Marlin_main.cpp 403 KB

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  1. /* -*- c++ -*- */
  2. /**
  3. * @file
  4. */
  5. /**
  6. * @mainpage Reprap 3D printer firmware based on Sprinter and grbl.
  7. *
  8. * @section intro_sec Introduction
  9. *
  10. * This firmware is a mashup between Sprinter and grbl.
  11. * https://github.com/kliment/Sprinter
  12. * https://github.com/simen/grbl/tree
  13. *
  14. * It has preliminary support for Matthew Roberts advance algorithm
  15. * http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  16. *
  17. * Prusa Research s.r.o. https://www.prusa3d.cz
  18. *
  19. * @section copyright_sec Copyright
  20. *
  21. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  22. *
  23. * This program is free software: you can redistribute it and/or modify
  24. * it under the terms of the GNU General Public License as published by
  25. * the Free Software Foundation, either version 3 of the License, or
  26. * (at your option) any later version.
  27. *
  28. * This program is distributed in the hope that it will be useful,
  29. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  30. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  31. * GNU General Public License for more details.
  32. *
  33. * You should have received a copy of the GNU General Public License
  34. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  35. *
  36. * @section notes_sec Notes
  37. *
  38. * * Do not create static objects in global functions.
  39. * Otherwise constructor guard against concurrent calls is generated costing
  40. * about 8B RAM and 14B flash.
  41. *
  42. *
  43. */
  44. //-//
  45. #include "Configuration.h"
  46. #include "Marlin.h"
  47. #include "config.h"
  48. #include "macros.h"
  49. #ifdef ENABLE_AUTO_BED_LEVELING
  50. #include "vector_3.h"
  51. #ifdef AUTO_BED_LEVELING_GRID
  52. #include "qr_solve.h"
  53. #endif
  54. #endif // ENABLE_AUTO_BED_LEVELING
  55. #ifdef MESH_BED_LEVELING
  56. #include "mesh_bed_leveling.h"
  57. #include "mesh_bed_calibration.h"
  58. #endif
  59. #include "printers.h"
  60. #include "menu.h"
  61. #include "ultralcd.h"
  62. #include "backlight.h"
  63. #include "planner.h"
  64. #include "stepper.h"
  65. #include "temperature.h"
  66. #include "motion_control.h"
  67. #include "cardreader.h"
  68. #include "ConfigurationStore.h"
  69. #include "language.h"
  70. #include "pins_arduino.h"
  71. #include "math.h"
  72. #include "util.h"
  73. #include "Timer.h"
  74. #include <avr/wdt.h>
  75. #include <avr/pgmspace.h>
  76. #include "Dcodes.h"
  77. #include "AutoDeplete.h"
  78. #ifndef LA_NOCOMPAT
  79. #include "la10compat.h"
  80. #endif
  81. #include "spi.h"
  82. #ifdef FILAMENT_SENSOR
  83. #include "fsensor.h"
  84. #ifdef IR_SENSOR
  85. #include "pat9125.h" // for pat9125_probe
  86. #endif
  87. #endif //FILAMENT_SENSOR
  88. #ifdef TMC2130
  89. #include "tmc2130.h"
  90. #endif //TMC2130
  91. #ifdef XFLASH
  92. #include "xflash.h"
  93. #include "optiboot_xflash.h"
  94. #endif //XFLASH
  95. #ifdef EMERGENCY_DUMP
  96. #include "xflash_dump.h"
  97. #endif
  98. #ifdef BLINKM
  99. #include "BlinkM.h"
  100. #include "Wire.h"
  101. #endif
  102. #ifdef ULTRALCD
  103. #include "ultralcd.h"
  104. #endif
  105. #if NUM_SERVOS > 0
  106. #include "Servo.h"
  107. #endif
  108. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  109. #include <SPI.h>
  110. #endif
  111. #include "mmu.h"
  112. #define VERSION_STRING "1.0.2"
  113. #include "ultralcd.h"
  114. #include "sound.h"
  115. #include "cmdqueue.h"
  116. //Macro for print fan speed
  117. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  118. //filament types
  119. #define FILAMENT_DEFAULT 0
  120. #define FILAMENT_FLEX 1
  121. #define FILAMENT_PVA 2
  122. #define FILAMENT_UNDEFINED 255
  123. //Stepper Movement Variables
  124. //===========================================================================
  125. //=============================imported variables============================
  126. //===========================================================================
  127. //===========================================================================
  128. //=============================public variables=============================
  129. //===========================================================================
  130. #ifdef SDSUPPORT
  131. CardReader card;
  132. #endif
  133. unsigned long PingTime = _millis();
  134. unsigned long NcTime;
  135. uint8_t mbl_z_probe_nr = 3; //numer of Z measurements for each point in mesh bed leveling calibration
  136. //used for PINDA temp calibration and pause print
  137. #define DEFAULT_RETRACTION 1
  138. #define DEFAULT_RETRACTION_MM 4 //MM
  139. float default_retraction = DEFAULT_RETRACTION;
  140. float homing_feedrate[] = HOMING_FEEDRATE;
  141. //Although this flag and many others like this could be represented with a struct/bitfield for each axis (more readable and efficient code), the implementation
  142. //would not be standard across all platforms. That being said, the code will continue to use bitmasks for independent axis.
  143. //Moreover, according to C/C++ standard, the ordering of bits is platform/compiler dependent and the compiler is allowed to align the bits arbitrarily,
  144. //thus bit operations like shifting and masking may stop working and will be very hard to fix.
  145. uint8_t axis_relative_modes = 0;
  146. int feedmultiply=100; //100->1 200->2
  147. int extrudemultiply=100; //100->1 200->2
  148. int extruder_multiply[EXTRUDERS] = {100
  149. #if EXTRUDERS > 1
  150. , 100
  151. #if EXTRUDERS > 2
  152. , 100
  153. #endif
  154. #endif
  155. };
  156. int bowden_length[4] = {385, 385, 385, 385};
  157. bool is_usb_printing = false;
  158. bool homing_flag = false;
  159. unsigned long kicktime = _millis()+100000;
  160. unsigned int usb_printing_counter;
  161. int8_t lcd_change_fil_state = 0;
  162. unsigned long pause_time = 0;
  163. unsigned long start_pause_print = _millis();
  164. unsigned long t_fan_rising_edge = _millis();
  165. LongTimer safetyTimer;
  166. static LongTimer crashDetTimer;
  167. //unsigned long load_filament_time;
  168. bool mesh_bed_leveling_flag = false;
  169. bool mesh_bed_run_from_menu = false;
  170. bool prusa_sd_card_upload = false;
  171. unsigned int status_number = 0;
  172. unsigned long total_filament_used;
  173. unsigned int heating_status;
  174. unsigned int heating_status_counter;
  175. bool loading_flag = false;
  176. #define XY_NO_RESTORE_FLAG (mesh_bed_leveling_flag || homing_flag)
  177. char snmm_filaments_used = 0;
  178. bool fan_state[2];
  179. int fan_edge_counter[2];
  180. int fan_speed[2];
  181. float extruder_multiplier[EXTRUDERS] = {1.0
  182. #if EXTRUDERS > 1
  183. , 1.0
  184. #if EXTRUDERS > 2
  185. , 1.0
  186. #endif
  187. #endif
  188. };
  189. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  190. //shortcuts for more readable code
  191. #define _x current_position[X_AXIS]
  192. #define _y current_position[Y_AXIS]
  193. #define _z current_position[Z_AXIS]
  194. #define _e current_position[E_AXIS]
  195. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  196. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  197. bool axis_known_position[3] = {false, false, false};
  198. // Extruder offset
  199. #if EXTRUDERS > 1
  200. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  201. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  202. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  203. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  204. #endif
  205. };
  206. #endif
  207. uint8_t active_extruder = 0;
  208. int fanSpeed=0;
  209. uint8_t newFanSpeed = 0;
  210. #ifdef FWRETRACT
  211. bool retracted[EXTRUDERS]={false
  212. #if EXTRUDERS > 1
  213. , false
  214. #if EXTRUDERS > 2
  215. , false
  216. #endif
  217. #endif
  218. };
  219. bool retracted_swap[EXTRUDERS]={false
  220. #if EXTRUDERS > 1
  221. , false
  222. #if EXTRUDERS > 2
  223. , false
  224. #endif
  225. #endif
  226. };
  227. float retract_length_swap = RETRACT_LENGTH_SWAP;
  228. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  229. #endif
  230. #ifdef PS_DEFAULT_OFF
  231. bool powersupply = false;
  232. #else
  233. bool powersupply = true;
  234. #endif
  235. bool cancel_heatup = false ;
  236. int8_t busy_state = NOT_BUSY;
  237. static long prev_busy_signal_ms = -1;
  238. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  239. const char errormagic[] PROGMEM = "Error:";
  240. const char echomagic[] PROGMEM = "echo:";
  241. const char G28W0[] PROGMEM = "G28 W0";
  242. bool no_response = false;
  243. uint8_t important_status;
  244. uint8_t saved_filament_type;
  245. // Define some coordinates outside the clamp limits (making them invalid past the parsing stage) so
  246. // that they can be used later for various logical checks
  247. #define X_COORD_INVALID (X_MIN_POS-1)
  248. #define Y_COORD_INVALID (Y_MIN_POS-1)
  249. #define SAVED_TARGET_UNSET X_COORD_INVALID
  250. float saved_target[NUM_AXIS] = {SAVED_TARGET_UNSET, 0, 0, 0};
  251. // save/restore printing in case that mmu was not responding
  252. bool mmu_print_saved = false;
  253. // storing estimated time to end of print counted by slicer
  254. uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  255. uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  256. uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  257. uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  258. uint16_t print_time_to_change_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining time to next change in minutes
  259. uint16_t print_time_to_change_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining time to next change in minutes
  260. uint32_t IP_address = 0;
  261. //===========================================================================
  262. //=============================Private Variables=============================
  263. //===========================================================================
  264. #define MSG_BED_LEVELING_FAILED_TIMEOUT 30
  265. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  266. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  267. // For tracing an arc
  268. static float offset[3] = {0.0, 0.0, 0.0};
  269. // Current feedrate
  270. float feedrate = 1500.0;
  271. // Feedrate for the next move
  272. static float next_feedrate;
  273. // Original feedrate saved during homing moves
  274. static float saved_feedrate;
  275. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  276. //static float tt = 0;
  277. //static float bt = 0;
  278. //Inactivity shutdown variables
  279. static unsigned long previous_millis_cmd = 0;
  280. unsigned long max_inactive_time = 0;
  281. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  282. static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
  283. unsigned long starttime=0;
  284. unsigned long stoptime=0;
  285. unsigned long _usb_timer = 0;
  286. bool Stopped=false;
  287. #if NUM_SERVOS > 0
  288. Servo servos[NUM_SERVOS];
  289. #endif
  290. bool target_direction;
  291. //Insert variables if CHDK is defined
  292. #ifdef CHDK
  293. unsigned long chdkHigh = 0;
  294. boolean chdkActive = false;
  295. #endif
  296. //! @name RAM save/restore printing
  297. //! @{
