Marlin_main.cpp 228 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. #ifdef HAVE_TMC2130_DRIVERS
  48. #include "tmc2130.h"
  49. #endif //HAVE_TMC2130_DRIVERS
  50. #ifdef BLINKM
  51. #include "BlinkM.h"
  52. #include "Wire.h"
  53. #endif
  54. #ifdef ULTRALCD
  55. #include "ultralcd.h"
  56. #endif
  57. #if NUM_SERVOS > 0
  58. #include "Servo.h"
  59. #endif
  60. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  61. #include <SPI.h>
  62. #endif
  63. #define VERSION_STRING "1.0.2"
  64. #include "ultralcd.h"
  65. // Macros for bit masks
  66. #define BIT(b) (1<<(b))
  67. #define TEST(n,b) (((n)&BIT(b))!=0)
  68. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  69. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  70. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  71. //Implemented Codes
  72. //-------------------
  73. // PRUSA CODES
  74. // P F - Returns FW versions
  75. // P R - Returns revision of printer
  76. // G0 -> G1
  77. // G1 - Coordinated Movement X Y Z E
  78. // G2 - CW ARC
  79. // G3 - CCW ARC
  80. // G4 - Dwell S<seconds> or P<milliseconds>
  81. // G10 - retract filament according to settings of M207
  82. // G11 - retract recover filament according to settings of M208
  83. // G28 - Home all Axis
  84. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  85. // G30 - Single Z Probe, probes bed at current XY location.
  86. // G31 - Dock sled (Z_PROBE_SLED only)
  87. // G32 - Undock sled (Z_PROBE_SLED only)
  88. // G80 - Automatic mesh bed leveling
  89. // G81 - Print bed profile
  90. // G90 - Use Absolute Coordinates
  91. // G91 - Use Relative Coordinates
  92. // G92 - Set current position to coordinates given
  93. // M Codes
  94. // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  95. // M1 - Same as M0
  96. // M17 - Enable/Power all stepper motors
  97. // M18 - Disable all stepper motors; same as M84
  98. // M20 - List SD card
  99. // M21 - Init SD card
  100. // M22 - Release SD card
  101. // M23 - Select SD file (M23 filename.g)
  102. // M24 - Start/resume SD print
  103. // M25 - Pause SD print
  104. // M26 - Set SD position in bytes (M26 S12345)
  105. // M27 - Report SD print status
  106. // M28 - Start SD write (M28 filename.g)
  107. // M29 - Stop SD write
  108. // M30 - Delete file from SD (M30 filename.g)
  109. // M31 - Output time since last M109 or SD card start to serial
  110. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  111. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  112. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  113. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  114. // 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.
  115. // M80 - Turn on Power Supply
  116. // M81 - Turn off Power Supply
  117. // M82 - Set E codes absolute (default)
  118. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  119. // M84 - Disable steppers until next move,
  120. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  121. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  122. // M92 - Set axis_steps_per_unit - same syntax as G92
  123. // M104 - Set extruder target temp
  124. // M105 - Read current temp
  125. // M106 - Fan on
  126. // M107 - Fan off
  127. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  128. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  129. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  130. // M112 - Emergency stop
  131. // M114 - Output current position to serial port
  132. // M115 - Capabilities string
  133. // M117 - display message
  134. // M119 - Output Endstop status to serial port
  135. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  136. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  137. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  138. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  139. // M140 - Set bed target temp
  140. // 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.
  141. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  142. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  143. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  144. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  145. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  146. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  147. // 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
  148. // 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
  149. // M206 - set additional homing offset
  150. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  151. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  152. // 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.
  153. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  154. // M220 S<factor in percent>- set speed factor override percentage
  155. // M221 S<factor in percent>- set extrude factor override percentage
  156. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  157. // M240 - Trigger a camera to take a photograph
  158. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  159. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  160. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  161. // M301 - Set PID parameters P I and D
  162. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  163. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  164. // M304 - Set bed PID parameters P I and D
  165. // M400 - Finish all moves
  166. // M401 - Lower z-probe if present
  167. // M402 - Raise z-probe if present
  168. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  169. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  170. // M406 - Turn off Filament Sensor extrusion control
  171. // M407 - Displays measured filament diameter
  172. // M500 - stores parameters in EEPROM
  173. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  174. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  175. // M503 - print the current settings (from memory not from EEPROM)
  176. // M509 - force language selection on next restart
  177. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  178. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  179. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  180. // M907 - Set digital trimpot motor current using axis codes.
  181. // M908 - Control digital trimpot directly.
  182. // M350 - Set microstepping mode.
  183. // M351 - Toggle MS1 MS2 pins directly.
  184. // M928 - Start SD logging (M928 filename.g) - ended by M29
  185. // M999 - Restart after being stopped by error
  186. //Stepper Movement Variables
  187. //===========================================================================
  188. //=============================imported variables============================
  189. //===========================================================================
  190. //===========================================================================
  191. //=============================public variables=============================
  192. //===========================================================================
  193. #ifdef SDSUPPORT
  194. CardReader card;
  195. #endif
  196. unsigned long TimeSent = millis();
  197. unsigned long TimeNow = millis();
  198. unsigned long PingTime = millis();
  199. union Data
  200. {
  201. byte b[2];
  202. int value;
  203. };
  204. float homing_feedrate[] = HOMING_FEEDRATE;
  205. // Currently only the extruder axis may be switched to a relative mode.
  206. // Other axes are always absolute or relative based on the common relative_mode flag.
  207. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  208. int feedmultiply=100; //100->1 200->2
  209. int saved_feedmultiply;
  210. int extrudemultiply=100; //100->1 200->2
  211. int extruder_multiply[EXTRUDERS] = {100
  212. #if EXTRUDERS > 1
  213. , 100
  214. #if EXTRUDERS > 2
  215. , 100
  216. #endif
  217. #endif
  218. };
  219. int bowden_length[4];
  220. bool is_usb_printing = false;
  221. bool homing_flag = false;
  222. bool temp_cal_active = false;
  223. unsigned long kicktime = millis()+100000;
  224. unsigned int usb_printing_counter;
  225. int lcd_change_fil_state = 0;
  226. int feedmultiplyBckp = 100;
  227. float HotendTempBckp = 0;
  228. int fanSpeedBckp = 0;
  229. float pause_lastpos[4];
  230. unsigned long pause_time = 0;
  231. unsigned long start_pause_print = millis();
  232. unsigned long load_filament_time;
  233. bool mesh_bed_leveling_flag = false;
  234. bool mesh_bed_run_from_menu = false;
  235. unsigned char lang_selected = 0;
  236. int8_t FarmMode = 0;
  237. bool prusa_sd_card_upload = false;
  238. unsigned int status_number = 0;
  239. unsigned long total_filament_used;
  240. unsigned int heating_status;
  241. unsigned int heating_status_counter;
  242. bool custom_message;
  243. bool loading_flag = false;
  244. unsigned int custom_message_type;
  245. unsigned int custom_message_state;
  246. char snmm_filaments_used = 0;
  247. float distance_from_min[3];
  248. float angleDiff;
  249. bool fan_state[2];
  250. int fan_edge_counter[2];
  251. int fan_speed[2];
  252. bool volumetric_enabled = false;
  253. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  254. #if EXTRUDERS > 1
  255. , DEFAULT_NOMINAL_FILAMENT_DIA
  256. #if EXTRUDERS > 2
  257. , DEFAULT_NOMINAL_FILAMENT_DIA
  258. #endif
  259. #endif
  260. };
  261. float volumetric_multiplier[EXTRUDERS] = {1.0
  262. #if EXTRUDERS > 1
  263. , 1.0
  264. #if EXTRUDERS > 2
  265. , 1.0
  266. #endif
  267. #endif
  268. };
  269. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  270. float add_homing[3]={0,0,0};
  271. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  272. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  273. bool axis_known_position[3] = {false, false, false};
  274. float zprobe_zoffset;
  275. // Extruder offset
  276. #if EXTRUDERS > 1
  277. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  278. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  279. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  280. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  281. #endif
  282. };
  283. #endif
  284. uint8_t active_extruder = 0;
  285. int fanSpeed=0;
  286. #ifdef FWRETRACT
  287. bool autoretract_enabled=false;
  288. bool retracted[EXTRUDERS]={false
  289. #if EXTRUDERS > 1
  290. , false
  291. #if EXTRUDERS > 2
  292. , false
  293. #endif
  294. #endif
  295. };
  296. bool retracted_swap[EXTRUDERS]={false
  297. #if EXTRUDERS > 1
  298. , false
  299. #if EXTRUDERS > 2
  300. , false
  301. #endif
  302. #endif
  303. };
  304. float retract_length = RETRACT_LENGTH;
  305. float retract_length_swap = RETRACT_LENGTH_SWAP;
  306. float retract_feedrate = RETRACT_FEEDRATE;
  307. float retract_zlift = RETRACT_ZLIFT;
  308. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  309. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  310. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  311. #endif
  312. #ifdef ULTIPANEL
  313. #ifdef PS_DEFAULT_OFF
  314. bool powersupply = false;
  315. #else
  316. bool powersupply = true;
  317. #endif
  318. #endif
  319. bool cancel_heatup = false ;
  320. #ifdef FILAMENT_SENSOR
  321. //Variables for Filament Sensor input
  322. float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
  323. bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
  324. float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
  325. signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
  326. int delay_index1=0; //index into ring buffer
  327. int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  328. float delay_dist=0; //delay distance counter
  329. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  330. #endif
  331. const char errormagic[] PROGMEM = "Error:";
  332. const char echomagic[] PROGMEM = "echo:";
  333. //===========================================================================
  334. //=============================Private Variables=============================
  335. //===========================================================================
  336. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  337. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  338. static float delta[3] = {0.0, 0.0, 0.0};
  339. // For tracing an arc
  340. static float offset[3] = {0.0, 0.0, 0.0};
  341. static bool home_all_axis = true;
  342. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  343. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  344. // Determines Absolute or Relative Coordinates.
  345. // Also there is bool axis_relative_modes[] per axis flag.
  346. static bool relative_mode = false;
  347. // String circular buffer. Commands may be pushed to the buffer from both sides:
  348. // Chained commands will be pushed to the front, interactive (from LCD menu)
  349. // and printing commands (from serial line or from SD card) are pushed to the tail.
  350. // First character of each entry indicates the type of the entry:
  351. #define CMDBUFFER_CURRENT_TYPE_UNKNOWN 0
  352. // Command in cmdbuffer was sent over USB.
  353. #define CMDBUFFER_CURRENT_TYPE_USB 1
  354. // Command in cmdbuffer was read from SDCARD.
  355. #define CMDBUFFER_CURRENT_TYPE_SDCARD 2
  356. // Command in cmdbuffer was generated by the UI.
  357. #define CMDBUFFER_CURRENT_TYPE_UI 3
  358. // Command in cmdbuffer was generated by another G-code.
  359. #define CMDBUFFER_CURRENT_TYPE_CHAINED 4
  360. // How much space to reserve for the chained commands
  361. // of type CMDBUFFER_CURRENT_TYPE_CHAINED,
  362. // which are pushed to the front of the queue?
  363. // Maximum 5 commands of max length 20 + null terminator.
  364. #define CMDBUFFER_RESERVE_FRONT (5*21)
  365. // Reserve BUFSIZE lines of length MAX_CMD_SIZE plus CMDBUFFER_RESERVE_FRONT.
  366. static char cmdbuffer[BUFSIZE * (MAX_CMD_SIZE + 1) + CMDBUFFER_RESERVE_FRONT];
  367. // Head of the circular buffer, where to read.
  368. static int bufindr = 0;
  369. // Tail of the buffer, where to write.
  370. static int bufindw = 0;
  371. // Number of lines in cmdbuffer.
  372. static int buflen = 0;
  373. // Flag for processing the current command inside the main Arduino loop().
  374. // If a new command was pushed to the front of a command buffer while
  375. // processing another command, this replaces the command on the top.
  376. // Therefore don't remove the command from the queue in the loop() function.
  377. static bool cmdbuffer_front_already_processed = false;
  378. // Type of a command, which is to be executed right now.
  379. #define CMDBUFFER_CURRENT_TYPE (cmdbuffer[bufindr])
  380. // String of a command, which is to be executed right now.
  381. #define CMDBUFFER_CURRENT_STRING (cmdbuffer+bufindr+1)
  382. // Enable debugging of the command buffer.
  383. // Debugging information will be sent to serial line.
  384. // #define CMDBUFFER_DEBUG
  385. static int serial_count = 0; //index of character read from serial line
  386. static boolean comment_mode = false;
  387. static char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
  388. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  389. //static float tt = 0;
  390. //static float bt = 0;
  391. //Inactivity shutdown variables
  392. static unsigned long previous_millis_cmd = 0;
  393. unsigned long max_inactive_time = 0;
  394. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  395. unsigned long starttime=0;
  396. unsigned long stoptime=0;
  397. unsigned long _usb_timer = 0;
  398. static uint8_t tmp_extruder;
  399. bool Stopped=false;
  400. #if NUM_SERVOS > 0
  401. Servo servos[NUM_SERVOS];
  402. #endif
  403. bool CooldownNoWait = true;
  404. bool target_direction;
  405. //Insert variables if CHDK is defined
  406. #ifdef CHDK
  407. unsigned long chdkHigh = 0;
  408. boolean chdkActive = false;
  409. #endif
  410. //===========================================================================
  411. //=============================Routines======================================
  412. //===========================================================================
  413. void get_arc_coordinates();
  414. bool setTargetedHotend(int code);
  415. void serial_echopair_P(const char *s_P, float v)
  416. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  417. void serial_echopair_P(const char *s_P, double v)
  418. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  419. void serial_echopair_P(const char *s_P, unsigned long v)
  420. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  421. #ifdef SDSUPPORT
  422. #include "SdFatUtil.h"
  423. int freeMemory() { return SdFatUtil::FreeRam(); }
  424. #else
  425. extern "C" {
  426. extern unsigned int __bss_end;
  427. extern unsigned int __heap_start;
  428. extern void *__brkval;
  429. int freeMemory() {
  430. int free_memory;
  431. if ((int)__brkval == 0)
  432. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  433. else
  434. free_memory = ((int)&free_memory) - ((int)__brkval);
  435. return free_memory;
  436. }
  437. }
  438. #endif //!SDSUPPORT
  439. // Pop the currently processed command from the queue.
  440. // It is expected, that there is at least one command in the queue.
  441. bool cmdqueue_pop_front()
  442. {
  443. if (buflen > 0) {
  444. #ifdef CMDBUFFER_DEBUG
  445. SERIAL_ECHOPGM("Dequeing ");
  446. SERIAL_ECHO(cmdbuffer+bufindr+1);
  447. SERIAL_ECHOLNPGM("");
  448. SERIAL_ECHOPGM("Old indices: buflen ");
  449. SERIAL_ECHO(buflen);
  450. SERIAL_ECHOPGM(", bufindr ");
  451. SERIAL_ECHO(bufindr);
  452. SERIAL_ECHOPGM(", bufindw ");
  453. SERIAL_ECHO(bufindw);
  454. SERIAL_ECHOPGM(", serial_count ");
  455. SERIAL_ECHO(serial_count);
  456. SERIAL_ECHOPGM(", bufsize ");
  457. SERIAL_ECHO(sizeof(cmdbuffer));
  458. SERIAL_ECHOLNPGM("");
  459. #endif /* CMDBUFFER_DEBUG */
  460. if (-- buflen == 0) {
  461. // Empty buffer.
  462. if (serial_count == 0)
  463. // No serial communication is pending. Reset both pointers to zero.
  464. bufindw = 0;
  465. bufindr = bufindw;
  466. } else {
  467. // There is at least one ready line in the buffer.
  468. // First skip the current command ID and iterate up to the end of the string.
  469. for (++ bufindr; cmdbuffer[bufindr] != 0; ++ bufindr) ;
  470. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  471. for (++ bufindr; bufindr < sizeof(cmdbuffer) && cmdbuffer[bufindr] == 0; ++ bufindr) ;
  472. // If the end of the buffer was empty,
  473. if (bufindr == sizeof(cmdbuffer)) {
  474. // skip to the start and find the nonzero command.
  475. for (bufindr = 0; cmdbuffer[bufindr] == 0; ++ bufindr) ;
  476. }
  477. #ifdef CMDBUFFER_DEBUG
  478. SERIAL_ECHOPGM("New indices: buflen ");
  479. SERIAL_ECHO(buflen);
  480. SERIAL_ECHOPGM(", bufindr ");
  481. SERIAL_ECHO(bufindr);
  482. SERIAL_ECHOPGM(", bufindw ");
  483. SERIAL_ECHO(bufindw);
  484. SERIAL_ECHOPGM(", serial_count ");
  485. SERIAL_ECHO(serial_count);
  486. SERIAL_ECHOPGM(" new command on the top: ");
  487. SERIAL_ECHO(cmdbuffer+bufindr+1);
  488. SERIAL_ECHOLNPGM("");
  489. #endif /* CMDBUFFER_DEBUG */
  490. }
  491. return true;
  492. }
  493. return false;
  494. }
  495. void cmdqueue_reset()
  496. {
  497. while (cmdqueue_pop_front()) ;
  498. }
  499. // How long a string could be pushed to the front of the command queue?
  500. // If yes, adjust bufindr to the new position, where the new command could be enqued.
  501. // len_asked does not contain the zero terminator size.
  502. bool cmdqueue_could_enqueue_front(int len_asked)
  503. {
  504. // MAX_CMD_SIZE has to accommodate the zero terminator.
  505. if (len_asked >= MAX_CMD_SIZE)
  506. return false;
  507. // Remove the currently processed command from the queue.
  508. if (! cmdbuffer_front_already_processed) {
  509. cmdqueue_pop_front();
  510. cmdbuffer_front_already_processed = true;
  511. }
  512. if (bufindr == bufindw && buflen > 0)
  513. // Full buffer.
  514. return false;
  515. // Adjust the end of the write buffer based on whether a partial line is in the receive buffer.
  516. int endw = (serial_count > 0) ? (bufindw + MAX_CMD_SIZE + 1) : bufindw;
  517. if (bufindw < bufindr) {
  518. int bufindr_new = bufindr - len_asked - 2;
  519. // Simple case. There is a contiguous space between the write buffer and the read buffer.
  520. if (endw <= bufindr_new) {
  521. bufindr = bufindr_new;
  522. return true;
  523. }
  524. } else {
  525. // Otherwise the free space is split between the start and end.
  526. if (len_asked + 2 <= bufindr) {
  527. // Could fit at the start.
  528. bufindr -= len_asked + 2;
  529. return true;
  530. }
  531. int bufindr_new = sizeof(cmdbuffer) - len_asked - 2;
  532. if (endw <= bufindr_new) {
  533. memset(cmdbuffer, 0, bufindr);
  534. bufindr = bufindr_new;
  535. return true;
  536. }
  537. }
  538. return false;
  539. }
  540. // Could one enqueue a command of lenthg len_asked into the buffer,
  541. // while leaving CMDBUFFER_RESERVE_FRONT at the start?
  542. // If yes, adjust bufindw to the new position, where the new command could be enqued.
  543. // len_asked does not contain the zero terminator size.
  544. bool cmdqueue_could_enqueue_back(int len_asked)
  545. {
  546. // MAX_CMD_SIZE has to accommodate the zero terminator.
  547. if (len_asked >= MAX_CMD_SIZE)
  548. return false;
  549. if (bufindr == bufindw && buflen > 0)
  550. // Full buffer.
  551. return false;
  552. if (serial_count > 0) {
  553. // If there is some data stored starting at bufindw, len_asked is certainly smaller than
  554. // the allocated data buffer. Try to reserve a new buffer and to move the already received
  555. // serial data.
  556. // How much memory to reserve for the commands pushed to the front?
  557. // End of the queue, when pushing to the end.
  558. int endw = bufindw + len_asked + 2;
  559. if (bufindw < bufindr)
  560. // Simple case. There is a contiguous space between the write buffer and the read buffer.
  561. return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
  562. // Otherwise the free space is split between the start and end.
  563. if (// Could one fit to the end, including the reserve?
  564. endw + CMDBUFFER_RESERVE_FRONT <= sizeof(cmdbuffer) ||
  565. // Could one fit to the end, and the reserve to the start?
  566. (endw <= sizeof(cmdbuffer) && CMDBUFFER_RESERVE_FRONT <= bufindr))
  567. return true;
  568. // Could one fit both to the start?
  569. if (len_asked + 2 + CMDBUFFER_RESERVE_FRONT <= bufindr) {
  570. // Mark the rest of the buffer as used.
  571. memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
  572. // and point to the start.
  573. bufindw = 0;
  574. return true;
  575. }
  576. } else {
  577. // How much memory to reserve for the commands pushed to the front?
  578. // End of the queue, when pushing to the end.
  579. int endw = bufindw + len_asked + 2;
  580. if (bufindw < bufindr)
  581. // Simple case. There is a contiguous space between the write buffer and the read buffer.
  582. return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
  583. // Otherwise the free space is split between the start and end.
  584. if (// Could one fit to the end, including the reserve?
  585. endw + CMDBUFFER_RESERVE_FRONT <= sizeof(cmdbuffer) ||
  586. // Could one fit to the end, and the reserve to the start?
  587. (endw <= sizeof(cmdbuffer) && CMDBUFFER_RESERVE_FRONT <= bufindr))
  588. return true;
  589. // Could one fit both to the start?
  590. if (len_asked + 2 + CMDBUFFER_RESERVE_FRONT <= bufindr) {
  591. // Mark the rest of the buffer as used.
  592. memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
  593. // and point to the start.
  594. bufindw = 0;
  595. return true;
  596. }
  597. }
  598. return false;
  599. }
  600. #ifdef CMDBUFFER_DEBUG
  601. static void cmdqueue_dump_to_serial_single_line(int nr, const char *p)
  602. {
  603. SERIAL_ECHOPGM("Entry nr: ");
  604. SERIAL_ECHO(nr);
  605. SERIAL_ECHOPGM(", type: ");
  606. SERIAL_ECHO(int(*p));
  607. SERIAL_ECHOPGM(", cmd: ");
  608. SERIAL_ECHO(p+1);
  609. SERIAL_ECHOLNPGM("");
  610. }
  611. static void cmdqueue_dump_to_serial()
  612. {
  613. if (buflen == 0) {
  614. SERIAL_ECHOLNPGM("The command buffer is empty.");
  615. } else {
  616. SERIAL_ECHOPGM("Content of the buffer: entries ");
  617. SERIAL_ECHO(buflen);
  618. SERIAL_ECHOPGM(", indr ");
  619. SERIAL_ECHO(bufindr);
  620. SERIAL_ECHOPGM(", indw ");
  621. SERIAL_ECHO(bufindw);
  622. SERIAL_ECHOLNPGM("");
  623. int nr = 0;
  624. if (bufindr < bufindw) {
  625. for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + bufindw; ++ nr) {
  626. cmdqueue_dump_to_serial_single_line(nr, p);
  627. // Skip the command.
  628. for (++p; *p != 0; ++ p);
  629. // Skip the gaps.
  630. for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
  631. }
  632. } else {
  633. for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + sizeof(cmdbuffer); ++ nr) {
  634. cmdqueue_dump_to_serial_single_line(nr, p);
  635. // Skip the command.
  636. for (++p; *p != 0; ++ p);
  637. // Skip the gaps.
  638. for (++p; p < cmdbuffer + sizeof(cmdbuffer) && *p == 0; ++ p);
  639. }
  640. for (const char *p = cmdbuffer; p < cmdbuffer + bufindw; ++ nr) {
  641. cmdqueue_dump_to_serial_single_line(nr, p);
  642. // Skip the command.
  643. for (++p; *p != 0; ++ p);
  644. // Skip the gaps.
  645. for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
  646. }
  647. }
  648. SERIAL_ECHOLNPGM("End of the buffer.");
  649. }
  650. }
  651. #endif /* CMDBUFFER_DEBUG */
  652. //adds an command to the main command buffer
  653. //thats really done in a non-safe way.
  654. //needs overworking someday
  655. // Currently the maximum length of a command piped through this function is around 20 characters
  656. void enquecommand(const char *cmd, bool from_progmem)
  657. {
  658. int len = from_progmem ? strlen_P(cmd) : strlen(cmd);
  659. // Does cmd fit the queue while leaving sufficient space at the front for the chained commands?
  660. // If it fits, it may move bufindw, so it points to a contiguous buffer, which fits cmd.
  661. if (cmdqueue_could_enqueue_back(len)) {
  662. // This is dangerous if a mixing of serial and this happens
  663. // This may easily be tested: If serial_count > 0, we have a problem.
