Marlin_main.cpp 268 KB

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  1. /* -*- c++ -*- */
  2. /*
  3. Reprap firmware based on Sprinter and grbl.
  4. Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  5. This program is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. This program is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with this program. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. /*
  17. This firmware is a mashup between Sprinter and grbl.
  18. (https://github.com/kliment/Sprinter)
  19. (https://github.com/simen/grbl/tree)
  20. It has preliminary support for Matthew Roberts advance algorithm
  21. http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  22. */
  23. #include "Marlin.h"
  24. #ifdef ENABLE_AUTO_BED_LEVELING
  25. #include "vector_3.h"
  26. #ifdef AUTO_BED_LEVELING_GRID
  27. #include "qr_solve.h"
  28. #endif
  29. #endif // ENABLE_AUTO_BED_LEVELING
  30. #ifdef MESH_BED_LEVELING
  31. #include "mesh_bed_leveling.h"
  32. #include "mesh_bed_calibration.h"
  33. #endif
  34. #include "ultralcd.h"
  35. #include "Configuration_prusa.h"
  36. #include "planner.h"
  37. #include "stepper.h"
  38. #include "temperature.h"
  39. #include "motion_control.h"
  40. #include "cardreader.h"
  41. #include "watchdog.h"
  42. #include "ConfigurationStore.h"
  43. #include "language.h"
  44. #include "pins_arduino.h"
  45. #include "math.h"
  46. #include "util.h"
  47. #include <avr/wdt.h>
  48. #include "Dcodes.h"
  49. #ifdef SWSPI
  50. #include "swspi.h"
  51. #endif //SWSPI
  52. #ifdef SWI2C
  53. #include "swi2c.h"
  54. #endif //SWI2C
  55. #ifdef PAT9125
  56. #include "pat9125.h"
  57. #include "fsensor.h"
  58. #endif //PAT9125
  59. #ifdef TMC2130
  60. #include "tmc2130.h"
  61. #endif //TMC2130
  62. #ifdef BLINKM
  63. #include "BlinkM.h"
  64. #include "Wire.h"
  65. #endif
  66. #ifdef ULTRALCD
  67. #include "ultralcd.h"
  68. #endif
  69. #if NUM_SERVOS > 0
  70. #include "Servo.h"
  71. #endif
  72. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  73. #include <SPI.h>
  74. #endif
  75. #define VERSION_STRING "1.0.2"
  76. #include "ultralcd.h"
  77. #include "cmdqueue.h"
  78. // Macros for bit masks
  79. #define BIT(b) (1<<(b))
  80. #define TEST(n,b) (((n)&BIT(b))!=0)
  81. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  82. //Macro for print fan speed
  83. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  84. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  85. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  86. //Implemented Codes
  87. //-------------------
  88. // PRUSA CODES
  89. // P F - Returns FW versions
  90. // P R - Returns revision of printer
  91. // G0 -> G1
  92. // G1 - Coordinated Movement X Y Z E
  93. // G2 - CW ARC
  94. // G3 - CCW ARC
  95. // G4 - Dwell S<seconds> or P<milliseconds>
  96. // G10 - retract filament according to settings of M207
  97. // G11 - retract recover filament according to settings of M208
  98. // G28 - Home all Axis
  99. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  100. // G30 - Single Z Probe, probes bed at current XY location.
  101. // G31 - Dock sled (Z_PROBE_SLED only)
  102. // G32 - Undock sled (Z_PROBE_SLED only)
  103. // G80 - Automatic mesh bed leveling
  104. // G81 - Print bed profile
  105. // G90 - Use Absolute Coordinates
  106. // G91 - Use Relative Coordinates
  107. // G92 - Set current position to coordinates given
  108. // M Codes
  109. // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  110. // M1 - Same as M0
  111. // M17 - Enable/Power all stepper motors
  112. // M18 - Disable all stepper motors; same as M84
  113. // M20 - List SD card
  114. // M21 - Init SD card
  115. // M22 - Release SD card
  116. // M23 - Select SD file (M23 filename.g)
  117. // M24 - Start/resume SD print
  118. // M25 - Pause SD print
  119. // M26 - Set SD position in bytes (M26 S12345)
  120. // M27 - Report SD print status
  121. // M28 - Start SD write (M28 filename.g)
  122. // M29 - Stop SD write
  123. // M30 - Delete file from SD (M30 filename.g)
  124. // M31 - Output time since last M109 or SD card start to serial
  125. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  126. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  127. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  128. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  129. // 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.
  130. // M80 - Turn on Power Supply
  131. // M81 - Turn off Power Supply
  132. // M82 - Set E codes absolute (default)
  133. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  134. // M84 - Disable steppers until next move,
  135. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  136. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  137. // M92 - Set axis_steps_per_unit - same syntax as G92
  138. // M104 - Set extruder target temp
  139. // M105 - Read current temp
  140. // M106 - Fan on
  141. // M107 - Fan off
  142. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  143. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  144. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  145. // M112 - Emergency stop
  146. // M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  147. // M114 - Output current position to serial port
  148. // M115 - Capabilities string
  149. // M117 - display message
  150. // M119 - Output Endstop status to serial port
  151. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  152. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  153. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  154. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  155. // M140 - Set bed target temp
  156. // 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.
  157. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  158. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  159. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  160. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  161. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  162. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  163. // 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
  164. // 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
  165. // M206 - set additional homing offset
  166. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  167. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  168. // 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.
  169. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  170. // M220 S<factor in percent>- set speed factor override percentage
  171. // M221 S<factor in percent>- set extrude factor override percentage
  172. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  173. // M240 - Trigger a camera to take a photograph
  174. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  175. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  176. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  177. // M301 - Set PID parameters P I and D
  178. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  179. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  180. // M304 - Set bed PID parameters P I and D
  181. // M400 - Finish all moves
  182. // M401 - Lower z-probe if present
  183. // M402 - Raise z-probe if present
  184. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  185. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  186. // M406 - Turn off Filament Sensor extrusion control
  187. // M407 - Displays measured filament diameter
  188. // M500 - stores parameters in EEPROM
  189. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  190. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  191. // M503 - print the current settings (from memory not from EEPROM)
  192. // M509 - force language selection on next restart
  193. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  194. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  195. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  196. // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  197. // M907 - Set digital trimpot motor current using axis codes.
  198. // M908 - Control digital trimpot directly.
  199. // M350 - Set microstepping mode.
  200. // M351 - Toggle MS1 MS2 pins directly.
  201. // M928 - Start SD logging (M928 filename.g) - ended by M29
  202. // M999 - Restart after being stopped by error
  203. //Stepper Movement Variables
  204. //===========================================================================
  205. //=============================imported variables============================
  206. //===========================================================================
  207. //===========================================================================
  208. //=============================public variables=============================
  209. //===========================================================================
  210. #ifdef SDSUPPORT
  211. CardReader card;
  212. #endif
  213. unsigned long PingTime = millis();
  214. union Data
  215. {
  216. byte b[2];
  217. int value;
  218. };
  219. float homing_feedrate[] = HOMING_FEEDRATE;
  220. // Currently only the extruder axis may be switched to a relative mode.
  221. // Other axes are always absolute or relative based on the common relative_mode flag.
  222. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  223. int feedmultiply=100; //100->1 200->2
  224. int saved_feedmultiply;
  225. int extrudemultiply=100; //100->1 200->2
  226. int extruder_multiply[EXTRUDERS] = {100
  227. #if EXTRUDERS > 1
  228. , 100
  229. #if EXTRUDERS > 2
  230. , 100
  231. #endif
  232. #endif
  233. };
  234. int bowden_length[4] = {385, 385, 385, 385};
  235. bool is_usb_printing = false;
  236. bool homing_flag = false;
  237. bool temp_cal_active = false;
  238. unsigned long kicktime = millis()+100000;
  239. unsigned int usb_printing_counter;
  240. int lcd_change_fil_state = 0;
  241. int feedmultiplyBckp = 100;
  242. float HotendTempBckp = 0;
  243. int fanSpeedBckp = 0;
  244. float pause_lastpos[4];
  245. unsigned long pause_time = 0;
  246. unsigned long start_pause_print = millis();
  247. unsigned long t_fan_rising_edge = millis();
  248. //unsigned long load_filament_time;
  249. bool mesh_bed_leveling_flag = false;
  250. bool mesh_bed_run_from_menu = false;
  251. unsigned char lang_selected = 0;
  252. int8_t FarmMode = 0;
  253. bool prusa_sd_card_upload = false;
  254. unsigned int status_number = 0;
  255. unsigned long total_filament_used;
  256. unsigned int heating_status;
  257. unsigned int heating_status_counter;
  258. bool custom_message;
  259. bool loading_flag = false;
  260. unsigned int custom_message_type;
  261. unsigned int custom_message_state;
  262. char snmm_filaments_used = 0;
  263. float distance_from_min[2];
  264. bool fan_state[2];
  265. int fan_edge_counter[2];
  266. int fan_speed[2];
  267. char dir_names[3][9];
  268. bool sortAlpha = false;
  269. bool volumetric_enabled = false;
  270. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  271. #if EXTRUDERS > 1
  272. , DEFAULT_NOMINAL_FILAMENT_DIA
  273. #if EXTRUDERS > 2
  274. , DEFAULT_NOMINAL_FILAMENT_DIA
  275. #endif
  276. #endif
  277. };
  278. float volumetric_multiplier[EXTRUDERS] = {1.0
  279. #if EXTRUDERS > 1
  280. , 1.0
  281. #if EXTRUDERS > 2
  282. , 1.0
  283. #endif
  284. #endif
  285. };
  286. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  287. float add_homing[3]={0,0,0};
  288. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  289. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  290. bool axis_known_position[3] = {false, false, false};
  291. float zprobe_zoffset;
  292. // Extruder offset
  293. #if EXTRUDERS > 1
  294. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  295. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  296. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  297. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  298. #endif
  299. };
  300. #endif
  301. uint8_t active_extruder = 0;
  302. int fanSpeed=0;
  303. #ifdef FWRETRACT
  304. bool autoretract_enabled=false;
  305. bool retracted[EXTRUDERS]={false
  306. #if EXTRUDERS > 1
  307. , false
  308. #if EXTRUDERS > 2
  309. , false
  310. #endif
  311. #endif
  312. };
  313. bool retracted_swap[EXTRUDERS]={false
  314. #if EXTRUDERS > 1
  315. , false
  316. #if EXTRUDERS > 2
  317. , false
  318. #endif
  319. #endif
  320. };
  321. float retract_length = RETRACT_LENGTH;
  322. float retract_length_swap = RETRACT_LENGTH_SWAP;
  323. float retract_feedrate = RETRACT_FEEDRATE;
  324. float retract_zlift = RETRACT_ZLIFT;
  325. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  326. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  327. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  328. #endif
  329. #ifdef ULTIPANEL
  330. #ifdef PS_DEFAULT_OFF
  331. bool powersupply = false;
  332. #else
  333. bool powersupply = true;
  334. #endif
  335. #endif
  336. bool cancel_heatup = false ;
  337. #ifdef HOST_KEEPALIVE_FEATURE
  338. int busy_state = NOT_BUSY;
  339. static long prev_busy_signal_ms = -1;
  340. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  341. #else
  342. #define host_keepalive();
  343. #define KEEPALIVE_STATE(n);
  344. #endif
  345. #ifdef FILAMENT_SENSOR
  346. //Variables for Filament Sensor input
  347. float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
  348. bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
  349. float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
  350. signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
  351. int delay_index1=0; //index into ring buffer
  352. int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  353. float delay_dist=0; //delay distance counter
  354. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  355. #endif
  356. const char errormagic[] PROGMEM = "Error:";
  357. const char echomagic[] PROGMEM = "echo:";
  358. //===========================================================================
  359. //=============================Private Variables=============================
  360. //===========================================================================
  361. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  362. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  363. static float delta[3] = {0.0, 0.0, 0.0};
  364. // For tracing an arc
  365. static float offset[3] = {0.0, 0.0, 0.0};
  366. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  367. // Determines Absolute or Relative Coordinates.
  368. // Also there is bool axis_relative_modes[] per axis flag.
  369. static bool relative_mode = false;
  370. #ifndef _DISABLE_M42_M226
  371. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  372. #endif //_DISABLE_M42_M226
  373. //static float tt = 0;
  374. //static float bt = 0;
  375. //Inactivity shutdown variables
  376. static unsigned long previous_millis_cmd = 0;
  377. unsigned long max_inactive_time = 0;
  378. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  379. unsigned long starttime=0;
  380. unsigned long stoptime=0;
  381. unsigned long _usb_timer = 0;
  382. static uint8_t tmp_extruder;
  383. bool extruder_under_pressure = true;
  384. bool Stopped=false;
  385. #if NUM_SERVOS > 0
  386. Servo servos[NUM_SERVOS];
  387. #endif
  388. bool CooldownNoWait = true;
  389. bool target_direction;
  390. //Insert variables if CHDK is defined
  391. #ifdef CHDK
  392. unsigned long chdkHigh = 0;
  393. boolean chdkActive = false;
  394. #endif
  395. //===========================================================================
  396. //=============================Routines======================================
  397. //===========================================================================
  398. void get_arc_coordinates();
  399. bool setTargetedHotend(int code);
  400. void serial_echopair_P(const char *s_P, float v)
  401. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  402. void serial_echopair_P(const char *s_P, double v)
  403. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  404. void serial_echopair_P(const char *s_P, unsigned long v)
  405. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  406. #ifdef SDSUPPORT
  407. #include "SdFatUtil.h"
  408. int freeMemory() { return SdFatUtil::FreeRam(); }
  409. #else
  410. extern "C" {
  411. extern unsigned int __bss_end;
  412. extern unsigned int __heap_start;
  413. extern void *__brkval;
  414. int freeMemory() {
  415. int free_memory;
  416. if ((int)__brkval == 0)
  417. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  418. else
  419. free_memory = ((int)&free_memory) - ((int)__brkval);
  420. return free_memory;
  421. }
  422. }
  423. #endif //!SDSUPPORT
  424. void setup_killpin()
  425. {
  426. #if defined(KILL_PIN) && KILL_PIN > -1
  427. SET_INPUT(KILL_PIN);
  428. WRITE(KILL_PIN,HIGH);
  429. #endif
  430. }
  431. // Set home pin
  432. void setup_homepin(void)
  433. {
  434. #if defined(HOME_PIN) && HOME_PIN > -1
  435. SET_INPUT(HOME_PIN);
  436. WRITE(HOME_PIN,HIGH);
  437. #endif
  438. }
  439. void setup_photpin()
  440. {
  441. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  442. SET_OUTPUT(PHOTOGRAPH_PIN);
  443. WRITE(PHOTOGRAPH_PIN, LOW);
  444. #endif
  445. }
  446. void setup_powerhold()
  447. {
  448. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  449. SET_OUTPUT(SUICIDE_PIN);
  450. WRITE(SUICIDE_PIN, HIGH);
  451. #endif
  452. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  453. SET_OUTPUT(PS_ON_PIN);
  454. #if defined(PS_DEFAULT_OFF)
  455. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  456. #else
  457. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  458. #endif
  459. #endif
  460. }
  461. void suicide()
  462. {
  463. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  464. SET_OUTPUT(SUICIDE_PIN);
  465. WRITE(SUICIDE_PIN, LOW);
  466. #endif
  467. }
  468. void servo_init()
  469. {
  470. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  471. servos[0].attach(SERVO0_PIN);
  472. #endif
  473. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  474. servos[1].attach(SERVO1_PIN);
  475. #endif
  476. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  477. servos[2].attach(SERVO2_PIN);
  478. #endif
  479. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  480. servos[3].attach(SERVO3_PIN);
  481. #endif
  482. #if (NUM_SERVOS >= 5)
  483. #error "TODO: enter initalisation code for more servos"
  484. #endif
  485. }
  486. static void lcd_language_menu();
  487. void stop_and_save_print_to_ram(float z_move, float e_move);
  488. void restore_print_from_ram_and_continue(float e_move);
  489. bool fans_check_enabled = true;
  490. bool filament_autoload_enabled = true;
  491. extern int8_t CrashDetectMenu;
  492. void crashdet_enable()
  493. {
  494. // MYSERIAL.println("crashdet_enable");
  495. tmc2130_sg_stop_on_crash = true;
  496. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
  497. CrashDetectMenu = 1;
  498. }
  499. void crashdet_disable()
  500. {
  501. // MYSERIAL.println("crashdet_disable");
  502. tmc2130_sg_stop_on_crash = false;
  503. tmc2130_sg_crash = false;
  504. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
  505. CrashDetectMenu = 0;
  506. }
  507. void crashdet_stop_and_save_print()
  508. {
  509. stop_and_save_print_to_ram(10, 0); //XY - no change, Z 10mm up, E - no change
  510. }
  511. void crashdet_restore_print_and_continue()
  512. {
  513. restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
  514. // babystep_apply();
  515. }
  516. void crashdet_stop_and_save_print2()
  517. {
  518. cli();
  519. planner_abort_hard(); //abort printing
  520. cmdqueue_reset(); //empty cmdqueue
  521. card.sdprinting = false;
  522. card.closefile();
  523. sei();
  524. }
  525. void crashdet_detected()
  526. {
  527. // printf("CRASH_DETECTED");
  528. /* while (!is_buffer_empty())
  529. {
  530. process_commands();
  531. cmdqueue_pop_front();
  532. }*/
  533. st_synchronize();
  534. lcd_update_enable(true);
  535. lcd_implementation_clear();
  536. lcd_update(2);
  537. // Increment crash counter
  538. uint8_t crash_count = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT);
  539. crash_count++;
  540. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT, crash_count);
  541. #ifdef AUTOMATIC_RECOVERY_AFTER_CRASH
  542. bool yesno = true;
  543. #else
  544. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_CRASH_DETECTED, false);
  545. #endif
  546. lcd_update_enable(true);
  547. lcd_update(2);
  548. lcd_setstatuspgm(MSG_CRASH_DETECTED);
  549. if (yesno)
  550. {
  551. enquecommand_P(PSTR("G28 X"));
  552. enquecommand_P(PSTR("G28 Y"));
  553. enquecommand_P(PSTR("CRASH_RECOVER"));
  554. }
  555. else
  556. {
  557. enquecommand_P(PSTR("CRASH_CANCEL"));
  558. }
  559. }
  560. void crashdet_recover()
  561. {
  562. crashdet_restore_print_and_continue();
  563. tmc2130_sg_stop_on_crash = true;
  564. }
  565. void crashdet_cancel()
  566. {
  567. card.sdprinting = false;
  568. card.closefile();
  569. tmc2130_sg_stop_on_crash = true;
  570. }
  571. #ifdef MESH_BED_LEVELING
  572. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  573. #endif
  574. // Factory reset function
  575. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  576. // Level input parameter sets depth of reset
  577. // Quiet parameter masks all waitings for user interact.
  578. int er_progress = 0;
  579. void factory_reset(char level, bool quiet)
  580. {
  581. lcd_implementation_clear();
  582. int cursor_pos = 0;
  583. switch (level) {
  584. // Level 0: Language reset
  585. case 0:
  586. WRITE(BEEPER, HIGH);
  587. _delay_ms(100);
  588. WRITE(BEEPER, LOW);
  589. lcd_force_language_selection();
  590. break;
  591. //Level 1: Reset statistics
  592. case 1:
  593. WRITE(BEEPER, HIGH);
  594. _delay_ms(100);
  595. WRITE(BEEPER, LOW);
  596. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  597. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  598. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  599. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT, 0);
  600. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  601. lcd_menu_statistics();
  602. break;
  603. // Level 2: Prepare for shipping
  604. case 2:
  605. //lcd_printPGM(PSTR("Factory RESET"));
  606. //lcd_print_at_PGM(1,2,PSTR("Shipping prep"));
  607. // Force language selection at the next boot up.
  608. lcd_force_language_selection();
  609. // Force the "Follow calibration flow" message at the next boot up.
  610. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  611. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  612. farm_no = 0;
  613. farm_mode == false;
  614. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  615. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  616. WRITE(BEEPER, HIGH);
  617. _delay_ms(100);
  618. WRITE(BEEPER, LOW);
  619. //_delay_ms(2000);
  620. break;
  621. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  622. case 3:
  623. lcd_printPGM(PSTR("Factory RESET"));
  624. lcd_print_at_PGM(1, 2, PSTR("ERASING all data"));
  625. WRITE(BEEPER, HIGH);
  626. _delay_ms(100);
  627. WRITE(BEEPER, LOW);
  628. er_progress = 0;
  629. lcd_print_at_PGM(3, 3, PSTR(" "));
  630. lcd_implementation_print_at(3, 3, er_progress);
  631. // Erase EEPROM
  632. for (int i = 0; i < 4096; i++) {
  633. eeprom_write_byte((uint8_t*)i, 0xFF);
  634. if (i % 41 == 0) {
  635. er_progress++;
  636. lcd_print_at_PGM(3, 3, PSTR(" "));
  637. lcd_implementation_print_at(3, 3, er_progress);
  638. lcd_printPGM(PSTR("%"));
  639. }
  640. }
  641. break;
  642. case 4:
  643. bowden_menu();
  644. break;
  645. default:
  646. break;
  647. }
  648. }
  649. #include "LiquidCrystal.h"
  650. extern LiquidCrystal lcd;
  651. FILE _lcdout = {0};
  652. int lcd_putchar(char c, FILE *stream)
  653. {
  654. lcd.write(c);
  655. return 0;
  656. }
  657. FILE _uartout = {0};
  658. int uart_putchar(char c, FILE *stream)
  659. {
  660. MYSERIAL.write(c);
  661. return 0;
  662. }
  663. void lcd_splash()
  664. {
  665. // lcd_print_at_PGM(0, 1, PSTR(" Original Prusa "));
  666. // lcd_print_at_PGM(0, 2, PSTR(" 3D Printers "));
  667. // lcd.print_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
  668. fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
  669. }
  670. void factory_reset()
  671. {
  672. KEEPALIVE_STATE(PAUSED_FOR_USER);
  673. if (!READ(BTN_ENC))
  674. {
  675. _delay_ms(1000);
  676. if (!READ(BTN_ENC))
  677. {
  678. lcd_implementation_clear();
  679. lcd_printPGM(PSTR("Factory RESET"));
  680. SET_OUTPUT(BEEPER);
  681. WRITE(BEEPER, HIGH);
  682. while (!READ(BTN_ENC));
  683. WRITE(BEEPER, LOW);
  684. _delay_ms(2000);
  685. char level = reset_menu();
  686. factory_reset(level, false);
  687. switch (level) {
  688. case 0: _delay_ms(0); break;
  689. case 1: _delay_ms(0); break;
  690. case 2: _delay_ms(0); break;
  691. case 3: _delay_ms(0); break;
  692. }
  693. // _delay_ms(100);
  694. /*
  695. #ifdef MESH_BED_LEVELING
  696. _delay_ms(2000);
  697. if (!READ(BTN_ENC))
  698. {
  699. WRITE(BEEPER, HIGH);
  700. _delay_ms(100);
  701. WRITE(BEEPER, LOW);
  702. _delay_ms(200);
  703. WRITE(BEEPER, HIGH);
  704. _delay_ms(100);
  705. WRITE(BEEPER, LOW);
  706. int _z = 0;
  707. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  708. EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
  709. EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
  710. EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
  711. }
  712. else
  713. {
  714. WRITE(BEEPER, HIGH);
  715. _delay_ms(100);
  716. WRITE(BEEPER, LOW);
  717. }
  718. #endif // mesh */
  719. }
  720. }
  721. else
  722. {
  723. //_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
  724. }
  725. KEEPALIVE_STATE(IN_HANDLER);
  726. }
  727. void show_fw_version_warnings() {
  728. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  729. switch (FW_DEV_VERSION) {
  730. case(FW_VERSION_ALPHA): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_ALPHA); break;
  731. case(FW_VERSION_BETA): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_BETA); break;
  732. case(FW_VERSION_RC): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_RC); break;
  733. case(FW_VERSION_DEBUG): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_DEBUG); break;
  734. default: lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_UNKNOWN); break;
  735. }
  736. lcd_update_enable(true);
  737. }
  738. // "Setup" function is called by the Arduino framework on startup.
  739. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  740. // are initialized by the main() routine provided by the Arduino framework.
  741. void setup()
  742. {
  743. lcd_init();
  744. fdev_setup_stream(lcdout, lcd_putchar, NULL, _FDEV_SETUP_WRITE); //setup lcdout stream
  745. lcd_splash();
  746. setup_killpin();
  747. setup_powerhold();
  748. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  749. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  750. 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
  751. if (farm_no == 0xFFFF) farm_no = 0;
  752. selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
  753. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  754. if (farm_mode)
  755. {
  756. prusa_statistics(8);
  757. selectedSerialPort = 1;
  758. }
  759. MYSERIAL.begin(BAUDRATE);
  760. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  761. stdout = uartout;
  762. SERIAL_PROTOCOLLNPGM("start");
  763. SERIAL_ECHO_START;
  764. printf_P(PSTR(" "FW_VERSION_FULL"\n"));
  765. #if 0
  766. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  767. for (int i = 0; i < 4096; ++i) {
  768. int b = eeprom_read_byte((unsigned char*)i);
  769. if (b != 255) {
  770. SERIAL_ECHO(i);
  771. SERIAL_ECHO(":");
  772. SERIAL_ECHO(b);
  773. SERIAL_ECHOLN("");
  774. }
  775. }
  776. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  777. #endif
  778. // Check startup - does nothing if bootloader sets MCUSR to 0
  779. byte mcu = MCUSR;
  780. /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  781. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  782. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  783. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  784. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  785. if (mcu & 1) puts_P(MSG_POWERUP);
  786. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  787. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  788. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  789. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  790. MCUSR = 0;
  791. //SERIAL_ECHORPGM(MSG_MARLIN);
  792. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  793. #ifdef STRING_VERSION_CONFIG_H
  794. #ifdef STRING_CONFIG_H_AUTHOR
  795. SERIAL_ECHO_START;
  796. SERIAL_ECHORPGM(MSG_CONFIGURATION_VER);
  797. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  798. SERIAL_ECHORPGM(MSG_AUTHOR);
  799. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  800. SERIAL_ECHOPGM("Compiled: ");
  801. SERIAL_ECHOLNPGM(__DATE__);
  802. #endif
  803. #endif
  804. SERIAL_ECHO_START;
  805. SERIAL_ECHORPGM(MSG_FREE_MEMORY);
  806. SERIAL_ECHO(freeMemory());
  807. SERIAL_ECHORPGM(MSG_PLANNER_BUFFER_BYTES);
  808. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  809. //lcd_update_enable(false); // why do we need this?? - andre
  810. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  811. Config_RetrieveSettings(EEPROM_OFFSET);
  812. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  813. tp_init(); // Initialize temperature loop
  814. lcd_splash(); // we need to do this again, because tp_init() kills lcd
  815. plan_init(); // Initialize planner;
  816. watchdog_init();
  817. factory_reset();
  818. #ifdef TMC2130
  819. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  820. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  821. uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
  822. if (crashdet)
  823. {
  824. crashdet_enable();
  825. MYSERIAL.println("CrashDetect ENABLED!");
  826. }
  827. else
  828. {
  829. crashdet_disable();
  830. MYSERIAL.println("CrashDetect DISABLED");
  831. }
  832. #endif //TMC2130
  833. st_init(); // Initialize stepper, this enables interrupts!
  834. setup_photpin();
  835. servo_init();
  836. // Reset the machine correction matrix.
  837. // It does not make sense to load the correction matrix until the machine is homed.
  838. world2machine_reset();
  839. #ifdef PAT9125
  840. fsensor_init();
  841. #endif //PAT9125
  842. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  843. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  844. #endif
  845. #ifdef DIGIPOT_I2C
  846. digipot_i2c_init();
  847. #endif
  848. setup_homepin();
  849. if (1) {
  850. /// SERIAL_ECHOPGM("initial zsteps on power up: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
  851. // try to run to zero phase before powering the Z motor.
  852. // Move in negative direction
  853. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  854. // Round the current micro-micro steps to micro steps.
  855. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_TMC2130_CS) + 8) >> 4; phase > 0; -- phase) {
  856. // Until the phase counter is reset to zero.
  857. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  858. delay(2);
  859. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  860. delay(2);
  861. }
  862. // SERIAL_ECHOPGM("initial zsteps after reset: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
  863. }
  864. #if defined(Z_AXIS_ALWAYS_ON)
  865. enable_z();
  866. #endif
  867. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  868. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  869. 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
  870. if (farm_no == 0xFFFF) farm_no = 0;
  871. if (farm_mode)
  872. {
  873. prusa_statistics(8);
  874. }
  875. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  876. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  877. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  878. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
  879. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  880. // where all the EEPROM entries are set to 0x0ff.
  881. // Once a firmware boots up, it forces at least a language selection, which changes
  882. // EEPROM_LANG to number lower than 0x0ff.
  883. // 1) Set a high power mode.
  884. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  885. tmc2130_mode = TMC2130_MODE_NORMAL;
  886. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  887. }
  888. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  889. // but this times out if a blocking dialog is shown in setup().
  890. card.initsd();
  891. if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff)
  892. eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
  893. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT) == 0xff)
  894. eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT, 0);
  895. if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff)
  896. eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
  897. #ifdef SNMM
  898. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  899. int _z = BOWDEN_LENGTH;
  900. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  901. }
  902. #endif
  903. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  904. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  905. // is being written into the EEPROM, so the update procedure will be triggered only once.
