PROTOCOLPGM(",");
  7018. SERIAL_PROTOCOL(y_points_num);
  7019. SERIAL_PROTOCOLPGM("\nZ search height: ");
  7020. SERIAL_PROTOCOL(mesh_home_z_search);
  7021. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  7022. SERIAL_PROTOCOL(x_dimension);
  7023. SERIAL_PROTOCOLPGM(",");
  7024. SERIAL_PROTOCOL(y_dimension);
  7025. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  7026. while (mesh_point != x_points_num * y_points_num) {
  7027. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  7028. iy = mesh_point / x_points_num;
  7029. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  7030. float z0 = 0.f;
  7031. current_position[Z_AXIS] = mesh_home_z_search;
  7032. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  7033. st_synchronize();
  7034. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  7035. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  7036. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  7037. st_synchronize();
  7038. 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
  7039. break;
  7040. card.closefile();
  7041. }
  7042. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7043. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  7044. //strcat(data_wldsd, numb_wldsd);
  7045. //MYSERIAL.println(data_wldsd);
  7046. //delay(1000);
  7047. //delay(3000);
  7048. //t1 = millis();
  7049. //while (digitalRead(D_DATACLOCK) == LOW) {}
  7050. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  7051. memset(digit, 0, sizeof(digit));
  7052. //cli();
  7053. digitalWrite(D_REQUIRE, LOW);
  7054. for (int i = 0; i<13; i++)
  7055. {
  7056. //t1 = millis();
  7057. for (int j = 0; j < 4; j++)
  7058. {
  7059. while (digitalRead(D_DATACLOCK) == LOW) {}
  7060. while (digitalRead(D_DATACLOCK) == HIGH) {}
  7061. bitWrite(digit[i], j, digitalRead(D_DATA));
  7062. }
  7063. //t_delay = (millis() - t1);
  7064. //SERIAL_PROTOCOLPGM(" ");
  7065. //SERIAL_PROTOCOL_F(t_delay, 5);
  7066. //SERIAL_PROTOCOLPGM(" ");
  7067. }
  7068. //sei();
  7069. digitalWrite(D_REQUIRE, HIGH);
  7070. mergeOutput[0] = '\0';
  7071. output = 0;
  7072. for (int r = 5; r <= 10; r++) //Merge digits
  7073. {
  7074. sprintf(str, "%d", digit[r]);
  7075. strcat(mergeOutput, str);
  7076. }
  7077. output = atof(mergeOutput);
  7078. if (digit[4] == 8) //Handle sign
  7079. {
  7080. output *= -1;
  7081. }
  7082. for (int i = digit[11]; i > 0; i--) //Handle floating point
  7083. {
  7084. output *= 0.1;
  7085. }
  7086. //output = d_ReadData();
  7087. //row[ix] = current_position[Z_AXIS];
  7088. memset(data_wldsd, 0, sizeof(data_wldsd));
  7089. for (int i = 0; i <3; i++) {
  7090. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7091. dtostrf(current_position[i], 8, 5, numb_wldsd);
  7092. strcat(data_wldsd, numb_wldsd);
  7093. strcat(data_wldsd, ";");
  7094. }
  7095. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7096. dtostrf(output, 8, 5, numb_wldsd);
  7097. strcat(data_wldsd, numb_wldsd);
  7098. //strcat(data_wldsd, ";");
  7099. card.write_command(data_wldsd);
  7100. //row[ix] = d_ReadData();
  7101. row[ix] = output; // current_position[Z_AXIS];
  7102. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  7103. for (int i = 0; i < x_points_num; i++) {
  7104. SERIAL_PROTOCOLPGM(" ");
  7105. SERIAL_PROTOCOL_F(row[i], 5);
  7106. }
  7107. SERIAL_PROTOCOLPGM("\n");
  7108. }
  7109. custom_message_state--;
  7110. mesh_point++;
  7111. lcd_update(1);
  7112. }
  7113. card.closefile();
  7114. }
  7115. #endif
  7116. void temp_compensation_start() {
  7117. custom_message = true;
  7118. custom_message_type = 5;
  7119. custom_message_state = PINDA_HEAT_T + 1;
  7120. lcd_update(2);
  7121. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  7122. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  7123. }
  7124. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7125. current_position[X_AXIS] = PINDA_PREHEAT_X;
  7126. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  7127. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  7128. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  7129. st_synchronize();
  7130. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  7131. for (int i = 0; i < PINDA_HEAT_T; i++) {
  7132. delay_keep_alive(1000);
  7133. custom_message_state = PINDA_HEAT_T - i;
  7134. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  7135. else lcd_update(1);
  7136. }
  7137. custom_message_type = 0;
  7138. custom_message_state = 0;
  7139. custom_message = false;
  7140. }
  7141. void temp_compensation_apply() {
  7142. int i_add;
  7143. int compensation_value;
  7144. int z_shift = 0;
  7145. float z_shift_mm;
  7146. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  7147. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  7148. i_add = (target_temperature_bed - 60) / 10;