  664. cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_UI;
  665. if (from_progmem)
  666. strcpy_P(cmdbuffer + bufindw + 1, cmd);
  667. else
  668. strcpy(cmdbuffer + bufindw + 1, cmd);
  669. SERIAL_ECHO_START;
  670. SERIAL_ECHORPGM(MSG_Enqueing);
  671. SERIAL_ECHO(cmdbuffer + bufindw + 1);
  672. SERIAL_ECHOLNPGM("\"");
  673. bufindw += len + 2;
  674. if (bufindw == sizeof(cmdbuffer))
  675. bufindw = 0;
  676. ++ buflen;
  677. #ifdef CMDBUFFER_DEBUG
  678. cmdqueue_dump_to_serial();
  679. #endif /* CMDBUFFER_DEBUG */
  680. } else {
  681. SERIAL_ERROR_START;
  682. SERIAL_ECHORPGM(MSG_Enqueing);
  683. if (from_progmem)
  684. SERIAL_PROTOCOLRPGM(cmd);
  685. else
  686. SERIAL_ECHO(cmd);
  687. SERIAL_ECHOLNPGM("\" failed: Buffer full!");
  688. #ifdef CMDBUFFER_DEBUG
  689. cmdqueue_dump_to_serial();
  690. #endif /* CMDBUFFER_DEBUG */
  691. }
  692. }
  693. void enquecommand_front(const char *cmd, bool from_progmem)
  694. {
  695. int len = from_progmem ? strlen_P(cmd) : strlen(cmd);
  696. // Does cmd fit the queue? This call shall move bufindr, so the command may be copied.
  697. if (cmdqueue_could_enqueue_front(len)) {
  698. cmdbuffer[bufindr] = CMDBUFFER_CURRENT_TYPE_UI;
  699. if (from_progmem)
  700. strcpy_P(cmdbuffer + bufindr + 1, cmd);
  701. else
  702. strcpy(cmdbuffer + bufindr + 1, cmd);
  703. ++ buflen;
  704. SERIAL_ECHO_START;
  705. SERIAL_ECHOPGM("Enqueing to the front: \"");
  706. SERIAL_ECHO(cmdbuffer + bufindr + 1);
  707. SERIAL_ECHOLNPGM("\"");
  708. #ifdef CMDBUFFER_DEBUG
  709. cmdqueue_dump_to_serial();
  710. #endif /* CMDBUFFER_DEBUG */
  711. } else {
  712. SERIAL_ERROR_START;
  713. SERIAL_ECHOPGM("Enqueing to the front: \"");
  714. if (from_progmem)
  715. SERIAL_PROTOCOLRPGM(cmd);
  716. else
  717. SERIAL_ECHO(cmd);
  718. SERIAL_ECHOLNPGM("\" failed: Buffer full!");
  719. #ifdef CMDBUFFER_DEBUG
  720. cmdqueue_dump_to_serial();
  721. #endif /* CMDBUFFER_DEBUG */
  722. }
  723. }
  724. // Mark the command at the top of the command queue as new.
  725. // Therefore it will not be removed from the queue.
  726. void repeatcommand_front()
  727. {
  728. cmdbuffer_front_already_processed = true;
  729. }
  730. bool is_buffer_empty()
  731. {
  732. if (buflen == 0) return true;
  733. else return false;
  734. }
  735. void setup_killpin()
  736. {
  737. #if defined(KILL_PIN) && KILL_PIN > -1
  738. SET_INPUT(KILL_PIN);
  739. WRITE(KILL_PIN,HIGH);
  740. #endif
  741. }
  742. // Set home pin
  743. void setup_homepin(void)
  744. {
  745. #if defined(HOME_PIN) && HOME_PIN > -1
  746. SET_INPUT(HOME_PIN);
  747. WRITE(HOME_PIN,HIGH);
  748. #endif
  749. }
  750. void setup_photpin()
  751. {
  752. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  753. SET_OUTPUT(PHOTOGRAPH_PIN);
  754. WRITE(PHOTOGRAPH_PIN, LOW);
  755. #endif
  756. }
  757. void setup_powerhold()
  758. {
  759. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  760. SET_OUTPUT(SUICIDE_PIN);
  761. WRITE(SUICIDE_PIN, HIGH);
  762. #endif
  763. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  764. SET_OUTPUT(PS_ON_PIN);
  765. #if defined(PS_DEFAULT_OFF)
  766. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  767. #else
  768. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  769. #endif
  770. #endif
  771. }
  772. void suicide()
  773. {
  774. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  775. SET_OUTPUT(SUICIDE_PIN);
  776. WRITE(SUICIDE_PIN, LOW);
  777. #endif
  778. }
  779. void servo_init()
  780. {
  781. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  782. servos[0].attach(SERVO0_PIN);
  783. #endif
  784. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  785. servos[1].attach(SERVO1_PIN);
  786. #endif
  787. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  788. servos[2].attach(SERVO2_PIN);
  789. #endif
  790. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  791. servos[3].attach(SERVO3_PIN);
  792. #endif
  793. #if (NUM_SERVOS >= 5)
  794. #error "TODO: enter initalisation code for more servos"
  795. #endif
  796. }
  797. static void lcd_language_menu();
  798. #ifdef MESH_BED_LEVELING
  799. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  800. #endif
  801. // Factory reset function
  802. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  803. // Level input parameter sets depth of reset
  804. // Quiet parameter masks all waitings for user interact.
  805. int er_progress = 0;
  806. void factory_reset(char level, bool quiet)
  807. {
  808. lcd_implementation_clear();
  809. int cursor_pos = 0;
  810. switch (level) {
  811. // Level 0: Language reset
  812. case 0:
  813. WRITE(BEEPER, HIGH);
  814. _delay_ms(100);
  815. WRITE(BEEPER, LOW);
  816. lcd_force_language_selection();
  817. break;
  818. //Level 1: Reset statistics
  819. case 1:
  820. WRITE(BEEPER, HIGH);
  821. _delay_ms(100);
  822. WRITE(BEEPER, LOW);
  823. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  824. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  825. lcd_menu_statistics();
  826. break;
  827. // Level 2: Prepare for shipping
  828. case 2:
  829. //lcd_printPGM(PSTR("Factory RESET"));
  830. //lcd_print_at_PGM(1,2,PSTR("Shipping prep"));
  831. // Force language selection at the next boot up.
  832. lcd_force_language_selection();
  833. // Force the "Follow calibration flow" message at the next boot up.
  834. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  835. farm_no = 0;
  836. farm_mode == false;
  837. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  838. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  839. WRITE(BEEPER, HIGH);
  840. _delay_ms(100);
  841. WRITE(BEEPER, LOW);
  842. //_delay_ms(2000);
  843. break;
  844. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  845. case 3:
  846. lcd_printPGM(PSTR("Factory RESET"));
  847. lcd_print_at_PGM(1, 2, PSTR("ERASING all data"));
  848. WRITE(BEEPER, HIGH);
  849. _delay_ms(100);
  850. WRITE(BEEPER, LOW);
  851. er_progress = 0;
  852. lcd_print_at_PGM(3, 3, PSTR(" "));
  853. lcd_implementation_print_at(3, 3, er_progress);
  854. // Erase EEPROM
  855. for (int i = 0; i < 4096; i++) {
  856. eeprom_write_byte((uint8_t*)i, 0xFF);
  857. if (i % 41 == 0) {
  858. er_progress++;
  859. lcd_print_at_PGM(3, 3, PSTR(" "));
  860. lcd_implementation_print_at(3, 3, er_progress);
  861. lcd_printPGM(PSTR("%"));
  862. }
  863. }
  864. break;
  865. case 4:
  866. bowden_menu();
  867. break;
  868. default:
  869. break;
  870. }
  871. }
  872. // "Setup" function is called by the Arduino framework on startup.
  873. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  874. // are initialized by the main() routine provided by the Arduino framework.
  875. void setup()
  876. {
  877. setup_killpin();
  878. setup_powerhold();
  879. MYSERIAL.begin(BAUDRATE);
  880. SERIAL_PROTOCOLLNPGM("start");
  881. SERIAL_ECHO_START;
  882. #if 0
  883. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  884. for (int i = 0; i < 4096; ++i) {
  885. int b = eeprom_read_byte((unsigned char*)i);
  886. if (b != 255) {
  887. SERIAL_ECHO(i);
  888. SERIAL_ECHO(":");
  889. SERIAL_ECHO(b);
  890. SERIAL_ECHOLN("");
  891. }
  892. }
  893. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  894. #endif
  895. // Check startup - does nothing if bootloader sets MCUSR to 0
  896. byte mcu = MCUSR;
  897. if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  898. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  899. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  900. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  901. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);
  902. MCUSR = 0;
  903. //SERIAL_ECHORPGM(MSG_MARLIN);
  904. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  905. #ifdef STRING_VERSION_CONFIG_H
  906. #ifdef STRING_CONFIG_H_AUTHOR
  907. SERIAL_ECHO_START;
  908. SERIAL_ECHORPGM(MSG_CONFIGURATION_VER);
  909. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  910. SERIAL_ECHORPGM(MSG_AUTHOR);
  911. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  912. SERIAL_ECHOPGM("Compiled: ");
  913. SERIAL_ECHOLNPGM(__DATE__);
  914. #endif
  915. #endif
  916. SERIAL_ECHO_START;
  917. SERIAL_ECHORPGM(MSG_FREE_MEMORY);
  918. SERIAL_ECHO(freeMemory());
  919. SERIAL_ECHORPGM(MSG_PLANNER_BUFFER_BYTES);
  920. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  921. lcd_update_enable(false);
  922. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  923. Config_RetrieveSettings();
  924. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  925. tp_init(); // Initialize temperature loop
  926. plan_init(); // Initialize planner;
  927. watchdog_init();
  928. #ifdef HAVE_TMC2130_DRIVERS
  929. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  930. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  931. #endif //HAVE_TMC2130_DRIVERS
  932. st_init(); // Initialize stepper, this enables interrupts!
  933. setup_photpin();
  934. servo_init();
  935. // Reset the machine correction matrix.
  936. // It does not make sense to load the correction matrix until the machine is homed.
  937. world2machine_reset();
  938. lcd_init();
  939. if (!READ(BTN_ENC))
  940. {
  941. _delay_ms(1000);
  942. if (!READ(BTN_ENC))
  943. {
  944. lcd_implementation_clear();
  945. lcd_printPGM(PSTR("Factory RESET"));
  946. SET_OUTPUT(BEEPER);
  947. WRITE(BEEPER, HIGH);
  948. while (!READ(BTN_ENC));
  949. WRITE(BEEPER, LOW);
  950. _delay_ms(2000);
  951. char level = reset_menu();
  952. factory_reset(level, false);
  953. switch (level) {
  954. case 0: _delay_ms(0); break;
  955. case 1: _delay_ms(0); break;
  956. case 2: _delay_ms(0); break;
  957. case 3: _delay_ms(0); break;
  958. }
  959. // _delay_ms(100);
  960. /*
  961. #ifdef MESH_BED_LEVELING
  962. _delay_ms(2000);
  963. if (!READ(BTN_ENC))
  964. {
  965. WRITE(BEEPER, HIGH);
  966. _delay_ms(100);
  967. WRITE(BEEPER, LOW);
  968. _delay_ms(200);
  969. WRITE(BEEPER, HIGH);
  970. _delay_ms(100);
  971. WRITE(BEEPER, LOW);
  972. int _z = 0;
  973. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  974. EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
  975. EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
  976. EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
  977. }
  978. else
  979. {
  980. WRITE(BEEPER, HIGH);
  981. _delay_ms(100);
  982. WRITE(BEEPER, LOW);
  983. }
  984. #endif // mesh */
  985. }
  986. }
  987. else
  988. {
  989. _delay_ms(1000); // wait 1sec to display the splash screen
  990. }
  991. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  992. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  993. #endif
  994. #ifdef DIGIPOT_I2C
  995. digipot_i2c_init();
  996. #endif
  997. setup_homepin();
  998. #if defined(Z_AXIS_ALWAYS_ON)
  999. enable_z();
  1000. #endif
  1001. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  1002. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  1003. 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
  1004. if (farm_no == 0xFFFF) farm_no = 0;
  1005. if (farm_mode)
  1006. {
  1007. prusa_statistics(8);
  1008. }
  1009. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1010. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1011. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1012. // but this times out if a blocking dialog is shown in setup().
  1013. card.initsd();
  1014. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1015. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff &&
  1016. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 12)) == 0x0ffffffff) {
  1017. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1018. // where all the EEPROM entries are set to 0x0ff.
  1019. // Once a firmware boots up, it forces at least a language selection, which changes
  1020. // EEPROM_LANG to number lower than 0x0ff.
  1021. // 1) Set a high power mode.
  1022. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  1023. }
  1024. #ifdef SNMM
  1025. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1026. int _z = BOWDEN_LENGTH;
  1027. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1028. }
  1029. #endif
  1030. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1031. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1032. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1033. lang_selected = eeprom_read_byte((uint8_t*)EEPROM_LANG);
  1034. if (lang_selected >= LANG_NUM){
  1035. lcd_mylang();
  1036. }
  1037. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1038. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1039. temp_cal_active = false;
  1040. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  1041. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1042. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1043. }
  1044. #ifndef DEBUG_SKIP_STARTMSGS
  1045. check_babystep(); //checking if Z babystep is in allowed range
  1046. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1047. calibration_status() == CALIBRATION_STATUS_UNKNOWN) {
  1048. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1049. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1050. // Show the message.
  1051. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  1052. } else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1053. // Show the message.
  1054. lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  1055. lcd_update_enable(true);
  1056. } else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  1057. lcd_show_fullscreen_message_and_wait_P(MSG_PINDA_NOT_CALIBRATED);
  1058. lcd_update_enable(true);
  1059. } else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1060. // Show the message.
  1061. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  1062. }
  1063. #endif //DEBUG_SKIP_STARTMSGS
  1064. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1065. lcd_update_enable(true);
  1066. // Store the currently running firmware into an eeprom,
  1067. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1068. update_current_firmware_version_to_eeprom();
  1069. }
  1070. void trace();
  1071. #define CHUNK_SIZE 64 // bytes
  1072. #define SAFETY_MARGIN 1
  1073. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1074. int chunkHead = 0;
  1075. int serial_read_stream() {
  1076. setTargetHotend(0, 0);
  1077. setTargetBed(0);
  1078. lcd_implementation_clear();
  1079. lcd_printPGM(PSTR(" Upload in progress"));
  1080. // first wait for how many bytes we will receive
  1081. uint32_t bytesToReceive;
  1082. // receive the four bytes
  1083. char bytesToReceiveBuffer[4];
  1084. for (int i=0; i<4; i++) {
  1085. int data;
  1086. while ((data = MYSERIAL.read()) == -1) {};
  1087. bytesToReceiveBuffer[i] = data;
  1088. }
  1089. // make it a uint32
  1090. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1091. // we're ready, notify the sender
  1092. MYSERIAL.write('+');
  1093. // lock in the routine
  1094. uint32_t receivedBytes = 0;
  1095. while (prusa_sd_card_upload) {
  1096. int i;
  1097. for (i=0; i<CHUNK_SIZE; i++) {
  1098. int data;
  1099. // check if we're not done
  1100. if (receivedBytes == bytesToReceive) {
  1101. break;
  1102. }
  1103. // read the next byte
  1104. while ((data = MYSERIAL.read()) == -1) {};
  1105. receivedBytes++;
  1106. // save it to the chunk
  1107. chunk[i] = data;
  1108. }
  1109. // write the chunk to SD
  1110. card.write_command_no_newline(&chunk[0]);
  1111. // notify the sender we're ready for more data
  1112. MYSERIAL.write('+');
  1113. // for safety
  1114. manage_heater();
  1115. // check if we're done
  1116. if(receivedBytes == bytesToReceive) {
  1117. trace(); // beep
  1118. card.closefile();
  1119. prusa_sd_card_upload = false;
  1120. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1121. return 0;
  1122. }
  1123. }
  1124. }
  1125. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1126. // Before loop(), the setup() function is called by the main() routine.
  1127. void loop()
  1128. {
  1129. bool stack_integrity = true;
  1130. if (usb_printing_counter > 0 && millis()-_usb_timer > 1000)
  1131. {
  1132. is_usb_printing = true;
  1133. usb_printing_counter--;
  1134. _usb_timer = millis();
  1135. }
  1136. if (usb_printing_counter == 0)
  1137. {
  1138. is_usb_printing = false;
  1139. }
  1140. if (prusa_sd_card_upload)
  1141. {
  1142. //we read byte-by byte
  1143. serial_read_stream();
  1144. } else
  1145. {
  1146. get_command();
  1147. #ifdef SDSUPPORT
  1148. card.checkautostart(false);
  1149. #endif
  1150. if(buflen)
  1151. {
  1152. #ifdef SDSUPPORT
  1153. if(card.saving)
  1154. {
  1155. // Saving a G-code file onto an SD-card is in progress.
  1156. // Saving starts with M28, saving until M29 is seen.
  1157. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1158. card.write_command(CMDBUFFER_CURRENT_STRING);
  1159. if(card.logging)
  1160. process_commands();
  1161. else
  1162. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1163. } else {
  1164. card.closefile();
  1165. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1166. }
  1167. } else {
  1168. process_commands();
  1169. }
  1170. #else
  1171. process_commands();
  1172. #endif //SDSUPPORT
  1173. if (! cmdbuffer_front_already_processed)
  1174. cmdqueue_pop_front();
  1175. cmdbuffer_front_already_processed = false;
  1176. }
  1177. }
  1178. //check heater every n milliseconds
  1179. manage_heater();
  1180. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1181. checkHitEndstops();
  1182. lcd_update();
  1183. #ifdef HAVE_TMC2130_DRIVERS
  1184. tmc2130_check_overtemp();
  1185. #endif //HAVE_TMC2130_DRIVERS
  1186. }
  1187. void get_command()
  1188. {
  1189. // Test and reserve space for the new command string.
  1190. if (!cmdqueue_could_enqueue_back(MAX_CMD_SIZE - 1))
  1191. return;
  1192. bool rx_buffer_full = false; //flag that serial rx buffer is full
  1193. while (MYSERIAL.available() > 0) {
  1194. if (MYSERIAL.available() == RX_BUFFER_SIZE - 1) { //compare number of chars buffered in rx buffer with rx buffer size
  1195. SERIAL_ECHOLNPGM("Full RX Buffer"); //if buffer was full, there is danger that reading of last gcode will not be completed
  1196. rx_buffer_full = true; //sets flag that buffer was full
  1197. }
  1198. char serial_char = MYSERIAL.read();
  1199. TimeSent = millis();
  1200. TimeNow = millis();
  1201. if (serial_char < 0)
  1202. // Ignore extended ASCII characters. These characters have no meaning in the G-code apart from the file names
  1203. // and Marlin does not support such file names anyway.
  1204. // Serial characters with a highest bit set to 1 are generated when the USB cable is unplugged, leading
  1205. // to a hang-up of the print process from an SD card.
  1206. continue;
  1207. if(serial_char == '\n' ||
  1208. serial_char == '\r' ||
  1209. (serial_char == ':' && comment_mode == false) ||
  1210. serial_count >= (MAX_CMD_SIZE - 1) )
  1211. {
  1212. if(!serial_count) { //if empty line
  1213. comment_mode = false; //for new command
  1214. return;
  1215. }
  1216. cmdbuffer[bufindw+serial_count+1] = 0; //terminate string
  1217. if(!comment_mode){
  1218. comment_mode = false; //for new command
  1219. if ((strchr_pointer = strstr(cmdbuffer+bufindw+1, "PRUSA")) == NULL && (strchr_pointer = strchr(cmdbuffer+bufindw+1, 'N')) != NULL) {
  1220. if ((strchr_pointer = strchr(cmdbuffer+bufindw+1, 'N')) != NULL)
  1221. {
  1222. // Line number met. When sending a G-code over a serial line, each line may be stamped with its index,
  1223. // and Marlin tests, whether the successive lines are stamped with an increasing line number ID.
  1224. gcode_N = (strtol(strchr_pointer+1, NULL, 10));
  1225. if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer+bufindw+1, PSTR("M110")) == NULL) ) {
  1226. // M110 - set current line number.
  1227. // Line numbers not sent in succession.
  1228. SERIAL_ERROR_START;
  1229. SERIAL_ERRORRPGM(MSG_ERR_LINE_NO);
  1230. SERIAL_ERRORLN(gcode_LastN);
  1231. //Serial.println(gcode_N);
  1232. FlushSerialRequestResend();
  1233. serial_count = 0;
  1234. return;
  1235. }
  1236. if((strchr_pointer = strchr(cmdbuffer+bufindw+1, '*')) != NULL)
  1237. {
  1238. byte checksum = 0;
  1239. char *p = cmdbuffer+bufindw+1;
  1240. while (p != strchr_pointer)
  1241. checksum = checksum^(*p++);
  1242. if (int(strtol(strchr_pointer+1, NULL, 10)) != int(checksum)) {
  1243. SERIAL_ERROR_START;
  1244. SERIAL_ERRORRPGM(MSG_ERR_CHECKSUM_MISMATCH);
  1245. SERIAL_ERRORLN(gcode_LastN);
  1246. FlushSerialRequestResend();
  1247. serial_count = 0;
  1248. return;
  1249. }
  1250. // If no errors, remove the checksum and continue parsing.
  1251. *strchr_pointer = 0;
  1252. }
  1253. else
  1254. {
  1255. SERIAL_ERROR_START;
  1256. SERIAL_ERRORRPGM(MSG_ERR_NO_CHECKSUM);
  1257. SERIAL_ERRORLN(gcode_LastN);
  1258. FlushSerialRequestResend();
  1259. serial_count = 0;
  1260. return;
  1261. }
  1262. gcode_LastN = gcode_N;
  1263. //if no errors, continue parsing
  1264. } // end of 'N' command
  1265. }
  1266. else // if we don't receive 'N' but still see '*'
  1267. {
  1268. if((strchr(cmdbuffer+bufindw+1, '*') != NULL))
  1269. {
  1270. SERIAL_ERROR_START;
  1271. SERIAL_ERRORRPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
  1272. SERIAL_ERRORLN(gcode_LastN);
  1273. serial_count = 0;
  1274. return;
  1275. }
  1276. } // end of '*' command
  1277. if ((strchr_pointer = strchr(cmdbuffer+bufindw+1, 'G')) != NULL) {
  1278. if (! IS_SD_PRINTING) {
  1279. usb_printing_counter = 10;
  1280. is_usb_printing = true;
  1281. }
  1282. if (Stopped == true) {
  1283. int gcode = strtol(strchr_pointer+1, NULL, 10);
  1284. if (gcode >= 0 && gcode <= 3) {
  1285. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  1286. LCD_MESSAGERPGM(MSG_STOPPED);
  1287. }
  1288. }
  1289. } // end of 'G' command
  1290. //If command was e-stop process now
  1291. if(strcmp(cmdbuffer+bufindw+1, "M112") == 0)
  1292. kill();
  1293. // Store the current line into buffer, move to the next line.
  1294. cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_USB;
  1295. #ifdef CMDBUFFER_DEBUG
  1296. SERIAL_ECHO_START;
  1297. SERIAL_ECHOPGM("Storing a command line to buffer: ");
  1298. SERIAL_ECHO(cmdbuffer+bufindw+1);
  1299. SERIAL_ECHOLNPGM("");
  1300. #endif /* CMDBUFFER_DEBUG */
  1301. bufindw += strlen(cmdbuffer+bufindw+1) + 2;
  1302. if (bufindw == sizeof(cmdbuffer))
  1303. bufindw = 0;
  1304. ++ buflen;
  1305. #ifdef CMDBUFFER_DEBUG
  1306. SERIAL_ECHOPGM("Number of commands in the buffer: ");
  1307. SERIAL_ECHO(buflen);
  1308. SERIAL_ECHOLNPGM("");
  1309. #endif /* CMDBUFFER_DEBUG */
  1310. } // end of 'not comment mode'
  1311. serial_count = 0; //clear buffer
  1312. // Don't call cmdqueue_could_enqueue_back if there are no characters waiting
  1313. // in the queue, as this function will reserve the memory.
  1314. if (MYSERIAL.available() == 0 || ! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1))
  1315. return;
  1316. } // end of "end of line" processing
  1317. else {
  1318. // Not an "end of line" symbol. Store the new character into a buffer.
  1319. if(serial_char == ';') comment_mode = true;
  1320. if(!comment_mode) cmdbuffer[bufindw+1+serial_count++] = serial_char;
  1321. }
  1322. } // end of serial line processing loop
  1323. if(farm_mode){
  1324. TimeNow = millis();
  1325. if ( ((TimeNow - TimeSent) > 800) && (serial_count > 0) ) {
  1326. cmdbuffer[bufindw+serial_count+1] = 0;
  1327. bufindw += strlen(cmdbuffer+bufindw+1) + 2;
  1328. if (bufindw == sizeof(cmdbuffer))
  1329. bufindw = 0;
  1330. ++ buflen;
  1331. serial_count = 0;
  1332. SERIAL_ECHOPGM("TIMEOUT:");
  1333. //memset(cmdbuffer, 0 , sizeof(cmdbuffer));
  1334. return;
  1335. }
  1336. }
  1337. //add comment
  1338. if (rx_buffer_full == true && serial_count > 0) { //if rx buffer was full and string was not properly terminated
  1339. rx_buffer_full = false;
  1340. bufindw = bufindw - serial_count; //adjust tail of the buffer to prepare buffer for writing new command
  1341. serial_count = 0;
  1342. }
  1343. #ifdef SDSUPPORT
  1344. if(!card.sdprinting || serial_count!=0){
  1345. // If there is a half filled buffer from serial line, wait until return before
  1346. // continuing with the serial line.
  1347. return;
  1348. }
  1349. //'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
  1350. // if it occurs, stop_buffering is triggered and the buffer is ran dry.