  906. lang_selected = eeprom_read_byte((uint8_t*)EEPROM_LANG);
  907. if (lang_selected >= LANG_NUM){
  908. lcd_mylang();
  909. }
  910. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  911. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  912. temp_cal_active = false;
  913. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  914. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  915. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  916. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  917. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 0, 8); //40C - 20um - 8usteps
  918. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 1, 24); //45C - 60um - 24usteps
  919. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 2, 48); //50C - 120um - 48usteps
  920. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 3, 80); //55C - 200um - 80usteps
  921. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 4, 120); //60C - 300um - 120usteps
  922. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 1);
  923. temp_cal_active = true;
  924. }
  925. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  926. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  927. }
  928. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  929. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  930. }
  931. check_babystep(); //checking if Z babystep is in allowed range
  932. setup_uvlo_interrupt();
  933. #ifndef DEBUG_DISABLE_FANCHECK
  934. setup_fan_interrupt();
  935. #endif //DEBUG_DISABLE_FANCHECK
  936. #ifndef DEBUG_DISABLE_FSENSORCHECK
  937. fsensor_setup_interrupt();
  938. #endif //DEBUG_DISABLE_FSENSORCHECK
  939. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  940. #ifndef DEBUG_DISABLE_STARTMSGS
  941. KEEPALIVE_STATE(PAUSED_FOR_USER);
  942. show_fw_version_warnings();
  943. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  944. lcd_wizard(0);
  945. }
  946. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  947. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  948. calibration_status() == CALIBRATION_STATUS_UNKNOWN) {
  949. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  950. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  951. // Show the message.
  952. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  953. }
  954. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  955. // Show the message.
  956. lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  957. lcd_update_enable(true);
  958. }
  959. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  960. //lcd_show_fullscreen_message_and_wait_P(MSG_PINDA_NOT_CALIBRATED);
  961. lcd_update_enable(true);
  962. }
  963. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  964. // Show the message.
  965. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  966. }
  967. }
  968. KEEPALIVE_STATE(IN_PROCESS);
  969. #endif //DEBUG_DISABLE_STARTMSGS
  970. lcd_update_enable(true);
  971. lcd_implementation_clear();
  972. lcd_update(2);
  973. // Store the currently running firmware into an eeprom,
  974. // so the next time the firmware gets updated, it will know from which version it has been updated.
  975. update_current_firmware_version_to_eeprom();
  976. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
  977. /*
  978. if (lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false)) recover_print();
  979. else {
  980. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  981. lcd_update_enable(true);
  982. lcd_update(2);
  983. lcd_setstatuspgm(WELCOME_MSG);
  984. }
  985. */
  986. manage_heater(); // Update temperatures
  987. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  988. MYSERIAL.println("Power panic detected!");
  989. MYSERIAL.print("Current bed temp:");
  990. MYSERIAL.println(degBed());
  991. MYSERIAL.print("Saved bed temp:");
  992. MYSERIAL.println((float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED));
  993. #endif
  994. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  995. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  996. MYSERIAL.println("Automatic recovery!");
  997. #endif
  998. recover_print(1);
  999. }
  1000. else{
  1001. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1002. MYSERIAL.println("Normal recovery!");
  1003. #endif
  1004. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false) ) recover_print(0);
  1005. else {
  1006. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1007. lcd_update_enable(true);
  1008. lcd_update(2);
  1009. lcd_setstatuspgm(WELCOME_MSG);
  1010. }
  1011. }
  1012. }
  1013. KEEPALIVE_STATE(NOT_BUSY);
  1014. wdt_enable(WDTO_4S);
  1015. }
  1016. #ifdef PAT9125
  1017. void fsensor_init() {
  1018. int pat9125 = pat9125_init(PAT9125_XRES, PAT9125_YRES);
  1019. printf_P(PSTR("PAT9125_init:%d\n"), pat9125);
  1020. uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
  1021. if (!pat9125)
  1022. {
  1023. fsensor = 0; //disable sensor
  1024. fsensor_not_responding = true;
  1025. }
  1026. else {
  1027. fsensor_not_responding = false;
  1028. }
  1029. puts_P(PSTR("FSensor "));
  1030. if (fsensor)
  1031. {
  1032. puts_P(PSTR("ENABLED\n"));
  1033. fsensor_enable();
  1034. }
  1035. else
  1036. {
  1037. puts_P(PSTR("DISABLED\n"));
  1038. fsensor_disable();
  1039. }
  1040. #ifdef DEBUG_DISABLE_FSENSORCHECK
  1041. filament_autoload_enabled = false;
  1042. fsensor_disable();
  1043. #endif //DEBUG_DISABLE_FSENSORCHECK
  1044. }
  1045. #endif //PAT9125
  1046. void trace();
  1047. #define CHUNK_SIZE 64 // bytes
  1048. #define SAFETY_MARGIN 1
  1049. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1050. int chunkHead = 0;
  1051. int serial_read_stream() {
  1052. setTargetHotend(0, 0);
  1053. setTargetBed(0);
  1054. lcd_implementation_clear();
  1055. lcd_printPGM(PSTR(" Upload in progress"));
  1056. // first wait for how many bytes we will receive
  1057. uint32_t bytesToReceive;
  1058. // receive the four bytes
  1059. char bytesToReceiveBuffer[4];
  1060. for (int i=0; i<4; i++) {
  1061. int data;
  1062. while ((data = MYSERIAL.read()) == -1) {};
  1063. bytesToReceiveBuffer[i] = data;
  1064. }
  1065. // make it a uint32
  1066. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1067. // we're ready, notify the sender
  1068. MYSERIAL.write('+');
  1069. // lock in the routine
  1070. uint32_t receivedBytes = 0;
  1071. while (prusa_sd_card_upload) {
  1072. int i;
  1073. for (i=0; i<CHUNK_SIZE; i++) {
  1074. int data;
  1075. // check if we're not done
  1076. if (receivedBytes == bytesToReceive) {
  1077. break;
  1078. }
  1079. // read the next byte
  1080. while ((data = MYSERIAL.read()) == -1) {};
  1081. receivedBytes++;
  1082. // save it to the chunk
  1083. chunk[i] = data;
  1084. }
  1085. // write the chunk to SD
  1086. card.write_command_no_newline(&chunk[0]);
  1087. // notify the sender we're ready for more data
  1088. MYSERIAL.write('+');
  1089. // for safety
  1090. manage_heater();
  1091. // check if we're done
  1092. if(receivedBytes == bytesToReceive) {
  1093. trace(); // beep
  1094. card.closefile();
  1095. prusa_sd_card_upload = false;
  1096. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1097. return 0;
  1098. }
  1099. }
  1100. }
  1101. #ifdef HOST_KEEPALIVE_FEATURE
  1102. /**
  1103. * Output a "busy" message at regular intervals
  1104. * while the machine is not accepting commands.
  1105. */
  1106. void host_keepalive() {
  1107. if (farm_mode) return;
  1108. long ms = millis();
  1109. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1110. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1111. switch (busy_state) {
  1112. case IN_HANDLER:
  1113. case IN_PROCESS:
  1114. SERIAL_ECHO_START;
  1115. SERIAL_ECHOLNPGM("busy: processing");
  1116. break;
  1117. case PAUSED_FOR_USER:
  1118. SERIAL_ECHO_START;
  1119. SERIAL_ECHOLNPGM("busy: paused for user");
  1120. break;
  1121. case PAUSED_FOR_INPUT:
  1122. SERIAL_ECHO_START;
  1123. SERIAL_ECHOLNPGM("busy: paused for input");
  1124. break;
  1125. default:
  1126. break;
  1127. }
  1128. }
  1129. prev_busy_signal_ms = ms;
  1130. }
  1131. #endif
  1132. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1133. // Before loop(), the setup() function is called by the main() routine.
  1134. void loop()
  1135. {
  1136. KEEPALIVE_STATE(NOT_BUSY);
  1137. bool stack_integrity = true;
  1138. if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
  1139. {
  1140. is_usb_printing = true;
  1141. usb_printing_counter--;
  1142. _usb_timer = millis();
  1143. }
  1144. if (usb_printing_counter == 0)
  1145. {
  1146. is_usb_printing = false;
  1147. }
  1148. if (prusa_sd_card_upload)
  1149. {
  1150. //we read byte-by byte
  1151. serial_read_stream();
  1152. } else
  1153. {
  1154. get_command();
  1155. #ifdef SDSUPPORT
  1156. card.checkautostart(false);
  1157. #endif
  1158. if(buflen)
  1159. {
  1160. cmdbuffer_front_already_processed = false;
  1161. #ifdef SDSUPPORT
  1162. if(card.saving)
  1163. {
  1164. // Saving a G-code file onto an SD-card is in progress.
  1165. // Saving starts with M28, saving until M29 is seen.
  1166. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1167. card.write_command(CMDBUFFER_CURRENT_STRING);
  1168. if(card.logging)
  1169. process_commands();
  1170. else
  1171. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1172. } else {
  1173. card.closefile();
  1174. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1175. }
  1176. } else {
  1177. process_commands();
  1178. }
  1179. #else
  1180. process_commands();
  1181. #endif //SDSUPPORT
  1182. if (! cmdbuffer_front_already_processed && buflen)
  1183. {
  1184. // ptr points to the start of the block currently being processed.
  1185. // The first character in the block is the block type.
  1186. char *ptr = cmdbuffer + bufindr;
  1187. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1188. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1189. union {
  1190. struct {
  1191. char lo;
  1192. char hi;
  1193. } lohi;
  1194. uint16_t value;
  1195. } sdlen;
  1196. sdlen.value = 0;
  1197. {
  1198. // This block locks the interrupts globally for 3.25 us,
  1199. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1200. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1201. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1202. cli();
  1203. // Reset the command to something, which will be ignored by the power panic routine,
  1204. // so this buffer length will not be counted twice.
  1205. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1206. // Extract the current buffer length.
  1207. sdlen.lohi.lo = *ptr ++;
  1208. sdlen.lohi.hi = *ptr;
  1209. // and pass it to the planner queue.
  1210. planner_add_sd_length(sdlen.value);
  1211. sei();
  1212. }
  1213. }
  1214. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1215. // this block's SD card length will not be counted twice as its command type has been replaced
  1216. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1217. cmdqueue_pop_front();
  1218. }
  1219. host_keepalive();
  1220. }
  1221. }
  1222. //check heater every n milliseconds
  1223. manage_heater();
  1224. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1225. checkHitEndstops();
  1226. lcd_update();
  1227. #ifdef PAT9125
  1228. fsensor_update();
  1229. #endif //PAT9125
  1230. #ifdef TMC2130
  1231. tmc2130_check_overtemp();
  1232. if (tmc2130_sg_crash)
  1233. {
  1234. tmc2130_sg_crash = false;
  1235. // crashdet_stop_and_save_print();
  1236. enquecommand_P((PSTR("CRASH_DETECTED")));
  1237. }
  1238. #endif //TMC2130
  1239. }
  1240. #define DEFINE_PGM_READ_ANY(type, reader) \
  1241. static inline type pgm_read_any(const type *p) \
  1242. { return pgm_read_##reader##_near(p); }
  1243. DEFINE_PGM_READ_ANY(float, float);
  1244. DEFINE_PGM_READ_ANY(signed char, byte);
  1245. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1246. static const PROGMEM type array##_P[3] = \
  1247. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1248. static inline type array(int axis) \
  1249. { return pgm_read_any(&array##_P[axis]); } \
  1250. type array##_ext(int axis) \
  1251. { return pgm_read_any(&array##_P[axis]); }
  1252. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1253. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1254. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1255. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1256. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1257. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1258. static void axis_is_at_home(int axis) {
  1259. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1260. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1261. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1262. }
  1263. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1264. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1265. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1266. saved_feedrate = feedrate;
  1267. saved_feedmultiply = feedmultiply;
  1268. feedmultiply = 100;
  1269. previous_millis_cmd = millis();
  1270. enable_endstops(enable_endstops_now);
  1271. }
  1272. static void clean_up_after_endstop_move() {
  1273. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1274. enable_endstops(false);
  1275. #endif
  1276. feedrate = saved_feedrate;
  1277. feedmultiply = saved_feedmultiply;
  1278. previous_millis_cmd = millis();
  1279. }
  1280. #ifdef ENABLE_AUTO_BED_LEVELING
  1281. #ifdef AUTO_BED_LEVELING_GRID
  1282. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1283. {
  1284. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1285. planeNormal.debug("planeNormal");
  1286. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1287. //bedLevel.debug("bedLevel");
  1288. //plan_bed_level_matrix.debug("bed level before");
  1289. //vector_3 uncorrected_position = plan_get_position_mm();
  1290. //uncorrected_position.debug("position before");
  1291. vector_3 corrected_position = plan_get_position();
  1292. // corrected_position.debug("position after");
  1293. current_position[X_AXIS] = corrected_position.x;
  1294. current_position[Y_AXIS] = corrected_position.y;
  1295. current_position[Z_AXIS] = corrected_position.z;
  1296. // put the bed at 0 so we don't go below it.
  1297. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1298. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1299. }
  1300. #else // not AUTO_BED_LEVELING_GRID
  1301. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1302. plan_bed_level_matrix.set_to_identity();
  1303. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1304. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1305. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1306. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1307. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1308. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1309. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1310. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1311. vector_3 corrected_position = plan_get_position();
  1312. current_position[X_AXIS] = corrected_position.x;
  1313. current_position[Y_AXIS] = corrected_position.y;
  1314. current_position[Z_AXIS] = corrected_position.z;
  1315. // put the bed at 0 so we don't go below it.
  1316. current_position[Z_AXIS] = zprobe_zoffset;
  1317. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1318. }
  1319. #endif // AUTO_BED_LEVELING_GRID
  1320. static void run_z_probe() {
  1321. plan_bed_level_matrix.set_to_identity();
  1322. feedrate = homing_feedrate[Z_AXIS];
  1323. // move down until you find the bed
  1324. float zPosition = -10;
  1325. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1326. st_synchronize();
  1327. // we have to let the planner know where we are right now as it is not where we said to go.
  1328. zPosition = st_get_position_mm(Z_AXIS);
  1329. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1330. // move up the retract distance
  1331. zPosition += home_retract_mm(Z_AXIS);
  1332. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1333. st_synchronize();
  1334. // move back down slowly to find bed
  1335. feedrate = homing_feedrate[Z_AXIS]/4;
  1336. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1337. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1338. st_synchronize();
  1339. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1340. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1341. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1342. }
  1343. static void do_blocking_move_to(float x, float y, float z) {
  1344. float oldFeedRate = feedrate;
  1345. feedrate = homing_feedrate[Z_AXIS];
  1346. current_position[Z_AXIS] = z;
  1347. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1348. st_synchronize();
  1349. feedrate = XY_TRAVEL_SPEED;
  1350. current_position[X_AXIS] = x;
  1351. current_position[Y_AXIS] = y;
  1352. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1353. st_synchronize();
  1354. feedrate = oldFeedRate;
  1355. }
  1356. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1357. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1358. }
  1359. /// Probe bed height at position (x,y), returns the measured z value
  1360. static float probe_pt(float x, float y, float z_before) {
  1361. // move to right place
  1362. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1363. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1364. run_z_probe();
  1365. float measured_z = current_position[Z_AXIS];
  1366. SERIAL_PROTOCOLRPGM(MSG_BED);
  1367. SERIAL_PROTOCOLPGM(" x: ");
  1368. SERIAL_PROTOCOL(x);
  1369. SERIAL_PROTOCOLPGM(" y: ");
  1370. SERIAL_PROTOCOL(y);
  1371. SERIAL_PROTOCOLPGM(" z: ");
  1372. SERIAL_PROTOCOL(measured_z);
  1373. SERIAL_PROTOCOLPGM("\n");
  1374. return measured_z;
  1375. }
  1376. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1377. #ifdef LIN_ADVANCE
  1378. /**
  1379. * M900: Set and/or Get advance K factor and WH/D ratio
  1380. *
  1381. * K<factor> Set advance K factor
  1382. * R<ratio> Set ratio directly (overrides WH/D)
  1383. * W<width> H<height> D<diam> Set ratio from WH/D
  1384. */
  1385. inline void gcode_M900() {
  1386. st_synchronize();
  1387. const float newK = code_seen('K') ? code_value_float() : -1;
  1388. if (newK >= 0) extruder_advance_k = newK;
  1389. float newR = code_seen('R') ? code_value_float() : -1;
  1390. if (newR < 0) {
  1391. const float newD = code_seen('D') ? code_value_float() : -1,
  1392. newW = code_seen('W') ? code_value_float() : -1,
  1393. newH = code_seen('H') ? code_value_float() : -1;
  1394. if (newD >= 0 && newW >= 0 && newH >= 0)
  1395. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1396. }
  1397. if (newR >= 0) advance_ed_ratio = newR;
  1398. SERIAL_ECHO_START;
  1399. SERIAL_ECHOPGM("Advance K=");
  1400. SERIAL_ECHOLN(extruder_advance_k);
  1401. SERIAL_ECHOPGM(" E/D=");
  1402. const float ratio = advance_ed_ratio;
  1403. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1404. }
  1405. #endif // LIN_ADVANCE
  1406. bool check_commands() {
  1407. bool end_command_found = false;
  1408. while (buflen)
  1409. {
  1410. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1411. if (!cmdbuffer_front_already_processed)
  1412. cmdqueue_pop_front();
  1413. cmdbuffer_front_already_processed = false;
  1414. }
  1415. return end_command_found;
  1416. }
  1417. #ifdef TMC2130
  1418. bool calibrate_z_auto()
  1419. {
  1420. //lcd_display_message_fullscreen_P(MSG_CALIBRATE_Z_AUTO);
  1421. lcd_implementation_clear();
  1422. lcd_print_at_PGM(0,1, MSG_CALIBRATE_Z_AUTO);
  1423. bool endstops_enabled = enable_endstops(true);
  1424. int axis_up_dir = -home_dir(Z_AXIS);
  1425. tmc2130_home_enter(Z_AXIS_MASK);
  1426. current_position[Z_AXIS] = 0;
  1427. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1428. set_destination_to_current();
  1429. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1430. feedrate = homing_feedrate[Z_AXIS];
  1431. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1432. st_synchronize();
  1433. // current_position[axis] = 0;
  1434. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1435. tmc2130_home_exit();
  1436. enable_endstops(false);
  1437. current_position[Z_AXIS] = 0;
  1438. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1439. set_destination_to_current();
  1440. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1441. feedrate = homing_feedrate[Z_AXIS] / 2;
  1442. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1443. st_synchronize();
  1444. enable_endstops(endstops_enabled);
  1445. current_position[Z_AXIS] = Z_MAX_POS+2.0;
  1446. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1447. return true;
  1448. }
  1449. #endif //TMC2130
  1450. void homeaxis(int axis)
  1451. {
  1452. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homming
  1453. #define HOMEAXIS_DO(LETTER) \
  1454. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1455. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1456. {
  1457. int axis_home_dir = home_dir(axis);
  1458. feedrate = homing_feedrate[axis];
  1459. #ifdef TMC2130
  1460. tmc2130_home_enter(X_AXIS_MASK << axis);
  1461. #endif
  1462. // Move right a bit, so that the print head does not touch the left end position,
  1463. // and the following left movement has a chance to achieve the required velocity
  1464. // for the stall guard to work.
  1465. current_position[axis] = 0;
  1466. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1467. // destination[axis] = 11.f;
  1468. destination[axis] = 3.f;
  1469. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1470. st_synchronize();
  1471. // Move left away from the possible collision with the collision detection disabled.
  1472. endstops_hit_on_purpose();
  1473. enable_endstops(false);
  1474. current_position[axis] = 0;
  1475. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1476. destination[axis] = - 1.;
  1477. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1478. st_synchronize();
  1479. // Now continue to move up to the left end stop with the collision detection enabled.
  1480. enable_endstops(true);
  1481. destination[axis] = - 1.1 * max_length(axis);
  1482. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1483. st_synchronize();
  1484. // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
  1485. endstops_hit_on_purpose();
  1486. enable_endstops(false);
  1487. current_position[axis] = 0;
  1488. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1489. destination[axis] = 10.f;
  1490. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1491. st_synchronize();
  1492. endstops_hit_on_purpose();
  1493. // Now move left up to the collision, this time with a repeatable velocity.
  1494. enable_endstops(true);
  1495. destination[axis] = - 15.f;
  1496. feedrate = homing_feedrate[axis]/2;
  1497. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1498. st_synchronize();
  1499. axis_is_at_home(axis);
  1500. axis_known_position[axis] = true;
  1501. #ifdef TMC2130
  1502. tmc2130_home_exit();
  1503. #endif
  1504. // Move the X carriage away from the collision.
  1505. // If this is not done, the X cariage will jump from the collision at the instant the Trinamic driver reduces power on idle.
  1506. endstops_hit_on_purpose();
  1507. enable_endstops(false);
  1508. {
  1509. // Two full periods (4 full steps).
  1510. float gap = 0.32f * 2.f;
  1511. current_position[axis] -= gap;
  1512. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1513. current_position[axis] += gap;
  1514. }
  1515. destination[axis] = current_position[axis];
  1516. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.3f*feedrate/60, active_extruder);
  1517. st_synchronize();
  1518. feedrate = 0.0;
  1519. }
  1520. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  1521. {
  1522. int axis_home_dir = home_dir(axis);
  1523. current_position[axis] = 0;
  1524. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1525. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1526. feedrate = homing_feedrate[axis];
  1527. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1528. st_synchronize();
  1529. current_position[axis] = 0;
  1530. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1531. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1532. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1533. st_synchronize();
  1534. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1535. feedrate = homing_feedrate[axis]/2 ;
  1536. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1537. st_synchronize();
  1538. axis_is_at_home(axis);
  1539. destination[axis] = current_position[axis];
  1540. feedrate = 0.0;
  1541. endstops_hit_on_purpose();
  1542. axis_known_position[axis] = true;
  1543. }
  1544. enable_endstops(endstops_enabled);
  1545. }
  1546. /**/
  1547. void home_xy()
  1548. {
  1549. set_destination_to_current();
  1550. homeaxis(X_AXIS);
  1551. homeaxis(Y_AXIS);
  1552. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1553. endstops_hit_on_purpose();
  1554. }
  1555. void refresh_cmd_timeout(void)
  1556. {
  1557. previous_millis_cmd = millis();
  1558. }
  1559. #ifdef FWRETRACT
  1560. void retract(bool retracting, bool swapretract = false) {
  1561. if(retracting && !retracted[active_extruder]) {
  1562. destination[X_AXIS]=current_position[X_AXIS];
  1563. destination[Y_AXIS]=current_position[Y_AXIS];
  1564. destination[Z_AXIS]=current_position[Z_AXIS];
  1565. destination[E_AXIS]=current_position[E_AXIS];
  1566. if (swapretract) {
  1567. current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
  1568. } else {
  1569. current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
  1570. }
  1571. plan_set_e_position(current_position[E_AXIS]);
  1572. float oldFeedrate = feedrate;
  1573. feedrate=retract_feedrate*60;
  1574. retracted[active_extruder]=true;
  1575. prepare_move();
  1576. current_position[Z_AXIS]-=retract_zlift;
  1577. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1578. prepare_move();
  1579. feedrate = oldFeedrate;
  1580. } else if(!retracting && retracted[active_extruder]) {
  1581. destination[X_AXIS]=current_position[X_AXIS];
  1582. destination[Y_AXIS]=current_position[Y_AXIS];
  1583. destination[Z_AXIS]=current_position[Z_AXIS];
  1584. destination[E_AXIS]=current_position[E_AXIS];
  1585. current_position[Z_AXIS]+=retract_zlift;
  1586. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1587. //prepare_move();
  1588. if (swapretract) {
  1589. current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
  1590. } else {
  1591. current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
  1592. }
  1593. plan_set_e_position(current_position[E_AXIS]);
  1594. float oldFeedrate = feedrate;
  1595. feedrate=retract_recover_feedrate*60;
  1596. retracted[active_extruder]=false;
  1597. prepare_move();
  1598. feedrate = oldFeedrate;
  1599. }
  1600. } //retract
  1601. #endif //FWRETRACT
  1602. void trace() {
  1603. tone(BEEPER, 440);
  1604. delay(25);
  1605. noTone(BEEPER);
  1606. delay(20);
  1607. }
  1608. /*
  1609. void ramming() {
  1610. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  1611. if (current_temperature[0] < 230) {
  1612. //PLA
  1613. max_feedrate[E_AXIS] = 50;
  1614. //current_position[E_AXIS] -= 8;
  1615. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1616. //current_position[E_AXIS] += 8;
  1617. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1618. current_position[E_AXIS] += 5.4;
  1619. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  1620. current_position[E_AXIS] += 3.2;
  1621. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1622. current_position[E_AXIS] += 3;
  1623. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  1624. st_synchronize();
  1625. max_feedrate[E_AXIS] = 80;
  1626. current_position[E_AXIS] -= 82;
  1627. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  1628. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1629. current_position[E_AXIS] -= 20;
  1630. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  1631. current_position[E_AXIS] += 5;
  1632. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1633. current_position[E_AXIS] += 5;
  1634. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1635. current_position[E_AXIS] -= 10;
  1636. st_synchronize();
  1637. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1638. current_position[E_AXIS] += 10;
  1639. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1640. current_position[E_AXIS] -= 10;
  1641. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1642. current_position[E_AXIS] += 10;
  1643. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1644. current_position[E_AXIS] -= 10;
  1645. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1646. st_synchronize();
  1647. }
  1648. else {
  1649. //ABS
  1650. max_feedrate[E_AXIS] = 50;
  1651. //current_position[E_AXIS] -= 8;
  1652. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1653. //current_position[E_AXIS] += 8;
  1654. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1655. current_position[E_AXIS] += 3.1;
  1656. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  1657. current_position[E_AXIS] += 3.1;
  1658. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  1659. current_position[E_AXIS] += 4;
  1660. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1661. st_synchronize();
  1662. //current_position[X_AXIS] += 23; //delay
  1663. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1664. //current_position[X_AXIS] -= 23; //delay
  1665. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1666. delay(4700);
  1667. max_feedrate[E_AXIS] = 80;
  1668. current_position[E_AXIS] -= 92;
  1669. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  1670. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1671. current_position[E_AXIS] -= 5;
  1672. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1673. current_position[E_AXIS] += 5;
  1674. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1675. current_position[E_AXIS] -= 5;
  1676. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1677. st_synchronize();
  1678. current_position[E_AXIS] += 5;
  1679. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1680. current_position[E_AXIS] -= 5;
  1681. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1682. current_position[E_AXIS] += 5;
  1683. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1684. current_position[E_AXIS] -= 5;
  1685. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1686. st_synchronize();
  1687. }
  1688. }
  1689. */
  1690. #ifdef TMC2130
  1691. void force_high_power_mode(bool start_high_power_section) {
  1692. uint8_t silent;
  1693. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1694. if (silent == 1) {
  1695. //we are in silent mode, set to normal mode to enable crash detection
  1696. st_synchronize();
  1697. cli();
  1698. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  1699. tmc2130_init();
  1700. sei();
  1701. digipot_init();
  1702. }
  1703. }
  1704. #endif //TMC2130
  1705. bool gcode_M45(bool onlyZ)
  1706. {
  1707. bool final_result = false;
  1708. #ifdef TMC2130
  1709. FORCE_HIGH_POWER_START;
  1710. #endif // TMC2130
  1711. // Only Z calibration?
  1712. if (!onlyZ)
  1713. {
  1714. setTargetBed(0);
  1715. setTargetHotend(0, 0);
  1716. setTargetHotend(0, 1);
  1717. setTargetHotend(0, 2);
  1718. adjust_bed_reset(); //reset bed level correction
  1719. }
  1720. // Disable the default update procedure of the display. We will do a modal dialog.
  1721. lcd_update_enable(false);
  1722. // Let the planner use the uncorrected coordinates.
  1723. mbl.reset();
  1724. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  1725. // the planner will not perform any adjustments in the XY plane.
  1726. // Wait for the motors to stop and update the current position with the absolute values.
  1727. world2machine_revert_to_uncorrected();
  1728. // Reset the baby step value applied without moving the axes.
  1729. babystep_reset();
  1730. // Mark all axes as in a need for homing.
  1731. memset(axis_known_position, 0, sizeof(axis_known_position));
  1732. // Home in the XY plane.
  1733. //set_destination_to_current();
  1734. setup_for_endstop_move();
  1735. lcd_display_message_fullscreen_P(MSG_AUTO_HOME);
  1736. home_xy();
  1737. enable_endstops(false);
  1738. current_position[X_AXIS] += 5;
  1739. current_position[Y_AXIS] += 5;
  1740. 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);
  1741. st_synchronize();
  1742. // Let the user move the Z axes up to the end stoppers.
  1743. #ifdef TMC2130
  1744. if (calibrate_z_auto())
  1745. {
  1746. #else //TMC2130
  1747. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  1748. {
  1749. #endif //TMC2130
  1750. refresh_cmd_timeout();
  1751. //if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  1752. //{
  1753. // lcd_wait_for_cool_down();
  1754. //}
  1755. if(!onlyZ)
  1756. {
  1757. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1758. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_STEEL_SHEET_CHECK, false, false);
  1759. if(result) lcd_show_fullscreen_message_and_wait_P(MSG_REMOVE_STEEL_SHEET);
  1760. lcd_show_fullscreen_message_and_wait_P(MSG_CONFIRM_NOZZLE_CLEAN);
  1761. lcd_show_fullscreen_message_and_wait_P(MSG_PAPER);
  1762. KEEPALIVE_STATE(IN_HANDLER);
  1763. lcd_display_message_fullscreen_P(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1);
  1764. lcd_implementation_print_at(0, 2, 1);
  1765. lcd_printPGM(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2);
  1766. }
  1767. // Move the print head close to the bed.