  298. bool saved_printing = false; //!< Print is paused and saved in RAM
  299. static uint32_t saved_sdpos = 0; //!< SD card position, or line number in case of USB printing
  300. uint8_t saved_printing_type = PRINTING_TYPE_SD;
  301. static float saved_pos[4] = { X_COORD_INVALID, 0, 0, 0 };
  302. static uint16_t saved_feedrate2 = 0; //!< Default feedrate (truncated from float)
  303. static int saved_feedmultiply2 = 0;
  304. static uint8_t saved_active_extruder = 0;
  305. static float saved_extruder_temperature = 0.0; //!< Active extruder temperature
  306. static bool saved_extruder_relative_mode = false;
  307. static int saved_fanSpeed = 0; //!< Print fan speed
  308. //! @}
  309. static int saved_feedmultiply_mm = 100;
  310. class AutoReportFeatures {
  311. union {
  312. struct {
  313. uint8_t temp : 1; //Temperature flag
  314. uint8_t fans : 1; //Fans flag
  315. uint8_t pos: 1; //Position flag
  316. uint8_t ar4 : 1; //Unused
  317. uint8_t ar5 : 1; //Unused
  318. uint8_t ar6 : 1; //Unused
  319. uint8_t ar7 : 1; //Unused
  320. } __attribute__((packed)) bits;
  321. uint8_t byte;
  322. } arFunctionsActive;
  323. uint8_t auto_report_period;
  324. public:
  325. LongTimer auto_report_timer;
  326. AutoReportFeatures():auto_report_period(0){
  327. #if defined(AUTO_REPORT)
  328. arFunctionsActive.byte = 0xff;
  329. #else
  330. arFunctionsActive.byte = 0;
  331. #endif //AUTO_REPORT
  332. }
  333. inline bool Temp()const { return arFunctionsActive.bits.temp != 0; }
  334. inline void SetTemp(uint8_t v){ arFunctionsActive.bits.temp = v; }
  335. inline bool Fans()const { return arFunctionsActive.bits.fans != 0; }
  336. inline void SetFans(uint8_t v){ arFunctionsActive.bits.fans = v; }
  337. inline bool Pos()const { return arFunctionsActive.bits.pos != 0; }
  338. inline void SetPos(uint8_t v){ arFunctionsActive.bits.pos = v; }
  339. inline void SetMask(uint8_t mask){ arFunctionsActive.byte = mask; }
  340. /// sets the autoreporting timer's period
  341. /// setting it to zero stops the timer
  342. void SetPeriod(uint8_t p){
  343. auto_report_period = p;
  344. if (auto_report_period != 0){
  345. auto_report_timer.start();
  346. } else{
  347. auto_report_timer.stop();
  348. }
  349. }
  350. inline void TimerStart() { auto_report_timer.start(); }
  351. inline bool TimerRunning()const { return auto_report_timer.running(); }
  352. inline bool TimerExpired() { return auto_report_timer.expired(auto_report_period * 1000ul); }
  353. };
  354. AutoReportFeatures autoReportFeatures;
  355. //===========================================================================
  356. //=============================Routines======================================
  357. //===========================================================================
  358. static void get_arc_coordinates();
  359. static bool setTargetedHotend(int code, uint8_t &extruder);
  360. static void print_time_remaining_init();
  361. static void wait_for_heater(long codenum, uint8_t extruder);
  362. static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
  363. static void gcode_M105(uint8_t extruder);
  364. static void temp_compensation_start();
  365. static void temp_compensation_apply();
  366. static bool get_PRUSA_SN(char* SN);
  367. uint16_t gcode_in_progress = 0;
  368. uint16_t mcode_in_progress = 0;
  369. void serial_echopair_P(const char *s_P, float v)
  370. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  371. void serial_echopair_P(const char *s_P, double v)
  372. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  373. void serial_echopair_P(const char *s_P, unsigned long v)
  374. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  375. /*FORCE_INLINE*/ void serialprintPGM(const char *str)
  376. {
  377. #if 0
  378. char ch=pgm_read_byte(str);
  379. while(ch)
  380. {
  381. MYSERIAL.write(ch);
  382. ch=pgm_read_byte(++str);
  383. }
  384. #else
  385. // hmm, same size as the above version, the compiler did a good job optimizing the above
  386. while( uint8_t ch = pgm_read_byte(str) ){
  387. MYSERIAL.write((char)ch);
  388. ++str;
  389. }
  390. #endif
  391. }
  392. #ifdef SDSUPPORT
  393. #include "SdFatUtil.h"
  394. int freeMemory() { return SdFatUtil::FreeRam(); }
  395. #else
  396. extern "C" {
  397. extern unsigned int __bss_end;
  398. extern unsigned int __heap_start;
  399. extern void *__brkval;
  400. int freeMemory() {
  401. int free_memory;
  402. if ((int)__brkval == 0)
  403. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  404. else
  405. free_memory = ((int)&free_memory) - ((int)__brkval);
  406. return free_memory;
  407. }
  408. }
  409. #endif //!SDSUPPORT
  410. void setup_killpin()
  411. {
  412. #if defined(KILL_PIN) && KILL_PIN > -1
  413. SET_INPUT(KILL_PIN);
  414. WRITE(KILL_PIN,HIGH);
  415. #endif
  416. }
  417. // Set home pin
  418. void setup_homepin(void)
  419. {
  420. #if defined(HOME_PIN) && HOME_PIN > -1
  421. SET_INPUT(HOME_PIN);
  422. WRITE(HOME_PIN,HIGH);
  423. #endif
  424. }
  425. void setup_photpin()
  426. {
  427. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  428. SET_OUTPUT(PHOTOGRAPH_PIN);
  429. WRITE(PHOTOGRAPH_PIN, LOW);
  430. #endif
  431. }
  432. void setup_powerhold()
  433. {
  434. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  435. SET_OUTPUT(SUICIDE_PIN);
  436. WRITE(SUICIDE_PIN, HIGH);
  437. #endif
  438. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  439. SET_OUTPUT(PS_ON_PIN);
  440. #if defined(PS_DEFAULT_OFF)
  441. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  442. #else
  443. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  444. #endif
  445. #endif
  446. }
  447. void suicide()
  448. {
  449. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  450. SET_OUTPUT(SUICIDE_PIN);
  451. WRITE(SUICIDE_PIN, LOW);
  452. #endif
  453. }
  454. void servo_init()
  455. {
  456. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  457. servos[0].attach(SERVO0_PIN);
  458. #endif
  459. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  460. servos[1].attach(SERVO1_PIN);
  461. #endif
  462. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  463. servos[2].attach(SERVO2_PIN);
  464. #endif
  465. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  466. servos[3].attach(SERVO3_PIN);
  467. #endif
  468. #if (NUM_SERVOS >= 5)
  469. #error "TODO: enter initalisation code for more servos"
  470. #endif
  471. }
  472. bool fans_check_enabled = true;
  473. #ifdef TMC2130
  474. void crashdet_stop_and_save_print()
  475. {
  476. stop_and_save_print_to_ram(10, -default_retraction); //XY - no change, Z 10mm up, E -1mm retract
  477. }
  478. void crashdet_restore_print_and_continue()
  479. {
  480. restore_print_from_ram_and_continue(default_retraction); //XYZ = orig, E +1mm unretract
  481. // babystep_apply();
  482. }
  483. void crashdet_detected(uint8_t mask)
  484. {
  485. st_synchronize();
  486. static uint8_t crashDet_counter = 0;
  487. bool automatic_recovery_after_crash = true;
  488. if (crashDet_counter++ == 0) {
  489. crashDetTimer.start();
  490. }
  491. else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
  492. crashDetTimer.stop();
  493. crashDet_counter = 0;
  494. }
  495. else if(crashDet_counter == CRASHDET_COUNTER_MAX){
  496. automatic_recovery_after_crash = false;
  497. crashDetTimer.stop();
  498. crashDet_counter = 0;
  499. }
  500. else {
  501. crashDetTimer.start();
  502. }
  503. lcd_update_enable(true);
  504. lcd_clear();
  505. lcd_update(2);
  506. if (mask & X_AXIS_MASK)
  507. {
  508. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  509. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  510. }
  511. if (mask & Y_AXIS_MASK)
  512. {
  513. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  514. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  515. }
  516. lcd_update_enable(true);
  517. lcd_update(2);
  518. lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
  519. gcode_G28(true, true, false); //home X and Y
  520. st_synchronize();
  521. if (automatic_recovery_after_crash) {
  522. enquecommand_P(PSTR("CRASH_RECOVER"));
  523. }else{
  524. setTargetHotend(0, active_extruder);
  525. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);////MSG_CRASH_RESUME c=20 r=3
  526. lcd_update_enable(true);
  527. if (yesno)
  528. {
  529. enquecommand_P(PSTR("CRASH_RECOVER"));
  530. }
  531. else
  532. {
  533. enquecommand_P(PSTR("CRASH_CANCEL"));
  534. }
  535. }
  536. }
  537. void crashdet_recover()
  538. {
  539. crashdet_restore_print_and_continue();
  540. if (lcd_crash_detect_enabled()) tmc2130_sg_stop_on_crash = true;
  541. }
  542. void crashdet_cancel()
  543. {
  544. saved_printing = false;
  545. tmc2130_sg_stop_on_crash = true;
  546. if (saved_printing_type == PRINTING_TYPE_SD) {
  547. lcd_print_stop();
  548. }else if(saved_printing_type == PRINTING_TYPE_USB){
  549. SERIAL_ECHOLNRPGM(MSG_OCTOPRINT_CANCEL); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
  550. cmdqueue_reset();
  551. }
  552. }
  553. #endif //TMC2130
  554. void failstats_reset_print()
  555. {
  556. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  557. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  558. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  559. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  560. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  561. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  562. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  563. fsensor_softfail = 0;
  564. #endif
  565. }
  566. void softReset()
  567. {
  568. cli();
  569. wdt_enable(WDTO_15MS);
  570. while(1);
  571. }
  572. #ifdef MESH_BED_LEVELING
  573. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  574. #endif
  575. static void factory_reset_stats(){
  576. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  577. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  578. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  579. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  580. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  581. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  582. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  583. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  584. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  585. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  586. eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
  587. eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
  588. eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
  589. eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
  590. }
  591. // Factory reset function
  592. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  593. // Level input parameter sets depth of reset
  594. static void factory_reset(char level)
  595. {
  596. lcd_clear();
  597. Sound_MakeCustom(100,0,false);
  598. switch (level) {
  599. case 0: // Level 0: Language reset
  600. lang_reset();
  601. break;
  602. case 1: //Level 1: Reset statistics
  603. factory_reset_stats();
  604. lcd_menu_statistics();
  605. break;
  606. case 2: // Level 2: Prepare for shipping
  607. factory_reset_stats();
  608. // [[fallthrough]] // there is no break intentionally
  609. case 3: // Level 3: Preparation after being serviced
  610. // Force language selection at the next boot up.