  1351. // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
  1352. static bool stop_buffering=false;
  1353. if(buflen==0) stop_buffering=false;
  1354. // Reads whole lines from the SD card. Never leaves a half-filled line in the cmdbuffer.
  1355. while( !card.eof() && !stop_buffering) {
  1356. int16_t n=card.get();
  1357. char serial_char = (char)n;
  1358. if(serial_char == '\n' ||
  1359. serial_char == '\r' ||
  1360. (serial_char == '#' && comment_mode == false) ||
  1361. (serial_char == ':' && comment_mode == false) ||
  1362. serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
  1363. {
  1364. if(card.eof()){
  1365. SERIAL_PROTOCOLLNRPGM(MSG_FILE_PRINTED);
  1366. stoptime=millis();
  1367. char time[30];
  1368. unsigned long t=(stoptime-starttime-pause_time)/1000;
  1369. pause_time = 0;
  1370. int hours, minutes;
  1371. minutes=(t/60)%60;
  1372. hours=t/60/60;
  1373. save_statistics(total_filament_used, t);
  1374. sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
  1375. SERIAL_ECHO_START;
  1376. SERIAL_ECHOLN(time);
  1377. lcd_setstatus(time);
  1378. card.printingHasFinished();
  1379. card.checkautostart(true);
  1380. if (farm_mode)
  1381. {
  1382. prusa_statistics(6);
  1383. lcd_commands_type = LCD_COMMAND_FARM_MODE_CONFIRM;
  1384. }
  1385. }
  1386. if(serial_char=='#')
  1387. stop_buffering=true;
  1388. if(!serial_count)
  1389. {
  1390. comment_mode = false; //for new command
  1391. return; //if empty line
  1392. }
  1393. cmdbuffer[bufindw+serial_count+1] = 0; //terminate string
  1394. cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_SDCARD;
  1395. ++ buflen;
  1396. bufindw += strlen(cmdbuffer+bufindw+1) + 2;
  1397. if (bufindw == sizeof(cmdbuffer))
  1398. bufindw = 0;
  1399. comment_mode = false; //for new command
  1400. serial_count = 0; //clear buffer
  1401. // The following line will reserve buffer space if available.
  1402. if (! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1))
  1403. return;
  1404. }
  1405. else
  1406. {
  1407. if(serial_char == ';') comment_mode = true;
  1408. if(!comment_mode) cmdbuffer[bufindw+1+serial_count++] = serial_char;
  1409. }
  1410. }
  1411. #endif //SDSUPPORT
  1412. }
  1413. // Return True if a character was found
  1414. static inline bool code_seen(char code) { return (strchr_pointer = strchr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
  1415. static inline bool code_seen(const char *code) { return (strchr_pointer = strstr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
  1416. static inline float code_value() { return strtod(strchr_pointer+1, NULL);}
  1417. static inline long code_value_long() { return strtol(strchr_pointer+1, NULL, 10); }
  1418. static inline int16_t code_value_short() { return int16_t(strtol(strchr_pointer+1, NULL, 10)); };
  1419. static inline uint8_t code_value_uint8() { return uint8_t(strtol(strchr_pointer+1, NULL, 10)); };
  1420. #define DEFINE_PGM_READ_ANY(type, reader) \
  1421. static inline type pgm_read_any(const type *p) \
  1422. { return pgm_read_##reader##_near(p); }
  1423. DEFINE_PGM_READ_ANY(float, float);
  1424. DEFINE_PGM_READ_ANY(signed char, byte);
  1425. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1426. static const PROGMEM type array##_P[3] = \
  1427. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1428. static inline type array(int axis) \
  1429. { return pgm_read_any(&array##_P[axis]); } \
  1430. type array##_ext(int axis) \
  1431. { return pgm_read_any(&array##_P[axis]); }
  1432. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1433. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1434. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1435. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1436. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1437. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1438. static void axis_is_at_home(int axis) {
  1439. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1440. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1441. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1442. }
  1443. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1444. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1445. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1446. saved_feedrate = feedrate;
  1447. saved_feedmultiply = feedmultiply;
  1448. feedmultiply = 100;
  1449. previous_millis_cmd = millis();
  1450. enable_endstops(enable_endstops_now);
  1451. }
  1452. static void clean_up_after_endstop_move() {
  1453. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1454. enable_endstops(false);
  1455. #endif
  1456. feedrate = saved_feedrate;
  1457. feedmultiply = saved_feedmultiply;
  1458. previous_millis_cmd = millis();
  1459. }
  1460. #ifdef ENABLE_AUTO_BED_LEVELING
  1461. #ifdef AUTO_BED_LEVELING_GRID
  1462. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1463. {
  1464. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1465. planeNormal.debug("planeNormal");
  1466. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1467. //bedLevel.debug("bedLevel");
  1468. //plan_bed_level_matrix.debug("bed level before");
  1469. //vector_3 uncorrected_position = plan_get_position_mm();
  1470. //uncorrected_position.debug("position before");
  1471. vector_3 corrected_position = plan_get_position();
  1472. // corrected_position.debug("position after");
  1473. current_position[X_AXIS] = corrected_position.x;
  1474. current_position[Y_AXIS] = corrected_position.y;
  1475. current_position[Z_AXIS] = corrected_position.z;
  1476. // put the bed at 0 so we don't go below it.
  1477. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1478. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1479. }
  1480. #else // not AUTO_BED_LEVELING_GRID
  1481. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1482. plan_bed_level_matrix.set_to_identity();
  1483. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1484. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1485. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1486. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1487. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1488. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1489. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1490. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1491. vector_3 corrected_position = plan_get_position();
  1492. current_position[X_AXIS] = corrected_position.x;
  1493. current_position[Y_AXIS] = corrected_position.y;
  1494. current_position[Z_AXIS] = corrected_position.z;
  1495. // put the bed at 0 so we don't go below it.
  1496. current_position[Z_AXIS] = zprobe_zoffset;
  1497. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1498. }
  1499. #endif // AUTO_BED_LEVELING_GRID
  1500. static void run_z_probe() {
  1501. plan_bed_level_matrix.set_to_identity();
  1502. feedrate = homing_feedrate[Z_AXIS];
  1503. // move down until you find the bed
  1504. float zPosition = -10;
  1505. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1506. st_synchronize();
  1507. // we have to let the planner know where we are right now as it is not where we said to go.
  1508. zPosition = st_get_position_mm(Z_AXIS);
  1509. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1510. // move up the retract distance
  1511. zPosition += home_retract_mm(Z_AXIS);
  1512. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1513. st_synchronize();
  1514. // move back down slowly to find bed
  1515. feedrate = homing_feedrate[Z_AXIS]/4;
  1516. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1517. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1518. st_synchronize();
  1519. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1520. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1521. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1522. }
  1523. static void do_blocking_move_to(float x, float y, float z) {
  1524. float oldFeedRate = feedrate;
  1525. feedrate = homing_feedrate[Z_AXIS];
  1526. current_position[Z_AXIS] = z;
  1527. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1528. st_synchronize();
  1529. feedrate = XY_TRAVEL_SPEED;
  1530. current_position[X_AXIS] = x;
  1531. current_position[Y_AXIS] = y;
  1532. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1533. st_synchronize();
  1534. feedrate = oldFeedRate;
  1535. }
  1536. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1537. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1538. }
  1539. /// Probe bed height at position (x,y), returns the measured z value
  1540. static float probe_pt(float x, float y, float z_before) {
  1541. // move to right place
  1542. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1543. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1544. run_z_probe();
  1545. float measured_z = current_position[Z_AXIS];
  1546. SERIAL_PROTOCOLRPGM(MSG_BED);
  1547. SERIAL_PROTOCOLPGM(" x: ");
  1548. SERIAL_PROTOCOL(x);
  1549. SERIAL_PROTOCOLPGM(" y: ");
  1550. SERIAL_PROTOCOL(y);
  1551. SERIAL_PROTOCOLPGM(" z: ");
  1552. SERIAL_PROTOCOL(measured_z);
  1553. SERIAL_PROTOCOLPGM("\n");
  1554. return measured_z;
  1555. }
  1556. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1557. /*
  1558. void homeaxis(int axis) {
  1559. #define HOMEAXIS_DO(LETTER) \
  1560. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1561. if (axis==X_AXIS ? HOMEAXIS_DO(X) :
  1562. axis==Y_AXIS ? HOMEAXIS_DO(Y) :
  1563. axis==Z_AXIS ? HOMEAXIS_DO(Z) :
  1564. 0) {
  1565. int axis_home_dir = home_dir(axis);
  1566. #ifdef HAVE_TMC2130_DRIVERS
  1567. if ((axis == X_AXIS) || (axis == Y_AXIS))
  1568. tmc2130_home_enter(axis);
  1569. #endif //HAVE_TMC2130_DRIVERS
  1570. current_position[axis] = 0;
  1571. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1572. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1573. feedrate = homing_feedrate[axis];
  1574. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1575. st_synchronize();
  1576. current_position[axis] = 0;
  1577. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1578. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1579. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1580. st_synchronize();
  1581. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1582. // feedrate = homing_feedrate[axis]/2 ;
  1583. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1584. st_synchronize();
  1585. axis_is_at_home(axis);
  1586. destination[axis] = current_position[axis];
  1587. feedrate = 0.0;
  1588. endstops_hit_on_purpose();
  1589. axis_known_position[axis] = true;
  1590. #ifdef HAVE_TMC2130_DRIVERS
  1591. if ((axis == X_AXIS) || (axis == Y_AXIS))
  1592. tmc2130_home_exit();
  1593. #endif //HAVE_TMC2130_DRIVERS
  1594. }
  1595. }
  1596. /**/
  1597. void homeaxis(int axis) {
  1598. #define HOMEAXIS_DO(LETTER) \
  1599. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1600. if (axis==X_AXIS ? HOMEAXIS_DO(X) :
  1601. axis==Y_AXIS ? HOMEAXIS_DO(Y) :
  1602. 0) {
  1603. int axis_home_dir = home_dir(axis);
  1604. #ifdef HAVE_TMC2130_DRIVERS
  1605. tmc2130_home_enter(axis);
  1606. #endif
  1607. current_position[axis] = 0;
  1608. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1609. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1610. feedrate = homing_feedrate[axis];
  1611. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1612. // sg_homing_delay = 0;
  1613. st_synchronize();
  1614. current_position[axis] = 0;
  1615. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1616. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1617. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1618. // sg_homing_delay = 0;
  1619. st_synchronize();
  1620. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1621. #ifdef HAVE_TMC2130_DRIVERS
  1622. if (tmc2130_didLastHomingStall())
  1623. feedrate = homing_feedrate[axis];
  1624. else
  1625. #endif
  1626. feedrate = homing_feedrate[axis] / 2;
  1627. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1628. // sg_homing_delay = 0;
  1629. st_synchronize();
  1630. axis_is_at_home(axis);
  1631. destination[axis] = current_position[axis];
  1632. feedrate = 0.0;
  1633. endstops_hit_on_purpose();
  1634. axis_known_position[axis] = true;
  1635. #ifdef HAVE_TMC2130_DRIVERS
  1636. tmc2130_home_exit();
  1637. #endif
  1638. }
  1639. else if (axis==Z_AXIS ? HOMEAXIS_DO(Z) :
  1640. 0) {
  1641. int axis_home_dir = home_dir(axis);
  1642. current_position[axis] = 0;
  1643. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1644. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1645. feedrate = homing_feedrate[axis];
  1646. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1647. st_synchronize();
  1648. current_position[axis] = 0;
  1649. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1650. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1651. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1652. st_synchronize();
  1653. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1654. feedrate = homing_feedrate[axis]/2 ;
  1655. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1656. st_synchronize();
  1657. axis_is_at_home(axis);
  1658. destination[axis] = current_position[axis];
  1659. feedrate = 0.0;
  1660. endstops_hit_on_purpose();
  1661. axis_known_position[axis] = true;
  1662. }
  1663. }
  1664. /**/
  1665. void home_xy()
  1666. {
  1667. set_destination_to_current();
  1668. homeaxis(X_AXIS);
  1669. homeaxis(Y_AXIS);
  1670. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1671. endstops_hit_on_purpose();
  1672. }
  1673. void refresh_cmd_timeout(void)
  1674. {
  1675. previous_millis_cmd = millis();
  1676. }
  1677. #ifdef FWRETRACT
  1678. void retract(bool retracting, bool swapretract = false) {
  1679. if(retracting && !retracted[active_extruder]) {
  1680. destination[X_AXIS]=current_position[X_AXIS];
  1681. destination[Y_AXIS]=current_position[Y_AXIS];
  1682. destination[Z_AXIS]=current_position[Z_AXIS];
  1683. destination[E_AXIS]=current_position[E_AXIS];
  1684. if (swapretract) {
  1685. current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
  1686. } else {
  1687. current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
  1688. }
  1689. plan_set_e_position(current_position[E_AXIS]);
  1690. float oldFeedrate = feedrate;
  1691. feedrate=retract_feedrate*60;
  1692. retracted[active_extruder]=true;
  1693. prepare_move();
  1694. current_position[Z_AXIS]-=retract_zlift;
  1695. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1696. prepare_move();
  1697. feedrate = oldFeedrate;
  1698. } else if(!retracting && retracted[active_extruder]) {
  1699. destination[X_AXIS]=current_position[X_AXIS];
  1700. destination[Y_AXIS]=current_position[Y_AXIS];
  1701. destination[Z_AXIS]=current_position[Z_AXIS];
  1702. destination[E_AXIS]=current_position[E_AXIS];
  1703. current_position[Z_AXIS]+=retract_zlift;
  1704. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1705. //prepare_move();
  1706. if (swapretract) {
  1707. current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
  1708. } else {
  1709. current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
  1710. }
  1711. plan_set_e_position(current_position[E_AXIS]);
  1712. float oldFeedrate = feedrate;
  1713. feedrate=retract_recover_feedrate*60;
  1714. retracted[active_extruder]=false;
  1715. prepare_move();
  1716. feedrate = oldFeedrate;
  1717. }
  1718. } //retract
  1719. #endif //FWRETRACT
  1720. void trace() {
  1721. tone(BEEPER, 440);
  1722. delay(25);
  1723. noTone(BEEPER);
  1724. delay(20);
  1725. }
  1726. /*
  1727. void ramming() {
  1728. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  1729. if (current_temperature[0] < 230) {
  1730. //PLA
  1731. max_feedrate[E_AXIS] = 50;
  1732. //current_position[E_AXIS] -= 8;
  1733. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1734. //current_position[E_AXIS] += 8;
  1735. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1736. current_position[E_AXIS] += 5.4;
  1737. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  1738. current_position[E_AXIS] += 3.2;
  1739. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1740. current_position[E_AXIS] += 3;
  1741. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  1742. st_synchronize();
  1743. max_feedrate[E_AXIS] = 80;
  1744. current_position[E_AXIS] -= 82;
  1745. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  1746. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1747. current_position[E_AXIS] -= 20;
  1748. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  1749. current_position[E_AXIS] += 5;
  1750. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1751. current_position[E_AXIS] += 5;
  1752. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1753. current_position[E_AXIS] -= 10;
  1754. st_synchronize();
  1755. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1756. current_position[E_AXIS] += 10;
  1757. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1758. current_position[E_AXIS] -= 10;
  1759. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1760. current_position[E_AXIS] += 10;
  1761. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1762. current_position[E_AXIS] -= 10;
  1763. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1764. st_synchronize();
  1765. }
  1766. else {
  1767. //ABS
  1768. max_feedrate[E_AXIS] = 50;
  1769. //current_position[E_AXIS] -= 8;
  1770. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1771. //current_position[E_AXIS] += 8;
  1772. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1773. current_position[E_AXIS] += 3.1;
  1774. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  1775. current_position[E_AXIS] += 3.1;
  1776. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  1777. current_position[E_AXIS] += 4;
  1778. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1779. st_synchronize();
  1780. //current_position[X_AXIS] += 23; //delay
  1781. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1782. //current_position[X_AXIS] -= 23; //delay
  1783. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1784. delay(4700);
  1785. max_feedrate[E_AXIS] = 80;
  1786. current_position[E_AXIS] -= 92;
  1787. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  1788. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1789. current_position[E_AXIS] -= 5;
  1790. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1791. current_position[E_AXIS] += 5;
  1792. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1793. current_position[E_AXIS] -= 5;
  1794. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1795. st_synchronize();
  1796. current_position[E_AXIS] += 5;
  1797. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1798. current_position[E_AXIS] -= 5;
  1799. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1800. current_position[E_AXIS] += 5;
  1801. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1802. current_position[E_AXIS] -= 5;
  1803. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1804. st_synchronize();
  1805. }
  1806. }
  1807. */
  1808. void process_commands()
  1809. {
  1810. #ifdef FILAMENT_RUNOUT_SUPPORT
  1811. SET_INPUT(FR_SENS);
  1812. #endif
  1813. #ifdef CMDBUFFER_DEBUG
  1814. SERIAL_ECHOPGM("Processing a GCODE command: ");
  1815. SERIAL_ECHO(cmdbuffer+bufindr+1);
  1816. SERIAL_ECHOLNPGM("");
  1817. SERIAL_ECHOPGM("In cmdqueue: ");
  1818. SERIAL_ECHO(buflen);
  1819. SERIAL_ECHOLNPGM("");
  1820. #endif /* CMDBUFFER_DEBUG */
  1821. unsigned long codenum; //throw away variable
  1822. char *starpos = NULL;
  1823. #ifdef ENABLE_AUTO_BED_LEVELING
  1824. float x_tmp, y_tmp, z_tmp, real_z;
  1825. #endif
  1826. // PRUSA GCODES
  1827. #ifdef SNMM
  1828. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  1829. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  1830. int8_t SilentMode;
  1831. #endif
  1832. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  1833. starpos = (strchr(strchr_pointer + 5, '*'));
  1834. if (starpos != NULL)
  1835. *(starpos) = '\0';
  1836. lcd_setstatus(strchr_pointer + 5);
  1837. }
  1838. else if(code_seen("PRUSA")){
  1839. if (code_seen("Ping")) { //PRUSA Ping
  1840. if (farm_mode) {
  1841. PingTime = millis();
  1842. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  1843. }
  1844. }
  1845. else if (code_seen("PRN")) {
  1846. MYSERIAL.println(status_number);
  1847. }else if (code_seen("fn")) {
  1848. if (farm_mode) {
  1849. MYSERIAL.println(farm_no);
  1850. }
  1851. else {
  1852. MYSERIAL.println("Not in farm mode.");
  1853. }
  1854. }else if (code_seen("fv")) {
  1855. // get file version
  1856. #ifdef SDSUPPORT
  1857. card.openFile(strchr_pointer + 3,true);
  1858. while (true) {
  1859. uint16_t readByte = card.get();
  1860. MYSERIAL.write(readByte);
  1861. if (readByte=='\n') {
  1862. break;
  1863. }
  1864. }
  1865. card.closefile();
  1866. #endif // SDSUPPORT
  1867. } else if (code_seen("M28")) {
  1868. trace();
  1869. prusa_sd_card_upload = true;
  1870. card.openFile(strchr_pointer+4,false);
  1871. } else if(code_seen("Fir")){
  1872. SERIAL_PROTOCOLLN(FW_version);
  1873. } else if(code_seen("Rev")){
  1874. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  1875. } else if(code_seen("Lang")) {
  1876. lcd_force_language_selection();
  1877. } else if(code_seen("Lz")) {
  1878. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  1879. } else if (code_seen("SERIAL LOW")) {
  1880. MYSERIAL.println("SERIAL LOW");
  1881. MYSERIAL.begin(BAUDRATE);
  1882. return;
  1883. } else if (code_seen("SERIAL HIGH")) {
  1884. MYSERIAL.println("SERIAL HIGH");
  1885. MYSERIAL.begin(1152000);
  1886. return;
  1887. } else if(code_seen("Beat")) {
  1888. // Kick farm link timer
  1889. kicktime = millis();
  1890. } else if(code_seen("FR")) {
  1891. // Factory full reset
  1892. factory_reset(0,true);
  1893. }
  1894. //else if (code_seen('Cal')) {
  1895. // lcd_calibration();
  1896. // }
  1897. }
  1898. else if (code_seen('^')) {
  1899. // nothing, this is a version line
  1900. } else if(code_seen('G'))
  1901. {
  1902. switch((int)code_value())
  1903. {
  1904. case 0: // G0 -> G1
  1905. case 1: // G1
  1906. if(Stopped == false) {
  1907. #ifdef FILAMENT_RUNOUT_SUPPORT
  1908. if(READ(FR_SENS)){
  1909. feedmultiplyBckp=feedmultiply;
  1910. float target[4];
  1911. float lastpos[4];
  1912. target[X_AXIS]=current_position[X_AXIS];
  1913. target[Y_AXIS]=current_position[Y_AXIS];
  1914. target[Z_AXIS]=current_position[Z_AXIS];
  1915. target[E_AXIS]=current_position[E_AXIS];
  1916. lastpos[X_AXIS]=current_position[X_AXIS];
  1917. lastpos[Y_AXIS]=current_position[Y_AXIS];
  1918. lastpos[Z_AXIS]=current_position[Z_AXIS];
  1919. lastpos[E_AXIS]=current_position[E_AXIS];
  1920. //retract by E
  1921. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  1922. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  1923. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  1924. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  1925. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  1926. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  1927. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  1928. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  1929. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  1930. //finish moves
  1931. st_synchronize();
  1932. //disable extruder steppers so filament can be removed
  1933. disable_e0();
  1934. disable_e1();
  1935. disable_e2();
  1936. delay(100);
  1937. //LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
  1938. uint8_t cnt=0;
  1939. int counterBeep = 0;
  1940. lcd_wait_interact();
  1941. while(!lcd_clicked()){
  1942. cnt++;
  1943. manage_heater();
  1944. manage_inactivity(true);
  1945. //lcd_update();
  1946. if(cnt==0)
  1947. {
  1948. #if BEEPER > 0
  1949. if (counterBeep== 500){
  1950. counterBeep = 0;
  1951. }
  1952. SET_OUTPUT(BEEPER);
  1953. if (counterBeep== 0){
  1954. WRITE(BEEPER,HIGH);
  1955. }
  1956. if (counterBeep== 20){
  1957. WRITE(BEEPER,LOW);
  1958. }
  1959. counterBeep++;
  1960. #else
  1961. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  1962. lcd_buzz(1000/6,100);
  1963. #else
  1964. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
  1965. #endif
  1966. #endif
  1967. }
  1968. }
  1969. WRITE(BEEPER,LOW);
  1970. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  1971. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  1972. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  1973. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  1974. lcd_change_fil_state = 0;
  1975. lcd_loading_filament();
  1976. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  1977. lcd_change_fil_state = 0;
  1978. lcd_alright();
  1979. switch(lcd_change_fil_state){
  1980. case 2:
  1981. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  1982. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  1983. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  1984. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  1985. lcd_loading_filament();
  1986. break;
  1987. case 3:
  1988. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  1989. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  1990. lcd_loading_color();
  1991. break;
  1992. default:
  1993. lcd_change_success();
  1994. break;
  1995. }
  1996. }
  1997. target[E_AXIS]+= 5;
  1998. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  1999. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  2000. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2001. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  2002. //plan_set_e_position(current_position[E_AXIS]);
  2003. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  2004. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  2005. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  2006. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  2007. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  2008. plan_set_e_position(lastpos[E_AXIS]);
  2009. feedmultiply=feedmultiplyBckp;
  2010. char cmd[9];
  2011. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2012. enquecommand(cmd);
  2013. }
  2014. #endif
  2015. get_coordinates(); // For X Y Z E F
  2016. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  2017. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  2018. }
  2019. #ifdef FWRETRACT
  2020. if(autoretract_enabled)
  2021. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2022. float echange=destination[E_AXIS]-current_position[E_AXIS];
  2023. if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
  2024. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  2025. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  2026. retract(!retracted);
  2027. return;
  2028. }
  2029. }
  2030. #endif //FWRETRACT
  2031. prepare_move();
  2032. //ClearToSend();
  2033. }
  2034. break;
  2035. case 2: // G2 - CW ARC
  2036. if(Stopped == false) {
  2037. get_arc_coordinates();
  2038. prepare_arc_move(true);
  2039. }
  2040. break;
  2041. case 3: // G3 - CCW ARC
  2042. if(Stopped == false) {
  2043. get_arc_coordinates();
  2044. prepare_arc_move(false);
  2045. }
  2046. break;
  2047. case 4: // G4 dwell
  2048. codenum = 0;
  2049. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  2050. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  2051. if(codenum != 0) LCD_MESSAGERPGM(MSG_DWELL);
  2052. st_synchronize();
  2053. codenum += millis(); // keep track of when we started waiting
  2054. previous_millis_cmd = millis();
  2055. while(millis() < codenum) {
  2056. manage_heater();
  2057. manage_inactivity();
  2058. lcd_update();
  2059. }
  2060. break;
  2061. #ifdef FWRETRACT
  2062. case 10: // G10 retract
  2063. #if EXTRUDERS > 1
  2064. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  2065. retract(true,retracted_swap[active_extruder]);
  2066. #else
  2067. retract(true);
  2068. #endif
  2069. break;
  2070. case 11: // G11 retract_recover
  2071. #if EXTRUDERS > 1
  2072. retract(false,retracted_swap[active_extruder]);
  2073. #else
  2074. retract(false);
  2075. #endif
  2076. break;
  2077. #endif //FWRETRACT
  2078. case 28: //G28 Home all Axis one at a time
  2079. homing_flag = true;
  2080. #ifdef ENABLE_AUTO_BED_LEVELING
  2081. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2082. #endif //ENABLE_AUTO_BED_LEVELING
  2083. // For mesh bed leveling deactivate the matrix temporarily
  2084. #ifdef MESH_BED_LEVELING
  2085. mbl.active = 0;
  2086. #endif
  2087. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2088. // the planner will not perform any adjustments in the XY plane.