  1768. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  1769. bool endstops_enabled = enable_endstops(true);
  1770. tmc2130_home_enter(Z_AXIS_MASK);
  1771. 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);
  1772. st_synchronize();
  1773. tmc2130_home_exit();
  1774. enable_endstops(endstops_enabled);
  1775. if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
  1776. {
  1777. //#ifdef TMC2130
  1778. // tmc2130_home_enter(X_AXIS_MASK | Y_AXIS_MASK);
  1779. //#endif
  1780. int8_t verbosity_level = 0;
  1781. if (code_seen('V'))
  1782. {
  1783. // Just 'V' without a number counts as V1.
  1784. char c = strchr_pointer[1];
  1785. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  1786. }
  1787. if (onlyZ)
  1788. {
  1789. clean_up_after_endstop_move();
  1790. // Z only calibration.
  1791. // Load the machine correction matrix
  1792. world2machine_initialize();
  1793. // and correct the current_position to match the transformed coordinate system.
  1794. world2machine_update_current();
  1795. //FIXME
  1796. bool result = sample_mesh_and_store_reference();
  1797. if (result)
  1798. {
  1799. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  1800. // Shipped, the nozzle height has been set already. The user can start printing now.
  1801. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  1802. final_result = true;
  1803. // babystep_apply();
  1804. }
  1805. }
  1806. else
  1807. {
  1808. // Reset the baby step value and the baby step applied flag.
  1809. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  1810. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1811. // Complete XYZ calibration.
  1812. uint8_t point_too_far_mask = 0;
  1813. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  1814. clean_up_after_endstop_move();
  1815. // Print head up.
  1816. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  1817. 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);
  1818. st_synchronize();
  1819. if (result >= 0)
  1820. {
  1821. point_too_far_mask = 0;
  1822. // Second half: The fine adjustment.
  1823. // Let the planner use the uncorrected coordinates.
  1824. mbl.reset();
  1825. world2machine_reset();
  1826. // Home in the XY plane.
  1827. setup_for_endstop_move();
  1828. home_xy();
  1829. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  1830. clean_up_after_endstop_move();
  1831. // Print head up.
  1832. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  1833. 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);
  1834. st_synchronize();
  1835. // if (result >= 0) babystep_apply();
  1836. }
  1837. lcd_bed_calibration_show_result(result, point_too_far_mask);
  1838. if (result >= 0)
  1839. {
  1840. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  1841. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  1842. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  1843. final_result = true;
  1844. }
  1845. }
  1846. #ifdef TMC2130
  1847. tmc2130_home_exit();
  1848. #endif
  1849. }
  1850. else
  1851. {
  1852. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  1853. final_result = false;
  1854. }
  1855. }
  1856. else
  1857. {
  1858. // Timeouted.
  1859. }
  1860. lcd_update_enable(true);
  1861. #ifdef TMC2130
  1862. FORCE_HIGH_POWER_END;
  1863. #endif // TMC2130
  1864. return final_result;
  1865. }
  1866. void gcode_M701()
  1867. {
  1868. #ifdef SNMM
  1869. extr_adj(snmm_extruder);//loads current extruder
  1870. #else
  1871. enable_z();
  1872. custom_message = true;
  1873. custom_message_type = 2;
  1874. lcd_setstatuspgm(MSG_LOADING_FILAMENT);
  1875. current_position[E_AXIS] += 70;
  1876. 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
  1877. current_position[E_AXIS] += 25;
  1878. 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
  1879. st_synchronize();
  1880. tone(BEEPER, 500);
  1881. delay_keep_alive(50);
  1882. noTone(BEEPER);
  1883. if (!farm_mode && loading_flag) {
  1884. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  1885. while (!clean) {
  1886. lcd_update_enable(true);
  1887. lcd_update(2);
  1888. current_position[E_AXIS] += 25;
  1889. 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
  1890. st_synchronize();
  1891. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  1892. }
  1893. }
  1894. lcd_update_enable(true);
  1895. lcd_update(2);
  1896. lcd_setstatuspgm(WELCOME_MSG);
  1897. disable_z();
  1898. loading_flag = false;
  1899. custom_message = false;
  1900. custom_message_type = 0;
  1901. #endif
  1902. }
  1903. void process_commands()
  1904. {
  1905. #ifdef FILAMENT_RUNOUT_SUPPORT
  1906. SET_INPUT(FR_SENS);
  1907. #endif
  1908. #ifdef CMDBUFFER_DEBUG
  1909. SERIAL_ECHOPGM("Processing a GCODE command: ");
  1910. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  1911. SERIAL_ECHOLNPGM("");
  1912. SERIAL_ECHOPGM("In cmdqueue: ");
  1913. SERIAL_ECHO(buflen);
  1914. SERIAL_ECHOLNPGM("");
  1915. #endif /* CMDBUFFER_DEBUG */
  1916. unsigned long codenum; //throw away variable
  1917. char *starpos = NULL;
  1918. #ifdef ENABLE_AUTO_BED_LEVELING
  1919. float x_tmp, y_tmp, z_tmp, real_z;
  1920. #endif
  1921. // PRUSA GCODES
  1922. KEEPALIVE_STATE(IN_HANDLER);
  1923. #ifdef SNMM
  1924. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  1925. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  1926. int8_t SilentMode;
  1927. #endif
  1928. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  1929. starpos = (strchr(strchr_pointer + 5, '*'));
  1930. if (starpos != NULL)
  1931. *(starpos) = '\0';
  1932. lcd_setstatus(strchr_pointer + 5);
  1933. }
  1934. else if(code_seen("CRASH_DETECTED"))
  1935. crashdet_detected();
  1936. else if(code_seen("CRASH_RECOVER"))
  1937. crashdet_recover();
  1938. else if(code_seen("CRASH_CANCEL"))
  1939. crashdet_cancel();
  1940. else if(code_seen("PRUSA")){
  1941. if (code_seen("Ping")) { //PRUSA Ping
  1942. if (farm_mode) {
  1943. PingTime = millis();
  1944. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  1945. }
  1946. }
  1947. else if (code_seen("PRN")) {
  1948. MYSERIAL.println(status_number);
  1949. }else if (code_seen("FAN")) {
  1950. MYSERIAL.print("E0:");
  1951. MYSERIAL.print(60*fan_speed[0]);
  1952. MYSERIAL.println(" RPM");
  1953. MYSERIAL.print("PRN0:");
  1954. MYSERIAL.print(60*fan_speed[1]);
  1955. MYSERIAL.println(" RPM");
  1956. }else if (code_seen("fn")) {
  1957. if (farm_mode) {
  1958. MYSERIAL.println(farm_no);
  1959. }
  1960. else {
  1961. MYSERIAL.println("Not in farm mode.");
  1962. }
  1963. }else if (code_seen("fv")) {
  1964. // get file version
  1965. #ifdef SDSUPPORT
  1966. card.openFile(strchr_pointer + 3,true);
  1967. while (true) {
  1968. uint16_t readByte = card.get();
  1969. MYSERIAL.write(readByte);
  1970. if (readByte=='\n') {
  1971. break;
  1972. }
  1973. }
  1974. card.closefile();
  1975. #endif // SDSUPPORT
  1976. } else if (code_seen("M28")) {
  1977. trace();
  1978. prusa_sd_card_upload = true;
  1979. card.openFile(strchr_pointer+4,false);
  1980. } else if (code_seen("SN")) {
  1981. if (farm_mode) {
  1982. selectedSerialPort = 0;
  1983. MSerial.write(";S");
  1984. // S/N is:CZPX0917X003XC13518
  1985. int numbersRead = 0;
  1986. while (numbersRead < 19) {
  1987. while (MSerial.available() > 0) {
  1988. uint8_t serial_char = MSerial.read();
  1989. selectedSerialPort = 1;
  1990. MSerial.write(serial_char);
  1991. numbersRead++;
  1992. selectedSerialPort = 0;
  1993. }
  1994. }
  1995. selectedSerialPort = 1;
  1996. MSerial.write('\n');
  1997. /*for (int b = 0; b < 3; b++) {
  1998. tone(BEEPER, 110);
  1999. delay(50);
  2000. noTone(BEEPER);
  2001. delay(50);
  2002. }*/
  2003. } else {
  2004. MYSERIAL.println("Not in farm mode.");
  2005. }
  2006. } else if(code_seen("Fir")){
  2007. SERIAL_PROTOCOLLN(FW_VERSION);
  2008. } else if(code_seen("Rev")){
  2009. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  2010. } else if(code_seen("Lang")) {
  2011. lcd_force_language_selection();
  2012. } else if(code_seen("Lz")) {
  2013. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  2014. } else if (code_seen("SERIAL LOW")) {
  2015. MYSERIAL.println("SERIAL LOW");
  2016. MYSERIAL.begin(BAUDRATE);
  2017. return;
  2018. } else if (code_seen("SERIAL HIGH")) {
  2019. MYSERIAL.println("SERIAL HIGH");
  2020. MYSERIAL.begin(1152000);
  2021. return;
  2022. } else if(code_seen("Beat")) {
  2023. // Kick farm link timer
  2024. kicktime = millis();
  2025. } else if(code_seen("FR")) {
  2026. // Factory full reset
  2027. factory_reset(0,true);
  2028. }
  2029. //else if (code_seen('Cal')) {
  2030. // lcd_calibration();
  2031. // }
  2032. }
  2033. else if (code_seen('^')) {
  2034. // nothing, this is a version line
  2035. } else if(code_seen('G'))
  2036. {
  2037. switch((int)code_value())
  2038. {
  2039. case 0: // G0 -> G1
  2040. case 1: // G1
  2041. if(Stopped == false) {
  2042. #ifdef FILAMENT_RUNOUT_SUPPORT
  2043. if(READ(FR_SENS)){
  2044. feedmultiplyBckp=feedmultiply;
  2045. float target[4];
  2046. float lastpos[4];
  2047. target[X_AXIS]=current_position[X_AXIS];
  2048. target[Y_AXIS]=current_position[Y_AXIS];
  2049. target[Z_AXIS]=current_position[Z_AXIS];
  2050. target[E_AXIS]=current_position[E_AXIS];
  2051. lastpos[X_AXIS]=current_position[X_AXIS];
  2052. lastpos[Y_AXIS]=current_position[Y_AXIS];
  2053. lastpos[Z_AXIS]=current_position[Z_AXIS];
  2054. lastpos[E_AXIS]=current_position[E_AXIS];
  2055. //retract by E
  2056. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  2057. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2058. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  2059. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  2060. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  2061. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  2062. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  2063. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  2064. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2065. //finish moves
  2066. st_synchronize();
  2067. //disable extruder steppers so filament can be removed
  2068. disable_e0();
  2069. disable_e1();
  2070. disable_e2();
  2071. delay(100);
  2072. //LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
  2073. uint8_t cnt=0;
  2074. int counterBeep = 0;
  2075. lcd_wait_interact();
  2076. while(!lcd_clicked()){
  2077. cnt++;
  2078. manage_heater();
  2079. manage_inactivity(true);
  2080. //lcd_update();
  2081. if(cnt==0)
  2082. {
  2083. #if BEEPER > 0
  2084. if (counterBeep== 500){
  2085. counterBeep = 0;
  2086. }
  2087. SET_OUTPUT(BEEPER);
  2088. if (counterBeep== 0){
  2089. WRITE(BEEPER,HIGH);
  2090. }
  2091. if (counterBeep== 20){
  2092. WRITE(BEEPER,LOW);
  2093. }
  2094. counterBeep++;
  2095. #else
  2096. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  2097. lcd_buzz(1000/6,100);
  2098. #else
  2099. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
  2100. #endif
  2101. #endif
  2102. }
  2103. }
  2104. WRITE(BEEPER,LOW);
  2105. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  2106. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2107. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2108. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2109. lcd_change_fil_state = 0;
  2110. lcd_loading_filament();
  2111. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  2112. lcd_change_fil_state = 0;
  2113. lcd_alright();
  2114. switch(lcd_change_fil_state){
  2115. case 2:
  2116. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  2117. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2118. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2119. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2120. lcd_loading_filament();
  2121. break;
  2122. case 3:
  2123. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2124. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2125. lcd_loading_color();
  2126. break;
  2127. default:
  2128. lcd_change_success();
  2129. break;
  2130. }
  2131. }
  2132. target[E_AXIS]+= 5;
  2133. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2134. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  2135. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2136. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  2137. //plan_set_e_position(current_position[E_AXIS]);
  2138. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  2139. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  2140. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  2141. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  2142. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  2143. plan_set_e_position(lastpos[E_AXIS]);
  2144. feedmultiply=feedmultiplyBckp;
  2145. char cmd[9];
  2146. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2147. enquecommand(cmd);
  2148. }
  2149. #endif
  2150. get_coordinates(); // For X Y Z E F
  2151. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  2152. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  2153. }
  2154. #ifdef FWRETRACT
  2155. if(autoretract_enabled)
  2156. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2157. float echange=destination[E_AXIS]-current_position[E_AXIS];
  2158. if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
  2159. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  2160. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  2161. retract(!retracted);
  2162. return;
  2163. }
  2164. }
  2165. #endif //FWRETRACT
  2166. prepare_move();
  2167. //ClearToSend();
  2168. }
  2169. break;
  2170. case 2: // G2 - CW ARC
  2171. if(Stopped == false) {
  2172. get_arc_coordinates();
  2173. prepare_arc_move(true);
  2174. }
  2175. break;
  2176. case 3: // G3 - CCW ARC
  2177. if(Stopped == false) {
  2178. get_arc_coordinates();
  2179. prepare_arc_move(false);
  2180. }
  2181. break;
  2182. case 4: // G4 dwell
  2183. codenum = 0;
  2184. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  2185. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  2186. if(codenum != 0) LCD_MESSAGERPGM(MSG_DWELL);
  2187. st_synchronize();
  2188. codenum += millis(); // keep track of when we started waiting
  2189. previous_millis_cmd = millis();
  2190. while(millis() < codenum) {
  2191. manage_heater();
  2192. manage_inactivity();
  2193. lcd_update();
  2194. }
  2195. break;
  2196. #ifdef FWRETRACT
  2197. case 10: // G10 retract
  2198. #if EXTRUDERS > 1
  2199. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  2200. retract(true,retracted_swap[active_extruder]);
  2201. #else
  2202. retract(true);
  2203. #endif
  2204. break;
  2205. case 11: // G11 retract_recover
  2206. #if EXTRUDERS > 1
  2207. retract(false,retracted_swap[active_extruder]);
  2208. #else
  2209. retract(false);
  2210. #endif
  2211. break;
  2212. #endif //FWRETRACT
  2213. case 28: //G28 Home all Axis one at a time
  2214. {
  2215. st_synchronize();
  2216. #if 0
  2217. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2218. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2219. #endif
  2220. // Flag for the display update routine and to disable the print cancelation during homing.
  2221. homing_flag = true;
  2222. // Which axes should be homed?
  2223. bool home_x = code_seen(axis_codes[X_AXIS]);
  2224. bool home_y = code_seen(axis_codes[Y_AXIS]);
  2225. bool home_z = code_seen(axis_codes[Z_AXIS]);
  2226. // Either all X,Y,Z codes are present, or none of them.
  2227. bool home_all_axes = home_x == home_y && home_x == home_z;
  2228. if (home_all_axes)
  2229. // No X/Y/Z code provided means to home all axes.
  2230. home_x = home_y = home_z = true;
  2231. #ifdef ENABLE_AUTO_BED_LEVELING
  2232. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2233. #endif //ENABLE_AUTO_BED_LEVELING
  2234. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2235. // the planner will not perform any adjustments in the XY plane.
  2236. // Wait for the motors to stop and update the current position with the absolute values.
  2237. world2machine_revert_to_uncorrected();
  2238. // For mesh bed leveling deactivate the matrix temporarily.
  2239. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2240. // in a single axis only.
  2241. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2242. #ifdef MESH_BED_LEVELING
  2243. uint8_t mbl_was_active = mbl.active;
  2244. mbl.active = 0;
  2245. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2246. #endif
  2247. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2248. // consumed during the first movements following this statement.
  2249. if (home_z)
  2250. babystep_undo();
  2251. saved_feedrate = feedrate;
  2252. saved_feedmultiply = feedmultiply;
  2253. feedmultiply = 100;
  2254. previous_millis_cmd = millis();
  2255. enable_endstops(true);
  2256. memcpy(destination, current_position, sizeof(destination));
  2257. feedrate = 0.0;
  2258. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2259. if(home_z)
  2260. homeaxis(Z_AXIS);
  2261. #endif
  2262. #ifdef QUICK_HOME
  2263. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2264. if(home_x && home_y) //first diagonal move
  2265. {
  2266. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2267. int x_axis_home_dir = home_dir(X_AXIS);
  2268. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2269. 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);
  2270. feedrate = homing_feedrate[X_AXIS];
  2271. if(homing_feedrate[Y_AXIS]<feedrate)
  2272. feedrate = homing_feedrate[Y_AXIS];
  2273. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2274. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2275. } else {
  2276. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2277. }
  2278. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2279. st_synchronize();
  2280. axis_is_at_home(X_AXIS);
  2281. axis_is_at_home(Y_AXIS);
  2282. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2283. destination[X_AXIS] = current_position[X_AXIS];
  2284. destination[Y_AXIS] = current_position[Y_AXIS];
  2285. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2286. feedrate = 0.0;
  2287. st_synchronize();
  2288. endstops_hit_on_purpose();
  2289. current_position[X_AXIS] = destination[X_AXIS];
  2290. current_position[Y_AXIS] = destination[Y_AXIS];
  2291. current_position[Z_AXIS] = destination[Z_AXIS];
  2292. }
  2293. #endif /* QUICK_HOME */
  2294. if(home_x)
  2295. homeaxis(X_AXIS);
  2296. if(home_y)
  2297. homeaxis(Y_AXIS);
  2298. if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
  2299. current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
  2300. if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
  2301. current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
  2302. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2303. #ifndef Z_SAFE_HOMING
  2304. if(home_z) {
  2305. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2306. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2307. feedrate = max_feedrate[Z_AXIS];
  2308. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2309. st_synchronize();
  2310. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2311. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
  2312. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2313. {
  2314. homeaxis(X_AXIS);
  2315. homeaxis(Y_AXIS);
  2316. }
  2317. // 1st mesh bed leveling measurement point, corrected.
  2318. world2machine_initialize();
  2319. world2machine(pgm_read_float(bed_ref_points), pgm_read_float(bed_ref_points+1), destination[X_AXIS], destination[Y_AXIS]);
  2320. world2machine_reset();
  2321. if (destination[Y_AXIS] < Y_MIN_POS)
  2322. destination[Y_AXIS] = Y_MIN_POS;
  2323. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2324. feedrate = homing_feedrate[Z_AXIS]/10;
  2325. current_position[Z_AXIS] = 0;
  2326. enable_endstops(false);
  2327. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2328. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2329. st_synchronize();
  2330. current_position[X_AXIS] = destination[X_AXIS];
  2331. current_position[Y_AXIS] = destination[Y_AXIS];
  2332. enable_endstops(true);
  2333. endstops_hit_on_purpose();
  2334. homeaxis(Z_AXIS);
  2335. #else // MESH_BED_LEVELING
  2336. homeaxis(Z_AXIS);
  2337. #endif // MESH_BED_LEVELING
  2338. }
  2339. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2340. if(home_all_axes) {
  2341. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2342. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2343. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2344. feedrate = XY_TRAVEL_SPEED/60;
  2345. current_position[Z_AXIS] = 0;
  2346. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2347. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2348. st_synchronize();
  2349. current_position[X_AXIS] = destination[X_AXIS];
  2350. current_position[Y_AXIS] = destination[Y_AXIS];
  2351. homeaxis(Z_AXIS);
  2352. }
  2353. // Let's see if X and Y are homed and probe is inside bed area.
  2354. if(home_z) {
  2355. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2356. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2357. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2358. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2359. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2360. current_position[Z_AXIS] = 0;
  2361. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2362. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2363. feedrate = max_feedrate[Z_AXIS];
  2364. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2365. st_synchronize();
  2366. homeaxis(Z_AXIS);
  2367. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2368. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2369. SERIAL_ECHO_START;
  2370. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2371. } else {
  2372. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2373. SERIAL_ECHO_START;
  2374. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2375. }
  2376. }
  2377. #endif // Z_SAFE_HOMING
  2378. #endif // Z_HOME_DIR < 0
  2379. if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
  2380. current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
  2381. #ifdef ENABLE_AUTO_BED_LEVELING
  2382. if(home_z)
  2383. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2384. #endif
  2385. // Set the planner and stepper routine positions.
  2386. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2387. // contains the machine coordinates.
  2388. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2389. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2390. enable_endstops(false);
  2391. #endif
  2392. feedrate = saved_feedrate;
  2393. feedmultiply = saved_feedmultiply;
  2394. previous_millis_cmd = millis();
  2395. endstops_hit_on_purpose();
  2396. #ifndef MESH_BED_LEVELING
  2397. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2398. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2399. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2400. lcd_adjust_z();
  2401. #endif
  2402. // Load the machine correction matrix
  2403. world2machine_initialize();
  2404. // and correct the current_position XY axes to match the transformed coordinate system.
  2405. world2machine_update_current();
  2406. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2407. if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
  2408. {
  2409. if (! home_z && mbl_was_active) {
  2410. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2411. mbl.active = true;
  2412. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2413. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2414. }
  2415. }
  2416. else
  2417. {
  2418. st_synchronize();
  2419. homing_flag = false;
  2420. // Push the commands to the front of the message queue in the reverse order!
  2421. // There shall be always enough space reserved for these commands.
  2422. // enquecommand_front_P((PSTR("G80")));
  2423. goto case_G80;
  2424. }
  2425. #endif
  2426. if (farm_mode) { prusa_statistics(20); };
  2427. homing_flag = false;
  2428. #if 0
  2429. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2430. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2431. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2432. #endif
  2433. break;
  2434. }
  2435. #ifdef ENABLE_AUTO_BED_LEVELING
  2436. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  2437. {
  2438. #if Z_MIN_PIN == -1
  2439. #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."
  2440. #endif
  2441. // Prevent user from running a G29 without first homing in X and Y
  2442. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  2443. {
  2444. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2445. SERIAL_ECHO_START;
  2446. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2447. break; // abort G29, since we don't know where we are
  2448. }
  2449. st_synchronize();
  2450. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  2451. //vector_3 corrected_position = plan_get_position_mm();
  2452. //corrected_position.debug("position before G29");
  2453. plan_bed_level_matrix.set_to_identity();
  2454. vector_3 uncorrected_position = plan_get_position();
  2455. //uncorrected_position.debug("position durring G29");
  2456. current_position[X_AXIS] = uncorrected_position.x;
  2457. current_position[Y_AXIS] = uncorrected_position.y;
  2458. current_position[Z_AXIS] = uncorrected_position.z;
  2459. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2460. setup_for_endstop_move();
  2461. feedrate = homing_feedrate[Z_AXIS];
  2462. #ifdef AUTO_BED_LEVELING_GRID
  2463. // probe at the points of a lattice grid
  2464. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2465. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2466. // solve the plane equation ax + by + d = z
  2467. // A is the matrix with rows [x y 1] for all the probed points
  2468. // B is the vector of the Z positions
  2469. // 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
  2470. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  2471. // "A" matrix of the linear system of equations
  2472. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  2473. // "B" vector of Z points
  2474. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  2475. int probePointCounter = 0;
  2476. bool zig = true;
  2477. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  2478. {
  2479. int xProbe, xInc;
  2480. if (zig)
  2481. {
  2482. xProbe = LEFT_PROBE_BED_POSITION;
  2483. //xEnd = RIGHT_PROBE_BED_POSITION;
  2484. xInc = xGridSpacing;
  2485. zig = false;
  2486. } else // zag
  2487. {
  2488. xProbe = RIGHT_PROBE_BED_POSITION;
  2489. //xEnd = LEFT_PROBE_BED_POSITION;
  2490. xInc = -xGridSpacing;
  2491. zig = true;
  2492. }
  2493. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  2494. {
  2495. float z_before;
  2496. if (probePointCounter == 0)
  2497. {
  2498. // raise before probing
  2499. z_before = Z_RAISE_BEFORE_PROBING;
  2500. } else
  2501. {
  2502. // raise extruder
  2503. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  2504. }
  2505. float measured_z = probe_pt(xProbe, yProbe, z_before);
  2506. eqnBVector[probePointCounter] = measured_z;
  2507. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  2508. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  2509. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  2510. probePointCounter++;
  2511. xProbe += xInc;
  2512. }
  2513. }
  2514. clean_up_after_endstop_move();
  2515. // solve lsq problem
  2516. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  2517. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  2518. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  2519. SERIAL_PROTOCOLPGM(" b: ");
  2520. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  2521. SERIAL_PROTOCOLPGM(" d: ");
  2522. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  2523. set_bed_level_equation_lsq(plane_equation_coefficients);
  2524. free(plane_equation_coefficients);
  2525. #else // AUTO_BED_LEVELING_GRID not defined
  2526. // Probe at 3 arbitrary points
  2527. // probe 1
  2528. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  2529. // probe 2
  2530. 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);
  2531. // probe 3
  2532. 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);
  2533. clean_up_after_endstop_move();
  2534. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  2535. #endif // AUTO_BED_LEVELING_GRID
  2536. st_synchronize();
  2537. // The following code correct the Z height difference from z-probe position and hotend tip position.
  2538. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  2539. // When the bed is uneven, this height must be corrected.
  2540. 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)
  2541. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  2542. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  2543. z_tmp = current_position[Z_AXIS];
  2544. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  2545. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  2546. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2547. }
  2548. break;
  2549. #ifndef Z_PROBE_SLED
  2550. case 30: // G30 Single Z Probe
  2551. {
  2552. st_synchronize();
  2553. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2554. setup_for_endstop_move();
  2555. feedrate = homing_feedrate[Z_AXIS];
  2556. run_z_probe();
  2557. SERIAL_PROTOCOLPGM(MSG_BED);
  2558. SERIAL_PROTOCOLPGM(" X: ");
  2559. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2560. SERIAL_PROTOCOLPGM(" Y: ");
  2561. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2562. SERIAL_PROTOCOLPGM(" Z: ");
  2563. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2564. SERIAL_PROTOCOLPGM("\n");
  2565. clean_up_after_endstop_move();
  2566. }
  2567. break;
  2568. #else
  2569. case 31: // dock the sled
  2570. dock_sled(true);
  2571. break;
  2572. case 32: // undock the sled
  2573. dock_sled(false);
  2574. break;
  2575. #endif // Z_PROBE_SLED
  2576. #endif // ENABLE_AUTO_BED_LEVELING
  2577. #ifdef MESH_BED_LEVELING
  2578. case 30: // G30 Single Z Probe
  2579. {
  2580. st_synchronize();
  2581. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2582. setup_for_endstop_move();
  2583. feedrate = homing_feedrate[Z_AXIS];
  2584. find_bed_induction_sensor_point_z(-10.f, 3);
  2585. SERIAL_PROTOCOLRPGM(MSG_BED);
  2586. SERIAL_PROTOCOLPGM(" X: ");
  2587. MYSERIAL.print(current_position[X_AXIS], 5);
  2588. SERIAL_PROTOCOLPGM(" Y: ");
  2589. MYSERIAL.print(current_position[Y_AXIS], 5);
  2590. SERIAL_PROTOCOLPGM(" Z: ");
  2591. MYSERIAL.print(current_position[Z_AXIS], 5);
  2592. SERIAL_PROTOCOLPGM("\n");
  2593. clean_up_after_endstop_move();
  2594. }
  2595. break;
  2596. case 75:
  2597. {
  2598. for (int i = 40; i <= 110; i++) {
  2599. MYSERIAL.print(i);
  2600. MYSERIAL.print(" ");
  2601. MYSERIAL.println(temp_comp_interpolation(i));// / axis_steps_per_unit[Z_AXIS]);
  2602. }
  2603. }
  2604. break;
  2605. case 76: //PINDA probe temperature calibration
  2606. {
  2607. #ifdef PINDA_THERMISTOR
  2608. if (true)
  2609. {
  2610. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2611. // We don't know where we are! HOME!
  2612. // Push the commands to the front of the message queue in the reverse order!
  2613. // There shall be always enough space reserved for these commands.