  611. lang_reset();
  612. // Force the "Follow calibration flow" message at the next boot up.
  613. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  614. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 2); //run wizard
  615. farm_mode = false;
  616. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  617. #ifdef FILAMENT_SENSOR
  618. fsensor_enable();
  619. fsensor_autoload_set(true);
  620. #endif //FILAMENT_SENSOR
  621. break;
  622. case 4:
  623. menu_progressbar_init(EEPROM_TOP, PSTR("ERASING all data"));
  624. // Erase EEPROM
  625. for (uint16_t i = 0; i < EEPROM_TOP; i++) {
  626. eeprom_update_byte((uint8_t*)i, 0xFF);
  627. menu_progressbar_update(i);
  628. }
  629. menu_progressbar_finish();
  630. softReset();
  631. break;
  632. #ifdef SNMM
  633. case 5:
  634. bowden_menu();
  635. break;
  636. #endif
  637. default:
  638. break;
  639. }
  640. }
  641. extern "C" {
  642. FILE _uartout; //= {0}; Global variable is always zero initialized. No need to explicitly state this.
  643. }
  644. int uart_putchar(char c, FILE *)
  645. {
  646. MYSERIAL.write(c);
  647. return 0;
  648. }
  649. void lcd_splash()
  650. {
  651. lcd_clear(); // clears display and homes screen
  652. lcd_puts_P(PSTR("\n Original Prusa i3\n Prusa Research"));
  653. }
  654. void factory_reset()
  655. {
  656. KEEPALIVE_STATE(PAUSED_FOR_USER);
  657. if (!READ(BTN_ENC))
  658. {
  659. _delay_ms(1000);
  660. if (!READ(BTN_ENC))
  661. {
  662. lcd_clear();
  663. lcd_puts_P(PSTR("Factory RESET"));
  664. SET_OUTPUT(BEEPER);
  665. if(eSoundMode!=e_SOUND_MODE_SILENT)
  666. WRITE(BEEPER, HIGH);
  667. while (!READ(BTN_ENC));
  668. WRITE(BEEPER, LOW);
  669. _delay_ms(2000);
  670. char level = reset_menu();
  671. factory_reset(level);
  672. switch (level) {
  673. case 0:
  674. case 1:
  675. case 2:
  676. case 3:
  677. case 4: _delay_ms(0); break;
  678. }
  679. }
  680. }
  681. KEEPALIVE_STATE(IN_HANDLER);
  682. }
  683. void show_fw_version_warnings() {
  684. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  685. switch (FW_DEV_VERSION) {
  686. case(FW_VERSION_ALPHA): lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage.")); break;////MSG_FW_VERSION_ALPHA c=20 r=8
  687. case(FW_VERSION_BETA): lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage.")); break;////MSG_FW_VERSION_BETA c=20 r=8
  688. case(FW_VERSION_DEVEL):
  689. case(FW_VERSION_DEBUG):
  690. lcd_update_enable(false);
  691. lcd_clear();
  692. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  693. lcd_puts_at_P(0, 0, PSTR("Development build !!"));
  694. #else
  695. lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
  696. #endif
  697. lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
  698. lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
  699. lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
  700. lcd_wait_for_click();
  701. break;
  702. // default: lcd_show_fullscreen_message_and_wait_P(_i("WARNING: This is an unofficial, unsupported build. Use at your own risk!")); break;////MSG_FW_VERSION_UNKNOWN c=20 r=8
  703. }
  704. lcd_update_enable(true);
  705. }
  706. //! @brief try to check if firmware is on right type of printer
  707. static void check_if_fw_is_on_right_printer(){
  708. #ifdef FILAMENT_SENSOR
  709. if((PRINTER_TYPE == PRINTER_MK3) || (PRINTER_TYPE == PRINTER_MK3S)){
  710. #ifdef IR_SENSOR
  711. if (pat9125_probe()){
  712. lcd_show_fullscreen_message_and_wait_P(_i("MK3S firmware detected on MK3 printer"));}////MSG_MK3S_FIRMWARE_ON_MK3 c=20 r=4
  713. #endif //IR_SENSOR
  714. #ifdef PAT9125
  715. //will return 1 only if IR can detect filament in bondtech extruder so this may fail even when we have IR sensor
  716. const uint8_t ir_detected = !READ(IR_SENSOR_PIN);
  717. if (ir_detected){
  718. lcd_show_fullscreen_message_and_wait_P(_i("MK3 firmware detected on MK3S printer"));}////MSG_MK3_FIRMWARE_ON_MK3S c=20 r=4
  719. #endif //PAT9125
  720. }
  721. #endif //FILAMENT_SENSOR
  722. }
  723. uint8_t check_printer_version()
  724. {
  725. uint8_t version_changed = 0;
  726. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  727. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  728. if (printer_type != PRINTER_TYPE) {
  729. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  730. else version_changed |= 0b10;
  731. }
  732. if (motherboard != MOTHERBOARD) {
  733. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  734. else version_changed |= 0b01;
  735. }
  736. return version_changed;
  737. }
  738. #ifdef BOOTAPP
  739. #include "bootapp.h" //bootloader support
  740. #endif //BOOTAPP
  741. #if (LANG_MODE != 0) //secondary language support
  742. #ifdef XFLASH
  743. // language update from external flash
  744. #define LANGBOOT_BLOCKSIZE 0x1000u
  745. #define LANGBOOT_RAMBUFFER 0x0800
  746. void update_sec_lang_from_external_flash()
  747. {
  748. if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
  749. {
  750. uint8_t lang = boot_reserved >> 4;
  751. uint8_t state = boot_reserved & 0xf;
  752. lang_table_header_t header;
  753. uint32_t src_addr;
  754. if (lang_get_header(lang, &header, &src_addr))
  755. {
  756. lcd_puts_at_P(1,3,PSTR("Language update."));
  757. for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
  758. _delay(100);
  759. boot_reserved = (state + 1) | (lang << 4);
  760. if ((state * LANGBOOT_BLOCKSIZE) < header.size)
  761. {
  762. cli();
  763. uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
  764. if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
  765. xflash_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
  766. if (state == 0)
  767. {
  768. //TODO - check header integrity
  769. }
  770. bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
  771. }
  772. else
  773. {
  774. //TODO - check sec lang data integrity
  775. eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
  776. }
  777. }
  778. }
  779. boot_app_flags &= ~BOOT_APP_FLG_USER0;
  780. }
  781. #ifdef DEBUG_XFLASH
  782. uint8_t lang_xflash_enum_codes(uint16_t* codes)
  783. {
  784. lang_table_header_t header;
  785. uint8_t count = 0;
  786. uint32_t addr = 0x00000;
  787. while (1)
  788. {
  789. printf_P(_n("LANGTABLE%d:"), count);
  790. xflash_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
  791. if (header.magic != LANG_MAGIC)
  792. {
  793. puts_P(_n("NG!"));
  794. break;
  795. }
  796. puts_P(_n("OK"));
  797. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  798. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  799. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  800. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  801. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  802. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  803. addr += header.size;
  804. codes[count] = header.code;
  805. count ++;
  806. }
  807. return count;
  808. }
  809. void list_sec_lang_from_external_flash()
  810. {
  811. uint16_t codes[8];
  812. uint8_t count = lang_xflash_enum_codes(codes);
  813. printf_P(_n("XFlash lang count = %hhd\n"), count);
  814. }
  815. #endif //DEBUG_XFLASH
  816. #endif //XFLASH
  817. #endif //(LANG_MODE != 0)
  818. static void xflash_err_msg()
  819. {
  820. lcd_clear();
  821. lcd_puts_P(_n("External SPI flash\nXFLASH is not res-\nponding. Language\nswitch unavailable."));
  822. }
  823. // "Setup" function is called by the Arduino framework on startup.