  2089. // Wait for the motors to stop and update the current position with the absolute values.
  2090. world2machine_revert_to_uncorrected();
  2091. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2092. // consumed during the first movements following this statement.
  2093. babystep_undo();
  2094. saved_feedrate = feedrate;
  2095. saved_feedmultiply = feedmultiply;
  2096. feedmultiply = 100;
  2097. previous_millis_cmd = millis();
  2098. enable_endstops(true);
  2099. for(int8_t i=0; i < NUM_AXIS; i++)
  2100. destination[i] = current_position[i];
  2101. feedrate = 0.0;
  2102. home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
  2103. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2104. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  2105. homeaxis(Z_AXIS);
  2106. }
  2107. #endif
  2108. #ifdef QUICK_HOME
  2109. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2110. if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
  2111. {
  2112. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2113. int x_axis_home_dir = home_dir(X_AXIS);
  2114. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2115. 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);
  2116. feedrate = homing_feedrate[X_AXIS];
  2117. if(homing_feedrate[Y_AXIS]<feedrate)
  2118. feedrate = homing_feedrate[Y_AXIS];
  2119. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2120. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2121. } else {
  2122. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2123. }
  2124. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2125. st_synchronize();
  2126. axis_is_at_home(X_AXIS);
  2127. axis_is_at_home(Y_AXIS);
  2128. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2129. destination[X_AXIS] = current_position[X_AXIS];
  2130. destination[Y_AXIS] = current_position[Y_AXIS];
  2131. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2132. feedrate = 0.0;
  2133. st_synchronize();
  2134. endstops_hit_on_purpose();
  2135. current_position[X_AXIS] = destination[X_AXIS];
  2136. current_position[Y_AXIS] = destination[Y_AXIS];
  2137. current_position[Z_AXIS] = destination[Z_AXIS];
  2138. }
  2139. #endif /* QUICK_HOME */
  2140. if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
  2141. homeaxis(X_AXIS);
  2142. if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
  2143. homeaxis(Y_AXIS);
  2144. if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
  2145. current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
  2146. if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
  2147. current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
  2148. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2149. #ifndef Z_SAFE_HOMING
  2150. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  2151. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2152. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2153. feedrate = max_feedrate[Z_AXIS];
  2154. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2155. st_synchronize();
  2156. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2157. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
  2158. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2159. {
  2160. homeaxis(X_AXIS);
  2161. homeaxis(Y_AXIS);
  2162. }
  2163. // 1st mesh bed leveling measurement point, corrected.
  2164. world2machine_initialize();
  2165. world2machine(pgm_read_float(bed_ref_points), pgm_read_float(bed_ref_points+1), destination[X_AXIS], destination[Y_AXIS]);
  2166. world2machine_reset();
  2167. if (destination[Y_AXIS] < Y_MIN_POS)
  2168. destination[Y_AXIS] = Y_MIN_POS;
  2169. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2170. feedrate = homing_feedrate[Z_AXIS]/10;
  2171. current_position[Z_AXIS] = 0;
  2172. enable_endstops(false);
  2173. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2174. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2175. st_synchronize();
  2176. current_position[X_AXIS] = destination[X_AXIS];
  2177. current_position[Y_AXIS] = destination[Y_AXIS];
  2178. enable_endstops(true);
  2179. endstops_hit_on_purpose();
  2180. homeaxis(Z_AXIS);
  2181. #else // MESH_BED_LEVELING
  2182. homeaxis(Z_AXIS);
  2183. #endif // MESH_BED_LEVELING
  2184. }
  2185. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2186. if(home_all_axis) {
  2187. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2188. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2189. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2190. feedrate = XY_TRAVEL_SPEED/60;
  2191. current_position[Z_AXIS] = 0;
  2192. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2193. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2194. st_synchronize();
  2195. current_position[X_AXIS] = destination[X_AXIS];
  2196. current_position[Y_AXIS] = destination[Y_AXIS];
  2197. homeaxis(Z_AXIS);
  2198. }
  2199. // Let's see if X and Y are homed and probe is inside bed area.
  2200. if(code_seen(axis_codes[Z_AXIS])) {
  2201. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2202. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2203. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2204. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2205. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2206. current_position[Z_AXIS] = 0;
  2207. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2208. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2209. feedrate = max_feedrate[Z_AXIS];
  2210. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2211. st_synchronize();
  2212. homeaxis(Z_AXIS);
  2213. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2214. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2215. SERIAL_ECHO_START;
  2216. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2217. } else {
  2218. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2219. SERIAL_ECHO_START;
  2220. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2221. }
  2222. }
  2223. #endif // Z_SAFE_HOMING
  2224. #endif // Z_HOME_DIR < 0
  2225. if(code_seen(axis_codes[Z_AXIS])) {
  2226. if(code_value_long() != 0) {
  2227. current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
  2228. }
  2229. }
  2230. #ifdef ENABLE_AUTO_BED_LEVELING
  2231. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  2232. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2233. }
  2234. #endif
  2235. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2236. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2237. enable_endstops(false);
  2238. #endif
  2239. feedrate = saved_feedrate;
  2240. feedmultiply = saved_feedmultiply;
  2241. previous_millis_cmd = millis();
  2242. endstops_hit_on_purpose();
  2243. #ifndef MESH_BED_LEVELING
  2244. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2245. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2246. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2247. lcd_adjust_z();
  2248. #endif
  2249. // Load the machine correction matrix
  2250. world2machine_initialize();
  2251. // and correct the current_position to match the transformed coordinate system.
  2252. world2machine_update_current();
  2253. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2254. if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
  2255. {
  2256. }
  2257. else
  2258. {
  2259. st_synchronize();
  2260. homing_flag = false;
  2261. // Push the commands to the front of the message queue in the reverse order!
  2262. // There shall be always enough space reserved for these commands.
  2263. // enquecommand_front_P((PSTR("G80")));
  2264. goto case_G80;
  2265. }
  2266. #endif
  2267. if (farm_mode) { prusa_statistics(20); };
  2268. homing_flag = false;
  2269. break;
  2270. #ifdef ENABLE_AUTO_BED_LEVELING
  2271. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  2272. {
  2273. #if Z_MIN_PIN == -1
  2274. #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."
  2275. #endif
  2276. // Prevent user from running a G29 without first homing in X and Y
  2277. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  2278. {
  2279. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2280. SERIAL_ECHO_START;
  2281. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2282. break; // abort G29, since we don't know where we are
  2283. }
  2284. st_synchronize();
  2285. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  2286. //vector_3 corrected_position = plan_get_position_mm();
  2287. //corrected_position.debug("position before G29");
  2288. plan_bed_level_matrix.set_to_identity();
  2289. vector_3 uncorrected_position = plan_get_position();
  2290. //uncorrected_position.debug("position durring G29");
  2291. current_position[X_AXIS] = uncorrected_position.x;
  2292. current_position[Y_AXIS] = uncorrected_position.y;
  2293. current_position[Z_AXIS] = uncorrected_position.z;
  2294. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2295. setup_for_endstop_move();
  2296. feedrate = homing_feedrate[Z_AXIS];
  2297. #ifdef AUTO_BED_LEVELING_GRID
  2298. // probe at the points of a lattice grid
  2299. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2300. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2301. // solve the plane equation ax + by + d = z
  2302. // A is the matrix with rows [x y 1] for all the probed points
  2303. // B is the vector of the Z positions
  2304. // 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
  2305. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  2306. // "A" matrix of the linear system of equations
  2307. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  2308. // "B" vector of Z points
  2309. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  2310. int probePointCounter = 0;
  2311. bool zig = true;
  2312. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  2313. {
  2314. int xProbe, xInc;
  2315. if (zig)
  2316. {
  2317. xProbe = LEFT_PROBE_BED_POSITION;
  2318. //xEnd = RIGHT_PROBE_BED_POSITION;
  2319. xInc = xGridSpacing;
  2320. zig = false;
  2321. } else // zag
  2322. {
  2323. xProbe = RIGHT_PROBE_BED_POSITION;
  2324. //xEnd = LEFT_PROBE_BED_POSITION;
  2325. xInc = -xGridSpacing;
  2326. zig = true;
  2327. }
  2328. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  2329. {
  2330. float z_before;
  2331. if (probePointCounter == 0)
  2332. {
  2333. // raise before probing
  2334. z_before = Z_RAISE_BEFORE_PROBING;
  2335. } else
  2336. {
  2337. // raise extruder
  2338. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  2339. }
  2340. float measured_z = probe_pt(xProbe, yProbe, z_before);
  2341. eqnBVector[probePointCounter] = measured_z;
  2342. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  2343. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  2344. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  2345. probePointCounter++;
  2346. xProbe += xInc;
  2347. }
  2348. }
  2349. clean_up_after_endstop_move();
  2350. // solve lsq problem
  2351. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  2352. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  2353. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  2354. SERIAL_PROTOCOLPGM(" b: ");
  2355. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  2356. SERIAL_PROTOCOLPGM(" d: ");
  2357. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  2358. set_bed_level_equation_lsq(plane_equation_coefficients);
  2359. free(plane_equation_coefficients);
  2360. #else // AUTO_BED_LEVELING_GRID not defined
  2361. // Probe at 3 arbitrary points
  2362. // probe 1
  2363. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  2364. // probe 2
  2365. 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);
  2366. // probe 3
  2367. 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);
  2368. clean_up_after_endstop_move();
  2369. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  2370. #endif // AUTO_BED_LEVELING_GRID
  2371. st_synchronize();
  2372. // The following code correct the Z height difference from z-probe position and hotend tip position.
  2373. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  2374. // When the bed is uneven, this height must be corrected.
  2375. 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)
  2376. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  2377. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  2378. z_tmp = current_position[Z_AXIS];
  2379. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  2380. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  2381. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2382. }
  2383. break;
  2384. #ifndef Z_PROBE_SLED
  2385. case 30: // G30 Single Z Probe
  2386. {
  2387. st_synchronize();
  2388. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2389. setup_for_endstop_move();
  2390. feedrate = homing_feedrate[Z_AXIS];
  2391. run_z_probe();
  2392. SERIAL_PROTOCOLPGM(MSG_BED);
  2393. SERIAL_PROTOCOLPGM(" X: ");
  2394. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2395. SERIAL_PROTOCOLPGM(" Y: ");
  2396. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2397. SERIAL_PROTOCOLPGM(" Z: ");
  2398. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2399. SERIAL_PROTOCOLPGM("\n");
  2400. clean_up_after_endstop_move();
  2401. }
  2402. break;
  2403. #else
  2404. case 31: // dock the sled
  2405. dock_sled(true);
  2406. break;
  2407. case 32: // undock the sled
  2408. dock_sled(false);
  2409. break;
  2410. #endif // Z_PROBE_SLED
  2411. #endif // ENABLE_AUTO_BED_LEVELING
  2412. #ifdef MESH_BED_LEVELING
  2413. case 30: // G30 Single Z Probe
  2414. {
  2415. st_synchronize();
  2416. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2417. setup_for_endstop_move();
  2418. feedrate = homing_feedrate[Z_AXIS];
  2419. find_bed_induction_sensor_point_z(-10.f, 3);
  2420. SERIAL_PROTOCOLRPGM(MSG_BED);
  2421. SERIAL_PROTOCOLPGM(" X: ");
  2422. MYSERIAL.print(current_position[X_AXIS], 5);
  2423. SERIAL_PROTOCOLPGM(" Y: ");
  2424. MYSERIAL.print(current_position[Y_AXIS], 5);
  2425. SERIAL_PROTOCOLPGM(" Z: ");
  2426. MYSERIAL.print(current_position[Z_AXIS], 5);
  2427. SERIAL_PROTOCOLPGM("\n");
  2428. clean_up_after_endstop_move();
  2429. }
  2430. break;
  2431. case 75:
  2432. {
  2433. for (int i = 40; i <= 110; i++) {
  2434. MYSERIAL.print(i);
  2435. MYSERIAL.print(" ");
  2436. MYSERIAL.println(temp_comp_interpolation(i));// / axis_steps_per_unit[Z_AXIS]);
  2437. }
  2438. }
  2439. break;
  2440. case 76: //PINDA probe temperature calibration
  2441. {
  2442. setTargetBed(PINDA_MIN_T);
  2443. float zero_z;
  2444. int z_shift = 0; //unit: steps
  2445. int t_c; // temperature
  2446. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2447. // We don't know where we are! HOME!
  2448. // Push the commands to the front of the message queue in the reverse order!
  2449. // There shall be always enough space reserved for these commands.
  2450. repeatcommand_front(); // repeat G76 with all its parameters
  2451. enquecommand_front_P((PSTR("G28 W0")));
  2452. break;
  2453. }
  2454. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  2455. custom_message = true;
  2456. custom_message_type = 4;
  2457. custom_message_state = 1;
  2458. custom_message = MSG_TEMP_CALIBRATION;
  2459. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2460. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2461. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2462. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2463. st_synchronize();
  2464. while (abs(degBed() - PINDA_MIN_T) > 1) {
  2465. delay_keep_alive(1000);
  2466. serialecho_temperatures();
  2467. }
  2468. //enquecommand_P(PSTR("M190 S50"));
  2469. for (int i = 0; i < PINDA_HEAT_T; i++) {
  2470. delay_keep_alive(1000);
  2471. serialecho_temperatures();
  2472. }
  2473. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  2474. current_position[Z_AXIS] = 5;
  2475. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2476. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2477. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2478. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2479. st_synchronize();
  2480. find_bed_induction_sensor_point_z(-1.f);
  2481. zero_z = current_position[Z_AXIS];
  2482. //current_position[Z_AXIS]
  2483. SERIAL_ECHOLNPGM("");
  2484. SERIAL_ECHOPGM("ZERO: ");
  2485. MYSERIAL.print(current_position[Z_AXIS]);
  2486. SERIAL_ECHOLNPGM("");
  2487. for (int i = 0; i<5; i++) {
  2488. SERIAL_ECHOPGM("Step: ");
  2489. MYSERIAL.print(i+2);
  2490. SERIAL_ECHOLNPGM("/6");
  2491. custom_message_state = i + 2;
  2492. t_c = 60 + i * 10;
  2493. setTargetBed(t_c);
  2494. current_position[X_AXIS] = PINDA_PREHEAT_X;
  2495. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  2496. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  2497. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2498. st_synchronize();
  2499. while (degBed() < t_c) {
  2500. delay_keep_alive(1000);
  2501. serialecho_temperatures();
  2502. }
  2503. for (int i = 0; i < PINDA_HEAT_T; i++) {
  2504. delay_keep_alive(1000);
  2505. serialecho_temperatures();
  2506. }
  2507. current_position[Z_AXIS] = 5;
  2508. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2509. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2510. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2511. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2512. st_synchronize();
  2513. find_bed_induction_sensor_point_z(-1.f);
  2514. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  2515. SERIAL_ECHOLNPGM("");
  2516. SERIAL_ECHOPGM("Temperature: ");
  2517. MYSERIAL.print(t_c);
  2518. SERIAL_ECHOPGM(" Z shift (mm):");
  2519. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  2520. SERIAL_ECHOLNPGM("");
  2521. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  2522. }
  2523. custom_message_type = 0;
  2524. custom_message = false;
  2525. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  2526. SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
  2527. disable_x();
  2528. disable_y();
  2529. disable_z();
  2530. disable_e0();
  2531. disable_e1();
  2532. disable_e2();
  2533. setTargetBed(0); //set bed target temperature back to 0
  2534. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
  2535. lcd_update_enable(true);
  2536. lcd_update(2);
  2537. }
  2538. break;
  2539. #ifdef DIS
  2540. case 77:
  2541. {
  2542. //G77 X200 Y150 XP100 YP15 XO10 Y015
  2543. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  2544. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  2545. float dimension_x = 40;
  2546. float dimension_y = 40;
  2547. int points_x = 40;
  2548. int points_y = 40;
  2549. float offset_x = 74;
  2550. float offset_y = 33;
  2551. if (code_seen('X')) dimension_x = code_value();
  2552. if (code_seen('Y')) dimension_y = code_value();
  2553. if (code_seen('XP')) points_x = code_value();
  2554. if (code_seen('YP')) points_y = code_value();
  2555. if (code_seen('XO')) offset_x = code_value();
  2556. if (code_seen('YO')) offset_y = code_value();
  2557. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  2558. } break;
  2559. #endif
  2560. /**
  2561. * G80: Mesh-based Z probe, probes a grid and produces a
  2562. * mesh to compensate for variable bed height
  2563. *
  2564. * The S0 report the points as below
  2565. *
  2566. * +----> X-axis
  2567. * |
  2568. * |
  2569. * v Y-axis
  2570. *
  2571. */
  2572. case 80:
  2573. #ifdef MK1BP
  2574. break;
  2575. #endif //MK1BP
  2576. case_G80:
  2577. {
  2578. mesh_bed_leveling_flag = true;
  2579. int8_t verbosity_level = 0;
  2580. static bool run = false;
  2581. if (code_seen('V')) {
  2582. // Just 'V' without a number counts as V1.
  2583. char c = strchr_pointer[1];
  2584. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2585. }
  2586. // Firstly check if we know where we are
  2587. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2588. // We don't know where we are! HOME!
  2589. // Push the commands to the front of the message queue in the reverse order!
  2590. // There shall be always enough space reserved for these commands.
  2591. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  2592. repeatcommand_front(); // repeat G80 with all its parameters
  2593. enquecommand_front_P((PSTR("G28 W0")));
  2594. }
  2595. else {
  2596. mesh_bed_leveling_flag = false;
  2597. }
  2598. break;
  2599. }
  2600. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  2601. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  2602. temp_compensation_start();
  2603. run = true;
  2604. repeatcommand_front(); // repeat G80 with all its parameters
  2605. enquecommand_front_P((PSTR("G28 W0")));
  2606. }
  2607. else {
  2608. mesh_bed_leveling_flag = false;
  2609. }
  2610. break;
  2611. }
  2612. run = false;
  2613. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  2614. mesh_bed_leveling_flag = false;
  2615. break;
  2616. }
  2617. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  2618. bool custom_message_old = custom_message;
  2619. unsigned int custom_message_type_old = custom_message_type;
  2620. unsigned int custom_message_state_old = custom_message_state;
  2621. custom_message = true;
  2622. custom_message_type = 1;
  2623. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  2624. lcd_update(1);
  2625. mbl.reset(); //reset mesh bed leveling
  2626. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2627. // consumed during the first movements following this statement.
  2628. babystep_undo();
  2629. // Cycle through all points and probe them
  2630. // First move up. During this first movement, the babystepping will be reverted.
  2631. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2632. 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);
  2633. // The move to the first calibration point.
  2634. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  2635. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  2636. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2637. if (verbosity_level >= 1) {
  2638. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  2639. }
  2640. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  2641. 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);
  2642. // Wait until the move is finished.
  2643. st_synchronize();
  2644. int mesh_point = 0; //index number of calibration point
  2645. int ix = 0;
  2646. int iy = 0;
  2647. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  2648. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  2649. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  2650. 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)
  2651. if (verbosity_level >= 1) {
  2652. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  2653. }
  2654. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  2655. const char *kill_message = NULL;
  2656. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  2657. if (verbosity_level >= 1) SERIAL_ECHOLNPGM("");
  2658. // Get coords of a measuring point.
  2659. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  2660. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  2661. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  2662. float z0 = 0.f;
  2663. if (has_z && mesh_point > 0) {
  2664. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  2665. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  2666. //#if 0
  2667. if (verbosity_level >= 1) {
  2668. SERIAL_ECHOPGM("Bed leveling, point: ");
  2669. MYSERIAL.print(mesh_point);
  2670. SERIAL_ECHOPGM(", calibration z: ");
  2671. MYSERIAL.print(z0, 5);
  2672. SERIAL_ECHOLNPGM("");
  2673. }
  2674. //#endif
  2675. }
  2676. // Move Z up to MESH_HOME_Z_SEARCH.
  2677. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2678. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  2679. st_synchronize();
  2680. // Move to XY position of the sensor point.
  2681. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  2682. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  2683. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2684. if (verbosity_level >= 1) {
  2685. SERIAL_PROTOCOL(mesh_point);
  2686. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  2687. }
  2688. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  2689. st_synchronize();
  2690. // Go down until endstop is hit
  2691. const float Z_CALIBRATION_THRESHOLD = 1.f;
  2692. 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
  2693. kill_message = MSG_BED_LEVELING_FAILED_POINT_LOW;
  2694. break;
  2695. }
  2696. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  2697. kill_message = MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED;
  2698. break;
  2699. }
  2700. 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
  2701. kill_message = MSG_BED_LEVELING_FAILED_POINT_HIGH;
  2702. break;
  2703. }
  2704. if (verbosity_level >= 10) {
  2705. SERIAL_ECHOPGM("X: ");
  2706. MYSERIAL.print(current_position[X_AXIS], 5);
  2707. SERIAL_ECHOLNPGM("");
  2708. SERIAL_ECHOPGM("Y: ");
  2709. MYSERIAL.print(current_position[Y_AXIS], 5);
  2710. SERIAL_PROTOCOLPGM("\n");
  2711. }
  2712. if (verbosity_level >= 1) {
  2713. SERIAL_ECHOPGM("mesh bed leveling: ");
  2714. MYSERIAL.print(current_position[Z_AXIS], 5);
  2715. SERIAL_ECHOLNPGM("");
  2716. }
  2717. mbl.set_z(ix, iy, current_position[Z_AXIS]); //store measured z values z_values[iy][ix] = z;
  2718. custom_message_state--;
  2719. mesh_point++;
  2720. lcd_update(1);
  2721. }
  2722. if (verbosity_level >= 20) SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  2723. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2724. if (verbosity_level >= 20) {
  2725. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  2726. MYSERIAL.print(current_position[Z_AXIS], 5);
  2727. }
  2728. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  2729. st_synchronize();
  2730. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  2731. kill(kill_message);
  2732. SERIAL_ECHOLNPGM("killed");
  2733. }
  2734. clean_up_after_endstop_move();
  2735. SERIAL_ECHOLNPGM("clean up finished ");
  2736. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  2737. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  2738. SERIAL_ECHOLNPGM("babystep applied");
  2739. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  2740. if (verbosity_level >= 1) {
  2741. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  2742. }
  2743. for (uint8_t i = 0; i < 4; ++i) {
  2744. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  2745. long correction = 0;
  2746. if (code_seen(codes[i]))
  2747. correction = code_value_long();
  2748. else if (eeprom_bed_correction_valid) {
  2749. unsigned char *addr = (i < 2) ?
  2750. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  2751. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  2752. correction = eeprom_read_int8(addr);
  2753. }
  2754. if (correction == 0)
  2755. continue;
  2756. float offset = float(correction) * 0.001f;
  2757. if (fabs(offset) > 0.101f) {
  2758. SERIAL_ERROR_START;
  2759. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  2760. SERIAL_ECHO(offset);
  2761. SERIAL_ECHOLNPGM(" microns");
  2762. }
  2763. else {
  2764. switch (i) {
  2765. case 0:
  2766. for (uint8_t row = 0; row < 3; ++row) {
  2767. mbl.z_values[row][1] += 0.5f * offset;
  2768. mbl.z_values[row][0] += offset;
  2769. }
  2770. break;
  2771. case 1:
  2772. for (uint8_t row = 0; row < 3; ++row) {
  2773. mbl.z_values[row][1] += 0.5f * offset;
  2774. mbl.z_values[row][2] += offset;
  2775. }
  2776. break;
  2777. case 2:
  2778. for (uint8_t col = 0; col < 3; ++col) {
  2779. mbl.z_values[1][col] += 0.5f * offset;
  2780. mbl.z_values[0][col] += offset;
  2781. }
  2782. break;
  2783. case 3:
  2784. for (uint8_t col = 0; col < 3; ++col) {
  2785. mbl.z_values[1][col] += 0.5f * offset;
  2786. mbl.z_values[2][col] += offset;
  2787. }
  2788. break;
  2789. }
  2790. }
  2791. }
  2792. SERIAL_ECHOLNPGM("Bed leveling correction finished");
  2793. 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)
  2794. SERIAL_ECHOLNPGM("Upsample finished");
  2795. mbl.active = 1; //activate mesh bed leveling
  2796. SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  2797. go_home_with_z_lift();
  2798. SERIAL_ECHOLNPGM("Go home finished");
  2799. //unretract (after PINDA preheat retraction)
  2800. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  2801. current_position[E_AXIS] += DEFAULT_RETRACTION;
  2802. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  2803. }
  2804. // Restore custom message state
  2805. custom_message = custom_message_old;
  2806. custom_message_type = custom_message_type_old;
  2807. custom_message_state = custom_message_state_old;
  2808. mesh_bed_leveling_flag = false;
  2809. mesh_bed_run_from_menu = false;
  2810. lcd_update(2);
  2811. }
  2812. break;
  2813. /**
  2814. * G81: Print mesh bed leveling status and bed profile if activated
  2815. */
  2816. case 81:
  2817. if (mbl.active) {
  2818. SERIAL_PROTOCOLPGM("Num X,Y: ");
  2819. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  2820. SERIAL_PROTOCOLPGM(",");
  2821. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  2822. SERIAL_PROTOCOLPGM("\nZ search height: ");
  2823. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  2824. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  2825. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  2826. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  2827. SERIAL_PROTOCOLPGM(" ");
  2828. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  2829. }
  2830. SERIAL_PROTOCOLPGM("\n");
  2831. }
  2832. }
  2833. else
  2834. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  2835. break;
  2836. #if 0
  2837. /**
  2838. * G82: Single Z probe at current location
  2839. *
  2840. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  2841. *
  2842. */
  2843. case 82:
  2844. SERIAL_PROTOCOLLNPGM("Finding bed ");
  2845. setup_for_endstop_move();
  2846. find_bed_induction_sensor_point_z();
  2847. clean_up_after_endstop_move();
  2848. SERIAL_PROTOCOLPGM("Bed found at: ");
  2849. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  2850. SERIAL_PROTOCOLPGM("\n");
  2851. break;
  2852. /**
  2853. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  2854. */
  2855. case 83:
  2856. {
  2857. int babystepz = code_seen('S') ? code_value() : 0;
  2858. int BabyPosition = code_seen('P') ? code_value() : 0;
  2859. if (babystepz != 0) {
  2860. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  2861. // Is the axis indexed starting with zero or one?