  2614. repeatcommand_front(); // repeat G76 with all its parameters
  2615. enquecommand_front_P((PSTR("G28 W0")));
  2616. break;
  2617. }
  2618. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  2619. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  2620. float zero_z;
  2621. int z_shift = 0; //unit: steps
  2622. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  2623. if (start_temp < 35) start_temp = 35;
  2624. if (start_temp < current_temperature_pinda) start_temp += 5;
  2625. SERIAL_ECHOPGM("start temperature: ");
  2626. MYSERIAL.println(start_temp);
  2627. // setTargetHotend(200, 0);
  2628. setTargetBed(70 + (start_temp - 30));
  2629. custom_message = true;
  2630. custom_message_type = 4;
  2631. custom_message_state = 1;
  2632. custom_message = MSG_TEMP_CALIBRATION;
  2633. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2634. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2635. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2636. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2637. st_synchronize();
  2638. while (current_temperature_pinda < start_temp)
  2639. {
  2640. delay_keep_alive(1000);
  2641. serialecho_temperatures();
  2642. }
  2643. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  2644. current_position[Z_AXIS] = 5;
  2645. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2646. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2647. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2648. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2649. st_synchronize();
  2650. find_bed_induction_sensor_point_z(-1.f);
  2651. zero_z = current_position[Z_AXIS];
  2652. //current_position[Z_AXIS]
  2653. SERIAL_ECHOLNPGM("");
  2654. SERIAL_ECHOPGM("ZERO: ");
  2655. MYSERIAL.print(current_position[Z_AXIS]);
  2656. SERIAL_ECHOLNPGM("");
  2657. int i = -1; for (; i < 5; i++)
  2658. {
  2659. float temp = (40 + i * 5);
  2660. SERIAL_ECHOPGM("Step: ");
  2661. MYSERIAL.print(i + 2);
  2662. SERIAL_ECHOLNPGM("/6 (skipped)");
  2663. SERIAL_ECHOPGM("PINDA temperature: ");
  2664. MYSERIAL.print((40 + i*5));
  2665. SERIAL_ECHOPGM(" Z shift (mm):");
  2666. MYSERIAL.print(0);
  2667. SERIAL_ECHOLNPGM("");
  2668. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  2669. if (start_temp <= temp) break;
  2670. }
  2671. for (i++; i < 5; i++)
  2672. {
  2673. float temp = (40 + i * 5);
  2674. SERIAL_ECHOPGM("Step: ");
  2675. MYSERIAL.print(i + 2);
  2676. SERIAL_ECHOLNPGM("/6");
  2677. custom_message_state = i + 2;
  2678. setTargetBed(50 + 10 * (temp - 30) / 5);
  2679. // setTargetHotend(255, 0);
  2680. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2681. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2682. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2683. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2684. st_synchronize();
  2685. while (current_temperature_pinda < temp)
  2686. {
  2687. delay_keep_alive(1000);
  2688. serialecho_temperatures();
  2689. }
  2690. current_position[Z_AXIS] = 5;
  2691. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2692. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2693. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2694. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2695. st_synchronize();
  2696. find_bed_induction_sensor_point_z(-1.f);
  2697. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  2698. SERIAL_ECHOLNPGM("");
  2699. SERIAL_ECHOPGM("PINDA temperature: ");
  2700. MYSERIAL.print(current_temperature_pinda);
  2701. SERIAL_ECHOPGM(" Z shift (mm):");
  2702. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  2703. SERIAL_ECHOLNPGM("");
  2704. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  2705. }
  2706. custom_message_type = 0;
  2707. custom_message = false;
  2708. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  2709. SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
  2710. disable_x();
  2711. disable_y();
  2712. disable_z();
  2713. disable_e0();
  2714. disable_e1();
  2715. disable_e2();
  2716. setTargetBed(0); //set bed target temperature back to 0
  2717. // setTargetHotend(0,0); //set hotend target temperature back to 0
  2718. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
  2719. lcd_update_enable(true);
  2720. lcd_update(2);
  2721. break;
  2722. }
  2723. #endif //PINDA_THERMISTOR
  2724. setTargetBed(PINDA_MIN_T);
  2725. float zero_z;
  2726. int z_shift = 0; //unit: steps
  2727. int t_c; // temperature
  2728. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2729. // We don't know where we are! HOME!
  2730. // Push the commands to the front of the message queue in the reverse order!
  2731. // There shall be always enough space reserved for these commands.
  2732. repeatcommand_front(); // repeat G76 with all its parameters
  2733. enquecommand_front_P((PSTR("G28 W0")));
  2734. break;
  2735. }
  2736. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  2737. custom_message = true;
  2738. custom_message_type = 4;
  2739. custom_message_state = 1;
  2740. custom_message = MSG_TEMP_CALIBRATION;
  2741. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2742. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2743. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2744. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2745. st_synchronize();
  2746. while (abs(degBed() - PINDA_MIN_T) > 1) {
  2747. delay_keep_alive(1000);
  2748. serialecho_temperatures();
  2749. }
  2750. //enquecommand_P(PSTR("M190 S50"));
  2751. for (int i = 0; i < PINDA_HEAT_T; i++) {
  2752. delay_keep_alive(1000);
  2753. serialecho_temperatures();
  2754. }
  2755. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  2756. current_position[Z_AXIS] = 5;
  2757. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2758. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2759. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2760. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2761. st_synchronize();
  2762. find_bed_induction_sensor_point_z(-1.f);
  2763. zero_z = current_position[Z_AXIS];
  2764. //current_position[Z_AXIS]
  2765. SERIAL_ECHOLNPGM("");
  2766. SERIAL_ECHOPGM("ZERO: ");
  2767. MYSERIAL.print(current_position[Z_AXIS]);
  2768. SERIAL_ECHOLNPGM("");
  2769. for (int i = 0; i<5; i++) {
  2770. SERIAL_ECHOPGM("Step: ");
  2771. MYSERIAL.print(i+2);
  2772. SERIAL_ECHOLNPGM("/6");
  2773. custom_message_state = i + 2;
  2774. t_c = 60 + i * 10;
  2775. setTargetBed(t_c);
  2776. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2777. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2778. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2779. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2780. st_synchronize();
  2781. while (degBed() < t_c) {
  2782. delay_keep_alive(1000);
  2783. serialecho_temperatures();
  2784. }
  2785. for (int i = 0; i < PINDA_HEAT_T; i++) {
  2786. delay_keep_alive(1000);
  2787. serialecho_temperatures();
  2788. }
  2789. current_position[Z_AXIS] = 5;
  2790. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2791. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2792. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2793. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2794. st_synchronize();
  2795. find_bed_induction_sensor_point_z(-1.f);
  2796. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  2797. SERIAL_ECHOLNPGM("");
  2798. SERIAL_ECHOPGM("Temperature: ");
  2799. MYSERIAL.print(t_c);
  2800. SERIAL_ECHOPGM(" Z shift (mm):");
  2801. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  2802. SERIAL_ECHOLNPGM("");
  2803. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  2804. }
  2805. custom_message_type = 0;
  2806. custom_message = false;
  2807. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  2808. SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
  2809. disable_x();
  2810. disable_y();
  2811. disable_z();
  2812. disable_e0();
  2813. disable_e1();
  2814. disable_e2();
  2815. setTargetBed(0); //set bed target temperature back to 0
  2816. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
  2817. lcd_update_enable(true);
  2818. lcd_update(2);
  2819. }
  2820. break;
  2821. #ifdef DIS
  2822. case 77:
  2823. {
  2824. //G77 X200 Y150 XP100 YP15 XO10 Y015
  2825. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  2826. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  2827. float dimension_x = 40;
  2828. float dimension_y = 40;
  2829. int points_x = 40;
  2830. int points_y = 40;
  2831. float offset_x = 74;
  2832. float offset_y = 33;
  2833. if (code_seen('X')) dimension_x = code_value();
  2834. if (code_seen('Y')) dimension_y = code_value();
  2835. if (code_seen('XP')) points_x = code_value();
  2836. if (code_seen('YP')) points_y = code_value();
  2837. if (code_seen('XO')) offset_x = code_value();
  2838. if (code_seen('YO')) offset_y = code_value();
  2839. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  2840. } break;
  2841. #endif
  2842. case 79: {
  2843. for (int i = 255; i > 0; i = i - 5) {
  2844. fanSpeed = i;
  2845. //delay_keep_alive(2000);
  2846. for (int j = 0; j < 100; j++) {
  2847. delay_keep_alive(100);
  2848. }
  2849. fan_speed[1];
  2850. MYSERIAL.print(i); SERIAL_ECHOPGM(": "); MYSERIAL.println(fan_speed[1]);
  2851. }
  2852. }break;
  2853. /**
  2854. * G80: Mesh-based Z probe, probes a grid and produces a
  2855. * mesh to compensate for variable bed height
  2856. *
  2857. * The S0 report the points as below
  2858. *
  2859. * +----> X-axis
  2860. * |
  2861. * |
  2862. * v Y-axis
  2863. *
  2864. */
  2865. case 80:
  2866. #ifdef MK1BP
  2867. break;
  2868. #endif //MK1BP
  2869. case_G80:
  2870. {
  2871. mesh_bed_leveling_flag = true;
  2872. int8_t verbosity_level = 0;
  2873. static bool run = false;
  2874. if (code_seen('V')) {
  2875. // Just 'V' without a number counts as V1.
  2876. char c = strchr_pointer[1];
  2877. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2878. }
  2879. // Firstly check if we know where we are
  2880. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2881. // We don't know where we are! HOME!
  2882. // Push the commands to the front of the message queue in the reverse order!
  2883. // There shall be always enough space reserved for these commands.
  2884. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  2885. repeatcommand_front(); // repeat G80 with all its parameters
  2886. enquecommand_front_P((PSTR("G28 W0")));
  2887. }
  2888. else {
  2889. mesh_bed_leveling_flag = false;
  2890. }
  2891. break;
  2892. }
  2893. bool temp_comp_start = true;
  2894. #ifdef PINDA_THERMISTOR
  2895. temp_comp_start = false;
  2896. #endif //PINDA_THERMISTOR
  2897. if (temp_comp_start)
  2898. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  2899. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  2900. temp_compensation_start();
  2901. run = true;
  2902. repeatcommand_front(); // repeat G80 with all its parameters
  2903. enquecommand_front_P((PSTR("G28 W0")));
  2904. }
  2905. else {
  2906. mesh_bed_leveling_flag = false;
  2907. }
  2908. break;
  2909. }
  2910. run = false;
  2911. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  2912. mesh_bed_leveling_flag = false;
  2913. break;
  2914. }
  2915. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  2916. bool custom_message_old = custom_message;
  2917. unsigned int custom_message_type_old = custom_message_type;
  2918. unsigned int custom_message_state_old = custom_message_state;
  2919. custom_message = true;
  2920. custom_message_type = 1;
  2921. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  2922. lcd_update(1);
  2923. mbl.reset(); //reset mesh bed leveling
  2924. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2925. // consumed during the first movements following this statement.
  2926. babystep_undo();
  2927. // Cycle through all points and probe them
  2928. // First move up. During this first movement, the babystepping will be reverted.
  2929. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2930. 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);
  2931. // The move to the first calibration point.
  2932. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2933. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2934. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2935. #ifdef SUPPORT_VERBOSITY
  2936. if (verbosity_level >= 1) {
  2937. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  2938. }
  2939. #endif //SUPPORT_VERBOSITY
  2940. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  2941. 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);
  2942. // Wait until the move is finished.
  2943. st_synchronize();
  2944. int mesh_point = 0; //index number of calibration point
  2945. int ix = 0;
  2946. int iy = 0;
  2947. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  2948. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  2949. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  2950. 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)
  2951. #ifdef SUPPORT_VERBOSITY
  2952. if (verbosity_level >= 1) {
  2953. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  2954. }
  2955. #endif // SUPPORT_VERBOSITY
  2956. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  2957. const char *kill_message = NULL;
  2958. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  2959. // Get coords of a measuring point.
  2960. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  2961. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  2962. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  2963. float z0 = 0.f;
  2964. if (has_z && mesh_point > 0) {
  2965. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  2966. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  2967. //#if 0
  2968. #ifdef SUPPORT_VERBOSITY
  2969. if (verbosity_level >= 1) {
  2970. SERIAL_ECHOLNPGM("");
  2971. SERIAL_ECHOPGM("Bed leveling, point: ");
  2972. MYSERIAL.print(mesh_point);
  2973. SERIAL_ECHOPGM(", calibration z: ");
  2974. MYSERIAL.print(z0, 5);
  2975. SERIAL_ECHOLNPGM("");
  2976. }
  2977. #endif // SUPPORT_VERBOSITY
  2978. //#endif
  2979. }
  2980. // Move Z up to MESH_HOME_Z_SEARCH.
  2981. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2982. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  2983. st_synchronize();
  2984. // Move to XY position of the sensor point.
  2985. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  2986. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  2987. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2988. #ifdef SUPPORT_VERBOSITY
  2989. if (verbosity_level >= 1) {
  2990. SERIAL_PROTOCOL(mesh_point);
  2991. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  2992. }
  2993. #endif // SUPPORT_VERBOSITY
  2994. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  2995. st_synchronize();
  2996. // Go down until endstop is hit
  2997. const float Z_CALIBRATION_THRESHOLD = 1.f;
  2998. 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
  2999. kill_message = MSG_BED_LEVELING_FAILED_POINT_LOW;
  3000. break;
  3001. }
  3002. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  3003. kill_message = MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED;
  3004. break;
  3005. }
  3006. 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
  3007. kill_message = MSG_BED_LEVELING_FAILED_POINT_HIGH;
  3008. break;
  3009. }
  3010. #ifdef SUPPORT_VERBOSITY
  3011. if (verbosity_level >= 10) {
  3012. SERIAL_ECHOPGM("X: ");
  3013. MYSERIAL.print(current_position[X_AXIS], 5);
  3014. SERIAL_ECHOLNPGM("");
  3015. SERIAL_ECHOPGM("Y: ");
  3016. MYSERIAL.print(current_position[Y_AXIS], 5);
  3017. SERIAL_PROTOCOLPGM("\n");
  3018. }
  3019. #endif // SUPPORT_VERBOSITY
  3020. float offset_z = 0;
  3021. #ifdef PINDA_THERMISTOR
  3022. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  3023. #endif //PINDA_THERMISTOR
  3024. // #ifdef SUPPORT_VERBOSITY
  3025. /* if (verbosity_level >= 1)
  3026. {
  3027. SERIAL_ECHOPGM("mesh bed leveling: ");
  3028. MYSERIAL.print(current_position[Z_AXIS], 5);
  3029. SERIAL_ECHOPGM(" offset: ");
  3030. MYSERIAL.print(offset_z, 5);
  3031. SERIAL_ECHOLNPGM("");
  3032. }*/
  3033. // #endif // SUPPORT_VERBOSITY
  3034. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  3035. custom_message_state--;
  3036. mesh_point++;
  3037. lcd_update(1);
  3038. }
  3039. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3040. #ifdef SUPPORT_VERBOSITY
  3041. if (verbosity_level >= 20) {
  3042. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  3043. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  3044. MYSERIAL.print(current_position[Z_AXIS], 5);
  3045. }
  3046. #endif // SUPPORT_VERBOSITY
  3047. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3048. st_synchronize();
  3049. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3050. kill(kill_message);
  3051. SERIAL_ECHOLNPGM("killed");
  3052. }
  3053. clean_up_after_endstop_move();
  3054. // SERIAL_ECHOLNPGM("clean up finished ");
  3055. bool apply_temp_comp = true;
  3056. #ifdef PINDA_THERMISTOR
  3057. apply_temp_comp = false;
  3058. #endif
  3059. if (apply_temp_comp)
  3060. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  3061. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  3062. // SERIAL_ECHOLNPGM("babystep applied");
  3063. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  3064. #ifdef SUPPORT_VERBOSITY
  3065. if (verbosity_level >= 1) {
  3066. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  3067. }
  3068. #endif // SUPPORT_VERBOSITY
  3069. for (uint8_t i = 0; i < 4; ++i) {
  3070. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  3071. long correction = 0;
  3072. if (code_seen(codes[i]))
  3073. correction = code_value_long();
  3074. else if (eeprom_bed_correction_valid) {
  3075. unsigned char *addr = (i < 2) ?
  3076. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  3077. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  3078. correction = eeprom_read_int8(addr);
  3079. }
  3080. if (correction == 0)
  3081. continue;
  3082. float offset = float(correction) * 0.001f;
  3083. if (fabs(offset) > 0.101f) {
  3084. SERIAL_ERROR_START;
  3085. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  3086. SERIAL_ECHO(offset);
  3087. SERIAL_ECHOLNPGM(" microns");
  3088. }
  3089. else {
  3090. switch (i) {
  3091. case 0:
  3092. for (uint8_t row = 0; row < 3; ++row) {
  3093. mbl.z_values[row][1] += 0.5f * offset;
  3094. mbl.z_values[row][0] += offset;
  3095. }
  3096. break;
  3097. case 1:
  3098. for (uint8_t row = 0; row < 3; ++row) {
  3099. mbl.z_values[row][1] += 0.5f * offset;
  3100. mbl.z_values[row][2] += offset;
  3101. }
  3102. break;
  3103. case 2:
  3104. for (uint8_t col = 0; col < 3; ++col) {
  3105. mbl.z_values[1][col] += 0.5f * offset;
  3106. mbl.z_values[0][col] += offset;
  3107. }
  3108. break;
  3109. case 3:
  3110. for (uint8_t col = 0; col < 3; ++col) {
  3111. mbl.z_values[1][col] += 0.5f * offset;
  3112. mbl.z_values[2][col] += offset;
  3113. }
  3114. break;
  3115. }
  3116. }
  3117. }
  3118. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  3119. 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)
  3120. // SERIAL_ECHOLNPGM("Upsample finished");
  3121. mbl.active = 1; //activate mesh bed leveling
  3122. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  3123. go_home_with_z_lift();
  3124. // SERIAL_ECHOLNPGM("Go home finished");
  3125. //unretract (after PINDA preheat retraction)
  3126. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3127. current_position[E_AXIS] += DEFAULT_RETRACTION;
  3128. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  3129. }
  3130. KEEPALIVE_STATE(NOT_BUSY);
  3131. // Restore custom message state
  3132. custom_message = custom_message_old;
  3133. custom_message_type = custom_message_type_old;
  3134. custom_message_state = custom_message_state_old;
  3135. mesh_bed_leveling_flag = false;
  3136. mesh_bed_run_from_menu = false;
  3137. lcd_update(2);
  3138. }
  3139. break;
  3140. /**
  3141. * G81: Print mesh bed leveling status and bed profile if activated
  3142. */
  3143. case 81:
  3144. if (mbl.active) {
  3145. SERIAL_PROTOCOLPGM("Num X,Y: ");
  3146. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  3147. SERIAL_PROTOCOLPGM(",");
  3148. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  3149. SERIAL_PROTOCOLPGM("\nZ search height: ");
  3150. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  3151. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3152. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  3153. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  3154. SERIAL_PROTOCOLPGM(" ");
  3155. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  3156. }
  3157. SERIAL_PROTOCOLPGM("\n");
  3158. }
  3159. }
  3160. else
  3161. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3162. break;
  3163. #if 0
  3164. /**
  3165. * G82: Single Z probe at current location
  3166. *
  3167. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  3168. *
  3169. */
  3170. case 82:
  3171. SERIAL_PROTOCOLLNPGM("Finding bed ");
  3172. setup_for_endstop_move();
  3173. find_bed_induction_sensor_point_z();
  3174. clean_up_after_endstop_move();
  3175. SERIAL_PROTOCOLPGM("Bed found at: ");
  3176. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  3177. SERIAL_PROTOCOLPGM("\n");
  3178. break;
  3179. /**
  3180. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  3181. */
  3182. case 83:
  3183. {
  3184. int babystepz = code_seen('S') ? code_value() : 0;
  3185. int BabyPosition = code_seen('P') ? code_value() : 0;
  3186. if (babystepz != 0) {
  3187. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  3188. // Is the axis indexed starting with zero or one?
  3189. if (BabyPosition > 4) {
  3190. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  3191. }else{
  3192. // Save it to the eeprom
  3193. babystepLoadZ = babystepz;
  3194. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  3195. // adjust the Z
  3196. babystepsTodoZadd(babystepLoadZ);
  3197. }
  3198. }
  3199. }
  3200. break;
  3201. /**
  3202. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  3203. */
  3204. case 84:
  3205. babystepsTodoZsubtract(babystepLoadZ);
  3206. // babystepLoadZ = 0;
  3207. break;
  3208. /**
  3209. * G85: Prusa3D specific: Pick best babystep
  3210. */
  3211. case 85:
  3212. lcd_pick_babystep();
  3213. break;
  3214. #endif
  3215. /**
  3216. * G86: Prusa3D specific: Disable babystep correction after home.
  3217. * This G-code will be performed at the start of a calibration script.
  3218. */
  3219. case 86:
  3220. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3221. break;
  3222. /**
  3223. * G87: Prusa3D specific: Enable babystep correction after home
  3224. * This G-code will be performed at the end of a calibration script.
  3225. */
  3226. case 87:
  3227. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3228. break;
  3229. /**
  3230. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  3231. */
  3232. case 88:
  3233. break;
  3234. #endif // ENABLE_MESH_BED_LEVELING
  3235. case 90: // G90
  3236. relative_mode = false;
  3237. break;
  3238. case 91: // G91
  3239. relative_mode = true;
  3240. break;
  3241. case 92: // G92
  3242. if(!code_seen(axis_codes[E_AXIS]))
  3243. st_synchronize();
  3244. for(int8_t i=0; i < NUM_AXIS; i++) {
  3245. if(code_seen(axis_codes[i])) {
  3246. if(i == E_AXIS) {
  3247. current_position[i] = code_value();
  3248. plan_set_e_position(current_position[E_AXIS]);
  3249. }
  3250. else {
  3251. current_position[i] = code_value()+add_homing[i];
  3252. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3253. }
  3254. }
  3255. }
  3256. break;
  3257. case 98: //activate farm mode
  3258. farm_mode = 1;
  3259. PingTime = millis();
  3260. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3261. break;
  3262. case 99: //deactivate farm mode
  3263. farm_mode = 0;
  3264. lcd_printer_connected();
  3265. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3266. lcd_update(2);
  3267. break;
  3268. }
  3269. } // end if(code_seen('G'))
  3270. else if(code_seen('M'))
  3271. {
  3272. int index;
  3273. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  3274. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  3275. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  3276. SERIAL_ECHOLNPGM("Invalid M code");
  3277. } else
  3278. switch((int)code_value())
  3279. {
  3280. #ifdef ULTIPANEL
  3281. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  3282. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  3283. {
  3284. char *src = strchr_pointer + 2;
  3285. codenum = 0;
  3286. bool hasP = false, hasS = false;
  3287. if (code_seen('P')) {
  3288. codenum = code_value(); // milliseconds to wait
  3289. hasP = codenum > 0;
  3290. }
  3291. if (code_seen('S')) {
  3292. codenum = code_value() * 1000; // seconds to wait
  3293. hasS = codenum > 0;
  3294. }
  3295. starpos = strchr(src, '*');
  3296. if (starpos != NULL) *(starpos) = '\0';
  3297. while (*src == ' ') ++src;
  3298. if (!hasP && !hasS && *src != '\0') {
  3299. lcd_setstatus(src);
  3300. } else {
  3301. LCD_MESSAGERPGM(MSG_USERWAIT);
  3302. }
  3303. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  3304. st_synchronize();
  3305. previous_millis_cmd = millis();
  3306. if (codenum > 0){
  3307. codenum += millis(); // keep track of when we started waiting
  3308. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3309. while(millis() < codenum && !lcd_clicked()){
  3310. manage_heater();
  3311. manage_inactivity(true);
  3312. lcd_update();
  3313. }
  3314. KEEPALIVE_STATE(IN_HANDLER);
  3315. lcd_ignore_click(false);
  3316. }else{
  3317. if (!lcd_detected())
  3318. break;
  3319. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3320. while(!lcd_clicked()){
  3321. manage_heater();
  3322. manage_inactivity(true);
  3323. lcd_update();
  3324. }
  3325. KEEPALIVE_STATE(IN_HANDLER);
  3326. }
  3327. if (IS_SD_PRINTING)
  3328. LCD_MESSAGERPGM(MSG_RESUMING);
  3329. else
  3330. LCD_MESSAGERPGM(WELCOME_MSG);
  3331. }
  3332. break;
  3333. #endif
  3334. case 17:
  3335. LCD_MESSAGERPGM(MSG_NO_MOVE);
  3336. enable_x();
  3337. enable_y();
  3338. enable_z();
  3339. enable_e0();
  3340. enable_e1();
  3341. enable_e2();
  3342. break;
  3343. #ifdef SDSUPPORT
  3344. case 20: // M20 - list SD card
  3345. SERIAL_PROTOCOLLNRPGM(MSG_BEGIN_FILE_LIST);
  3346. card.ls();
  3347. SERIAL_PROTOCOLLNRPGM(MSG_END_FILE_LIST);
  3348. break;
  3349. case 21: // M21 - init SD card
  3350. card.initsd();
  3351. break;
  3352. case 22: //M22 - release SD card
  3353. card.release();
  3354. break;
  3355. case 23: //M23 - Select file
  3356. starpos = (strchr(strchr_pointer + 4,'*'));
  3357. if(starpos!=NULL)
  3358. *(starpos)='\0';
  3359. card.openFile(strchr_pointer + 4,true);
  3360. break;
  3361. case 24: //M24 - Start SD print
  3362. card.startFileprint();
  3363. starttime=millis();
  3364. break;
  3365. case 25: //M25 - Pause SD print
  3366. card.pauseSDPrint();
  3367. break;
  3368. case 26: //M26 - Set SD index
  3369. if(card.cardOK && code_seen('S')) {
  3370. card.setIndex(code_value_long());
  3371. }
  3372. break;
  3373. case 27: //M27 - Get SD status
  3374. card.getStatus();
  3375. break;
  3376. case 28: //M28 - Start SD write
  3377. starpos = (strchr(strchr_pointer + 4,'*'));
  3378. if(starpos != NULL){
  3379. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3380. strchr_pointer = strchr(npos,' ') + 1;
  3381. *(starpos) = '\0';
  3382. }
  3383. card.openFile(strchr_pointer+4,false);
  3384. break;
  3385. case 29: //M29 - Stop SD write
  3386. //processed in write to file routine above
  3387. //card,saving = false;
  3388. break;
  3389. case 30: //M30 <filename> Delete File
  3390. if (card.cardOK){
  3391. card.closefile();
  3392. starpos = (strchr(strchr_pointer + 4,'*'));
  3393. if(starpos != NULL){
  3394. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3395. strchr_pointer = strchr(npos,' ') + 1;
  3396. *(starpos) = '\0';
  3397. }
  3398. card.removeFile(strchr_pointer + 4);
  3399. }
  3400. break;
  3401. case 32: //M32 - Select file and start SD print
  3402. {
  3403. if(card.sdprinting) {
  3404. st_synchronize();
  3405. }
  3406. starpos = (strchr(strchr_pointer + 4,'*'));
  3407. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  3408. if(namestartpos==NULL)
  3409. {
  3410. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  3411. }
  3412. else
  3413. namestartpos++; //to skip the '!'
  3414. if(starpos!=NULL)
  3415. *(starpos)='\0';
  3416. bool call_procedure=(code_seen('P'));
  3417. if(strchr_pointer>namestartpos)
  3418. call_procedure=false; //false alert, 'P' found within filename
  3419. if( card.cardOK )
  3420. {
  3421. card.openFile(namestartpos,true,!call_procedure);
  3422. if(code_seen('S'))
  3423. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  3424. card.setIndex(code_value_long());
  3425. card.startFileprint();
  3426. if(!call_procedure)
  3427. starttime=millis(); //procedure calls count as normal print time.
  3428. }
  3429. } break;
  3430. case 928: //M928 - Start SD write
  3431. starpos = (strchr(strchr_pointer + 5,'*'));
  3432. if(starpos != NULL){
  3433. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3434. strchr_pointer = strchr(npos,' ') + 1;
  3435. *(starpos) = '\0';
  3436. }
  3437. card.openLogFile(strchr_pointer+5);
  3438. break;
  3439. #endif //SDSUPPORT
  3440. case 31: //M31 take time since the start of the SD print or an M109 command
  3441. {
  3442. stoptime=millis();
  3443. char time[30];
  3444. unsigned long t=(stoptime-starttime)/1000;
  3445. int sec,min;
  3446. min=t/60;
  3447. sec=t%60;
  3448. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  3449. SERIAL_ECHO_START;
  3450. SERIAL_ECHOLN(time);
  3451. lcd_setstatus(time);
  3452. autotempShutdown();
  3453. }
  3454. break;
  3455. #ifndef _DISABLE_M42_M226
  3456. case 42: //M42 -Change pin status via gcode
  3457. if (code_seen('S'))
  3458. {
  3459. int pin_status = code_value();
  3460. int pin_number = LED_PIN;
  3461. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  3462. pin_number = code_value();
  3463. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  3464. {
  3465. if (sensitive_pins[i] == pin_number)
  3466. {
  3467. pin_number = -1;
  3468. break;
  3469. }
  3470. }
  3471. #if defined(FAN_PIN) && FAN_PIN > -1
  3472. if (pin_number == FAN_PIN)
  3473. fanSpeed = pin_status;
  3474. #endif
  3475. if (pin_number > -1)
  3476. {
  3477. pinMode(pin_number, OUTPUT);
  3478. digitalWrite(pin_number, pin_status);
  3479. analogWrite(pin_number, pin_status);
  3480. }
  3481. }
  3482. break;
  3483. #endif //_DISABLE_M42_M226
  3484. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  3485. // Reset the baby step value and the baby step applied flag.
  3486. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  3487. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  3488. // Reset the skew and offset in both RAM and EEPROM.
  3489. reset_bed_offset_and_skew();
  3490. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3491. // the planner will not perform any adjustments in the XY plane.
  3492. // Wait for the motors to stop and update the current position with the absolute values.
  3493. world2machine_revert_to_uncorrected();
  3494. break;
  3495. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  3496. {
  3497. bool only_Z = code_seen('Z');
  3498. gcode_M45(only_Z);
  3499. }
  3500. break;
  3501. /*
  3502. case 46:
  3503. {
  3504. // M46: Prusa3D: Show the assigned IP address.
  3505. uint8_t ip[4];
  3506. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  3507. if (hasIP) {
  3508. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  3509. SERIAL_ECHO(int(ip[0]));
  3510. SERIAL_ECHOPGM(".");
  3511. SERIAL_ECHO(int(ip[1]));
  3512. SERIAL_ECHOPGM(".");
  3513. SERIAL_ECHO(int(ip[2]));
  3514. SERIAL_ECHOPGM(".");
  3515. SERIAL_ECHO(int(ip[3]));
  3516. SERIAL_ECHOLNPGM("");
  3517. } else {
  3518. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  3519. }
  3520. break;
  3521. }
  3522. */
  3523. case 47:
  3524. // M47: Prusa3D: Show end stops dialog on the display.