  7149. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  7150. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  7151. }else {
  7152. //interpolation
  7153. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  7154. }
  7155. printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
  7156. 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);
  7157. st_synchronize();
  7158. plan_set_z_position(current_position[Z_AXIS]);
  7159. }
  7160. else {
  7161. //we have no temp compensation data
  7162. }
  7163. }
  7164. float temp_comp_interpolation(float inp_temperature) {
  7165. //cubic spline interpolation
  7166. int n, i, j, k;
  7167. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  7168. int shift[10];
  7169. int temp_C[10];
  7170. n = 6; //number of measured points
  7171. shift[0] = 0;
  7172. for (i = 0; i < n; i++) {
  7173. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  7174. temp_C[i] = 50 + i * 10; //temperature in C
  7175. #ifdef PINDA_THERMISTOR
  7176. temp_C[i] = 35 + i * 5; //temperature in C
  7177. #else
  7178. temp_C[i] = 50 + i * 10; //temperature in C
  7179. #endif
  7180. x[i] = (float)temp_C[i];
  7181. f[i] = (float)shift[i];
  7182. }
  7183. if (inp_temperature < x[0]) return 0;
  7184. for (i = n - 1; i>0; i--) {
  7185. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  7186. h[i - 1] = x[i] - x[i - 1];
  7187. }
  7188. //*********** formation of h, s , f matrix **************
  7189. for (i = 1; i<n - 1; i++) {
  7190. m[i][i] = 2 * (h[i - 1] + h[i]);
  7191. if (i != 1) {
  7192. m[i][i - 1] = h[i - 1];
  7193. m[i - 1][i] = h[i - 1];
  7194. }
  7195. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  7196. }
  7197. //*********** forward elimination **************
  7198. for (i = 1; i<n - 2; i++) {
  7199. temp = (m[i + 1][i] / m[i][i]);
  7200. for (j = 1; j <= n - 1; j++)
  7201. m[i + 1][j] -= temp*m[i][j];
  7202. }
  7203. //*********** backward substitution *********
  7204. for (i = n - 2; i>0; i--) {
  7205. sum = 0;
  7206. for (j = i; j <= n - 2; j++)
  7207. sum += m[i][j] * s[j];
  7208. s[i] = (m[i][n - 1] - sum) / m[i][i];
  7209. }
  7210. for (i = 0; i<n - 1; i++)
  7211. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  7212. a = (s[i + 1] - s[i]) / (6 * h[i]);
  7213. b = s[i] / 2;
  7214. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  7215. d = f[i];
  7216. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  7217. }
  7218. return sum;
  7219. }
  7220. #ifdef PINDA_THERMISTOR
  7221. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  7222. {
  7223. if (!temp_cal_active) return 0;
  7224. if (!calibration_status_pinda()) return 0;
  7225. return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
  7226. }
  7227. #endif //PINDA_THERMISTOR
  7228. void long_pause() //long pause print
  7229. {
  7230. st_synchronize();
  7231. //save currently set parameters to global variables
  7232. saved_feedmultiply = feedmultiply;
  7233. HotendTempBckp = degTargetHotend(active_extruder);
  7234. fanSpeedBckp = fanSpeed;
  7235. start_pause_print = millis();
  7236. //save position
  7237. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  7238. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  7239. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  7240. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  7241. //retract
  7242. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  7243. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7244. //lift z
  7245. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  7246. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  7247. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  7248. //set nozzle target temperature to 0
  7249. setTargetHotend(0, 0);
  7250. setTargetHotend(0, 1);
  7251. setTargetHotend(0, 2);
  7252. //Move XY to side
  7253. current_position[X_AXIS] = X_PAUSE_POS;
  7254. current_position[Y_AXIS] = Y_PAUSE_POS;
  7255. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  7256. // Turn off the print fan
  7257. fanSpeed = 0;
  7258. st_synchronize();
  7259. }
  7260. void serialecho_temperatures() {
  7261. float tt = degHotend(active_extruder);
  7262. SERIAL_PROTOCOLPGM("T:");
  7263. SERIAL_PROTOCOL(tt);
  7264. SERIAL_PROTOCOLPGM(" E:");
  7265. SERIAL_PROTOCOL((int)active_extruder);
  7266. SERIAL_PROTOCOLPGM(" B:");
  7267. SERIAL_PROTOCOL_F(degBed(), 1);
  7268. SERIAL_PROTOCOLLN("");
  7269. }
  7270. extern uint32_t sdpos_atomic;
  7271. #ifdef UVLO_SUPPORT
  7272. void uvlo_()
  7273. {
  7274. unsigned long time_start = millis();
  7275. bool sd_print = card.sdprinting;
  7276. // Conserve power as soon as possible.