  2862. if (BabyPosition > 4) {
  2863. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  2864. }else{
  2865. // Save it to the eeprom
  2866. babystepLoadZ = babystepz;
  2867. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  2868. // adjust the Z
  2869. babystepsTodoZadd(babystepLoadZ);
  2870. }
  2871. }
  2872. }
  2873. break;
  2874. /**
  2875. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  2876. */
  2877. case 84:
  2878. babystepsTodoZsubtract(babystepLoadZ);
  2879. // babystepLoadZ = 0;
  2880. break;
  2881. /**
  2882. * G85: Prusa3D specific: Pick best babystep
  2883. */
  2884. case 85:
  2885. lcd_pick_babystep();
  2886. break;
  2887. #endif
  2888. /**
  2889. * G86: Prusa3D specific: Disable babystep correction after home.
  2890. * This G-code will be performed at the start of a calibration script.
  2891. */
  2892. case 86:
  2893. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2894. break;
  2895. /**
  2896. * G87: Prusa3D specific: Enable babystep correction after home
  2897. * This G-code will be performed at the end of a calibration script.
  2898. */
  2899. case 87:
  2900. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2901. break;
  2902. /**
  2903. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  2904. */
  2905. case 88:
  2906. break;
  2907. #endif // ENABLE_MESH_BED_LEVELING
  2908. case 90: // G90
  2909. relative_mode = false;
  2910. break;
  2911. case 91: // G91
  2912. relative_mode = true;
  2913. break;
  2914. case 92: // G92
  2915. if(!code_seen(axis_codes[E_AXIS]))
  2916. st_synchronize();
  2917. for(int8_t i=0; i < NUM_AXIS; i++) {
  2918. if(code_seen(axis_codes[i])) {
  2919. if(i == E_AXIS) {
  2920. current_position[i] = code_value();
  2921. plan_set_e_position(current_position[E_AXIS]);
  2922. }
  2923. else {
  2924. current_position[i] = code_value()+add_homing[i];
  2925. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2926. }
  2927. }
  2928. }
  2929. break;
  2930. case 98: //activate farm mode
  2931. farm_mode = 1;
  2932. PingTime = millis();
  2933. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  2934. break;
  2935. case 99: //deactivate farm mode
  2936. farm_mode = 0;
  2937. lcd_printer_connected();
  2938. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  2939. lcd_update(2);
  2940. break;
  2941. }
  2942. } // end if(code_seen('G'))
  2943. else if(code_seen('M'))
  2944. {
  2945. int index;
  2946. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  2947. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  2948. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  2949. SERIAL_ECHOLNPGM("Invalid M code");
  2950. } else
  2951. switch((int)code_value())
  2952. {
  2953. #ifdef ULTIPANEL
  2954. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  2955. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  2956. {
  2957. char *src = strchr_pointer + 2;
  2958. codenum = 0;
  2959. bool hasP = false, hasS = false;
  2960. if (code_seen('P')) {
  2961. codenum = code_value(); // milliseconds to wait
  2962. hasP = codenum > 0;
  2963. }
  2964. if (code_seen('S')) {
  2965. codenum = code_value() * 1000; // seconds to wait
  2966. hasS = codenum > 0;
  2967. }
  2968. starpos = strchr(src, '*');
  2969. if (starpos != NULL) *(starpos) = '\0';
  2970. while (*src == ' ') ++src;
  2971. if (!hasP && !hasS && *src != '\0') {
  2972. lcd_setstatus(src);
  2973. } else {
  2974. LCD_MESSAGERPGM(MSG_USERWAIT);
  2975. }
  2976. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  2977. st_synchronize();
  2978. previous_millis_cmd = millis();
  2979. if (codenum > 0){
  2980. codenum += millis(); // keep track of when we started waiting
  2981. while(millis() < codenum && !lcd_clicked()){
  2982. manage_heater();
  2983. manage_inactivity(true);
  2984. lcd_update();
  2985. }
  2986. lcd_ignore_click(false);
  2987. }else{
  2988. if (!lcd_detected())
  2989. break;
  2990. while(!lcd_clicked()){
  2991. manage_heater();
  2992. manage_inactivity(true);
  2993. lcd_update();
  2994. }
  2995. }
  2996. if (IS_SD_PRINTING)
  2997. LCD_MESSAGERPGM(MSG_RESUMING);
  2998. else
  2999. LCD_MESSAGERPGM(WELCOME_MSG);
  3000. }
  3001. break;
  3002. #endif
  3003. case 17:
  3004. LCD_MESSAGERPGM(MSG_NO_MOVE);
  3005. enable_x();
  3006. enable_y();
  3007. enable_z();
  3008. enable_e0();
  3009. enable_e1();
  3010. enable_e2();
  3011. break;
  3012. #ifdef SDSUPPORT
  3013. case 20: // M20 - list SD card
  3014. SERIAL_PROTOCOLLNRPGM(MSG_BEGIN_FILE_LIST);
  3015. card.ls();
  3016. SERIAL_PROTOCOLLNRPGM(MSG_END_FILE_LIST);
  3017. break;
  3018. case 21: // M21 - init SD card
  3019. card.initsd();
  3020. break;
  3021. case 22: //M22 - release SD card
  3022. card.release();
  3023. break;
  3024. case 23: //M23 - Select file
  3025. starpos = (strchr(strchr_pointer + 4,'*'));
  3026. if(starpos!=NULL)
  3027. *(starpos)='\0';
  3028. card.openFile(strchr_pointer + 4,true);
  3029. break;
  3030. case 24: //M24 - Start SD print
  3031. card.startFileprint();
  3032. starttime=millis();
  3033. break;
  3034. case 25: //M25 - Pause SD print
  3035. card.pauseSDPrint();
  3036. break;
  3037. case 26: //M26 - Set SD index
  3038. if(card.cardOK && code_seen('S')) {
  3039. card.setIndex(code_value_long());
  3040. }
  3041. break;
  3042. case 27: //M27 - Get SD status
  3043. card.getStatus();
  3044. break;
  3045. case 28: //M28 - Start SD write
  3046. starpos = (strchr(strchr_pointer + 4,'*'));
  3047. if(starpos != NULL){
  3048. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3049. strchr_pointer = strchr(npos,' ') + 1;
  3050. *(starpos) = '\0';
  3051. }
  3052. card.openFile(strchr_pointer+4,false);
  3053. break;
  3054. case 29: //M29 - Stop SD write
  3055. //processed in write to file routine above
  3056. //card,saving = false;
  3057. break;
  3058. case 30: //M30 <filename> Delete File
  3059. if (card.cardOK){
  3060. card.closefile();
  3061. starpos = (strchr(strchr_pointer + 4,'*'));
  3062. if(starpos != NULL){
  3063. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3064. strchr_pointer = strchr(npos,' ') + 1;
  3065. *(starpos) = '\0';
  3066. }
  3067. card.removeFile(strchr_pointer + 4);
  3068. }
  3069. break;
  3070. case 32: //M32 - Select file and start SD print
  3071. {
  3072. if(card.sdprinting) {
  3073. st_synchronize();
  3074. }
  3075. starpos = (strchr(strchr_pointer + 4,'*'));
  3076. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  3077. if(namestartpos==NULL)
  3078. {
  3079. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  3080. }
  3081. else
  3082. namestartpos++; //to skip the '!'
  3083. if(starpos!=NULL)
  3084. *(starpos)='\0';
  3085. bool call_procedure=(code_seen('P'));
  3086. if(strchr_pointer>namestartpos)
  3087. call_procedure=false; //false alert, 'P' found within filename
  3088. if( card.cardOK )
  3089. {
  3090. card.openFile(namestartpos,true,!call_procedure);
  3091. if(code_seen('S'))
  3092. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  3093. card.setIndex(code_value_long());
  3094. card.startFileprint();
  3095. if(!call_procedure)
  3096. starttime=millis(); //procedure calls count as normal print time.
  3097. }
  3098. } break;
  3099. case 928: //M928 - Start SD write
  3100. starpos = (strchr(strchr_pointer + 5,'*'));
  3101. if(starpos != NULL){
  3102. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3103. strchr_pointer = strchr(npos,' ') + 1;
  3104. *(starpos) = '\0';
  3105. }
  3106. card.openLogFile(strchr_pointer+5);
  3107. break;
  3108. #endif //SDSUPPORT
  3109. case 31: //M31 take time since the start of the SD print or an M109 command
  3110. {
  3111. stoptime=millis();
  3112. char time[30];
  3113. unsigned long t=(stoptime-starttime)/1000;
  3114. int sec,min;
  3115. min=t/60;
  3116. sec=t%60;
  3117. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  3118. SERIAL_ECHO_START;
  3119. SERIAL_ECHOLN(time);
  3120. lcd_setstatus(time);
  3121. autotempShutdown();
  3122. }
  3123. break;
  3124. case 42: //M42 -Change pin status via gcode
  3125. if (code_seen('S'))
  3126. {
  3127. int pin_status = code_value();
  3128. int pin_number = LED_PIN;
  3129. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  3130. pin_number = code_value();
  3131. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  3132. {
  3133. if (sensitive_pins[i] == pin_number)
  3134. {
  3135. pin_number = -1;
  3136. break;
  3137. }
  3138. }
  3139. #if defined(FAN_PIN) && FAN_PIN > -1
  3140. if (pin_number == FAN_PIN)
  3141. fanSpeed = pin_status;
  3142. #endif
  3143. if (pin_number > -1)
  3144. {
  3145. pinMode(pin_number, OUTPUT);
  3146. digitalWrite(pin_number, pin_status);
  3147. analogWrite(pin_number, pin_status);
  3148. }
  3149. }
  3150. break;
  3151. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  3152. // Reset the baby step value and the baby step applied flag.
  3153. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  3154. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  3155. // Reset the skew and offset in both RAM and EEPROM.
  3156. reset_bed_offset_and_skew();
  3157. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3158. // the planner will not perform any adjustments in the XY plane.
  3159. // Wait for the motors to stop and update the current position with the absolute values.
  3160. world2machine_revert_to_uncorrected();
  3161. break;
  3162. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  3163. {
  3164. // Only Z calibration?
  3165. bool onlyZ = code_seen('Z');
  3166. if (!onlyZ) {
  3167. setTargetBed(0);
  3168. setTargetHotend(0, 0);
  3169. setTargetHotend(0, 1);
  3170. setTargetHotend(0, 2);
  3171. adjust_bed_reset(); //reset bed level correction
  3172. }
  3173. // Disable the default update procedure of the display. We will do a modal dialog.
  3174. lcd_update_enable(false);
  3175. // Let the planner use the uncorrected coordinates.
  3176. mbl.reset();
  3177. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3178. // the planner will not perform any adjustments in the XY plane.
  3179. // Wait for the motors to stop and update the current position with the absolute values.
  3180. world2machine_revert_to_uncorrected();
  3181. // Reset the baby step value applied without moving the axes.
  3182. babystep_reset();
  3183. // Mark all axes as in a need for homing.
  3184. memset(axis_known_position, 0, sizeof(axis_known_position));
  3185. // Let the user move the Z axes up to the end stoppers.
  3186. if (lcd_calibrate_z_end_stop_manual( onlyZ )) {
  3187. refresh_cmd_timeout();
  3188. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ)) {
  3189. lcd_wait_for_cool_down();
  3190. lcd_show_fullscreen_message_and_wait_P(MSG_PAPER);
  3191. lcd_display_message_fullscreen_P(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1);
  3192. lcd_implementation_print_at(0, 2, 1);
  3193. lcd_printPGM(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2);
  3194. }
  3195. // Move the print head close to the bed.
  3196. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3197. 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);
  3198. st_synchronize();
  3199. // Home in the XY plane.
  3200. set_destination_to_current();
  3201. setup_for_endstop_move();
  3202. home_xy();
  3203. int8_t verbosity_level = 0;
  3204. if (code_seen('V')) {
  3205. // Just 'V' without a number counts as V1.
  3206. char c = strchr_pointer[1];
  3207. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3208. }
  3209. if (onlyZ) {
  3210. clean_up_after_endstop_move();
  3211. // Z only calibration.
  3212. // Load the machine correction matrix
  3213. world2machine_initialize();
  3214. // and correct the current_position to match the transformed coordinate system.
  3215. world2machine_update_current();
  3216. //FIXME
  3217. bool result = sample_mesh_and_store_reference();
  3218. if (result) {
  3219. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  3220. // Shipped, the nozzle height has been set already. The user can start printing now.
  3221. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3222. // babystep_apply();
  3223. }
  3224. } else {
  3225. // Reset the baby step value and the baby step applied flag.
  3226. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  3227. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  3228. // Complete XYZ calibration.
  3229. uint8_t point_too_far_mask = 0;
  3230. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  3231. clean_up_after_endstop_move();
  3232. // Print head up.
  3233. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3234. 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);
  3235. st_synchronize();
  3236. if (result >= 0) {
  3237. point_too_far_mask = 0;
  3238. // Second half: The fine adjustment.
  3239. // Let the planner use the uncorrected coordinates.
  3240. mbl.reset();
  3241. world2machine_reset();
  3242. // Home in the XY plane.
  3243. setup_for_endstop_move();
  3244. home_xy();
  3245. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  3246. clean_up_after_endstop_move();
  3247. // Print head up.
  3248. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3249. 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);
  3250. st_synchronize();
  3251. // if (result >= 0) babystep_apply();
  3252. }
  3253. lcd_bed_calibration_show_result(result, point_too_far_mask);
  3254. if (result >= 0) {
  3255. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  3256. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3257. lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  3258. }
  3259. }
  3260. } else {
  3261. // Timeouted.
  3262. }
  3263. lcd_update_enable(true);
  3264. break;
  3265. }
  3266. /*
  3267. case 46:
  3268. {
  3269. // M46: Prusa3D: Show the assigned IP address.
  3270. uint8_t ip[4];
  3271. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  3272. if (hasIP) {
  3273. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  3274. SERIAL_ECHO(int(ip[0]));
  3275. SERIAL_ECHOPGM(".");
  3276. SERIAL_ECHO(int(ip[1]));
  3277. SERIAL_ECHOPGM(".");
  3278. SERIAL_ECHO(int(ip[2]));
  3279. SERIAL_ECHOPGM(".");
  3280. SERIAL_ECHO(int(ip[3]));
  3281. SERIAL_ECHOLNPGM("");
  3282. } else {
  3283. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  3284. }
  3285. break;
  3286. }
  3287. */
  3288. case 47:
  3289. // M47: Prusa3D: Show end stops dialog on the display.
  3290. lcd_diag_show_end_stops();
  3291. break;
  3292. #if 0
  3293. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  3294. {
  3295. // Disable the default update procedure of the display. We will do a modal dialog.
  3296. lcd_update_enable(false);
  3297. // Let the planner use the uncorrected coordinates.
  3298. mbl.reset();
  3299. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3300. // the planner will not perform any adjustments in the XY plane.
  3301. // Wait for the motors to stop and update the current position with the absolute values.
  3302. world2machine_revert_to_uncorrected();
  3303. // Move the print head close to the bed.
  3304. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3305. 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);
  3306. st_synchronize();
  3307. // Home in the XY plane.
  3308. set_destination_to_current();
  3309. setup_for_endstop_move();
  3310. home_xy();
  3311. int8_t verbosity_level = 0;
  3312. if (code_seen('V')) {
  3313. // Just 'V' without a number counts as V1.
  3314. char c = strchr_pointer[1];
  3315. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3316. }
  3317. bool success = scan_bed_induction_points(verbosity_level);
  3318. clean_up_after_endstop_move();
  3319. // Print head up.
  3320. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3321. 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);
  3322. st_synchronize();
  3323. lcd_update_enable(true);
  3324. break;
  3325. }
  3326. #endif
  3327. // M48 Z-Probe repeatability measurement function.
  3328. //
  3329. // 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>
  3330. //
  3331. // This function assumes the bed has been homed. Specificaly, that a G28 command
  3332. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  3333. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3334. // regenerated.
  3335. //
  3336. // The number of samples will default to 10 if not specified. You can use upper or lower case
  3337. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  3338. // N for its communication protocol and will get horribly confused if you send it a capital N.
  3339. //
  3340. #ifdef ENABLE_AUTO_BED_LEVELING
  3341. #ifdef Z_PROBE_REPEATABILITY_TEST
  3342. case 48: // M48 Z-Probe repeatability
  3343. {
  3344. #if Z_MIN_PIN == -1
  3345. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  3346. #endif
  3347. double sum=0.0;
  3348. double mean=0.0;
  3349. double sigma=0.0;
  3350. double sample_set[50];
  3351. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  3352. double X_current, Y_current, Z_current;
  3353. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  3354. if (code_seen('V') || code_seen('v')) {
  3355. verbose_level = code_value();
  3356. if (verbose_level<0 || verbose_level>4 ) {
  3357. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  3358. goto Sigma_Exit;
  3359. }
  3360. }
  3361. if (verbose_level > 0) {
  3362. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  3363. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  3364. }
  3365. if (code_seen('n')) {
  3366. n_samples = code_value();
  3367. if (n_samples<4 || n_samples>50 ) {
  3368. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  3369. goto Sigma_Exit;
  3370. }
  3371. }
  3372. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  3373. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  3374. Z_current = st_get_position_mm(Z_AXIS);
  3375. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  3376. ext_position = st_get_position_mm(E_AXIS);
  3377. if (code_seen('X') || code_seen('x') ) {
  3378. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  3379. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  3380. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  3381. goto Sigma_Exit;
  3382. }
  3383. }
  3384. if (code_seen('Y') || code_seen('y') ) {
  3385. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  3386. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  3387. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  3388. goto Sigma_Exit;
  3389. }
  3390. }
  3391. if (code_seen('L') || code_seen('l') ) {
  3392. n_legs = code_value();
  3393. if ( n_legs==1 )
  3394. n_legs = 2;
  3395. if ( n_legs<0 || n_legs>15 ) {
  3396. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  3397. goto Sigma_Exit;
  3398. }
  3399. }
  3400. //
  3401. // Do all the preliminary setup work. First raise the probe.
  3402. //
  3403. st_synchronize();
  3404. plan_bed_level_matrix.set_to_identity();
  3405. plan_buffer_line( X_current, Y_current, Z_start_location,
  3406. ext_position,
  3407. homing_feedrate[Z_AXIS]/60,
  3408. active_extruder);
  3409. st_synchronize();
  3410. //
  3411. // Now get everything to the specified probe point So we can safely do a probe to
  3412. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  3413. // use that as a starting point for each probe.
  3414. //
  3415. if (verbose_level > 2)
  3416. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  3417. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3418. ext_position,
  3419. homing_feedrate[X_AXIS]/60,
  3420. active_extruder);
  3421. st_synchronize();
  3422. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  3423. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  3424. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3425. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  3426. //
  3427. // OK, do the inital probe to get us close to the bed.
  3428. // Then retrace the right amount and use that in subsequent probes
  3429. //
  3430. setup_for_endstop_move();
  3431. run_z_probe();
  3432. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3433. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  3434. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3435. ext_position,
  3436. homing_feedrate[X_AXIS]/60,
  3437. active_extruder);
  3438. st_synchronize();
  3439. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  3440. for( n=0; n<n_samples; n++) {
  3441. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  3442. if ( n_legs) {
  3443. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  3444. int rotational_direction, l;
  3445. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  3446. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  3447. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  3448. //SERIAL_ECHOPAIR("starting radius: ",radius);
  3449. //SERIAL_ECHOPAIR(" theta: ",theta);
  3450. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  3451. //SERIAL_PROTOCOLLNPGM("");
  3452. for( l=0; l<n_legs-1; l++) {
  3453. if (rotational_direction==1)
  3454. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  3455. else
  3456. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  3457. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  3458. if ( radius<0.0 )
  3459. radius = -radius;
  3460. X_current = X_probe_location + cos(theta) * radius;
  3461. Y_current = Y_probe_location + sin(theta) * radius;
  3462. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  3463. X_current = X_MIN_POS;
  3464. if ( X_current>X_MAX_POS)
  3465. X_current = X_MAX_POS;
  3466. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  3467. Y_current = Y_MIN_POS;
  3468. if ( Y_current>Y_MAX_POS)
  3469. Y_current = Y_MAX_POS;
  3470. if (verbose_level>3 ) {
  3471. SERIAL_ECHOPAIR("x: ", X_current);
  3472. SERIAL_ECHOPAIR("y: ", Y_current);
  3473. SERIAL_PROTOCOLLNPGM("");
  3474. }
  3475. do_blocking_move_to( X_current, Y_current, Z_current );
  3476. }
  3477. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  3478. }
  3479. setup_for_endstop_move();
  3480. run_z_probe();
  3481. sample_set[n] = current_position[Z_AXIS];
  3482. //
  3483. // Get the current mean for the data points we have so far
  3484. //
  3485. sum=0.0;
  3486. for( j=0; j<=n; j++) {
  3487. sum = sum + sample_set[j];
  3488. }
  3489. mean = sum / (double (n+1));
  3490. //
  3491. // Now, use that mean to calculate the standard deviation for the
  3492. // data points we have so far
  3493. //
  3494. sum=0.0;
  3495. for( j=0; j<=n; j++) {
  3496. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  3497. }
  3498. sigma = sqrt( sum / (double (n+1)) );
  3499. if (verbose_level > 1) {
  3500. SERIAL_PROTOCOL(n+1);
  3501. SERIAL_PROTOCOL(" of ");
  3502. SERIAL_PROTOCOL(n_samples);
  3503. SERIAL_PROTOCOLPGM(" z: ");
  3504. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  3505. }
  3506. if (verbose_level > 2) {
  3507. SERIAL_PROTOCOL(" mean: ");
  3508. SERIAL_PROTOCOL_F(mean,6);
  3509. SERIAL_PROTOCOL(" sigma: ");
  3510. SERIAL_PROTOCOL_F(sigma,6);
  3511. }
  3512. if (verbose_level > 0)
  3513. SERIAL_PROTOCOLPGM("\n");
  3514. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  3515. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  3516. st_synchronize();
  3517. }
  3518. delay(1000);
  3519. clean_up_after_endstop_move();
  3520. // enable_endstops(true);
  3521. if (verbose_level > 0) {
  3522. SERIAL_PROTOCOLPGM("Mean: ");
  3523. SERIAL_PROTOCOL_F(mean, 6);
  3524. SERIAL_PROTOCOLPGM("\n");
  3525. }
  3526. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  3527. SERIAL_PROTOCOL_F(sigma, 6);
  3528. SERIAL_PROTOCOLPGM("\n\n");
  3529. Sigma_Exit:
  3530. break;
  3531. }
  3532. #endif // Z_PROBE_REPEATABILITY_TEST
  3533. #endif // ENABLE_AUTO_BED_LEVELING
  3534. case 104: // M104
  3535. if(setTargetedHotend(104)){
  3536. break;
  3537. }
  3538. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  3539. setWatch();
  3540. break;
  3541. case 112: // M112 -Emergency Stop
  3542. kill();
  3543. break;
  3544. case 140: // M140 set bed temp
  3545. if (code_seen('S')) setTargetBed(code_value());
  3546. break;
  3547. case 105 : // M105
  3548. if(setTargetedHotend(105)){
  3549. break;
  3550. }
  3551. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  3552. SERIAL_PROTOCOLPGM("ok T:");
  3553. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  3554. SERIAL_PROTOCOLPGM(" /");
  3555. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  3556. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3557. SERIAL_PROTOCOLPGM(" B:");
  3558. SERIAL_PROTOCOL_F(degBed(),1);
  3559. SERIAL_PROTOCOLPGM(" /");
  3560. SERIAL_PROTOCOL_F(degTargetBed(),1);
  3561. #endif //TEMP_BED_PIN
  3562. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3563. SERIAL_PROTOCOLPGM(" T");
  3564. SERIAL_PROTOCOL(cur_extruder);
  3565. SERIAL_PROTOCOLPGM(":");
  3566. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  3567. SERIAL_PROTOCOLPGM(" /");
  3568. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  3569. }
  3570. #else
  3571. SERIAL_ERROR_START;
  3572. SERIAL_ERRORLNRPGM(MSG_ERR_NO_THERMISTORS);
  3573. #endif
  3574. SERIAL_PROTOCOLPGM(" @:");
  3575. #ifdef EXTRUDER_WATTS
  3576. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  3577. SERIAL_PROTOCOLPGM("W");
  3578. #else
  3579. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  3580. #endif
  3581. SERIAL_PROTOCOLPGM(" B@:");
  3582. #ifdef BED_WATTS
  3583. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  3584. SERIAL_PROTOCOLPGM("W");
  3585. #else
  3586. SERIAL_PROTOCOL(getHeaterPower(-1));
  3587. #endif
  3588. #ifdef SHOW_TEMP_ADC_VALUES
  3589. {float raw = 0.0;
  3590. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3591. SERIAL_PROTOCOLPGM(" ADC B:");
  3592. SERIAL_PROTOCOL_F(degBed(),1);
  3593. SERIAL_PROTOCOLPGM("C->");
  3594. raw = rawBedTemp();
  3595. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  3596. SERIAL_PROTOCOLPGM(" Rb->");
  3597. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  3598. SERIAL_PROTOCOLPGM(" Rxb->");
  3599. SERIAL_PROTOCOL_F(raw, 5);
  3600. #endif
  3601. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3602. SERIAL_PROTOCOLPGM(" T");
  3603. SERIAL_PROTOCOL(cur_extruder);
  3604. SERIAL_PROTOCOLPGM(":");
  3605. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  3606. SERIAL_PROTOCOLPGM("C->");
  3607. raw = rawHotendTemp(cur_extruder);
  3608. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  3609. SERIAL_PROTOCOLPGM(" Rt");
  3610. SERIAL_PROTOCOL(cur_extruder);
  3611. SERIAL_PROTOCOLPGM("->");
  3612. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  3613. SERIAL_PROTOCOLPGM(" Rx");
  3614. SERIAL_PROTOCOL(cur_extruder);
  3615. SERIAL_PROTOCOLPGM("->");
  3616. SERIAL_PROTOCOL_F(raw, 5);
  3617. }}
  3618. #endif
  3619. SERIAL_PROTOCOLLN("");
  3620. return;
  3621. break;
  3622. case 109:
  3623. {// M109 - Wait for extruder heater to reach target.