  3525. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3526. lcd_diag_show_end_stops();
  3527. KEEPALIVE_STATE(IN_HANDLER);
  3528. break;
  3529. #if 0
  3530. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  3531. {
  3532. // Disable the default update procedure of the display. We will do a modal dialog.
  3533. lcd_update_enable(false);
  3534. // Let the planner use the uncorrected coordinates.
  3535. mbl.reset();
  3536. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3537. // the planner will not perform any adjustments in the XY plane.
  3538. // Wait for the motors to stop and update the current position with the absolute values.
  3539. world2machine_revert_to_uncorrected();
  3540. // Move the print head close to the bed.
  3541. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3542. 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);
  3543. st_synchronize();
  3544. // Home in the XY plane.
  3545. set_destination_to_current();
  3546. setup_for_endstop_move();
  3547. home_xy();
  3548. int8_t verbosity_level = 0;
  3549. if (code_seen('V')) {
  3550. // Just 'V' without a number counts as V1.
  3551. char c = strchr_pointer[1];
  3552. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3553. }
  3554. bool success = scan_bed_induction_points(verbosity_level);
  3555. clean_up_after_endstop_move();
  3556. // Print head up.
  3557. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3558. 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);
  3559. st_synchronize();
  3560. lcd_update_enable(true);
  3561. break;
  3562. }
  3563. #endif
  3564. // M48 Z-Probe repeatability measurement function.
  3565. //
  3566. // 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>
  3567. //
  3568. // This function assumes the bed has been homed. Specificaly, that a G28 command
  3569. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  3570. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3571. // regenerated.
  3572. //
  3573. // The number of samples will default to 10 if not specified. You can use upper or lower case
  3574. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  3575. // N for its communication protocol and will get horribly confused if you send it a capital N.
  3576. //
  3577. #ifdef ENABLE_AUTO_BED_LEVELING
  3578. #ifdef Z_PROBE_REPEATABILITY_TEST
  3579. case 48: // M48 Z-Probe repeatability
  3580. {
  3581. #if Z_MIN_PIN == -1
  3582. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  3583. #endif
  3584. double sum=0.0;
  3585. double mean=0.0;
  3586. double sigma=0.0;
  3587. double sample_set[50];
  3588. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  3589. double X_current, Y_current, Z_current;
  3590. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  3591. if (code_seen('V') || code_seen('v')) {
  3592. verbose_level = code_value();
  3593. if (verbose_level<0 || verbose_level>4 ) {
  3594. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  3595. goto Sigma_Exit;
  3596. }
  3597. }
  3598. if (verbose_level > 0) {
  3599. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  3600. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  3601. }
  3602. if (code_seen('n')) {
  3603. n_samples = code_value();
  3604. if (n_samples<4 || n_samples>50 ) {
  3605. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  3606. goto Sigma_Exit;
  3607. }
  3608. }
  3609. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  3610. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  3611. Z_current = st_get_position_mm(Z_AXIS);
  3612. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  3613. ext_position = st_get_position_mm(E_AXIS);
  3614. if (code_seen('X') || code_seen('x') ) {
  3615. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  3616. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  3617. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  3618. goto Sigma_Exit;
  3619. }
  3620. }
  3621. if (code_seen('Y') || code_seen('y') ) {
  3622. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  3623. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  3624. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  3625. goto Sigma_Exit;
  3626. }
  3627. }
  3628. if (code_seen('L') || code_seen('l') ) {
  3629. n_legs = code_value();
  3630. if ( n_legs==1 )
  3631. n_legs = 2;
  3632. if ( n_legs<0 || n_legs>15 ) {
  3633. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  3634. goto Sigma_Exit;
  3635. }
  3636. }
  3637. //
  3638. // Do all the preliminary setup work. First raise the probe.
  3639. //
  3640. st_synchronize();
  3641. plan_bed_level_matrix.set_to_identity();
  3642. plan_buffer_line( X_current, Y_current, Z_start_location,
  3643. ext_position,
  3644. homing_feedrate[Z_AXIS]/60,
  3645. active_extruder);
  3646. st_synchronize();
  3647. //
  3648. // Now get everything to the specified probe point So we can safely do a probe to
  3649. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  3650. // use that as a starting point for each probe.
  3651. //
  3652. if (verbose_level > 2)
  3653. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  3654. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3655. ext_position,
  3656. homing_feedrate[X_AXIS]/60,
  3657. active_extruder);
  3658. st_synchronize();
  3659. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  3660. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  3661. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3662. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  3663. //
  3664. // OK, do the inital probe to get us close to the bed.
  3665. // Then retrace the right amount and use that in subsequent probes
  3666. //
  3667. setup_for_endstop_move();
  3668. run_z_probe();
  3669. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3670. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  3671. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3672. ext_position,
  3673. homing_feedrate[X_AXIS]/60,
  3674. active_extruder);
  3675. st_synchronize();
  3676. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3677. for( n=0; n<n_samples; n++) {
  3678. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  3679. if ( n_legs) {
  3680. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  3681. int rotational_direction, l;
  3682. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  3683. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  3684. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  3685. //SERIAL_ECHOPAIR("starting radius: ",radius);
  3686. //SERIAL_ECHOPAIR(" theta: ",theta);
  3687. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  3688. //SERIAL_PROTOCOLLNPGM("");
  3689. for( l=0; l<n_legs-1; l++) {
  3690. if (rotational_direction==1)
  3691. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  3692. else
  3693. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  3694. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  3695. if ( radius<0.0 )
  3696. radius = -radius;
  3697. X_current = X_probe_location + cos(theta) * radius;
  3698. Y_current = Y_probe_location + sin(theta) * radius;
  3699. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  3700. X_current = X_MIN_POS;
  3701. if ( X_current>X_MAX_POS)
  3702. X_current = X_MAX_POS;
  3703. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  3704. Y_current = Y_MIN_POS;
  3705. if ( Y_current>Y_MAX_POS)
  3706. Y_current = Y_MAX_POS;
  3707. if (verbose_level>3 ) {
  3708. SERIAL_ECHOPAIR("x: ", X_current);
  3709. SERIAL_ECHOPAIR("y: ", Y_current);
  3710. SERIAL_PROTOCOLLNPGM("");
  3711. }
  3712. do_blocking_move_to( X_current, Y_current, Z_current );
  3713. }
  3714. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  3715. }
  3716. setup_for_endstop_move();
  3717. run_z_probe();
  3718. sample_set[n] = current_position[Z_AXIS];
  3719. //
  3720. // Get the current mean for the data points we have so far
  3721. //
  3722. sum=0.0;
  3723. for( j=0; j<=n; j++) {
  3724. sum = sum + sample_set[j];
  3725. }
  3726. mean = sum / (double (n+1));
  3727. //
  3728. // Now, use that mean to calculate the standard deviation for the
  3729. // data points we have so far
  3730. //
  3731. sum=0.0;
  3732. for( j=0; j<=n; j++) {
  3733. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  3734. }
  3735. sigma = sqrt( sum / (double (n+1)) );
  3736. if (verbose_level > 1) {
  3737. SERIAL_PROTOCOL(n+1);
  3738. SERIAL_PROTOCOL(" of ");
  3739. SERIAL_PROTOCOL(n_samples);
  3740. SERIAL_PROTOCOLPGM(" z: ");
  3741. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  3742. }
  3743. if (verbose_level > 2) {
  3744. SERIAL_PROTOCOL(" mean: ");
  3745. SERIAL_PROTOCOL_F(mean,6);
  3746. SERIAL_PROTOCOL(" sigma: ");
  3747. SERIAL_PROTOCOL_F(sigma,6);
  3748. }
  3749. if (verbose_level > 0)
  3750. SERIAL_PROTOCOLPGM("\n");
  3751. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3752. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  3753. st_synchronize();
  3754. }
  3755. delay(1000);
  3756. clean_up_after_endstop_move();
  3757. // enable_endstops(true);
  3758. if (verbose_level > 0) {
  3759. SERIAL_PROTOCOLPGM("Mean: ");
  3760. SERIAL_PROTOCOL_F(mean, 6);
  3761. SERIAL_PROTOCOLPGM("\n");
  3762. }
  3763. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  3764. SERIAL_PROTOCOL_F(sigma, 6);
  3765. SERIAL_PROTOCOLPGM("\n\n");
  3766. Sigma_Exit:
  3767. break;
  3768. }
  3769. #endif // Z_PROBE_REPEATABILITY_TEST
  3770. #endif // ENABLE_AUTO_BED_LEVELING
  3771. case 104: // M104
  3772. if(setTargetedHotend(104)){
  3773. break;
  3774. }
  3775. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  3776. setWatch();
  3777. break;
  3778. case 112: // M112 -Emergency Stop
  3779. kill("", 3);
  3780. break;
  3781. case 140: // M140 set bed temp
  3782. if (code_seen('S')) setTargetBed(code_value());
  3783. break;
  3784. case 105 : // M105
  3785. if(setTargetedHotend(105)){
  3786. break;
  3787. }
  3788. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  3789. SERIAL_PROTOCOLPGM("ok T:");
  3790. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  3791. SERIAL_PROTOCOLPGM(" /");
  3792. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  3793. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3794. SERIAL_PROTOCOLPGM(" B:");
  3795. SERIAL_PROTOCOL_F(degBed(),1);
  3796. SERIAL_PROTOCOLPGM(" /");
  3797. SERIAL_PROTOCOL_F(degTargetBed(),1);
  3798. #endif //TEMP_BED_PIN
  3799. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3800. SERIAL_PROTOCOLPGM(" T");
  3801. SERIAL_PROTOCOL(cur_extruder);
  3802. SERIAL_PROTOCOLPGM(":");
  3803. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  3804. SERIAL_PROTOCOLPGM(" /");
  3805. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  3806. }
  3807. #else
  3808. SERIAL_ERROR_START;
  3809. SERIAL_ERRORLNRPGM(MSG_ERR_NO_THERMISTORS);
  3810. #endif
  3811. SERIAL_PROTOCOLPGM(" @:");
  3812. #ifdef EXTRUDER_WATTS
  3813. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  3814. SERIAL_PROTOCOLPGM("W");
  3815. #else
  3816. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  3817. #endif
  3818. SERIAL_PROTOCOLPGM(" B@:");
  3819. #ifdef BED_WATTS
  3820. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  3821. SERIAL_PROTOCOLPGM("W");
  3822. #else
  3823. SERIAL_PROTOCOL(getHeaterPower(-1));
  3824. #endif
  3825. #ifdef PINDA_THERMISTOR
  3826. SERIAL_PROTOCOLPGM(" P:");
  3827. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  3828. #endif //PINDA_THERMISTOR
  3829. #ifdef AMBIENT_THERMISTOR
  3830. SERIAL_PROTOCOLPGM(" A:");
  3831. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  3832. #endif //AMBIENT_THERMISTOR
  3833. #ifdef SHOW_TEMP_ADC_VALUES
  3834. {float raw = 0.0;
  3835. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3836. SERIAL_PROTOCOLPGM(" ADC B:");
  3837. SERIAL_PROTOCOL_F(degBed(),1);
  3838. SERIAL_PROTOCOLPGM("C->");
  3839. raw = rawBedTemp();
  3840. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  3841. SERIAL_PROTOCOLPGM(" Rb->");
  3842. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  3843. SERIAL_PROTOCOLPGM(" Rxb->");
  3844. SERIAL_PROTOCOL_F(raw, 5);
  3845. #endif
  3846. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3847. SERIAL_PROTOCOLPGM(" T");
  3848. SERIAL_PROTOCOL(cur_extruder);
  3849. SERIAL_PROTOCOLPGM(":");
  3850. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  3851. SERIAL_PROTOCOLPGM("C->");
  3852. raw = rawHotendTemp(cur_extruder);
  3853. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  3854. SERIAL_PROTOCOLPGM(" Rt");
  3855. SERIAL_PROTOCOL(cur_extruder);
  3856. SERIAL_PROTOCOLPGM("->");
  3857. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  3858. SERIAL_PROTOCOLPGM(" Rx");
  3859. SERIAL_PROTOCOL(cur_extruder);
  3860. SERIAL_PROTOCOLPGM("->");
  3861. SERIAL_PROTOCOL_F(raw, 5);
  3862. }}
  3863. #endif
  3864. SERIAL_PROTOCOLLN("");
  3865. KEEPALIVE_STATE(NOT_BUSY);
  3866. return;
  3867. break;
  3868. case 109:
  3869. {// M109 - Wait for extruder heater to reach target.
  3870. if(setTargetedHotend(109)){
  3871. break;
  3872. }
  3873. LCD_MESSAGERPGM(MSG_HEATING);
  3874. heating_status = 1;
  3875. if (farm_mode) { prusa_statistics(1); };
  3876. #ifdef AUTOTEMP
  3877. autotemp_enabled=false;
  3878. #endif
  3879. if (code_seen('S')) {
  3880. setTargetHotend(code_value(), tmp_extruder);
  3881. CooldownNoWait = true;
  3882. } else if (code_seen('R')) {
  3883. setTargetHotend(code_value(), tmp_extruder);
  3884. CooldownNoWait = false;
  3885. }
  3886. #ifdef AUTOTEMP
  3887. if (code_seen('S')) autotemp_min=code_value();
  3888. if (code_seen('B')) autotemp_max=code_value();
  3889. if (code_seen('F'))
  3890. {
  3891. autotemp_factor=code_value();
  3892. autotemp_enabled=true;
  3893. }
  3894. #endif
  3895. setWatch();
  3896. codenum = millis();
  3897. /* See if we are heating up or cooling down */
  3898. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  3899. KEEPALIVE_STATE(NOT_BUSY);
  3900. cancel_heatup = false;
  3901. wait_for_heater(codenum); //loops until target temperature is reached
  3902. LCD_MESSAGERPGM(MSG_HEATING_COMPLETE);
  3903. KEEPALIVE_STATE(IN_HANDLER);
  3904. heating_status = 2;
  3905. if (farm_mode) { prusa_statistics(2); };
  3906. //starttime=millis();
  3907. previous_millis_cmd = millis();
  3908. }
  3909. break;
  3910. case 190: // M190 - Wait for bed heater to reach target.
  3911. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3912. LCD_MESSAGERPGM(MSG_BED_HEATING);
  3913. heating_status = 3;
  3914. if (farm_mode) { prusa_statistics(1); };
  3915. if (code_seen('S'))
  3916. {
  3917. setTargetBed(code_value());
  3918. CooldownNoWait = true;
  3919. }
  3920. else if (code_seen('R'))
  3921. {
  3922. setTargetBed(code_value());
  3923. CooldownNoWait = false;
  3924. }
  3925. codenum = millis();
  3926. cancel_heatup = false;
  3927. target_direction = isHeatingBed(); // true if heating, false if cooling
  3928. KEEPALIVE_STATE(NOT_BUSY);
  3929. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  3930. {
  3931. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  3932. {
  3933. if (!farm_mode) {
  3934. float tt = degHotend(active_extruder);
  3935. SERIAL_PROTOCOLPGM("T:");
  3936. SERIAL_PROTOCOL(tt);
  3937. SERIAL_PROTOCOLPGM(" E:");
  3938. SERIAL_PROTOCOL((int)active_extruder);
  3939. SERIAL_PROTOCOLPGM(" B:");
  3940. SERIAL_PROTOCOL_F(degBed(), 1);
  3941. SERIAL_PROTOCOLLN("");
  3942. }
  3943. codenum = millis();
  3944. }
  3945. manage_heater();
  3946. manage_inactivity();
  3947. lcd_update();
  3948. }
  3949. LCD_MESSAGERPGM(MSG_BED_DONE);
  3950. KEEPALIVE_STATE(IN_HANDLER);
  3951. heating_status = 4;
  3952. previous_millis_cmd = millis();
  3953. #endif
  3954. break;
  3955. #if defined(FAN_PIN) && FAN_PIN > -1
  3956. case 106: //M106 Fan On
  3957. if (code_seen('S')){
  3958. fanSpeed=constrain(code_value(),0,255);
  3959. }
  3960. else {
  3961. fanSpeed=255;
  3962. }
  3963. break;
  3964. case 107: //M107 Fan Off
  3965. fanSpeed = 0;
  3966. break;
  3967. #endif //FAN_PIN
  3968. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  3969. case 80: // M80 - Turn on Power Supply
  3970. SET_OUTPUT(PS_ON_PIN); //GND
  3971. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  3972. // If you have a switch on suicide pin, this is useful
  3973. // if you want to start another print with suicide feature after
  3974. // a print without suicide...
  3975. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  3976. SET_OUTPUT(SUICIDE_PIN);
  3977. WRITE(SUICIDE_PIN, HIGH);
  3978. #endif
  3979. #ifdef ULTIPANEL
  3980. powersupply = true;
  3981. LCD_MESSAGERPGM(WELCOME_MSG);
  3982. lcd_update();
  3983. #endif
  3984. break;
  3985. #endif
  3986. case 81: // M81 - Turn off Power Supply
  3987. disable_heater();
  3988. st_synchronize();
  3989. disable_e0();
  3990. disable_e1();
  3991. disable_e2();
  3992. finishAndDisableSteppers();
  3993. fanSpeed = 0;
  3994. delay(1000); // Wait a little before to switch off
  3995. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  3996. st_synchronize();
  3997. suicide();
  3998. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  3999. SET_OUTPUT(PS_ON_PIN);
  4000. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4001. #endif
  4002. #ifdef ULTIPANEL
  4003. powersupply = false;
  4004. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR("."))); //!!
  4005. /*
  4006. MACHNAME = "Prusa i3"
  4007. MSGOFF = "Vypnuto"
  4008. "Prusai3"" ""vypnuto""."
  4009. "Prusa i3"" "MSG_ALL[lang_selected][50]"."
  4010. */
  4011. lcd_update();
  4012. #endif
  4013. break;
  4014. case 82:
  4015. axis_relative_modes[3] = false;
  4016. break;
  4017. case 83:
  4018. axis_relative_modes[3] = true;
  4019. break;
  4020. case 18: //compatibility
  4021. case 84: // M84
  4022. if(code_seen('S')){
  4023. stepper_inactive_time = code_value() * 1000;
  4024. }
  4025. else
  4026. {
  4027. 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])));
  4028. if(all_axis)
  4029. {
  4030. st_synchronize();
  4031. disable_e0();
  4032. disable_e1();
  4033. disable_e2();
  4034. finishAndDisableSteppers();
  4035. }
  4036. else
  4037. {
  4038. st_synchronize();
  4039. if (code_seen('X')) disable_x();
  4040. if (code_seen('Y')) disable_y();
  4041. if (code_seen('Z')) disable_z();
  4042. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4043. if (code_seen('E')) {
  4044. disable_e0();
  4045. disable_e1();
  4046. disable_e2();
  4047. }
  4048. #endif
  4049. }
  4050. }
  4051. snmm_filaments_used = 0;
  4052. break;
  4053. case 85: // M85
  4054. if(code_seen('S')) {
  4055. max_inactive_time = code_value() * 1000;
  4056. }
  4057. break;
  4058. case 92: // M92
  4059. for(int8_t i=0; i < NUM_AXIS; i++)
  4060. {
  4061. if(code_seen(axis_codes[i]))
  4062. {
  4063. if(i == 3) { // E
  4064. float value = code_value();
  4065. if(value < 20.0) {
  4066. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  4067. max_jerk[E_AXIS] *= factor;
  4068. max_feedrate[i] *= factor;
  4069. axis_steps_per_sqr_second[i] *= factor;
  4070. }
  4071. axis_steps_per_unit[i] = value;
  4072. }
  4073. else {
  4074. axis_steps_per_unit[i] = code_value();
  4075. }
  4076. }
  4077. }
  4078. break;
  4079. case 110: // M110 - reset line pos
  4080. if (code_seen('N'))
  4081. gcode_LastN = code_value_long();
  4082. break;
  4083. #ifdef HOST_KEEPALIVE_FEATURE
  4084. case 113: // M113 - Get or set Host Keepalive interval
  4085. if (code_seen('S')) {
  4086. host_keepalive_interval = (uint8_t)code_value_short();
  4087. // NOMORE(host_keepalive_interval, 60);
  4088. }
  4089. else {
  4090. SERIAL_ECHO_START;
  4091. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4092. SERIAL_PROTOCOLLN("");
  4093. }
  4094. break;
  4095. #endif
  4096. case 115: // M115
  4097. if (code_seen('V')) {
  4098. // Report the Prusa version number.
  4099. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  4100. } else if (code_seen('U')) {
  4101. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  4102. // pause the print and ask the user to upgrade the firmware.
  4103. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  4104. } else {
  4105. SERIAL_PROTOCOLRPGM(MSG_M115_REPORT);
  4106. }
  4107. break;
  4108. /* case 117: // M117 display message
  4109. starpos = (strchr(strchr_pointer + 5,'*'));
  4110. if(starpos!=NULL)
  4111. *(starpos)='\0';
  4112. lcd_setstatus(strchr_pointer + 5);
  4113. break;*/
  4114. case 114: // M114
  4115. SERIAL_PROTOCOLPGM("X:");
  4116. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4117. SERIAL_PROTOCOLPGM(" Y:");
  4118. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4119. SERIAL_PROTOCOLPGM(" Z:");
  4120. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4121. SERIAL_PROTOCOLPGM(" E:");
  4122. SERIAL_PROTOCOL(current_position[E_AXIS]);
  4123. SERIAL_PROTOCOLRPGM(MSG_COUNT_X);
  4124. SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
  4125. SERIAL_PROTOCOLPGM(" Y:");
  4126. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
  4127. SERIAL_PROTOCOLPGM(" Z:");
  4128. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
  4129. SERIAL_PROTOCOLPGM(" E:");
  4130. SERIAL_PROTOCOL(float(st_get_position(E_AXIS))/axis_steps_per_unit[E_AXIS]);
  4131. SERIAL_PROTOCOLLN("");
  4132. break;
  4133. case 120: // M120
  4134. enable_endstops(false) ;
  4135. break;
  4136. case 121: // M121
  4137. enable_endstops(true) ;
  4138. break;
  4139. case 119: // M119
  4140. SERIAL_PROTOCOLRPGM(MSG_M119_REPORT);
  4141. SERIAL_PROTOCOLLN("");
  4142. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  4143. SERIAL_PROTOCOLRPGM(MSG_X_MIN);
  4144. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  4145. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4146. }else{
  4147. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4148. }
  4149. SERIAL_PROTOCOLLN("");
  4150. #endif
  4151. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  4152. SERIAL_PROTOCOLRPGM(MSG_X_MAX);
  4153. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  4154. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4155. }else{
  4156. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4157. }
  4158. SERIAL_PROTOCOLLN("");
  4159. #endif
  4160. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  4161. SERIAL_PROTOCOLRPGM(MSG_Y_MIN);
  4162. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  4163. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4164. }else{
  4165. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4166. }
  4167. SERIAL_PROTOCOLLN("");
  4168. #endif
  4169. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  4170. SERIAL_PROTOCOLRPGM(MSG_Y_MAX);
  4171. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  4172. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4173. }else{
  4174. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4175. }
  4176. SERIAL_PROTOCOLLN("");
  4177. #endif
  4178. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  4179. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  4180. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  4181. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4182. }else{
  4183. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4184. }
  4185. SERIAL_PROTOCOLLN("");
  4186. #endif
  4187. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  4188. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  4189. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  4190. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4191. }else{
  4192. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4193. }
  4194. SERIAL_PROTOCOLLN("");
  4195. #endif
  4196. break;
  4197. //TODO: update for all axis, use for loop
  4198. #ifdef BLINKM
  4199. case 150: // M150
  4200. {
  4201. byte red;
  4202. byte grn;
  4203. byte blu;
  4204. if(code_seen('R')) red = code_value();
  4205. if(code_seen('U')) grn = code_value();
  4206. if(code_seen('B')) blu = code_value();
  4207. SendColors(red,grn,blu);
  4208. }
  4209. break;
  4210. #endif //BLINKM
  4211. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  4212. {
  4213. tmp_extruder = active_extruder;
  4214. if(code_seen('T')) {
  4215. tmp_extruder = code_value();
  4216. if(tmp_extruder >= EXTRUDERS) {
  4217. SERIAL_ECHO_START;
  4218. SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
  4219. break;
  4220. }
  4221. }
  4222. float area = .0;
  4223. if(code_seen('D')) {
  4224. float diameter = (float)code_value();
  4225. if (diameter == 0.0) {
  4226. // setting any extruder filament size disables volumetric on the assumption that
  4227. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4228. // for all extruders
  4229. volumetric_enabled = false;
  4230. } else {
  4231. filament_size[tmp_extruder] = (float)code_value();
  4232. // make sure all extruders have some sane value for the filament size
  4233. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  4234. #if EXTRUDERS > 1
  4235. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  4236. #if EXTRUDERS > 2
  4237. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  4238. #endif
  4239. #endif
  4240. volumetric_enabled = true;
  4241. }
  4242. } else {
  4243. //reserved for setting filament diameter via UFID or filament measuring device
  4244. break;
  4245. }
  4246. calculate_volumetric_multipliers();
  4247. }
  4248. break;
  4249. case 201: // M201
  4250. for(int8_t i=0; i < NUM_AXIS; i++)
  4251. {
  4252. if(code_seen(axis_codes[i]))
  4253. {
  4254. max_acceleration_units_per_sq_second[i] = code_value();
  4255. }
  4256. }
  4257. // 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)
  4258. reset_acceleration_rates();
  4259. break;
  4260. #if 0 // Not used for Sprinter/grbl gen6
  4261. case 202: // M202
  4262. for(int8_t i=0; i < NUM_AXIS; i++) {
  4263. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  4264. }
  4265. break;
  4266. #endif
  4267. case 203: // M203 max feedrate mm/sec
  4268. for(int8_t i=0; i < NUM_AXIS; i++) {
  4269. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  4270. }
  4271. break;
  4272. case 204: // M204 acclereration S normal moves T filmanent only moves
  4273. {
  4274. if(code_seen('S')) acceleration = code_value() ;
  4275. if(code_seen('T')) retract_acceleration = code_value() ;
  4276. }
  4277. break;
  4278. 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
  4279. {
  4280. if(code_seen('S')) minimumfeedrate = code_value();
  4281. if(code_seen('T')) mintravelfeedrate = code_value();
  4282. if(code_seen('B')) minsegmenttime = code_value() ;
  4283. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  4284. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  4285. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  4286. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  4287. if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
  4288. if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
  4289. }
  4290. break;
  4291. case 206: // M206 additional homing offset
  4292. for(int8_t i=0; i < 3; i++)
  4293. {
  4294. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  4295. }
  4296. break;
  4297. #ifdef FWRETRACT
  4298. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  4299. {
  4300. if(code_seen('S'))
  4301. {
  4302. retract_length = code_value() ;
  4303. }
  4304. if(code_seen('F'))
  4305. {
  4306. retract_feedrate = code_value()/60 ;
  4307. }
  4308. if(code_seen('Z'))
  4309. {
  4310. retract_zlift = code_value() ;
  4311. }
  4312. }break;
  4313. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  4314. {
  4315. if(code_seen('S'))
  4316. {
  4317. retract_recover_length = code_value() ;
  4318. }
  4319. if(code_seen('F'))
  4320. {
  4321. retract_recover_feedrate = code_value()/60 ;
  4322. }
  4323. }break;
  4324. 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.
