Marlin_main.cpp 257 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 volumetric_enabled = false;
  269. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  270. #if EXTRUDERS > 1
  271. , DEFAULT_NOMINAL_FILAMENT_DIA
  272. #if EXTRUDERS > 2
  273. , DEFAULT_NOMINAL_FILAMENT_DIA
  274. #endif
  275. #endif
  276. };
  277. float volumetric_multiplier[EXTRUDERS] = {1.0
  278. #if EXTRUDERS > 1
  279. , 1.0
  280. #if EXTRUDERS > 2
  281. , 1.0
  282. #endif
  283. #endif
  284. };
  285. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  286. float add_homing[3]={0,0,0};
  287. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  288. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  289. bool axis_known_position[3] = {false, false, false};
  290. float zprobe_zoffset;
  291. // Extruder offset
  292. #if EXTRUDERS > 1
  293. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  294. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  295. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  296. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  297. #endif
  298. };
  299. #endif
  300. uint8_t active_extruder = 0;
  301. int fanSpeed=0;
  302. #ifdef FWRETRACT
  303. bool autoretract_enabled=false;
  304. bool retracted[EXTRUDERS]={false
  305. #if EXTRUDERS > 1
  306. , false
  307. #if EXTRUDERS > 2
  308. , false
  309. #endif
  310. #endif
  311. };
  312. bool retracted_swap[EXTRUDERS]={false
  313. #if EXTRUDERS > 1
  314. , false
  315. #if EXTRUDERS > 2
  316. , false
  317. #endif
  318. #endif
  319. };
  320. float retract_length = RETRACT_LENGTH;
  321. float retract_length_swap = RETRACT_LENGTH_SWAP;
  322. float retract_feedrate = RETRACT_FEEDRATE;
  323. float retract_zlift = RETRACT_ZLIFT;
  324. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  325. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  326. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  327. #endif
  328. #ifdef ULTIPANEL
  329. #ifdef PS_DEFAULT_OFF
  330. bool powersupply = false;
  331. #else
  332. bool powersupply = true;
  333. #endif
  334. #endif
  335. bool cancel_heatup = false ;
  336. #ifdef HOST_KEEPALIVE_FEATURE
  337. int busy_state = NOT_BUSY;
  338. static long prev_busy_signal_ms = -1;
  339. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  340. #else
  341. #define host_keepalive();
  342. #define KEEPALIVE_STATE(n);
  343. #endif
  344. #ifdef FILAMENT_SENSOR
  345. //Variables for Filament Sensor input
  346. float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
  347. bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
  348. float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
  349. signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
  350. int delay_index1=0; //index into ring buffer
  351. int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  352. float delay_dist=0; //delay distance counter
  353. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  354. #endif
  355. const char errormagic[] PROGMEM = "Error:";
  356. const char echomagic[] PROGMEM = "echo:";
  357. //===========================================================================
  358. //=============================Private Variables=============================
  359. //===========================================================================
  360. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  361. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  362. static float delta[3] = {0.0, 0.0, 0.0};
  363. // For tracing an arc
  364. static float offset[3] = {0.0, 0.0, 0.0};
  365. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  366. // Determines Absolute or Relative Coordinates.
  367. // Also there is bool axis_relative_modes[] per axis flag.
  368. static bool relative_mode = false;
  369. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  370. //static float tt = 0;
  371. //static float bt = 0;
  372. //Inactivity shutdown variables
  373. static unsigned long previous_millis_cmd = 0;
  374. unsigned long max_inactive_time = 0;
  375. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  376. unsigned long starttime=0;
  377. unsigned long stoptime=0;
  378. unsigned long _usb_timer = 0;
  379. static uint8_t tmp_extruder;
  380. bool extruder_under_pressure = true;
  381. bool Stopped=false;
  382. #if NUM_SERVOS > 0
  383. Servo servos[NUM_SERVOS];
  384. #endif
  385. bool CooldownNoWait = true;
  386. bool target_direction;
  387. //Insert variables if CHDK is defined
  388. #ifdef CHDK
  389. unsigned long chdkHigh = 0;
  390. boolean chdkActive = false;
  391. #endif
  392. //===========================================================================
  393. //=============================Routines======================================
  394. //===========================================================================
  395. void get_arc_coordinates();
  396. bool setTargetedHotend(int code);
  397. void serial_echopair_P(const char *s_P, float v)
  398. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  399. void serial_echopair_P(const char *s_P, double v)
  400. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  401. void serial_echopair_P(const char *s_P, unsigned long v)
  402. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  403. #ifdef SDSUPPORT
  404. #include "SdFatUtil.h"
  405. int freeMemory() { return SdFatUtil::FreeRam(); }
  406. #else
  407. extern "C" {
  408. extern unsigned int __bss_end;
  409. extern unsigned int __heap_start;
  410. extern void *__brkval;
  411. int freeMemory() {
  412. int free_memory;
  413. if ((int)__brkval == 0)
  414. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  415. else
  416. free_memory = ((int)&free_memory) - ((int)__brkval);
  417. return free_memory;
  418. }
  419. }
  420. #endif //!SDSUPPORT
  421. void setup_killpin()
  422. {
  423. #if defined(KILL_PIN) && KILL_PIN > -1
  424. SET_INPUT(KILL_PIN);
  425. WRITE(KILL_PIN,HIGH);
  426. #endif
  427. }
  428. // Set home pin
  429. void setup_homepin(void)
  430. {
  431. #if defined(HOME_PIN) && HOME_PIN > -1
  432. SET_INPUT(HOME_PIN);
  433. WRITE(HOME_PIN,HIGH);
  434. #endif
  435. }
  436. void setup_photpin()
  437. {
  438. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  439. SET_OUTPUT(PHOTOGRAPH_PIN);
  440. WRITE(PHOTOGRAPH_PIN, LOW);
  441. #endif
  442. }
  443. void setup_powerhold()
  444. {
  445. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  446. SET_OUTPUT(SUICIDE_PIN);
  447. WRITE(SUICIDE_PIN, HIGH);
  448. #endif
  449. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  450. SET_OUTPUT(PS_ON_PIN);
  451. #if defined(PS_DEFAULT_OFF)
  452. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  453. #else
  454. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  455. #endif
  456. #endif
  457. }
  458. void suicide()
  459. {
  460. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  461. SET_OUTPUT(SUICIDE_PIN);
  462. WRITE(SUICIDE_PIN, LOW);
  463. #endif
  464. }
  465. void servo_init()
  466. {
  467. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  468. servos[0].attach(SERVO0_PIN);
  469. #endif
  470. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  471. servos[1].attach(SERVO1_PIN);
  472. #endif
  473. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  474. servos[2].attach(SERVO2_PIN);
  475. #endif
  476. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  477. servos[3].attach(SERVO3_PIN);
  478. #endif
  479. #if (NUM_SERVOS >= 5)
  480. #error "TODO: enter initalisation code for more servos"
  481. #endif
  482. }
  483. static void lcd_language_menu();
  484. void stop_and_save_print_to_ram(float z_move, float e_move);
  485. void restore_print_from_ram_and_continue(float e_move);
  486. extern int8_t CrashDetectMenu;
  487. void crashdet_enable()
  488. {
  489. MYSERIAL.println("crashdet_enable");
  490. tmc2130_sg_stop_on_crash = true;
  491. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
  492. CrashDetectMenu = 1;
  493. }
  494. void crashdet_disable()
  495. {
  496. MYSERIAL.println("crashdet_disable");
  497. tmc2130_sg_stop_on_crash = false;
  498. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
  499. CrashDetectMenu = 0;
  500. }
  501. void crashdet_stop_and_save_print()
  502. {
  503. stop_and_save_print_to_ram(10, 0); //XY - no change, Z 10mm up, E - no change
  504. }
  505. void crashdet_restore_print_and_continue()
  506. {
  507. restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
  508. // babystep_apply();
  509. }
  510. void crashdet_stop_and_save_print2()
  511. {
  512. cli();
  513. planner_abort_hard(); //abort printing
  514. cmdqueue_reset(); //empty cmdqueue
  515. card.sdprinting = false;
  516. card.closefile();
  517. sei();
  518. }
  519. void crashdet_detected()
  520. {
  521. printf("CRASH_DETECTED");
  522. /* while (!is_buffer_empty())
  523. {
  524. process_commands();
  525. cmdqueue_pop_front();
  526. }*/
  527. st_synchronize();
  528. lcd_update_enable(true);
  529. lcd_implementation_clear();
  530. lcd_update(2);
  531. // Increment crash counter
  532. uint8_t crash_count = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT);
  533. crash_count++;
  534. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT, crash_count);
  535. #ifdef AUTOMATIC_RECOVERY_AFTER_CRASH
  536. bool yesno = true;
  537. #else
  538. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_CRASH_DETECTED, false);
  539. #endif
  540. lcd_update_enable(true);
  541. lcd_update(2);
  542. lcd_setstatuspgm(WELCOME_MSG);
  543. if (yesno)
  544. {
  545. enquecommand_P(PSTR("G28 X"));
  546. enquecommand_P(PSTR("G28 Y"));
  547. enquecommand_P(PSTR("CRASH_RECOVER"));
  548. }
  549. else
  550. {
  551. enquecommand_P(PSTR("CRASH_CANCEL"));
  552. }
  553. }
  554. void crashdet_recover()
  555. {
  556. crashdet_restore_print_and_continue();
  557. tmc2130_sg_stop_on_crash = true;
  558. }
  559. void crashdet_cancel()
  560. {
  561. card.sdprinting = false;
  562. card.closefile();
  563. tmc2130_sg_stop_on_crash = true;
  564. }
  565. #ifdef MESH_BED_LEVELING
  566. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  567. #endif
  568. // Factory reset function
  569. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  570. // Level input parameter sets depth of reset
  571. // Quiet parameter masks all waitings for user interact.
  572. int er_progress = 0;
  573. void factory_reset(char level, bool quiet)
  574. {
  575. lcd_implementation_clear();
  576. int cursor_pos = 0;
  577. switch (level) {
  578. // Level 0: Language reset
  579. case 0:
  580. WRITE(BEEPER, HIGH);
  581. _delay_ms(100);
  582. WRITE(BEEPER, LOW);
  583. lcd_force_language_selection();
  584. break;
  585. //Level 1: Reset statistics
  586. case 1:
  587. WRITE(BEEPER, HIGH);
  588. _delay_ms(100);
  589. WRITE(BEEPER, LOW);
  590. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  591. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  592. lcd_menu_statistics();
  593. break;
  594. // Level 2: Prepare for shipping
  595. case 2:
  596. //lcd_printPGM(PSTR("Factory RESET"));
  597. //lcd_print_at_PGM(1,2,PSTR("Shipping prep"));
  598. // Force language selection at the next boot up.
  599. lcd_force_language_selection();
  600. // Force the "Follow calibration flow" message at the next boot up.
  601. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  602. farm_no = 0;
  603. farm_mode == false;
  604. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  605. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  606. WRITE(BEEPER, HIGH);
  607. _delay_ms(100);
  608. WRITE(BEEPER, LOW);
  609. //_delay_ms(2000);
  610. break;
  611. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  612. case 3:
  613. lcd_printPGM(PSTR("Factory RESET"));
  614. lcd_print_at_PGM(1, 2, PSTR("ERASING all data"));
  615. WRITE(BEEPER, HIGH);
  616. _delay_ms(100);
  617. WRITE(BEEPER, LOW);
  618. er_progress = 0;
  619. lcd_print_at_PGM(3, 3, PSTR(" "));
  620. lcd_implementation_print_at(3, 3, er_progress);
  621. // Erase EEPROM
  622. for (int i = 0; i < 4096; i++) {
  623. eeprom_write_byte((uint8_t*)i, 0xFF);
  624. if (i % 41 == 0) {
  625. er_progress++;
  626. lcd_print_at_PGM(3, 3, PSTR(" "));
  627. lcd_implementation_print_at(3, 3, er_progress);
  628. lcd_printPGM(PSTR("%"));
  629. }
  630. }
  631. break;
  632. case 4:
  633. bowden_menu();
  634. break;
  635. default:
  636. break;
  637. }
  638. }
  639. #include "LiquidCrystal.h"
  640. extern LiquidCrystal lcd;
  641. FILE _lcdout = {0};
  642. int lcd_putchar(char c, FILE *stream)
  643. {
  644. lcd.write(c);
  645. return 0;
  646. }
  647. FILE _uartout = {0};
  648. int uart_putchar(char c, FILE *stream)
  649. {
  650. MYSERIAL.write(c);
  651. return 0;
  652. }
  653. void lcd_splash()
  654. {
  655. // lcd_print_at_PGM(0, 1, PSTR(" Original Prusa "));
  656. // lcd_print_at_PGM(0, 2, PSTR(" 3D Printers "));
  657. // lcd.print_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
  658. fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
  659. }
  660. // "Setup" function is called by the Arduino framework on startup.
  661. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  662. // are initialized by the main() routine provided by the Arduino framework.
  663. void setup()
  664. {
  665. lcd_init();
  666. fdev_setup_stream(lcdout, lcd_putchar, NULL, _FDEV_SETUP_WRITE); //setup lcdout stream
  667. lcd_splash();
  668. setup_killpin();
  669. setup_powerhold();
  670. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  671. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  672. 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
  673. if (farm_no == 0xFFFF) farm_no = 0;
  674. if (farm_mode)
  675. {
  676. prusa_statistics(8);
  677. selectedSerialPort = 1;
  678. }
  679. else
  680. selectedSerialPort = 0;
  681. MYSERIAL.begin(BAUDRATE);
  682. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  683. stdout = uartout;
  684. SERIAL_PROTOCOLLNPGM("start");
  685. SERIAL_ECHO_START;
  686. #if 0
  687. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  688. for (int i = 0; i < 4096; ++i) {
  689. int b = eeprom_read_byte((unsigned char*)i);
  690. if (b != 255) {
  691. SERIAL_ECHO(i);
  692. SERIAL_ECHO(":");
  693. SERIAL_ECHO(b);
  694. SERIAL_ECHOLN("");
  695. }
  696. }
  697. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  698. #endif
  699. // Check startup - does nothing if bootloader sets MCUSR to 0
  700. byte mcu = MCUSR;
  701. /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  702. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  703. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  704. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  705. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  706. if (mcu & 1) puts_P(MSG_POWERUP);
  707. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  708. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  709. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  710. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  711. MCUSR = 0;
  712. //SERIAL_ECHORPGM(MSG_MARLIN);
  713. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  714. #ifdef STRING_VERSION_CONFIG_H
  715. #ifdef STRING_CONFIG_H_AUTHOR
  716. SERIAL_ECHO_START;
  717. SERIAL_ECHORPGM(MSG_CONFIGURATION_VER);
  718. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  719. SERIAL_ECHORPGM(MSG_AUTHOR);
  720. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  721. SERIAL_ECHOPGM("Compiled: ");
  722. SERIAL_ECHOLNPGM(__DATE__);
  723. #endif
  724. #endif
  725. SERIAL_ECHO_START;
  726. SERIAL_ECHORPGM(MSG_FREE_MEMORY);
  727. SERIAL_ECHO(freeMemory());
  728. SERIAL_ECHORPGM(MSG_PLANNER_BUFFER_BYTES);
  729. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  730. //lcd_update_enable(false); // why do we need this?? - andre
  731. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  732. Config_RetrieveSettings(EEPROM_OFFSET);
  733. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  734. tp_init(); // Initialize temperature loop
  735. lcd_splash(); // we need to do this again, because tp_init() kills lcd
  736. plan_init(); // Initialize planner;
  737. watchdog_init();
  738. #ifdef TMC2130
  739. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  740. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  741. uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
  742. if (crashdet)
  743. {
  744. crashdet_enable();
  745. MYSERIAL.println("CrashDetect ENABLED!");
  746. }
  747. else
  748. {
  749. crashdet_disable();
  750. MYSERIAL.println("CrashDetect DISABLED");
  751. }
  752. #endif //TMC2130
  753. #ifdef PAT9125
  754. int pat9125 = pat9125_init(PAT9125_XRES, PAT9125_YRES);
  755. printf_P(PSTR("PAT9125_init:%d\n"), pat9125);
  756. uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
  757. if (!pat9125) fsensor = 0; //disable sensor
  758. puts_P(PSTR("FSensor "));
  759. if (fsensor)
  760. {
  761. puts_P(PSTR("ENABLED\n"));
  762. fsensor_enable();
  763. }
  764. else
  765. {
  766. puts_P(PSTR("DISABLED\n"));
  767. fsensor_disable();
  768. }
  769. #endif //PAT9125
  770. st_init(); // Initialize stepper, this enables interrupts!
  771. setup_photpin();
  772. servo_init();
  773. // Reset the machine correction matrix.
  774. // It does not make sense to load the correction matrix until the machine is homed.
  775. world2machine_reset();
  776. KEEPALIVE_STATE(PAUSED_FOR_USER);
  777. if (!READ(BTN_ENC))
  778. {
  779. _delay_ms(1000);
  780. if (!READ(BTN_ENC))
  781. {
  782. lcd_implementation_clear();
  783. lcd_printPGM(PSTR("Factory RESET"));
  784. SET_OUTPUT(BEEPER);
  785. WRITE(BEEPER, HIGH);
  786. while (!READ(BTN_ENC));
  787. WRITE(BEEPER, LOW);
  788. _delay_ms(2000);
  789. char level = reset_menu();
  790. factory_reset(level, false);
  791. switch (level) {
  792. case 0: _delay_ms(0); break;
  793. case 1: _delay_ms(0); break;
  794. case 2: _delay_ms(0); break;
  795. case 3: _delay_ms(0); break;
  796. }
  797. // _delay_ms(100);
  798. /*
  799. #ifdef MESH_BED_LEVELING
  800. _delay_ms(2000);
  801. if (!READ(BTN_ENC))
  802. {
  803. WRITE(BEEPER, HIGH);
  804. _delay_ms(100);
  805. WRITE(BEEPER, LOW);
  806. _delay_ms(200);
  807. WRITE(BEEPER, HIGH);
  808. _delay_ms(100);
  809. WRITE(BEEPER, LOW);
  810. int _z = 0;
  811. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  812. EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
  813. EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
  814. EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
  815. }
  816. else
  817. {
  818. WRITE(BEEPER, HIGH);
  819. _delay_ms(100);
  820. WRITE(BEEPER, LOW);
  821. }
  822. #endif // mesh */
  823. }
  824. }
  825. else
  826. {
  827. //_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
  828. }
  829. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  830. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  831. #endif
  832. #if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
  833. SET_OUTPUT(LCD_PWM_PIN); //Set pin used for driver cooling fan
  834. #endif
  835. #ifdef DIGIPOT_I2C
  836. digipot_i2c_init();
  837. #endif
  838. setup_homepin();
  839. if (1) {
  840. SERIAL_ECHOPGM("initial zsteps on power up: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
  841. // try to run to zero phase before powering the Z motor.
  842. // Move in negative direction
  843. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  844. // Round the current micro-micro steps to micro steps.
  845. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_TMC2130_CS) + 8) >> 4; phase > 0; -- phase) {
  846. // Until the phase counter is reset to zero.
  847. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  848. delay(2);
  849. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  850. delay(2);
  851. }
  852. SERIAL_ECHOPGM("initial zsteps after reset: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
  853. }
  854. #if defined(Z_AXIS_ALWAYS_ON)
  855. enable_z();
  856. #endif
  857. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  858. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  859. 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
  860. if (farm_no == 0xFFFF) farm_no = 0;
  861. if (farm_mode)
  862. {
  863. prusa_statistics(8);
  864. }
  865. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  866. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  867. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  868. // but this times out if a blocking dialog is shown in setup().
  869. card.initsd();
  870. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  871. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff &&
  872. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 12)) == 0x0ffffffff) {
  873. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  874. // where all the EEPROM entries are set to 0x0ff.
  875. // Once a firmware boots up, it forces at least a language selection, which changes
  876. // EEPROM_LANG to number lower than 0x0ff.
  877. // 1) Set a high power mode.
  878. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  879. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  880. }
  881. #ifdef SNMM
  882. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  883. int _z = BOWDEN_LENGTH;
  884. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  885. }
  886. #endif
  887. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  888. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  889. // is being written into the EEPROM, so the update procedure will be triggered only once.
  890. lang_selected = eeprom_read_byte((uint8_t*)EEPROM_LANG);
  891. if (lang_selected >= LANG_NUM){
  892. lcd_mylang();
  893. }
  894. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  895. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  896. temp_cal_active = false;
  897. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  898. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  899. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  900. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  901. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 0, 8); //40C - 20um - 8usteps
  902. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 1, 24); //45C - 60um - 24usteps
  903. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 2, 48); //50C - 120um - 48usteps
  904. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 3, 80); //55C - 200um - 80usteps
  905. eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 4, 120); //60C - 300um - 120usteps
  906. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 1);
  907. temp_cal_active = true;
  908. }
  909. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  910. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  911. }
  912. check_babystep(); //checking if Z babystep is in allowed range
  913. setup_uvlo_interrupt();
  914. setup_fan_interrupt();
  915. fsensor_setup_interrupt();
  916. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  917. #ifndef DEBUG_DISABLE_STARTMSGS
  918. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  919. lcd_wizard(0);
  920. }
  921. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  922. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  923. calibration_status() == CALIBRATION_STATUS_UNKNOWN) {
  924. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  925. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  926. // Show the message.
  927. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  928. }
  929. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  930. // Show the message.
  931. lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  932. lcd_update_enable(true);
  933. }
  934. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  935. //lcd_show_fullscreen_message_and_wait_P(MSG_PINDA_NOT_CALIBRATED);
  936. lcd_update_enable(true);
  937. }
  938. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  939. // Show the message.
  940. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  941. }
  942. }
  943. KEEPALIVE_STATE(IN_PROCESS);
  944. #endif //DEBUG_DISABLE_STARTMSGS
  945. lcd_update_enable(true);
  946. lcd_implementation_clear();
  947. lcd_update(2);
  948. // Store the currently running firmware into an eeprom,
  949. // so the next time the firmware gets updated, it will know from which version it has been updated.
  950. update_current_firmware_version_to_eeprom();
  951. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
  952. /*
  953. if (lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false)) recover_print();
  954. else {
  955. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  956. lcd_update_enable(true);
  957. lcd_update(2);
  958. lcd_setstatuspgm(WELCOME_MSG);
  959. }
  960. */
  961. manage_heater(); // Update temperatures
  962. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  963. MYSERIAL.println("Power panic detected!");
  964. MYSERIAL.print("Current bed temp:");
  965. MYSERIAL.println(degBed());
  966. MYSERIAL.print("Saved bed temp:");
  967. MYSERIAL.println((float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED));
  968. #endif
  969. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  970. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  971. MYSERIAL.println("Automatic recovery!");
  972. #endif
  973. recover_print(1);
  974. }
  975. else{
  976. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  977. MYSERIAL.println("Normal recovery!");
  978. #endif
  979. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false) ) recover_print(0);
  980. else {
  981. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  982. lcd_update_enable(true);
  983. lcd_update(2);
  984. lcd_setstatuspgm(WELCOME_MSG);
  985. }
  986. }
  987. }
  988. KEEPALIVE_STATE(NOT_BUSY);
  989. wdt_enable(WDTO_4S);
  990. }
  991. void trace();
  992. #define CHUNK_SIZE 64 // bytes
  993. #define SAFETY_MARGIN 1
  994. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  995. int chunkHead = 0;
  996. int serial_read_stream() {
  997. setTargetHotend(0, 0);
  998. setTargetBed(0);
  999. lcd_implementation_clear();
  1000. lcd_printPGM(PSTR(" Upload in progress"));
  1001. // first wait for how many bytes we will receive
  1002. uint32_t bytesToReceive;
  1003. // receive the four bytes
  1004. char bytesToReceiveBuffer[4];
  1005. for (int i=0; i<4; i++) {
  1006. int data;
  1007. while ((data = MYSERIAL.read()) == -1) {};
  1008. bytesToReceiveBuffer[i] = data;
  1009. }
  1010. // make it a uint32
  1011. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1012. // we're ready, notify the sender
  1013. MYSERIAL.write('+');
  1014. // lock in the routine
  1015. uint32_t receivedBytes = 0;
  1016. while (prusa_sd_card_upload) {
  1017. int i;
  1018. for (i=0; i<CHUNK_SIZE; i++) {
  1019. int data;
  1020. // check if we're not done
  1021. if (receivedBytes == bytesToReceive) {
  1022. break;
  1023. }
  1024. // read the next byte
  1025. while ((data = MYSERIAL.read()) == -1) {};
  1026. receivedBytes++;
  1027. // save it to the chunk
  1028. chunk[i] = data;
  1029. }
  1030. // write the chunk to SD
  1031. card.write_command_no_newline(&chunk[0]);
  1032. // notify the sender we're ready for more data
  1033. MYSERIAL.write('+');
  1034. // for safety
  1035. manage_heater();
  1036. // check if we're done
  1037. if(receivedBytes == bytesToReceive) {
  1038. trace(); // beep
  1039. card.closefile();
  1040. prusa_sd_card_upload = false;
  1041. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1042. return 0;
  1043. }
  1044. }
  1045. }
  1046. #ifdef HOST_KEEPALIVE_FEATURE
  1047. /**
  1048. * Output a "busy" message at regular intervals
  1049. * while the machine is not accepting commands.
  1050. */
  1051. void host_keepalive() {
  1052. if (farm_mode) return;
  1053. long ms = millis();
  1054. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1055. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1056. switch (busy_state) {
  1057. case IN_HANDLER:
  1058. case IN_PROCESS:
  1059. SERIAL_ECHO_START;
  1060. SERIAL_ECHOLNPGM("busy: processing");
  1061. break;
  1062. case PAUSED_FOR_USER:
  1063. SERIAL_ECHO_START;
  1064. SERIAL_ECHOLNPGM("busy: paused for user");
  1065. break;
  1066. case PAUSED_FOR_INPUT:
  1067. SERIAL_ECHO_START;
  1068. SERIAL_ECHOLNPGM("busy: paused for input");
  1069. break;
  1070. default:
  1071. break;
  1072. }
  1073. }
  1074. prev_busy_signal_ms = ms;
  1075. }
  1076. #endif
  1077. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1078. // Before loop(), the setup() function is called by the main() routine.
  1079. void loop()
  1080. {
  1081. KEEPALIVE_STATE(NOT_BUSY);
  1082. bool stack_integrity = true;
  1083. if (usb_printing_counter > 0 && millis()-_usb_timer > 1000)
  1084. {
  1085. is_usb_printing = true;
  1086. usb_printing_counter--;
  1087. _usb_timer = millis();
  1088. }
  1089. if (usb_printing_counter == 0)
  1090. {
  1091. is_usb_printing = false;
  1092. }
  1093. if (prusa_sd_card_upload)
  1094. {
  1095. //we read byte-by byte
  1096. serial_read_stream();
  1097. } else
  1098. {
  1099. get_command();
  1100. #ifdef SDSUPPORT
  1101. card.checkautostart(false);
  1102. #endif
  1103. if(buflen)
  1104. {
  1105. cmdbuffer_front_already_processed = false;
  1106. #ifdef SDSUPPORT
  1107. if(card.saving)
  1108. {
  1109. // Saving a G-code file onto an SD-card is in progress.
  1110. // Saving starts with M28, saving until M29 is seen.