  824. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  825. // are initialized by the main() routine provided by the Arduino framework.
  826. void setup()
  827. {
  828. timer2_init(); // enables functional millis
  829. mmu_init();
  830. ultralcd_init();
  831. spi_init();
  832. lcd_splash();
  833. Sound_Init(); // also guarantee "SET_OUTPUT(BEEPER)"
  834. selectedSerialPort = eeprom_read_byte((uint8_t *)EEPROM_SECOND_SERIAL_ACTIVE);
  835. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  836. eeprom_update_byte((uint8_t *)EEPROM_SECOND_SERIAL_ACTIVE, selectedSerialPort);
  837. MYSERIAL.begin(BAUDRATE);
  838. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  839. stdout = uartout;
  840. #ifdef XFLASH
  841. bool xflash_success = xflash_init();
  842. uint8_t optiboot_status = 1;
  843. if (xflash_success)
  844. {
  845. optiboot_status = optiboot_xflash_enter();
  846. #if (LANG_MODE != 0) //secondary language support
  847. update_sec_lang_from_external_flash();
  848. #endif //(LANG_MODE != 0)
  849. }
  850. else
  851. {
  852. xflash_err_msg();
  853. }
  854. #else
  855. const bool xflash_success = true;
  856. #endif //XFLASH
  857. setup_killpin();
  858. setup_powerhold();
  859. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  860. if (farm_mode == 0xFF)
  861. 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
  862. if (farm_mode)
  863. {
  864. no_response = true; //we need confirmation by recieving PRUSA thx
  865. important_status = 8;
  866. prusa_statistics(8);
  867. #ifdef HAS_SECOND_SERIAL_PORT
  868. selectedSerialPort = 1;
  869. #endif //HAS_SECOND_SERIAL_PORT
  870. MYSERIAL.begin(BAUDRATE);
  871. #ifdef FILAMENT_SENSOR
  872. //disabled filament autoload (PFW360)
  873. fsensor_autoload_set(false);
  874. #endif //FILAMENT_SENSOR
  875. // ~ FanCheck -> on
  876. if(!(eeprom_read_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED)))
  877. eeprom_update_byte((unsigned char *)EEPROM_FAN_CHECK_ENABLED,true);
  878. }
  879. #ifdef TMC2130
  880. if( FarmOrUserECool() ){
  881. //increased extruder current (PFW363)
  882. tmc2130_current_h[E_AXIS] = TMC2130_CURRENTS_FARM;
  883. tmc2130_current_r[E_AXIS] = TMC2130_CURRENTS_FARM;
  884. }
  885. #endif //TMC2130
  886. //saved EEPROM SN is not valid. Try to retrieve it.
  887. //SN is valid only if it is NULL terminated. Any other character means either uninitialized or corrupted
  888. if (eeprom_read_byte((uint8_t*)EEPROM_PRUSA_SN + 19))
  889. {
  890. char SN[20];
  891. if (get_PRUSA_SN(SN))
  892. {
  893. eeprom_update_block(SN, (uint8_t*)EEPROM_PRUSA_SN, 20);
  894. puts_P(PSTR("SN updated"));
  895. }
  896. else
  897. puts_P(PSTR("SN update failed"));
  898. }
  899. #ifndef XFLASH
  900. SERIAL_PROTOCOLLNPGM("start");
  901. #else
  902. if ((optiboot_status != 0) || (selectedSerialPort != 0))
  903. SERIAL_PROTOCOLLNPGM("start");
  904. #endif
  905. SERIAL_ECHO_START;
  906. puts_P(PSTR(" " FW_VERSION_FULL));
  907. //SERIAL_ECHOPAIR("Active sheet before:", static_cast<unsigned long int>(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet))));
  908. #ifdef DEBUG_SEC_LANG
  909. lang_table_header_t header;
  910. uint32_t src_addr = 0x00000;
  911. if (lang_get_header(1, &header, &src_addr))
  912. {
  913. //this is comparsion of some printing-methods regarding to flash space usage and code size/readability
  914. #define LT_PRINT_TEST 2
  915. // flash usage
  916. // total p.test
  917. //0 252718 t+c text code
  918. //1 253142 424 170 254
  919. //2 253040 322 164 158
  920. //3 253248 530 135 395
  921. #if (LT_PRINT_TEST==1) //not optimized printf
  922. printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
  923. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  924. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  925. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  926. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  927. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  928. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  929. #elif (LT_PRINT_TEST==2) //optimized printf
  930. printf_P(
  931. _n(
  932. " _src_addr = 0x%08lx\n"
  933. " _lt_magic = 0x%08lx %S\n"
  934. " _lt_size = 0x%04x (%d)\n"
  935. " _lt_count = 0x%04x (%d)\n"
  936. " _lt_chsum = 0x%04x\n"
  937. " _lt_code = 0x%04x (%c%c)\n"
  938. " _lt_resv1 = 0x%08lx\n"
  939. ),
  940. src_addr,
  941. header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
  942. header.size, header.size,
  943. header.count, header.count,
  944. header.checksum,
  945. header.code, header.code >> 8, header.code & 0xff,
  946. header.signature
  947. );
  948. #elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
  949. MYSERIAL.print(" _src_addr = 0x");
  950. MYSERIAL.println(src_addr, 16);
  951. MYSERIAL.print(" _lt_magic = 0x");
  952. MYSERIAL.print(header.magic, 16);
  953. MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
  954. MYSERIAL.print(" _lt_size = 0x");
  955. MYSERIAL.print(header.size, 16);
  956. MYSERIAL.print(" (");
  957. MYSERIAL.print(header.size, 10);
  958. MYSERIAL.println(")");
  959. MYSERIAL.print(" _lt_count = 0x");
  960. MYSERIAL.print(header.count, 16);
  961. MYSERIAL.print(" (");
  962. MYSERIAL.print(header.count, 10);
  963. MYSERIAL.println(")");
  964. MYSERIAL.print(" _lt_chsum = 0x");
  965. MYSERIAL.println(header.checksum, 16);
  966. MYSERIAL.print(" _lt_code = 0x");
  967. MYSERIAL.print(header.code, 16);
  968. MYSERIAL.print(" (");
  969. MYSERIAL.print((char)(header.code >> 8), 0);
  970. MYSERIAL.print((char)(header.code & 0xff), 0);
  971. MYSERIAL.println(")");
  972. MYSERIAL.print(" _lt_resv1 = 0x");
  973. MYSERIAL.println(header.signature, 16);
  974. #endif //(LT_PRINT_TEST==)
  975. #undef LT_PRINT_TEST
  976. #if 0
  977. xflash_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
  978. for (uint16_t i = 0; i < 1024; i++)
  979. {
  980. if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
  981. printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
  982. if ((i % 16) == 15) putchar('\n');
  983. }
  984. #endif
  985. uint16_t sum = 0;
  986. for (uint16_t i = 0; i < header.size; i++)
  987. sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
  988. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  989. sum -= header.checksum; //subtract checksum
  990. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  991. sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
  992. if (sum == header.checksum)
  993. puts_P(_n("Checksum OK"), sum);
  994. else
  995. puts_P(_n("Checksum NG"), sum);
  996. }
  997. else
  998. puts_P(_n("lang_get_header failed!"));
  999. #if 0
  1000. for (uint16_t i = 0; i < 1024*10; i++)
  1001. {
  1002. if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
  1003. printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
  1004. if ((i % 16) == 15) putchar('\n');
  1005. }
  1006. #endif
  1007. #if 0
  1008. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  1009. for (int i = 0; i < 4096; ++i) {
  1010. int b = eeprom_read_byte((unsigned char*)i);
  1011. if (b != 255) {
  1012. SERIAL_ECHO(i);
  1013. SERIAL_ECHO(":");
  1014. SERIAL_ECHO(b);
  1015. SERIAL_ECHOLN("");
  1016. }
  1017. }
  1018. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  1019. #endif
  1020. #endif //DEBUG_SEC_LANG
  1021. // Check startup - does nothing if bootloader sets MCUSR to 0
  1022. byte mcu = MCUSR;
  1023. /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  1024. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  1025. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  1026. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  1027. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  1028. if (mcu & 1) puts_P(MSG_POWERUP);
  1029. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  1030. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  1031. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  1032. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  1033. MCUSR = 0;
  1034. //SERIAL_ECHORPGM(MSG_MARLIN);
  1035. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  1036. #ifdef STRING_VERSION_CONFIG_H
  1037. #ifdef STRING_CONFIG_H_AUTHOR
  1038. SERIAL_ECHO_START;
  1039. SERIAL_ECHORPGM(_n(" Last Updated: "));////MSG_CONFIGURATION_VER
  1040. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  1041. SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR
  1042. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  1043. SERIAL_ECHOPGM("Compiled: ");
  1044. SERIAL_ECHOLNPGM(__DATE__);
  1045. #endif
  1046. #endif
  1047. SERIAL_ECHO_START;
  1048. SERIAL_ECHORPGM(_n(" Free Memory: "));////MSG_FREE_MEMORY
  1049. SERIAL_ECHO(freeMemory());
  1050. SERIAL_ECHORPGM(_n(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES
  1051. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  1052. //lcd_update_enable(false); // why do we need this?? - andre
  1053. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  1054. bool previous_settings_retrieved = false;
  1055. uint8_t hw_changed = check_printer_version();
  1056. if (!(hw_changed & 0b10)) { //if printer version wasn't changed, check for eeprom version and retrieve settings from eeprom in case that version wasn't changed
  1057. previous_settings_retrieved = Config_RetrieveSettings();
  1058. }
  1059. else { //printer version was changed so use default settings
  1060. Config_ResetDefault();
  1061. }
  1062. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  1063. tp_init(); // Initialize temperature loop
  1064. if (xflash_success) lcd_splash(); // we need to do this again, because tp_init() kills lcd
  1065. else
  1066. {
  1067. xflash_err_msg();
  1068. puts_P(_n("XFLASH not responding."));
  1069. }
  1070. #ifdef EXTRUDER_ALTFAN_DETECT
  1071. SERIAL_ECHORPGM(_n("Extruder fan type: "));
  1072. if (extruder_altfan_detect())
  1073. SERIAL_ECHOLNRPGM(PSTR("ALTFAN"));
  1074. else
  1075. SERIAL_ECHOLNRPGM(PSTR("NOCTUA"));
  1076. #endif //EXTRUDER_ALTFAN_DETECT
  1077. plan_init(); // Initialize planner;
  1078. factory_reset();
  1079. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1080. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff)
  1081. {
  1082. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1083. // where all the EEPROM entries are set to 0x0ff.