  3624. if(setTargetedHotend(109)){
  3625. break;
  3626. }
  3627. LCD_MESSAGERPGM(MSG_HEATING);
  3628. heating_status = 1;
  3629. if (farm_mode) { prusa_statistics(1); };
  3630. #ifdef AUTOTEMP
  3631. autotemp_enabled=false;
  3632. #endif
  3633. if (code_seen('S')) {
  3634. setTargetHotend(code_value(), tmp_extruder);
  3635. CooldownNoWait = true;
  3636. } else if (code_seen('R')) {
  3637. setTargetHotend(code_value(), tmp_extruder);
  3638. CooldownNoWait = false;
  3639. }
  3640. #ifdef AUTOTEMP
  3641. if (code_seen('S')) autotemp_min=code_value();
  3642. if (code_seen('B')) autotemp_max=code_value();
  3643. if (code_seen('F'))
  3644. {
  3645. autotemp_factor=code_value();
  3646. autotemp_enabled=true;
  3647. }
  3648. #endif
  3649. setWatch();
  3650. codenum = millis();
  3651. /* See if we are heating up or cooling down */
  3652. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  3653. cancel_heatup = false;
  3654. wait_for_heater(codenum); //loops until target temperature is reached
  3655. LCD_MESSAGERPGM(MSG_HEATING_COMPLETE);
  3656. heating_status = 2;
  3657. if (farm_mode) { prusa_statistics(2); };
  3658. //starttime=millis();
  3659. previous_millis_cmd = millis();
  3660. }
  3661. break;
  3662. case 190: // M190 - Wait for bed heater to reach target.
  3663. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3664. LCD_MESSAGERPGM(MSG_BED_HEATING);
  3665. heating_status = 3;
  3666. if (farm_mode) { prusa_statistics(1); };
  3667. if (code_seen('S'))
  3668. {
  3669. setTargetBed(code_value());
  3670. CooldownNoWait = true;
  3671. }
  3672. else if (code_seen('R'))
  3673. {
  3674. setTargetBed(code_value());
  3675. CooldownNoWait = false;
  3676. }
  3677. codenum = millis();
  3678. cancel_heatup = false;
  3679. target_direction = isHeatingBed(); // true if heating, false if cooling
  3680. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  3681. {
  3682. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  3683. {
  3684. if (!farm_mode) {
  3685. float tt = degHotend(active_extruder);
  3686. SERIAL_PROTOCOLPGM("T:");
  3687. SERIAL_PROTOCOL(tt);
  3688. SERIAL_PROTOCOLPGM(" E:");
  3689. SERIAL_PROTOCOL((int)active_extruder);
  3690. SERIAL_PROTOCOLPGM(" B:");
  3691. SERIAL_PROTOCOL_F(degBed(), 1);
  3692. SERIAL_PROTOCOLLN("");
  3693. }
  3694. codenum = millis();
  3695. }
  3696. manage_heater();
  3697. manage_inactivity();
  3698. lcd_update();
  3699. }
  3700. LCD_MESSAGERPGM(MSG_BED_DONE);
  3701. heating_status = 4;
  3702. previous_millis_cmd = millis();
  3703. #endif
  3704. break;
  3705. #if defined(FAN_PIN) && FAN_PIN > -1
  3706. case 106: //M106 Fan On
  3707. if (code_seen('S')){
  3708. fanSpeed=constrain(code_value(),0,255);
  3709. }
  3710. else {
  3711. fanSpeed=255;
  3712. }
  3713. break;
  3714. case 107: //M107 Fan Off
  3715. fanSpeed = 0;
  3716. break;
  3717. #endif //FAN_PIN
  3718. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  3719. case 80: // M80 - Turn on Power Supply
  3720. SET_OUTPUT(PS_ON_PIN); //GND
  3721. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  3722. // If you have a switch on suicide pin, this is useful
  3723. // if you want to start another print with suicide feature after
  3724. // a print without suicide...
  3725. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  3726. SET_OUTPUT(SUICIDE_PIN);
  3727. WRITE(SUICIDE_PIN, HIGH);
  3728. #endif
  3729. #ifdef ULTIPANEL
  3730. powersupply = true;
  3731. LCD_MESSAGERPGM(WELCOME_MSG);
  3732. lcd_update();
  3733. #endif
  3734. break;
  3735. #endif
  3736. case 81: // M81 - Turn off Power Supply
  3737. disable_heater();
  3738. st_synchronize();
  3739. disable_e0();
  3740. disable_e1();
  3741. disable_e2();
  3742. finishAndDisableSteppers();
  3743. fanSpeed = 0;
  3744. delay(1000); // Wait a little before to switch off
  3745. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  3746. st_synchronize();
  3747. suicide();
  3748. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  3749. SET_OUTPUT(PS_ON_PIN);
  3750. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  3751. #endif
  3752. #ifdef ULTIPANEL
  3753. powersupply = false;
  3754. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR("."))); //!!
  3755. /*
  3756. MACHNAME = "Prusa i3"
  3757. MSGOFF = "Vypnuto"
  3758. "Prusai3"" ""vypnuto""."
  3759. "Prusa i3"" "MSG_ALL[lang_selected][50]"."
  3760. */
  3761. lcd_update();
  3762. #endif
  3763. break;
  3764. case 82:
  3765. axis_relative_modes[3] = false;
  3766. break;
  3767. case 83:
  3768. axis_relative_modes[3] = true;
  3769. break;
  3770. case 18: //compatibility
  3771. case 84: // M84
  3772. if(code_seen('S')){
  3773. stepper_inactive_time = code_value() * 1000;
  3774. }
  3775. else
  3776. {
  3777. 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])));
  3778. if(all_axis)
  3779. {
  3780. st_synchronize();
  3781. disable_e0();
  3782. disable_e1();
  3783. disable_e2();
  3784. finishAndDisableSteppers();
  3785. }
  3786. else
  3787. {
  3788. st_synchronize();
  3789. if (code_seen('X')) disable_x();
  3790. if (code_seen('Y')) disable_y();
  3791. if (code_seen('Z')) disable_z();
  3792. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  3793. if (code_seen('E')) {
  3794. disable_e0();
  3795. disable_e1();
  3796. disable_e2();
  3797. }
  3798. #endif
  3799. }
  3800. }
  3801. snmm_filaments_used = 0;
  3802. break;
  3803. case 85: // M85
  3804. if(code_seen('S')) {
  3805. max_inactive_time = code_value() * 1000;
  3806. }
  3807. break;
  3808. case 92: // M92
  3809. for(int8_t i=0; i < NUM_AXIS; i++)
  3810. {
  3811. if(code_seen(axis_codes[i]))
  3812. {
  3813. if(i == 3) { // E
  3814. float value = code_value();
  3815. if(value < 20.0) {
  3816. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  3817. max_jerk[E_AXIS] *= factor;
  3818. max_feedrate[i] *= factor;
  3819. axis_steps_per_sqr_second[i] *= factor;
  3820. }
  3821. axis_steps_per_unit[i] = value;
  3822. }
  3823. else {
  3824. axis_steps_per_unit[i] = code_value();
  3825. }
  3826. }
  3827. }
  3828. break;
  3829. case 115: // M115
  3830. if (code_seen('V')) {
  3831. // Report the Prusa version number.
  3832. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  3833. } else if (code_seen('U')) {
  3834. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  3835. // pause the print and ask the user to upgrade the firmware.
  3836. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  3837. } else {
  3838. SERIAL_PROTOCOLRPGM(MSG_M115_REPORT);
  3839. }
  3840. break;
  3841. /* case 117: // M117 display message
  3842. starpos = (strchr(strchr_pointer + 5,'*'));
  3843. if(starpos!=NULL)
  3844. *(starpos)='\0';
  3845. lcd_setstatus(strchr_pointer + 5);
  3846. break;*/
  3847. case 114: // M114
  3848. SERIAL_PROTOCOLPGM("X:");
  3849. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3850. SERIAL_PROTOCOLPGM(" Y:");
  3851. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3852. SERIAL_PROTOCOLPGM(" Z:");
  3853. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3854. SERIAL_PROTOCOLPGM(" E:");
  3855. SERIAL_PROTOCOL(current_position[E_AXIS]);
  3856. SERIAL_PROTOCOLRPGM(MSG_COUNT_X);
  3857. SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
  3858. SERIAL_PROTOCOLPGM(" Y:");
  3859. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
  3860. SERIAL_PROTOCOLPGM(" Z:");
  3861. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
  3862. SERIAL_PROTOCOLLN("");
  3863. break;
  3864. case 120: // M120
  3865. enable_endstops(false) ;
  3866. break;
  3867. case 121: // M121
  3868. enable_endstops(true) ;
  3869. break;
  3870. case 119: // M119
  3871. SERIAL_PROTOCOLRPGM(MSG_M119_REPORT);
  3872. SERIAL_PROTOCOLLN("");
  3873. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  3874. SERIAL_PROTOCOLRPGM(MSG_X_MIN);
  3875. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  3876. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  3877. }else{
  3878. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  3879. }
  3880. SERIAL_PROTOCOLLN("");
  3881. #endif
  3882. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  3883. SERIAL_PROTOCOLRPGM(MSG_X_MAX);
  3884. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  3885. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  3886. }else{
  3887. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  3888. }
  3889. SERIAL_PROTOCOLLN("");
  3890. #endif
  3891. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  3892. SERIAL_PROTOCOLRPGM(MSG_Y_MIN);
  3893. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  3894. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  3895. }else{
  3896. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  3897. }
  3898. SERIAL_PROTOCOLLN("");
  3899. #endif
  3900. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  3901. SERIAL_PROTOCOLRPGM(MSG_Y_MAX);
  3902. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  3903. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  3904. }else{
  3905. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  3906. }
  3907. SERIAL_PROTOCOLLN("");
  3908. #endif
  3909. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  3910. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  3911. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  3912. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  3913. }else{
  3914. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  3915. }
  3916. SERIAL_PROTOCOLLN("");
  3917. #endif
  3918. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  3919. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  3920. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  3921. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  3922. }else{
  3923. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  3924. }
  3925. SERIAL_PROTOCOLLN("");
  3926. #endif
  3927. break;
  3928. //TODO: update for all axis, use for loop
  3929. #ifdef BLINKM
  3930. case 150: // M150
  3931. {
  3932. byte red;
  3933. byte grn;
  3934. byte blu;
  3935. if(code_seen('R')) red = code_value();
  3936. if(code_seen('U')) grn = code_value();
  3937. if(code_seen('B')) blu = code_value();
  3938. SendColors(red,grn,blu);
  3939. }
  3940. break;
  3941. #endif //BLINKM
  3942. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  3943. {
  3944. tmp_extruder = active_extruder;
  3945. if(code_seen('T')) {
  3946. tmp_extruder = code_value();
  3947. if(tmp_extruder >= EXTRUDERS) {
  3948. SERIAL_ECHO_START;
  3949. SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
  3950. break;
  3951. }
  3952. }
  3953. float area = .0;
  3954. if(code_seen('D')) {
  3955. float diameter = (float)code_value();
  3956. if (diameter == 0.0) {
  3957. // setting any extruder filament size disables volumetric on the assumption that
  3958. // slicers either generate in extruder values as cubic mm or as as filament feeds
  3959. // for all extruders
  3960. volumetric_enabled = false;
  3961. } else {
  3962. filament_size[tmp_extruder] = (float)code_value();
  3963. // make sure all extruders have some sane value for the filament size
  3964. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  3965. #if EXTRUDERS > 1
  3966. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  3967. #if EXTRUDERS > 2
  3968. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  3969. #endif
  3970. #endif
  3971. volumetric_enabled = true;
  3972. }
  3973. } else {
  3974. //reserved for setting filament diameter via UFID or filament measuring device
  3975. break;
  3976. }
  3977. calculate_volumetric_multipliers();
  3978. }
  3979. break;
  3980. case 201: // M201
  3981. for(int8_t i=0; i < NUM_AXIS; i++)
  3982. {
  3983. if(code_seen(axis_codes[i]))
  3984. {
  3985. max_acceleration_units_per_sq_second[i] = code_value();
  3986. }
  3987. }
  3988. // 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)
  3989. reset_acceleration_rates();
  3990. break;
  3991. #if 0 // Not used for Sprinter/grbl gen6
  3992. case 202: // M202
  3993. for(int8_t i=0; i < NUM_AXIS; i++) {
  3994. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  3995. }
  3996. break;
  3997. #endif
  3998. case 203: // M203 max feedrate mm/sec
  3999. for(int8_t i=0; i < NUM_AXIS; i++) {
  4000. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  4001. }
  4002. break;
  4003. case 204: // M204 acclereration S normal moves T filmanent only moves
  4004. {
  4005. if(code_seen('S')) acceleration = code_value() ;
  4006. if(code_seen('T')) retract_acceleration = code_value() ;
  4007. }
  4008. break;
  4009. 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
  4010. {
  4011. if(code_seen('S')) minimumfeedrate = code_value();
  4012. if(code_seen('T')) mintravelfeedrate = code_value();
  4013. if(code_seen('B')) minsegmenttime = code_value() ;
  4014. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  4015. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  4016. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  4017. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  4018. }
  4019. break;
  4020. case 206: // M206 additional homing offset
  4021. for(int8_t i=0; i < 3; i++)
  4022. {
  4023. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  4024. }
  4025. break;
  4026. #ifdef FWRETRACT
  4027. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  4028. {
  4029. if(code_seen('S'))
  4030. {
  4031. retract_length = code_value() ;
  4032. }
  4033. if(code_seen('F'))
  4034. {
  4035. retract_feedrate = code_value()/60 ;
  4036. }
  4037. if(code_seen('Z'))
  4038. {
  4039. retract_zlift = code_value() ;
  4040. }
  4041. }break;
  4042. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  4043. {
  4044. if(code_seen('S'))
  4045. {
  4046. retract_recover_length = code_value() ;
  4047. }
  4048. if(code_seen('F'))
  4049. {
  4050. retract_recover_feedrate = code_value()/60 ;
  4051. }
  4052. }break;
  4053. 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.
  4054. {
  4055. if(code_seen('S'))
  4056. {
  4057. int t= code_value() ;
  4058. switch(t)
  4059. {
  4060. case 0:
  4061. {
  4062. autoretract_enabled=false;
  4063. retracted[0]=false;
  4064. #if EXTRUDERS > 1
  4065. retracted[1]=false;
  4066. #endif
  4067. #if EXTRUDERS > 2
  4068. retracted[2]=false;
  4069. #endif
  4070. }break;
  4071. case 1:
  4072. {
  4073. autoretract_enabled=true;
  4074. retracted[0]=false;
  4075. #if EXTRUDERS > 1
  4076. retracted[1]=false;
  4077. #endif
  4078. #if EXTRUDERS > 2
  4079. retracted[2]=false;
  4080. #endif
  4081. }break;
  4082. default:
  4083. SERIAL_ECHO_START;
  4084. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  4085. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  4086. SERIAL_ECHOLNPGM("\"");
  4087. }
  4088. }
  4089. }break;
  4090. #endif // FWRETRACT
  4091. #if EXTRUDERS > 1
  4092. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  4093. {
  4094. if(setTargetedHotend(218)){
  4095. break;
  4096. }
  4097. if(code_seen('X'))
  4098. {
  4099. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  4100. }
  4101. if(code_seen('Y'))
  4102. {
  4103. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  4104. }
  4105. SERIAL_ECHO_START;
  4106. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  4107. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  4108. {
  4109. SERIAL_ECHO(" ");
  4110. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  4111. SERIAL_ECHO(",");
  4112. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  4113. }
  4114. SERIAL_ECHOLN("");
  4115. }break;
  4116. #endif
  4117. case 220: // M220 S<factor in percent>- set speed factor override percentage
  4118. {
  4119. if(code_seen('S'))
  4120. {
  4121. feedmultiply = code_value() ;
  4122. }
  4123. }
  4124. break;
  4125. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  4126. {
  4127. if(code_seen('S'))
  4128. {
  4129. int tmp_code = code_value();
  4130. if (code_seen('T'))
  4131. {
  4132. if(setTargetedHotend(221)){
  4133. break;
  4134. }
  4135. extruder_multiply[tmp_extruder] = tmp_code;
  4136. }
  4137. else
  4138. {
  4139. extrudemultiply = tmp_code ;
  4140. }
  4141. }
  4142. }
  4143. break;
  4144. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  4145. {
  4146. if(code_seen('P')){
  4147. int pin_number = code_value(); // pin number
  4148. int pin_state = -1; // required pin state - default is inverted
  4149. if(code_seen('S')) pin_state = code_value(); // required pin state
  4150. if(pin_state >= -1 && pin_state <= 1){
  4151. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4152. {
  4153. if (sensitive_pins[i] == pin_number)
  4154. {
  4155. pin_number = -1;
  4156. break;
  4157. }
  4158. }
  4159. if (pin_number > -1)
  4160. {
  4161. int target = LOW;
  4162. st_synchronize();
  4163. pinMode(pin_number, INPUT);
  4164. switch(pin_state){
  4165. case 1:
  4166. target = HIGH;
  4167. break;
  4168. case 0:
  4169. target = LOW;
  4170. break;
  4171. case -1:
  4172. target = !digitalRead(pin_number);
  4173. break;
  4174. }
  4175. while(digitalRead(pin_number) != target){
  4176. manage_heater();
  4177. manage_inactivity();
  4178. lcd_update();
  4179. }
  4180. }
  4181. }
  4182. }
  4183. }
  4184. break;
  4185. #if NUM_SERVOS > 0
  4186. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  4187. {
  4188. int servo_index = -1;
  4189. int servo_position = 0;
  4190. if (code_seen('P'))
  4191. servo_index = code_value();
  4192. if (code_seen('S')) {
  4193. servo_position = code_value();
  4194. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  4195. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4196. servos[servo_index].attach(0);
  4197. #endif
  4198. servos[servo_index].write(servo_position);
  4199. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4200. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  4201. servos[servo_index].detach();
  4202. #endif
  4203. }
  4204. else {
  4205. SERIAL_ECHO_START;
  4206. SERIAL_ECHO("Servo ");
  4207. SERIAL_ECHO(servo_index);
  4208. SERIAL_ECHOLN(" out of range");
  4209. }
  4210. }
  4211. else if (servo_index >= 0) {
  4212. SERIAL_PROTOCOL(MSG_OK);
  4213. SERIAL_PROTOCOL(" Servo ");
  4214. SERIAL_PROTOCOL(servo_index);
  4215. SERIAL_PROTOCOL(": ");
  4216. SERIAL_PROTOCOL(servos[servo_index].read());
  4217. SERIAL_PROTOCOLLN("");
  4218. }
  4219. }
  4220. break;
  4221. #endif // NUM_SERVOS > 0
  4222. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  4223. case 300: // M300
  4224. {
  4225. int beepS = code_seen('S') ? code_value() : 110;
  4226. int beepP = code_seen('P') ? code_value() : 1000;
  4227. if (beepS > 0)
  4228. {
  4229. #if BEEPER > 0
  4230. tone(BEEPER, beepS);
  4231. delay(beepP);
  4232. noTone(BEEPER);
  4233. #elif defined(ULTRALCD)
  4234. lcd_buzz(beepS, beepP);
  4235. #elif defined(LCD_USE_I2C_BUZZER)
  4236. lcd_buzz(beepP, beepS);
  4237. #endif
  4238. }
  4239. else
  4240. {
  4241. delay(beepP);
  4242. }
  4243. }
  4244. break;
  4245. #endif // M300
  4246. #ifdef PIDTEMP
  4247. case 301: // M301
  4248. {
  4249. if(code_seen('P')) Kp = code_value();
  4250. if(code_seen('I')) Ki = scalePID_i(code_value());
  4251. if(code_seen('D')) Kd = scalePID_d(code_value());
  4252. #ifdef PID_ADD_EXTRUSION_RATE
  4253. if(code_seen('C')) Kc = code_value();
  4254. #endif
  4255. updatePID();
  4256. SERIAL_PROTOCOLRPGM(MSG_OK);
  4257. SERIAL_PROTOCOL(" p:");
  4258. SERIAL_PROTOCOL(Kp);
  4259. SERIAL_PROTOCOL(" i:");
  4260. SERIAL_PROTOCOL(unscalePID_i(Ki));
  4261. SERIAL_PROTOCOL(" d:");
  4262. SERIAL_PROTOCOL(unscalePID_d(Kd));
  4263. #ifdef PID_ADD_EXTRUSION_RATE
  4264. SERIAL_PROTOCOL(" c:");
  4265. //Kc does not have scaling applied above, or in resetting defaults
  4266. SERIAL_PROTOCOL(Kc);
  4267. #endif
  4268. SERIAL_PROTOCOLLN("");
  4269. }
  4270. break;
  4271. #endif //PIDTEMP
  4272. #ifdef PIDTEMPBED
  4273. case 304: // M304
  4274. {
  4275. if(code_seen('P')) bedKp = code_value();
  4276. if(code_seen('I')) bedKi = scalePID_i(code_value());
  4277. if(code_seen('D')) bedKd = scalePID_d(code_value());
  4278. updatePID();
  4279. SERIAL_PROTOCOLRPGM(MSG_OK);
  4280. SERIAL_PROTOCOL(" p:");
  4281. SERIAL_PROTOCOL(bedKp);
  4282. SERIAL_PROTOCOL(" i:");
  4283. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  4284. SERIAL_PROTOCOL(" d:");
  4285. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  4286. SERIAL_PROTOCOLLN("");
  4287. }
  4288. break;
  4289. #endif //PIDTEMP
  4290. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  4291. {
  4292. #ifdef CHDK
  4293. SET_OUTPUT(CHDK);
  4294. WRITE(CHDK, HIGH);
  4295. chdkHigh = millis();
  4296. chdkActive = true;
  4297. #else
  4298. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  4299. const uint8_t NUM_PULSES=16;
  4300. const float PULSE_LENGTH=0.01524;
  4301. for(int i=0; i < NUM_PULSES; i++) {
  4302. WRITE(PHOTOGRAPH_PIN, HIGH);
  4303. _delay_ms(PULSE_LENGTH);
  4304. WRITE(PHOTOGRAPH_PIN, LOW);
  4305. _delay_ms(PULSE_LENGTH);
  4306. }
  4307. delay(7.33);
  4308. for(int i=0; i < NUM_PULSES; i++) {
  4309. WRITE(PHOTOGRAPH_PIN, HIGH);
  4310. _delay_ms(PULSE_LENGTH);
  4311. WRITE(PHOTOGRAPH_PIN, LOW);
  4312. _delay_ms(PULSE_LENGTH);
  4313. }
  4314. #endif
  4315. #endif //chdk end if
  4316. }
  4317. break;
  4318. #ifdef DOGLCD
  4319. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  4320. {
  4321. if (code_seen('C')) {
  4322. lcd_setcontrast( ((int)code_value())&63 );
  4323. }
  4324. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4325. SERIAL_PROTOCOL(lcd_contrast);
  4326. SERIAL_PROTOCOLLN("");
  4327. }
  4328. break;
  4329. #endif
  4330. #ifdef PREVENT_DANGEROUS_EXTRUDE
  4331. case 302: // allow cold extrudes, or set the minimum extrude temperature
  4332. {
  4333. float temp = .0;
  4334. if (code_seen('S')) temp=code_value();
  4335. set_extrude_min_temp(temp);
  4336. }
  4337. break;
  4338. #endif
  4339. case 303: // M303 PID autotune
  4340. {
  4341. float temp = 150.0;
  4342. int e=0;
  4343. int c=5;
  4344. if (code_seen('E')) e=code_value();
  4345. if (e<0)
  4346. temp=70;
  4347. if (code_seen('S')) temp=code_value();
  4348. if (code_seen('C')) c=code_value();
  4349. PID_autotune(temp, e, c);
  4350. }
  4351. break;
  4352. case 400: // M400 finish all moves
  4353. {
  4354. st_synchronize();
  4355. }
  4356. break;
  4357. #ifdef FILAMENT_SENSOR
  4358. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  4359. {
  4360. #if (FILWIDTH_PIN > -1)
  4361. if(code_seen('N')) filament_width_nominal=code_value();
  4362. else{
  4363. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  4364. SERIAL_PROTOCOLLN(filament_width_nominal);
  4365. }
  4366. #endif
  4367. }
  4368. break;
  4369. case 405: //M405 Turn on filament sensor for control
  4370. {
  4371. if(code_seen('D')) meas_delay_cm=code_value();
  4372. if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
  4373. meas_delay_cm = MAX_MEASUREMENT_DELAY;
  4374. if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
  4375. {
  4376. int temp_ratio = widthFil_to_size_ratio();
  4377. for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
  4378. measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
  4379. }
  4380. delay_index1=0;
  4381. delay_index2=0;
  4382. }
  4383. filament_sensor = true ;
  4384. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4385. //SERIAL_PROTOCOL(filament_width_meas);
  4386. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  4387. //SERIAL_PROTOCOL(extrudemultiply);
  4388. }
  4389. break;
  4390. case 406: //M406 Turn off filament sensor for control
  4391. {
  4392. filament_sensor = false ;
  4393. }
  4394. break;
  4395. case 407: //M407 Display measured filament diameter
  4396. {
  4397. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  4398. SERIAL_PROTOCOLLN(filament_width_meas);
  4399. }
  4400. break;
  4401. #endif
  4402. case 500: // M500 Store settings in EEPROM
  4403. {
  4404. Config_StoreSettings();
  4405. }
  4406. break;
  4407. case 501: // M501 Read settings from EEPROM
  4408. {
  4409. Config_RetrieveSettings();