  1111. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1112. card.write_command(CMDBUFFER_CURRENT_STRING);
  1113. if(card.logging)
  1114. process_commands();
  1115. else
  1116. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1117. } else {
  1118. card.closefile();
  1119. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1120. }
  1121. } else {
  1122. process_commands();
  1123. }
  1124. #else
  1125. process_commands();
  1126. #endif //SDSUPPORT
  1127. if (! cmdbuffer_front_already_processed && buflen)
  1128. {
  1129. cli();
  1130. union {
  1131. struct {
  1132. char lo;
  1133. char hi;
  1134. } lohi;
  1135. uint16_t value;
  1136. } sdlen;
  1137. sdlen.value = 0;
  1138. if (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1139. sdlen.lohi.lo = cmdbuffer[bufindr + 1];
  1140. sdlen.lohi.hi = cmdbuffer[bufindr + 2];
  1141. }
  1142. cmdqueue_pop_front();
  1143. planner_add_sd_length(sdlen.value);
  1144. sei();
  1145. }
  1146. host_keepalive();
  1147. }
  1148. }
  1149. //check heater every n milliseconds
  1150. manage_heater();
  1151. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1152. checkHitEndstops();
  1153. lcd_update();
  1154. #ifdef PAT9125
  1155. fsensor_update();
  1156. #endif //PAT9125
  1157. #ifdef TMC2130
  1158. tmc2130_check_overtemp();
  1159. if (tmc2130_sg_crash)
  1160. {
  1161. tmc2130_sg_crash = false;
  1162. // crashdet_stop_and_save_print();
  1163. enquecommand_P((PSTR("CRASH_DETECTED")));
  1164. }
  1165. #endif //TMC2130
  1166. }
  1167. #define DEFINE_PGM_READ_ANY(type, reader) \
  1168. static inline type pgm_read_any(const type *p) \
  1169. { return pgm_read_##reader##_near(p); }
  1170. DEFINE_PGM_READ_ANY(float, float);
  1171. DEFINE_PGM_READ_ANY(signed char, byte);
  1172. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1173. static const PROGMEM type array##_P[3] = \
  1174. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1175. static inline type array(int axis) \
  1176. { return pgm_read_any(&array##_P[axis]); } \
  1177. type array##_ext(int axis) \
  1178. { return pgm_read_any(&array##_P[axis]); }
  1179. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1180. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1181. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1182. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1183. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1184. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1185. static void axis_is_at_home(int axis) {
  1186. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1187. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1188. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1189. }
  1190. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1191. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1192. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1193. saved_feedrate = feedrate;
  1194. saved_feedmultiply = feedmultiply;
  1195. feedmultiply = 100;
  1196. previous_millis_cmd = millis();
  1197. enable_endstops(enable_endstops_now);
  1198. }
  1199. static void clean_up_after_endstop_move() {
  1200. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1201. enable_endstops(false);
  1202. #endif
  1203. feedrate = saved_feedrate;
  1204. feedmultiply = saved_feedmultiply;
  1205. previous_millis_cmd = millis();
  1206. }
  1207. #ifdef ENABLE_AUTO_BED_LEVELING
  1208. #ifdef AUTO_BED_LEVELING_GRID
  1209. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1210. {
  1211. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1212. planeNormal.debug("planeNormal");
  1213. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1214. //bedLevel.debug("bedLevel");
  1215. //plan_bed_level_matrix.debug("bed level before");
  1216. //vector_3 uncorrected_position = plan_get_position_mm();
  1217. //uncorrected_position.debug("position before");
  1218. vector_3 corrected_position = plan_get_position();
  1219. // corrected_position.debug("position after");
  1220. current_position[X_AXIS] = corrected_position.x;
  1221. current_position[Y_AXIS] = corrected_position.y;
  1222. current_position[Z_AXIS] = corrected_position.z;
  1223. // put the bed at 0 so we don't go below it.
  1224. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1225. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1226. }
  1227. #else // not AUTO_BED_LEVELING_GRID
  1228. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1229. plan_bed_level_matrix.set_to_identity();
  1230. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1231. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1232. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1233. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1234. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1235. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1236. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1237. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1238. vector_3 corrected_position = plan_get_position();
  1239. current_position[X_AXIS] = corrected_position.x;
  1240. current_position[Y_AXIS] = corrected_position.y;
  1241. current_position[Z_AXIS] = corrected_position.z;
  1242. // put the bed at 0 so we don't go below it.
  1243. current_position[Z_AXIS] = zprobe_zoffset;
  1244. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1245. }
  1246. #endif // AUTO_BED_LEVELING_GRID
  1247. static void run_z_probe() {
  1248. plan_bed_level_matrix.set_to_identity();
  1249. feedrate = homing_feedrate[Z_AXIS];
  1250. // move down until you find the bed
  1251. float zPosition = -10;
  1252. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1253. st_synchronize();
  1254. // we have to let the planner know where we are right now as it is not where we said to go.
  1255. zPosition = st_get_position_mm(Z_AXIS);
  1256. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1257. // move up the retract distance
  1258. zPosition += home_retract_mm(Z_AXIS);
  1259. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1260. st_synchronize();
  1261. // move back down slowly to find bed
  1262. feedrate = homing_feedrate[Z_AXIS]/4;
  1263. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1264. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1265. st_synchronize();
  1266. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1267. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1268. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1269. }
  1270. static void do_blocking_move_to(float x, float y, float z) {
  1271. float oldFeedRate = feedrate;
  1272. feedrate = homing_feedrate[Z_AXIS];
  1273. current_position[Z_AXIS] = z;
  1274. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1275. st_synchronize();
  1276. feedrate = XY_TRAVEL_SPEED;
  1277. current_position[X_AXIS] = x;
  1278. current_position[Y_AXIS] = y;
  1279. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1280. st_synchronize();
  1281. feedrate = oldFeedRate;
  1282. }
  1283. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1284. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1285. }
  1286. /// Probe bed height at position (x,y), returns the measured z value
  1287. static float probe_pt(float x, float y, float z_before) {
  1288. // move to right place
  1289. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1290. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1291. run_z_probe();
  1292. float measured_z = current_position[Z_AXIS];
  1293. SERIAL_PROTOCOLRPGM(MSG_BED);
  1294. SERIAL_PROTOCOLPGM(" x: ");
  1295. SERIAL_PROTOCOL(x);
  1296. SERIAL_PROTOCOLPGM(" y: ");
  1297. SERIAL_PROTOCOL(y);
  1298. SERIAL_PROTOCOLPGM(" z: ");
  1299. SERIAL_PROTOCOL(measured_z);
  1300. SERIAL_PROTOCOLPGM("\n");
  1301. return measured_z;
  1302. }
  1303. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1304. #ifdef LIN_ADVANCE
  1305. /**
  1306. * M900: Set and/or Get advance K factor and WH/D ratio
  1307. *
  1308. * K<factor> Set advance K factor
  1309. * R<ratio> Set ratio directly (overrides WH/D)
  1310. * W<width> H<height> D<diam> Set ratio from WH/D
  1311. */
  1312. inline void gcode_M900() {
  1313. st_synchronize();
  1314. const float newK = code_seen('K') ? code_value_float() : -1;
  1315. if (newK >= 0) extruder_advance_k = newK;
  1316. float newR = code_seen('R') ? code_value_float() : -1;
  1317. if (newR < 0) {
  1318. const float newD = code_seen('D') ? code_value_float() : -1,
  1319. newW = code_seen('W') ? code_value_float() : -1,
  1320. newH = code_seen('H') ? code_value_float() : -1;
  1321. if (newD >= 0 && newW >= 0 && newH >= 0)
  1322. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1323. }
  1324. if (newR >= 0) advance_ed_ratio = newR;
  1325. SERIAL_ECHO_START;
  1326. SERIAL_ECHOPGM("Advance K=");
  1327. SERIAL_ECHOLN(extruder_advance_k);
  1328. SERIAL_ECHOPGM(" E/D=");
  1329. const float ratio = advance_ed_ratio;
  1330. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1331. }
  1332. #endif // LIN_ADVANCE
  1333. bool check_commands() {
  1334. bool end_command_found = false;
  1335. while (buflen)
  1336. {
  1337. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1338. if (!cmdbuffer_front_already_processed)
  1339. cmdqueue_pop_front();
  1340. cmdbuffer_front_already_processed = false;
  1341. }
  1342. return end_command_found;
  1343. }
  1344. #ifdef TMC2130
  1345. bool calibrate_z_auto()
  1346. {
  1347. //lcd_display_message_fullscreen_P(MSG_CALIBRATE_Z_AUTO);
  1348. lcd_implementation_clear();
  1349. lcd_print_at_PGM(0,1, MSG_CALIBRATE_Z_AUTO);
  1350. bool endstops_enabled = enable_endstops(true);
  1351. int axis_up_dir = -home_dir(Z_AXIS);
  1352. tmc2130_home_enter(Z_AXIS_MASK);
  1353. current_position[Z_AXIS] = 0;
  1354. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1355. set_destination_to_current();
  1356. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1357. feedrate = homing_feedrate[Z_AXIS];
  1358. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1359. tmc2130_home_restart(Z_AXIS);
  1360. st_synchronize();
  1361. // current_position[axis] = 0;
  1362. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1363. tmc2130_home_exit();
  1364. enable_endstops(false);
  1365. current_position[Z_AXIS] = 0;
  1366. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1367. set_destination_to_current();
  1368. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1369. feedrate = homing_feedrate[Z_AXIS] / 2;
  1370. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1371. st_synchronize();
  1372. enable_endstops(endstops_enabled);
  1373. current_position[Z_AXIS] = Z_MAX_POS+2.0;
  1374. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1375. return true;
  1376. }
  1377. #endif //TMC2130
  1378. void homeaxis(int axis)
  1379. {
  1380. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homming
  1381. #define HOMEAXIS_DO(LETTER) \
  1382. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1383. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1384. {
  1385. int axis_home_dir = home_dir(axis);
  1386. feedrate = homing_feedrate[axis];
  1387. #ifdef TMC2130
  1388. tmc2130_home_enter(X_AXIS_MASK << axis);
  1389. #endif
  1390. // Move right a bit, so that the print head does not touch the left end position,
  1391. // and the following left movement has a chance to achieve the required velocity
  1392. // for the stall guard to work.
  1393. current_position[axis] = 0;
  1394. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1395. // destination[axis] = 11.f;
  1396. destination[axis] = 3.f;
  1397. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1398. st_synchronize();
  1399. // Move left away from the possible collision with the collision detection disabled.
  1400. endstops_hit_on_purpose();
  1401. enable_endstops(false);
  1402. current_position[axis] = 0;
  1403. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1404. destination[axis] = - 1.;
  1405. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1406. st_synchronize();
  1407. // Now continue to move up to the left end stop with the collision detection enabled.
  1408. enable_endstops(true);
  1409. destination[axis] = - 1.1 * max_length(axis);
  1410. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1411. st_synchronize();
  1412. // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
  1413. endstops_hit_on_purpose();
  1414. enable_endstops(false);
  1415. current_position[axis] = 0;
  1416. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1417. destination[axis] = 10.f;
  1418. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1419. st_synchronize();
  1420. endstops_hit_on_purpose();
  1421. // Now move left up to the collision, this time with a repeatable velocity.
  1422. enable_endstops(true);
  1423. destination[axis] = - 15.f;
  1424. feedrate = homing_feedrate[axis]/2;
  1425. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1426. st_synchronize();
  1427. axis_is_at_home(axis);
  1428. axis_known_position[axis] = true;
  1429. #ifdef TMC2130
  1430. tmc2130_home_exit();
  1431. #endif
  1432. // Move the X carriage away from the collision.
  1433. // If this is not done, the X cariage will jump from the collision at the instant the Trinamic driver reduces power on idle.
  1434. endstops_hit_on_purpose();
  1435. enable_endstops(false);
  1436. {
  1437. // Two full periods (4 full steps).
  1438. float gap = 0.32f * 2.f;
  1439. current_position[axis] -= gap;
  1440. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1441. current_position[axis] += gap;
  1442. }
  1443. destination[axis] = current_position[axis];
  1444. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.3f*feedrate/60, active_extruder);
  1445. st_synchronize();
  1446. feedrate = 0.0;
  1447. }
  1448. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  1449. {
  1450. int axis_home_dir = home_dir(axis);
  1451. current_position[axis] = 0;
  1452. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1453. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1454. feedrate = homing_feedrate[axis];
  1455. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1456. st_synchronize();
  1457. current_position[axis] = 0;
  1458. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1459. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1460. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1461. st_synchronize();
  1462. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1463. feedrate = homing_feedrate[axis]/2 ;
  1464. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1465. st_synchronize();
  1466. axis_is_at_home(axis);
  1467. destination[axis] = current_position[axis];
  1468. feedrate = 0.0;
  1469. endstops_hit_on_purpose();
  1470. axis_known_position[axis] = true;
  1471. }
  1472. enable_endstops(endstops_enabled);
  1473. }
  1474. /**/
  1475. void home_xy()
  1476. {
  1477. set_destination_to_current();
  1478. homeaxis(X_AXIS);
  1479. homeaxis(Y_AXIS);
  1480. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1481. endstops_hit_on_purpose();
  1482. }
  1483. void refresh_cmd_timeout(void)
  1484. {
  1485. previous_millis_cmd = millis();
  1486. }
  1487. #ifdef FWRETRACT
  1488. void retract(bool retracting, bool swapretract = false) {
  1489. if(retracting && !retracted[active_extruder]) {
  1490. destination[X_AXIS]=current_position[X_AXIS];
  1491. destination[Y_AXIS]=current_position[Y_AXIS];
  1492. destination[Z_AXIS]=current_position[Z_AXIS];
  1493. destination[E_AXIS]=current_position[E_AXIS];
  1494. if (swapretract) {
  1495. current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
  1496. } else {
  1497. current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
  1498. }
  1499. plan_set_e_position(current_position[E_AXIS]);
  1500. float oldFeedrate = feedrate;
  1501. feedrate=retract_feedrate*60;
  1502. retracted[active_extruder]=true;
  1503. prepare_move();
  1504. current_position[Z_AXIS]-=retract_zlift;
  1505. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1506. prepare_move();
  1507. feedrate = oldFeedrate;
  1508. } else if(!retracting && retracted[active_extruder]) {
  1509. destination[X_AXIS]=current_position[X_AXIS];
  1510. destination[Y_AXIS]=current_position[Y_AXIS];
  1511. destination[Z_AXIS]=current_position[Z_AXIS];
  1512. destination[E_AXIS]=current_position[E_AXIS];
  1513. current_position[Z_AXIS]+=retract_zlift;
  1514. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1515. //prepare_move();
  1516. if (swapretract) {
  1517. current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
  1518. } else {
  1519. current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
  1520. }
  1521. plan_set_e_position(current_position[E_AXIS]);
  1522. float oldFeedrate = feedrate;
  1523. feedrate=retract_recover_feedrate*60;
  1524. retracted[active_extruder]=false;
  1525. prepare_move();
  1526. feedrate = oldFeedrate;
  1527. }
  1528. } //retract
  1529. #endif //FWRETRACT
  1530. void trace() {
  1531. tone(BEEPER, 440);
  1532. delay(25);
  1533. noTone(BEEPER);
  1534. delay(20);
  1535. }
  1536. /*
  1537. void ramming() {
  1538. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  1539. if (current_temperature[0] < 230) {
  1540. //PLA
  1541. max_feedrate[E_AXIS] = 50;
  1542. //current_position[E_AXIS] -= 8;
  1543. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1544. //current_position[E_AXIS] += 8;
  1545. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1546. current_position[E_AXIS] += 5.4;
  1547. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  1548. current_position[E_AXIS] += 3.2;
  1549. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1550. current_position[E_AXIS] += 3;
  1551. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  1552. st_synchronize();
  1553. max_feedrate[E_AXIS] = 80;
  1554. current_position[E_AXIS] -= 82;
  1555. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  1556. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1557. current_position[E_AXIS] -= 20;
  1558. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  1559. current_position[E_AXIS] += 5;
  1560. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1561. current_position[E_AXIS] += 5;
  1562. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1563. current_position[E_AXIS] -= 10;
  1564. st_synchronize();
  1565. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1566. current_position[E_AXIS] += 10;
  1567. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1568. current_position[E_AXIS] -= 10;
  1569. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1570. current_position[E_AXIS] += 10;
  1571. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1572. current_position[E_AXIS] -= 10;
  1573. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1574. st_synchronize();
  1575. }
  1576. else {
  1577. //ABS
  1578. max_feedrate[E_AXIS] = 50;
  1579. //current_position[E_AXIS] -= 8;
  1580. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1581. //current_position[E_AXIS] += 8;
  1582. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1583. current_position[E_AXIS] += 3.1;
  1584. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  1585. current_position[E_AXIS] += 3.1;
  1586. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  1587. current_position[E_AXIS] += 4;
  1588. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1589. st_synchronize();
  1590. //current_position[X_AXIS] += 23; //delay
  1591. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1592. //current_position[X_AXIS] -= 23; //delay
  1593. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1594. delay(4700);
  1595. max_feedrate[E_AXIS] = 80;
  1596. current_position[E_AXIS] -= 92;
  1597. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  1598. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1599. current_position[E_AXIS] -= 5;
  1600. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1601. current_position[E_AXIS] += 5;
  1602. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1603. current_position[E_AXIS] -= 5;
  1604. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1605. st_synchronize();
  1606. current_position[E_AXIS] += 5;
  1607. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1608. current_position[E_AXIS] -= 5;
  1609. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1610. current_position[E_AXIS] += 5;
  1611. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1612. current_position[E_AXIS] -= 5;
  1613. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1614. st_synchronize();
  1615. }
  1616. }
  1617. */
  1618. bool gcode_M45(bool onlyZ) {
  1619. bool final_result = false;
  1620. // Only Z calibration?
  1621. if (!onlyZ) {
  1622. setTargetBed(0);
  1623. setTargetHotend(0, 0);
  1624. setTargetHotend(0, 1);
  1625. setTargetHotend(0, 2);
  1626. adjust_bed_reset(); //reset bed level correction
  1627. }
  1628. // Disable the default update procedure of the display. We will do a modal dialog.
  1629. lcd_update_enable(false);
  1630. // Let the planner use the uncorrected coordinates.
  1631. mbl.reset();
  1632. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  1633. // the planner will not perform any adjustments in the XY plane.
  1634. // Wait for the motors to stop and update the current position with the absolute values.
  1635. world2machine_revert_to_uncorrected();
  1636. // Reset the baby step value applied without moving the axes.
  1637. babystep_reset();
  1638. // Mark all axes as in a need for homing.
  1639. memset(axis_known_position, 0, sizeof(axis_known_position));
  1640. // Home in the XY plane.
  1641. //set_destination_to_current();
  1642. setup_for_endstop_move();
  1643. lcd_display_message_fullscreen_P(MSG_AUTO_HOME);
  1644. home_xy();
  1645. // Let the user move the Z axes up to the end stoppers.
  1646. #ifdef TMC2130
  1647. if (calibrate_z_auto()) {
  1648. #else //TMC2130
  1649. if (lcd_calibrate_z_end_stop_manual(onlyZ)) {
  1650. #endif //TMC2130
  1651. refresh_cmd_timeout();
  1652. //if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ)) {
  1653. // lcd_wait_for_cool_down();
  1654. //}
  1655. if(!onlyZ){
  1656. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1657. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_STEEL_SHEET_CHECK, false, false);
  1658. if(result) lcd_show_fullscreen_message_and_wait_P(MSG_REMOVE_STEEL_SHEET);
  1659. lcd_show_fullscreen_message_and_wait_P(MSG_CONFIRM_NOZZLE_CLEAN);
  1660. lcd_show_fullscreen_message_and_wait_P(MSG_PAPER);
  1661. KEEPALIVE_STATE(IN_HANDLER);
  1662. lcd_display_message_fullscreen_P(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1);
  1663. lcd_implementation_print_at(0, 2, 1);
  1664. lcd_printPGM(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2);
  1665. }
  1666. // Move the print head close to the bed.
  1667. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  1668. 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);
  1669. st_synchronize();
  1670. //#ifdef TMC2130
  1671. // tmc2130_home_enter(X_AXIS_MASK | Y_AXIS_MASK);
  1672. //#endif
  1673. int8_t verbosity_level = 0;
  1674. if (code_seen('V')) {
  1675. // Just 'V' without a number counts as V1.
  1676. char c = strchr_pointer[1];
  1677. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  1678. }
  1679. if (onlyZ) {
  1680. clean_up_after_endstop_move();
  1681. // Z only calibration.
  1682. // Load the machine correction matrix
  1683. world2machine_initialize();
  1684. // and correct the current_position to match the transformed coordinate system.
  1685. world2machine_update_current();
  1686. //FIXME
  1687. bool result = sample_mesh_and_store_reference();
  1688. if (result) {
  1689. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  1690. // Shipped, the nozzle height has been set already. The user can start printing now.
  1691. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  1692. // babystep_apply();
  1693. }
  1694. }
  1695. else {
  1696. // Reset the baby step value and the baby step applied flag.
  1697. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  1698. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1699. // Complete XYZ calibration.
  1700. uint8_t point_too_far_mask = 0;
  1701. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  1702. clean_up_after_endstop_move();
  1703. // Print head up.
  1704. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  1705. 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);
  1706. st_synchronize();
  1707. if (result >= 0) {
  1708. point_too_far_mask = 0;
  1709. // Second half: The fine adjustment.
  1710. // Let the planner use the uncorrected coordinates.
  1711. mbl.reset();
  1712. world2machine_reset();
  1713. // Home in the XY plane.
  1714. setup_for_endstop_move();
  1715. home_xy();
  1716. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  1717. clean_up_after_endstop_move();
  1718. // Print head up.
  1719. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  1720. 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);
  1721. st_synchronize();
  1722. // if (result >= 0) babystep_apply();
  1723. }
  1724. lcd_bed_calibration_show_result(result, point_too_far_mask);
  1725. if (result >= 0) {
  1726. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  1727. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  1728. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  1729. final_result = true;
  1730. }
  1731. }
  1732. #ifdef TMC2130
  1733. tmc2130_home_exit();
  1734. #endif
  1735. }
  1736. else {
  1737. // Timeouted.