  4325. {
  4326. if(code_seen('S'))
  4327. {
  4328. int t= code_value() ;
  4329. switch(t)
  4330. {
  4331. case 0:
  4332. {
  4333. autoretract_enabled=false;
  4334. retracted[0]=false;
  4335. #if EXTRUDERS > 1
  4336. retracted[1]=false;
  4337. #endif
  4338. #if EXTRUDERS > 2
  4339. retracted[2]=false;
  4340. #endif
  4341. }break;
  4342. case 1:
  4343. {
  4344. autoretract_enabled=true;
  4345. retracted[0]=false;
  4346. #if EXTRUDERS > 1
  4347. retracted[1]=false;
  4348. #endif
  4349. #if EXTRUDERS > 2
  4350. retracted[2]=false;
  4351. #endif
  4352. }break;
  4353. default:
  4354. SERIAL_ECHO_START;
  4355. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  4356. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  4357. SERIAL_ECHOLNPGM("\"(1)");
  4358. }
  4359. }
  4360. }break;
  4361. #endif // FWRETRACT
  4362. #if EXTRUDERS > 1
  4363. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  4364. {
  4365. if(setTargetedHotend(218)){
  4366. break;
  4367. }
  4368. if(code_seen('X'))
  4369. {
  4370. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  4371. }
  4372. if(code_seen('Y'))
  4373. {
  4374. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  4375. }
  4376. SERIAL_ECHO_START;
  4377. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  4378. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  4379. {
  4380. SERIAL_ECHO(" ");
  4381. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  4382. SERIAL_ECHO(",");
  4383. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  4384. }
  4385. SERIAL_ECHOLN("");
  4386. }break;
  4387. #endif
  4388. case 220: // M220 S<factor in percent>- set speed factor override percentage
  4389. {
  4390. if(code_seen('S'))
  4391. {
  4392. feedmultiply = code_value() ;
  4393. }
  4394. }
  4395. break;
  4396. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  4397. {
  4398. if(code_seen('S'))
  4399. {
  4400. int tmp_code = code_value();
  4401. if (code_seen('T'))
  4402. {
  4403. if(setTargetedHotend(221)){
  4404. break;
  4405. }
  4406. extruder_multiply[tmp_extruder] = tmp_code;
  4407. }
  4408. else
  4409. {
  4410. extrudemultiply = tmp_code ;
  4411. }
  4412. }
  4413. }
  4414. break;
  4415. #ifndef _DISABLE_M42_M226
  4416. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  4417. {
  4418. if(code_seen('P')){
  4419. int pin_number = code_value(); // pin number
  4420. int pin_state = -1; // required pin state - default is inverted
  4421. if(code_seen('S')) pin_state = code_value(); // required pin state
  4422. if(pin_state >= -1 && pin_state <= 1){
  4423. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4424. {
  4425. if (sensitive_pins[i] == pin_number)
  4426. {
  4427. pin_number = -1;
  4428. break;
  4429. }
  4430. }
  4431. if (pin_number > -1)
  4432. {
  4433. int target = LOW;
  4434. st_synchronize();
  4435. pinMode(pin_number, INPUT);
  4436. switch(pin_state){
  4437. case 1:
  4438. target = HIGH;
  4439. break;
  4440. case 0:
  4441. target = LOW;
  4442. break;
  4443. case -1:
  4444. target = !digitalRead(pin_number);
  4445. break;
  4446. }
  4447. while(digitalRead(pin_number) != target){
  4448. manage_heater();
  4449. manage_inactivity();
  4450. lcd_update();
  4451. }
  4452. }
  4453. }
  4454. }
  4455. }
  4456. break;
  4457. #endif //_DISABLE_M42_M226
  4458. #if NUM_SERVOS > 0
  4459. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  4460. {
  4461. int servo_index = -1;
  4462. int servo_position = 0;
  4463. if (code_seen('P'))
  4464. servo_index = code_value();
  4465. if (code_seen('S')) {
  4466. servo_position = code_value();
  4467. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  4468. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4469. servos[servo_index].attach(0);
  4470. #endif
  4471. servos[servo_index].write(servo_position);
  4472. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4473. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  4474. servos[servo_index].detach();
  4475. #endif
  4476. }
  4477. else {
  4478. SERIAL_ECHO_START;
  4479. SERIAL_ECHO("Servo ");
  4480. SERIAL_ECHO(servo_index);
  4481. SERIAL_ECHOLN(" out of range");
  4482. }
  4483. }
  4484. else if (servo_index >= 0) {
  4485. SERIAL_PROTOCOL(MSG_OK);
  4486. SERIAL_PROTOCOL(" Servo ");
  4487. SERIAL_PROTOCOL(servo_index);
  4488. SERIAL_PROTOCOL(": ");
  4489. SERIAL_PROTOCOL(servos[servo_index].read());
  4490. SERIAL_PROTOCOLLN("");
  4491. }
  4492. }
  4493. break;
  4494. #endif // NUM_SERVOS > 0
  4495. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  4496. case 300: // M300
  4497. {
  4498. int beepS = code_seen('S') ? code_value() : 110;
  4499. int beepP = code_seen('P') ? code_value() : 1000;
  4500. if (beepS > 0)
  4501. {
  4502. #if BEEPER > 0
  4503. tone(BEEPER, beepS);
  4504. delay(beepP);
  4505. noTone(BEEPER);
  4506. #elif defined(ULTRALCD)
  4507. lcd_buzz(beepS, beepP);
  4508. #elif defined(LCD_USE_I2C_BUZZER)
  4509. lcd_buzz(beepP, beepS);
  4510. #endif
  4511. }
  4512. else
  4513. {
  4514. delay(beepP);
  4515. }
  4516. }
  4517. break;
  4518. #endif // M300
  4519. #ifdef PIDTEMP
  4520. case 301: // M301
  4521. {
  4522. if(code_seen('P')) Kp = code_value();
  4523. if(code_seen('I')) Ki = scalePID_i(code_value());
  4524. if(code_seen('D')) Kd = scalePID_d(code_value());
  4525. #ifdef PID_ADD_EXTRUSION_RATE
  4526. if(code_seen('C')) Kc = code_value();
  4527. #endif
  4528. updatePID();
  4529. SERIAL_PROTOCOLRPGM(MSG_OK);
  4530. SERIAL_PROTOCOL(" p:");
  4531. SERIAL_PROTOCOL(Kp);
  4532. SERIAL_PROTOCOL(" i:");
  4533. SERIAL_PROTOCOL(unscalePID_i(Ki));
  4534. SERIAL_PROTOCOL(" d:");
  4535. SERIAL_PROTOCOL(unscalePID_d(Kd));
  4536. #ifdef PID_ADD_EXTRUSION_RATE
  4537. SERIAL_PROTOCOL(" c:");
  4538. //Kc does not have scaling applied above, or in resetting defaults
  4539. SERIAL_PROTOCOL(Kc);
  4540. #endif
  4541. SERIAL_PROTOCOLLN("");
  4542. }
  4543. break;
  4544. #endif //PIDTEMP
  4545. #ifdef PIDTEMPBED
  4546. case 304: // M304
  4547. {
  4548. if(code_seen('P')) bedKp = code_value();
  4549. if(code_seen('I')) bedKi = scalePID_i(code_value());
  4550. if(code_seen('D')) bedKd = scalePID_d(code_value());
  4551. updatePID();
  4552. SERIAL_PROTOCOLRPGM(MSG_OK);
  4553. SERIAL_PROTOCOL(" p:");
  4554. SERIAL_PROTOCOL(bedKp);
  4555. SERIAL_PROTOCOL(" i:");
  4556. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  4557. SERIAL_PROTOCOL(" d:");
  4558. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  4559. SERIAL_PROTOCOLLN("");
  4560. }
  4561. break;
  4562. #endif //PIDTEMP
  4563. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  4564. {
  4565. #ifdef CHDK
  4566. SET_OUTPUT(CHDK);
  4567. WRITE(CHDK, HIGH);
  4568. chdkHigh = millis();
  4569. chdkActive = true;
  4570. #else
  4571. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  4572. const uint8_t NUM_PULSES=16;
  4573. const float PULSE_LENGTH=0.01524;
  4574. for(int i=0; i < NUM_PULSES; i++) {
  4575. WRITE(PHOTOGRAPH_PIN, HIGH);
  4576. _delay_ms(PULSE_LENGTH);
  4577. WRITE(PHOTOGRAPH_PIN, LOW);
  4578. _delay_ms(PULSE_LENGTH);
  4579. }
  4580. delay(7.33);
  4581. for(int i=0; i < NUM_PULSES; i++) {
  4582. WRITE(PHOTOGRAPH_PIN, HIGH);
  4583. _delay_ms(PULSE_LENGTH);
  4584. WRITE(PHOTOGRAPH_PIN, LOW);
  4585. _delay_ms(PULSE_LENGTH);
  4586. }
  4587. #endif
  4588. #endif //chdk end if
  4589. }
  4590. break;
  4591. #ifdef DOGLCD
  4592. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  4593. {
  4594. if (code_seen('C')) {
  4595. lcd_setcontrast( ((int)code_value())&63 );
  4596. }
  4597. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4598. SERIAL_PROTOCOL(lcd_contrast);
  4599. SERIAL_PROTOCOLLN("");
  4600. }
  4601. break;
  4602. #endif
  4603. #ifdef PREVENT_DANGEROUS_EXTRUDE
  4604. case 302: // allow cold extrudes, or set the minimum extrude temperature
  4605. {
  4606. float temp = .0;
  4607. if (code_seen('S')) temp=code_value();
  4608. set_extrude_min_temp(temp);
  4609. }
  4610. break;
  4611. #endif
  4612. case 303: // M303 PID autotune
  4613. {
  4614. float temp = 150.0;
  4615. int e=0;
  4616. int c=5;
  4617. if (code_seen('E')) e=code_value();
  4618. if (e<0)
  4619. temp=70;
  4620. if (code_seen('S')) temp=code_value();
  4621. if (code_seen('C')) c=code_value();
  4622. PID_autotune(temp, e, c);
  4623. }
  4624. break;
  4625. case 400: // M400 finish all moves
  4626. {
  4627. st_synchronize();
  4628. }
  4629. break;
  4630. #ifdef FILAMENT_SENSOR
  4631. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  4632. {
  4633. #if (FILWIDTH_PIN > -1)
  4634. if(code_seen('N')) filament_width_nominal=code_value();
  4635. else{
  4636. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  4637. SERIAL_PROTOCOLLN(filament_width_nominal);
  4638. }
  4639. #endif
  4640. }
  4641. break;
  4642. case 405: //M405 Turn on filament sensor for control
  4643. {
  4644. if(code_seen('D')) meas_delay_cm=code_value();
  4645. if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
  4646. meas_delay_cm = MAX_MEASUREMENT_DELAY;
  4647. if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
  4648. {
  4649. int temp_ratio = widthFil_to_size_ratio();
  4650. for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
  4651. measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
  4652. }
  4653. delay_index1=0;
  4654. delay_index2=0;
  4655. }
  4656. filament_sensor = true ;
  4657. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4658. //SERIAL_PROTOCOL(filament_width_meas);
  4659. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  4660. //SERIAL_PROTOCOL(extrudemultiply);
  4661. }
  4662. break;
  4663. case 406: //M406 Turn off filament sensor for control
  4664. {
  4665. filament_sensor = false ;
  4666. }
  4667. break;
  4668. case 407: //M407 Display measured filament diameter
  4669. {
  4670. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4671. SERIAL_PROTOCOLLN(filament_width_meas);
  4672. }
  4673. break;
  4674. #endif
  4675. case 500: // M500 Store settings in EEPROM
  4676. {
  4677. Config_StoreSettings(EEPROM_OFFSET);
  4678. }
  4679. break;
  4680. case 501: // M501 Read settings from EEPROM
  4681. {
  4682. Config_RetrieveSettings(EEPROM_OFFSET);
  4683. }
  4684. break;
  4685. case 502: // M502 Revert to default settings
  4686. {
  4687. Config_ResetDefault();
  4688. }
  4689. break;
  4690. case 503: // M503 print settings currently in memory
  4691. {
  4692. Config_PrintSettings();
  4693. }
  4694. break;
  4695. case 509: //M509 Force language selection
  4696. {
  4697. lcd_force_language_selection();
  4698. SERIAL_ECHO_START;
  4699. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  4700. }
  4701. break;
  4702. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  4703. case 540:
  4704. {
  4705. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  4706. }
  4707. break;
  4708. #endif
  4709. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  4710. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  4711. {
  4712. float value;
  4713. if (code_seen('Z'))
  4714. {
  4715. value = code_value();
  4716. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  4717. {
  4718. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  4719. SERIAL_ECHO_START;
  4720. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  4721. SERIAL_PROTOCOLLN("");
  4722. }
  4723. else
  4724. {
  4725. SERIAL_ECHO_START;
  4726. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  4727. SERIAL_ECHORPGM(MSG_Z_MIN);
  4728. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  4729. SERIAL_ECHORPGM(MSG_Z_MAX);
  4730. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  4731. SERIAL_PROTOCOLLN("");
  4732. }
  4733. }
  4734. else
  4735. {
  4736. SERIAL_ECHO_START;
  4737. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  4738. SERIAL_ECHO(-zprobe_zoffset);
  4739. SERIAL_PROTOCOLLN("");
  4740. }
  4741. break;
  4742. }
  4743. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  4744. #ifdef FILAMENTCHANGEENABLE
  4745. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  4746. {
  4747. bool old_fsensor_enabled = fsensor_enabled;
  4748. fsensor_enabled = false; //temporary solution for unexpected restarting
  4749. st_synchronize();
  4750. float target[4];
  4751. float lastpos[4];
  4752. if (farm_mode)
  4753. {
  4754. prusa_statistics(22);
  4755. }
  4756. feedmultiplyBckp=feedmultiply;
  4757. int8_t TooLowZ = 0;
  4758. float HotendTempBckp = degTargetHotend(active_extruder);
  4759. int fanSpeedBckp = fanSpeed;
  4760. target[X_AXIS]=current_position[X_AXIS];
  4761. target[Y_AXIS]=current_position[Y_AXIS];
  4762. target[Z_AXIS]=current_position[Z_AXIS];
  4763. target[E_AXIS]=current_position[E_AXIS];
  4764. lastpos[X_AXIS]=current_position[X_AXIS];
  4765. lastpos[Y_AXIS]=current_position[Y_AXIS];
  4766. lastpos[Z_AXIS]=current_position[Z_AXIS];
  4767. lastpos[E_AXIS]=current_position[E_AXIS];
  4768. //Restract extruder
  4769. if(code_seen('E'))
  4770. {
  4771. target[E_AXIS]+= code_value();
  4772. }
  4773. else
  4774. {
  4775. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  4776. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  4777. #endif
  4778. }
  4779. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4780. //Lift Z
  4781. if(code_seen('Z'))
  4782. {
  4783. target[Z_AXIS]+= code_value();
  4784. }
  4785. else
  4786. {
  4787. #ifdef FILAMENTCHANGE_ZADD
  4788. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  4789. if(target[Z_AXIS] < 10){
  4790. target[Z_AXIS]+= 10 ;
  4791. TooLowZ = 1;
  4792. }else{
  4793. TooLowZ = 0;
  4794. }
  4795. #endif
  4796. }
  4797. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  4798. //Move XY to side
  4799. if(code_seen('X'))
  4800. {
  4801. target[X_AXIS]+= code_value();
  4802. }
  4803. else
  4804. {
  4805. #ifdef FILAMENTCHANGE_XPOS
  4806. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  4807. #endif
  4808. }
  4809. if(code_seen('Y'))
  4810. {
  4811. target[Y_AXIS]= code_value();
  4812. }
  4813. else
  4814. {
  4815. #ifdef FILAMENTCHANGE_YPOS
  4816. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  4817. #endif
  4818. }
  4819. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  4820. st_synchronize();
  4821. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4822. uint8_t cnt = 0;
  4823. int counterBeep = 0;
  4824. fanSpeed = 0;
  4825. unsigned long waiting_start_time = millis();
  4826. uint8_t wait_for_user_state = 0;
  4827. lcd_display_message_fullscreen_P(MSG_PRESS_TO_UNLOAD);
  4828. while (!(wait_for_user_state == 0 && lcd_clicked())){
  4829. //cnt++;
  4830. manage_heater();
  4831. manage_inactivity(true);
  4832. /*#ifdef SNMM
  4833. target[E_AXIS] += 0.002;
  4834. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4835. #endif // SNMM*/
  4836. //if (cnt == 0)
  4837. {
  4838. #if BEEPER > 0
  4839. if (counterBeep == 500) {
  4840. counterBeep = 0;
  4841. }
  4842. SET_OUTPUT(BEEPER);
  4843. if (counterBeep == 0) {
  4844. WRITE(BEEPER, HIGH);
  4845. }
  4846. if (counterBeep == 20) {
  4847. WRITE(BEEPER, LOW);
  4848. }
  4849. counterBeep++;
  4850. #else
  4851. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  4852. lcd_buzz(1000 / 6, 100);
  4853. #else
  4854. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
  4855. #endif
  4856. #endif
  4857. }
  4858. switch (wait_for_user_state) {
  4859. case 0:
  4860. delay_keep_alive(4);
  4861. if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  4862. lcd_display_message_fullscreen_P(MSG_PRESS_TO_PREHEAT);
  4863. wait_for_user_state = 1;
  4864. setTargetHotend(0, 0);
  4865. setTargetHotend(0, 1);
  4866. setTargetHotend(0, 2);
  4867. st_synchronize();
  4868. disable_e0();
  4869. disable_e1();
  4870. disable_e2();
  4871. }
  4872. break;
  4873. case 1:
  4874. delay_keep_alive(4);
  4875. if (lcd_clicked()) {
  4876. setTargetHotend(HotendTempBckp, active_extruder);
  4877. lcd_wait_for_heater();
  4878. wait_for_user_state = 2;
  4879. }
  4880. break;
  4881. case 2:
  4882. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  4883. lcd_display_message_fullscreen_P(MSG_PRESS_TO_UNLOAD);
  4884. waiting_start_time = millis();
  4885. wait_for_user_state = 0;
  4886. }
  4887. else {
  4888. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  4889. lcd.setCursor(1, 4);
  4890. lcd.print(ftostr3(degHotend(active_extruder)));
  4891. }
  4892. break;
  4893. }
  4894. }
  4895. WRITE(BEEPER, LOW);
  4896. lcd_change_fil_state = 0;
  4897. // Unload filament
  4898. lcd_display_message_fullscreen_P(MSG_UNLOADING_FILAMENT);
  4899. KEEPALIVE_STATE(IN_HANDLER);
  4900. custom_message = true;
  4901. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  4902. if (code_seen('L'))
  4903. {
  4904. target[E_AXIS] += code_value();
  4905. }
  4906. else
  4907. {
  4908. #ifdef SNMM
  4909. #else
  4910. #ifdef FILAMENTCHANGE_FINALRETRACT
  4911. target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  4912. #endif
  4913. #endif // SNMM
  4914. }
  4915. #ifdef SNMM
  4916. target[E_AXIS] += 12;
  4917. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
  4918. target[E_AXIS] += 6;
  4919. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  4920. target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
  4921. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  4922. st_synchronize();
  4923. target[E_AXIS] += (FIL_COOLING);
  4924. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4925. target[E_AXIS] += (FIL_COOLING*-1);
  4926. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4927. target[E_AXIS] += (bowden_length[snmm_extruder] * -1);
  4928. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  4929. st_synchronize();
  4930. #else
  4931. // plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4932. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500 / 60, active_extruder);
  4933. target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
  4934. target[E_AXIS] -= 45;
  4935. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5200 / 60, active_extruder);
  4936. st_synchronize();
  4937. target[E_AXIS] -= 15;
  4938. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
  4939. st_synchronize();
  4940. target[E_AXIS] -= 20;
  4941. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
  4942. st_synchronize();
  4943. #endif // SNMM
  4944. //finish moves
  4945. st_synchronize();
  4946. lcd_display_message_fullscreen_P(MSG_PULL_OUT_FILAMENT);
  4947. //disable extruder steppers so filament can be removed
  4948. disable_e0();
  4949. disable_e1();
  4950. disable_e2();
  4951. delay(100);
  4952. WRITE(BEEPER, HIGH);
  4953. counterBeep = 0;
  4954. while(!lcd_clicked() && (counterBeep < 50)) {
  4955. if(counterBeep > 5) WRITE(BEEPER, LOW);
  4956. delay_keep_alive(100);
  4957. counterBeep++;
  4958. }
  4959. WRITE(BEEPER, LOW);
  4960. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4961. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_UNLOAD_SUCCESSFULL, false, true);
  4962. if (lcd_change_fil_state == 0) lcd_show_fullscreen_message_and_wait_P(MSG_CHECK_IDLER);
  4963. //lcd_return_to_status();
  4964. lcd_update_enable(true);
  4965. //Wait for user to insert filament
  4966. lcd_wait_interact();
  4967. //load_filament_time = millis();
  4968. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4969. #ifdef PAT9125
  4970. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_start();
  4971. #endif //PAT9125
  4972. // printf_P(PSTR("M600 PAT9125 filament_autoload_enabled=%d, old_fsensor_enabled=%d, fsensor_M600=%d"), filament_autoload_enabled, old_fsensor_enabled, fsensor_M600);
  4973. while(!lcd_clicked())
  4974. {
  4975. manage_heater();
  4976. manage_inactivity(true);
  4977. #ifdef PAT9125
  4978. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600) && fsensor_check_autoload())
  4979. {
  4980. tone(BEEPER, 1000);
  4981. delay_keep_alive(50);
  4982. noTone(BEEPER);
  4983. break;
  4984. }
  4985. #endif //PAT9125
  4986. /*#ifdef SNMM
  4987. target[E_AXIS] += 0.002;
  4988. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4989. #endif // SNMM*/
  4990. }
  4991. #ifdef PAT9125
  4992. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_stop();
  4993. #endif //PAT9125
  4994. //WRITE(BEEPER, LOW);
  4995. KEEPALIVE_STATE(IN_HANDLER);
  4996. #ifdef SNMM
  4997. display_loading();
  4998. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4999. do {
  5000. target[E_AXIS] += 0.002;
  5001. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5002. delay_keep_alive(2);
  5003. } while (!lcd_clicked());
  5004. KEEPALIVE_STATE(IN_HANDLER);
  5005. /*if (millis() - load_filament_time > 2) {
  5006. load_filament_time = millis();
  5007. target[E_AXIS] += 0.001;
  5008. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
  5009. }*/
  5010. //Filament inserted
  5011. //Feed the filament to the end of nozzle quickly
  5012. st_synchronize();
  5013. target[E_AXIS] += bowden_length[snmm_extruder];
  5014. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5015. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  5016. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  5017. target[E_AXIS] += 40;
  5018. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  5019. target[E_AXIS] += 10;
  5020. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5021. #else
  5022. target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
  5023. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  5024. #endif // SNMM
  5025. //Extrude some filament
  5026. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5027. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5028. //Wait for user to check the state
  5029. lcd_change_fil_state = 0;
  5030. lcd_loading_filament();
  5031. tone(BEEPER, 500);
  5032. delay_keep_alive(50);
  5033. noTone(BEEPER);
  5034. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  5035. lcd_change_fil_state = 0;
  5036. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5037. lcd_alright();
  5038. KEEPALIVE_STATE(IN_HANDLER);
  5039. switch(lcd_change_fil_state){
  5040. // Filament failed to load so load it again
  5041. case 2:
  5042. #ifdef SNMM
  5043. display_loading();
  5044. do {
  5045. target[E_AXIS] += 0.002;
  5046. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5047. delay_keep_alive(2);
  5048. } while (!lcd_clicked());
  5049. st_synchronize();
  5050. target[E_AXIS] += bowden_length[snmm_extruder];
  5051. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5052. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  5053. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  5054. target[E_AXIS] += 40;
  5055. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  5056. target[E_AXIS] += 10;
  5057. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5058. #else
  5059. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  5060. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  5061. #endif
  5062. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5063. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5064. lcd_loading_filament();
  5065. break;
  5066. // Filament loaded properly but color is not clear
  5067. case 3:
  5068. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5069. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  5070. lcd_loading_color();
  5071. break;
  5072. // Everything good
  5073. default:
  5074. lcd_change_success();
  5075. lcd_update_enable(true);
  5076. break;
  5077. }
  5078. }
  5079. //Not let's go back to print
  5080. fanSpeed = fanSpeedBckp;
  5081. //Feed a little of filament to stabilize pressure
  5082. target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
  5083. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5084. //Retract
  5085. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  5086. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5087. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  5088. //Move XY back
  5089. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5090. //Move Z back
  5091. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5092. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  5093. //Unretract
  5094. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5095. //Set E position to original
  5096. plan_set_e_position(lastpos[E_AXIS]);
  5097. //Recover feed rate
  5098. feedmultiply=feedmultiplyBckp;
  5099. char cmd[9];
  5100. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  5101. enquecommand(cmd);
  5102. lcd_setstatuspgm(WELCOME_MSG);
  5103. custom_message = false;
  5104. custom_message_type = 0;
  5105. fsensor_enabled = old_fsensor_enabled; //temporary solution for unexpected restarting
  5106. #ifdef PAT9125
  5107. if (fsensor_M600)
  5108. {
  5109. cmdqueue_pop_front(); //hack because M600 repeated 2x when enqueued to front
  5110. st_synchronize();
  5111. while (!is_buffer_empty())
  5112. {
  5113. process_commands();
  5114. cmdqueue_pop_front();
  5115. }
  5116. fsensor_enable();
  5117. fsensor_restore_print_and_continue();
  5118. }
  5119. #endif //PAT9125
  5120. }
  5121. break;
  5122. #endif //FILAMENTCHANGEENABLE
  5123. case 601: {
  5124. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  5125. }
  5126. break;
  5127. case 602: {
  5128. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  5129. }
  5130. break;
  5131. #ifdef LIN_ADVANCE
  5132. case 900: // M900: Set LIN_ADVANCE options.
  5133. gcode_M900();
  5134. break;
  5135. #endif
  5136. case 907: // M907 Set digital trimpot motor current using axis codes.
  5137. {
  5138. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5139. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
  5140. if(code_seen('B')) digipot_current(4,code_value());
  5141. if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
  5142. #endif
  5143. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  5144. if(code_seen('X')) digipot_current(0, code_value());
  5145. #endif
  5146. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  5147. if(code_seen('Z')) digipot_current(1, code_value());
  5148. #endif
  5149. #ifdef MOTOR_CURRENT_PWM_E_PIN
  5150. if(code_seen('E')) digipot_current(2, code_value());
  5151. #endif
  5152. #ifdef DIGIPOT_I2C
  5153. // this one uses actual amps in floating point
  5154. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
  5155. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  5156. for(int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
  5157. #endif
  5158. }
  5159. break;
  5160. case 908: // M908 Control digital trimpot directly.