  7277. disable_x();
  7278. disable_y();
  7279. #ifdef TMC2130
  7280. tmc2130_set_current_h(Z_AXIS, 20);
  7281. tmc2130_set_current_r(Z_AXIS, 20);
  7282. tmc2130_set_current_h(E_AXIS, 20);
  7283. tmc2130_set_current_r(E_AXIS, 20);
  7284. #endif //TMC2130
  7285. // Indicate that the interrupt has been triggered.
  7286. // SERIAL_ECHOLNPGM("UVLO");
  7287. // Read out the current Z motor microstep counter. This will be later used
  7288. // for reaching the zero full step before powering off.
  7289. uint16_t z_microsteps = 0;
  7290. #ifdef TMC2130
  7291. z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  7292. #endif //TMC2130
  7293. // Calculate the file position, from which to resume this print.
  7294. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  7295. {
  7296. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7297. sd_position -= sdlen_planner;
  7298. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7299. sd_position -= sdlen_cmdqueue;
  7300. if (sd_position < 0) sd_position = 0;
  7301. }
  7302. // Backup the feedrate in mm/min.
  7303. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7304. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  7305. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  7306. // are in action.
  7307. planner_abort_hard();
  7308. // Store the current extruder position.
  7309. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  7310. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  7311. // Clean the input command queue.
  7312. cmdqueue_reset();
  7313. card.sdprinting = false;
  7314. // card.closefile();
  7315. // Enable stepper driver interrupt to move Z axis.
  7316. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  7317. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  7318. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  7319. sei();
  7320. plan_buffer_line(
  7321. current_position[X_AXIS],
  7322. current_position[Y_AXIS],
  7323. current_position[Z_AXIS],
  7324. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7325. 95, active_extruder);
  7326. st_synchronize();
  7327. disable_e0();
  7328. plan_buffer_line(
  7329. current_position[X_AXIS],
  7330. current_position[Y_AXIS],
  7331. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7332. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7333. 40, active_extruder);
  7334. st_synchronize();
  7335. disable_e0();
  7336. plan_buffer_line(
  7337. current_position[X_AXIS],
  7338. current_position[Y_AXIS],
  7339. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7340. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7341. 40, active_extruder);
  7342. st_synchronize();
  7343. disable_e0();
  7344. disable_z();
  7345. // Move Z up to the next 0th full step.
  7346. // Write the file position.
  7347. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  7348. // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7349. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7350. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7351. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7352. // Scale the z value to 1u resolution.
  7353. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
  7354. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  7355. }
  7356. // Read out the current Z motor microstep counter. This will be later used
  7357. // for reaching the zero full step before powering off.
  7358. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  7359. // Store the current position.
  7360. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  7361. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  7362. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  7363. // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
  7364. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  7365. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  7366. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  7367. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  7368. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
  7369. #if EXTRUDERS > 1
  7370. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
  7371. #if EXTRUDERS > 2
  7372. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
  7373. #endif
  7374. #endif
  7375. eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
  7376. // Finaly store the "power outage" flag.