  1738. }
  1739. lcd_update_enable(true);
  1740. return final_result;
  1741. }
  1742. void gcode_M701() {
  1743. #ifdef SNMM
  1744. extr_adj(snmm_extruder);//loads current extruder
  1745. #else
  1746. enable_z();
  1747. custom_message = true;
  1748. custom_message_type = 2;
  1749. lcd_setstatuspgm(MSG_LOADING_FILAMENT);
  1750. current_position[E_AXIS] += 70;
  1751. 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
  1752. current_position[E_AXIS] += 25;
  1753. 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
  1754. st_synchronize();
  1755. if (!farm_mode && loading_flag) {
  1756. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  1757. while (!clean) {
  1758. lcd_update_enable(true);
  1759. lcd_update(2);
  1760. current_position[E_AXIS] += 25;
  1761. 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
  1762. st_synchronize();
  1763. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  1764. }
  1765. }
  1766. lcd_update_enable(true);
  1767. lcd_update(2);
  1768. lcd_setstatuspgm(WELCOME_MSG);
  1769. disable_z();
  1770. loading_flag = false;
  1771. custom_message = false;
  1772. custom_message_type = 0;
  1773. #endif
  1774. }
  1775. void process_commands()
  1776. {
  1777. #ifdef FILAMENT_RUNOUT_SUPPORT
  1778. SET_INPUT(FR_SENS);
  1779. #endif
  1780. #ifdef CMDBUFFER_DEBUG
  1781. SERIAL_ECHOPGM("Processing a GCODE command: ");
  1782. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  1783. SERIAL_ECHOLNPGM("");
  1784. SERIAL_ECHOPGM("In cmdqueue: ");
  1785. SERIAL_ECHO(buflen);
  1786. SERIAL_ECHOLNPGM("");
  1787. #endif /* CMDBUFFER_DEBUG */
  1788. unsigned long codenum; //throw away variable
  1789. char *starpos = NULL;
  1790. #ifdef ENABLE_AUTO_BED_LEVELING
  1791. float x_tmp, y_tmp, z_tmp, real_z;
  1792. #endif
  1793. // PRUSA GCODES
  1794. KEEPALIVE_STATE(IN_HANDLER);
  1795. #ifdef SNMM
  1796. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  1797. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  1798. int8_t SilentMode;
  1799. #endif
  1800. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  1801. starpos = (strchr(strchr_pointer + 5, '*'));
  1802. if (starpos != NULL)
  1803. *(starpos) = '\0';
  1804. lcd_setstatus(strchr_pointer + 5);
  1805. }
  1806. else if(code_seen("CRASH_DETECTED"))
  1807. crashdet_detected();
  1808. else if(code_seen("CRASH_RECOVER"))
  1809. crashdet_recover();
  1810. else if(code_seen("CRASH_CANCEL"))
  1811. crashdet_cancel();
  1812. else if(code_seen("PRUSA")){
  1813. if (code_seen("Ping")) { //PRUSA Ping
  1814. if (farm_mode) {
  1815. PingTime = millis();
  1816. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  1817. }
  1818. }
  1819. else if (code_seen("PRN")) {
  1820. MYSERIAL.println(status_number);
  1821. }else if (code_seen("FAN")) {
  1822. MYSERIAL.print("E0:");
  1823. MYSERIAL.print(60*fan_speed[0]);
  1824. MYSERIAL.println(" RPM");
  1825. MYSERIAL.print("PRN0:");
  1826. MYSERIAL.print(60*fan_speed[1]);
  1827. MYSERIAL.println(" RPM");
  1828. }else if (code_seen("fn")) {
  1829. if (farm_mode) {
  1830. MYSERIAL.println(farm_no);
  1831. }
  1832. else {
  1833. MYSERIAL.println("Not in farm mode.");
  1834. }
  1835. }else if (code_seen("fv")) {
  1836. // get file version
  1837. #ifdef SDSUPPORT
  1838. card.openFile(strchr_pointer + 3,true);
  1839. while (true) {
  1840. uint16_t readByte = card.get();
  1841. MYSERIAL.write(readByte);
  1842. if (readByte=='\n') {
  1843. break;
  1844. }
  1845. }
  1846. card.closefile();
  1847. #endif // SDSUPPORT
  1848. } else if (code_seen("M28")) {
  1849. trace();
  1850. prusa_sd_card_upload = true;
  1851. card.openFile(strchr_pointer+4,false);
  1852. } else if (code_seen("SN")) {
  1853. if (farm_mode) {
  1854. selectedSerialPort = 0;
  1855. MSerial.write(";S");
  1856. // S/N is:CZPX0917X003XC13518
  1857. int numbersRead = 0;
  1858. while (numbersRead < 19) {
  1859. while (MSerial.available() > 0) {
  1860. uint8_t serial_char = MSerial.read();
  1861. selectedSerialPort = 1;
  1862. MSerial.write(serial_char);
  1863. numbersRead++;
  1864. selectedSerialPort = 0;
  1865. }
  1866. }
  1867. selectedSerialPort = 1;
  1868. MSerial.write('\n');
  1869. /*for (int b = 0; b < 3; b++) {
  1870. tone(BEEPER, 110);
  1871. delay(50);
  1872. noTone(BEEPER);
  1873. delay(50);
  1874. }*/
  1875. } else {
  1876. MYSERIAL.println("Not in farm mode.");
  1877. }
  1878. } else if(code_seen("Fir")){
  1879. SERIAL_PROTOCOLLN(FW_version);
  1880. } else if(code_seen("Rev")){
  1881. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  1882. } else if(code_seen("Lang")) {
  1883. lcd_force_language_selection();
  1884. } else if(code_seen("Lz")) {
  1885. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  1886. } else if (code_seen("SERIAL LOW")) {
  1887. MYSERIAL.println("SERIAL LOW");
  1888. MYSERIAL.begin(BAUDRATE);
  1889. return;
  1890. } else if (code_seen("SERIAL HIGH")) {
  1891. MYSERIAL.println("SERIAL HIGH");
  1892. MYSERIAL.begin(1152000);
  1893. return;
  1894. } else if(code_seen("Beat")) {
  1895. // Kick farm link timer
  1896. kicktime = millis();
  1897. } else if(code_seen("FR")) {
  1898. // Factory full reset
  1899. factory_reset(0,true);
  1900. }
  1901. //else if (code_seen('Cal')) {
  1902. // lcd_calibration();
  1903. // }
  1904. }
  1905. else if (code_seen('^')) {
  1906. // nothing, this is a version line
  1907. } else if(code_seen('G'))
  1908. {
  1909. switch((int)code_value())
  1910. {
  1911. case 0: // G0 -> G1
  1912. case 1: // G1
  1913. if(Stopped == false) {
  1914. #ifdef FILAMENT_RUNOUT_SUPPORT
  1915. if(READ(FR_SENS)){
  1916. feedmultiplyBckp=feedmultiply;
  1917. float target[4];
  1918. float lastpos[4];
  1919. target[X_AXIS]=current_position[X_AXIS];
  1920. target[Y_AXIS]=current_position[Y_AXIS];
  1921. target[Z_AXIS]=current_position[Z_AXIS];
  1922. target[E_AXIS]=current_position[E_AXIS];
  1923. lastpos[X_AXIS]=current_position[X_AXIS];
  1924. lastpos[Y_AXIS]=current_position[Y_AXIS];
  1925. lastpos[Z_AXIS]=current_position[Z_AXIS];
  1926. lastpos[E_AXIS]=current_position[E_AXIS];
  1927. //retract by E
  1928. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  1929. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  1930. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  1931. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  1932. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  1933. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  1934. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  1935. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  1936. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  1937. //finish moves
  1938. st_synchronize();
  1939. //disable extruder steppers so filament can be removed
  1940. disable_e0();
  1941. disable_e1();
  1942. disable_e2();
  1943. delay(100);
  1944. //LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
  1945. uint8_t cnt=0;
  1946. int counterBeep = 0;
  1947. lcd_wait_interact();
  1948. while(!lcd_clicked()){
  1949. cnt++;
  1950. manage_heater();
  1951. manage_inactivity(true);
  1952. //lcd_update();
  1953. if(cnt==0)
  1954. {
  1955. #if BEEPER > 0
  1956. if (counterBeep== 500){
  1957. counterBeep = 0;
  1958. }
  1959. SET_OUTPUT(BEEPER);
  1960. if (counterBeep== 0){
  1961. WRITE(BEEPER,HIGH);
  1962. }
  1963. if (counterBeep== 20){
  1964. WRITE(BEEPER,LOW);
  1965. }
  1966. counterBeep++;
  1967. #else
  1968. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  1969. lcd_buzz(1000/6,100);
  1970. #else
  1971. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
  1972. #endif
  1973. #endif
  1974. }
  1975. }
  1976. WRITE(BEEPER,LOW);
  1977. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  1978. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  1979. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  1980. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  1981. lcd_change_fil_state = 0;
  1982. lcd_loading_filament();
  1983. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  1984. lcd_change_fil_state = 0;
  1985. lcd_alright();
  1986. switch(lcd_change_fil_state){
  1987. case 2:
  1988. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  1989. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  1990. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  1991. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  1992. lcd_loading_filament();
  1993. break;
  1994. case 3:
  1995. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  1996. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  1997. lcd_loading_color();
  1998. break;
  1999. default:
  2000. lcd_change_success();
  2001. break;
  2002. }
  2003. }
  2004. target[E_AXIS]+= 5;
  2005. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2006. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  2007. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2008. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  2009. //plan_set_e_position(current_position[E_AXIS]);
  2010. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  2011. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  2012. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  2013. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  2014. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  2015. plan_set_e_position(lastpos[E_AXIS]);
  2016. feedmultiply=feedmultiplyBckp;
  2017. char cmd[9];
  2018. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2019. enquecommand(cmd);
  2020. }
  2021. #endif
  2022. get_coordinates(); // For X Y Z E F
  2023. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  2024. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  2025. }
  2026. #ifdef FWRETRACT
  2027. if(autoretract_enabled)
  2028. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2029. float echange=destination[E_AXIS]-current_position[E_AXIS];
  2030. if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
  2031. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  2032. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  2033. retract(!retracted);
  2034. return;
  2035. }
  2036. }
  2037. #endif //FWRETRACT
  2038. prepare_move();
  2039. //ClearToSend();
  2040. }
  2041. break;
  2042. case 2: // G2 - CW ARC
  2043. if(Stopped == false) {
  2044. get_arc_coordinates();
  2045. prepare_arc_move(true);
  2046. }
  2047. break;
  2048. case 3: // G3 - CCW ARC
  2049. if(Stopped == false) {
  2050. get_arc_coordinates();
  2051. prepare_arc_move(false);
  2052. }
  2053. break;
  2054. case 4: // G4 dwell
  2055. codenum = 0;
  2056. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  2057. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  2058. if(codenum != 0) LCD_MESSAGERPGM(MSG_DWELL);
  2059. st_synchronize();
  2060. codenum += millis(); // keep track of when we started waiting
  2061. previous_millis_cmd = millis();
  2062. while(millis() < codenum) {
  2063. manage_heater();
  2064. manage_inactivity();
  2065. lcd_update();
  2066. }
  2067. break;
  2068. #ifdef FWRETRACT
  2069. case 10: // G10 retract
  2070. #if EXTRUDERS > 1
  2071. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  2072. retract(true,retracted_swap[active_extruder]);
  2073. #else
  2074. retract(true);
  2075. #endif
  2076. break;
  2077. case 11: // G11 retract_recover
  2078. #if EXTRUDERS > 1
  2079. retract(false,retracted_swap[active_extruder]);
  2080. #else
  2081. retract(false);
  2082. #endif
  2083. break;
  2084. #endif //FWRETRACT
  2085. case 28: //G28 Home all Axis one at a time
  2086. {
  2087. st_synchronize();
  2088. #if 1
  2089. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2090. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2091. #endif
  2092. // Flag for the display update routine and to disable the print cancelation during homing.
  2093. homing_flag = true;
  2094. // Which axes should be homed?
  2095. bool home_x = code_seen(axis_codes[X_AXIS]);
  2096. bool home_y = code_seen(axis_codes[Y_AXIS]);
  2097. bool home_z = code_seen(axis_codes[Z_AXIS]);
  2098. // Either all X,Y,Z codes are present, or none of them.
  2099. bool home_all_axes = home_x == home_y && home_x == home_z;
  2100. if (home_all_axes)
  2101. // No X/Y/Z code provided means to home all axes.
  2102. home_x = home_y = home_z = true;
  2103. #ifdef ENABLE_AUTO_BED_LEVELING
  2104. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2105. #endif //ENABLE_AUTO_BED_LEVELING
  2106. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2107. // the planner will not perform any adjustments in the XY plane.
  2108. // Wait for the motors to stop and update the current position with the absolute values.
  2109. world2machine_revert_to_uncorrected();
  2110. // For mesh bed leveling deactivate the matrix temporarily.
  2111. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2112. // in a single axis only.
  2113. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2114. #ifdef MESH_BED_LEVELING
  2115. uint8_t mbl_was_active = mbl.active;
  2116. mbl.active = 0;
  2117. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2118. #endif
  2119. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2120. // consumed during the first movements following this statement.
  2121. if (home_z)
  2122. babystep_undo();
  2123. saved_feedrate = feedrate;
  2124. saved_feedmultiply = feedmultiply;
  2125. feedmultiply = 100;
  2126. previous_millis_cmd = millis();
  2127. enable_endstops(true);
  2128. memcpy(destination, current_position, sizeof(destination));
  2129. feedrate = 0.0;
  2130. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2131. if(home_z)
  2132. homeaxis(Z_AXIS);
  2133. #endif
  2134. #ifdef QUICK_HOME
  2135. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2136. if(home_x && home_y) //first diagonal move
  2137. {
  2138. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2139. int x_axis_home_dir = home_dir(X_AXIS);
  2140. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2141. 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);
  2142. feedrate = homing_feedrate[X_AXIS];
  2143. if(homing_feedrate[Y_AXIS]<feedrate)
  2144. feedrate = homing_feedrate[Y_AXIS];
  2145. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2146. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2147. } else {
  2148. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2149. }
  2150. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2151. st_synchronize();
  2152. axis_is_at_home(X_AXIS);
  2153. axis_is_at_home(Y_AXIS);
  2154. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2155. destination[X_AXIS] = current_position[X_AXIS];
  2156. destination[Y_AXIS] = current_position[Y_AXIS];
  2157. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2158. feedrate = 0.0;
  2159. st_synchronize();
  2160. endstops_hit_on_purpose();
  2161. current_position[X_AXIS] = destination[X_AXIS];
  2162. current_position[Y_AXIS] = destination[Y_AXIS];
  2163. current_position[Z_AXIS] = destination[Z_AXIS];
  2164. }
  2165. #endif /* QUICK_HOME */
  2166. if(home_x)
  2167. homeaxis(X_AXIS);
  2168. if(home_y)
  2169. homeaxis(Y_AXIS);
  2170. if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
  2171. current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
  2172. if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
  2173. current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
  2174. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2175. #ifndef Z_SAFE_HOMING
  2176. if(home_z) {
  2177. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2178. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2179. feedrate = max_feedrate[Z_AXIS];
  2180. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2181. st_synchronize();
  2182. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2183. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
  2184. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2185. {
  2186. homeaxis(X_AXIS);
  2187. homeaxis(Y_AXIS);
  2188. }
  2189. // 1st mesh bed leveling measurement point, corrected.
  2190. world2machine_initialize();
  2191. world2machine(pgm_read_float(bed_ref_points), pgm_read_float(bed_ref_points+1), destination[X_AXIS], destination[Y_AXIS]);
  2192. world2machine_reset();
  2193. if (destination[Y_AXIS] < Y_MIN_POS)
  2194. destination[Y_AXIS] = Y_MIN_POS;
  2195. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2196. feedrate = homing_feedrate[Z_AXIS]/10;
  2197. current_position[Z_AXIS] = 0;
  2198. enable_endstops(false);
  2199. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2200. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2201. st_synchronize();
  2202. current_position[X_AXIS] = destination[X_AXIS];
  2203. current_position[Y_AXIS] = destination[Y_AXIS];
  2204. enable_endstops(true);
  2205. endstops_hit_on_purpose();
  2206. homeaxis(Z_AXIS);
  2207. #else // MESH_BED_LEVELING
  2208. homeaxis(Z_AXIS);
  2209. #endif // MESH_BED_LEVELING
  2210. }
  2211. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2212. if(home_all_axes) {
  2213. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2214. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2215. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2216. feedrate = XY_TRAVEL_SPEED/60;
  2217. current_position[Z_AXIS] = 0;
  2218. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2219. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2220. st_synchronize();
  2221. current_position[X_AXIS] = destination[X_AXIS];
  2222. current_position[Y_AXIS] = destination[Y_AXIS];
  2223. homeaxis(Z_AXIS);
  2224. }
  2225. // Let's see if X and Y are homed and probe is inside bed area.
  2226. if(home_z) {
  2227. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2228. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2229. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2230. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2231. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2232. current_position[Z_AXIS] = 0;
  2233. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2234. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2235. feedrate = max_feedrate[Z_AXIS];
  2236. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2237. st_synchronize();
  2238. homeaxis(Z_AXIS);
  2239. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2240. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2241. SERIAL_ECHO_START;
  2242. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2243. } else {
  2244. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2245. SERIAL_ECHO_START;
  2246. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2247. }
  2248. }
  2249. #endif // Z_SAFE_HOMING
  2250. #endif // Z_HOME_DIR < 0
  2251. if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
  2252. current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
  2253. #ifdef ENABLE_AUTO_BED_LEVELING
  2254. if(home_z)
  2255. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2256. #endif
  2257. // Set the planner and stepper routine positions.
  2258. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2259. // contains the machine coordinates.
  2260. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2261. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2262. enable_endstops(false);
  2263. #endif
  2264. feedrate = saved_feedrate;
  2265. feedmultiply = saved_feedmultiply;
  2266. previous_millis_cmd = millis();
  2267. endstops_hit_on_purpose();
  2268. #ifndef MESH_BED_LEVELING
  2269. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2270. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2271. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2272. lcd_adjust_z();
  2273. #endif
  2274. // Load the machine correction matrix
  2275. world2machine_initialize();
  2276. // and correct the current_position XY axes to match the transformed coordinate system.
  2277. world2machine_update_current();
  2278. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2279. if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
  2280. {
  2281. if (! home_z && mbl_was_active) {
  2282. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2283. mbl.active = true;
  2284. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2285. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2286. }
  2287. }
  2288. else
  2289. {
  2290. st_synchronize();
  2291. homing_flag = false;
  2292. // Push the commands to the front of the message queue in the reverse order!
  2293. // There shall be always enough space reserved for these commands.
  2294. // enquecommand_front_P((PSTR("G80")));
  2295. goto case_G80;
  2296. }
  2297. #endif
  2298. if (farm_mode) { prusa_statistics(20); };
  2299. homing_flag = false;
  2300. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2301. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2302. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2303. break;
  2304. }
  2305. #ifdef ENABLE_AUTO_BED_LEVELING
  2306. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  2307. {
  2308. #if Z_MIN_PIN == -1
  2309. #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."
  2310. #endif
  2311. // Prevent user from running a G29 without first homing in X and Y
  2312. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  2313. {
  2314. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2315. SERIAL_ECHO_START;
  2316. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2317. break; // abort G29, since we don't know where we are
  2318. }
  2319. st_synchronize();
  2320. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  2321. //vector_3 corrected_position = plan_get_position_mm();
  2322. //corrected_position.debug("position before G29");
  2323. plan_bed_level_matrix.set_to_identity();
  2324. vector_3 uncorrected_position = plan_get_position();
  2325. //uncorrected_position.debug("position durring G29");
  2326. current_position[X_AXIS] = uncorrected_position.x;
  2327. current_position[Y_AXIS] = uncorrected_position.y;
  2328. current_position[Z_AXIS] = uncorrected_position.z;
  2329. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2330. setup_for_endstop_move();
  2331. feedrate = homing_feedrate[Z_AXIS];
  2332. #ifdef AUTO_BED_LEVELING_GRID
  2333. // probe at the points of a lattice grid
  2334. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2335. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2336. // solve the plane equation ax + by + d = z
  2337. // A is the matrix with rows [x y 1] for all the probed points
  2338. // B is the vector of the Z positions
  2339. // 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
  2340. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  2341. // "A" matrix of the linear system of equations
  2342. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  2343. // "B" vector of Z points
  2344. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  2345. int probePointCounter = 0;
  2346. bool zig = true;
  2347. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  2348. {
  2349. int xProbe, xInc;
  2350. if (zig)
  2351. {
  2352. xProbe = LEFT_PROBE_BED_POSITION;
  2353. //xEnd = RIGHT_PROBE_BED_POSITION;
  2354. xInc = xGridSpacing;
  2355. zig = false;
  2356. } else // zag
  2357. {
  2358. xProbe = RIGHT_PROBE_BED_POSITION;
  2359. //xEnd = LEFT_PROBE_BED_POSITION;
  2360. xInc = -xGridSpacing;
  2361. zig = true;
  2362. }
  2363. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  2364. {
  2365. float z_before;
  2366. if (probePointCounter == 0)
  2367. {
  2368. // raise before probing
  2369. z_before = Z_RAISE_BEFORE_PROBING;
  2370. } else
  2371. {
  2372. // raise extruder
  2373. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  2374. }
  2375. float measured_z = probe_pt(xProbe, yProbe, z_before);
  2376. eqnBVector[probePointCounter] = measured_z;
  2377. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  2378. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  2379. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  2380. probePointCounter++;
  2381. xProbe += xInc;
  2382. }
  2383. }
  2384. clean_up_after_endstop_move();
  2385. // solve lsq problem
  2386. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  2387. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  2388. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  2389. SERIAL_PROTOCOLPGM(" b: ");
  2390. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  2391. SERIAL_PROTOCOLPGM(" d: ");
  2392. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  2393. set_bed_level_equation_lsq(plane_equation_coefficients);
  2394. free(plane_equation_coefficients);
  2395. #else // AUTO_BED_LEVELING_GRID not defined
  2396. // Probe at 3 arbitrary points
  2397. // probe 1
  2398. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  2399. // probe 2
  2400. 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);
  2401. // probe 3
  2402. 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);
  2403. clean_up_after_endstop_move();
  2404. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  2405. #endif // AUTO_BED_LEVELING_GRID
  2406. st_synchronize();
  2407. // The following code correct the Z height difference from z-probe position and hotend tip position.
  2408. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  2409. // When the bed is uneven, this height must be corrected.
  2410. 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)
  2411. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  2412. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  2413. z_tmp = current_position[Z_AXIS];
  2414. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  2415. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  2416. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2417. }
  2418. break;
  2419. #ifndef Z_PROBE_SLED
  2420. case 30: // G30 Single Z Probe
  2421. {
  2422. st_synchronize();
  2423. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2424. setup_for_endstop_move();
  2425. feedrate = homing_feedrate[Z_AXIS];
  2426. run_z_probe();
  2427. SERIAL_PROTOCOLPGM(MSG_BED);
  2428. SERIAL_PROTOCOLPGM(" X: ");
  2429. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2430. SERIAL_PROTOCOLPGM(" Y: ");
  2431. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2432. SERIAL_PROTOCOLPGM(" Z: ");
  2433. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2434. SERIAL_PROTOCOLPGM("\n");
  2435. clean_up_after_endstop_move();
  2436. }
  2437. break;
  2438. #else
  2439. case 31: // dock the sled
  2440. dock_sled(true);
  2441. break;
  2442. case 32: // undock the sled
  2443. dock_sled(false);
  2444. break;
  2445. #endif // Z_PROBE_SLED
  2446. #endif // ENABLE_AUTO_BED_LEVELING
  2447. #ifdef MESH_BED_LEVELING
  2448. case 30: // G30 Single Z Probe
  2449. {
  2450. st_synchronize();
  2451. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2452. setup_for_endstop_move();
  2453. feedrate = homing_feedrate[Z_AXIS];
  2454. find_bed_induction_sensor_point_z(-10.f, 3);
  2455. SERIAL_PROTOCOLRPGM(MSG_BED);
  2456. SERIAL_PROTOCOLPGM(" X: ");
  2457. MYSERIAL.print(current_position[X_AXIS], 5);
  2458. SERIAL_PROTOCOLPGM(" Y: ");
  2459. MYSERIAL.print(current_position[Y_AXIS], 5);
  2460. SERIAL_PROTOCOLPGM(" Z: ");
  2461. MYSERIAL.print(current_position[Z_AXIS], 5);
  2462. SERIAL_PROTOCOLPGM("\n");
  2463. clean_up_after_endstop_move();
  2464. }
  2465. break;
  2466. case 75:
  2467. {
  2468. for (int i = 40; i <= 110; i++) {
  2469. MYSERIAL.print(i);
  2470. MYSERIAL.print(" ");
  2471. MYSERIAL.println(temp_comp_interpolation(i));// / axis_steps_per_unit[Z_AXIS]);
  2472. }
  2473. }
  2474. break;
  2475. case 76: //PINDA probe temperature calibration
  2476. {
  2477. #ifdef PINDA_THERMISTOR
  2478. if (true)
  2479. {
  2480. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2481. // We don't know where we are! HOME!
  2482. // Push the commands to the front of the message queue in the reverse order!
  2483. // There shall be always enough space reserved for these commands.
  2484. repeatcommand_front(); // repeat G76 with all its parameters
  2485. enquecommand_front_P((PSTR("G28 W0")));
  2486. break;
  2487. }
  2488. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  2489. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  2490. float zero_z;
  2491. int z_shift = 0; //unit: steps
  2492. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  2493. if (start_temp < 35) start_temp = 35;
  2494. if (start_temp < current_temperature_pinda) start_temp += 5;
  2495. SERIAL_ECHOPGM("start temperature: ");
  2496. MYSERIAL.println(start_temp);
  2497. // setTargetHotend(200, 0);
  2498. setTargetBed(70 + (start_temp - 30));
  2499. custom_message = true;
  2500. custom_message_type = 4;
  2501. custom_message_state = 1;
  2502. custom_message = MSG_TEMP_CALIBRATION;
  2503. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2504. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2505. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2506. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2507. st_synchronize();
  2508. while (current_temperature_pinda < start_temp)
  2509. {
  2510. delay_keep_alive(1000);
  2511. serialecho_temperatures();
  2512. }
  2513. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  2514. current_position[Z_AXIS] = 5;
  2515. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2516. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2517. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2518. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2519. st_synchronize();
  2520. find_bed_induction_sensor_point_z(-1.f);
  2521. zero_z = current_position[Z_AXIS];
  2522. //current_position[Z_AXIS]
  2523. SERIAL_ECHOLNPGM("");
  2524. SERIAL_ECHOPGM("ZERO: ");
  2525. MYSERIAL.print(current_position[Z_AXIS]);
  2526. SERIAL_ECHOLNPGM("");
  2527. int i = -1; for (; i < 5; i++)
  2528. {
  2529. float temp = (40 + i * 5);
  2530. SERIAL_ECHOPGM("Step: ");
  2531. MYSERIAL.print(i + 2);
  2532. SERIAL_ECHOLNPGM("/6 (skipped)");
  2533. SERIAL_ECHOPGM("PINDA temperature: ");
  2534. MYSERIAL.print((40 + i*5));
  2535. SERIAL_ECHOPGM(" Z shift (mm):");
  2536. MYSERIAL.print(0);
  2537. SERIAL_ECHOLNPGM("");
  2538. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  2539. if (start_temp <= temp) break;
  2540. }
  2541. for (i++; i < 5; i++)
  2542. {
  2543. float temp = (40 + i * 5);
  2544. SERIAL_ECHOPGM("Step: ");
  2545. MYSERIAL.print(i + 2);
  2546. SERIAL_ECHOLNPGM("/6");
  2547. custom_message_state = i + 2;
  2548. setTargetBed(50 + 10 * (temp - 30) / 5);
  2549. // setTargetHotend(255, 0);
  2550. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2551. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2552. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2553. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2554. st_synchronize();
  2555. while (current_temperature_pinda < temp)
  2556. {
  2557. delay_keep_alive(1000);
  2558. serialecho_temperatures();
  2559. }
  2560. current_position[Z_AXIS] = 5;
  2561. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2562. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2563. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2564. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2565. st_synchronize();
  2566. find_bed_induction_sensor_point_z(-1.f);
  2567. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  2568. SERIAL_ECHOLNPGM("");
  2569. SERIAL_ECHOPGM("PINDA temperature: ");
  2570. MYSERIAL.print(current_temperature_pinda);
  2571. SERIAL_ECHOPGM(" Z shift (mm):");
  2572. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  2573. SERIAL_ECHOLNPGM("");
  2574. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  2575. }
  2576. custom_message_type = 0;
  2577. custom_message = false;
  2578. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  2579. SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
  2580. disable_x();
  2581. disable_y();
  2582. disable_z();
  2583. disable_e0();
  2584. disable_e1();
  2585. disable_e2();
  2586. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
  2587. lcd_update_enable(true);
  2588. lcd_update(2);
  2589. setTargetBed(0); //set bed target temperature back to 0
  2590. // setTargetHotend(0,0); //set hotend target temperature back to 0
  2591. break;
  2592. }
  2593. #endif //PINDA_THERMISTOR
  2594. setTargetBed(PINDA_MIN_T);
  2595. float zero_z;
  2596. int z_shift = 0; //unit: steps
  2597. int t_c; // temperature
  2598. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2599. // We don't know where we are! HOME!
  2600. // Push the commands to the front of the message queue in the reverse order!
  2601. // There shall be always enough space reserved for these commands.
  2602. repeatcommand_front(); // repeat G76 with all its parameters
  2603. enquecommand_front_P((PSTR("G28 W0")));
  2604. break;
  2605. }
  2606. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  2607. custom_message = true;
  2608. custom_message_type = 4;
  2609. custom_message_state = 1;
  2610. custom_message = MSG_TEMP_CALIBRATION;
  2611. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2612. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2613. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2614. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2615. st_synchronize();
  2616. while (abs(degBed() - PINDA_MIN_T) > 1) {
  2617. delay_keep_alive(1000);
  2618. serialecho_temperatures();
  2619. }
  2620. //enquecommand_P(PSTR("M190 S50"));
  2621. for (int i = 0; i < PINDA_HEAT_T; i++) {
  2622. delay_keep_alive(1000);
  2623. serialecho_temperatures();
  2624. }
  2625. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  2626. current_position[Z_AXIS] = 5;
  2627. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2628. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2629. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2630. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2631. st_synchronize();
  2632. find_bed_induction_sensor_point_z(-1.f);
  2633. zero_z = current_position[Z_AXIS];
  2634. //current_position[Z_AXIS]
  2635. SERIAL_ECHOLNPGM("");
  2636. SERIAL_ECHOPGM("ZERO: ");
  2637. MYSERIAL.print(current_position[Z_AXIS]);
  2638. SERIAL_ECHOLNPGM("");
  2639. for (int i = 0; i<5; i++) {
  2640. SERIAL_ECHOPGM("Step: ");
  2641. MYSERIAL.print(i+2);
  2642. SERIAL_ECHOLNPGM("/6");
  2643. custom_message_state = i + 2;
  2644. t_c = 60 + i * 10;
  2645. setTargetBed(t_c);
  2646. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2647. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2648. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2649. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2650. st_synchronize();
  2651. while (degBed() < t_c) {
  2652. delay_keep_alive(1000);
  2653. serialecho_temperatures();
  2654. }
  2655. for (int i = 0; i < PINDA_HEAT_T; i++) {
  2656. delay_keep_alive(1000);
  2657. serialecho_temperatures();
  2658. }
  2659. current_position[Z_AXIS] = 5;
  2660. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2661. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2662. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2663. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2664. st_synchronize();
  2665. find_bed_induction_sensor_point_z(-1.f);
  2666. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  2667. SERIAL_ECHOLNPGM("");
  2668. SERIAL_ECHOPGM("Temperature: ");
  2669. MYSERIAL.print(t_c);
  2670. SERIAL_ECHOPGM(" Z shift (mm):");
  2671. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  2672. SERIAL_ECHOLNPGM("");
  2673. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  2674. }
  2675. custom_message_type = 0;
  2676. custom_message = false;
  2677. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  2678. SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
  2679. disable_x();
  2680. disable_y();
  2681. disable_z();
  2682. disable_e0();
  2683. disable_e1();
  2684. disable_e2();
  2685. setTargetBed(0); //set bed target temperature back to 0
  2686. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
  2687. lcd_update_enable(true);
  2688. lcd_update(2);
  2689. }
  2690. break;
  2691. #ifdef DIS
  2692. case 77:
  2693. {
  2694. //G77 X200 Y150 XP100 YP15 XO10 Y015
  2695. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  2696. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  2697. float dimension_x = 40;
  2698. float dimension_y = 40;
  2699. int points_x = 40;
  2700. int points_y = 40;
  2701. float offset_x = 74;
  2702. float offset_y = 33;
  2703. if (code_seen('X')) dimension_x = code_value();
  2704. if (code_seen('Y')) dimension_y = code_value();
  2705. if (code_seen('XP')) points_x = code_value();
  2706. if (code_seen('YP')) points_y = code_value();
  2707. if (code_seen('XO')) offset_x = code_value();
  2708. if (code_seen('YO')) offset_y = code_value();
  2709. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  2710. } break;
  2711. #endif
  2712. case 79: {
  2713. for (int i = 255; i > 0; i = i - 5) {
  2714. fanSpeed = i;
  2715. //delay_keep_alive(2000);
  2716. for (int j = 0; j < 100; j++) {
  2717. delay_keep_alive(100);
  2718. }
  2719. fan_speed[1];
  2720. MYSERIAL.print(i); SERIAL_ECHOPGM(": "); MYSERIAL.println(fan_speed[1]);
  2721. }
  2722. }break;
  2723. /**
  2724. * G80: Mesh-based Z probe, probes a grid and produces a
  2725. * mesh to compensate for variable bed height
  2726. *
  2727. * The S0 report the points as below
  2728. *
  2729. * +----> X-axis
  2730. * |
  2731. * |
  2732. * v Y-axis
  2733. *
  2734. */
  2735. case 80:
  2736. #ifdef MK1BP
  2737. break;
  2738. #endif //MK1BP
  2739. case_G80:
  2740. {
  2741. mesh_bed_leveling_flag = true;
  2742. int8_t verbosity_level = 0;
  2743. static bool run = false;
  2744. if (code_seen('V')) {
  2745. // Just 'V' without a number counts as V1.