  1084. // Once a firmware boots up, it forces at least a language selection, which changes
  1085. // EEPROM_LANG to number lower than 0x0ff.
  1086. // 1) Set a high power mode.
  1087. eeprom_update_byte((uint8_t*)EEPROM_SILENT, SILENT_MODE_OFF);
  1088. #ifdef TMC2130
  1089. tmc2130_mode = TMC2130_MODE_NORMAL;
  1090. #endif //TMC2130
  1091. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  1092. }
  1093. lcd_encoder_diff=0;
  1094. #ifdef TMC2130
  1095. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1096. if (silentMode == 0xff) silentMode = 0;
  1097. tmc2130_mode = TMC2130_MODE_NORMAL;
  1098. if (lcd_crash_detect_enabled() && !farm_mode)
  1099. {
  1100. lcd_crash_detect_enable();
  1101. puts_P(_N("CrashDetect ENABLED!"));
  1102. }
  1103. else
  1104. {
  1105. lcd_crash_detect_disable();
  1106. puts_P(_N("CrashDetect DISABLED"));
  1107. }
  1108. #ifdef TMC2130_LINEARITY_CORRECTION
  1109. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  1110. tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  1111. tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  1112. tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  1113. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  1114. tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
  1115. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  1116. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  1117. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  1118. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  1119. #endif //TMC2130_LINEARITY_CORRECTION
  1120. #ifdef TMC2130_VARIABLE_RESOLUTION
  1121. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[X_AXIS]);
  1122. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Y_AXIS]);
  1123. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Z_AXIS]);
  1124. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[E_AXIS]);
  1125. #else //TMC2130_VARIABLE_RESOLUTION
  1126. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1127. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1128. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1129. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1130. #endif //TMC2130_VARIABLE_RESOLUTION
  1131. #endif //TMC2130
  1132. st_init(); // Initialize stepper, this enables interrupts!
  1133. #ifdef TMC2130
  1134. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1135. update_mode_profile();
  1136. tmc2130_init(TMCInitParams(false, FarmOrUserECool() ));
  1137. #endif //TMC2130
  1138. #ifdef PSU_Delta
  1139. init_force_z(); // ! important for correct Z-axis initialization
  1140. #endif // PSU_Delta
  1141. setup_photpin();
  1142. servo_init();
  1143. // Reset the machine correction matrix.
  1144. // It does not make sense to load the correction matrix until the machine is homed.
  1145. world2machine_reset();
  1146. // Initialize current_position accounting for software endstops to
  1147. // avoid unexpected initial shifts on the first move
  1148. clamp_to_software_endstops(current_position);
  1149. plan_set_position_curposXYZE();
  1150. #ifdef FILAMENT_SENSOR
  1151. fsensor_init();
  1152. #endif //FILAMENT_SENSOR
  1153. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  1154. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  1155. #endif
  1156. setup_homepin();
  1157. #if defined(Z_AXIS_ALWAYS_ON)
  1158. enable_z();
  1159. #endif
  1160. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  1161. if (farm_mode == 0xFF) 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
  1162. if (farm_mode)
  1163. {
  1164. prusa_statistics(8);
  1165. }
  1166. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1167. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1168. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1169. // but this times out if a blocking dialog is shown in setup().
  1170. card.initsd();
  1171. #ifdef DEBUG_SD_SPEED_TEST
  1172. if (card.cardOK)
  1173. {
  1174. uint8_t* buff = (uint8_t*)block_buffer;
  1175. uint32_t block = 0;
  1176. uint32_t sumr = 0;
  1177. uint32_t sumw = 0;
  1178. for (int i = 0; i < 1024; i++)
  1179. {
  1180. uint32_t u = _micros();
  1181. bool res = card.card.readBlock(i, buff);
  1182. u = _micros() - u;
  1183. if (res)
  1184. {
  1185. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1186. sumr += u;
  1187. u = _micros();
  1188. res = card.card.writeBlock(i, buff);
  1189. u = _micros() - u;
  1190. if (res)
  1191. {
  1192. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1193. sumw += u;
  1194. }
  1195. else
  1196. {
  1197. printf_P(PSTR("writeBlock %4d error\n"), i);
  1198. break;
  1199. }
  1200. }
  1201. else
  1202. {
  1203. printf_P(PSTR("readBlock %4d error\n"), i);
  1204. break;
  1205. }
  1206. }
  1207. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1208. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1209. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1210. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1211. }
  1212. else
  1213. printf_P(PSTR("Card NG!\n"));
  1214. #endif //DEBUG_SD_SPEED_TEST
  1215. eeprom_init();
  1216. #ifdef SNMM
  1217. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1218. int _z = BOWDEN_LENGTH;
  1219. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1220. }
  1221. #endif
  1222. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1223. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1224. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1225. #if (LANG_MODE != 0) //secondary language support
  1226. #ifdef DEBUG_XFLASH
  1227. XFLASH_SPI_ENTER();
  1228. uint8_t uid[8]; // 64bit unique id
  1229. xflash_rd_uid(uid);
  1230. puts_P(_n("XFLASH UID="));
  1231. for (uint8_t i = 0; i < 8; i ++)
  1232. printf_P(PSTR("%02hhx"), uid[i]);
  1233. putchar('\n');
  1234. list_sec_lang_from_external_flash();
  1235. #endif //DEBUG_XFLASH
  1236. // lang_reset();
  1237. if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
  1238. lcd_language();
  1239. #ifdef DEBUG_SEC_LANG
  1240. uint16_t sec_lang_code = lang_get_code(1);
  1241. uint16_t ui = _SEC_LANG_TABLE; //table pointer
  1242. printf_P(_n("lang_selected=%d\nlang_table=0x%04x\nSEC_LANG_CODE=0x%04x (%c%c)\n"), lang_selected, ui, sec_lang_code, sec_lang_code >> 8, sec_lang_code & 0xff);
  1243. lang_print_sec_lang(uartout);
  1244. #endif //DEBUG_SEC_LANG
  1245. #endif //(LANG_MODE != 0)
  1246. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1247. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1248. }
  1249. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1250. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1251. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1252. int16_t z_shift = 0;
  1253. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  1254. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1255. }
  1256. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1257. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1258. }
  1259. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1260. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1261. }
  1262. //mbl_mode_init();
  1263. mbl_settings_init();
  1264. SilentModeMenu_MMU = eeprom_read_byte((uint8_t*)EEPROM_MMU_STEALTH);
  1265. if (SilentModeMenu_MMU == 255) {
  1266. SilentModeMenu_MMU = 1;
  1267. eeprom_write_byte((uint8_t*)EEPROM_MMU_STEALTH, SilentModeMenu_MMU);
  1268. }
  1269. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1270. setup_fan_interrupt();
  1271. #endif //DEBUG_DISABLE_FANCHECK
  1272. #ifdef PAT9125
  1273. fsensor_setup_interrupt();
  1274. #endif //PAT9125
  1275. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1276. #ifndef DEBUG_DISABLE_STARTMSGS
  1277. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1278. if (!farm_mode) {
  1279. check_if_fw_is_on_right_printer();
  1280. show_fw_version_warnings();
  1281. }
  1282. switch (hw_changed) {
  1283. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1284. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1285. case(0b01):
  1286. lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
  1287. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1288. break;
  1289. case(0b10):
  1290. lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
  1291. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1292. break;
  1293. case(0b11):
  1294. lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
  1295. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1296. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1297. break;
  1298. default: break; //no change, show no message
  1299. }
  1300. if (!previous_settings_retrieved) {
  1301. lcd_show_fullscreen_message_and_wait_P(_i("Old settings found. Default PID, Esteps etc. will be set.")); //if EEPROM version or printer type was changed, inform user that default setting were loaded////MSG_DEFAULT_SETTINGS_LOADED c=20 r=6
  1302. Config_StoreSettings();
  1303. }
  1304. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) >= 1) {
  1305. lcd_wizard(WizState::Run);
  1306. }
  1307. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1308. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1309. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1310. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1311. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1312. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  1313. // Show the message.