  7377. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  7378. st_synchronize();
  7379. printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
  7380. disable_z();
  7381. // Increment power failure counter
  7382. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  7383. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  7384. printf_P(_N("UVLO - end %d\n"), millis() - time_start);
  7385. #if 0
  7386. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  7387. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  7388. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  7389. st_synchronize();
  7390. #endif
  7391. cli();
  7392. volatile unsigned int ppcount = 0;
  7393. SET_OUTPUT(BEEPER);
  7394. WRITE(BEEPER, HIGH);
  7395. for(ppcount = 0; ppcount < 2000; ppcount ++){
  7396. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  7397. }
  7398. WRITE(BEEPER, LOW);
  7399. while(1){
  7400. #if 1
  7401. WRITE(BEEPER, LOW);
  7402. for(ppcount = 0; ppcount < 8000; ppcount ++){
  7403. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  7404. }
  7405. #endif
  7406. };
  7407. }
  7408. #endif //UVLO_SUPPORT
  7409. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  7410. void setup_fan_interrupt() {
  7411. //INT7
  7412. DDRE &= ~(1 << 7); //input pin
  7413. PORTE &= ~(1 << 7); //no internal pull-up
  7414. //start with sensing rising edge
  7415. EICRB &= ~(1 << 6);
  7416. EICRB |= (1 << 7);
  7417. //enable INT7 interrupt
  7418. EIMSK |= (1 << 7);
  7419. }
  7420. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  7421. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  7422. ISR(INT7_vect) {
  7423. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  7424. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  7425. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  7426. t_fan_rising_edge = millis_nc();
  7427. }
  7428. else { //interrupt was triggered by falling edge
  7429. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  7430. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  7431. }
  7432. }
  7433. EICRB ^= (1 << 6); //change edge
  7434. }
  7435. #endif
  7436. #ifdef UVLO_SUPPORT
  7437. void setup_uvlo_interrupt() {
  7438. DDRE &= ~(1 << 4); //input pin
  7439. PORTE &= ~(1 << 4); //no internal pull-up
  7440. //sensing falling edge
  7441. EICRB |= (1 << 0);
  7442. EICRB &= ~(1 << 1);
  7443. //enable INT4 interrupt
  7444. EIMSK |= (1 << 4);
  7445. }
  7446. ISR(INT4_vect) {
  7447. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  7448. SERIAL_ECHOLNPGM("INT4");
  7449. if (IS_SD_PRINTING) uvlo_();
  7450. }
  7451. void recover_print(uint8_t automatic) {
  7452. char cmd[30];
  7453. lcd_update_enable(true);
  7454. lcd_update(2);
  7455. lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
  7456. recover_machine_state_after_power_panic(); //recover position, temperatures and extrude_multipliers
  7457. // Lift the print head, so one may remove the excess priming material.
  7458. if (current_position[Z_AXIS] < 25)
  7459. enquecommand_P(PSTR("G1 Z25 F800"));
  7460. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  7461. enquecommand_P(PSTR("G28 X Y"));
  7462. // Set the target bed and nozzle temperatures and wait.
  7463. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  7464. enquecommand(cmd);
  7465. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  7466. enquecommand(cmd);
  7467. enquecommand_P(PSTR("M83")); //E axis relative mode
  7468. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7469. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  7470. if(automatic == 0){
  7471. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7472. }
  7473. enquecommand_P(PSTR("G1 E" STRINGIFY(-DEFAULT_RETRACTION)" F480"));
  7474. // Mark the power panic status as inactive.
  7475. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  7476. /*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
  7477. delay_keep_alive(1000);
  7478. }*/
  7479. 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]);
  7480. // Restart the print.
  7481. restore_print_from_eeprom();
  7482. printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
  7483. }
  7484. void recover_machine_state_after_power_panic()
  7485. {
  7486. char cmd[30];
  7487. // 1) Recover the logical cordinates at the time of the power panic.
  7488. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  7489. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  7490. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  7491. // Recover the logical coordinate of the Z axis at the time of the power panic.
  7492. // The current position after power panic is moved to the next closest 0th full step.