  2746. char c = strchr_pointer[1];
  2747. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2748. }
  2749. // Firstly check if we know where we are
  2750. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2751. // We don't know where we are! HOME!
  2752. // Push the commands to the front of the message queue in the reverse order!
  2753. // There shall be always enough space reserved for these commands.
  2754. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  2755. repeatcommand_front(); // repeat G80 with all its parameters
  2756. enquecommand_front_P((PSTR("G28 W0")));
  2757. }
  2758. else {
  2759. mesh_bed_leveling_flag = false;
  2760. }
  2761. break;
  2762. }
  2763. bool temp_comp_start = true;
  2764. #ifdef PINDA_THERMISTOR
  2765. temp_comp_start = false;
  2766. #endif //PINDA_THERMISTOR
  2767. if (temp_comp_start)
  2768. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  2769. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  2770. temp_compensation_start();
  2771. run = true;
  2772. repeatcommand_front(); // repeat G80 with all its parameters
  2773. enquecommand_front_P((PSTR("G28 W0")));
  2774. }
  2775. else {
  2776. mesh_bed_leveling_flag = false;
  2777. }
  2778. break;
  2779. }
  2780. run = false;
  2781. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  2782. mesh_bed_leveling_flag = false;
  2783. break;
  2784. }
  2785. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  2786. bool custom_message_old = custom_message;
  2787. unsigned int custom_message_type_old = custom_message_type;
  2788. unsigned int custom_message_state_old = custom_message_state;
  2789. custom_message = true;
  2790. custom_message_type = 1;
  2791. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  2792. lcd_update(1);
  2793. mbl.reset(); //reset mesh bed leveling
  2794. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2795. // consumed during the first movements following this statement.
  2796. babystep_undo();
  2797. // Cycle through all points and probe them
  2798. // First move up. During this first movement, the babystepping will be reverted.
  2799. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2800. 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);
  2801. // The move to the first calibration point.
  2802. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2803. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2804. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2805. #ifdef SUPPORT_VERBOSITY
  2806. if (verbosity_level >= 1) {
  2807. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  2808. }
  2809. #endif //SUPPORT_VERBOSITY
  2810. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  2811. 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);
  2812. // Wait until the move is finished.
  2813. st_synchronize();
  2814. int mesh_point = 0; //index number of calibration point
  2815. int ix = 0;
  2816. int iy = 0;
  2817. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  2818. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  2819. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  2820. 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)
  2821. #ifdef SUPPORT_VERBOSITY
  2822. if (verbosity_level >= 1) {
  2823. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  2824. }
  2825. #endif // SUPPORT_VERBOSITY
  2826. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  2827. const char *kill_message = NULL;
  2828. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  2829. // Get coords of a measuring point.
  2830. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  2831. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  2832. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  2833. float z0 = 0.f;
  2834. if (has_z && mesh_point > 0) {
  2835. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  2836. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  2837. //#if 0
  2838. #ifdef SUPPORT_VERBOSITY
  2839. if (verbosity_level >= 1) {
  2840. SERIAL_ECHOLNPGM("");
  2841. SERIAL_ECHOPGM("Bed leveling, point: ");
  2842. MYSERIAL.print(mesh_point);
  2843. SERIAL_ECHOPGM(", calibration z: ");
  2844. MYSERIAL.print(z0, 5);
  2845. SERIAL_ECHOLNPGM("");
  2846. }
  2847. #endif // SUPPORT_VERBOSITY
  2848. //#endif
  2849. }
  2850. // Move Z up to MESH_HOME_Z_SEARCH.
  2851. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2852. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  2853. st_synchronize();
  2854. // Move to XY position of the sensor point.
  2855. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  2856. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  2857. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2858. #ifdef SUPPORT_VERBOSITY
  2859. if (verbosity_level >= 1) {
  2860. SERIAL_PROTOCOL(mesh_point);
  2861. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  2862. }
  2863. #endif // SUPPORT_VERBOSITY
  2864. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  2865. st_synchronize();
  2866. // Go down until endstop is hit
  2867. const float Z_CALIBRATION_THRESHOLD = 1.f;
  2868. 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
  2869. kill_message = MSG_BED_LEVELING_FAILED_POINT_LOW;
  2870. break;
  2871. }
  2872. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  2873. kill_message = MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED;
  2874. break;
  2875. }
  2876. 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
  2877. kill_message = MSG_BED_LEVELING_FAILED_POINT_HIGH;
  2878. break;
  2879. }
  2880. #ifdef SUPPORT_VERBOSITY
  2881. if (verbosity_level >= 10) {
  2882. SERIAL_ECHOPGM("X: ");
  2883. MYSERIAL.print(current_position[X_AXIS], 5);
  2884. SERIAL_ECHOLNPGM("");
  2885. SERIAL_ECHOPGM("Y: ");
  2886. MYSERIAL.print(current_position[Y_AXIS], 5);
  2887. SERIAL_PROTOCOLPGM("\n");
  2888. }
  2889. #endif // SUPPORT_VERBOSITY
  2890. float offset_z = 0;
  2891. #ifdef PINDA_THERMISTOR
  2892. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  2893. #endif //PINDA_THERMISTOR
  2894. // #ifdef SUPPORT_VERBOSITY
  2895. // if (verbosity_level >= 1)
  2896. {
  2897. SERIAL_ECHOPGM("mesh bed leveling: ");
  2898. MYSERIAL.print(current_position[Z_AXIS], 5);
  2899. SERIAL_ECHOPGM(" offset: ");
  2900. MYSERIAL.print(offset_z, 5);
  2901. SERIAL_ECHOLNPGM("");
  2902. }
  2903. // #endif // SUPPORT_VERBOSITY
  2904. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  2905. custom_message_state--;
  2906. mesh_point++;
  2907. lcd_update(1);
  2908. }
  2909. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2910. #ifdef SUPPORT_VERBOSITY
  2911. if (verbosity_level >= 20) {
  2912. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  2913. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  2914. MYSERIAL.print(current_position[Z_AXIS], 5);
  2915. }
  2916. #endif // SUPPORT_VERBOSITY
  2917. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  2918. st_synchronize();
  2919. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  2920. kill(kill_message);
  2921. SERIAL_ECHOLNPGM("killed");
  2922. }
  2923. clean_up_after_endstop_move();
  2924. SERIAL_ECHOLNPGM("clean up finished ");
  2925. bool apply_temp_comp = true;
  2926. #ifdef PINDA_THERMISTOR
  2927. apply_temp_comp = false;
  2928. #endif
  2929. if (apply_temp_comp)
  2930. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  2931. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  2932. SERIAL_ECHOLNPGM("babystep applied");
  2933. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  2934. #ifdef SUPPORT_VERBOSITY
  2935. if (verbosity_level >= 1) {
  2936. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  2937. }
  2938. #endif // SUPPORT_VERBOSITY
  2939. for (uint8_t i = 0; i < 4; ++i) {
  2940. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  2941. long correction = 0;
  2942. if (code_seen(codes[i]))
  2943. correction = code_value_long();
  2944. else if (eeprom_bed_correction_valid) {
  2945. unsigned char *addr = (i < 2) ?
  2946. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  2947. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  2948. correction = eeprom_read_int8(addr);
  2949. }
  2950. if (correction == 0)
  2951. continue;
  2952. float offset = float(correction) * 0.001f;
  2953. if (fabs(offset) > 0.101f) {
  2954. SERIAL_ERROR_START;
  2955. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  2956. SERIAL_ECHO(offset);
  2957. SERIAL_ECHOLNPGM(" microns");
  2958. }
  2959. else {
  2960. switch (i) {
  2961. case 0:
  2962. for (uint8_t row = 0; row < 3; ++row) {
  2963. mbl.z_values[row][1] += 0.5f * offset;
  2964. mbl.z_values[row][0] += offset;
  2965. }
  2966. break;
  2967. case 1:
  2968. for (uint8_t row = 0; row < 3; ++row) {
  2969. mbl.z_values[row][1] += 0.5f * offset;
  2970. mbl.z_values[row][2] += offset;
  2971. }
  2972. break;
  2973. case 2:
  2974. for (uint8_t col = 0; col < 3; ++col) {
  2975. mbl.z_values[1][col] += 0.5f * offset;
  2976. mbl.z_values[0][col] += offset;
  2977. }
  2978. break;
  2979. case 3:
  2980. for (uint8_t col = 0; col < 3; ++col) {
  2981. mbl.z_values[1][col] += 0.5f * offset;
  2982. mbl.z_values[2][col] += offset;
  2983. }
  2984. break;
  2985. }
  2986. }
  2987. }
  2988. SERIAL_ECHOLNPGM("Bed leveling correction finished");
  2989. 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)
  2990. SERIAL_ECHOLNPGM("Upsample finished");
  2991. mbl.active = 1; //activate mesh bed leveling
  2992. SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  2993. go_home_with_z_lift();
  2994. SERIAL_ECHOLNPGM("Go home finished");
  2995. //unretract (after PINDA preheat retraction)
  2996. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  2997. current_position[E_AXIS] += DEFAULT_RETRACTION;
  2998. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  2999. }
  3000. KEEPALIVE_STATE(NOT_BUSY);
  3001. // Restore custom message state
  3002. custom_message = custom_message_old;
  3003. custom_message_type = custom_message_type_old;
  3004. custom_message_state = custom_message_state_old;
  3005. mesh_bed_leveling_flag = false;
  3006. mesh_bed_run_from_menu = false;
  3007. lcd_update(2);
  3008. }
  3009. break;
  3010. /**
  3011. * G81: Print mesh bed leveling status and bed profile if activated
  3012. */
  3013. case 81:
  3014. if (mbl.active) {
  3015. SERIAL_PROTOCOLPGM("Num X,Y: ");
  3016. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  3017. SERIAL_PROTOCOLPGM(",");
  3018. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  3019. SERIAL_PROTOCOLPGM("\nZ search height: ");
  3020. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  3021. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3022. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  3023. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  3024. SERIAL_PROTOCOLPGM(" ");
  3025. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  3026. }
  3027. SERIAL_PROTOCOLPGM("\n");
  3028. }
  3029. }
  3030. else
  3031. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3032. break;
  3033. #if 0
  3034. /**
  3035. * G82: Single Z probe at current location
  3036. *
  3037. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  3038. *
  3039. */
  3040. case 82:
  3041. SERIAL_PROTOCOLLNPGM("Finding bed ");
  3042. setup_for_endstop_move();
  3043. find_bed_induction_sensor_point_z();
  3044. clean_up_after_endstop_move();
  3045. SERIAL_PROTOCOLPGM("Bed found at: ");
  3046. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  3047. SERIAL_PROTOCOLPGM("\n");
  3048. break;
  3049. /**
  3050. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  3051. */
  3052. case 83:
  3053. {
  3054. int babystepz = code_seen('S') ? code_value() : 0;
  3055. int BabyPosition = code_seen('P') ? code_value() : 0;
  3056. if (babystepz != 0) {
  3057. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  3058. // Is the axis indexed starting with zero or one?
  3059. if (BabyPosition > 4) {
  3060. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  3061. }else{
  3062. // Save it to the eeprom
  3063. babystepLoadZ = babystepz;
  3064. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  3065. // adjust the Z
  3066. babystepsTodoZadd(babystepLoadZ);
  3067. }
  3068. }
  3069. }
  3070. break;
  3071. /**
  3072. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  3073. */
  3074. case 84:
  3075. babystepsTodoZsubtract(babystepLoadZ);
  3076. // babystepLoadZ = 0;
  3077. break;
  3078. /**
  3079. * G85: Prusa3D specific: Pick best babystep
  3080. */
  3081. case 85:
  3082. lcd_pick_babystep();
  3083. break;
  3084. #endif
  3085. /**
  3086. * G86: Prusa3D specific: Disable babystep correction after home.
  3087. * This G-code will be performed at the start of a calibration script.
  3088. */
  3089. case 86:
  3090. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3091. break;
  3092. /**
  3093. * G87: Prusa3D specific: Enable babystep correction after home
  3094. * This G-code will be performed at the end of a calibration script.
  3095. */
  3096. case 87:
  3097. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3098. break;
  3099. /**
  3100. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  3101. */
  3102. case 88:
  3103. break;
  3104. #endif // ENABLE_MESH_BED_LEVELING
  3105. case 90: // G90
  3106. relative_mode = false;
  3107. break;
  3108. case 91: // G91
  3109. relative_mode = true;
  3110. break;
  3111. case 92: // G92
  3112. if(!code_seen(axis_codes[E_AXIS]))
  3113. st_synchronize();
  3114. for(int8_t i=0; i < NUM_AXIS; i++) {
  3115. if(code_seen(axis_codes[i])) {
  3116. if(i == E_AXIS) {
  3117. current_position[i] = code_value();
  3118. plan_set_e_position(current_position[E_AXIS]);
  3119. }
  3120. else {
  3121. current_position[i] = code_value()+add_homing[i];
  3122. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3123. }
  3124. }
  3125. }
  3126. break;
  3127. case 98: //activate farm mode
  3128. farm_mode = 1;
  3129. PingTime = millis();
  3130. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3131. break;
  3132. case 99: //deactivate farm mode
  3133. farm_mode = 0;
  3134. lcd_printer_connected();
  3135. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3136. lcd_update(2);
  3137. break;
  3138. }
  3139. } // end if(code_seen('G'))
  3140. else if(code_seen('M'))
  3141. {
  3142. int index;
  3143. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  3144. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  3145. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  3146. SERIAL_ECHOLNPGM("Invalid M code");
  3147. } else
  3148. switch((int)code_value())
  3149. {
  3150. #ifdef ULTIPANEL
  3151. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  3152. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  3153. {
  3154. char *src = strchr_pointer + 2;
  3155. codenum = 0;
  3156. bool hasP = false, hasS = false;
  3157. if (code_seen('P')) {
  3158. codenum = code_value(); // milliseconds to wait
  3159. hasP = codenum > 0;
  3160. }
  3161. if (code_seen('S')) {
  3162. codenum = code_value() * 1000; // seconds to wait
  3163. hasS = codenum > 0;
  3164. }
  3165. starpos = strchr(src, '*');
  3166. if (starpos != NULL) *(starpos) = '\0';
  3167. while (*src == ' ') ++src;
  3168. if (!hasP && !hasS && *src != '\0') {
  3169. lcd_setstatus(src);
  3170. } else {
  3171. LCD_MESSAGERPGM(MSG_USERWAIT);
  3172. }
  3173. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  3174. st_synchronize();
  3175. previous_millis_cmd = millis();
  3176. if (codenum > 0){
  3177. codenum += millis(); // keep track of when we started waiting
  3178. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3179. while(millis() < codenum && !lcd_clicked()){
  3180. manage_heater();
  3181. manage_inactivity(true);
  3182. lcd_update();
  3183. }
  3184. KEEPALIVE_STATE(IN_HANDLER);
  3185. lcd_ignore_click(false);
  3186. }else{
  3187. if (!lcd_detected())
  3188. break;
  3189. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3190. while(!lcd_clicked()){
  3191. manage_heater();
  3192. manage_inactivity(true);
  3193. lcd_update();
  3194. }
  3195. KEEPALIVE_STATE(IN_HANDLER);
  3196. }
  3197. if (IS_SD_PRINTING)
  3198. LCD_MESSAGERPGM(MSG_RESUMING);
  3199. else
  3200. LCD_MESSAGERPGM(WELCOME_MSG);
  3201. }
  3202. break;
  3203. #endif
  3204. case 17:
  3205. LCD_MESSAGERPGM(MSG_NO_MOVE);
  3206. enable_x();
  3207. enable_y();
  3208. enable_z();
  3209. enable_e0();
  3210. enable_e1();
  3211. enable_e2();
  3212. break;
  3213. #ifdef SDSUPPORT
  3214. case 20: // M20 - list SD card
  3215. SERIAL_PROTOCOLLNRPGM(MSG_BEGIN_FILE_LIST);
  3216. card.ls();
  3217. SERIAL_PROTOCOLLNRPGM(MSG_END_FILE_LIST);
  3218. break;
  3219. case 21: // M21 - init SD card
  3220. card.initsd();
  3221. break;
  3222. case 22: //M22 - release SD card
  3223. card.release();
  3224. break;
  3225. case 23: //M23 - Select file
  3226. starpos = (strchr(strchr_pointer + 4,'*'));
  3227. if(starpos!=NULL)
  3228. *(starpos)='\0';
  3229. card.openFile(strchr_pointer + 4,true);
  3230. break;
  3231. case 24: //M24 - Start SD print
  3232. card.startFileprint();
  3233. starttime=millis();
  3234. break;
  3235. case 25: //M25 - Pause SD print
  3236. card.pauseSDPrint();
  3237. break;
  3238. case 26: //M26 - Set SD index
  3239. if(card.cardOK && code_seen('S')) {
  3240. card.setIndex(code_value_long());
  3241. }
  3242. break;
  3243. case 27: //M27 - Get SD status
  3244. card.getStatus();
  3245. break;
  3246. case 28: //M28 - Start SD write
  3247. starpos = (strchr(strchr_pointer + 4,'*'));
  3248. if(starpos != NULL){
  3249. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3250. strchr_pointer = strchr(npos,' ') + 1;
  3251. *(starpos) = '\0';
  3252. }
  3253. card.openFile(strchr_pointer+4,false);
  3254. break;
  3255. case 29: //M29 - Stop SD write
  3256. //processed in write to file routine above
  3257. //card,saving = false;
  3258. break;
  3259. case 30: //M30 <filename> Delete File
  3260. if (card.cardOK){
  3261. card.closefile();
  3262. starpos = (strchr(strchr_pointer + 4,'*'));
  3263. if(starpos != NULL){
  3264. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3265. strchr_pointer = strchr(npos,' ') + 1;
  3266. *(starpos) = '\0';
  3267. }
  3268. card.removeFile(strchr_pointer + 4);
  3269. }
  3270. break;
  3271. case 32: //M32 - Select file and start SD print
  3272. {
  3273. if(card.sdprinting) {
  3274. st_synchronize();
  3275. }
  3276. starpos = (strchr(strchr_pointer + 4,'*'));
  3277. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  3278. if(namestartpos==NULL)
  3279. {
  3280. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  3281. }
  3282. else
  3283. namestartpos++; //to skip the '!'
  3284. if(starpos!=NULL)
  3285. *(starpos)='\0';
  3286. bool call_procedure=(code_seen('P'));
  3287. if(strchr_pointer>namestartpos)
  3288. call_procedure=false; //false alert, 'P' found within filename
  3289. if( card.cardOK )
  3290. {
  3291. card.openFile(namestartpos,true,!call_procedure);
  3292. if(code_seen('S'))
  3293. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  3294. card.setIndex(code_value_long());
  3295. card.startFileprint();
  3296. if(!call_procedure)
  3297. starttime=millis(); //procedure calls count as normal print time.
  3298. }
  3299. } break;
  3300. case 928: //M928 - Start SD write
  3301. starpos = (strchr(strchr_pointer + 5,'*'));
  3302. if(starpos != NULL){
  3303. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3304. strchr_pointer = strchr(npos,' ') + 1;
  3305. *(starpos) = '\0';
  3306. }
  3307. card.openLogFile(strchr_pointer+5);
  3308. break;
  3309. #endif //SDSUPPORT
  3310. case 31: //M31 take time since the start of the SD print or an M109 command
  3311. {
  3312. stoptime=millis();
  3313. char time[30];
  3314. unsigned long t=(stoptime-starttime)/1000;
  3315. int sec,min;
  3316. min=t/60;
  3317. sec=t%60;
  3318. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  3319. SERIAL_ECHO_START;
  3320. SERIAL_ECHOLN(time);
  3321. lcd_setstatus(time);
  3322. autotempShutdown();
  3323. }
  3324. break;
  3325. case 42: //M42 -Change pin status via gcode
  3326. if (code_seen('S'))
  3327. {
  3328. int pin_status = code_value();
  3329. int pin_number = LED_PIN;
  3330. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  3331. pin_number = code_value();
  3332. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  3333. {
  3334. if (sensitive_pins[i] == pin_number)
  3335. {
  3336. pin_number = -1;
  3337. break;
  3338. }
  3339. }
  3340. #if defined(FAN_PIN) && FAN_PIN > -1
  3341. if (pin_number == FAN_PIN)
  3342. fanSpeed = pin_status;
  3343. #endif
  3344. if (pin_number > -1)
  3345. {
  3346. pinMode(pin_number, OUTPUT);
  3347. digitalWrite(pin_number, pin_status);
  3348. analogWrite(pin_number, pin_status);
  3349. }
  3350. }
  3351. break;
  3352. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  3353. // Reset the baby step value and the baby step applied flag.
  3354. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  3355. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  3356. // Reset the skew and offset in both RAM and EEPROM.
  3357. reset_bed_offset_and_skew();
  3358. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3359. // the planner will not perform any adjustments in the XY plane.
  3360. // Wait for the motors to stop and update the current position with the absolute values.
  3361. world2machine_revert_to_uncorrected();
  3362. break;
  3363. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  3364. {
  3365. bool only_Z = code_seen('Z');
  3366. gcode_M45(only_Z);
  3367. }
  3368. break;
  3369. /*
  3370. case 46:
  3371. {
  3372. // M46: Prusa3D: Show the assigned IP address.
  3373. uint8_t ip[4];
  3374. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  3375. if (hasIP) {
  3376. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  3377. SERIAL_ECHO(int(ip[0]));
  3378. SERIAL_ECHOPGM(".");
  3379. SERIAL_ECHO(int(ip[1]));
  3380. SERIAL_ECHOPGM(".");
  3381. SERIAL_ECHO(int(ip[2]));
  3382. SERIAL_ECHOPGM(".");
  3383. SERIAL_ECHO(int(ip[3]));
  3384. SERIAL_ECHOLNPGM("");
  3385. } else {
  3386. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  3387. }
  3388. break;
  3389. }
  3390. */
  3391. case 47:
  3392. // M47: Prusa3D: Show end stops dialog on the display.
  3393. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3394. lcd_diag_show_end_stops();
  3395. KEEPALIVE_STATE(IN_HANDLER);
  3396. break;
  3397. #if 0
  3398. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  3399. {
  3400. // Disable the default update procedure of the display. We will do a modal dialog.
  3401. lcd_update_enable(false);
  3402. // Let the planner use the uncorrected coordinates.
  3403. mbl.reset();
  3404. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3405. // the planner will not perform any adjustments in the XY plane.
  3406. // Wait for the motors to stop and update the current position with the absolute values.
  3407. world2machine_revert_to_uncorrected();
  3408. // Move the print head close to the bed.
  3409. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3410. 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);
  3411. st_synchronize();
  3412. // Home in the XY plane.
  3413. set_destination_to_current();
  3414. setup_for_endstop_move();
  3415. home_xy();
  3416. int8_t verbosity_level = 0;
  3417. if (code_seen('V')) {
  3418. // Just 'V' without a number counts as V1.
  3419. char c = strchr_pointer[1];
  3420. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3421. }
  3422. bool success = scan_bed_induction_points(verbosity_level);
  3423. clean_up_after_endstop_move();
  3424. // Print head up.
  3425. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3426. 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);
  3427. st_synchronize();
  3428. lcd_update_enable(true);
  3429. break;
  3430. }
  3431. #endif
  3432. // M48 Z-Probe repeatability measurement function.
  3433. //
  3434. // 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>
  3435. //
  3436. // This function assumes the bed has been homed. Specificaly, that a G28 command
  3437. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  3438. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3439. // regenerated.
  3440. //
  3441. // The number of samples will default to 10 if not specified. You can use upper or lower case
  3442. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  3443. // N for its communication protocol and will get horribly confused if you send it a capital N.
  3444. //
  3445. #ifdef ENABLE_AUTO_BED_LEVELING
  3446. #ifdef Z_PROBE_REPEATABILITY_TEST
  3447. case 48: // M48 Z-Probe repeatability
  3448. {
  3449. #if Z_MIN_PIN == -1
  3450. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  3451. #endif
  3452. double sum=0.0;
  3453. double mean=0.0;
  3454. double sigma=0.0;
  3455. double sample_set[50];
  3456. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  3457. double X_current, Y_current, Z_current;
  3458. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  3459. if (code_seen('V') || code_seen('v')) {
  3460. verbose_level = code_value();
  3461. if (verbose_level<0 || verbose_level>4 ) {
  3462. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  3463. goto Sigma_Exit;
  3464. }
  3465. }
  3466. if (verbose_level > 0) {
  3467. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  3468. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  3469. }
  3470. if (code_seen('n')) {
  3471. n_samples = code_value();
  3472. if (n_samples<4 || n_samples>50 ) {
  3473. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  3474. goto Sigma_Exit;
  3475. }
  3476. }
  3477. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  3478. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  3479. Z_current = st_get_position_mm(Z_AXIS);
  3480. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  3481. ext_position = st_get_position_mm(E_AXIS);
  3482. if (code_seen('X') || code_seen('x') ) {
  3483. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  3484. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  3485. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  3486. goto Sigma_Exit;
  3487. }
  3488. }
  3489. if (code_seen('Y') || code_seen('y') ) {
  3490. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  3491. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  3492. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  3493. goto Sigma_Exit;
  3494. }
  3495. }
  3496. if (code_seen('L') || code_seen('l') ) {
  3497. n_legs = code_value();
  3498. if ( n_legs==1 )
  3499. n_legs = 2;
  3500. if ( n_legs<0 || n_legs>15 ) {
  3501. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  3502. goto Sigma_Exit;
  3503. }
  3504. }
  3505. //
  3506. // Do all the preliminary setup work. First raise the probe.