  1314. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1315. }
  1316. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1317. // Show the message.
  1318. lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  1319. lcd_update_enable(true);
  1320. }
  1321. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() == false) {
  1322. //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
  1323. lcd_update_enable(true);
  1324. }
  1325. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1326. // Show the message.
  1327. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_Z_CALIBRATION_FLOW));
  1328. }
  1329. }
  1330. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1331. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1332. lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
  1333. update_current_firmware_version_to_eeprom();
  1334. lcd_selftest();
  1335. }
  1336. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1337. KEEPALIVE_STATE(IN_PROCESS);
  1338. #endif //DEBUG_DISABLE_STARTMSGS
  1339. lcd_update_enable(true);
  1340. lcd_clear();
  1341. lcd_update(2);
  1342. // Store the currently running firmware into an eeprom,
  1343. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1344. update_current_firmware_version_to_eeprom();
  1345. #ifdef TMC2130
  1346. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1347. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1348. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1349. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1350. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1351. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1352. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1353. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1354. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1355. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1356. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1357. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1358. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1359. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1360. #endif //TMC2130
  1361. #ifdef EMERGENCY_DUMP
  1362. if(xfdump_check_crash() && eeprom_read_byte((uint8_t*)EEPROM_CRASH_ACKNOWLEDGED) != 1)
  1363. {
  1364. // prevent the prompt to reappear once acknowledged
  1365. eeprom_update_byte((uint8_t*)EEPROM_CRASH_ACKNOWLEDGED, 1);
  1366. lcd_show_fullscreen_message_and_wait_P(
  1367. _i("!!!FIRMWARE CRASH!!!\n"
  1368. "Debug data available for analysis. "
  1369. "Contact support to submit details."));
  1370. }
  1371. #endif
  1372. #ifdef UVLO_SUPPORT
  1373. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != 0) { //previous print was terminated by UVLO
  1374. /*
  1375. if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
  1376. else {
  1377. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1378. lcd_update_enable(true);
  1379. lcd_update(2);
  1380. lcd_setstatuspgm(_T(WELCOME_MSG));
  1381. }
  1382. */
  1383. manage_heater(); // Update temperatures
  1384. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1385. printf_P(_N("Power panic detected!\nCurrent bed temp:%d\nSaved bed temp:%d\n"), (int)degBed(), eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED));
  1386. #endif
  1387. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1388. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1389. puts_P(_N("Automatic recovery!"));
  1390. #endif
  1391. recover_print(1);
  1392. }
  1393. else{
  1394. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1395. puts_P(_N("Normal recovery!"));
  1396. #endif
  1397. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
  1398. else {
  1399. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1400. lcd_update_enable(true);
  1401. lcd_update(2);
  1402. lcd_setstatuspgm(_T(WELCOME_MSG));
  1403. }
  1404. }
  1405. }
  1406. // Only arm the uvlo interrupt _after_ a recovering print has been initialized and
  1407. // the entire state machine initialized.
  1408. setup_uvlo_interrupt();
  1409. #endif //UVLO_SUPPORT
  1410. fCheckModeInit();
  1411. fSetMmuMode(mmu_enabled);
  1412. KEEPALIVE_STATE(NOT_BUSY);
  1413. #ifdef WATCHDOG
  1414. wdt_enable(WDTO_4S);
  1415. #endif //WATCHDOG
  1416. }
  1417. void trace();
  1418. #define CHUNK_SIZE 64 // bytes
  1419. #define SAFETY_MARGIN 1
  1420. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1421. int chunkHead = 0;
  1422. void serial_read_stream() {
  1423. setAllTargetHotends(0);
  1424. setTargetBed(0);
  1425. lcd_clear();
  1426. lcd_puts_P(PSTR(" Upload in progress"));
  1427. // first wait for how many bytes we will receive
  1428. uint32_t bytesToReceive;
  1429. // receive the four bytes
  1430. char bytesToReceiveBuffer[4];
  1431. for (int i=0; i<4; i++) {
  1432. int data;
  1433. while ((data = MYSERIAL.read()) == -1) {};
  1434. bytesToReceiveBuffer[i] = data;
  1435. }
  1436. // make it a uint32
  1437. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1438. // we're ready, notify the sender
  1439. MYSERIAL.write('+');
  1440. // lock in the routine
  1441. uint32_t receivedBytes = 0;
  1442. while (prusa_sd_card_upload) {
  1443. int i;
  1444. for (i=0; i<CHUNK_SIZE; i++) {
  1445. int data;
  1446. // check if we're not done
  1447. if (receivedBytes == bytesToReceive) {
  1448. break;
  1449. }
  1450. // read the next byte
  1451. while ((data = MYSERIAL.read()) == -1) {};
  1452. receivedBytes++;
  1453. // save it to the chunk
  1454. chunk[i] = data;
  1455. }
  1456. // write the chunk to SD
  1457. card.write_command_no_newline(&chunk[0]);
  1458. // notify the sender we're ready for more data
  1459. MYSERIAL.write('+');
  1460. // for safety
  1461. manage_heater();
  1462. // check if we're done
  1463. if(receivedBytes == bytesToReceive) {
  1464. trace(); // beep
  1465. card.closefile();
  1466. prusa_sd_card_upload = false;
  1467. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1468. }
  1469. }
  1470. }
  1471. /**
  1472. * Output a "busy" message at regular intervals
  1473. * while the machine is not accepting commands.
  1474. */
  1475. void host_keepalive() {
  1476. #ifndef HOST_KEEPALIVE_FEATURE
  1477. return;
  1478. #endif //HOST_KEEPALIVE_FEATURE
  1479. if (farm_mode) return;
  1480. long ms = _millis();
  1481. #if defined(AUTO_REPORT)
  1482. {
  1483. if (autoReportFeatures.TimerExpired())
  1484. {
  1485. if(autoReportFeatures.Temp()){
  1486. gcode_M105(active_extruder);
  1487. }
  1488. if(autoReportFeatures.Pos()){
  1489. gcode_M114();
  1490. }
  1491. #if defined(AUTO_REPORT) && (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  1492. if(autoReportFeatures.Fans()){
  1493. gcode_M123();
  1494. }
  1495. #endif //AUTO_REPORT and (FANCHECK and TACH_0 or TACH_1)
  1496. autoReportFeatures.TimerStart();
  1497. }
  1498. }
  1499. #endif //AUTO_REPORT
  1500. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1501. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1502. switch (busy_state) {
  1503. case IN_HANDLER:
  1504. case IN_PROCESS:
  1505. SERIAL_ECHO_START;
  1506. SERIAL_ECHOLNPGM("busy: processing");
  1507. break;
  1508. case PAUSED_FOR_USER:
  1509. SERIAL_ECHO_START;
  1510. SERIAL_ECHOLNPGM("busy: paused for user");
  1511. break;
  1512. case PAUSED_FOR_INPUT:
  1513. SERIAL_ECHO_START;
  1514. SERIAL_ECHOLNPGM("busy: paused for input");
  1515. break;
  1516. default:
  1517. break;
  1518. }
  1519. }
  1520. prev_busy_signal_ms = ms;
  1521. }
  1522. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1523. // Before loop(), the setup() function is called by the main() routine.
  1524. void loop()
  1525. {
  1526. KEEPALIVE_STATE(NOT_BUSY);
  1527. if ((usb_printing_counter > 0) && ((_millis()-_usb_timer) > 1000))
  1528. {
  1529. is_usb_printing = true;
  1530. usb_printing_counter--;
  1531. _usb_timer = _millis();
  1532. }
  1533. if (usb_printing_counter == 0)
  1534. {
  1535. is_usb_printing = false;
  1536. }
  1537. if (isPrintPaused && saved_printing_type == PRINTING_TYPE_USB) //keep believing that usb is being printed. Prevents accessing dangerous menus while pausing.
  1538. {
  1539. is_usb_printing = true;
  1540. }
  1541. #ifdef FANCHECK
  1542. if (fan_check_error && isPrintPaused && !IS_SD_PRINTING) {
  1543. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1544. host_keepalive(); //prevent timeouts since usb processing is disabled until print is resumed. This is for a crude way of pausing a print on all hosts.
  1545. }
  1546. #endif
  1547. if (prusa_sd_card_upload)
  1548. {
  1549. //we read byte-by byte
  1550. serial_read_stream();
  1551. }
  1552. else
  1553. {
  1554. get_command();
  1555. #ifdef SDSUPPORT
  1556. card.checkautostart(false);
  1557. #endif
  1558. if(buflen)
  1559. {
  1560. cmdbuffer_front_already_processed = false;
  1561. #ifdef SDSUPPORT
  1562. if(card.saving)
  1563. {
  1564. // Saving a G-code file onto an SD-card is in progress.
  1565. // Saving starts with M28, saving until M29 is seen.
  1566. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1567. card.write_command(CMDBUFFER_CURRENT_STRING);
  1568. if(card.logging)
  1569. process_commands();
  1570. else
  1571. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1572. } else {
  1573. card.closefile();
  1574. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1575. }
  1576. } else {
  1577. process_commands();
  1578. }
  1579. #else
  1580. process_commands();
  1581. #endif //SDSUPPORT
  1582. if (! cmdbuffer_front_already_processed && buflen)
  1583. {
  1584. // ptr points to the start of the block currently being processed.
  1585. // The first character in the block is the block type.