  4410. }
  4411. break;
  4412. case 502: // M502 Revert to default settings
  4413. {
  4414. Config_ResetDefault();
  4415. }
  4416. break;
  4417. case 503: // M503 print settings currently in memory
  4418. {
  4419. Config_PrintSettings();
  4420. }
  4421. break;
  4422. case 509: //M509 Force language selection
  4423. {
  4424. lcd_force_language_selection();
  4425. SERIAL_ECHO_START;
  4426. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  4427. }
  4428. break;
  4429. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  4430. case 540:
  4431. {
  4432. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  4433. }
  4434. break;
  4435. #endif
  4436. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  4437. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  4438. {
  4439. float value;
  4440. if (code_seen('Z'))
  4441. {
  4442. value = code_value();
  4443. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  4444. {
  4445. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  4446. SERIAL_ECHO_START;
  4447. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  4448. SERIAL_PROTOCOLLN("");
  4449. }
  4450. else
  4451. {
  4452. SERIAL_ECHO_START;
  4453. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  4454. SERIAL_ECHORPGM(MSG_Z_MIN);
  4455. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  4456. SERIAL_ECHORPGM(MSG_Z_MAX);
  4457. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  4458. SERIAL_PROTOCOLLN("");
  4459. }
  4460. }
  4461. else
  4462. {
  4463. SERIAL_ECHO_START;
  4464. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  4465. SERIAL_ECHO(-zprobe_zoffset);
  4466. SERIAL_PROTOCOLLN("");
  4467. }
  4468. break;
  4469. }
  4470. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  4471. #ifdef FILAMENTCHANGEENABLE
  4472. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  4473. {
  4474. st_synchronize();
  4475. float target[4];
  4476. float lastpos[4];
  4477. if (farm_mode)
  4478. {
  4479. prusa_statistics(22);
  4480. }
  4481. feedmultiplyBckp=feedmultiply;
  4482. int8_t TooLowZ = 0;
  4483. target[X_AXIS]=current_position[X_AXIS];
  4484. target[Y_AXIS]=current_position[Y_AXIS];
  4485. target[Z_AXIS]=current_position[Z_AXIS];
  4486. target[E_AXIS]=current_position[E_AXIS];
  4487. lastpos[X_AXIS]=current_position[X_AXIS];
  4488. lastpos[Y_AXIS]=current_position[Y_AXIS];
  4489. lastpos[Z_AXIS]=current_position[Z_AXIS];
  4490. lastpos[E_AXIS]=current_position[E_AXIS];
  4491. //Restract extruder
  4492. if(code_seen('E'))
  4493. {
  4494. target[E_AXIS]+= code_value();
  4495. }
  4496. else
  4497. {
  4498. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  4499. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  4500. #endif
  4501. }
  4502. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4503. //Lift Z
  4504. if(code_seen('Z'))
  4505. {
  4506. target[Z_AXIS]+= code_value();
  4507. }
  4508. else
  4509. {
  4510. #ifdef FILAMENTCHANGE_ZADD
  4511. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  4512. if(target[Z_AXIS] < 10){
  4513. target[Z_AXIS]+= 10 ;
  4514. TooLowZ = 1;
  4515. }else{
  4516. TooLowZ = 0;
  4517. }
  4518. #endif
  4519. }
  4520. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  4521. //Move XY to side
  4522. if(code_seen('X'))
  4523. {
  4524. target[X_AXIS]+= code_value();
  4525. }
  4526. else
  4527. {
  4528. #ifdef FILAMENTCHANGE_XPOS
  4529. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  4530. #endif
  4531. }
  4532. if(code_seen('Y'))
  4533. {
  4534. target[Y_AXIS]= code_value();
  4535. }
  4536. else
  4537. {
  4538. #ifdef FILAMENTCHANGE_YPOS
  4539. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  4540. #endif
  4541. }
  4542. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  4543. st_synchronize();
  4544. custom_message = true;
  4545. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  4546. // Unload filament
  4547. if(code_seen('L'))
  4548. {
  4549. target[E_AXIS]+= code_value();
  4550. }
  4551. else
  4552. {
  4553. #ifdef SNMM
  4554. #else
  4555. #ifdef FILAMENTCHANGE_FINALRETRACT
  4556. target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  4557. #endif
  4558. #endif // SNMM
  4559. }
  4560. #ifdef SNMM
  4561. target[E_AXIS] += 12;
  4562. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
  4563. target[E_AXIS] += 6;
  4564. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  4565. target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
  4566. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  4567. st_synchronize();
  4568. target[E_AXIS] += (FIL_COOLING);
  4569. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4570. target[E_AXIS] += (FIL_COOLING*-1);
  4571. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4572. target[E_AXIS] += (bowden_length[snmm_extruder] *-1);
  4573. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  4574. st_synchronize();
  4575. #else
  4576. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4577. #endif // SNMM
  4578. //finish moves
  4579. st_synchronize();
  4580. //disable extruder steppers so filament can be removed
  4581. disable_e0();
  4582. disable_e1();
  4583. disable_e2();
  4584. delay(100);
  4585. //Wait for user to insert filament
  4586. uint8_t cnt=0;
  4587. int counterBeep = 0;
  4588. lcd_wait_interact();
  4589. load_filament_time = millis();
  4590. while(!lcd_clicked()){
  4591. cnt++;
  4592. manage_heater();
  4593. manage_inactivity(true);
  4594. /*#ifdef SNMM
  4595. target[E_AXIS] += 0.002;
  4596. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4597. #endif // SNMM*/
  4598. if(cnt==0)
  4599. {
  4600. #if BEEPER > 0
  4601. if (counterBeep== 500){
  4602. counterBeep = 0;
  4603. }
  4604. SET_OUTPUT(BEEPER);
  4605. if (counterBeep== 0){
  4606. WRITE(BEEPER,HIGH);
  4607. }
  4608. if (counterBeep== 20){
  4609. WRITE(BEEPER,LOW);
  4610. }
  4611. counterBeep++;
  4612. #else
  4613. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  4614. lcd_buzz(1000/6,100);
  4615. #else
  4616. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
  4617. #endif
  4618. #endif
  4619. }
  4620. }
  4621. #ifdef SNMM
  4622. display_loading();
  4623. do {
  4624. target[E_AXIS] += 0.002;
  4625. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4626. delay_keep_alive(2);
  4627. } while (!lcd_clicked());
  4628. /*if (millis() - load_filament_time > 2) {
  4629. load_filament_time = millis();
  4630. target[E_AXIS] += 0.001;
  4631. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
  4632. }*/
  4633. #endif
  4634. //Filament inserted
  4635. WRITE(BEEPER,LOW);
  4636. //Feed the filament to the end of nozzle quickly
  4637. #ifdef SNMM
  4638. st_synchronize();
  4639. target[E_AXIS] += bowden_length[snmm_extruder];
  4640. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  4641. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  4642. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  4643. target[E_AXIS] += 40;
  4644. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  4645. target[E_AXIS] += 10;
  4646. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4647. #else
  4648. target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
  4649. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  4650. #endif // SNMM
  4651. //Extrude some filament
  4652. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4653. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  4654. //Wait for user to check the state
  4655. lcd_change_fil_state = 0;
  4656. lcd_loading_filament();
  4657. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  4658. lcd_change_fil_state = 0;
  4659. lcd_alright();
  4660. switch(lcd_change_fil_state){
  4661. // Filament failed to load so load it again
  4662. case 2:
  4663. #ifdef SNMM
  4664. display_loading();
  4665. do {
  4666. target[E_AXIS] += 0.002;
  4667. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  4668. delay_keep_alive(2);
  4669. } while (!lcd_clicked());
  4670. st_synchronize();
  4671. target[E_AXIS] += bowden_length[snmm_extruder];
  4672. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  4673. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  4674. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  4675. target[E_AXIS] += 40;
  4676. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  4677. target[E_AXIS] += 10;
  4678. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  4679. #else
  4680. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  4681. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  4682. #endif
  4683. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4684. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  4685. lcd_loading_filament();
  4686. break;
  4687. // Filament loaded properly but color is not clear
  4688. case 3:
  4689. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4690. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  4691. lcd_loading_color();
  4692. break;
  4693. // Everything good
  4694. default:
  4695. lcd_change_success();
  4696. lcd_update_enable(true);
  4697. break;
  4698. }
  4699. }
  4700. //Not let's go back to print
  4701. //Feed a little of filament to stabilize pressure
  4702. target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
  4703. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  4704. //Retract
  4705. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  4706. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4707. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  4708. //Move XY back
  4709. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  4710. //Move Z back
  4711. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  4712. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  4713. //Unretract
  4714. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  4715. //Set E position to original
  4716. plan_set_e_position(lastpos[E_AXIS]);
  4717. //Recover feed rate
  4718. feedmultiply=feedmultiplyBckp;
  4719. char cmd[9];
  4720. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  4721. enquecommand(cmd);
  4722. lcd_setstatuspgm(WELCOME_MSG);
  4723. custom_message = false;
  4724. custom_message_type = 0;
  4725. }
  4726. break;
  4727. #endif //FILAMENTCHANGEENABLE
  4728. case 601: {
  4729. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  4730. }
  4731. break;
  4732. case 602: {
  4733. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  4734. }
  4735. break;
  4736. case 907: // M907 Set digital trimpot motor current using axis codes.
  4737. {
  4738. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  4739. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
  4740. if(code_seen('B')) digipot_current(4,code_value());
  4741. if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
  4742. #endif
  4743. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  4744. if(code_seen('X')) digipot_current(0, code_value());
  4745. #endif
  4746. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  4747. if(code_seen('Z')) digipot_current(1, code_value());
  4748. #endif
  4749. #ifdef MOTOR_CURRENT_PWM_E_PIN
  4750. if(code_seen('E')) digipot_current(2, code_value());
  4751. #endif
  4752. #ifdef DIGIPOT_I2C
  4753. // this one uses actual amps in floating point
  4754. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
  4755. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  4756. 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());
  4757. #endif
  4758. }
  4759. break;
  4760. case 908: // M908 Control digital trimpot directly.
  4761. {
  4762. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  4763. uint8_t channel,current;
  4764. if(code_seen('P')) channel=code_value();
  4765. if(code_seen('S')) current=code_value();
  4766. digitalPotWrite(channel, current);
  4767. #endif
  4768. }
  4769. break;
  4770. case 910: // M910 TMC2130 init
  4771. {
  4772. tmc2130_init();
  4773. }
  4774. break;
  4775. case 911: // M911 Set TMC2130 holding currents
  4776. {
  4777. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  4778. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  4779. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  4780. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  4781. }
  4782. break;
  4783. case 912: // M912 Set TMC2130 running currents
  4784. {
  4785. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  4786. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  4787. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  4788. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  4789. }
  4790. break;
  4791. case 913: // M913 Print TMC2130 currents
  4792. {
  4793. tmc2130_print_currents();
  4794. }
  4795. break;
  4796. case 914: // M914 Set normal mode
  4797. {
  4798. tmc2130_mode = TMC2130_MODE_NORMAL;
  4799. tmc2130_init();
  4800. }
  4801. break;
  4802. case 915: // M915 Set silent mode
  4803. {
  4804. tmc2130_mode = TMC2130_MODE_SILENT;
  4805. tmc2130_init();
  4806. }
  4807. break;
  4808. case 916: // M916 Set sg_thrs
  4809. {
  4810. if (code_seen('X')) sg_thrs_x = code_value();
  4811. if (code_seen('Y')) sg_thrs_y = code_value();
  4812. MYSERIAL.print("sg_thrs_x=");
  4813. MYSERIAL.print(sg_thrs_x, DEC);
  4814. MYSERIAL.print(" sg_thrs_y=");
  4815. MYSERIAL.println(sg_thrs_y, DEC);
  4816. }
  4817. break;
  4818. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  4819. {
  4820. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  4821. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  4822. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  4823. if(code_seen('B')) microstep_mode(4,code_value());
  4824. microstep_readings();
  4825. #endif
  4826. }
  4827. break;
  4828. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  4829. {
  4830. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  4831. if(code_seen('S')) switch((int)code_value())
  4832. {
  4833. case 1:
  4834. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  4835. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  4836. break;
  4837. case 2:
  4838. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  4839. if(code_seen('B')) microstep_ms(4,-1,code_value());
  4840. break;
  4841. }
  4842. microstep_readings();
  4843. #endif
  4844. }
  4845. break;
  4846. case 701: //M701: load filament
  4847. {
  4848. enable_z();
  4849. custom_message = true;
  4850. custom_message_type = 2;
  4851. lcd_setstatuspgm(MSG_LOADING_FILAMENT);
  4852. current_position[E_AXIS] += 70;
  4853. 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
  4854. current_position[E_AXIS] += 25;
  4855. 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
  4856. st_synchronize();
  4857. if (!farm_mode && loading_flag) {
  4858. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  4859. while (!clean) {
  4860. lcd_update_enable(true);
  4861. lcd_update(2);
  4862. current_position[E_AXIS] += 25;
  4863. 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
  4864. st_synchronize();
  4865. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  4866. }
  4867. }
  4868. lcd_update_enable(true);
  4869. lcd_update(2);
  4870. lcd_setstatuspgm(WELCOME_MSG);
  4871. disable_z();
  4872. loading_flag = false;
  4873. custom_message = false;
  4874. custom_message_type = 0;
  4875. }
  4876. break;
  4877. case 702:
  4878. {
  4879. #ifdef SNMM
  4880. if (code_seen('U')) {
  4881. extr_unload_used(); //unload all filaments which were used in current print
  4882. }
  4883. else if (code_seen('C')) {
  4884. extr_unload(); //unload just current filament
  4885. }
  4886. else {
  4887. extr_unload_all(); //unload all filaments
  4888. }
  4889. #else
  4890. custom_message = true;
  4891. custom_message_type = 2;
  4892. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  4893. current_position[E_AXIS] -= 80;
  4894. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 7000 / 60, active_extruder);
  4895. st_synchronize();
  4896. lcd_setstatuspgm(WELCOME_MSG);
  4897. custom_message = false;
  4898. custom_message_type = 0;
  4899. #endif
  4900. }
  4901. break;
  4902. case 999: // M999: Restart after being stopped
  4903. Stopped = false;
  4904. lcd_reset_alert_level();
  4905. gcode_LastN = Stopped_gcode_LastN;
  4906. FlushSerialRequestResend();
  4907. break;
  4908. default: SERIAL_ECHOLNPGM("Invalid M code.");
  4909. }
  4910. } // end if(code_seen('M')) (end of M codes)
  4911. else if(code_seen('T'))
  4912. {
  4913. int index;
  4914. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  4915. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
  4916. SERIAL_ECHOLNPGM("Invalid T code.");
  4917. }
  4918. else {
  4919. if (*(strchr_pointer + index) == '?') {
  4920. tmp_extruder = choose_extruder_menu();
  4921. }
  4922. else {
  4923. tmp_extruder = code_value();
  4924. }
  4925. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  4926. #ifdef SNMM
  4927. snmm_extruder = tmp_extruder;
  4928. st_synchronize();
  4929. delay(100);
  4930. disable_e0();
  4931. disable_e1();
  4932. disable_e2();
  4933. pinMode(E_MUX0_PIN, OUTPUT);
  4934. pinMode(E_MUX1_PIN, OUTPUT);
  4935. pinMode(E_MUX2_PIN, OUTPUT);
  4936. delay(100);
  4937. SERIAL_ECHO_START;
  4938. SERIAL_ECHO("T:");
  4939. SERIAL_ECHOLN((int)tmp_extruder);
  4940. switch (tmp_extruder) {
  4941. case 1:
  4942. WRITE(E_MUX0_PIN, HIGH);
  4943. WRITE(E_MUX1_PIN, LOW);
  4944. WRITE(E_MUX2_PIN, LOW);
  4945. break;
  4946. case 2:
  4947. WRITE(E_MUX0_PIN, LOW);
  4948. WRITE(E_MUX1_PIN, HIGH);
  4949. WRITE(E_MUX2_PIN, LOW);
  4950. break;
  4951. case 3:
  4952. WRITE(E_MUX0_PIN, HIGH);
  4953. WRITE(E_MUX1_PIN, HIGH);
  4954. WRITE(E_MUX2_PIN, LOW);
  4955. break;
  4956. default:
  4957. WRITE(E_MUX0_PIN, LOW);
  4958. WRITE(E_MUX1_PIN, LOW);
  4959. WRITE(E_MUX2_PIN, LOW);
  4960. break;
  4961. }
  4962. delay(100);
  4963. #else
  4964. if (tmp_extruder >= EXTRUDERS) {
  4965. SERIAL_ECHO_START;
  4966. SERIAL_ECHOPGM("T");
  4967. SERIAL_PROTOCOLLN((int)tmp_extruder);
  4968. SERIAL_ECHOLNRPGM(MSG_INVALID_EXTRUDER);
  4969. }
  4970. else {
  4971. boolean make_move = false;
  4972. if (code_seen('F')) {
  4973. make_move = true;
  4974. next_feedrate = code_value();
  4975. if (next_feedrate > 0.0) {
  4976. feedrate = next_feedrate;
  4977. }
  4978. }
  4979. #if EXTRUDERS > 1
  4980. if (tmp_extruder != active_extruder) {
  4981. // Save current position to return to after applying extruder offset
  4982. memcpy(destination, current_position, sizeof(destination));
  4983. // Offset extruder (only by XY)
  4984. int i;
  4985. for (i = 0; i < 2; i++) {
  4986. current_position[i] = current_position[i] -
  4987. extruder_offset[i][active_extruder] +
  4988. extruder_offset[i][tmp_extruder];
  4989. }
  4990. // Set the new active extruder and position
  4991. active_extruder = tmp_extruder;
  4992. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  4993. // Move to the old position if 'F' was in the parameters
  4994. if (make_move && Stopped == false) {
  4995. prepare_move();
  4996. }
  4997. }
  4998. #endif
  4999. SERIAL_ECHO_START;
  5000. SERIAL_ECHORPGM(MSG_ACTIVE_EXTRUDER);
  5001. SERIAL_PROTOCOLLN((int)active_extruder);
  5002. }
  5003. #endif
  5004. }
  5005. } // end if(code_seen('T')) (end of T codes)
  5006. else
  5007. {
  5008. SERIAL_ECHO_START;
  5009. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5010. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5011. SERIAL_ECHOLNPGM("\"");
  5012. }
  5013. ClearToSend();
  5014. }
  5015. void FlushSerialRequestResend()
  5016. {
  5017. //char cmdbuffer[bufindr][100]="Resend:";
  5018. MYSERIAL.flush();
  5019. SERIAL_PROTOCOLRPGM(MSG_RESEND);
  5020. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  5021. ClearToSend();
  5022. }
  5023. // Confirm the execution of a command, if sent from a serial line.
  5024. // Execution of a command from a SD card will not be confirmed.
  5025. void ClearToSend()
  5026. {
  5027. previous_millis_cmd = millis();
  5028. if (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB)
  5029. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  5030. }
  5031. void get_coordinates()
  5032. {
  5033. bool seen[4]={false,false,false,false};
  5034. for(int8_t i=0; i < NUM_AXIS; i++) {
  5035. if(code_seen(axis_codes[i]))
  5036. {
  5037. destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
  5038. seen[i]=true;
  5039. }
  5040. else destination[i] = current_position[i]; //Are these else lines really needed?
  5041. }
  5042. if(code_seen('F')) {
  5043. next_feedrate = code_value();
  5044. #ifdef MAX_SILENT_FEEDRATE
  5045. if (tmc2130_mode == TMC2130_MODE_SILENT)
  5046. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  5047. #endif //MAX_SILENT_FEEDRATE
  5048. if(next_feedrate > 0.0) feedrate = next_feedrate;
  5049. }
  5050. }
  5051. void get_arc_coordinates()
  5052. {
  5053. #ifdef SF_ARC_FIX
  5054. bool relative_mode_backup = relative_mode;
  5055. relative_mode = true;
  5056. #endif
  5057. get_coordinates();
  5058. #ifdef SF_ARC_FIX
  5059. relative_mode=relative_mode_backup;
  5060. #endif
  5061. if(code_seen('I')) {
  5062. offset[0] = code_value();
  5063. }
  5064. else {
  5065. offset[0] = 0.0;
  5066. }
  5067. if(code_seen('J')) {
  5068. offset[1] = code_value();
  5069. }
  5070. else {
  5071. offset[1] = 0.0;
  5072. }
  5073. }
  5074. void clamp_to_software_endstops(float target[3])
  5075. {
  5076. world2machine_clamp(target[0], target[1]);
  5077. // Clamp the Z coordinate.
  5078. if (min_software_endstops) {
  5079. float negative_z_offset = 0;
  5080. #ifdef ENABLE_AUTO_BED_LEVELING
  5081. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  5082. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  5083. #endif
  5084. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  5085. }
  5086. if (max_software_endstops) {
  5087. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  5088. }
  5089. }
  5090. #ifdef MESH_BED_LEVELING
  5091. 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) {
  5092. float dx = x - current_position[X_AXIS];
  5093. float dy = y - current_position[Y_AXIS];
  5094. float dz = z - current_position[Z_AXIS];
  5095. int n_segments = 0;
  5096. if (mbl.active) {
  5097. float len = abs(dx) + abs(dy);
  5098. if (len > 0)
  5099. // Split to 3cm segments or shorter.
  5100. n_segments = int(ceil(len / 30.f));
  5101. }
  5102. if (n_segments > 1) {
  5103. float de = e - current_position[E_AXIS];
  5104. for (int i = 1; i < n_segments; ++ i) {
  5105. float t = float(i) / float(n_segments);
  5106. plan_buffer_line(
  5107. current_position[X_AXIS] + t * dx,
  5108. current_position[Y_AXIS] + t * dy,
  5109. current_position[Z_AXIS] + t * dz,
  5110. current_position[E_AXIS] + t * de,
  5111. feed_rate, extruder);
  5112. }
  5113. }
  5114. // The rest of the path.
  5115. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  5116. current_position[X_AXIS] = x;
  5117. current_position[Y_AXIS] = y;
  5118. current_position[Z_AXIS] = z;
  5119. current_position[E_AXIS] = e;
  5120. }
  5121. #endif // MESH_BED_LEVELING
  5122. void prepare_move()
  5123. {
  5124. clamp_to_software_endstops(destination);
  5125. previous_millis_cmd = millis();
  5126. // Do not use feedmultiply for E or Z only moves
  5127. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  5128. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  5129. }
  5130. else {
  5131. #ifdef MESH_BED_LEVELING
  5132. 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);
  5133. #else
  5134. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  5135. #endif
  5136. }
  5137. for(int8_t i=0; i < NUM_AXIS; i++) {
  5138. current_position[i] = destination[i];
  5139. }
  5140. }
  5141. void prepare_arc_move(char isclockwise) {
  5142. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  5143. // Trace the arc
  5144. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  5145. // As far as the parser is concerned, the position is now == target. In reality the
  5146. // motion control system might still be processing the action and the real tool position
  5147. // in any intermediate location.