  5161. {
  5162. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5163. uint8_t channel,current;
  5164. if(code_seen('P')) channel=code_value();
  5165. if(code_seen('S')) current=code_value();
  5166. digitalPotWrite(channel, current);
  5167. #endif
  5168. }
  5169. break;
  5170. case 910: // M910 TMC2130 init
  5171. {
  5172. tmc2130_init();
  5173. }
  5174. break;
  5175. case 911: // M911 Set TMC2130 holding currents
  5176. {
  5177. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  5178. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  5179. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  5180. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  5181. }
  5182. break;
  5183. case 912: // M912 Set TMC2130 running currents
  5184. {
  5185. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  5186. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  5187. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  5188. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  5189. }
  5190. break;
  5191. case 913: // M913 Print TMC2130 currents
  5192. {
  5193. tmc2130_print_currents();
  5194. }
  5195. break;
  5196. case 914: // M914 Set normal mode
  5197. {
  5198. tmc2130_mode = TMC2130_MODE_NORMAL;
  5199. tmc2130_init();
  5200. }
  5201. break;
  5202. case 915: // M915 Set silent mode
  5203. {
  5204. tmc2130_mode = TMC2130_MODE_SILENT;
  5205. tmc2130_init();
  5206. }
  5207. break;
  5208. case 916: // M916 Set sg_thrs
  5209. {
  5210. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  5211. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  5212. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  5213. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  5214. MYSERIAL.print("tmc2130_sg_thr[X]=");
  5215. MYSERIAL.println(tmc2130_sg_thr[X_AXIS], DEC);
  5216. MYSERIAL.print("tmc2130_sg_thr[Y]=");
  5217. MYSERIAL.println(tmc2130_sg_thr[Y_AXIS], DEC);
  5218. MYSERIAL.print("tmc2130_sg_thr[Z]=");
  5219. MYSERIAL.println(tmc2130_sg_thr[Z_AXIS], DEC);
  5220. MYSERIAL.print("tmc2130_sg_thr[E]=");
  5221. MYSERIAL.println(tmc2130_sg_thr[E_AXIS], DEC);
  5222. }
  5223. break;
  5224. case 917: // M917 Set TMC2130 pwm_ampl
  5225. {
  5226. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  5227. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  5228. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  5229. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  5230. }
  5231. break;
  5232. case 918: // M918 Set TMC2130 pwm_grad
  5233. {
  5234. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  5235. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  5236. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  5237. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  5238. }
  5239. break;
  5240. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5241. {
  5242. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5243. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  5244. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  5245. if(code_seen('B')) microstep_mode(4,code_value());
  5246. microstep_readings();
  5247. #endif
  5248. }
  5249. break;
  5250. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  5251. {
  5252. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5253. if(code_seen('S')) switch((int)code_value())
  5254. {
  5255. case 1:
  5256. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  5257. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  5258. break;
  5259. case 2:
  5260. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  5261. if(code_seen('B')) microstep_ms(4,-1,code_value());
  5262. break;
  5263. }
  5264. microstep_readings();
  5265. #endif
  5266. }
  5267. break;
  5268. case 701: //M701: load filament
  5269. {
  5270. gcode_M701();
  5271. }
  5272. break;
  5273. case 702:
  5274. {
  5275. #ifdef SNMM
  5276. if (code_seen('U')) {
  5277. extr_unload_used(); //unload all filaments which were used in current print
  5278. }
  5279. else if (code_seen('C')) {
  5280. extr_unload(); //unload just current filament
  5281. }
  5282. else {
  5283. extr_unload_all(); //unload all filaments
  5284. }
  5285. #else
  5286. bool old_fsensor_enabled = fsensor_enabled;
  5287. fsensor_enabled = false;
  5288. custom_message = true;
  5289. custom_message_type = 2;
  5290. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  5291. // extr_unload2();
  5292. current_position[E_AXIS] -= 45;
  5293. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
  5294. st_synchronize();
  5295. current_position[E_AXIS] -= 15;
  5296. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  5297. st_synchronize();
  5298. current_position[E_AXIS] -= 20;
  5299. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  5300. st_synchronize();
  5301. lcd_display_message_fullscreen_P(MSG_PULL_OUT_FILAMENT);
  5302. //disable extruder steppers so filament can be removed
  5303. disable_e0();
  5304. disable_e1();
  5305. disable_e2();
  5306. delay(100);
  5307. WRITE(BEEPER, HIGH);
  5308. uint8_t counterBeep = 0;
  5309. while (!lcd_clicked() && (counterBeep < 50)) {
  5310. if (counterBeep > 5) WRITE(BEEPER, LOW);
  5311. delay_keep_alive(100);
  5312. counterBeep++;
  5313. }
  5314. WRITE(BEEPER, LOW);
  5315. st_synchronize();
  5316. while (lcd_clicked()) delay_keep_alive(100);
  5317. lcd_update_enable(true);
  5318. lcd_setstatuspgm(WELCOME_MSG);
  5319. custom_message = false;
  5320. custom_message_type = 0;
  5321. fsensor_enabled = old_fsensor_enabled;
  5322. #endif
  5323. }
  5324. break;
  5325. case 999: // M999: Restart after being stopped
  5326. Stopped = false;
  5327. lcd_reset_alert_level();
  5328. gcode_LastN = Stopped_gcode_LastN;
  5329. FlushSerialRequestResend();
  5330. break;
  5331. default: SERIAL_ECHOLNPGM("Invalid M code.");
  5332. }
  5333. } // end if(code_seen('M')) (end of M codes)
  5334. else if(code_seen('T'))
  5335. {
  5336. int index;
  5337. st_synchronize();
  5338. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  5339. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
  5340. SERIAL_ECHOLNPGM("Invalid T code.");
  5341. }
  5342. else {
  5343. if (*(strchr_pointer + index) == '?') {
  5344. tmp_extruder = choose_extruder_menu();
  5345. }
  5346. else {
  5347. tmp_extruder = code_value();
  5348. }
  5349. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  5350. #ifdef SNMM
  5351. #ifdef LIN_ADVANCE
  5352. if (snmm_extruder != tmp_extruder)
  5353. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  5354. #endif
  5355. snmm_extruder = tmp_extruder;
  5356. delay(100);
  5357. disable_e0();
  5358. disable_e1();
  5359. disable_e2();
  5360. pinMode(E_MUX0_PIN, OUTPUT);
  5361. pinMode(E_MUX1_PIN, OUTPUT);
  5362. pinMode(E_MUX2_PIN, OUTPUT);
  5363. delay(100);
  5364. SERIAL_ECHO_START;
  5365. SERIAL_ECHO("T:");
  5366. SERIAL_ECHOLN((int)tmp_extruder);
  5367. switch (tmp_extruder) {
  5368. case 1:
  5369. WRITE(E_MUX0_PIN, HIGH);
  5370. WRITE(E_MUX1_PIN, LOW);
  5371. WRITE(E_MUX2_PIN, LOW);
  5372. break;
  5373. case 2:
  5374. WRITE(E_MUX0_PIN, LOW);
  5375. WRITE(E_MUX1_PIN, HIGH);
  5376. WRITE(E_MUX2_PIN, LOW);
  5377. break;
  5378. case 3:
  5379. WRITE(E_MUX0_PIN, HIGH);
  5380. WRITE(E_MUX1_PIN, HIGH);
  5381. WRITE(E_MUX2_PIN, LOW);
  5382. break;
  5383. default:
  5384. WRITE(E_MUX0_PIN, LOW);
  5385. WRITE(E_MUX1_PIN, LOW);
  5386. WRITE(E_MUX2_PIN, LOW);
  5387. break;
  5388. }
  5389. delay(100);
  5390. #else
  5391. if (tmp_extruder >= EXTRUDERS) {
  5392. SERIAL_ECHO_START;
  5393. SERIAL_ECHOPGM("T");
  5394. SERIAL_PROTOCOLLN((int)tmp_extruder);
  5395. SERIAL_ECHOLNRPGM(MSG_INVALID_EXTRUDER);
  5396. }
  5397. else {
  5398. boolean make_move = false;
  5399. if (code_seen('F')) {
  5400. make_move = true;
  5401. next_feedrate = code_value();
  5402. if (next_feedrate > 0.0) {
  5403. feedrate = next_feedrate;
  5404. }
  5405. }
  5406. #if EXTRUDERS > 1
  5407. if (tmp_extruder != active_extruder) {
  5408. // Save current position to return to after applying extruder offset
  5409. memcpy(destination, current_position, sizeof(destination));
  5410. // Offset extruder (only by XY)
  5411. int i;
  5412. for (i = 0; i < 2; i++) {
  5413. current_position[i] = current_position[i] -
  5414. extruder_offset[i][active_extruder] +
  5415. extruder_offset[i][tmp_extruder];
  5416. }
  5417. // Set the new active extruder and position
  5418. active_extruder = tmp_extruder;
  5419. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  5420. // Move to the old position if 'F' was in the parameters
  5421. if (make_move && Stopped == false) {
  5422. prepare_move();
  5423. }
  5424. }
  5425. #endif
  5426. SERIAL_ECHO_START;
  5427. SERIAL_ECHORPGM(MSG_ACTIVE_EXTRUDER);
  5428. SERIAL_PROTOCOLLN((int)active_extruder);
  5429. }
  5430. #endif
  5431. }
  5432. } // end if(code_seen('T')) (end of T codes)
  5433. #ifdef DEBUG_DCODES
  5434. else if (code_seen('D')) // D codes (debug)
  5435. {
  5436. switch((int)code_value())
  5437. {
  5438. case -1: // D-1 - Endless loop
  5439. dcode__1(); break;
  5440. case 0: // D0 - Reset
  5441. dcode_0(); break;
  5442. case 1: // D1 - Clear EEPROM
  5443. dcode_1(); break;
  5444. case 2: // D2 - Read/Write RAM
  5445. dcode_2(); break;
  5446. case 3: // D3 - Read/Write EEPROM
  5447. dcode_3(); break;
  5448. case 4: // D4 - Read/Write PIN
  5449. dcode_4(); break;
  5450. case 5: // D5 - Read/Write FLASH
  5451. // dcode_5(); break;
  5452. break;
  5453. case 6: // D6 - Read/Write external FLASH
  5454. dcode_6(); break;
  5455. case 7: // D7 - Read/Write Bootloader
  5456. dcode_7(); break;
  5457. case 8: // D8 - Read/Write PINDA
  5458. dcode_8(); break;
  5459. case 9: // D9 - Read/Write ADC
  5460. dcode_9(); break;
  5461. case 10: // D10 - XYZ calibration = OK
  5462. dcode_10(); break;
  5463. case 12: //D12 - Reset failstat counters
  5464. dcode_12(); break;
  5465. case 2130: // D9125 - TMC2130
  5466. dcode_2130(); break;
  5467. case 9125: // D9125 - PAT9125
  5468. dcode_9125(); break;
  5469. }
  5470. }
  5471. #endif //DEBUG_DCODES
  5472. else
  5473. {
  5474. SERIAL_ECHO_START;
  5475. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5476. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5477. SERIAL_ECHOLNPGM("\"(2)");
  5478. }
  5479. KEEPALIVE_STATE(NOT_BUSY);
  5480. ClearToSend();
  5481. }
  5482. void FlushSerialRequestResend()
  5483. {
  5484. //char cmdbuffer[bufindr][100]="Resend:";
  5485. MYSERIAL.flush();
  5486. SERIAL_PROTOCOLRPGM(MSG_RESEND);
  5487. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  5488. previous_millis_cmd = millis();
  5489. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  5490. }
  5491. // Confirm the execution of a command, if sent from a serial line.
  5492. // Execution of a command from a SD card will not be confirmed.
  5493. void ClearToSend()
  5494. {
  5495. previous_millis_cmd = millis();
  5496. if (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB)
  5497. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  5498. }
  5499. void get_coordinates()
  5500. {
  5501. bool seen[4]={false,false,false,false};
  5502. for(int8_t i=0; i < NUM_AXIS; i++) {
  5503. if(code_seen(axis_codes[i]))
  5504. {
  5505. destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
  5506. seen[i]=true;
  5507. }
  5508. else destination[i] = current_position[i]; //Are these else lines really needed?
  5509. }
  5510. if(code_seen('F')) {
  5511. next_feedrate = code_value();
  5512. #ifdef MAX_SILENT_FEEDRATE
  5513. if (tmc2130_mode == TMC2130_MODE_SILENT)
  5514. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  5515. #endif //MAX_SILENT_FEEDRATE
  5516. if(next_feedrate > 0.0) feedrate = next_feedrate;
  5517. }
  5518. }
  5519. void get_arc_coordinates()
  5520. {
  5521. #ifdef SF_ARC_FIX
  5522. bool relative_mode_backup = relative_mode;
  5523. relative_mode = true;
  5524. #endif
  5525. get_coordinates();
  5526. #ifdef SF_ARC_FIX
  5527. relative_mode=relative_mode_backup;
  5528. #endif
  5529. if(code_seen('I')) {
  5530. offset[0] = code_value();
  5531. }
  5532. else {
  5533. offset[0] = 0.0;
  5534. }
  5535. if(code_seen('J')) {
  5536. offset[1] = code_value();
  5537. }
  5538. else {
  5539. offset[1] = 0.0;
  5540. }
  5541. }
  5542. void clamp_to_software_endstops(float target[3])
  5543. {
  5544. #ifdef DEBUG_DISABLE_SWLIMITS
  5545. return;
  5546. #endif //DEBUG_DISABLE_SWLIMITS
  5547. world2machine_clamp(target[0], target[1]);
  5548. // Clamp the Z coordinate.
  5549. if (min_software_endstops) {
  5550. float negative_z_offset = 0;
  5551. #ifdef ENABLE_AUTO_BED_LEVELING
  5552. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  5553. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  5554. #endif
  5555. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  5556. }
  5557. if (max_software_endstops) {
  5558. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  5559. }
  5560. }
  5561. #ifdef MESH_BED_LEVELING
  5562. 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) {
  5563. float dx = x - current_position[X_AXIS];
  5564. float dy = y - current_position[Y_AXIS];
  5565. float dz = z - current_position[Z_AXIS];
  5566. int n_segments = 0;
  5567. if (mbl.active) {
  5568. float len = abs(dx) + abs(dy);
  5569. if (len > 0)
  5570. // Split to 3cm segments or shorter.
  5571. n_segments = int(ceil(len / 30.f));
  5572. }
  5573. if (n_segments > 1) {
  5574. float de = e - current_position[E_AXIS];
  5575. for (int i = 1; i < n_segments; ++ i) {
  5576. float t = float(i) / float(n_segments);
  5577. plan_buffer_line(
  5578. current_position[X_AXIS] + t * dx,
  5579. current_position[Y_AXIS] + t * dy,
  5580. current_position[Z_AXIS] + t * dz,
  5581. current_position[E_AXIS] + t * de,
  5582. feed_rate, extruder);
  5583. }
  5584. }
  5585. // The rest of the path.
  5586. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  5587. current_position[X_AXIS] = x;
  5588. current_position[Y_AXIS] = y;
  5589. current_position[Z_AXIS] = z;
  5590. current_position[E_AXIS] = e;
  5591. }
  5592. #endif // MESH_BED_LEVELING
  5593. void prepare_move()
  5594. {
  5595. clamp_to_software_endstops(destination);
  5596. previous_millis_cmd = millis();
  5597. // Do not use feedmultiply for E or Z only moves
  5598. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  5599. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  5600. }
  5601. else {
  5602. #ifdef MESH_BED_LEVELING
  5603. 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);
  5604. #else
  5605. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  5606. #endif
  5607. }
  5608. for(int8_t i=0; i < NUM_AXIS; i++) {
  5609. current_position[i] = destination[i];
  5610. }
  5611. }
  5612. void prepare_arc_move(char isclockwise) {
  5613. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  5614. // Trace the arc
  5615. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  5616. // As far as the parser is concerned, the position is now == target. In reality the
  5617. // motion control system might still be processing the action and the real tool position
  5618. // in any intermediate location.
  5619. for(int8_t i=0; i < NUM_AXIS; i++) {
  5620. current_position[i] = destination[i];
  5621. }
  5622. previous_millis_cmd = millis();
  5623. }
  5624. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  5625. #if defined(FAN_PIN)
  5626. #if CONTROLLERFAN_PIN == FAN_PIN
  5627. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  5628. #endif
  5629. #endif
  5630. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  5631. unsigned long lastMotorCheck = 0;
  5632. void controllerFan()
  5633. {
  5634. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  5635. {
  5636. lastMotorCheck = millis();
  5637. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  5638. #if EXTRUDERS > 2
  5639. || !READ(E2_ENABLE_PIN)
  5640. #endif
  5641. #if EXTRUDER > 1
  5642. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  5643. || !READ(X2_ENABLE_PIN)
  5644. #endif
  5645. || !READ(E1_ENABLE_PIN)
  5646. #endif
  5647. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  5648. {
  5649. lastMotor = millis(); //... set time to NOW so the fan will turn on
  5650. }
  5651. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  5652. {
  5653. digitalWrite(CONTROLLERFAN_PIN, 0);
  5654. analogWrite(CONTROLLERFAN_PIN, 0);
  5655. }
  5656. else
  5657. {
  5658. // allows digital or PWM fan output to be used (see M42 handling)
  5659. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  5660. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  5661. }
  5662. }
  5663. }
  5664. #endif
  5665. #ifdef TEMP_STAT_LEDS
  5666. static bool blue_led = false;
  5667. static bool red_led = false;
  5668. static uint32_t stat_update = 0;
  5669. void handle_status_leds(void) {
  5670. float max_temp = 0.0;
  5671. if(millis() > stat_update) {
  5672. stat_update += 500; // Update every 0.5s
  5673. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  5674. max_temp = max(max_temp, degHotend(cur_extruder));
  5675. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  5676. }
  5677. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5678. max_temp = max(max_temp, degTargetBed());
  5679. max_temp = max(max_temp, degBed());
  5680. #endif
  5681. if((max_temp > 55.0) && (red_led == false)) {
  5682. digitalWrite(STAT_LED_RED, 1);
  5683. digitalWrite(STAT_LED_BLUE, 0);
  5684. red_led = true;
  5685. blue_led = false;
  5686. }
  5687. if((max_temp < 54.0) && (blue_led == false)) {
  5688. digitalWrite(STAT_LED_RED, 0);
  5689. digitalWrite(STAT_LED_BLUE, 1);
  5690. red_led = false;
  5691. blue_led = true;
  5692. }
  5693. }
  5694. }
  5695. #endif
  5696. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  5697. {
  5698. if (fsensor_enabled && filament_autoload_enabled && !fsensor_M600 && !moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
  5699. {
  5700. if (fsensor_autoload_enabled)
  5701. {
  5702. if (fsensor_check_autoload())
  5703. {
  5704. if (degHotend0() > EXTRUDE_MINTEMP)
  5705. {
  5706. fsensor_autoload_check_stop();
  5707. tone(BEEPER, 1000);
  5708. delay_keep_alive(50);
  5709. noTone(BEEPER);
  5710. loading_flag = true;
  5711. enquecommand_front_P((PSTR("M701")));
  5712. }
  5713. else
  5714. {
  5715. lcd_update_enable(false);
  5716. lcd_implementation_clear();
  5717. lcd.setCursor(0, 0);
  5718. lcd_printPGM(MSG_ERROR);
  5719. lcd.setCursor(0, 2);
  5720. lcd_printPGM(MSG_PREHEAT_NOZZLE);
  5721. delay(2000);
  5722. lcd_implementation_clear();
  5723. lcd_update_enable(true);
  5724. }
  5725. }
  5726. }
  5727. else
  5728. fsensor_autoload_check_start();
  5729. }
  5730. else
  5731. if (fsensor_autoload_enabled)
  5732. fsensor_autoload_check_stop();
  5733. #if defined(KILL_PIN) && KILL_PIN > -1
  5734. static int killCount = 0; // make the inactivity button a bit less responsive
  5735. const int KILL_DELAY = 10000;
  5736. #endif
  5737. if(buflen < (BUFSIZE-1)){
  5738. get_command();
  5739. }
  5740. if( (millis() - previous_millis_cmd) > max_inactive_time )
  5741. if(max_inactive_time)
  5742. kill("", 4);
  5743. if(stepper_inactive_time) {
  5744. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  5745. {
  5746. if(blocks_queued() == false && ignore_stepper_queue == false) {
  5747. disable_x();
  5748. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  5749. disable_y();
  5750. disable_z();
  5751. disable_e0();
  5752. disable_e1();
  5753. disable_e2();
  5754. }
  5755. }
  5756. }
  5757. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  5758. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  5759. {
  5760. chdkActive = false;
  5761. WRITE(CHDK, LOW);
  5762. }
  5763. #endif
  5764. #if defined(KILL_PIN) && KILL_PIN > -1
  5765. // Check if the kill button was pressed and wait just in case it was an accidental
  5766. // key kill key press
  5767. // -------------------------------------------------------------------------------
  5768. if( 0 == READ(KILL_PIN) )
  5769. {
  5770. killCount++;
  5771. }
  5772. else if (killCount > 0)
  5773. {
  5774. killCount--;
  5775. }
  5776. // Exceeded threshold and we can confirm that it was not accidental
  5777. // KILL the machine
  5778. // ----------------------------------------------------------------
  5779. if ( killCount >= KILL_DELAY)
  5780. {
  5781. kill("", 5);
  5782. }
  5783. #endif
  5784. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  5785. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  5786. #endif
  5787. #ifdef EXTRUDER_RUNOUT_PREVENT
  5788. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  5789. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  5790. {
  5791. bool oldstatus=READ(E0_ENABLE_PIN);
  5792. enable_e0();
  5793. float oldepos=current_position[E_AXIS];
  5794. float oldedes=destination[E_AXIS];
  5795. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  5796. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  5797. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  5798. current_position[E_AXIS]=oldepos;
  5799. destination[E_AXIS]=oldedes;
  5800. plan_set_e_position(oldepos);
  5801. previous_millis_cmd=millis();
  5802. st_synchronize();
  5803. WRITE(E0_ENABLE_PIN,oldstatus);
  5804. }
  5805. #endif
  5806. #ifdef TEMP_STAT_LEDS
  5807. handle_status_leds();
  5808. #endif
  5809. check_axes_activity();
  5810. }
  5811. void kill(const char *full_screen_message, unsigned char id)
  5812. {
  5813. SERIAL_ECHOPGM("KILL: ");
  5814. MYSERIAL.println(int(id));
  5815. //return;
  5816. cli(); // Stop interrupts
  5817. disable_heater();
  5818. disable_x();
  5819. // SERIAL_ECHOLNPGM("kill - disable Y");
  5820. disable_y();
  5821. disable_z();
  5822. disable_e0();
  5823. disable_e1();
  5824. disable_e2();
  5825. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  5826. pinMode(PS_ON_PIN,INPUT);
  5827. #endif
  5828. SERIAL_ERROR_START;
  5829. SERIAL_ERRORLNRPGM(MSG_ERR_KILLED);
  5830. if (full_screen_message != NULL) {
  5831. SERIAL_ERRORLNRPGM(full_screen_message);
  5832. lcd_display_message_fullscreen_P(full_screen_message);
  5833. } else {
  5834. LCD_ALERTMESSAGERPGM(MSG_KILLED);
  5835. }
  5836. // FMC small patch to update the LCD before ending
  5837. sei(); // enable interrupts
  5838. for ( int i=5; i--; lcd_update())
  5839. {
  5840. delay(200);
  5841. }
  5842. cli(); // disable interrupts
  5843. suicide();
  5844. while(1)
  5845. {
  5846. wdt_reset();
  5847. /* Intentionally left empty */
  5848. } // Wait for reset
  5849. }
  5850. void Stop()
  5851. {
  5852. disable_heater();
  5853. if(Stopped == false) {
  5854. Stopped = true;
  5855. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  5856. SERIAL_ERROR_START;
  5857. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  5858. LCD_MESSAGERPGM(MSG_STOPPED);
  5859. }
  5860. }
  5861. bool IsStopped() { return Stopped; };
  5862. #ifdef FAST_PWM_FAN
  5863. void setPwmFrequency(uint8_t pin, int val)
  5864. {
  5865. val &= 0x07;
  5866. switch(digitalPinToTimer(pin))
  5867. {
  5868. #if defined(TCCR0A)
  5869. case TIMER0A:
  5870. case TIMER0B:
  5871. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  5872. // TCCR0B |= val;
  5873. break;
  5874. #endif
  5875. #if defined(TCCR1A)
  5876. case TIMER1A:
  5877. case TIMER1B:
  5878. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  5879. // TCCR1B |= val;
  5880. break;
  5881. #endif
  5882. #if defined(TCCR2)
  5883. case TIMER2:
  5884. case TIMER2:
  5885. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  5886. TCCR2 |= val;
  5887. break;
  5888. #endif
  5889. #if defined(TCCR2A)
  5890. case TIMER2A:
  5891. case TIMER2B:
  5892. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  5893. TCCR2B |= val;
  5894. break;
  5895. #endif
  5896. #if defined(TCCR3A)
  5897. case TIMER3A:
  5898. case TIMER3B:
  5899. case TIMER3C:
  5900. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  5901. TCCR3B |= val;
  5902. break;
  5903. #endif
  5904. #if defined(TCCR4A)
  5905. case TIMER4A:
  5906. case TIMER4B:
  5907. case TIMER4C:
  5908. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  5909. TCCR4B |= val;
  5910. break;
  5911. #endif
  5912. #if defined(TCCR5A)
  5913. case TIMER5A:
  5914. case TIMER5B:
  5915. case TIMER5C:
  5916. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  5917. TCCR5B |= val;
  5918. break;
  5919. #endif
  5920. }
  5921. }
  5922. #endif //FAST_PWM_FAN
  5923. bool setTargetedHotend(int code){
  5924. tmp_extruder = active_extruder;
  5925. if(code_seen('T')) {
  5926. tmp_extruder = code_value();
  5927. if(tmp_extruder >= EXTRUDERS) {
  5928. SERIAL_ECHO_START;
  5929. switch(code){
  5930. case 104:
  5931. SERIAL_ECHORPGM(MSG_M104_INVALID_EXTRUDER);
  5932. break;
  5933. case 105:
  5934. SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
  5935. break;
  5936. case 109:
  5937. SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
  5938. break;
  5939. case 218:
  5940. SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
  5941. break;
  5942. case 221:
  5943. SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
  5944. break;
  5945. }
  5946. SERIAL_PROTOCOLLN((int)tmp_extruder);
  5947. return true;
  5948. }
  5949. }
  5950. return false;
  5951. }
  5952. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  5953. {
  5954. 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)
  5955. {
  5956. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  5957. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  5958. }
  5959. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  5960. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  5961. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  5962. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  5963. total_filament_used = 0;
  5964. }
  5965. float calculate_volumetric_multiplier(float diameter) {
  5966. float area = .0;
  5967. float radius = .0;
  5968. radius = diameter * .5;
  5969. if (! volumetric_enabled || radius == 0) {
  5970. area = 1;
  5971. }
  5972. else {
  5973. area = M_PI * pow(radius, 2);
  5974. }
  5975. return 1.0 / area;
  5976. }
  5977. void calculate_volumetric_multipliers() {
  5978. volumetric_multiplier[0] = calculate_volumetric_multiplier(filament_size[0]);
  5979. #if EXTRUDERS > 1
  5980. volumetric_multiplier[1] = calculate_volumetric_multiplier(filament_size[1]);
  5981. #if EXTRUDERS > 2
  5982. volumetric_multiplier[2] = calculate_volumetric_multiplier(filament_size[2]);
  5983. #endif
  5984. #endif
  5985. }
  5986. void delay_keep_alive(unsigned int ms)
  5987. {
  5988. for (;;) {
  5989. manage_heater();
  5990. // Manage inactivity, but don't disable steppers on timeout.
  5991. manage_inactivity(true);
  5992. lcd_update();
  5993. if (ms == 0)
  5994. break;
  5995. else if (ms >= 50) {
  5996. delay(50);
  5997. ms -= 50;
  5998. } else {
  5999. delay(ms);
  6000. ms = 0;
  6001. }
  6002. }
  6003. }
  6004. void wait_for_heater(long codenum) {
  6005. #ifdef TEMP_RESIDENCY_TIME
  6006. long residencyStart;
  6007. residencyStart = -1;
  6008. /* continue to loop until we have reached the target temp
  6009. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  6010. while ((!cancel_heatup) && ((residencyStart == -1) ||
  6011. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  6012. #else
  6013. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  6014. #endif //TEMP_RESIDENCY_TIME
  6015. if ((millis() - codenum) > 1000UL)
  6016. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  6017. if (!farm_mode) {
  6018. SERIAL_PROTOCOLPGM("T:");
  6019. SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
  6020. SERIAL_PROTOCOLPGM(" E:");
  6021. SERIAL_PROTOCOL((int)tmp_extruder);
  6022. #ifdef TEMP_RESIDENCY_TIME
  6023. SERIAL_PROTOCOLPGM(" W:");
  6024. if (residencyStart > -1)
  6025. {
  6026. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  6027. SERIAL_PROTOCOLLN(codenum);
  6028. }
  6029. else
  6030. {
  6031. SERIAL_PROTOCOLLN("?");
  6032. }
  6033. }
  6034. #else
  6035. SERIAL_PROTOCOLLN("");
  6036. #endif
  6037. codenum = millis();
  6038. }
  6039. manage_heater();
  6040. manage_inactivity();
  6041. lcd_update();
  6042. #ifdef TEMP_RESIDENCY_TIME
  6043. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  6044. or when current temp falls outside the hysteresis after target temp was reached */
  6045. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
  6046. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
  6047. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
  6048. {
  6049. residencyStart = millis();
  6050. }
  6051. #endif //TEMP_RESIDENCY_TIME
  6052. }
  6053. }
  6054. void check_babystep() {
  6055. int babystep_z;
  6056. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6057. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  6058. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  6059. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  6060. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6061. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  6062. lcd_update_enable(true);
  6063. }
  6064. }
  6065. #ifdef DIS
  6066. void d_setup()
  6067. {
  6068. pinMode(D_DATACLOCK, INPUT_PULLUP);
  6069. pinMode(D_DATA, INPUT_PULLUP);
  6070. pinMode(D_REQUIRE, OUTPUT);
  6071. digitalWrite(D_REQUIRE, HIGH);
  6072. }
  6073. float d_ReadData()
  6074. {
  6075. int digit[13];
  6076. String mergeOutput;
  6077. float output;
  6078. digitalWrite(D_REQUIRE, HIGH);
  6079. for (int i = 0; i<13; i++)
  6080. {
  6081. for (int j = 0; j < 4; j++)
  6082. {
  6083. while (digitalRead(D_DATACLOCK) == LOW) {}
  6084. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6085. bitWrite(digit[i], j, digitalRead(D_DATA));
  6086. }
  6087. }
  6088. digitalWrite(D_REQUIRE, LOW);
  6089. mergeOutput = "";
  6090. output = 0;
  6091. for (int r = 5; r <= 10; r++) //Merge digits
  6092. {
  6093. mergeOutput += digit[r];
  6094. }
  6095. output = mergeOutput.toFloat();
  6096. if (digit[4] == 8) //Handle sign
  6097. {
  6098. output *= -1;
  6099. }
  6100. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6101. {
  6102. output /= 10;
  6103. }
  6104. return output;
  6105. }
  6106. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  6107. int t1 = 0;
  6108. int t_delay = 0;
  6109. int digit[13];
  6110. int m;
  6111. char str[3];
  6112. //String mergeOutput;
  6113. char mergeOutput[15];
  6114. float output;
  6115. int mesh_point = 0; //index number of calibration point
  6116. 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
  6117. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  6118. float mesh_home_z_search = 4;
  6119. float row[x_points_num];
  6120. int ix = 0;
  6121. int iy = 0;
  6122. char* filename_wldsd = "wldsd.txt";
  6123. char data_wldsd[70];
  6124. char numb_wldsd[10];
  6125. d_setup();
  6126. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  6127. // We don't know where we are! HOME!
  6128. // Push the commands to the front of the message queue in the reverse order!
  6129. // There shall be always enough space reserved for these commands.