  3507. //
  3508. st_synchronize();
  3509. plan_bed_level_matrix.set_to_identity();
  3510. plan_buffer_line( X_current, Y_current, Z_start_location,
  3511. ext_position,
  3512. homing_feedrate[Z_AXIS]/60,
  3513. active_extruder);
  3514. st_synchronize();
  3515. //
  3516. // Now get everything to the specified probe point So we can safely do a probe to
  3517. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  3518. // use that as a starting point for each probe.
  3519. //
  3520. if (verbose_level > 2)
  3521. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  3522. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3523. ext_position,
  3524. homing_feedrate[X_AXIS]/60,
  3525. active_extruder);
  3526. st_synchronize();
  3527. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  3528. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  3529. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3530. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  3531. //
  3532. // OK, do the inital probe to get us close to the bed.
  3533. // Then retrace the right amount and use that in subsequent probes
  3534. //
  3535. setup_for_endstop_move();
  3536. run_z_probe();
  3537. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3538. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  3539. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3540. ext_position,
  3541. homing_feedrate[X_AXIS]/60,
  3542. active_extruder);
  3543. st_synchronize();
  3544. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3545. for( n=0; n<n_samples; n++) {
  3546. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  3547. if ( n_legs) {
  3548. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  3549. int rotational_direction, l;
  3550. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  3551. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  3552. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  3553. //SERIAL_ECHOPAIR("starting radius: ",radius);
  3554. //SERIAL_ECHOPAIR(" theta: ",theta);
  3555. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  3556. //SERIAL_PROTOCOLLNPGM("");
  3557. for( l=0; l<n_legs-1; l++) {
  3558. if (rotational_direction==1)
  3559. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  3560. else
  3561. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  3562. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  3563. if ( radius<0.0 )
  3564. radius = -radius;
  3565. X_current = X_probe_location + cos(theta) * radius;
  3566. Y_current = Y_probe_location + sin(theta) * radius;
  3567. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  3568. X_current = X_MIN_POS;
  3569. if ( X_current>X_MAX_POS)
  3570. X_current = X_MAX_POS;
  3571. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  3572. Y_current = Y_MIN_POS;
  3573. if ( Y_current>Y_MAX_POS)
  3574. Y_current = Y_MAX_POS;
  3575. if (verbose_level>3 ) {
  3576. SERIAL_ECHOPAIR("x: ", X_current);
  3577. SERIAL_ECHOPAIR("y: ", Y_current);
  3578. SERIAL_PROTOCOLLNPGM("");
  3579. }
  3580. do_blocking_move_to( X_current, Y_current, Z_current );
  3581. }
  3582. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  3583. }
  3584. setup_for_endstop_move();
  3585. run_z_probe();
  3586. sample_set[n] = current_position[Z_AXIS];
  3587. //
  3588. // Get the current mean for the data points we have so far
  3589. //
  3590. sum=0.0;
  3591. for( j=0; j<=n; j++) {
  3592. sum = sum + sample_set[j];
  3593. }
  3594. mean = sum / (double (n+1));
  3595. //
  3596. // Now, use that mean to calculate the standard deviation for the
  3597. // data points we have so far
  3598. //
  3599. sum=0.0;
  3600. for( j=0; j<=n; j++) {
  3601. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  3602. }
  3603. sigma = sqrt( sum / (double (n+1)) );
  3604. if (verbose_level > 1) {
  3605. SERIAL_PROTOCOL(n+1);
  3606. SERIAL_PROTOCOL(" of ");
  3607. SERIAL_PROTOCOL(n_samples);
  3608. SERIAL_PROTOCOLPGM(" z: ");
  3609. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  3610. }
  3611. if (verbose_level > 2) {
  3612. SERIAL_PROTOCOL(" mean: ");
  3613. SERIAL_PROTOCOL_F(mean,6);
  3614. SERIAL_PROTOCOL(" sigma: ");
  3615. SERIAL_PROTOCOL_F(sigma,6);
  3616. }
  3617. if (verbose_level > 0)
  3618. SERIAL_PROTOCOLPGM("\n");
  3619. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3620. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  3621. st_synchronize();
  3622. }
  3623. delay(1000);
  3624. clean_up_after_endstop_move();
  3625. // enable_endstops(true);
  3626. if (verbose_level > 0) {
  3627. SERIAL_PROTOCOLPGM("Mean: ");
  3628. SERIAL_PROTOCOL_F(mean, 6);
  3629. SERIAL_PROTOCOLPGM("\n");
  3630. }
  3631. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  3632. SERIAL_PROTOCOL_F(sigma, 6);
  3633. SERIAL_PROTOCOLPGM("\n\n");
  3634. Sigma_Exit:
  3635. break;
  3636. }
  3637. #endif // Z_PROBE_REPEATABILITY_TEST
  3638. #endif // ENABLE_AUTO_BED_LEVELING
  3639. case 104: // M104
  3640. if(setTargetedHotend(104)){
  3641. break;
  3642. }
  3643. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  3644. setWatch();
  3645. break;
  3646. case 112: // M112 -Emergency Stop
  3647. kill("", 3);
  3648. break;
  3649. case 140: // M140 set bed temp
  3650. if (code_seen('S')) setTargetBed(code_value());
  3651. break;
  3652. case 105 : // M105
  3653. if(setTargetedHotend(105)){
  3654. break;
  3655. }
  3656. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  3657. SERIAL_PROTOCOLPGM("ok T:");
  3658. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  3659. SERIAL_PROTOCOLPGM(" /");
  3660. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  3661. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3662. SERIAL_PROTOCOLPGM(" B:");
  3663. SERIAL_PROTOCOL_F(degBed(),1);
  3664. SERIAL_PROTOCOLPGM(" /");
  3665. SERIAL_PROTOCOL_F(degTargetBed(),1);
  3666. #endif //TEMP_BED_PIN
  3667. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3668. SERIAL_PROTOCOLPGM(" T");
  3669. SERIAL_PROTOCOL(cur_extruder);
  3670. SERIAL_PROTOCOLPGM(":");
  3671. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  3672. SERIAL_PROTOCOLPGM(" /");
  3673. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  3674. }
  3675. #else
  3676. SERIAL_ERROR_START;
  3677. SERIAL_ERRORLNRPGM(MSG_ERR_NO_THERMISTORS);
  3678. #endif
  3679. SERIAL_PROTOCOLPGM(" @:");
  3680. #ifdef EXTRUDER_WATTS
  3681. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  3682. SERIAL_PROTOCOLPGM("W");
  3683. #else
  3684. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  3685. #endif
  3686. SERIAL_PROTOCOLPGM(" B@:");
  3687. #ifdef BED_WATTS
  3688. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  3689. SERIAL_PROTOCOLPGM("W");
  3690. #else
  3691. SERIAL_PROTOCOL(getHeaterPower(-1));
  3692. #endif
  3693. #ifdef PINDA_THERMISTOR
  3694. SERIAL_PROTOCOLPGM(" P:");
  3695. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  3696. #endif //PINDA_THERMISTOR
  3697. #ifdef AMBIENT_THERMISTOR
  3698. SERIAL_PROTOCOLPGM(" A:");
  3699. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  3700. #endif //AMBIENT_THERMISTOR
  3701. #ifdef SHOW_TEMP_ADC_VALUES
  3702. {float raw = 0.0;
  3703. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3704. SERIAL_PROTOCOLPGM(" ADC B:");
  3705. SERIAL_PROTOCOL_F(degBed(),1);
  3706. SERIAL_PROTOCOLPGM("C->");
  3707. raw = rawBedTemp();
  3708. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  3709. SERIAL_PROTOCOLPGM(" Rb->");
  3710. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  3711. SERIAL_PROTOCOLPGM(" Rxb->");
  3712. SERIAL_PROTOCOL_F(raw, 5);
  3713. #endif
  3714. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3715. SERIAL_PROTOCOLPGM(" T");
  3716. SERIAL_PROTOCOL(cur_extruder);
  3717. SERIAL_PROTOCOLPGM(":");
  3718. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  3719. SERIAL_PROTOCOLPGM("C->");
  3720. raw = rawHotendTemp(cur_extruder);
  3721. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  3722. SERIAL_PROTOCOLPGM(" Rt");
  3723. SERIAL_PROTOCOL(cur_extruder);
  3724. SERIAL_PROTOCOLPGM("->");
  3725. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  3726. SERIAL_PROTOCOLPGM(" Rx");
  3727. SERIAL_PROTOCOL(cur_extruder);
  3728. SERIAL_PROTOCOLPGM("->");
  3729. SERIAL_PROTOCOL_F(raw, 5);
  3730. }}
  3731. #endif
  3732. SERIAL_PROTOCOLLN("");
  3733. KEEPALIVE_STATE(NOT_BUSY);
  3734. return;
  3735. break;
  3736. case 109:
  3737. {// M109 - Wait for extruder heater to reach target.
  3738. if(setTargetedHotend(109)){
  3739. break;
  3740. }
  3741. LCD_MESSAGERPGM(MSG_HEATING);
  3742. heating_status = 1;
  3743. if (farm_mode) { prusa_statistics(1); };
  3744. #ifdef AUTOTEMP
  3745. autotemp_enabled=false;
  3746. #endif
  3747. if (code_seen('S')) {
  3748. setTargetHotend(code_value(), tmp_extruder);
  3749. CooldownNoWait = true;
  3750. } else if (code_seen('R')) {
  3751. setTargetHotend(code_value(), tmp_extruder);
  3752. CooldownNoWait = false;
  3753. }
  3754. #ifdef AUTOTEMP
  3755. if (code_seen('S')) autotemp_min=code_value();
  3756. if (code_seen('B')) autotemp_max=code_value();
  3757. if (code_seen('F'))
  3758. {
  3759. autotemp_factor=code_value();
  3760. autotemp_enabled=true;
  3761. }
  3762. #endif
  3763. setWatch();
  3764. codenum = millis();
  3765. /* See if we are heating up or cooling down */
  3766. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  3767. KEEPALIVE_STATE(NOT_BUSY);
  3768. cancel_heatup = false;
  3769. wait_for_heater(codenum); //loops until target temperature is reached
  3770. LCD_MESSAGERPGM(MSG_HEATING_COMPLETE);
  3771. KEEPALIVE_STATE(IN_HANDLER);
  3772. heating_status = 2;
  3773. if (farm_mode) { prusa_statistics(2); };
  3774. //starttime=millis();
  3775. previous_millis_cmd = millis();
  3776. }
  3777. break;
  3778. case 190: // M190 - Wait for bed heater to reach target.
  3779. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3780. LCD_MESSAGERPGM(MSG_BED_HEATING);
  3781. heating_status = 3;
  3782. if (farm_mode) { prusa_statistics(1); };
  3783. if (code_seen('S'))
  3784. {
  3785. setTargetBed(code_value());
  3786. CooldownNoWait = true;
  3787. }
  3788. else if (code_seen('R'))
  3789. {
  3790. setTargetBed(code_value());
  3791. CooldownNoWait = false;
  3792. }
  3793. codenum = millis();
  3794. cancel_heatup = false;
  3795. target_direction = isHeatingBed(); // true if heating, false if cooling
  3796. KEEPALIVE_STATE(NOT_BUSY);
  3797. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  3798. {
  3799. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  3800. {
  3801. if (!farm_mode) {
  3802. float tt = degHotend(active_extruder);
  3803. SERIAL_PROTOCOLPGM("T:");
  3804. SERIAL_PROTOCOL(tt);
  3805. SERIAL_PROTOCOLPGM(" E:");
  3806. SERIAL_PROTOCOL((int)active_extruder);
  3807. SERIAL_PROTOCOLPGM(" B:");
  3808. SERIAL_PROTOCOL_F(degBed(), 1);
  3809. SERIAL_PROTOCOLLN("");
  3810. }
  3811. codenum = millis();
  3812. }
  3813. manage_heater();
  3814. manage_inactivity();
  3815. lcd_update();
  3816. }
  3817. LCD_MESSAGERPGM(MSG_BED_DONE);
  3818. KEEPALIVE_STATE(IN_HANDLER);
  3819. heating_status = 4;
  3820. previous_millis_cmd = millis();
  3821. #endif
  3822. break;
  3823. #if defined(FAN_PIN) && FAN_PIN > -1
  3824. case 106: //M106 Fan On
  3825. if (code_seen('S')){
  3826. fanSpeed=constrain(code_value(),0,255);
  3827. }
  3828. else {
  3829. fanSpeed=255;
  3830. }
  3831. break;
  3832. case 107: //M107 Fan Off
  3833. fanSpeed = 0;
  3834. break;
  3835. #endif //FAN_PIN
  3836. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  3837. case 80: // M80 - Turn on Power Supply
  3838. SET_OUTPUT(PS_ON_PIN); //GND
  3839. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  3840. // If you have a switch on suicide pin, this is useful
  3841. // if you want to start another print with suicide feature after
  3842. // a print without suicide...
  3843. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  3844. SET_OUTPUT(SUICIDE_PIN);
  3845. WRITE(SUICIDE_PIN, HIGH);
  3846. #endif
  3847. #ifdef ULTIPANEL
  3848. powersupply = true;
  3849. LCD_MESSAGERPGM(WELCOME_MSG);
  3850. lcd_update();
  3851. #endif
  3852. break;
  3853. #endif
  3854. case 81: // M81 - Turn off Power Supply
  3855. disable_heater();
  3856. st_synchronize();
  3857. disable_e0();
  3858. disable_e1();
  3859. disable_e2();
  3860. finishAndDisableSteppers();
  3861. fanSpeed = 0;
  3862. delay(1000); // Wait a little before to switch off
  3863. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  3864. st_synchronize();
  3865. suicide();
  3866. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  3867. SET_OUTPUT(PS_ON_PIN);
  3868. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  3869. #endif
  3870. #ifdef ULTIPANEL
  3871. powersupply = false;
  3872. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR("."))); //!!
  3873. /*
  3874. MACHNAME = "Prusa i3"
  3875. MSGOFF = "Vypnuto"
  3876. "Prusai3"" ""vypnuto""."
  3877. "Prusa i3"" "MSG_ALL[lang_selected][50]"."
  3878. */
  3879. lcd_update();
  3880. #endif
  3881. break;
  3882. case 82:
  3883. axis_relative_modes[3] = false;
  3884. break;
  3885. case 83:
  3886. axis_relative_modes[3] = true;
  3887. break;
  3888. case 18: //compatibility
  3889. case 84: // M84
  3890. if(code_seen('S')){
  3891. stepper_inactive_time = code_value() * 1000;
  3892. }
  3893. else
  3894. {
  3895. 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])));
  3896. if(all_axis)
  3897. {
  3898. st_synchronize();
  3899. disable_e0();
  3900. disable_e1();
  3901. disable_e2();
  3902. finishAndDisableSteppers();
  3903. }
  3904. else
  3905. {
  3906. st_synchronize();
  3907. if (code_seen('X')) disable_x();
  3908. if (code_seen('Y')) disable_y();
  3909. if (code_seen('Z')) disable_z();
  3910. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  3911. if (code_seen('E')) {
  3912. disable_e0();
  3913. disable_e1();
  3914. disable_e2();
  3915. }
  3916. #endif
  3917. }
  3918. }
  3919. snmm_filaments_used = 0;
  3920. break;
  3921. case 85: // M85
  3922. if(code_seen('S')) {
  3923. max_inactive_time = code_value() * 1000;
  3924. }
  3925. break;
  3926. case 92: // M92
  3927. for(int8_t i=0; i < NUM_AXIS; i++)
  3928. {
  3929. if(code_seen(axis_codes[i]))
  3930. {
  3931. if(i == 3) { // E
  3932. float value = code_value();
  3933. if(value < 20.0) {
  3934. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  3935. max_jerk[E_AXIS] *= factor;
  3936. max_feedrate[i] *= factor;
  3937. axis_steps_per_sqr_second[i] *= factor;
  3938. }
  3939. axis_steps_per_unit[i] = value;
  3940. }
  3941. else {
  3942. axis_steps_per_unit[i] = code_value();
  3943. }
  3944. }
  3945. }
  3946. break;
  3947. #ifdef HOST_KEEPALIVE_FEATURE
  3948. case 113: // M113 - Get or set Host Keepalive interval
  3949. if (code_seen('S')) {
  3950. host_keepalive_interval = (uint8_t)code_value_short();
  3951. // NOMORE(host_keepalive_interval, 60);
  3952. }
  3953. else {
  3954. SERIAL_ECHO_START;
  3955. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  3956. SERIAL_PROTOCOLLN("");
  3957. }
  3958. break;
  3959. #endif
  3960. case 115: // M115
  3961. if (code_seen('V')) {
  3962. // Report the Prusa version number.
  3963. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  3964. } else if (code_seen('U')) {
  3965. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  3966. // pause the print and ask the user to upgrade the firmware.
  3967. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  3968. } else {
  3969. SERIAL_PROTOCOLRPGM(MSG_M115_REPORT);
  3970. }
  3971. break;
  3972. /* case 117: // M117 display message
  3973. starpos = (strchr(strchr_pointer + 5,'*'));
  3974. if(starpos!=NULL)
  3975. *(starpos)='\0';
  3976. lcd_setstatus(strchr_pointer + 5);
  3977. break;*/
  3978. case 114: // M114
  3979. SERIAL_PROTOCOLPGM("X:");
  3980. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3981. SERIAL_PROTOCOLPGM(" Y:");
  3982. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3983. SERIAL_PROTOCOLPGM(" Z:");
  3984. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3985. SERIAL_PROTOCOLPGM(" E:");
  3986. SERIAL_PROTOCOL(current_position[E_AXIS]);
  3987. SERIAL_PROTOCOLRPGM(MSG_COUNT_X);
  3988. SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
  3989. SERIAL_PROTOCOLPGM(" Y:");
  3990. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
  3991. SERIAL_PROTOCOLPGM(" Z:");
  3992. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
  3993. SERIAL_PROTOCOLPGM(" E:");
  3994. SERIAL_PROTOCOL(float(st_get_position(E_AXIS))/axis_steps_per_unit[E_AXIS]);
  3995. SERIAL_PROTOCOLLN("");
  3996. break;
  3997. case 120: // M120
  3998. enable_endstops(false) ;
  3999. break;
  4000. case 121: // M121
  4001. enable_endstops(true) ;
  4002. break;
  4003. case 119: // M119
  4004. SERIAL_PROTOCOLRPGM(MSG_M119_REPORT);
  4005. SERIAL_PROTOCOLLN("");
  4006. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  4007. SERIAL_PROTOCOLRPGM(MSG_X_MIN);
  4008. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  4009. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4010. }else{
  4011. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4012. }
  4013. SERIAL_PROTOCOLLN("");
  4014. #endif
  4015. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  4016. SERIAL_PROTOCOLRPGM(MSG_X_MAX);
  4017. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  4018. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4019. }else{
  4020. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4021. }
  4022. SERIAL_PROTOCOLLN("");
  4023. #endif
  4024. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  4025. SERIAL_PROTOCOLRPGM(MSG_Y_MIN);
  4026. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  4027. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4028. }else{
  4029. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4030. }
  4031. SERIAL_PROTOCOLLN("");
  4032. #endif
  4033. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  4034. SERIAL_PROTOCOLRPGM(MSG_Y_MAX);
  4035. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  4036. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4037. }else{
  4038. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4039. }
  4040. SERIAL_PROTOCOLLN("");
  4041. #endif
  4042. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  4043. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  4044. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  4045. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4046. }else{
  4047. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4048. }
  4049. SERIAL_PROTOCOLLN("");
  4050. #endif
  4051. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  4052. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  4053. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  4054. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4055. }else{
  4056. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4057. }
  4058. SERIAL_PROTOCOLLN("");
  4059. #endif
  4060. break;
  4061. //TODO: update for all axis, use for loop
  4062. #ifdef BLINKM
  4063. case 150: // M150
  4064. {
  4065. byte red;
  4066. byte grn;
  4067. byte blu;
  4068. if(code_seen('R')) red = code_value();
  4069. if(code_seen('U')) grn = code_value();
  4070. if(code_seen('B')) blu = code_value();
  4071. SendColors(red,grn,blu);
  4072. }
  4073. break;
  4074. #endif //BLINKM
  4075. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  4076. {
  4077. tmp_extruder = active_extruder;
  4078. if(code_seen('T')) {
  4079. tmp_extruder = code_value();
  4080. if(tmp_extruder >= EXTRUDERS) {
  4081. SERIAL_ECHO_START;
  4082. SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
  4083. break;
  4084. }
  4085. }
  4086. float area = .0;
  4087. if(code_seen('D')) {
  4088. float diameter = (float)code_value();
  4089. if (diameter == 0.0) {
  4090. // setting any extruder filament size disables volumetric on the assumption that
  4091. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4092. // for all extruders
  4093. volumetric_enabled = false;
  4094. } else {
  4095. filament_size[tmp_extruder] = (float)code_value();
  4096. // make sure all extruders have some sane value for the filament size
  4097. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  4098. #if EXTRUDERS > 1
  4099. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  4100. #if EXTRUDERS > 2
  4101. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  4102. #endif
  4103. #endif
  4104. volumetric_enabled = true;
  4105. }
  4106. } else {
  4107. //reserved for setting filament diameter via UFID or filament measuring device
  4108. break;
  4109. }
  4110. calculate_volumetric_multipliers();
  4111. }
  4112. break;
  4113. case 201: // M201
  4114. for(int8_t i=0; i < NUM_AXIS; i++)
  4115. {
  4116. if(code_seen(axis_codes[i]))
  4117. {
  4118. max_acceleration_units_per_sq_second[i] = code_value();
  4119. }
  4120. }
  4121. // 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)
  4122. reset_acceleration_rates();
  4123. break;
  4124. #if 0 // Not used for Sprinter/grbl gen6
  4125. case 202: // M202
  4126. for(int8_t i=0; i < NUM_AXIS; i++) {
  4127. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  4128. }
  4129. break;
  4130. #endif
  4131. case 203: // M203 max feedrate mm/sec
  4132. for(int8_t i=0; i < NUM_AXIS; i++) {
  4133. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  4134. }
  4135. break;
  4136. case 204: // M204 acclereration S normal moves T filmanent only moves
  4137. {
  4138. if(code_seen('S')) acceleration = code_value() ;
  4139. if(code_seen('T')) retract_acceleration = code_value() ;
  4140. }
  4141. break;
  4142. 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
  4143. {
  4144. if(code_seen('S')) minimumfeedrate = code_value();
  4145. if(code_seen('T')) mintravelfeedrate = code_value();
  4146. if(code_seen('B')) minsegmenttime = code_value() ;
  4147. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  4148. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  4149. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  4150. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  4151. }
  4152. break;
  4153. case 206: // M206 additional homing offset
  4154. for(int8_t i=0; i < 3; i++)
  4155. {
  4156. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  4157. }
  4158. break;
  4159. #ifdef FWRETRACT
  4160. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  4161. {
  4162. if(code_seen('S'))
  4163. {
  4164. retract_length = code_value() ;
  4165. }
  4166. if(code_seen('F'))
  4167. {
  4168. retract_feedrate = code_value()/60 ;
  4169. }
  4170. if(code_seen('Z'))
  4171. {
  4172. retract_zlift = code_value() ;
  4173. }
  4174. }break;
  4175. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  4176. {
  4177. if(code_seen('S'))
  4178. {
  4179. retract_recover_length = code_value() ;
  4180. }
  4181. if(code_seen('F'))
  4182. {
  4183. retract_recover_feedrate = code_value()/60 ;
  4184. }
  4185. }break;
  4186. 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.