  1586. char *ptr = cmdbuffer + bufindr;
  1587. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1588. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1589. union {
  1590. struct {
  1591. char lo;
  1592. char hi;
  1593. } lohi;
  1594. uint16_t value;
  1595. } sdlen;
  1596. sdlen.value = 0;
  1597. {
  1598. // This block locks the interrupts globally for 3.25 us,
  1599. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1600. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1601. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1602. cli();
  1603. // Reset the command to something, which will be ignored by the power panic routine,
  1604. // so this buffer length will not be counted twice.
  1605. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1606. // Extract the current buffer length.
  1607. sdlen.lohi.lo = *ptr ++;
  1608. sdlen.lohi.hi = *ptr;
  1609. // and pass it to the planner queue.
  1610. planner_add_sd_length(sdlen.value);
  1611. sei();
  1612. }
  1613. }
  1614. else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
  1615. cli();
  1616. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1617. // and one for each command to previous block in the planner queue.
  1618. planner_add_sd_length(1);
  1619. sei();
  1620. }
  1621. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1622. // this block's SD card length will not be counted twice as its command type has been replaced
  1623. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1624. cmdqueue_pop_front();
  1625. }
  1626. host_keepalive();
  1627. }
  1628. }
  1629. //check heater every n milliseconds
  1630. manage_heater();
  1631. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1632. checkHitEndstops();
  1633. lcd_update(0);
  1634. #ifdef TMC2130
  1635. tmc2130_check_overtemp();
  1636. if (tmc2130_sg_crash)
  1637. {
  1638. uint8_t crash = tmc2130_sg_crash;
  1639. tmc2130_sg_crash = 0;
  1640. // crashdet_stop_and_save_print();
  1641. switch (crash)
  1642. {
  1643. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1644. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1645. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1646. }
  1647. }
  1648. #endif //TMC2130
  1649. mmu_loop();
  1650. }
  1651. #define DEFINE_PGM_READ_ANY(type, reader) \
  1652. static inline type pgm_read_any(const type *p) \
  1653. { return pgm_read_##reader##_near(p); }
  1654. DEFINE_PGM_READ_ANY(float, float);
  1655. DEFINE_PGM_READ_ANY(signed char, byte);
  1656. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1657. static const PROGMEM type array##_P[3] = \
  1658. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1659. static inline type array(int axis) \
  1660. { return pgm_read_any(&array##_P[axis]); } \
  1661. type array##_ext(int axis) \
  1662. { return pgm_read_any(&array##_P[axis]); }
  1663. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1664. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1665. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1666. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1667. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1668. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1669. static void axis_is_at_home(int axis) {
  1670. current_position[axis] = base_home_pos(axis) + cs.add_homing[axis];
  1671. min_pos[axis] = base_min_pos(axis) + cs.add_homing[axis];
  1672. max_pos[axis] = base_max_pos(axis) + cs.add_homing[axis];
  1673. }
  1674. //! @return original feedmultiply
  1675. static int setup_for_endstop_move(bool enable_endstops_now = true) {
  1676. saved_feedrate = feedrate;
  1677. int l_feedmultiply = feedmultiply;
  1678. feedmultiply = 100;
  1679. previous_millis_cmd = _millis();
  1680. enable_endstops(enable_endstops_now);
  1681. return l_feedmultiply;
  1682. }
  1683. //! @param original_feedmultiply feedmultiply to restore
  1684. static void clean_up_after_endstop_move(int original_feedmultiply) {
  1685. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1686. enable_endstops(false);
  1687. #endif
  1688. feedrate = saved_feedrate;
  1689. feedmultiply = original_feedmultiply;
  1690. previous_millis_cmd = _millis();
  1691. }
  1692. #ifdef ENABLE_AUTO_BED_LEVELING
  1693. #ifdef AUTO_BED_LEVELING_GRID
  1694. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1695. {
  1696. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1697. planeNormal.debug("planeNormal");
  1698. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1699. //bedLevel.debug("bedLevel");
  1700. //plan_bed_level_matrix.debug("bed level before");
  1701. //vector_3 uncorrected_position = plan_get_position_mm();
  1702. //uncorrected_position.debug("position before");
  1703. vector_3 corrected_position = plan_get_position();
  1704. // corrected_position.debug("position after");
  1705. current_position[X_AXIS] = corrected_position.x;
  1706. current_position[Y_AXIS] = corrected_position.y;
  1707. current_position[Z_AXIS] = corrected_position.z;
  1708. // put the bed at 0 so we don't go below it.
  1709. current_position[Z_AXIS] = cs.zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1710. plan_set_position_curposXYZE();
  1711. }
  1712. #else // not AUTO_BED_LEVELING_GRID
  1713. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1714. plan_bed_level_matrix.set_to_identity();
  1715. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1716. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1717. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1718. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1719. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1720. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1721. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1722. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1723. vector_3 corrected_position = plan_get_position();
  1724. current_position[X_AXIS] = corrected_position.x;
  1725. current_position[Y_AXIS] = corrected_position.y;
  1726. current_position[Z_AXIS] = corrected_position.z;
  1727. // put the bed at 0 so we don't go below it.
  1728. current_position[Z_AXIS] = cs.zprobe_zoffset;
  1729. plan_set_position_curposXYZE();
  1730. }
  1731. #endif // AUTO_BED_LEVELING_GRID
  1732. static void run_z_probe() {
  1733. plan_bed_level_matrix.set_to_identity();
  1734. feedrate = homing_feedrate[Z_AXIS];
  1735. // move down until you find the bed
  1736. float zPosition = -10;
  1737. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1738. st_synchronize();
  1739. // we have to let the planner know where we are right now as it is not where we said to go.
  1740. zPosition = st_get_position_mm(Z_AXIS);
  1741. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1742. // move up the retract distance
  1743. zPosition += home_retract_mm(Z_AXIS);
  1744. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1745. st_synchronize();
  1746. // move back down slowly to find bed
  1747. feedrate = homing_feedrate[Z_AXIS]/4;
  1748. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1749. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1750. st_synchronize();
  1751. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1752. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1753. plan_set_position_curposXYZE();
  1754. }
  1755. static void do_blocking_move_to(float x, float y, float z) {
  1756. float oldFeedRate = feedrate;
  1757. feedrate = homing_feedrate[Z_AXIS];
  1758. current_position[Z_AXIS] = z;
  1759. plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
  1760. st_synchronize();
  1761. feedrate = XY_TRAVEL_SPEED;
  1762. current_position[X_AXIS] = x;
  1763. current_position[Y_AXIS] = y;
  1764. plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
  1765. st_synchronize();
  1766. feedrate = oldFeedRate;
  1767. }
  1768. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1769. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1770. }
  1771. /// Probe bed height at position (x,y), returns the measured z value
  1772. static float probe_pt(float x, float y, float z_before) {
  1773. // move to right place
  1774. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1775. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1776. run_z_probe();
  1777. float measured_z = current_position[Z_AXIS];
  1778. SERIAL_PROTOCOLRPGM(_T(MSG_BED));
  1779. SERIAL_PROTOCOLPGM(" x: ");
  1780. SERIAL_PROTOCOL(x);
  1781. SERIAL_PROTOCOLPGM(" y: ");
  1782. SERIAL_PROTOCOL(y);
  1783. SERIAL_PROTOCOLPGM(" z: ");
  1784. SERIAL_PROTOCOL(measured_z);
  1785. SERIAL_PROTOCOLPGM("\n");
  1786. return measured_z;
  1787. }
  1788. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1789. #ifdef LIN_ADVANCE
  1790. /**
  1791. * M900: Set and/or Get advance K factor
  1792. *
  1793. * K<factor> Set advance K factor
  1794. */
  1795. inline void gcode_M900() {
  1796. float newK = code_seen('K') ? code_value_float() : -2;
  1797. #ifdef LA_NOCOMPAT
  1798. if (newK >= 0 && newK < LA_K_MAX)
  1799. extruder_advance_K = newK;
  1800. else
  1801. SERIAL_ECHOLNPGM("K out of allowed range!");
  1802. #else
  1803. if (newK == 0)
  1804. {
  1805. extruder_advance_K = 0;
  1806. la10c_reset();
  1807. }
  1808. else
  1809. {
  1810. newK = la10c_value(newK);
  1811. if (newK < 0)
  1812. SERIAL_ECHOLNPGM("K out of allowed range!");
  1813. else
  1814. extruder_advance_K = newK;
  1815. }
  1816. #endif
  1817. SERIAL_ECHO_START;
  1818. SERIAL_ECHOPGM("Advance K=");
  1819. SERIAL_ECHOLN(extruder_advance_K);
  1820. }
  1821. #endif // LIN_ADVANCE
  1822. bool check_commands() {
  1823. bool end_command_found = false;