  6130. repeatcommand_front(); // repeat G80 with all its parameters
  6131. enquecommand_front_P((PSTR("G28 W0")));
  6132. enquecommand_front_P((PSTR("G1 Z5")));
  6133. return;
  6134. }
  6135. bool custom_message_old = custom_message;
  6136. unsigned int custom_message_type_old = custom_message_type;
  6137. unsigned int custom_message_state_old = custom_message_state;
  6138. custom_message = true;
  6139. custom_message_type = 1;
  6140. custom_message_state = (x_points_num * y_points_num) + 10;
  6141. lcd_update(1);
  6142. mbl.reset();
  6143. babystep_undo();
  6144. card.openFile(filename_wldsd, false);
  6145. current_position[Z_AXIS] = mesh_home_z_search;
  6146. 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);
  6147. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  6148. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  6149. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  6150. setup_for_endstop_move(false);
  6151. SERIAL_PROTOCOLPGM("Num X,Y: ");
  6152. SERIAL_PROTOCOL(x_points_num);
  6153. SERIAL_PROTOCOLPGM(",");
  6154. SERIAL_PROTOCOL(y_points_num);
  6155. SERIAL_PROTOCOLPGM("\nZ search height: ");
  6156. SERIAL_PROTOCOL(mesh_home_z_search);
  6157. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  6158. SERIAL_PROTOCOL(x_dimension);
  6159. SERIAL_PROTOCOLPGM(",");
  6160. SERIAL_PROTOCOL(y_dimension);
  6161. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  6162. while (mesh_point != x_points_num * y_points_num) {
  6163. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  6164. iy = mesh_point / x_points_num;
  6165. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  6166. float z0 = 0.f;
  6167. current_position[Z_AXIS] = mesh_home_z_search;
  6168. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  6169. st_synchronize();
  6170. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  6171. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  6172. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  6173. st_synchronize();
  6174. 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
  6175. break;
  6176. card.closefile();
  6177. }
  6178. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6179. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  6180. //strcat(data_wldsd, numb_wldsd);
  6181. //MYSERIAL.println(data_wldsd);
  6182. //delay(1000);
  6183. //delay(3000);
  6184. //t1 = millis();
  6185. //while (digitalRead(D_DATACLOCK) == LOW) {}
  6186. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  6187. memset(digit, 0, sizeof(digit));
  6188. //cli();
  6189. digitalWrite(D_REQUIRE, LOW);
  6190. for (int i = 0; i<13; i++)
  6191. {
  6192. //t1 = millis();
  6193. for (int j = 0; j < 4; j++)
  6194. {
  6195. while (digitalRead(D_DATACLOCK) == LOW) {}
  6196. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6197. bitWrite(digit[i], j, digitalRead(D_DATA));
  6198. }
  6199. //t_delay = (millis() - t1);
  6200. //SERIAL_PROTOCOLPGM(" ");
  6201. //SERIAL_PROTOCOL_F(t_delay, 5);
  6202. //SERIAL_PROTOCOLPGM(" ");
  6203. }
  6204. //sei();
  6205. digitalWrite(D_REQUIRE, HIGH);
  6206. mergeOutput[0] = '\0';
  6207. output = 0;
  6208. for (int r = 5; r <= 10; r++) //Merge digits
  6209. {
  6210. sprintf(str, "%d", digit[r]);
  6211. strcat(mergeOutput, str);
  6212. }
  6213. output = atof(mergeOutput);
  6214. if (digit[4] == 8) //Handle sign
  6215. {
  6216. output *= -1;
  6217. }
  6218. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6219. {
  6220. output *= 0.1;
  6221. }
  6222. //output = d_ReadData();
  6223. //row[ix] = current_position[Z_AXIS];
  6224. memset(data_wldsd, 0, sizeof(data_wldsd));
  6225. for (int i = 0; i <3; i++) {
  6226. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6227. dtostrf(current_position[i], 8, 5, numb_wldsd);
  6228. strcat(data_wldsd, numb_wldsd);
  6229. strcat(data_wldsd, ";");
  6230. }
  6231. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6232. dtostrf(output, 8, 5, numb_wldsd);
  6233. strcat(data_wldsd, numb_wldsd);
  6234. //strcat(data_wldsd, ";");
  6235. card.write_command(data_wldsd);
  6236. //row[ix] = d_ReadData();
  6237. row[ix] = output; // current_position[Z_AXIS];
  6238. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  6239. for (int i = 0; i < x_points_num; i++) {
  6240. SERIAL_PROTOCOLPGM(" ");
  6241. SERIAL_PROTOCOL_F(row[i], 5);
  6242. }
  6243. SERIAL_PROTOCOLPGM("\n");
  6244. }
  6245. custom_message_state--;
  6246. mesh_point++;
  6247. lcd_update(1);
  6248. }
  6249. card.closefile();
  6250. }
  6251. #endif
  6252. void temp_compensation_start() {
  6253. custom_message = true;
  6254. custom_message_type = 5;
  6255. custom_message_state = PINDA_HEAT_T + 1;
  6256. lcd_update(2);
  6257. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  6258. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  6259. }
  6260. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  6261. current_position[X_AXIS] = PINDA_PREHEAT_X;
  6262. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  6263. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  6264. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  6265. st_synchronize();
  6266. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  6267. for (int i = 0; i < PINDA_HEAT_T; i++) {
  6268. delay_keep_alive(1000);
  6269. custom_message_state = PINDA_HEAT_T - i;
  6270. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  6271. else lcd_update(1);
  6272. }
  6273. custom_message_type = 0;
  6274. custom_message_state = 0;
  6275. custom_message = false;
  6276. }
  6277. void temp_compensation_apply() {
  6278. int i_add;
  6279. int compensation_value;
  6280. int z_shift = 0;
  6281. float z_shift_mm;
  6282. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  6283. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  6284. i_add = (target_temperature_bed - 60) / 10;
  6285. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  6286. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  6287. }else {
  6288. //interpolation
  6289. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  6290. }
  6291. SERIAL_PROTOCOLPGM("\n");
  6292. SERIAL_PROTOCOLPGM("Z shift applied:");
  6293. MYSERIAL.print(z_shift_mm);
  6294. 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);
  6295. st_synchronize();
  6296. plan_set_z_position(current_position[Z_AXIS]);
  6297. }
  6298. else {
  6299. //we have no temp compensation data
  6300. }
  6301. }
  6302. float temp_comp_interpolation(float inp_temperature) {
  6303. //cubic spline interpolation
  6304. int n, i, j, k;
  6305. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  6306. int shift[10];
  6307. int temp_C[10];
  6308. n = 6; //number of measured points
  6309. shift[0] = 0;
  6310. for (i = 0; i < n; i++) {
  6311. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  6312. temp_C[i] = 50 + i * 10; //temperature in C
  6313. #ifdef PINDA_THERMISTOR
  6314. temp_C[i] = 35 + i * 5; //temperature in C
  6315. #else
  6316. temp_C[i] = 50 + i * 10; //temperature in C
  6317. #endif
  6318. x[i] = (float)temp_C[i];
  6319. f[i] = (float)shift[i];
  6320. }
  6321. if (inp_temperature < x[0]) return 0;
  6322. for (i = n - 1; i>0; i--) {
  6323. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  6324. h[i - 1] = x[i] - x[i - 1];
  6325. }
  6326. //*********** formation of h, s , f matrix **************
  6327. for (i = 1; i<n - 1; i++) {
  6328. m[i][i] = 2 * (h[i - 1] + h[i]);
  6329. if (i != 1) {
  6330. m[i][i - 1] = h[i - 1];
  6331. m[i - 1][i] = h[i - 1];
  6332. }
  6333. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  6334. }
  6335. //*********** forward elimination **************
  6336. for (i = 1; i<n - 2; i++) {
  6337. temp = (m[i + 1][i] / m[i][i]);
  6338. for (j = 1; j <= n - 1; j++)
  6339. m[i + 1][j] -= temp*m[i][j];
  6340. }
  6341. //*********** backward substitution *********
  6342. for (i = n - 2; i>0; i--) {
  6343. sum = 0;
  6344. for (j = i; j <= n - 2; j++)
  6345. sum += m[i][j] * s[j];
  6346. s[i] = (m[i][n - 1] - sum) / m[i][i];
  6347. }
  6348. for (i = 0; i<n - 1; i++)
  6349. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  6350. a = (s[i + 1] - s[i]) / (6 * h[i]);
  6351. b = s[i] / 2;
  6352. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  6353. d = f[i];
  6354. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  6355. }
  6356. return sum;
  6357. }
  6358. #ifdef PINDA_THERMISTOR
  6359. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  6360. {
  6361. if (!temp_cal_active) return 0;
  6362. if (!calibration_status_pinda()) return 0;
  6363. return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
  6364. }
  6365. #endif //PINDA_THERMISTOR
  6366. void long_pause() //long pause print
  6367. {
  6368. st_synchronize();
  6369. //save currently set parameters to global variables
  6370. saved_feedmultiply = feedmultiply;
  6371. HotendTempBckp = degTargetHotend(active_extruder);
  6372. fanSpeedBckp = fanSpeed;
  6373. start_pause_print = millis();
  6374. //save position
  6375. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  6376. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  6377. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  6378. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  6379. //retract
  6380. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  6381. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  6382. //lift z
  6383. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  6384. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  6385. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  6386. //set nozzle target temperature to 0
  6387. setTargetHotend(0, 0);
  6388. setTargetHotend(0, 1);
  6389. setTargetHotend(0, 2);
  6390. //Move XY to side
  6391. current_position[X_AXIS] = X_PAUSE_POS;
  6392. current_position[Y_AXIS] = Y_PAUSE_POS;
  6393. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  6394. // Turn off the print fan
  6395. fanSpeed = 0;
  6396. st_synchronize();
  6397. }
  6398. void serialecho_temperatures() {
  6399. float tt = degHotend(active_extruder);
  6400. SERIAL_PROTOCOLPGM("T:");
  6401. SERIAL_PROTOCOL(tt);
  6402. SERIAL_PROTOCOLPGM(" E:");
  6403. SERIAL_PROTOCOL((int)active_extruder);
  6404. SERIAL_PROTOCOLPGM(" B:");
  6405. SERIAL_PROTOCOL_F(degBed(), 1);
  6406. SERIAL_PROTOCOLLN("");
  6407. }
  6408. extern uint32_t sdpos_atomic;
  6409. void uvlo_()
  6410. {
  6411. unsigned long time_start = millis();
  6412. bool sd_print = card.sdprinting;
  6413. // Conserve power as soon as possible.
  6414. disable_x();
  6415. disable_y();
  6416. disable_e0();
  6417. tmc2130_set_current_h(Z_AXIS, 20);
  6418. tmc2130_set_current_r(Z_AXIS, 20);
  6419. tmc2130_set_current_h(E_AXIS, 20);
  6420. tmc2130_set_current_r(E_AXIS, 20);
  6421. // Indicate that the interrupt has been triggered.
  6422. // SERIAL_ECHOLNPGM("UVLO");
  6423. // Read out the current Z motor microstep counter. This will be later used
  6424. // for reaching the zero full step before powering off.
  6425. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  6426. // Calculate the file position, from which to resume this print.
  6427. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  6428. {
  6429. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  6430. sd_position -= sdlen_planner;
  6431. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  6432. sd_position -= sdlen_cmdqueue;
  6433. if (sd_position < 0) sd_position = 0;
  6434. }
  6435. // Backup the feedrate in mm/min.
  6436. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  6437. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  6438. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  6439. // are in action.
  6440. planner_abort_hard();
  6441. // Store the current extruder position.
  6442. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  6443. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  6444. // Clean the input command queue.
  6445. cmdqueue_reset();
  6446. card.sdprinting = false;
  6447. // card.closefile();
  6448. // Enable stepper driver interrupt to move Z axis.
  6449. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  6450. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  6451. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  6452. sei();
  6453. plan_buffer_line(
  6454. current_position[X_AXIS],
  6455. current_position[Y_AXIS],
  6456. current_position[Z_AXIS],
  6457. current_position[E_AXIS] - DEFAULT_RETRACTION,
  6458. 95, active_extruder);
  6459. st_synchronize();
  6460. disable_e0();
  6461. plan_buffer_line(
  6462. current_position[X_AXIS],
  6463. current_position[Y_AXIS],
  6464. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  6465. current_position[E_AXIS] - DEFAULT_RETRACTION,
  6466. 40, active_extruder);
  6467. st_synchronize();
  6468. disable_e0();
  6469. plan_buffer_line(
  6470. current_position[X_AXIS],
  6471. current_position[Y_AXIS],
  6472. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  6473. current_position[E_AXIS] - DEFAULT_RETRACTION,
  6474. 40, active_extruder);
  6475. st_synchronize();
  6476. disable_e0();
  6477. disable_z();
  6478. // Move Z up to the next 0th full step.
  6479. // Write the file position.
  6480. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  6481. // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  6482. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  6483. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  6484. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  6485. // Scale the z value to 1u resolution.
  6486. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
  6487. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  6488. }
  6489. // Read out the current Z motor microstep counter. This will be later used
  6490. // for reaching the zero full step before powering off.
  6491. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  6492. // Store the current position.
  6493. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  6494. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  6495. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  6496. // Store the current feed rate, temperatures and fan speed.
  6497. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  6498. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  6499. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  6500. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  6501. // Finaly store the "power outage" flag.
  6502. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  6503. st_synchronize();
  6504. SERIAL_ECHOPGM("stps");
  6505. MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
  6506. disable_z();
  6507. // Increment power failure counter
  6508. uint8_t power_count = eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT);
  6509. power_count++;
  6510. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, power_count);
  6511. SERIAL_ECHOLNPGM("UVLO - end");
  6512. MYSERIAL.println(millis() - time_start);
  6513. #if 0
  6514. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  6515. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  6516. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  6517. st_synchronize();
  6518. #endif
  6519. cli();
  6520. volatile unsigned int ppcount = 0;
  6521. SET_OUTPUT(BEEPER);
  6522. WRITE(BEEPER, HIGH);
  6523. for(ppcount = 0; ppcount < 2000; ppcount ++){
  6524. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  6525. }
  6526. WRITE(BEEPER, LOW);
  6527. while(1){
  6528. #if 1
  6529. WRITE(BEEPER, LOW);
  6530. for(ppcount = 0; ppcount < 8000; ppcount ++){
  6531. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  6532. }
  6533. #endif
  6534. };
  6535. }
  6536. void setup_fan_interrupt() {
  6537. //INT7
  6538. DDRE &= ~(1 << 7); //input pin
  6539. PORTE &= ~(1 << 7); //no internal pull-up
  6540. //start with sensing rising edge
  6541. EICRB &= ~(1 << 6);
  6542. EICRB |= (1 << 7);
  6543. //enable INT7 interrupt
  6544. EIMSK |= (1 << 7);
  6545. }
  6546. ISR(INT7_vect) {
  6547. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  6548. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  6549. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  6550. t_fan_rising_edge = millis_nc();
  6551. }
  6552. else { //interrupt was triggered by falling edge
  6553. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  6554. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  6555. }
  6556. }
  6557. EICRB ^= (1 << 6); //change edge
  6558. }
  6559. void setup_uvlo_interrupt() {
  6560. DDRE &= ~(1 << 4); //input pin
  6561. PORTE &= ~(1 << 4); //no internal pull-up
  6562. //sensing falling edge
  6563. EICRB |= (1 << 0);
  6564. EICRB &= ~(1 << 1);
  6565. //enable INT4 interrupt
  6566. EIMSK |= (1 << 4);
  6567. }
  6568. ISR(INT4_vect) {
  6569. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  6570. SERIAL_ECHOLNPGM("INT4");
  6571. if (IS_SD_PRINTING) uvlo_();
  6572. }
  6573. void recover_print(uint8_t automatic) {
  6574. char cmd[30];
  6575. lcd_update_enable(true);
  6576. lcd_update(2);
  6577. lcd_setstatuspgm(MSG_RECOVERING_PRINT);
  6578. recover_machine_state_after_power_panic();
  6579. // Set the target bed and nozzle temperatures.
  6580. sprintf_P(cmd, PSTR("M104 S%d"), target_temperature[active_extruder]);
  6581. enquecommand(cmd);
  6582. sprintf_P(cmd, PSTR("M140 S%d"), target_temperature_bed);
  6583. enquecommand(cmd);
  6584. // Lift the print head, so one may remove the excess priming material.
  6585. if (current_position[Z_AXIS] < 25)
  6586. enquecommand_P(PSTR("G1 Z25 F800"));
  6587. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  6588. enquecommand_P(PSTR("G28 X Y"));
  6589. // Set the target bed and nozzle temperatures and wait.
  6590. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  6591. enquecommand(cmd);
  6592. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  6593. enquecommand(cmd);
  6594. enquecommand_P(PSTR("M83")); //E axis relative mode
  6595. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  6596. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  6597. if(automatic == 0){
  6598. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  6599. }
  6600. enquecommand_P(PSTR("G1 E" STRINGIFY(-DEFAULT_RETRACTION)" F480"));
  6601. // Mark the power panic status as inactive.
  6602. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  6603. /*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
  6604. delay_keep_alive(1000);
  6605. }*/
  6606. SERIAL_ECHOPGM("After waiting for temp:");
  6607. SERIAL_ECHOPGM("Current position X_AXIS:");
  6608. MYSERIAL.println(current_position[X_AXIS]);
  6609. SERIAL_ECHOPGM("Current position Y_AXIS:");
  6610. MYSERIAL.println(current_position[Y_AXIS]);
  6611. // Restart the print.
  6612. restore_print_from_eeprom();
  6613. SERIAL_ECHOPGM("current_position[Z_AXIS]:");
  6614. MYSERIAL.print(current_position[Z_AXIS]);
  6615. SERIAL_ECHOPGM("current_position[E_AXIS]:");
  6616. MYSERIAL.print(current_position[E_AXIS]);
  6617. }
  6618. void recover_machine_state_after_power_panic()
  6619. {
  6620. char cmd[30];
  6621. // 1) Recover the logical cordinates at the time of the power panic.
  6622. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  6623. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  6624. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  6625. // Recover the logical coordinate of the Z axis at the time of the power panic.
  6626. // The current position after power panic is moved to the next closest 0th full step.
  6627. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  6628. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  6629. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
  6630. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  6631. sprintf_P(cmd, PSTR("G92 E"));
  6632. dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
  6633. enquecommand(cmd);
  6634. }
  6635. memcpy(destination, current_position, sizeof(destination));
  6636. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  6637. print_world_coordinates();
  6638. // 2) Initialize the logical to physical coordinate system transformation.
  6639. world2machine_initialize();
  6640. // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  6641. mbl.active = false;
  6642. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  6643. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  6644. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  6645. // Scale the z value to 10u resolution.
  6646. int16_t v;
  6647. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
  6648. if (v != 0)
  6649. mbl.active = true;
  6650. mbl.z_values[iy][ix] = float(v) * 0.001f;
  6651. }
  6652. if (mbl.active)
  6653. mbl.upsample_3x3();
  6654. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  6655. // print_mesh_bed_leveling_table();
  6656. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  6657. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  6658. babystep_load();
  6659. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  6660. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6661. // 6) Power up the motors, mark their positions as known.
  6662. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  6663. axis_known_position[X_AXIS] = true; enable_x();
  6664. axis_known_position[Y_AXIS] = true; enable_y();
  6665. axis_known_position[Z_AXIS] = true; enable_z();
  6666. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  6667. print_physical_coordinates();
  6668. // 7) Recover the target temperatures.
  6669. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  6670. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  6671. }
  6672. void restore_print_from_eeprom() {
  6673. float x_rec, y_rec, z_pos;
  6674. int feedrate_rec;
  6675. uint8_t fan_speed_rec;
  6676. char cmd[30];
  6677. char* c;
  6678. char filename[13];
  6679. uint8_t depth = 0;
  6680. char dir_name[9];
  6681. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  6682. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  6683. SERIAL_ECHOPGM("Feedrate:");
  6684. MYSERIAL.println(feedrate_rec);
  6685. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  6686. MYSERIAL.println(int(depth));
  6687. for (int i = 0; i < depth; i++) {
  6688. for (int j = 0; j < 8; j++) {
  6689. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  6690. }
  6691. dir_name[8] = '\0';
  6692. MYSERIAL.println(dir_name);
  6693. card.chdir(dir_name);
  6694. }
  6695. for (int i = 0; i < 8; i++) {
  6696. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  6697. }
  6698. filename[8] = '\0';
  6699. MYSERIAL.print(filename);
  6700. strcat_P(filename, PSTR(".gco"));
  6701. sprintf_P(cmd, PSTR("M23 %s"), filename);
  6702. for (c = &cmd[4]; *c; c++)
  6703. *c = tolower(*c);
  6704. enquecommand(cmd);
  6705. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  6706. SERIAL_ECHOPGM("Position read from eeprom:");
  6707. MYSERIAL.println(position);
  6708. // E axis relative mode.
  6709. enquecommand_P(PSTR("M83"));
  6710. // Move to the XY print position in logical coordinates, where the print has been killed.
  6711. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  6712. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  6713. strcat_P(cmd, PSTR(" F2000"));
  6714. enquecommand(cmd);
  6715. // Move the Z axis down to the print, in logical coordinates.
  6716. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  6717. enquecommand(cmd);
  6718. // Unretract.
  6719. enquecommand_P(PSTR("G1 E" STRINGIFY(2*DEFAULT_RETRACTION)" F480"));
  6720. // Set the feedrate saved at the power panic.
  6721. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  6722. enquecommand(cmd);
  6723. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  6724. {
  6725. float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  6726. enquecommand_P(PSTR("M82")); //E axis abslute mode
  6727. }
  6728. // Set the fan speed saved at the power panic.
  6729. strcpy_P(cmd, PSTR("M106 S"));
  6730. strcat(cmd, itostr3(int(fan_speed_rec)));
  6731. enquecommand(cmd);
  6732. // Set a position in the file.
  6733. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  6734. enquecommand(cmd);
  6735. // Start SD print.
  6736. enquecommand_P(PSTR("M24"));
  6737. }
  6738. ////////////////////////////////////////////////////////////////////////////////
  6739. // new save/restore printing
  6740. //extern uint32_t sdpos_atomic;
  6741. bool saved_printing = false;
  6742. uint32_t saved_sdpos = 0;
  6743. float saved_pos[4] = {0, 0, 0, 0};
  6744. // Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  6745. float saved_feedrate2 = 0;
  6746. uint8_t saved_active_extruder = 0;
  6747. bool saved_extruder_under_pressure = false;
  6748. void stop_and_save_print_to_ram(float z_move, float e_move)
  6749. {
  6750. if (saved_printing) return;
  6751. cli();
  6752. unsigned char nplanner_blocks = number_of_blocks();
  6753. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  6754. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  6755. saved_sdpos -= sdlen_planner;
  6756. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  6757. saved_sdpos -= sdlen_cmdqueue;
  6758. #if 0
  6759. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  6760. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  6761. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  6762. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  6763. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  6764. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  6765. SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  6766. {
  6767. card.setIndex(saved_sdpos);
  6768. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  6769. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  6770. MYSERIAL.print(char(card.get()));
  6771. SERIAL_ECHOLNPGM("Content of command buffer: ");
  6772. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  6773. MYSERIAL.print(char(card.get()));
  6774. SERIAL_ECHOLNPGM("End of command buffer");
  6775. }
  6776. {
  6777. // Print the content of the planner buffer, line by line:
  6778. card.setIndex(saved_sdpos);
  6779. int8_t iline = 0;
  6780. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  6781. SERIAL_ECHOPGM("Planner line (from file): ");
  6782. MYSERIAL.print(int(iline), DEC);
  6783. SERIAL_ECHOPGM(", length: ");
  6784. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  6785. SERIAL_ECHOPGM(", steps: (");
  6786. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  6787. SERIAL_ECHOPGM(",");
  6788. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  6789. SERIAL_ECHOPGM(",");
  6790. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  6791. SERIAL_ECHOPGM(",");
  6792. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  6793. SERIAL_ECHOPGM("), events: ");
  6794. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  6795. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  6796. MYSERIAL.print(char(card.get()));
  6797. }
  6798. }
  6799. {
  6800. // Print the content of the command buffer, line by line:
  6801. int8_t iline = 0;
  6802. union {
  6803. struct {
  6804. char lo;
  6805. char hi;
  6806. } lohi;
  6807. uint16_t value;
  6808. } sdlen_single;
  6809. int _bufindr = bufindr;
  6810. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  6811. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  6812. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  6813. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  6814. }
  6815. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  6816. MYSERIAL.print(int(iline), DEC);
  6817. SERIAL_ECHOPGM(", type: ");
  6818. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  6819. SERIAL_ECHOPGM(", len: ");
  6820. MYSERIAL.println(sdlen_single.value, DEC);
  6821. // Print the content of the buffer line.
  6822. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  6823. SERIAL_ECHOPGM("Buffer line (from file): ");
  6824. MYSERIAL.print(int(iline), DEC);
  6825. MYSERIAL.println(int(iline), DEC);
  6826. for (; sdlen_single.value > 0; -- sdlen_single.value)
  6827. MYSERIAL.print(char(card.get()));
  6828. if (-- _buflen == 0)
  6829. break;
  6830. // First skip the current command ID and iterate up to the end of the string.
  6831. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  6832. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  6833. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  6834. // If the end of the buffer was empty,
  6835. if (_bufindr == sizeof(cmdbuffer)) {
  6836. // skip to the start and find the nonzero command.
  6837. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  6838. }
  6839. }
  6840. }
  6841. #endif
  6842. #if 0
  6843. saved_feedrate2 = feedrate; //save feedrate
  6844. #else
  6845. // Try to deduce the feedrate from the first block of the planner.
  6846. // Speed is in mm/min.
  6847. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  6848. #endif
  6849. planner_abort_hard(); //abort printing
  6850. memcpy(saved_pos, current_position, sizeof(saved_pos));
  6851. saved_active_extruder = active_extruder; //save active_extruder
  6852. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  6853. cmdqueue_reset(); //empty cmdqueue
  6854. card.sdprinting = false;
  6855. // card.closefile();
  6856. saved_printing = true;
  6857. sei();
  6858. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  6859. #if 1
  6860. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  6861. char buf[48];
  6862. strcpy_P(buf, PSTR("G1 Z"));
  6863. dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
  6864. strcat_P(buf, PSTR(" E"));
  6865. // Relative extrusion
  6866. dtostrf(e_move, 6, 3, buf + strlen(buf));
  6867. strcat_P(buf, PSTR(" F"));
  6868. dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
  6869. // At this point the command queue is empty.
  6870. enquecommand(buf, false);
  6871. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  6872. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  6873. repeatcommand_front();
  6874. #else
  6875. 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);
  6876. st_synchronize(); //wait moving
  6877. memcpy(current_position, saved_pos, sizeof(saved_pos));
  6878. memcpy(destination, current_position, sizeof(destination));
  6879. #endif
  6880. }
  6881. }
  6882. void restore_print_from_ram_and_continue(float e_move)
  6883. {
  6884. if (!saved_printing) return;
  6885. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  6886. // current_position[axis] = st_get_position_mm(axis);
  6887. active_extruder = saved_active_extruder; //restore active_extruder
  6888. feedrate = saved_feedrate2; //restore feedrate
  6889. float e = saved_pos[E_AXIS] - e_move;
  6890. plan_set_e_position(e);
  6891. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], homing_feedrate[Z_AXIS]/13, active_extruder);
  6892. st_synchronize();
  6893. memcpy(current_position, saved_pos, sizeof(saved_pos));
  6894. memcpy(destination, current_position, sizeof(destination));
  6895. card.setIndex(saved_sdpos);
  6896. sdpos_atomic = saved_sdpos;
  6897. card.sdprinting = true;
  6898. saved_printing = false;
  6899. printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
  6900. }
  6901. void print_world_coordinates()
  6902. {
  6903. SERIAL_ECHOPGM("world coordinates: (");
  6904. MYSERIAL.print(current_position[X_AXIS], 3);
  6905. SERIAL_ECHOPGM(", ");
  6906. MYSERIAL.print(current_position[Y_AXIS], 3);
  6907. SERIAL_ECHOPGM(", ");
  6908. MYSERIAL.print(current_position[Z_AXIS], 3);
  6909. SERIAL_ECHOLNPGM(")");
  6910. }
  6911. void print_physical_coordinates()
  6912. {
  6913. SERIAL_ECHOPGM("physical coordinates: (");
  6914. MYSERIAL.print(st_get_position_mm(X_AXIS), 3);
  6915. SERIAL_ECHOPGM(", ");
  6916. MYSERIAL.print(st_get_position_mm(Y_AXIS), 3);
  6917. SERIAL_ECHOPGM(", ");
  6918. MYSERIAL.print(st_get_position_mm(Z_AXIS), 3);
  6919. SERIAL_ECHOLNPGM(")");
  6920. }
  6921. void print_mesh_bed_leveling_table()
  6922. {
  6923. SERIAL_ECHOPGM("mesh bed leveling: ");
  6924. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  6925. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  6926. MYSERIAL.print(mbl.z_values[y][x], 3);
  6927. SERIAL_ECHOPGM(" ");
  6928. }
  6929. SERIAL_ECHOLNPGM("");
  6930. }
  6931. #define FIL_LOAD_LENGTH 60
  6932. void extr_unload2() { //unloads filament
  6933. // float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  6934. // float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  6935. // int8_t SilentMode;
  6936. uint8_t snmm_extruder = 0;
  6937. if (degHotend0() > EXTRUDE_MINTEMP) {
  6938. lcd_implementation_clear();
  6939. lcd_display_message_fullscreen_P(PSTR(""));
  6940. max_feedrate[E_AXIS] = 50;
  6941. lcd.setCursor(0, 0); lcd_printPGM(MSG_UNLOADING_FILAMENT);
  6942. // lcd.print(" ");
  6943. // lcd.print(snmm_extruder + 1);
  6944. lcd.setCursor(0, 2); lcd_printPGM(MSG_PLEASE_WAIT);
  6945. if (current_position[Z_AXIS] < 15) {
  6946. current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
  6947. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, active_extruder);
  6948. }
  6949. current_position[E_AXIS] += 10; //extrusion
  6950. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 10, active_extruder);
  6951. // digipot_current(2, E_MOTOR_HIGH_CURRENT);
  6952. if (current_temperature[0] < 230) { //PLA & all other filaments
  6953. current_position[E_AXIS] += 5.4;
  6954. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  6955. current_position[E_AXIS] += 3.2;
  6956. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  6957. current_position[E_AXIS] += 3;
  6958. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  6959. }
  6960. else { //ABS
  6961. current_position[E_AXIS] += 3.1;
  6962. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  6963. current_position[E_AXIS] += 3.1;
  6964. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  6965. current_position[E_AXIS] += 4;
  6966. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  6967. /*current_position[X_AXIS] += 23; //delay
  6968. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay
  6969. current_position[X_AXIS] -= 23; //delay
  6970. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay*/
  6971. delay_keep_alive(4700);
  6972. }
  6973. max_feedrate[E_AXIS] = 80;
  6974. current_position[E_AXIS] -= (bowden_length[snmm_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
  6975. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  6976. current_position[E_AXIS] -= (bowden_length[snmm_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
  6977. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  6978. st_synchronize();
  6979. //digipot_init();
  6980. // if (SilentMode == 1) digipot_current(2, tmp_motor[2]); //set back to normal operation currents
  6981. // else digipot_current(2, tmp_motor_loud[2]);
  6982. lcd_update_enable(true);
  6983. // lcd_return_to_status();
  6984. max_feedrate[E_AXIS] = 50;
  6985. }
  6986. else {
  6987. lcd_implementation_clear();
  6988. lcd.setCursor(0, 0);
  6989. lcd_printPGM(MSG_ERROR);
  6990. lcd.setCursor(0, 2);
  6991. lcd_printPGM(MSG_PREHEAT_NOZZLE);
  6992. delay(2000);
  6993. lcd_implementation_clear();
  6994. }
  6995. // lcd_return_to_status();
  6996. }