  4187. {
  4188. if(code_seen('S'))
  4189. {
  4190. int t= code_value() ;
  4191. switch(t)
  4192. {
  4193. case 0:
  4194. {
  4195. autoretract_enabled=false;
  4196. retracted[0]=false;
  4197. #if EXTRUDERS > 1
  4198. retracted[1]=false;
  4199. #endif
  4200. #if EXTRUDERS > 2
  4201. retracted[2]=false;
  4202. #endif
  4203. }break;
  4204. case 1:
  4205. {
  4206. autoretract_enabled=true;
  4207. retracted[0]=false;
  4208. #if EXTRUDERS > 1
  4209. retracted[1]=false;
  4210. #endif
  4211. #if EXTRUDERS > 2
  4212. retracted[2]=false;
  4213. #endif
  4214. }break;
  4215. default:
  4216. SERIAL_ECHO_START;
  4217. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  4218. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  4219. SERIAL_ECHOLNPGM("\"(1)");
  4220. }
  4221. }
  4222. }break;
  4223. #endif // FWRETRACT
  4224. #if EXTRUDERS > 1
  4225. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  4226. {
  4227. if(setTargetedHotend(218)){
  4228. break;
  4229. }
  4230. if(code_seen('X'))
  4231. {
  4232. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  4233. }
  4234. if(code_seen('Y'))
  4235. {
  4236. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  4237. }
  4238. SERIAL_ECHO_START;
  4239. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  4240. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  4241. {
  4242. SERIAL_ECHO(" ");
  4243. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  4244. SERIAL_ECHO(",");
  4245. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  4246. }
  4247. SERIAL_ECHOLN("");
  4248. }break;
  4249. #endif
  4250. case 220: // M220 S<factor in percent>- set speed factor override percentage
  4251. {
  4252. if(code_seen('S'))
  4253. {
  4254. feedmultiply = code_value() ;
  4255. }
  4256. }
  4257. break;
  4258. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  4259. {
  4260. if(code_seen('S'))
  4261. {
  4262. int tmp_code = code_value();
  4263. if (code_seen('T'))
  4264. {
  4265. if(setTargetedHotend(221)){
  4266. break;
  4267. }
  4268. extruder_multiply[tmp_extruder] = tmp_code;
  4269. }
  4270. else
  4271. {
  4272. extrudemultiply = tmp_code ;
  4273. }
  4274. }
  4275. }
  4276. break;
  4277. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  4278. {
  4279. if(code_seen('P')){
  4280. int pin_number = code_value(); // pin number
  4281. int pin_state = -1; // required pin state - default is inverted
  4282. if(code_seen('S')) pin_state = code_value(); // required pin state
  4283. if(pin_state >= -1 && pin_state <= 1){
  4284. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4285. {
  4286. if (sensitive_pins[i] == pin_number)
  4287. {
  4288. pin_number = -1;
  4289. break;
  4290. }
  4291. }
  4292. if (pin_number > -1)
  4293. {
  4294. int target = LOW;
  4295. st_synchronize();
  4296. pinMode(pin_number, INPUT);
  4297. switch(pin_state){
  4298. case 1:
  4299. target = HIGH;
  4300. break;
  4301. case 0:
  4302. target = LOW;
  4303. break;
  4304. case -1:
  4305. target = !digitalRead(pin_number);
  4306. break;
  4307. }
  4308. while(digitalRead(pin_number) != target){
  4309. manage_heater();
  4310. manage_inactivity();
  4311. lcd_update();
  4312. }
  4313. }
  4314. }
  4315. }
  4316. }
  4317. break;
  4318. #if NUM_SERVOS > 0
  4319. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  4320. {
  4321. int servo_index = -1;
  4322. int servo_position = 0;
  4323. if (code_seen('P'))
  4324. servo_index = code_value();
  4325. if (code_seen('S')) {
  4326. servo_position = code_value();
  4327. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  4328. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4329. servos[servo_index].attach(0);
  4330. #endif
  4331. servos[servo_index].write(servo_position);
  4332. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4333. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  4334. servos[servo_index].detach();
  4335. #endif
  4336. }
  4337. else {
  4338. SERIAL_ECHO_START;
  4339. SERIAL_ECHO("Servo ");
  4340. SERIAL_ECHO(servo_index);
  4341. SERIAL_ECHOLN(" out of range");
  4342. }
  4343. }
  4344. else if (servo_index >= 0) {
  4345. SERIAL_PROTOCOL(MSG_OK);
  4346. SERIAL_PROTOCOL(" Servo ");
  4347. SERIAL_PROTOCOL(servo_index);
  4348. SERIAL_PROTOCOL(": ");
  4349. SERIAL_PROTOCOL(servos[servo_index].read());
  4350. SERIAL_PROTOCOLLN("");
  4351. }
  4352. }
  4353. break;
  4354. #endif // NUM_SERVOS > 0
  4355. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  4356. case 300: // M300
  4357. {
  4358. int beepS = code_seen('S') ? code_value() : 110;
  4359. int beepP = code_seen('P') ? code_value() : 1000;
  4360. if (beepS > 0)
  4361. {
  4362. #if BEEPER > 0
  4363. tone(BEEPER, beepS);
  4364. delay(beepP);
  4365. noTone(BEEPER);
  4366. #elif defined(ULTRALCD)
  4367. lcd_buzz(beepS, beepP);
  4368. #elif defined(LCD_USE_I2C_BUZZER)
  4369. lcd_buzz(beepP, beepS);
  4370. #endif
  4371. }
  4372. else
  4373. {
  4374. delay(beepP);
  4375. }
  4376. }
  4377. break;
  4378. #endif // M300
  4379. #ifdef PIDTEMP
  4380. case 301: // M301
  4381. {
  4382. if(code_seen('P')) Kp = code_value();
  4383. if(code_seen('I')) Ki = scalePID_i(code_value());
  4384. if(code_seen('D')) Kd = scalePID_d(code_value());
  4385. #ifdef PID_ADD_EXTRUSION_RATE
  4386. if(code_seen('C')) Kc = code_value();
  4387. #endif
  4388. updatePID();
  4389. SERIAL_PROTOCOLRPGM(MSG_OK);
  4390. SERIAL_PROTOCOL(" p:");
  4391. SERIAL_PROTOCOL(Kp);
  4392. SERIAL_PROTOCOL(" i:");
  4393. SERIAL_PROTOCOL(unscalePID_i(Ki));
  4394. SERIAL_PROTOCOL(" d:");
  4395. SERIAL_PROTOCOL(unscalePID_d(Kd));
  4396. #ifdef PID_ADD_EXTRUSION_RATE
  4397. SERIAL_PROTOCOL(" c:");
  4398. //Kc does not have scaling applied above, or in resetting defaults
  4399. SERIAL_PROTOCOL(Kc);
  4400. #endif
  4401. SERIAL_PROTOCOLLN("");
  4402. }
  4403. break;
  4404. #endif //PIDTEMP
  4405. #ifdef PIDTEMPBED
  4406. case 304: // M304
  4407. {
  4408. if(code_seen('P')) bedKp = code_value();
  4409. if(code_seen('I')) bedKi = scalePID_i(code_value());
  4410. if(code_seen('D')) bedKd = scalePID_d(code_value());
  4411. updatePID();
  4412. SERIAL_PROTOCOLRPGM(MSG_OK);
  4413. SERIAL_PROTOCOL(" p:");
  4414. SERIAL_PROTOCOL(bedKp);
  4415. SERIAL_PROTOCOL(" i:");
  4416. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  4417. SERIAL_PROTOCOL(" d:");
  4418. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  4419. SERIAL_PROTOCOLLN("");
  4420. }
  4421. break;
  4422. #endif //PIDTEMP
  4423. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  4424. {
  4425. #ifdef CHDK
  4426. SET_OUTPUT(CHDK);
  4427. WRITE(CHDK, HIGH);
  4428. chdkHigh = millis();
  4429. chdkActive = true;
  4430. #else
  4431. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  4432. const uint8_t NUM_PULSES=16;
  4433. const float PULSE_LENGTH=0.01524;
  4434. for(int i=0; i < NUM_PULSES; i++) {
  4435. WRITE(PHOTOGRAPH_PIN, HIGH);
  4436. _delay_ms(PULSE_LENGTH);
  4437. WRITE(PHOTOGRAPH_PIN, LOW);
  4438. _delay_ms(PULSE_LENGTH);
  4439. }
  4440. delay(7.33);
  4441. for(int i=0; i < NUM_PULSES; i++) {
  4442. WRITE(PHOTOGRAPH_PIN, HIGH);
  4443. _delay_ms(PULSE_LENGTH);
  4444. WRITE(PHOTOGRAPH_PIN, LOW);
  4445. _delay_ms(PULSE_LENGTH);
  4446. }
  4447. #endif
  4448. #endif //chdk end if
  4449. }
  4450. break;
  4451. #ifdef DOGLCD
  4452. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  4453. {
  4454. if (code_seen('C')) {
  4455. lcd_setcontrast( ((int)code_value())&63 );
  4456. }
  4457. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4458. SERIAL_PROTOCOL(lcd_contrast);
  4459. SERIAL_PROTOCOLLN("");
  4460. }
  4461. break;
  4462. #endif
  4463. #ifdef PREVENT_DANGEROUS_EXTRUDE
  4464. case 302: // allow cold extrudes, or set the minimum extrude temperature
  4465. {
  4466. float temp = .0;
  4467. if (code_seen('S')) temp=code_value();
  4468. set_extrude_min_temp(temp);
  4469. }
  4470. break;
  4471. #endif
  4472. case 303: // M303 PID autotune
  4473. {
  4474. float temp = 150.0;
  4475. int e=0;
  4476. int c=5;
  4477. if (code_seen('E')) e=code_value();
  4478. if (e<0)
  4479. temp=70;
  4480. if (code_seen('S')) temp=code_value();
  4481. if (code_seen('C')) c=code_value();
  4482. PID_autotune(temp, e, c);
  4483. }
  4484. break;
  4485. case 400: // M400 finish all moves
  4486. {
  4487. st_synchronize();
  4488. }
  4489. break;
  4490. #ifdef FILAMENT_SENSOR
  4491. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  4492. {
  4493. #if (FILWIDTH_PIN > -1)
  4494. if(code_seen('N')) filament_width_nominal=code_value();
  4495. else{
  4496. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  4497. SERIAL_PROTOCOLLN(filament_width_nominal);
  4498. }
  4499. #endif
  4500. }
  4501. break;
  4502. case 405: //M405 Turn on filament sensor for control
  4503. {
  4504. if(code_seen('D')) meas_delay_cm=code_value();
  4505. if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
  4506. meas_delay_cm = MAX_MEASUREMENT_DELAY;
  4507. if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
  4508. {
  4509. int temp_ratio = widthFil_to_size_ratio();
  4510. for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
  4511. measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
  4512. }
  4513. delay_index1=0;
  4514. delay_index2=0;
  4515. }
  4516. filament_sensor = true ;
  4517. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4518. //SERIAL_PROTOCOL(filament_width_meas);
  4519. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  4520. //SERIAL_PROTOCOL(extrudemultiply);
  4521. }
  4522. break;
  4523. case 406: //M406 Turn off filament sensor for control
  4524. {
  4525. filament_sensor = false ;
  4526. }
  4527. break;
  4528. case 407: //M407 Display measured filament diameter
  4529. {
  4530. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4531. SERIAL_PROTOCOLLN(filament_width_meas);
  4532. }
  4533. break;
  4534. #endif
  4535. case 500: // M500 Store settings in EEPROM
  4536. {
  4537. Config_StoreSettings(EEPROM_OFFSET);
  4538. }
  4539. break;
  4540. case 501: // M501 Read settings from EEPROM
  4541. {
  4542. Config_RetrieveSettings(EEPROM_OFFSET);
  4543. }
  4544. break;
  4545. case 502: // M502 Revert to default settings
  4546. {
  4547. Config_ResetDefault();
  4548. }
  4549. break;
  4550. case 503: // M503 print settings currently in memory
  4551. {
  4552. Config_PrintSettings();
  4553. }
  4554. break;
  4555. case 509: //M509 Force language selection
  4556. {
  4557. lcd_force_language_selection();
  4558. SERIAL_ECHO_START;
  4559. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  4560. }
  4561. break;
  4562. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  4563. case 540:
  4564. {
  4565. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  4566. }
  4567. break;
  4568. #endif
  4569. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  4570. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  4571. {
  4572. float value;
  4573. if (code_seen('Z'))
  4574. {
  4575. value = code_value();
  4576. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  4577. {
  4578. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  4579. SERIAL_ECHO_START;
  4580. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  4581. SERIAL_PROTOCOLLN("");
  4582. }
  4583. else
  4584. {
  4585. SERIAL_ECHO_START;
  4586. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  4587. SERIAL_ECHORPGM(MSG_Z_MIN);
  4588. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  4589. SERIAL_ECHORPGM(MSG_Z_MAX);
  4590. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  4591. SERIAL_PROTOCOLLN("");
  4592. }
  4593. }
  4594. else
  4595. {
  4596. SERIAL_ECHO_START;
  4597. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  4598. SERIAL_ECHO(-zprobe_zoffset);
  4599. SERIAL_PROTOCOLLN("");
  4600. }
  4601. break;
  4602. }
  4603. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  4604. #ifdef FILAMENTCHANGEENABLE
  4605. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  4606. {
  4607. MYSERIAL.println("!!!!M600!!!!");
  4608. bool old_fsensor_enabled = fsensor_enabled;
  4609. fsensor_enabled = false; //temporary solution for unexpected restarting
  4610. st_synchronize();
  4611. float target[4];
  4612. float lastpos[4];
  4613. if (farm_mode)
  4614. {
  4615. prusa_statistics(22);
  4616. }
  4617. feedmultiplyBckp=feedmultiply;
  4618. int8_t TooLowZ = 0;
  4619. target[X_AXIS]=current_position[X_AXIS];
  4620. target[Y_AXIS]=current_position[Y_AXIS];
  4621. target[Z_AXIS]=current_position[Z_AXIS];
  4622. target[E_AXIS]=current_position[E_AXIS];
  4623. lastpos[X_AXIS]=current_position[X_AXIS];
  4624. lastpos[Y_AXIS]=current_position[Y_AXIS];
  4625. lastpos[Z_AXIS]=current_position[Z_AXIS];
  4626. lastpos[E_AXIS]=current_position[E_AXIS];
  4627. //Restract extruder
  4628. if(code_seen('E'))
  4629. {
  4630. target[E_AXIS]+= code_value();
  4631. }
  4632. else
  4633. {
  4634. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  4635. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  4636. #endif
  4637. }
  4638. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4639. //Lift Z
  4640. if(code_seen('Z'))
  4641. {
  4642. target[Z_AXIS]+= code_value();
  4643. }
  4644. else
  4645. {
  4646. #ifdef FILAMENTCHANGE_ZADD
  4647. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  4648. if(target[Z_AXIS] < 10){
  4649. target[Z_AXIS]+= 10 ;
  4650. TooLowZ = 1;
  4651. }else{
  4652. TooLowZ = 0;
  4653. }
  4654. #endif
  4655. }
  4656. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  4657. //Move XY to side
  4658. if(code_seen('X'))
  4659. {
  4660. target[X_AXIS]+= code_value();
  4661. }
  4662. else
  4663. {
  4664. #ifdef FILAMENTCHANGE_XPOS
  4665. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  4666. #endif
  4667. }
  4668. if(code_seen('Y'))
  4669. {
  4670. target[Y_AXIS]= code_value();
  4671. }
  4672. else
  4673. {
  4674. #ifdef FILAMENTCHANGE_YPOS
  4675. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  4676. #endif
  4677. }
  4678. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  4679. st_synchronize();
  4680. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4681. uint8_t cnt = 0;
  4682. int counterBeep = 0;
  4683. lcd_display_message_fullscreen_P(MSG_PRESS_TO_UNLOAD);
  4684. while (!lcd_clicked()) {
  4685. cnt++;
  4686. manage_heater();
  4687. manage_inactivity(true);
  4688. /*#ifdef SNMM
  4689. target[E_AXIS] += 0.002;
  4690. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4691. #endif // SNMM*/
  4692. if (cnt == 0)
  4693. {
  4694. #if BEEPER > 0
  4695. if (counterBeep == 500) {
  4696. counterBeep = 0;
  4697. }
  4698. SET_OUTPUT(BEEPER);
  4699. if (counterBeep == 0) {
  4700. WRITE(BEEPER, HIGH);
  4701. }
  4702. if (counterBeep == 20) {
  4703. WRITE(BEEPER, LOW);
  4704. }
  4705. counterBeep++;
  4706. #else
  4707. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  4708. lcd_buzz(1000 / 6, 100);
  4709. #else
  4710. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
  4711. #endif
  4712. #endif
  4713. }
  4714. }
  4715. WRITE(BEEPER, LOW);
  4716. lcd_change_fil_state = 0;
  4717. while (lcd_change_fil_state == 0) {
  4718. lcd_display_message_fullscreen_P(MSG_UNLOADING_FILAMENT);
  4719. KEEPALIVE_STATE(IN_HANDLER);
  4720. custom_message = true;
  4721. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  4722. // Unload filament
  4723. if (code_seen('L'))
  4724. {
  4725. target[E_AXIS] += code_value();
  4726. }
  4727. else
  4728. {
  4729. #ifdef SNMM
  4730. #else
  4731. #ifdef FILAMENTCHANGE_FINALRETRACT
  4732. target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  4733. #endif
  4734. #endif // SNMM
  4735. }
  4736. #ifdef SNMM
  4737. target[E_AXIS] += 12;
  4738. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
  4739. target[E_AXIS] += 6;
  4740. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  4741. target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
  4742. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  4743. st_synchronize();
  4744. target[E_AXIS] += (FIL_COOLING);
  4745. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4746. target[E_AXIS] += (FIL_COOLING*-1);
  4747. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4748. target[E_AXIS] += (bowden_length[snmm_extruder] * -1);
  4749. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  4750. st_synchronize();
  4751. #else
  4752. // plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4753. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500 / 60, active_extruder);
  4754. #endif // SNMM
  4755. //finish moves
  4756. st_synchronize();
  4757. //disable extruder steppers so filament can be removed
  4758. disable_e0();
  4759. disable_e1();
  4760. disable_e2();
  4761. delay(100);
  4762. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4763. lcd_change_fil_state = !lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_UNLOAD_SUCCESSFULL, false, false);
  4764. //lcd_return_to_status();
  4765. lcd_update_enable(true);
  4766. }
  4767. //Wait for user to insert filament
  4768. lcd_wait_interact();
  4769. //load_filament_time = millis();
  4770. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4771. pat9125_update_y(); //update sensor
  4772. uint16_t y_old = pat9125_y; //save current y value
  4773. uint8_t change_cnt = 0; //reset number of changes counter
  4774. while(!lcd_clicked())
  4775. {
  4776. manage_heater();
  4777. manage_inactivity(true);
  4778. pat9125_update_y(); //update sensor
  4779. if (y_old != pat9125_y) //? y value is different
  4780. {
  4781. if ((y_old - pat9125_y) > 0) //? delta-y value is positive (inserting)
  4782. change_cnt++; //increment change counter
  4783. y_old = pat9125_y; //save current value
  4784. if (change_cnt > 20) break; //number of positive changes > 20, start loading
  4785. }
  4786. /*#ifdef SNMM
  4787. target[E_AXIS] += 0.002;
  4788. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4789. #endif // SNMM*/
  4790. }
  4791. //WRITE(BEEPER, LOW);
  4792. KEEPALIVE_STATE(IN_HANDLER);
  4793. #ifdef SNMM
  4794. display_loading();
  4795. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4796. do {
  4797. target[E_AXIS] += 0.002;
  4798. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4799. delay_keep_alive(2);
  4800. } while (!lcd_clicked());
  4801. KEEPALIVE_STATE(IN_HANDLER);
  4802. /*if (millis() - load_filament_time > 2) {
  4803. load_filament_time = millis();
  4804. target[E_AXIS] += 0.001;
  4805. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
  4806. }*/
  4807. //Filament inserted
  4808. //Feed the filament to the end of nozzle quickly
  4809. st_synchronize();
  4810. target[E_AXIS] += bowden_length[snmm_extruder];
  4811. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  4812. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  4813. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  4814. target[E_AXIS] += 40;
  4815. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  4816. target[E_AXIS] += 10;
  4817. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4818. #else
  4819. target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
  4820. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  4821. #endif // SNMM
  4822. //Extrude some filament
  4823. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4824. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  4825. //Wait for user to check the state
  4826. lcd_change_fil_state = 0;
  4827. lcd_loading_filament();
  4828. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  4829. lcd_change_fil_state = 0;
  4830. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4831. lcd_alright();
  4832. KEEPALIVE_STATE(IN_HANDLER);
  4833. switch(lcd_change_fil_state){
  4834. // Filament failed to load so load it again
  4835. case 2:
  4836. #ifdef SNMM
  4837. display_loading();
  4838. do {
  4839. target[E_AXIS] += 0.002;
  4840. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4841. delay_keep_alive(2);
  4842. } while (!lcd_clicked());
  4843. st_synchronize();
  4844. target[E_AXIS] += bowden_length[snmm_extruder];
  4845. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  4846. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  4847. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  4848. target[E_AXIS] += 40;
  4849. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  4850. target[E_AXIS] += 10;
  4851. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4852. #else
  4853. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  4854. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  4855. #endif
  4856. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4857. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  4858. lcd_loading_filament();
  4859. break;
  4860. // Filament loaded properly but color is not clear
  4861. case 3:
  4862. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4863. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  4864. lcd_loading_color();
  4865. break;
  4866. // Everything good
  4867. default:
  4868. lcd_change_success();
  4869. lcd_update_enable(true);
  4870. break;
  4871. }
  4872. }
  4873. //Not let's go back to print
  4874. //Feed a little of filament to stabilize pressure
  4875. target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
  4876. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  4877. //Retract
  4878. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  4879. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4880. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  4881. //Move XY back
  4882. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  4883. //Move Z back
  4884. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  4885. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  4886. //Unretract
  4887. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4888. //Set E position to original
  4889. plan_set_e_position(lastpos[E_AXIS]);
  4890. //Recover feed rate
  4891. feedmultiply=feedmultiplyBckp;
  4892. char cmd[9];
  4893. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  4894. enquecommand(cmd);
  4895. lcd_setstatuspgm(WELCOME_MSG);
  4896. custom_message = false;
  4897. custom_message_type = 0;
  4898. fsensor_enabled = old_fsensor_enabled; //temporary solution for unexpected restarting
  4899. #ifdef PAT9125
  4900. if (fsensor_M600)
  4901. {
  4902. cmdqueue_pop_front(); //hack because M600 repeated 2x when enqueued to front
  4903. st_synchronize();
  4904. while (!is_buffer_empty())
  4905. {
  4906. process_commands();
  4907. cmdqueue_pop_front();
  4908. }
  4909. fsensor_enable();
  4910. fsensor_restore_print_and_continue();
  4911. }
  4912. #endif //PAT9125
  4913. }
  4914. break;
  4915. #endif //FILAMENTCHANGEENABLE
  4916. case 601: {
  4917. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  4918. }
  4919. break;
  4920. case 602: {
  4921. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  4922. }
  4923. break;
  4924. #ifdef LIN_ADVANCE
  4925. case 900: // M900: Set LIN_ADVANCE options.
  4926. gcode_M900();
  4927. break;
  4928. #endif
  4929. case 907: // M907 Set digital trimpot motor current using axis codes.
  4930. {
  4931. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  4932. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
  4933. if(code_seen('B')) digipot_current(4,code_value());
  4934. if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
  4935. #endif
  4936. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  4937. if(code_seen('X')) digipot_current(0, code_value());
  4938. #endif
  4939. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  4940. if(code_seen('Z')) digipot_current(1, code_value());
  4941. #endif
  4942. #ifdef MOTOR_CURRENT_PWM_E_PIN
  4943. if(code_seen('E')) digipot_current(2, code_value());
  4944. #endif
  4945. #ifdef DIGIPOT_I2C
  4946. // this one uses actual amps in floating point
  4947. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
  4948. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  4949. 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());
  4950. #endif
  4951. }
  4952. break;
  4953. case 908: // M908 Control digital trimpot directly.
  4954. {
  4955. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  4956. uint8_t channel,current;
  4957. if(code_seen('P')) channel=code_value();
  4958. if(code_seen('S')) current=code_value();
  4959. digitalPotWrite(channel, current);
  4960. #endif
  4961. }
  4962. break;
  4963. case 910: // M910 TMC2130 init
  4964. {
  4965. tmc2130_init();
  4966. }
  4967. break;
  4968. case 911: // M911 Set TMC2130 holding currents
  4969. {
  4970. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  4971. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  4972. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  4973. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  4974. }
  4975. break;
  4976. case 912: // M912 Set TMC2130 running currents
  4977. {
  4978. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  4979. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  4980. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  4981. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  4982. }
  4983. break;
  4984. case 913: // M913 Print TMC2130 currents
  4985. {
  4986. tmc2130_print_currents();
  4987. }
  4988. break;
  4989. case 914: // M914 Set normal mode
  4990. {
  4991. tmc2130_mode = TMC2130_MODE_NORMAL;
  4992. tmc2130_init();
  4993. }
  4994. break;
  4995. case 915: // M915 Set silent mode
  4996. {
  4997. tmc2130_mode = TMC2130_MODE_SILENT;
  4998. tmc2130_init();
  4999. }
  5000. break;
  5001. case 916: // M916 Set sg_thrs
  5002. {
  5003. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  5004. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  5005. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  5006. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  5007. MYSERIAL.print("tmc2130_sg_thr[X]=");
  5008. MYSERIAL.println(tmc2130_sg_thr[X_AXIS], DEC);
  5009. MYSERIAL.print("tmc2130_sg_thr[Y]=");
  5010. MYSERIAL.println(tmc2130_sg_thr[Y_AXIS], DEC);
  5011. MYSERIAL.print("tmc2130_sg_thr[Z]=");
  5012. MYSERIAL.println(tmc2130_sg_thr[Z_AXIS], DEC);
  5013. MYSERIAL.print("tmc2130_sg_thr[E]=");
  5014. MYSERIAL.println(tmc2130_sg_thr[E_AXIS], DEC);
  5015. }
  5016. break;
  5017. case 917: // M917 Set TMC2130 pwm_ampl
  5018. {
  5019. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  5020. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  5021. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  5022. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  5023. }
  5024. break;
  5025. case 918: // M918 Set TMC2130 pwm_grad
  5026. {
  5027. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  5028. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  5029. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  5030. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  5031. }
  5032. break;
  5033. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5034. {
  5035. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5036. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  5037. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  5038. if(code_seen('B')) microstep_mode(4,code_value());
  5039. microstep_readings();
  5040. #endif
  5041. }
  5042. break;
  5043. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  5044. {
  5045. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5046. if(code_seen('S')) switch((int)code_value())
  5047. {
  5048. case 1:
  5049. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  5050. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  5051. break;
  5052. case 2:
  5053. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  5054. if(code_seen('B')) microstep_ms(4,-1,code_value());
  5055. break;
  5056. }
  5057. microstep_readings();
  5058. #endif
  5059. }
  5060. break;
  5061. case 701: //M701: load filament
  5062. {
  5063. gcode_M701();
  5064. }
  5065. break;
  5066. case 702:
  5067. {
  5068. #ifdef SNMM
  5069. if (code_seen('U')) {
  5070. extr_unload_used(); //unload all filaments which were used in current print
  5071. }
  5072. else if (code_seen('C')) {
  5073. extr_unload(); //unload just current filament
  5074. }
  5075. else {
  5076. extr_unload_all(); //unload all filaments
  5077. }
  5078. #else
  5079. bool old_fsensor_enabled = fsensor_enabled;
  5080. fsensor_enabled = false;
  5081. custom_message = true;
  5082. custom_message_type = 2;
  5083. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  5084. // extr_unload2();
  5085. current_position[E_AXIS] -= 80;
  5086. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 7000 / 60, active_extruder);
  5087. st_synchronize();
  5088. lcd_setstatuspgm(WELCOME_MSG);
  5089. custom_message = false;
  5090. custom_message_type = 0;
  5091. fsensor_enabled = old_fsensor_enabled;
  5092. #endif
  5093. }
  5094. break;
  5095. case 999: // M999: Restart after being stopped
  5096. Stopped = false;
  5097. lcd_reset_alert_level();
  5098. gcode_LastN = Stopped_gcode_LastN;
  5099. FlushSerialRequestResend();
  5100. break;
  5101. default: SERIAL_ECHOLNPGM("Invalid M code.");
  5102. }
  5103. } // end if(code_seen('M')) (end of M codes)
  5104. else if(code_seen('T'))
  5105. {
  5106. int index;
  5107. st_synchronize();
  5108. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  5109. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
  5110. SERIAL_ECHOLNPGM("Invalid T code.");
  5111. }
  5112. else {
  5113. if (*(strchr_pointer + index) == '?') {
  5114. tmp_extruder = choose_extruder_menu();
  5115. }
  5116. else {
  5117. tmp_extruder = code_value();
  5118. }
  5119. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  5120. #ifdef SNMM
  5121. #ifdef LIN_ADVANCE
  5122. if (snmm_extruder != tmp_extruder)
  5123. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  5124. #endif
  5125. snmm_extruder = tmp_extruder;
  5126. delay(100);
  5127. disable_e0();
  5128. disable_e1();
  5129. disable_e2();
  5130. pinMode(E_MUX0_PIN, OUTPUT);
  5131. pinMode(E_MUX1_PIN, OUTPUT);
  5132. pinMode(E_MUX2_PIN, OUTPUT);
  5133. delay(100);
  5134. SERIAL_ECHO_START;
  5135. SERIAL_ECHO("T:");
  5136. SERIAL_ECHOLN((int)tmp_extruder);
  5137. switch (tmp_extruder) {
  5138. case 1:
  5139. WRITE(E_MUX0_PIN, HIGH);
  5140. WRITE(E_MUX1_PIN, LOW);
  5141. WRITE(E_MUX2_PIN, LOW);
  5142. break;
  5143. case 2:
  5144. WRITE(E_MUX0_PIN, LOW);
  5145. WRITE(E_MUX1_PIN, HIGH);
  5146. WRITE(E_MUX2_PIN, LOW);
  5147. break;
  5148. case 3:
  5149. WRITE(E_MUX0_PIN, HIGH);
  5150. WRITE(E_MUX1_PIN, HIGH);
  5151. WRITE(E_MUX2_PIN, LOW);
  5152. break;
  5153. default:
  5154. WRITE(E_MUX0_PIN, LOW);
  5155. WRITE(E_MUX1_PIN, LOW);
  5156. WRITE(E_MUX2_PIN, LOW);
  5157. break;
  5158. }
  5159. delay(100);
  5160. #else
  5161. if (tmp_extruder >= EXTRUDERS) {
  5162. SERIAL_ECHO_START;
  5163. SERIAL_ECHOPGM("T");
  5164. SERIAL_PROTOCOLLN((int)tmp_extruder);
  5165. SERIAL_ECHOLNRPGM(MSG_INVALID_EXTRUDER);
  5166. }
  5167. else {
  5168. boolean make_move = false;
  5169. if (code_seen('F')) {
  5170. make_move = true;
  5171. next_feedrate = code_value();
  5172. if (next_feedrate > 0.0) {
  5173. feedrate = next_feedrate;
  5174. }
  5175. }
  5176. #if EXTRUDERS > 1
  5177. if (tmp_extruder != active_extruder) {
  5178. // Save current position to return to after applying extruder offset
  5179. memcpy(destination, current_position, sizeof(destination));
  5180. // Offset extruder (only by XY)
  5181. int i;
  5182. for (i = 0; i < 2; i++) {
  5183. current_position[i] = current_position[i] -
  5184. extruder_offset[i][active_extruder] +
  5185. extruder_offset[i][tmp_extruder];
  5186. }
  5187. // Set the new active extruder and position
  5188. active_extruder = tmp_extruder;
  5189. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  5190. // Move to the old position if 'F' was in the parameters
  5191. if (make_move && Stopped == false) {
  5192. prepare_move();
  5193. }
  5194. }
  5195. #endif
  5196. SERIAL_ECHO_START;
  5197. SERIAL_ECHORPGM(MSG_ACTIVE_EXTRUDER);
  5198. SERIAL_PROTOCOLLN((int)active_extruder);
  5199. }
  5200. #endif
  5201. }
  5202. } // end if(code_seen('T')) (end of T codes)
  5203. #ifdef DEBUG_DCODES
  5204. else if (code_seen('D')) // D codes (debug)
  5205. {
  5206. switch((int)code_value())
  5207. {
  5208. case -1: // D-1 - Endless loop
  5209. dcode__1(); break;
  5210. case 0: // D0 - Reset
  5211. dcode_0(); break;
  5212. case 1: // D1 - Clear EEPROM
  5213. dcode_1(); break;
  5214. case 2: // D2 - Read/Write RAM
  5215. dcode_2(); break;
  5216. case 3: // D3 - Read/Write EEPROM
  5217. dcode_3(); break;
  5218. case 4: // D4 - Read/Write PIN
  5219. dcode_4(); break;
  5220. case 5: // D5 - Read/Write FLASH
  5221. // dcode_5(); break;
  5222. break;
  5223. case 6: // D6 - Read/Write external FLASH
  5224. dcode_6(); break;
  5225. case 7: // D7 - Read/Write Bootloader
  5226. dcode_7(); break;
  5227. case 8: // D8 - Read/Write PINDA
  5228. dcode_8(); break;
  5229. case 10: // D10 - XYZ calibration = OK
  5230. dcode_10(); break;
  5231. case 12: //D12 - Reset failstat counters
  5232. dcode_12(); break;
  5233. case 2130: // D9125 - TMC2130
  5234. dcode_2130(); break;
  5235. case 9125: // D9125 - PAT9125
  5236. dcode_9125(); break;
  5237. }
  5238. }
  5239. #endif //DEBUG_DCODES
  5240. else
  5241. {
  5242. SERIAL_ECHO_START;
  5243. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5244. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5245. SERIAL_ECHOLNPGM("\"(2)");
  5246. }
  5247. KEEPALIVE_STATE(NOT_BUSY);
  5248. ClearToSend();
  5249. }
  5250. void FlushSerialRequestResend()
  5251. {
  5252. //char cmdbuffer[bufindr][100]="Resend:";
  5253. MYSERIAL.flush();
  5254. SERIAL_PROTOCOLRPGM(MSG_RESEND);
  5255. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  5256. ClearToSend();
  5257. }
  5258. // Confirm the execution of a command, if sent from a serial line.