  7493. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  7494. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  7495. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
  7496. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7497. sprintf_P(cmd, PSTR("G92 E"));
  7498. dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
  7499. enquecommand(cmd);
  7500. }
  7501. memcpy(destination, current_position, sizeof(destination));
  7502. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7503. print_world_coordinates();
  7504. // 2) Initialize the logical to physical coordinate system transformation.
  7505. world2machine_initialize();
  7506. // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7507. mbl.active = false;
  7508. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7509. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7510. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7511. // Scale the z value to 10u resolution.
  7512. int16_t v;
  7513. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
  7514. if (v != 0)
  7515. mbl.active = true;
  7516. mbl.z_values[iy][ix] = float(v) * 0.001f;
  7517. }
  7518. if (mbl.active)
  7519. mbl.upsample_3x3();
  7520. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7521. // print_mesh_bed_leveling_table();
  7522. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  7523. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  7524. babystep_load();
  7525. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  7526. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  7527. // 6) Power up the motors, mark their positions as known.
  7528. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  7529. axis_known_position[X_AXIS] = true; enable_x();
  7530. axis_known_position[Y_AXIS] = true; enable_y();
  7531. axis_known_position[Z_AXIS] = true; enable_z();
  7532. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7533. print_physical_coordinates();
  7534. // 7) Recover the target temperatures.
  7535. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  7536. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  7537. // 8) Recover extruder multipilers
  7538. extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
  7539. #if EXTRUDERS > 1
  7540. extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
  7541. #if EXTRUDERS > 2
  7542. extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
  7543. #endif
  7544. #endif
  7545. extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
  7546. }
  7547. void restore_print_from_eeprom() {
  7548. float x_rec, y_rec, z_pos;
  7549. int feedrate_rec;
  7550. uint8_t fan_speed_rec;
  7551. char cmd[30];
  7552. char* c;
  7553. char filename[13];
  7554. uint8_t depth = 0;
  7555. char dir_name[9];
  7556. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  7557. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  7558. SERIAL_ECHOPGM("Feedrate:");
  7559. MYSERIAL.println(feedrate_rec);
  7560. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  7561. MYSERIAL.println(int(depth));
  7562. for (int i = 0; i < depth; i++) {
  7563. for (int j = 0; j < 8; j++) {
  7564. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  7565. }
  7566. dir_name[8] = '\0';
  7567. MYSERIAL.println(dir_name);
  7568. strcpy(dir_names[i], dir_name);
  7569. card.chdir(dir_name);
  7570. }
  7571. for (int i = 0; i < 8; i++) {
  7572. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  7573. }
  7574. filename[8] = '\0';
  7575. MYSERIAL.print(filename);
  7576. strcat_P(filename, PSTR(".gco"));
  7577. sprintf_P(cmd, PSTR("M23 %s"), filename);
  7578. enquecommand(cmd);
  7579. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  7580. SERIAL_ECHOPGM("Position read from eeprom:");
  7581. MYSERIAL.println(position);
  7582. // E axis relative mode.
  7583. enquecommand_P(PSTR("M83"));
  7584. // Move to the XY print position in logical coordinates, where the print has been killed.
  7585. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  7586. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  7587. strcat_P(cmd, PSTR(" F2000"));
  7588. enquecommand(cmd);
  7589. // Move the Z axis down to the print, in logical coordinates.
  7590. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  7591. enquecommand(cmd);
  7592. // Unretract.
  7593. enquecommand_P(PSTR("G1 E" STRINGIFY(2*DEFAULT_RETRACTION)" F480"));
  7594. // Set the feedrate saved at the power panic.
  7595. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  7596. enquecommand(cmd);
  7597. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  7598. {
  7599. float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7600. enquecommand_P(PSTR("M82")); //E axis abslute mode
  7601. }
  7602. // Set the fan speed saved at the power panic.
  7603. strcpy_P(cmd, PSTR("M106 S"));
  7604. strcat(cmd, itostr3(int(fan_speed_rec)));
  7605. enquecommand(cmd);
  7606. // Set a position in the file.
  7607. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  7608. enquecommand(cmd);
  7609. // Start SD print.