  5148. for(int8_t i=0; i < NUM_AXIS; i++) {
  5149. current_position[i] = destination[i];
  5150. }
  5151. previous_millis_cmd = millis();
  5152. }
  5153. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  5154. #if defined(FAN_PIN)
  5155. #if CONTROLLERFAN_PIN == FAN_PIN
  5156. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  5157. #endif
  5158. #endif
  5159. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  5160. unsigned long lastMotorCheck = 0;
  5161. void controllerFan()
  5162. {
  5163. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  5164. {
  5165. lastMotorCheck = millis();
  5166. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  5167. #if EXTRUDERS > 2
  5168. || !READ(E2_ENABLE_PIN)
  5169. #endif
  5170. #if EXTRUDER > 1
  5171. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  5172. || !READ(X2_ENABLE_PIN)
  5173. #endif
  5174. || !READ(E1_ENABLE_PIN)
  5175. #endif
  5176. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  5177. {
  5178. lastMotor = millis(); //... set time to NOW so the fan will turn on
  5179. }
  5180. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  5181. {
  5182. digitalWrite(CONTROLLERFAN_PIN, 0);
  5183. analogWrite(CONTROLLERFAN_PIN, 0);
  5184. }
  5185. else
  5186. {
  5187. // allows digital or PWM fan output to be used (see M42 handling)
  5188. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  5189. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  5190. }
  5191. }
  5192. }
  5193. #endif
  5194. #ifdef TEMP_STAT_LEDS
  5195. static bool blue_led = false;
  5196. static bool red_led = false;
  5197. static uint32_t stat_update = 0;
  5198. void handle_status_leds(void) {
  5199. float max_temp = 0.0;
  5200. if(millis() > stat_update) {
  5201. stat_update += 500; // Update every 0.5s
  5202. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  5203. max_temp = max(max_temp, degHotend(cur_extruder));
  5204. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  5205. }
  5206. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5207. max_temp = max(max_temp, degTargetBed());
  5208. max_temp = max(max_temp, degBed());
  5209. #endif
  5210. if((max_temp > 55.0) && (red_led == false)) {
  5211. digitalWrite(STAT_LED_RED, 1);
  5212. digitalWrite(STAT_LED_BLUE, 0);
  5213. red_led = true;
  5214. blue_led = false;
  5215. }
  5216. if((max_temp < 54.0) && (blue_led == false)) {
  5217. digitalWrite(STAT_LED_RED, 0);
  5218. digitalWrite(STAT_LED_BLUE, 1);
  5219. red_led = false;
  5220. blue_led = true;
  5221. }
  5222. }
  5223. }
  5224. #endif
  5225. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  5226. {
  5227. #if defined(KILL_PIN) && KILL_PIN > -1
  5228. static int killCount = 0; // make the inactivity button a bit less responsive
  5229. const int KILL_DELAY = 10000;
  5230. #endif
  5231. if(buflen < (BUFSIZE-1)){
  5232. get_command();
  5233. }
  5234. if( (millis() - previous_millis_cmd) > max_inactive_time )
  5235. if(max_inactive_time)
  5236. kill();
  5237. if(stepper_inactive_time) {
  5238. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  5239. {
  5240. if(blocks_queued() == false && ignore_stepper_queue == false) {
  5241. disable_x();
  5242. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  5243. disable_y();
  5244. disable_z();
  5245. disable_e0();
  5246. disable_e1();
  5247. disable_e2();
  5248. }
  5249. }
  5250. }
  5251. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  5252. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  5253. {
  5254. chdkActive = false;
  5255. WRITE(CHDK, LOW);
  5256. }
  5257. #endif
  5258. #if defined(KILL_PIN) && KILL_PIN > -1
  5259. // Check if the kill button was pressed and wait just in case it was an accidental
  5260. // key kill key press
  5261. // -------------------------------------------------------------------------------
  5262. if( 0 == READ(KILL_PIN) )
  5263. {
  5264. killCount++;
  5265. }
  5266. else if (killCount > 0)
  5267. {
  5268. killCount--;
  5269. }
  5270. // Exceeded threshold and we can confirm that it was not accidental
  5271. // KILL the machine
  5272. // ----------------------------------------------------------------
  5273. if ( killCount >= KILL_DELAY)
  5274. {
  5275. kill();
  5276. }
  5277. #endif
  5278. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  5279. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  5280. #endif
  5281. #ifdef EXTRUDER_RUNOUT_PREVENT
  5282. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  5283. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  5284. {
  5285. bool oldstatus=READ(E0_ENABLE_PIN);
  5286. enable_e0();
  5287. float oldepos=current_position[E_AXIS];
  5288. float oldedes=destination[E_AXIS];
  5289. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  5290. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  5291. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  5292. current_position[E_AXIS]=oldepos;
  5293. destination[E_AXIS]=oldedes;
  5294. plan_set_e_position(oldepos);
  5295. previous_millis_cmd=millis();
  5296. st_synchronize();
  5297. WRITE(E0_ENABLE_PIN,oldstatus);
  5298. }
  5299. #endif
  5300. #ifdef TEMP_STAT_LEDS
  5301. handle_status_leds();
  5302. #endif
  5303. check_axes_activity();
  5304. }
  5305. void kill(const char *full_screen_message)
  5306. {
  5307. cli(); // Stop interrupts
  5308. disable_heater();
  5309. disable_x();
  5310. // SERIAL_ECHOLNPGM("kill - disable Y");
  5311. disable_y();
  5312. disable_z();
  5313. disable_e0();
  5314. disable_e1();
  5315. disable_e2();
  5316. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  5317. pinMode(PS_ON_PIN,INPUT);
  5318. #endif
  5319. SERIAL_ERROR_START;
  5320. SERIAL_ERRORLNRPGM(MSG_ERR_KILLED);
  5321. if (full_screen_message != NULL) {
  5322. SERIAL_ERRORLNRPGM(full_screen_message);
  5323. lcd_display_message_fullscreen_P(full_screen_message);
  5324. } else {
  5325. LCD_ALERTMESSAGERPGM(MSG_KILLED);
  5326. }
  5327. // FMC small patch to update the LCD before ending
  5328. sei(); // enable interrupts
  5329. for ( int i=5; i--; lcd_update())
  5330. {
  5331. delay(200);
  5332. }
  5333. cli(); // disable interrupts
  5334. suicide();
  5335. while(1) { /* Intentionally left empty */ } // Wait for reset
  5336. }
  5337. void Stop()
  5338. {
  5339. disable_heater();
  5340. if(Stopped == false) {
  5341. Stopped = true;
  5342. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  5343. SERIAL_ERROR_START;
  5344. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  5345. LCD_MESSAGERPGM(MSG_STOPPED);
  5346. }
  5347. }
  5348. bool IsStopped() { return Stopped; };
  5349. #ifdef FAST_PWM_FAN
  5350. void setPwmFrequency(uint8_t pin, int val)
  5351. {
  5352. val &= 0x07;
  5353. switch(digitalPinToTimer(pin))
  5354. {
  5355. #if defined(TCCR0A)
  5356. case TIMER0A:
  5357. case TIMER0B:
  5358. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  5359. // TCCR0B |= val;
  5360. break;
  5361. #endif
  5362. #if defined(TCCR1A)
  5363. case TIMER1A:
  5364. case TIMER1B:
  5365. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  5366. // TCCR1B |= val;
  5367. break;
  5368. #endif
  5369. #if defined(TCCR2)
  5370. case TIMER2:
  5371. case TIMER2:
  5372. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  5373. TCCR2 |= val;
  5374. break;
  5375. #endif
  5376. #if defined(TCCR2A)
  5377. case TIMER2A:
  5378. case TIMER2B:
  5379. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  5380. TCCR2B |= val;
  5381. break;
  5382. #endif
  5383. #if defined(TCCR3A)
  5384. case TIMER3A:
  5385. case TIMER3B:
  5386. case TIMER3C:
  5387. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  5388. TCCR3B |= val;
  5389. break;
  5390. #endif
  5391. #if defined(TCCR4A)
  5392. case TIMER4A:
  5393. case TIMER4B:
  5394. case TIMER4C:
  5395. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  5396. TCCR4B |= val;
  5397. break;
  5398. #endif
  5399. #if defined(TCCR5A)
  5400. case TIMER5A:
  5401. case TIMER5B:
  5402. case TIMER5C:
  5403. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  5404. TCCR5B |= val;
  5405. break;
  5406. #endif
  5407. }
  5408. }
  5409. #endif //FAST_PWM_FAN
  5410. bool setTargetedHotend(int code){
  5411. tmp_extruder = active_extruder;
  5412. if(code_seen('T')) {
  5413. tmp_extruder = code_value();
  5414. if(tmp_extruder >= EXTRUDERS) {
  5415. SERIAL_ECHO_START;
  5416. switch(code){
  5417. case 104:
  5418. SERIAL_ECHORPGM(MSG_M104_INVALID_EXTRUDER);
  5419. break;
  5420. case 105:
  5421. SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
  5422. break;
  5423. case 109:
  5424. SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
  5425. break;
  5426. case 218:
  5427. SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
  5428. break;
  5429. case 221:
  5430. SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
  5431. break;
  5432. }
  5433. SERIAL_PROTOCOLLN((int)tmp_extruder);
  5434. return true;
  5435. }
  5436. }
  5437. return false;
  5438. }
  5439. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  5440. {
  5441. 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)
  5442. {
  5443. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  5444. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  5445. }
  5446. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  5447. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  5448. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  5449. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  5450. total_filament_used = 0;
  5451. }
  5452. float calculate_volumetric_multiplier(float diameter) {
  5453. float area = .0;
  5454. float radius = .0;
  5455. radius = diameter * .5;
  5456. if (! volumetric_enabled || radius == 0) {
  5457. area = 1;
  5458. }
  5459. else {
  5460. area = M_PI * pow(radius, 2);
  5461. }
  5462. return 1.0 / area;
  5463. }
  5464. void calculate_volumetric_multipliers() {
  5465. volumetric_multiplier[0] = calculate_volumetric_multiplier(filament_size[0]);
  5466. #if EXTRUDERS > 1
  5467. volumetric_multiplier[1] = calculate_volumetric_multiplier(filament_size[1]);
  5468. #if EXTRUDERS > 2
  5469. volumetric_multiplier[2] = calculate_volumetric_multiplier(filament_size[2]);
  5470. #endif
  5471. #endif
  5472. }
  5473. void delay_keep_alive(unsigned int ms)
  5474. {
  5475. for (;;) {
  5476. manage_heater();
  5477. // Manage inactivity, but don't disable steppers on timeout.
  5478. manage_inactivity(true);
  5479. lcd_update();
  5480. if (ms == 0)
  5481. break;
  5482. else if (ms >= 50) {
  5483. delay(50);
  5484. ms -= 50;
  5485. } else {
  5486. delay(ms);
  5487. ms = 0;
  5488. }
  5489. }
  5490. }
  5491. void wait_for_heater(long codenum) {
  5492. #ifdef TEMP_RESIDENCY_TIME
  5493. long residencyStart;
  5494. residencyStart = -1;
  5495. /* continue to loop until we have reached the target temp
  5496. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  5497. while ((!cancel_heatup) && ((residencyStart == -1) ||
  5498. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  5499. #else
  5500. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  5501. #endif //TEMP_RESIDENCY_TIME
  5502. if ((millis() - codenum) > 1000UL)
  5503. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  5504. if (!farm_mode) {
  5505. SERIAL_PROTOCOLPGM("T:");
  5506. SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
  5507. SERIAL_PROTOCOLPGM(" E:");
  5508. SERIAL_PROTOCOL((int)tmp_extruder);
  5509. #ifdef TEMP_RESIDENCY_TIME
  5510. SERIAL_PROTOCOLPGM(" W:");
  5511. if (residencyStart > -1)
  5512. {
  5513. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  5514. SERIAL_PROTOCOLLN(codenum);
  5515. }
  5516. else
  5517. {
  5518. SERIAL_PROTOCOLLN("?");
  5519. }
  5520. }
  5521. #else
  5522. SERIAL_PROTOCOLLN("");
  5523. #endif
  5524. codenum = millis();
  5525. }
  5526. manage_heater();
  5527. manage_inactivity();
  5528. lcd_update();
  5529. #ifdef TEMP_RESIDENCY_TIME
  5530. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  5531. or when current temp falls outside the hysteresis after target temp was reached */
  5532. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
  5533. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
  5534. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
  5535. {
  5536. residencyStart = millis();
  5537. }
  5538. #endif //TEMP_RESIDENCY_TIME
  5539. }
  5540. }
  5541. void check_babystep() {
  5542. int babystep_z;
  5543. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  5544. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  5545. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  5546. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  5547. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  5548. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  5549. lcd_update_enable(true);
  5550. }
  5551. }
  5552. #ifdef DIS
  5553. void d_setup()
  5554. {
  5555. pinMode(D_DATACLOCK, INPUT_PULLUP);
  5556. pinMode(D_DATA, INPUT_PULLUP);
  5557. pinMode(D_REQUIRE, OUTPUT);
  5558. digitalWrite(D_REQUIRE, HIGH);
  5559. }
  5560. float d_ReadData()
  5561. {
  5562. int digit[13];
  5563. String mergeOutput;
  5564. float output;
  5565. digitalWrite(D_REQUIRE, HIGH);
  5566. for (int i = 0; i<13; i++)
  5567. {
  5568. for (int j = 0; j < 4; j++)
  5569. {
  5570. while (digitalRead(D_DATACLOCK) == LOW) {}
  5571. while (digitalRead(D_DATACLOCK) == HIGH) {}
  5572. bitWrite(digit[i], j, digitalRead(D_DATA));
  5573. }
  5574. }
  5575. digitalWrite(D_REQUIRE, LOW);
  5576. mergeOutput = "";
  5577. output = 0;
  5578. for (int r = 5; r <= 10; r++) //Merge digits
  5579. {
  5580. mergeOutput += digit[r];
  5581. }
  5582. output = mergeOutput.toFloat();
  5583. if (digit[4] == 8) //Handle sign
  5584. {
  5585. output *= -1;
  5586. }
  5587. for (int i = digit[11]; i > 0; i--) //Handle floating point
  5588. {
  5589. output /= 10;
  5590. }
  5591. return output;
  5592. }
  5593. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  5594. int t1 = 0;
  5595. int t_delay = 0;
  5596. int digit[13];
  5597. int m;
  5598. char str[3];
  5599. //String mergeOutput;
  5600. char mergeOutput[15];
  5601. float output;
  5602. int mesh_point = 0; //index number of calibration point
  5603. 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
  5604. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  5605. float mesh_home_z_search = 4;
  5606. float row[x_points_num];
  5607. int ix = 0;
  5608. int iy = 0;
  5609. char* filename_wldsd = "wldsd.txt";
  5610. char data_wldsd[70];
  5611. char numb_wldsd[10];
  5612. d_setup();
  5613. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  5614. // We don't know where we are! HOME!
  5615. // Push the commands to the front of the message queue in the reverse order!
  5616. // There shall be always enough space reserved for these commands.
  5617. repeatcommand_front(); // repeat G80 with all its parameters
  5618. enquecommand_front_P((PSTR("G28 W0")));
  5619. enquecommand_front_P((PSTR("G1 Z5")));
  5620. return;
  5621. }
  5622. bool custom_message_old = custom_message;
  5623. unsigned int custom_message_type_old = custom_message_type;
  5624. unsigned int custom_message_state_old = custom_message_state;
  5625. custom_message = true;
  5626. custom_message_type = 1;
  5627. custom_message_state = (x_points_num * y_points_num) + 10;
  5628. lcd_update(1);
  5629. mbl.reset();
  5630. babystep_undo();
  5631. card.openFile(filename_wldsd, false);
  5632. current_position[Z_AXIS] = mesh_home_z_search;
  5633. 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);
  5634. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  5635. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  5636. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  5637. setup_for_endstop_move(false);
  5638. SERIAL_PROTOCOLPGM("Num X,Y: ");
  5639. SERIAL_PROTOCOL(x_points_num);
  5640. SERIAL_PROTOCOLPGM(",");
  5641. SERIAL_PROTOCOL(y_points_num);
  5642. SERIAL_PROTOCOLPGM("\nZ search height: ");
  5643. SERIAL_PROTOCOL(mesh_home_z_search);
  5644. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  5645. SERIAL_PROTOCOL(x_dimension);
  5646. SERIAL_PROTOCOLPGM(",");
  5647. SERIAL_PROTOCOL(y_dimension);
  5648. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  5649. while (mesh_point != x_points_num * y_points_num) {
  5650. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  5651. iy = mesh_point / x_points_num;
  5652. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  5653. float z0 = 0.f;
  5654. current_position[Z_AXIS] = mesh_home_z_search;
  5655. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  5656. st_synchronize();
  5657. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  5658. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  5659. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  5660. st_synchronize();
  5661. 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
  5662. break;
  5663. card.closefile();
  5664. }
  5665. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  5666. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  5667. //strcat(data_wldsd, numb_wldsd);
  5668. //MYSERIAL.println(data_wldsd);
  5669. //delay(1000);
  5670. //delay(3000);
  5671. //t1 = millis();
  5672. //while (digitalRead(D_DATACLOCK) == LOW) {}
  5673. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  5674. memset(digit, 0, sizeof(digit));
  5675. //cli();
  5676. digitalWrite(D_REQUIRE, LOW);
  5677. for (int i = 0; i<13; i++)
  5678. {
  5679. //t1 = millis();
  5680. for (int j = 0; j < 4; j++)
  5681. {
  5682. while (digitalRead(D_DATACLOCK) == LOW) {}
  5683. while (digitalRead(D_DATACLOCK) == HIGH) {}
  5684. bitWrite(digit[i], j, digitalRead(D_DATA));
  5685. }
  5686. //t_delay = (millis() - t1);
  5687. //SERIAL_PROTOCOLPGM(" ");
  5688. //SERIAL_PROTOCOL_F(t_delay, 5);
  5689. //SERIAL_PROTOCOLPGM(" ");
  5690. }
  5691. //sei();
  5692. digitalWrite(D_REQUIRE, HIGH);
  5693. mergeOutput[0] = '\0';
  5694. output = 0;
  5695. for (int r = 5; r <= 10; r++) //Merge digits
  5696. {
  5697. sprintf(str, "%d", digit[r]);
  5698. strcat(mergeOutput, str);
  5699. }
  5700. output = atof(mergeOutput);
  5701. if (digit[4] == 8) //Handle sign
  5702. {
  5703. output *= -1;
  5704. }
  5705. for (int i = digit[11]; i > 0; i--) //Handle floating point
  5706. {
  5707. output *= 0.1;
  5708. }
  5709. //output = d_ReadData();
  5710. //row[ix] = current_position[Z_AXIS];
  5711. memset(data_wldsd, 0, sizeof(data_wldsd));
  5712. for (int i = 0; i <3; i++) {
  5713. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  5714. dtostrf(current_position[i], 8, 5, numb_wldsd);
  5715. strcat(data_wldsd, numb_wldsd);
  5716. strcat(data_wldsd, ";");
  5717. }
  5718. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  5719. dtostrf(output, 8, 5, numb_wldsd);
  5720. strcat(data_wldsd, numb_wldsd);
  5721. //strcat(data_wldsd, ";");
  5722. card.write_command(data_wldsd);
  5723. //row[ix] = d_ReadData();
  5724. row[ix] = output; // current_position[Z_AXIS];
  5725. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  5726. for (int i = 0; i < x_points_num; i++) {
  5727. SERIAL_PROTOCOLPGM(" ");
  5728. SERIAL_PROTOCOL_F(row[i], 5);
  5729. }
  5730. SERIAL_PROTOCOLPGM("\n");
  5731. }
  5732. custom_message_state--;
  5733. mesh_point++;
  5734. lcd_update(1);
  5735. }
  5736. card.closefile();
  5737. }
  5738. #endif
  5739. void temp_compensation_start() {
  5740. custom_message = true;
  5741. custom_message_type = 5;
  5742. custom_message_state = PINDA_HEAT_T + 1;
  5743. lcd_update(2);
  5744. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  5745. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  5746. }
  5747. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  5748. current_position[X_AXIS] = PINDA_PREHEAT_X;
  5749. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  5750. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  5751. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  5752. st_synchronize();
  5753. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  5754. for (int i = 0; i < PINDA_HEAT_T; i++) {
  5755. delay_keep_alive(1000);
  5756. custom_message_state = PINDA_HEAT_T - i;
  5757. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  5758. else lcd_update(1);
  5759. }
  5760. custom_message_type = 0;
  5761. custom_message_state = 0;
  5762. custom_message = false;
  5763. }
  5764. void temp_compensation_apply() {
  5765. int i_add;
  5766. int compensation_value;
  5767. int z_shift = 0;
  5768. float z_shift_mm;
  5769. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  5770. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  5771. i_add = (target_temperature_bed - 60) / 10;
  5772. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  5773. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  5774. }else {
  5775. //interpolation
  5776. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  5777. }
  5778. SERIAL_PROTOCOLPGM("\n");
  5779. SERIAL_PROTOCOLPGM("Z shift applied:");
  5780. MYSERIAL.print(z_shift_mm);
  5781. 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);
  5782. st_synchronize();
  5783. plan_set_z_position(current_position[Z_AXIS]);
  5784. }
  5785. else {
  5786. //we have no temp compensation data
  5787. }
  5788. }
  5789. float temp_comp_interpolation(float inp_temperature) {
  5790. //cubic spline interpolation
  5791. int n, i, j, k;
  5792. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  5793. int shift[10];
  5794. int temp_C[10];
  5795. n = 6; //number of measured points
  5796. shift[0] = 0;
  5797. for (i = 0; i < n; i++) {
  5798. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  5799. temp_C[i] = 50 + i * 10; //temperature in C
  5800. x[i] = (float)temp_C[i];
  5801. f[i] = (float)shift[i];
  5802. }
  5803. if (inp_temperature < x[0]) return 0;
  5804. for (i = n - 1; i>0; i--) {
  5805. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  5806. h[i - 1] = x[i] - x[i - 1];
  5807. }
  5808. //*********** formation of h, s , f matrix **************
  5809. for (i = 1; i<n - 1; i++) {
  5810. m[i][i] = 2 * (h[i - 1] + h[i]);
  5811. if (i != 1) {
  5812. m[i][i - 1] = h[i - 1];
  5813. m[i - 1][i] = h[i - 1];
  5814. }
  5815. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  5816. }
  5817. //*********** forward elimination **************
  5818. for (i = 1; i<n - 2; i++) {
  5819. temp = (m[i + 1][i] / m[i][i]);
  5820. for (j = 1; j <= n - 1; j++)
  5821. m[i + 1][j] -= temp*m[i][j];
  5822. }
  5823. //*********** backward substitution *********
  5824. for (i = n - 2; i>0; i--) {
  5825. sum = 0;
  5826. for (j = i; j <= n - 2; j++)
  5827. sum += m[i][j] * s[j];
  5828. s[i] = (m[i][n - 1] - sum) / m[i][i];
  5829. }
  5830. for (i = 0; i<n - 1; i++)
  5831. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  5832. a = (s[i + 1] - s[i]) / (6 * h[i]);
  5833. b = s[i] / 2;
  5834. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  5835. d = f[i];
  5836. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  5837. }
  5838. return sum;
  5839. }
  5840. void long_pause() //long pause print
  5841. {
  5842. st_synchronize();
  5843. //save currently set parameters to global variables
  5844. saved_feedmultiply = feedmultiply;
  5845. HotendTempBckp = degTargetHotend(active_extruder);
  5846. fanSpeedBckp = fanSpeed;
  5847. start_pause_print = millis();
  5848. //save position
  5849. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  5850. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  5851. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  5852. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  5853. //retract
  5854. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  5855. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  5856. //lift z
  5857. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  5858. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  5859. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  5860. //set nozzle target temperature to 0
  5861. setTargetHotend(0, 0);
  5862. setTargetHotend(0, 1);
  5863. setTargetHotend(0, 2);
  5864. //Move XY to side
  5865. current_position[X_AXIS] = X_PAUSE_POS;
  5866. current_position[Y_AXIS] = Y_PAUSE_POS;
  5867. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  5868. // Turn off the print fan
  5869. fanSpeed = 0;
  5870. st_synchronize();
  5871. }
  5872. void serialecho_temperatures() {
  5873. float tt = degHotend(active_extruder);
  5874. SERIAL_PROTOCOLPGM("T:");
  5875. SERIAL_PROTOCOL(tt);
  5876. SERIAL_PROTOCOLPGM(" E:");
  5877. SERIAL_PROTOCOL((int)active_extruder);
  5878. SERIAL_PROTOCOLPGM(" B:");
  5879. SERIAL_PROTOCOL_F(degBed(), 1);
  5880. SERIAL_PROTOCOLLN("");
  5881. }