  5259. // Execution of a command from a SD card will not be confirmed.
  5260. void ClearToSend()
  5261. {
  5262. previous_millis_cmd = millis();
  5263. if (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB)
  5264. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  5265. }
  5266. void get_coordinates()
  5267. {
  5268. bool seen[4]={false,false,false,false};
  5269. for(int8_t i=0; i < NUM_AXIS; i++) {
  5270. if(code_seen(axis_codes[i]))
  5271. {
  5272. destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
  5273. seen[i]=true;
  5274. }
  5275. else destination[i] = current_position[i]; //Are these else lines really needed?
  5276. }
  5277. if(code_seen('F')) {
  5278. next_feedrate = code_value();
  5279. #ifdef MAX_SILENT_FEEDRATE
  5280. if (tmc2130_mode == TMC2130_MODE_SILENT)
  5281. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  5282. #endif //MAX_SILENT_FEEDRATE
  5283. if(next_feedrate > 0.0) feedrate = next_feedrate;
  5284. }
  5285. }
  5286. void get_arc_coordinates()
  5287. {
  5288. #ifdef SF_ARC_FIX
  5289. bool relative_mode_backup = relative_mode;
  5290. relative_mode = true;
  5291. #endif
  5292. get_coordinates();
  5293. #ifdef SF_ARC_FIX
  5294. relative_mode=relative_mode_backup;
  5295. #endif
  5296. if(code_seen('I')) {
  5297. offset[0] = code_value();
  5298. }
  5299. else {
  5300. offset[0] = 0.0;
  5301. }
  5302. if(code_seen('J')) {
  5303. offset[1] = code_value();
  5304. }
  5305. else {
  5306. offset[1] = 0.0;
  5307. }
  5308. }
  5309. void clamp_to_software_endstops(float target[3])
  5310. {
  5311. #ifdef DEBUG_DISABLE_SWLIMITS
  5312. return;
  5313. #endif //DEBUG_DISABLE_SWLIMITS
  5314. world2machine_clamp(target[0], target[1]);
  5315. // Clamp the Z coordinate.
  5316. if (min_software_endstops) {
  5317. float negative_z_offset = 0;
  5318. #ifdef ENABLE_AUTO_BED_LEVELING
  5319. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  5320. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  5321. #endif
  5322. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  5323. }
  5324. if (max_software_endstops) {
  5325. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  5326. }
  5327. }
  5328. #ifdef MESH_BED_LEVELING
  5329. 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) {
  5330. float dx = x - current_position[X_AXIS];
  5331. float dy = y - current_position[Y_AXIS];
  5332. float dz = z - current_position[Z_AXIS];
  5333. int n_segments = 0;
  5334. if (mbl.active) {
  5335. float len = abs(dx) + abs(dy);
  5336. if (len > 0)
  5337. // Split to 3cm segments or shorter.
  5338. n_segments = int(ceil(len / 30.f));
  5339. }
  5340. if (n_segments > 1) {
  5341. float de = e - current_position[E_AXIS];
  5342. for (int i = 1; i < n_segments; ++ i) {
  5343. float t = float(i) / float(n_segments);
  5344. plan_buffer_line(
  5345. current_position[X_AXIS] + t * dx,
  5346. current_position[Y_AXIS] + t * dy,
  5347. current_position[Z_AXIS] + t * dz,
  5348. current_position[E_AXIS] + t * de,
  5349. feed_rate, extruder);
  5350. }
  5351. }
  5352. // The rest of the path.
  5353. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  5354. current_position[X_AXIS] = x;
  5355. current_position[Y_AXIS] = y;
  5356. current_position[Z_AXIS] = z;
  5357. current_position[E_AXIS] = e;
  5358. }
  5359. #endif // MESH_BED_LEVELING
  5360. void prepare_move()
  5361. {
  5362. clamp_to_software_endstops(destination);
  5363. previous_millis_cmd = millis();
  5364. // Do not use feedmultiply for E or Z only moves
  5365. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  5366. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  5367. }
  5368. else {
  5369. #ifdef MESH_BED_LEVELING
  5370. 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);
  5371. #else
  5372. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  5373. #endif
  5374. }
  5375. for(int8_t i=0; i < NUM_AXIS; i++) {
  5376. current_position[i] = destination[i];
  5377. }
  5378. }
  5379. void prepare_arc_move(char isclockwise) {
  5380. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  5381. // Trace the arc
  5382. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  5383. // As far as the parser is concerned, the position is now == target. In reality the
  5384. // motion control system might still be processing the action and the real tool position
  5385. // in any intermediate location.
  5386. for(int8_t i=0; i < NUM_AXIS; i++) {
  5387. current_position[i] = destination[i];
  5388. }
  5389. previous_millis_cmd = millis();
  5390. }
  5391. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  5392. #if defined(FAN_PIN)
  5393. #if CONTROLLERFAN_PIN == FAN_PIN
  5394. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  5395. #endif
  5396. #endif
  5397. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  5398. unsigned long lastMotorCheck = 0;
  5399. void controllerFan()
  5400. {
  5401. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  5402. {
  5403. lastMotorCheck = millis();
  5404. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  5405. #if EXTRUDERS > 2
  5406. || !READ(E2_ENABLE_PIN)
  5407. #endif
  5408. #if EXTRUDER > 1
  5409. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  5410. || !READ(X2_ENABLE_PIN)
  5411. #endif
  5412. || !READ(E1_ENABLE_PIN)
  5413. #endif
  5414. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  5415. {
  5416. lastMotor = millis(); //... set time to NOW so the fan will turn on
  5417. }
  5418. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  5419. {
  5420. digitalWrite(CONTROLLERFAN_PIN, 0);
  5421. analogWrite(CONTROLLERFAN_PIN, 0);
  5422. }
  5423. else
  5424. {
  5425. // allows digital or PWM fan output to be used (see M42 handling)
  5426. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  5427. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  5428. }
  5429. }
  5430. }
  5431. #endif
  5432. #ifdef TEMP_STAT_LEDS
  5433. static bool blue_led = false;
  5434. static bool red_led = false;
  5435. static uint32_t stat_update = 0;
  5436. void handle_status_leds(void) {
  5437. float max_temp = 0.0;
  5438. if(millis() > stat_update) {
  5439. stat_update += 500; // Update every 0.5s
  5440. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  5441. max_temp = max(max_temp, degHotend(cur_extruder));
  5442. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  5443. }
  5444. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5445. max_temp = max(max_temp, degTargetBed());
  5446. max_temp = max(max_temp, degBed());
  5447. #endif
  5448. if((max_temp > 55.0) && (red_led == false)) {
  5449. digitalWrite(STAT_LED_RED, 1);
  5450. digitalWrite(STAT_LED_BLUE, 0);
  5451. red_led = true;
  5452. blue_led = false;
  5453. }
  5454. if((max_temp < 54.0) && (blue_led == false)) {
  5455. digitalWrite(STAT_LED_RED, 0);
  5456. digitalWrite(STAT_LED_BLUE, 1);
  5457. red_led = false;
  5458. blue_led = true;
  5459. }
  5460. }
  5461. }
  5462. #endif
  5463. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  5464. {
  5465. #if defined(KILL_PIN) && KILL_PIN > -1
  5466. static int killCount = 0; // make the inactivity button a bit less responsive
  5467. const int KILL_DELAY = 10000;
  5468. #endif
  5469. if(buflen < (BUFSIZE-1)){
  5470. get_command();
  5471. }
  5472. if( (millis() - previous_millis_cmd) > max_inactive_time )
  5473. if(max_inactive_time)
  5474. kill("", 4);
  5475. if(stepper_inactive_time) {
  5476. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  5477. {
  5478. if(blocks_queued() == false && ignore_stepper_queue == false) {
  5479. disable_x();
  5480. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  5481. disable_y();
  5482. disable_z();
  5483. disable_e0();
  5484. disable_e1();
  5485. disable_e2();
  5486. }
  5487. }
  5488. }
  5489. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  5490. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  5491. {
  5492. chdkActive = false;
  5493. WRITE(CHDK, LOW);
  5494. }
  5495. #endif
  5496. #if defined(KILL_PIN) && KILL_PIN > -1
  5497. // Check if the kill button was pressed and wait just in case it was an accidental
  5498. // key kill key press
  5499. // -------------------------------------------------------------------------------
  5500. if( 0 == READ(KILL_PIN) )
  5501. {
  5502. killCount++;
  5503. }
  5504. else if (killCount > 0)
  5505. {
  5506. killCount--;
  5507. }
  5508. // Exceeded threshold and we can confirm that it was not accidental
  5509. // KILL the machine
  5510. // ----------------------------------------------------------------
  5511. if ( killCount >= KILL_DELAY)
  5512. {
  5513. kill("", 5);
  5514. }
  5515. #endif
  5516. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  5517. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  5518. #endif
  5519. #ifdef EXTRUDER_RUNOUT_PREVENT
  5520. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  5521. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  5522. {
  5523. bool oldstatus=READ(E0_ENABLE_PIN);
  5524. enable_e0();
  5525. float oldepos=current_position[E_AXIS];
  5526. float oldedes=destination[E_AXIS];
  5527. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  5528. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  5529. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  5530. current_position[E_AXIS]=oldepos;
  5531. destination[E_AXIS]=oldedes;
  5532. plan_set_e_position(oldepos);
  5533. previous_millis_cmd=millis();
  5534. st_synchronize();
  5535. WRITE(E0_ENABLE_PIN,oldstatus);
  5536. }
  5537. #endif
  5538. #ifdef TEMP_STAT_LEDS
  5539. handle_status_leds();
  5540. #endif
  5541. check_axes_activity();
  5542. }
  5543. void kill(const char *full_screen_message, unsigned char id)
  5544. {
  5545. SERIAL_ECHOPGM("KILL: ");
  5546. MYSERIAL.println(int(id));
  5547. //return;
  5548. cli(); // Stop interrupts
  5549. disable_heater();
  5550. disable_x();
  5551. // SERIAL_ECHOLNPGM("kill - disable Y");
  5552. disable_y();
  5553. disable_z();
  5554. disable_e0();
  5555. disable_e1();
  5556. disable_e2();
  5557. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  5558. pinMode(PS_ON_PIN,INPUT);
  5559. #endif
  5560. SERIAL_ERROR_START;
  5561. SERIAL_ERRORLNRPGM(MSG_ERR_KILLED);
  5562. if (full_screen_message != NULL) {
  5563. SERIAL_ERRORLNRPGM(full_screen_message);
  5564. lcd_display_message_fullscreen_P(full_screen_message);
  5565. } else {
  5566. LCD_ALERTMESSAGERPGM(MSG_KILLED);
  5567. }
  5568. // FMC small patch to update the LCD before ending
  5569. sei(); // enable interrupts
  5570. for ( int i=5; i--; lcd_update())
  5571. {
  5572. delay(200);
  5573. }
  5574. cli(); // disable interrupts
  5575. suicide();
  5576. while(1)
  5577. {
  5578. wdt_reset();
  5579. /* Intentionally left empty */
  5580. } // Wait for reset
  5581. }
  5582. void Stop()
  5583. {
  5584. disable_heater();
  5585. if(Stopped == false) {
  5586. Stopped = true;
  5587. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  5588. SERIAL_ERROR_START;
  5589. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  5590. LCD_MESSAGERPGM(MSG_STOPPED);
  5591. }
  5592. }
  5593. bool IsStopped() { return Stopped; };
  5594. #ifdef FAST_PWM_FAN
  5595. void setPwmFrequency(uint8_t pin, int val)
  5596. {
  5597. val &= 0x07;
  5598. switch(digitalPinToTimer(pin))
  5599. {
  5600. #if defined(TCCR0A)
  5601. case TIMER0A:
  5602. case TIMER0B:
  5603. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  5604. // TCCR0B |= val;
  5605. break;
  5606. #endif
  5607. #if defined(TCCR1A)
  5608. case TIMER1A:
  5609. case TIMER1B:
  5610. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  5611. // TCCR1B |= val;
  5612. break;
  5613. #endif
  5614. #if defined(TCCR2)
  5615. case TIMER2:
  5616. case TIMER2:
  5617. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  5618. TCCR2 |= val;
  5619. break;
  5620. #endif
  5621. #if defined(TCCR2A)
  5622. case TIMER2A:
  5623. case TIMER2B:
  5624. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  5625. TCCR2B |= val;
  5626. break;
  5627. #endif
  5628. #if defined(TCCR3A)
  5629. case TIMER3A:
  5630. case TIMER3B:
  5631. case TIMER3C:
  5632. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  5633. TCCR3B |= val;
  5634. break;
  5635. #endif
  5636. #if defined(TCCR4A)
  5637. case TIMER4A:
  5638. case TIMER4B:
  5639. case TIMER4C:
  5640. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  5641. TCCR4B |= val;
  5642. break;
  5643. #endif
  5644. #if defined(TCCR5A)
  5645. case TIMER5A:
  5646. case TIMER5B:
  5647. case TIMER5C:
  5648. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  5649. TCCR5B |= val;
  5650. break;
  5651. #endif
  5652. }
  5653. }
  5654. #endif //FAST_PWM_FAN
  5655. bool setTargetedHotend(int code){
  5656. tmp_extruder = active_extruder;
  5657. if(code_seen('T')) {
  5658. tmp_extruder = code_value();
  5659. if(tmp_extruder >= EXTRUDERS) {
  5660. SERIAL_ECHO_START;
  5661. switch(code){
  5662. case 104:
  5663. SERIAL_ECHORPGM(MSG_M104_INVALID_EXTRUDER);
  5664. break;
  5665. case 105:
  5666. SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
  5667. break;
  5668. case 109:
  5669. SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
  5670. break;
  5671. case 218:
  5672. SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
  5673. break;
  5674. case 221:
  5675. SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
  5676. break;
  5677. }
  5678. SERIAL_PROTOCOLLN((int)tmp_extruder);
  5679. return true;
  5680. }
  5681. }
  5682. return false;
  5683. }
  5684. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  5685. {
  5686. 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)
  5687. {
  5688. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  5689. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  5690. }
  5691. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  5692. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  5693. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  5694. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  5695. total_filament_used = 0;
  5696. }
  5697. float calculate_volumetric_multiplier(float diameter) {
  5698. float area = .0;
  5699. float radius = .0;
  5700. radius = diameter * .5;
  5701. if (! volumetric_enabled || radius == 0) {
  5702. area = 1;
  5703. }
  5704. else {
  5705. area = M_PI * pow(radius, 2);
  5706. }
  5707. return 1.0 / area;
  5708. }
  5709. void calculate_volumetric_multipliers() {
  5710. volumetric_multiplier[0] = calculate_volumetric_multiplier(filament_size[0]);
  5711. #if EXTRUDERS > 1
  5712. volumetric_multiplier[1] = calculate_volumetric_multiplier(filament_size[1]);
  5713. #if EXTRUDERS > 2
  5714. volumetric_multiplier[2] = calculate_volumetric_multiplier(filament_size[2]);
  5715. #endif
  5716. #endif
  5717. }
  5718. void delay_keep_alive(unsigned int ms)
  5719. {
  5720. for (;;) {
  5721. manage_heater();
  5722. // Manage inactivity, but don't disable steppers on timeout.
  5723. manage_inactivity(true);
  5724. lcd_update();
  5725. if (ms == 0)
  5726. break;
  5727. else if (ms >= 50) {
  5728. delay(50);
  5729. ms -= 50;
  5730. } else {
  5731. delay(ms);
  5732. ms = 0;
  5733. }
  5734. }
  5735. }
  5736. void wait_for_heater(long codenum) {
  5737. #ifdef TEMP_RESIDENCY_TIME
  5738. long residencyStart;
  5739. residencyStart = -1;
  5740. /* continue to loop until we have reached the target temp
  5741. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  5742. while ((!cancel_heatup) && ((residencyStart == -1) ||
  5743. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  5744. #else
  5745. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  5746. #endif //TEMP_RESIDENCY_TIME
  5747. if ((millis() - codenum) > 1000UL)
  5748. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  5749. if (!farm_mode) {
  5750. SERIAL_PROTOCOLPGM("T:");
  5751. SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
  5752. SERIAL_PROTOCOLPGM(" E:");
  5753. SERIAL_PROTOCOL((int)tmp_extruder);
  5754. #ifdef TEMP_RESIDENCY_TIME
  5755. SERIAL_PROTOCOLPGM(" W:");
  5756. if (residencyStart > -1)
  5757. {
  5758. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  5759. SERIAL_PROTOCOLLN(codenum);
  5760. }
  5761. else
  5762. {
  5763. SERIAL_PROTOCOLLN("?");
  5764. }
  5765. }
  5766. #else
  5767. SERIAL_PROTOCOLLN("");
  5768. #endif
  5769. codenum = millis();
  5770. }
  5771. manage_heater();
  5772. manage_inactivity();
  5773. lcd_update();
  5774. #ifdef TEMP_RESIDENCY_TIME
  5775. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  5776. or when current temp falls outside the hysteresis after target temp was reached */
  5777. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
  5778. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
  5779. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
  5780. {
  5781. residencyStart = millis();
  5782. }
  5783. #endif //TEMP_RESIDENCY_TIME
  5784. }
  5785. }
  5786. void check_babystep() {
  5787. int babystep_z;
  5788. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  5789. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  5790. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  5791. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  5792. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  5793. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  5794. lcd_update_enable(true);
  5795. }
  5796. }
  5797. #ifdef DIS
  5798. void d_setup()
  5799. {
  5800. pinMode(D_DATACLOCK, INPUT_PULLUP);
  5801. pinMode(D_DATA, INPUT_PULLUP);
  5802. pinMode(D_REQUIRE, OUTPUT);
  5803. digitalWrite(D_REQUIRE, HIGH);
  5804. }
  5805. float d_ReadData()
  5806. {
  5807. int digit[13];
  5808. String mergeOutput;
  5809. float output;
  5810. digitalWrite(D_REQUIRE, HIGH);
  5811. for (int i = 0; i<13; i++)
  5812. {
  5813. for (int j = 0; j < 4; j++)
  5814. {
  5815. while (digitalRead(D_DATACLOCK) == LOW) {}
  5816. while (digitalRead(D_DATACLOCK) == HIGH) {}
  5817. bitWrite(digit[i], j, digitalRead(D_DATA));
  5818. }
  5819. }
  5820. digitalWrite(D_REQUIRE, LOW);
  5821. mergeOutput = "";
  5822. output = 0;
  5823. for (int r = 5; r <= 10; r++) //Merge digits
  5824. {
  5825. mergeOutput += digit[r];
  5826. }
  5827. output = mergeOutput.toFloat();
  5828. if (digit[4] == 8) //Handle sign
  5829. {
  5830. output *= -1;
  5831. }
  5832. for (int i = digit[11]; i > 0; i--) //Handle floating point
  5833. {
  5834. output /= 10;
  5835. }
  5836. return output;
  5837. }
  5838. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  5839. int t1 = 0;
  5840. int t_delay = 0;
  5841. int digit[13];
  5842. int m;
  5843. char str[3];
  5844. //String mergeOutput;
  5845. char mergeOutput[15];
  5846. float output;
  5847. int mesh_point = 0; //index number of calibration point
  5848. 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
  5849. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  5850. float mesh_home_z_search = 4;
  5851. float row[x_points_num];
  5852. int ix = 0;
  5853. int iy = 0;
  5854. char* filename_wldsd = "wldsd.txt";
  5855. char data_wldsd[70];
  5856. char numb_wldsd[10];
  5857. d_setup();
  5858. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  5859. // We don't know where we are! HOME!
  5860. // Push the commands to the front of the message queue in the reverse order!
  5861. // There shall be always enough space reserved for these commands.