  7610. enquecommand_P(PSTR("M24"));
  7611. }
  7612. #endif //UVLO_SUPPORT
  7613. ////////////////////////////////////////////////////////////////////////////////
  7614. // save/restore printing
  7615. void stop_and_save_print_to_ram(float z_move, float e_move)
  7616. {
  7617. if (saved_printing) return;
  7618. unsigned char nplanner_blocks;
  7619. unsigned char nlines;
  7620. uint16_t sdlen_planner;
  7621. uint16_t sdlen_cmdqueue;
  7622. cli();
  7623. if (card.sdprinting) {
  7624. nplanner_blocks = number_of_blocks();
  7625. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  7626. sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7627. saved_sdpos -= sdlen_planner;
  7628. sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7629. saved_sdpos -= sdlen_cmdqueue;
  7630. saved_printing_type = PRINTING_TYPE_SD;
  7631. }
  7632. else if (is_usb_printing) { //reuse saved_sdpos for storing line number
  7633. saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
  7634. //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
  7635. nlines = planner_calc_sd_length(); //number of lines of commands in planner
  7636. saved_sdpos -= nlines;
  7637. saved_sdpos -= buflen; //number of blocks in cmd buffer
  7638. saved_printing_type = PRINTING_TYPE_USB;
  7639. }
  7640. else {
  7641. //not sd printing nor usb printing
  7642. }
  7643. #if 0
  7644. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  7645. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  7646. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  7647. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  7648. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  7649. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  7650. //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  7651. {
  7652. card.setIndex(saved_sdpos);
  7653. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  7654. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  7655. MYSERIAL.print(char(card.get()));
  7656. SERIAL_ECHOLNPGM("Content of command buffer: ");
  7657. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  7658. MYSERIAL.print(char(card.get()));
  7659. SERIAL_ECHOLNPGM("End of command buffer");
  7660. }
  7661. {
  7662. // Print the content of the planner buffer, line by line:
  7663. card.setIndex(saved_sdpos);
  7664. int8_t iline = 0;
  7665. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  7666. SERIAL_ECHOPGM("Planner line (from file): ");
  7667. MYSERIAL.print(int(iline), DEC);
  7668. SERIAL_ECHOPGM(", length: ");
  7669. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  7670. SERIAL_ECHOPGM(", steps: (");
  7671. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  7672. SERIAL_ECHOPGM(",");
  7673. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  7674. SERIAL_ECHOPGM(",");
  7675. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  7676. SERIAL_ECHOPGM(",");
  7677. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  7678. SERIAL_ECHOPGM("), events: ");
  7679. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  7680. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  7681. MYSERIAL.print(char(card.get()));
  7682. }
  7683. }
  7684. {
  7685. // Print the content of the command buffer, line by line:
  7686. int8_t iline = 0;
  7687. union {
  7688. struct {
  7689. char lo;
  7690. char hi;
  7691. } lohi;
  7692. uint16_t value;
  7693. } sdlen_single;
  7694. int _bufindr = bufindr;
  7695. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  7696. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  7697. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  7698. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  7699. }
  7700. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  7701. MYSERIAL.print(int(iline), DEC);
  7702. SERIAL_ECHOPGM(", type: ");
  7703. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  7704. SERIAL_ECHOPGM(", len: ");
  7705. MYSERIAL.println(sdlen_single.value, DEC);
  7706. // Print the content of the buffer line.
  7707. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  7708. SERIAL_ECHOPGM("Buffer line (from file): ");
  7709. MYSERIAL.println(int(iline), DEC);
  7710. for (; sdlen_single.value > 0; -- sdlen_single.value)
  7711. MYSERIAL.print(char(card.get()));
  7712. if (-- _buflen == 0)
  7713. break;
  7714. // First skip the current command ID and iterate up to the end of the string.
  7715. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  7716. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  7717. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7718. // If the end of the buffer was empty,
  7719. if (_bufindr == sizeof(cmdbuffer)) {
  7720. // skip to the start and find the nonzero command.
  7721. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7722. }
  7723. }
  7724. }
  7725. #endif
  7726. #if 0
  7727. saved_feedrate2 = feedrate; //save feedrate
  7728. #else
  7729. // Try to deduce the feedrate from the first block of the planner.
  7730. // Speed is in mm/min.
  7731. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7732. #endif
  7733. planner_abort_hard(); //abort printing
  7734. memcpy(saved_pos, current_position, sizeof(saved_pos));
  7735. saved_active_extruder = active_extruder; //save active_extruder
  7736. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  7737. saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
  7738. cmdqueue_reset(); //empty cmdqueue
  7739. card.sdprinting = false;
  7740. // card.closefile();
  7741. saved_printing = true;
  7742. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  7743. st_reset_timer();
  7744. sei();
  7745. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  7746. #if 1
  7747. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  7748. char buf[48];
  7749. // First unretract (relative extrusion)
  7750. if(!saved_extruder_relative_mode){
  7751. strcpy_P(buf, PSTR("M83"));
  7752. enquecommand(buf, false);
  7753. }
  7754. //retract 45mm/s
  7755. strcpy_P(buf, PSTR("G1 E"));
  7756. dtostrf(e_move, 6, 3, buf + strlen(buf));
  7757. strcat_P(buf, PSTR(" F"));
  7758. dtostrf(2700, 8, 3, buf + strlen(buf));
  7759. enquecommand(buf, false);
  7760. // Then lift Z axis
  7761. strcpy_P(buf, PSTR("G1 Z"));
  7762. dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
  7763. strcat_P(buf, PSTR(" F"));
  7764. dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
  7765. // At this point the command queue is empty.
  7766. enquecommand(buf, false);
  7767. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  7768. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  7769. repeatcommand_front();
  7770. #else
  7771. 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);
  7772. st_synchronize(); //wait moving
  7773. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7774. memcpy(destination, current_position, sizeof(destination));
  7775. #endif
  7776. }
  7777. }
  7778. void restore_print_from_ram_and_continue(float e_move)
  7779. {
  7780. if (!saved_printing) return;
  7781. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  7782. // current_position[axis] = st_get_position_mm(axis);
  7783. active_extruder = saved_active_extruder; //restore active_extruder
  7784. feedrate = saved_feedrate2; //restore feedrate
  7785. axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
  7786. float e = saved_pos[E_AXIS] - e_move;
  7787. plan_set_e_position(e);
  7788. //first move print head in XY to the saved position:
  7789. 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);
  7790. st_synchronize();
  7791. //then move Z
  7792. 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);
  7793. st_synchronize();
  7794. //and finaly unretract (35mm/s)
  7795. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], 35, active_extruder);
  7796. st_synchronize();
  7797. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7798. memcpy(destination, current_position, sizeof(destination));
  7799. if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
  7800. card.setIndex(saved_sdpos);
  7801. sdpos_atomic = saved_sdpos;
  7802. card.sdprinting = true;
  7803. printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
  7804. }
  7805. else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
  7806. gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
  7807. serial_count = 0;
  7808. FlushSerialRequestResend();
  7809. }
  7810. else {
  7811. //not sd printing nor usb printing
  7812. }
  7813. lcd_setstatuspgm(_T(WELCOME_MSG));
  7814. saved_printing = false;
  7815. }
  7816. void print_world_coordinates()
  7817. {
  7818. printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  7819. }
  7820. void print_physical_coordinates()
  7821. {
  7822. 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]);
  7823. }
  7824. void print_mesh_bed_leveling_table()
  7825. {
  7826. SERIAL_ECHOPGM("mesh bed leveling: ");
  7827. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  7828. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  7829. MYSERIAL.print(mbl.z_values[y][x], 3);
  7830. SERIAL_ECHOPGM(" ");
  7831. }
  7832. SERIAL_ECHOLNPGM("");
  7833. }
  7834. uint16_t print_time_remaining() {
  7835. uint16_t print_t = PRINT_TIME_REMAINING_INIT;
  7836. if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
  7837. else print_t = print_time_remaining_silent;
  7838. if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100 * print_t / feedmultiply;
  7839. return print_t;
  7840. }
  7841. uint8_t print_percent_done() {
  7842. //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
  7843. uint8_t percent_done = 0;
  7844. if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
  7845. percent_done = print_percent_done_normal;
  7846. }
  7847. else if (print_percent_done_silent <= 100) {
  7848. percent_done = print_percent_done_silent;
  7849. }
  7850. else {
  7851. percent_done = card.percentDone();
  7852. }
  7853. return percent_done;
  7854. }
  7855. static void print_time_remaining_init() {
  7856. print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
  7857. print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
  7858. print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  7859. print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  7860. }
  7861. #define FIL_LOAD_LENGTH 60