  5862. repeatcommand_front(); // repeat G80 with all its parameters
  5863. enquecommand_front_P((PSTR("G28 W0")));
  5864. enquecommand_front_P((PSTR("G1 Z5")));
  5865. return;
  5866. }
  5867. bool custom_message_old = custom_message;
  5868. unsigned int custom_message_type_old = custom_message_type;
  5869. unsigned int custom_message_state_old = custom_message_state;
  5870. custom_message = true;
  5871. custom_message_type = 1;
  5872. custom_message_state = (x_points_num * y_points_num) + 10;
  5873. lcd_update(1);
  5874. mbl.reset();
  5875. babystep_undo();
  5876. card.openFile(filename_wldsd, false);
  5877. current_position[Z_AXIS] = mesh_home_z_search;
  5878. 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);
  5879. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  5880. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  5881. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  5882. setup_for_endstop_move(false);
  5883. SERIAL_PROTOCOLPGM("Num X,Y: ");
  5884. SERIAL_PROTOCOL(x_points_num);
  5885. SERIAL_PROTOCOLPGM(",");
  5886. SERIAL_PROTOCOL(y_points_num);
  5887. SERIAL_PROTOCOLPGM("\nZ search height: ");
  5888. SERIAL_PROTOCOL(mesh_home_z_search);
  5889. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  5890. SERIAL_PROTOCOL(x_dimension);
  5891. SERIAL_PROTOCOLPGM(",");
  5892. SERIAL_PROTOCOL(y_dimension);
  5893. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  5894. while (mesh_point != x_points_num * y_points_num) {
  5895. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  5896. iy = mesh_point / x_points_num;
  5897. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  5898. float z0 = 0.f;
  5899. current_position[Z_AXIS] = mesh_home_z_search;
  5900. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  5901. st_synchronize();
  5902. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  5903. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  5904. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  5905. st_synchronize();
  5906. 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
  5907. break;
  5908. card.closefile();
  5909. }
  5910. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  5911. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  5912. //strcat(data_wldsd, numb_wldsd);
  5913. //MYSERIAL.println(data_wldsd);
  5914. //delay(1000);
  5915. //delay(3000);
  5916. //t1 = millis();
  5917. //while (digitalRead(D_DATACLOCK) == LOW) {}
  5918. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  5919. memset(digit, 0, sizeof(digit));
  5920. //cli();
  5921. digitalWrite(D_REQUIRE, LOW);
  5922. for (int i = 0; i<13; i++)
  5923. {
  5924. //t1 = millis();
  5925. for (int j = 0; j < 4; j++)
  5926. {
  5927. while (digitalRead(D_DATACLOCK) == LOW) {}
  5928. while (digitalRead(D_DATACLOCK) == HIGH) {}
  5929. bitWrite(digit[i], j, digitalRead(D_DATA));
  5930. }
  5931. //t_delay = (millis() - t1);
  5932. //SERIAL_PROTOCOLPGM(" ");
  5933. //SERIAL_PROTOCOL_F(t_delay, 5);
  5934. //SERIAL_PROTOCOLPGM(" ");
  5935. }
  5936. //sei();
  5937. digitalWrite(D_REQUIRE, HIGH);
  5938. mergeOutput[0] = '\0';
  5939. output = 0;
  5940. for (int r = 5; r <= 10; r++) //Merge digits
  5941. {
  5942. sprintf(str, "%d", digit[r]);
  5943. strcat(mergeOutput, str);
  5944. }
  5945. output = atof(mergeOutput);
  5946. if (digit[4] == 8) //Handle sign
  5947. {
  5948. output *= -1;
  5949. }
  5950. for (int i = digit[11]; i > 0; i--) //Handle floating point
  5951. {
  5952. output *= 0.1;
  5953. }
  5954. //output = d_ReadData();
  5955. //row[ix] = current_position[Z_AXIS];
  5956. memset(data_wldsd, 0, sizeof(data_wldsd));
  5957. for (int i = 0; i <3; i++) {
  5958. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  5959. dtostrf(current_position[i], 8, 5, numb_wldsd);
  5960. strcat(data_wldsd, numb_wldsd);
  5961. strcat(data_wldsd, ";");
  5962. }
  5963. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  5964. dtostrf(output, 8, 5, numb_wldsd);
  5965. strcat(data_wldsd, numb_wldsd);
  5966. //strcat(data_wldsd, ";");
  5967. card.write_command(data_wldsd);
  5968. //row[ix] = d_ReadData();
  5969. row[ix] = output; // current_position[Z_AXIS];
  5970. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  5971. for (int i = 0; i < x_points_num; i++) {
  5972. SERIAL_PROTOCOLPGM(" ");
  5973. SERIAL_PROTOCOL_F(row[i], 5);
  5974. }
  5975. SERIAL_PROTOCOLPGM("\n");
  5976. }
  5977. custom_message_state--;
  5978. mesh_point++;
  5979. lcd_update(1);
  5980. }
  5981. card.closefile();
  5982. }
  5983. #endif
  5984. void temp_compensation_start() {
  5985. custom_message = true;
  5986. custom_message_type = 5;
  5987. custom_message_state = PINDA_HEAT_T + 1;
  5988. lcd_update(2);
  5989. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  5990. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  5991. }
  5992. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  5993. current_position[X_AXIS] = PINDA_PREHEAT_X;
  5994. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  5995. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  5996. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  5997. st_synchronize();
  5998. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  5999. for (int i = 0; i < PINDA_HEAT_T; i++) {
  6000. delay_keep_alive(1000);
  6001. custom_message_state = PINDA_HEAT_T - i;
  6002. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  6003. else lcd_update(1);
  6004. }
  6005. custom_message_type = 0;
  6006. custom_message_state = 0;
  6007. custom_message = false;
  6008. }
  6009. void temp_compensation_apply() {
  6010. int i_add;
  6011. int compensation_value;
  6012. int z_shift = 0;
  6013. float z_shift_mm;
  6014. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  6015. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  6016. i_add = (target_temperature_bed - 60) / 10;
  6017. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  6018. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  6019. }else {
  6020. //interpolation
  6021. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  6022. }
  6023. SERIAL_PROTOCOLPGM("\n");
  6024. SERIAL_PROTOCOLPGM("Z shift applied:");
  6025. MYSERIAL.print(z_shift_mm);
  6026. 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);
  6027. st_synchronize();
  6028. plan_set_z_position(current_position[Z_AXIS]);
  6029. }
  6030. else {
  6031. //we have no temp compensation data
  6032. }
  6033. }
  6034. float temp_comp_interpolation(float inp_temperature) {
  6035. //cubic spline interpolation
  6036. int n, i, j, k;
  6037. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  6038. int shift[10];
  6039. int temp_C[10];
  6040. n = 6; //number of measured points
  6041. shift[0] = 0;
  6042. for (i = 0; i < n; i++) {
  6043. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  6044. temp_C[i] = 50 + i * 10; //temperature in C
  6045. #ifdef PINDA_THERMISTOR
  6046. temp_C[i] = 35 + i * 5; //temperature in C
  6047. #else
  6048. temp_C[i] = 50 + i * 10; //temperature in C
  6049. #endif
  6050. x[i] = (float)temp_C[i];
  6051. f[i] = (float)shift[i];
  6052. }
  6053. if (inp_temperature < x[0]) return 0;
  6054. for (i = n - 1; i>0; i--) {
  6055. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  6056. h[i - 1] = x[i] - x[i - 1];
  6057. }
  6058. //*********** formation of h, s , f matrix **************
  6059. for (i = 1; i<n - 1; i++) {
  6060. m[i][i] = 2 * (h[i - 1] + h[i]);
  6061. if (i != 1) {
  6062. m[i][i - 1] = h[i - 1];
  6063. m[i - 1][i] = h[i - 1];
  6064. }
  6065. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  6066. }
  6067. //*********** forward elimination **************
  6068. for (i = 1; i<n - 2; i++) {
  6069. temp = (m[i + 1][i] / m[i][i]);
  6070. for (j = 1; j <= n - 1; j++)
  6071. m[i + 1][j] -= temp*m[i][j];
  6072. }
  6073. //*********** backward substitution *********
  6074. for (i = n - 2; i>0; i--) {
  6075. sum = 0;
  6076. for (j = i; j <= n - 2; j++)
  6077. sum += m[i][j] * s[j];
  6078. s[i] = (m[i][n - 1] - sum) / m[i][i];
  6079. }
  6080. for (i = 0; i<n - 1; i++)
  6081. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  6082. a = (s[i + 1] - s[i]) / (6 * h[i]);
  6083. b = s[i] / 2;
  6084. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  6085. d = f[i];
  6086. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  6087. }
  6088. return sum;
  6089. }
  6090. #ifdef PINDA_THERMISTOR
  6091. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  6092. {
  6093. if (!temp_cal_active) return 0;
  6094. if (!calibration_status_pinda()) return 0;
  6095. return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
  6096. }
  6097. #endif //PINDA_THERMISTOR
  6098. void long_pause() //long pause print
  6099. {
  6100. st_synchronize();
  6101. //save currently set parameters to global variables
  6102. saved_feedmultiply = feedmultiply;
  6103. HotendTempBckp = degTargetHotend(active_extruder);
  6104. fanSpeedBckp = fanSpeed;
  6105. start_pause_print = millis();
  6106. //save position
  6107. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  6108. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  6109. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  6110. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  6111. //retract
  6112. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  6113. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  6114. //lift z
  6115. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  6116. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  6117. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  6118. //set nozzle target temperature to 0
  6119. setTargetHotend(0, 0);
  6120. setTargetHotend(0, 1);
  6121. setTargetHotend(0, 2);
  6122. //Move XY to side
  6123. current_position[X_AXIS] = X_PAUSE_POS;
  6124. current_position[Y_AXIS] = Y_PAUSE_POS;
  6125. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  6126. // Turn off the print fan
  6127. fanSpeed = 0;
  6128. st_synchronize();
  6129. }
  6130. void serialecho_temperatures() {
  6131. float tt = degHotend(active_extruder);
  6132. SERIAL_PROTOCOLPGM("T:");
  6133. SERIAL_PROTOCOL(tt);
  6134. SERIAL_PROTOCOLPGM(" E:");
  6135. SERIAL_PROTOCOL((int)active_extruder);
  6136. SERIAL_PROTOCOLPGM(" B:");
  6137. SERIAL_PROTOCOL_F(degBed(), 1);
  6138. SERIAL_PROTOCOLLN("");
  6139. }
  6140. extern uint32_t sdpos_atomic;
  6141. void uvlo_()
  6142. {
  6143. unsigned long time_start = millis();
  6144. bool sd_print = card.sdprinting;
  6145. // Conserve power as soon as possible.
  6146. disable_x();
  6147. disable_y();
  6148. tmc2130_set_current_h(Z_AXIS, 12);
  6149. tmc2130_set_current_r(Z_AXIS, 12);
  6150. tmc2130_set_current_h(E_AXIS, 20);
  6151. tmc2130_set_current_r(E_AXIS, 20);
  6152. // Indicate that the interrupt has been triggered.
  6153. SERIAL_ECHOLNPGM("UVLO");
  6154. // Read out the current Z motor microstep counter. This will be later used
  6155. // for reaching the zero full step before powering off.
  6156. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  6157. // Calculate the file position, from which to resume this print.
  6158. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  6159. {
  6160. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  6161. sd_position -= sdlen_planner;
  6162. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  6163. sd_position -= sdlen_cmdqueue;
  6164. if (sd_position < 0) sd_position = 0;
  6165. }
  6166. // Backup the feedrate in mm/min.
  6167. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  6168. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  6169. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  6170. // are in action.
  6171. planner_abort_hard();
  6172. // Store the current extruder position.
  6173. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  6174. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  6175. // Clean the input command queue.
  6176. cmdqueue_reset();
  6177. card.sdprinting = false;
  6178. // card.closefile();
  6179. // Enable stepper driver interrupt to move Z axis.
  6180. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  6181. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  6182. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  6183. sei();
  6184. plan_buffer_line(
  6185. current_position[X_AXIS],
  6186. current_position[Y_AXIS],
  6187. current_position[Z_AXIS],
  6188. current_position[E_AXIS] - DEFAULT_RETRACTION,
  6189. 400, active_extruder);
  6190. plan_buffer_line(
  6191. current_position[X_AXIS],
  6192. current_position[Y_AXIS],
  6193. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  6194. current_position[E_AXIS] - DEFAULT_RETRACTION,
  6195. 40, active_extruder);
  6196. // Move Z up to the next 0th full step.
  6197. // Write the file position.
  6198. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  6199. // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  6200. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  6201. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  6202. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  6203. // Scale the z value to 1u resolution.
  6204. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
  6205. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  6206. }
  6207. // Read out the current Z motor microstep counter. This will be later used
  6208. // for reaching the zero full step before powering off.
  6209. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  6210. // Store the current position.
  6211. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  6212. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  6213. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  6214. // Store the current feed rate, temperatures and fan speed.
  6215. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  6216. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  6217. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  6218. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  6219. // Finaly store the "power outage" flag.
  6220. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  6221. st_synchronize();
  6222. SERIAL_ECHOPGM("stps");
  6223. MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
  6224. #if 0
  6225. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  6226. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  6227. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  6228. st_synchronize();
  6229. #endif
  6230. disable_z();
  6231. // Increment power failure counter
  6232. uint8_t power_count = eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT);
  6233. power_count++;
  6234. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, power_count);
  6235. SERIAL_ECHOLNPGM("UVLO - end");
  6236. MYSERIAL.println(millis() - time_start);
  6237. cli();
  6238. while(1);
  6239. }
  6240. void setup_fan_interrupt() {
  6241. //INT7
  6242. DDRE &= ~(1 << 7); //input pin
  6243. PORTE &= ~(1 << 7); //no internal pull-up
  6244. //start with sensing rising edge
  6245. EICRB &= ~(1 << 6);
  6246. EICRB |= (1 << 7);
  6247. //enable INT7 interrupt
  6248. EIMSK |= (1 << 7);
  6249. }
  6250. ISR(INT7_vect) {
  6251. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  6252. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  6253. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  6254. t_fan_rising_edge = millis();
  6255. }
  6256. else { //interrupt was triggered by falling edge
  6257. if ((millis() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  6258. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  6259. }
  6260. }
  6261. EICRB ^= (1 << 6); //change edge
  6262. }
  6263. void setup_uvlo_interrupt() {
  6264. DDRE &= ~(1 << 4); //input pin
  6265. PORTE &= ~(1 << 4); //no internal pull-up
  6266. //sensing falling edge
  6267. EICRB |= (1 << 0);
  6268. EICRB &= ~(1 << 1);
  6269. //enable INT4 interrupt
  6270. EIMSK |= (1 << 4);
  6271. }
  6272. ISR(INT4_vect) {
  6273. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  6274. SERIAL_ECHOLNPGM("INT4");
  6275. if (IS_SD_PRINTING) uvlo_();
  6276. }
  6277. void recover_print(uint8_t automatic) {
  6278. char cmd[30];
  6279. lcd_update_enable(true);
  6280. lcd_update(2);
  6281. lcd_setstatuspgm(MSG_RECOVERING_PRINT);
  6282. recover_machine_state_after_power_panic();
  6283. // Set the target bed and nozzle temperatures.
  6284. sprintf_P(cmd, PSTR("M104 S%d"), target_temperature[active_extruder]);
  6285. enquecommand(cmd);
  6286. sprintf_P(cmd, PSTR("M140 S%d"), target_temperature_bed);
  6287. enquecommand(cmd);
  6288. // Lift the print head, so one may remove the excess priming material.
  6289. if (current_position[Z_AXIS] < 25)
  6290. enquecommand_P(PSTR("G1 Z25 F800"));
  6291. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  6292. enquecommand_P(PSTR("G28 X Y"));
  6293. // Set the target bed and nozzle temperatures and wait.
  6294. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  6295. enquecommand(cmd);
  6296. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  6297. enquecommand(cmd);
  6298. enquecommand_P(PSTR("M83")); //E axis relative mode
  6299. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  6300. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  6301. if(automatic == 0){
  6302. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  6303. }
  6304. enquecommand_P(PSTR("G1 E" STRINGIFY(-DEFAULT_RETRACTION)" F480"));
  6305. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  6306. {
  6307. float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  6308. enquecommand_P(PSTR("M82")); //E axis abslute mode
  6309. // current_position[E_AXIS] = extruder_abs_pos;
  6310. // plan_set_e_position(extruder_abs_pos);
  6311. sprintf_P(cmd, PSTR("G92 E"));
  6312. dtostrf(extruder_abs_pos, 6, 3, cmd + strlen(cmd));
  6313. enquecommand(cmd);
  6314. }
  6315. // Mark the power panic status as inactive.
  6316. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  6317. /*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
  6318. delay_keep_alive(1000);
  6319. }*/
  6320. SERIAL_ECHOPGM("After waiting for temp:");
  6321. SERIAL_ECHOPGM("Current position X_AXIS:");
  6322. MYSERIAL.println(current_position[X_AXIS]);
  6323. SERIAL_ECHOPGM("Current position Y_AXIS:");
  6324. MYSERIAL.println(current_position[Y_AXIS]);
  6325. // Restart the print.
  6326. restore_print_from_eeprom();
  6327. SERIAL_ECHOPGM("current_position[Z_AXIS]:");
  6328. MYSERIAL.print(current_position[Z_AXIS]);
  6329. SERIAL_ECHOPGM("current_position[E_AXIS]:");
  6330. MYSERIAL.print(current_position[E_AXIS]);
  6331. }
  6332. void recover_machine_state_after_power_panic()
  6333. {
  6334. // 1) Recover the logical cordinates at the time of the power panic.
  6335. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  6336. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  6337. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  6338. // Recover the logical coordinate of the Z axis at the time of the power panic.
  6339. // The current position after power panic is moved to the next closest 0th full step.
  6340. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  6341. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  6342. memcpy(destination, current_position, sizeof(destination));
  6343. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  6344. print_world_coordinates();
  6345. // 2) Initialize the logical to physical coordinate system transformation.
  6346. world2machine_initialize();
  6347. // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  6348. mbl.active = false;
  6349. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  6350. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  6351. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  6352. // Scale the z value to 10u resolution.
  6353. int16_t v;
  6354. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
  6355. if (v != 0)
  6356. mbl.active = true;
  6357. mbl.z_values[iy][ix] = float(v) * 0.001f;
  6358. }
  6359. if (mbl.active)
  6360. mbl.upsample_3x3();
  6361. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  6362. print_mesh_bed_leveling_table();
  6363. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  6364. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  6365. babystep_load();
  6366. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  6367. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6368. // 6) Power up the motors, mark their positions as known.
  6369. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  6370. axis_known_position[X_AXIS] = true; enable_x();
  6371. axis_known_position[Y_AXIS] = true; enable_y();
  6372. axis_known_position[Z_AXIS] = true; enable_z();
  6373. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  6374. print_physical_coordinates();
  6375. // 7) Recover the target temperatures.
  6376. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  6377. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  6378. }
  6379. void restore_print_from_eeprom() {
  6380. float x_rec, y_rec, z_pos;
  6381. int feedrate_rec;
  6382. uint8_t fan_speed_rec;
  6383. char cmd[30];
  6384. char* c;
  6385. char filename[13];
  6386. uint8_t depth = 0;
  6387. char dir_name[9];
  6388. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  6389. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  6390. SERIAL_ECHOPGM("Feedrate:");
  6391. MYSERIAL.println(feedrate_rec);
  6392. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  6393. MYSERIAL.println(int(depth));
  6394. for (int i = 0; i < depth; i++) {
  6395. for (int j = 0; j < 8; j++) {
  6396. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  6397. }
  6398. dir_name[8] = '\0';
  6399. MYSERIAL.println(dir_name);
  6400. card.chdir(dir_name);
  6401. }
  6402. for (int i = 0; i < 8; i++) {
  6403. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  6404. }
  6405. filename[8] = '\0';
  6406. MYSERIAL.print(filename);
  6407. strcat_P(filename, PSTR(".gco"));
  6408. sprintf_P(cmd, PSTR("M23 %s"), filename);
  6409. for (c = &cmd[4]; *c; c++)
  6410. *c = tolower(*c);
  6411. enquecommand(cmd);
  6412. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  6413. SERIAL_ECHOPGM("Position read from eeprom:");
  6414. MYSERIAL.println(position);
  6415. // E axis relative mode.
  6416. enquecommand_P(PSTR("M83"));
  6417. // Move to the XY print position in logical coordinates, where the print has been killed.
  6418. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  6419. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  6420. strcat_P(cmd, PSTR(" F2000"));
  6421. enquecommand(cmd);
  6422. // Move the Z axis down to the print, in logical coordinates.
  6423. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  6424. enquecommand(cmd);
  6425. // Unretract.
  6426. enquecommand_P(PSTR("G1 E" STRINGIFY(DEFAULT_RETRACTION)" F480"));
  6427. // Set the feedrate saved at the power panic.
  6428. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  6429. enquecommand(cmd);
  6430. // Set the fan speed saved at the power panic.
  6431. strcpy_P(cmd, PSTR("M106 S"));
  6432. strcat(cmd, itostr3(int(fan_speed_rec)));
  6433. enquecommand(cmd);
  6434. // Set a position in the file.
  6435. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  6436. enquecommand(cmd);
  6437. // Start SD print.
  6438. enquecommand_P(PSTR("M24"));
  6439. }
  6440. ////////////////////////////////////////////////////////////////////////////////
  6441. // new save/restore printing
  6442. //extern uint32_t sdpos_atomic;
  6443. bool saved_printing = false;
  6444. uint32_t saved_sdpos = 0;
  6445. float saved_pos[4] = {0, 0, 0, 0};
  6446. // Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  6447. float saved_feedrate2 = 0;
  6448. uint8_t saved_active_extruder = 0;
  6449. bool saved_extruder_under_pressure = false;
  6450. void stop_and_save_print_to_ram(float z_move, float e_move)
  6451. {
  6452. if (saved_printing) return;
  6453. cli();
  6454. unsigned char nplanner_blocks = number_of_blocks();
  6455. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  6456. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  6457. saved_sdpos -= sdlen_planner;
  6458. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  6459. saved_sdpos -= sdlen_cmdqueue;
  6460. #if 0
  6461. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  6462. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  6463. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  6464. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  6465. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  6466. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  6467. SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  6468. {
  6469. card.setIndex(saved_sdpos);
  6470. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  6471. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  6472. MYSERIAL.print(char(card.get()));
  6473. SERIAL_ECHOLNPGM("Content of command buffer: ");
  6474. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  6475. MYSERIAL.print(char(card.get()));
  6476. SERIAL_ECHOLNPGM("End of command buffer");
  6477. }
  6478. {
  6479. // Print the content of the planner buffer, line by line:
  6480. card.setIndex(saved_sdpos);
  6481. int8_t iline = 0;
  6482. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  6483. SERIAL_ECHOPGM("Planner line (from file): ");
  6484. MYSERIAL.print(int(iline), DEC);
  6485. SERIAL_ECHOPGM(", length: ");
  6486. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  6487. SERIAL_ECHOPGM(", steps: (");
  6488. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  6489. SERIAL_ECHOPGM(",");
  6490. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  6491. SERIAL_ECHOPGM(",");
  6492. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  6493. SERIAL_ECHOPGM(",");
  6494. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  6495. SERIAL_ECHOPGM("), events: ");
  6496. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  6497. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  6498. MYSERIAL.print(char(card.get()));
  6499. }
  6500. }
  6501. {
  6502. // Print the content of the command buffer, line by line:
  6503. int8_t iline = 0;
  6504. union {
  6505. struct {
  6506. char lo;
  6507. char hi;
  6508. } lohi;
  6509. uint16_t value;
  6510. } sdlen_single;
  6511. int _bufindr = bufindr;
  6512. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  6513. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  6514. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  6515. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  6516. }
  6517. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  6518. MYSERIAL.print(int(iline), DEC);
  6519. SERIAL_ECHOPGM(", type: ");
  6520. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  6521. SERIAL_ECHOPGM(", len: ");
  6522. MYSERIAL.println(sdlen_single.value, DEC);
  6523. // Print the content of the buffer line.
  6524. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  6525. SERIAL_ECHOPGM("Buffer line (from file): ");
  6526. MYSERIAL.print(int(iline), DEC);
  6527. MYSERIAL.println(int(iline), DEC);
  6528. for (; sdlen_single.value > 0; -- sdlen_single.value)
  6529. MYSERIAL.print(char(card.get()));
  6530. if (-- _buflen == 0)
  6531. break;
  6532. // First skip the current command ID and iterate up to the end of the string.
  6533. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  6534. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  6535. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  6536. // If the end of the buffer was empty,
  6537. if (_bufindr == sizeof(cmdbuffer)) {
  6538. // skip to the start and find the nonzero command.
  6539. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  6540. }
  6541. }
  6542. }
  6543. #endif
  6544. #if 0
  6545. saved_feedrate2 = feedrate; //save feedrate
  6546. #else
  6547. // Try to deduce the feedrate from the first block of the planner.
  6548. // Speed is in mm/min.
  6549. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  6550. #endif
  6551. planner_abort_hard(); //abort printing
  6552. memcpy(saved_pos, current_position, sizeof(saved_pos));
  6553. saved_active_extruder = active_extruder; //save active_extruder
  6554. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  6555. cmdqueue_reset(); //empty cmdqueue
  6556. card.sdprinting = false;
  6557. // card.closefile();
  6558. saved_printing = true;
  6559. sei();
  6560. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  6561. #if 1
  6562. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  6563. char buf[48];
  6564. strcpy_P(buf, PSTR("G1 Z"));
  6565. dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
  6566. strcat_P(buf, PSTR(" E"));
  6567. // Relative extrusion
  6568. dtostrf(e_move, 6, 3, buf + strlen(buf));
  6569. strcat_P(buf, PSTR(" F"));
  6570. dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
  6571. // At this point the command queue is empty.
  6572. enquecommand(buf, false);
  6573. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  6574. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  6575. repeatcommand_front();
  6576. #else
  6577. 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);
  6578. st_synchronize(); //wait moving
  6579. memcpy(current_position, saved_pos, sizeof(saved_pos));
  6580. memcpy(destination, current_position, sizeof(destination));
  6581. #endif
  6582. }
  6583. }
  6584. void restore_print_from_ram_and_continue(float e_move)
  6585. {
  6586. if (!saved_printing) return;
  6587. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  6588. // current_position[axis] = st_get_position_mm(axis);
  6589. active_extruder = saved_active_extruder; //restore active_extruder
  6590. feedrate = saved_feedrate2; //restore feedrate
  6591. float e = saved_pos[E_AXIS] - e_move;
  6592. plan_set_e_position(e);
  6593. 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);
  6594. st_synchronize();
  6595. memcpy(current_position, saved_pos, sizeof(saved_pos));
  6596. memcpy(destination, current_position, sizeof(destination));
  6597. card.setIndex(saved_sdpos);
  6598. sdpos_atomic = saved_sdpos;
  6599. card.sdprinting = true;
  6600. saved_printing = false;
  6601. }
  6602. void print_world_coordinates()
  6603. {
  6604. SERIAL_ECHOPGM("world coordinates: (");
  6605. MYSERIAL.print(current_position[X_AXIS], 3);
  6606. SERIAL_ECHOPGM(", ");
  6607. MYSERIAL.print(current_position[Y_AXIS], 3);
  6608. SERIAL_ECHOPGM(", ");
  6609. MYSERIAL.print(current_position[Z_AXIS], 3);
  6610. SERIAL_ECHOLNPGM(")");
  6611. }
  6612. void print_physical_coordinates()
  6613. {
  6614. SERIAL_ECHOPGM("physical coordinates: (");
  6615. MYSERIAL.print(st_get_position_mm(X_AXIS), 3);
  6616. SERIAL_ECHOPGM(", ");
  6617. MYSERIAL.print(st_get_position_mm(Y_AXIS), 3);
  6618. SERIAL_ECHOPGM(", ");
  6619. MYSERIAL.print(st_get_position_mm(Z_AXIS), 3);
  6620. SERIAL_ECHOLNPGM(")");
  6621. }
  6622. void print_mesh_bed_leveling_table()
  6623. {
  6624. SERIAL_ECHOPGM("mesh bed leveling: ");
  6625. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  6626. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  6627. MYSERIAL.print(mbl.z_values[y][x], 3);
  6628. SERIAL_ECHOPGM(" ");
  6629. }
  6630. SERIAL_ECHOLNPGM("");
  6631. }
  6632. #define FIL_LOAD_LENGTH 60
  6633. void extr_unload2() { //unloads filament
  6634. // float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  6635. // float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  6636. // int8_t SilentMode;
  6637. uint8_t snmm_extruder = 0;
  6638. if (degHotend0() > EXTRUDE_MINTEMP) {
  6639. lcd_implementation_clear();
  6640. lcd_display_message_fullscreen_P(PSTR(""));
  6641. max_feedrate[E_AXIS] = 50;
  6642. lcd.setCursor(0, 0); lcd_printPGM(MSG_UNLOADING_FILAMENT);
  6643. // lcd.print(" ");
  6644. // lcd.print(snmm_extruder + 1);
  6645. lcd.setCursor(0, 2); lcd_printPGM(MSG_PLEASE_WAIT);
  6646. if (current_position[Z_AXIS] < 15) {
  6647. current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
  6648. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, active_extruder);
  6649. }
  6650. current_position[E_AXIS] += 10; //extrusion
  6651. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 10, active_extruder);
  6652. // digipot_current(2, E_MOTOR_HIGH_CURRENT);
  6653. if (current_temperature[0] < 230) { //PLA & all other filaments
  6654. current_position[E_AXIS] += 5.4;
  6655. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  6656. current_position[E_AXIS] += 3.2;
  6657. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  6658. current_position[E_AXIS] += 3;
  6659. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  6660. }
  6661. else { //ABS
  6662. current_position[E_AXIS] += 3.1;
  6663. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  6664. current_position[E_AXIS] += 3.1;
  6665. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  6666. current_position[E_AXIS] += 4;
  6667. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  6668. /*current_position[X_AXIS] += 23; //delay
  6669. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay
  6670. current_position[X_AXIS] -= 23; //delay
  6671. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay*/
  6672. delay_keep_alive(4700);
  6673. }
  6674. max_feedrate[E_AXIS] = 80;
  6675. current_position[E_AXIS] -= (bowden_length[snmm_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
  6676. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  6677. current_position[E_AXIS] -= (bowden_length[snmm_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
  6678. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  6679. st_synchronize();
  6680. //digipot_init();
  6681. // if (SilentMode == 1) digipot_current(2, tmp_motor[2]); //set back to normal operation currents
  6682. // else digipot_current(2, tmp_motor_loud[2]);
  6683. lcd_update_enable(true);
  6684. // lcd_return_to_status();
  6685. max_feedrate[E_AXIS] = 50;
  6686. }
  6687. else {
  6688. lcd_implementation_clear();
  6689. lcd.setCursor(0, 0);
  6690. lcd_printPGM(MSG_ERROR);
  6691. lcd.setCursor(0, 2);
  6692. lcd_printPGM(MSG_PREHEAT_NOZZLE);
  6693. delay(2000);
  6694. lcd_implementation_clear();
  6695. }
  6696. // lcd_return_to_status();
  6697. }