  1824. while (buflen)
  1825. {
  1826. if ((code_seen_P(PSTR("M84"))) || (code_seen_P(PSTR("M 84")))) end_command_found = true;
  1827. if (!cmdbuffer_front_already_processed)
  1828. cmdqueue_pop_front();
  1829. cmdbuffer_front_already_processed = false;
  1830. }
  1831. return end_command_found;
  1832. }
  1833. // raise_z_above: slowly raise Z to the requested height
  1834. //
  1835. // contrarily to a simple move, this function will carefully plan a move
  1836. // when the current Z position is unknown. In such cases, stallguard is
  1837. // enabled and will prevent prolonged pushing against the Z tops
  1838. void raise_z_above(float target, bool plan)
  1839. {
  1840. if (current_position[Z_AXIS] >= target)
  1841. return;
  1842. // Z needs raising
  1843. current_position[Z_AXIS] = target;
  1844. #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
  1845. bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
  1846. #else
  1847. bool z_min_endstop = false;
  1848. #endif
  1849. if (axis_known_position[Z_AXIS] || z_min_endstop)
  1850. {
  1851. // current position is known or very low, it's safe to raise Z
  1852. if(plan) plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
  1853. return;
  1854. }
  1855. // ensure Z is powered in normal mode to overcome initial load
  1856. enable_z();
  1857. st_synchronize();
  1858. // rely on crashguard to limit damage
  1859. bool z_endstop_enabled = enable_z_endstop(true);
  1860. #ifdef TMC2130
  1861. tmc2130_home_enter(Z_AXIS_MASK);
  1862. #endif //TMC2130
  1863. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
  1864. st_synchronize();
  1865. #ifdef TMC2130
  1866. if (endstop_z_hit_on_purpose())
  1867. {
  1868. // not necessarily exact, but will avoid further vertical moves
  1869. current_position[Z_AXIS] = max_pos[Z_AXIS];
  1870. plan_set_position_curposXYZE();
  1871. }
  1872. tmc2130_home_exit();
  1873. #endif //TMC2130
  1874. enable_z_endstop(z_endstop_enabled);
  1875. }
  1876. #ifdef TMC2130
  1877. bool calibrate_z_auto()
  1878. {
  1879. //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
  1880. lcd_clear();
  1881. lcd_puts_at_P(0, 1, _T(MSG_CALIBRATE_Z_AUTO));
  1882. bool endstops_enabled = enable_endstops(true);
  1883. int axis_up_dir = -home_dir(Z_AXIS);
  1884. tmc2130_home_enter(Z_AXIS_MASK);
  1885. current_position[Z_AXIS] = 0;
  1886. plan_set_position_curposXYZE();
  1887. set_destination_to_current();
  1888. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1889. feedrate = homing_feedrate[Z_AXIS];
  1890. plan_buffer_line_destinationXYZE(feedrate / 60);
  1891. st_synchronize();
  1892. // current_position[axis] = 0;
  1893. // plan_set_position_curposXYZE();
  1894. tmc2130_home_exit();
  1895. enable_endstops(false);
  1896. current_position[Z_AXIS] = 0;
  1897. plan_set_position_curposXYZE();
  1898. set_destination_to_current();
  1899. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1900. feedrate = homing_feedrate[Z_AXIS] / 2;
  1901. plan_buffer_line_destinationXYZE(feedrate / 60);
  1902. st_synchronize();
  1903. enable_endstops(endstops_enabled);
  1904. if (PRINTER_TYPE == PRINTER_MK3) {
  1905. current_position[Z_AXIS] = Z_MAX_POS + 2.0;
  1906. }
  1907. else {
  1908. current_position[Z_AXIS] = Z_MAX_POS + 9.0;
  1909. }
  1910. plan_set_position_curposXYZE();
  1911. return true;
  1912. }
  1913. #endif //TMC2130
  1914. #ifdef TMC2130
  1915. static void check_Z_crash(void)
  1916. {
  1917. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  1918. FORCE_HIGH_POWER_END;
  1919. current_position[Z_AXIS] = 0;
  1920. plan_set_position_curposXYZE();
  1921. current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
  1922. plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
  1923. st_synchronize();
  1924. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  1925. }
  1926. }
  1927. #endif //TMC2130
  1928. #ifdef TMC2130
  1929. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1930. #else
  1931. void homeaxis(int axis, uint8_t cnt)
  1932. #endif //TMC2130
  1933. {
  1934. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1935. #define HOMEAXIS_DO(LETTER) \
  1936. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1937. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1938. {
  1939. int axis_home_dir = home_dir(axis);
  1940. feedrate = homing_feedrate[axis];
  1941. #ifdef TMC2130
  1942. tmc2130_home_enter(X_AXIS_MASK << axis);
  1943. #endif //TMC2130
  1944. // Move away a bit, so that the print head does not touch the end position,
  1945. // and the following movement to endstop has a chance to achieve the required velocity
  1946. // for the stall guard to work.
  1947. current_position[axis] = 0;
  1948. plan_set_position_curposXYZE();
  1949. set_destination_to_current();
  1950. // destination[axis] = 11.f;
  1951. destination[axis] = -3.f * axis_home_dir;
  1952. plan_buffer_line_destinationXYZE(feedrate/60);
  1953. st_synchronize();
  1954. // Move away from the possible collision with opposite endstop with the collision detection disabled.
  1955. endstops_hit_on_purpose();
  1956. enable_endstops(false);
  1957. current_position[axis] = 0;
  1958. plan_set_position_curposXYZE();
  1959. destination[axis] = 1. * axis_home_dir;
  1960. plan_buffer_line_destinationXYZE(feedrate/60);
  1961. st_synchronize();
  1962. // Now continue to move up to the left end stop with the collision detection enabled.
  1963. enable_endstops(true);
  1964. destination[axis] = 1.1 * axis_home_dir * max_length(axis);
  1965. plan_buffer_line_destinationXYZE(feedrate/60);
  1966. st_synchronize();
  1967. for (uint8_t i = 0; i < cnt; i++)
  1968. {
  1969. // Move away from the collision to a known distance from the left end stop with the collision detection disabled.
  1970. endstops_hit_on_purpose();
  1971. enable_endstops(false);
  1972. current_position[axis] = 0;
  1973. plan_set_position_curposXYZE();
  1974. destination[axis] = -10.f * axis_home_dir;
  1975. plan_buffer_line_destinationXYZE(feedrate/60);
  1976. st_synchronize();
  1977. endstops_hit_on_purpose();
  1978. // Now move left up to the collision, this time with a repeatable velocity.
  1979. enable_endstops(true);
  1980. destination[axis] = 11.f * axis_home_dir;
  1981. #ifdef TMC2130
  1982. feedrate = homing_feedrate[axis];
  1983. #else //TMC2130
  1984. feedrate = homing_feedrate[axis] / 2;
  1985. #endif //TMC2130
  1986. plan_buffer_line_destinationXYZE(feedrate/60);
  1987. st_synchronize();
  1988. #ifdef TMC2130
  1989. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  1990. if (pstep) pstep[i] = mscnt >> 4;
  1991. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  1992. #endif //TMC2130
  1993. }
  1994. endstops_hit_on_purpose();
  1995. enable_endstops(false);
  1996. #ifdef TMC2130
  1997. uint8_t orig = tmc2130_home_origin[axis];
  1998. uint8_t back = tmc2130_home_bsteps[axis];
  1999. if (tmc2130_home_enabled && (orig <= 63))
  2000. {
  2001. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  2002. if (back > 0)
  2003. tmc2130_do_steps(axis, back, -axis_home_dir, 1000);
  2004. }
  2005. else
  2006. tmc2130_do_steps(axis, 8, -axis_home_dir, 1000);
  2007. tmc2130_home_exit();
  2008. #endif //TMC2130
  2009. axis_is_at_home(axis);
  2010. axis_known_position[axis] = true;
  2011. // Move from minimum
  2012. #ifdef TMC2130
  2013. float dist = - axis_home_dir * 0.01f * tmc2130_home_fsteps[axis];
  2014. #else //TMC2130
  2015. float dist = - axis_home_dir * 0.01f * 64;
  2016. #endif //TMC2130
  2017. current_position[axis] -= dist;
  2018. plan_set_position_curposXYZE();
  2019. current_position[axis] += dist;
  2020. destination[axis] = current_position[axis];
  2021. plan_buffer_line_destinationXYZE(0.5f*feedrate/60);
  2022. st_synchronize();
  2023. feedrate = 0.0;
  2024. }
  2025. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  2026. {
  2027. #ifdef TMC2130
  2028. FORCE_HIGH_POWER_START;
  2029. #endif
  2030. int axis_home_dir = home_dir(axis);
  2031. current_position[axis] = 0;
  2032. plan_set_position_curposXYZE();
  2033. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  2034. feedrate = homing_feedrate[axis];
  2035. plan_buffer_line_destinationXYZE(feedrate/60);
  2036. st_synchronize();
  2037. #ifdef TMC2130
  2038. check_Z_crash();
  2039. #endif //TMC2130
  2040. current_position[axis] = 0;
  2041. plan_set_position_curposXYZE();
  2042. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  2043. plan_buffer_line_destinationXYZE(feedrate/60);
  2044. st_synchronize();
  2045. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  2046. feedrate = homing_feedrate[axis]/2 ;
  2047. plan_buffer_line_destinationXYZE(feedrate/60);
  2048. st_synchronize();
  2049. #ifdef TMC2130
  2050. check_Z_crash();
  2051. #endif //TMC2130
  2052. axis_is_at_home(axis);
  2053. destination[axis] = current_position[axis];
  2054. feedrate = 0.0;
  2055. endstops_hit_on_purpose();
  2056. axis_known_position[axis] = true;
  2057. #ifdef TMC2130
  2058. FORCE_HIGH_POWER_END;
  2059. #endif
  2060. }
  2061. enable_endstops(endstops_enabled);
  2062. }
  2063. /**/
  2064. void home_xy()
  2065. {
  2066. set_destination_to_current();
  2067. homeaxis(X_AXIS);
  2068. homeaxis(Y_AXIS);
  2069. plan_set_position_curposXYZE();
  2070. endstops_hit_on_purpose();
  2071. }
  2072. void refresh_cmd_timeout(void)
  2073. {
  2074. previous_millis_cmd = _millis();
  2075. }
  2076. #ifdef FWRETRACT
  2077. void retract(bool retracting, bool swapretract = false) {
  2078. // Perform FW retraction, just if needed, but behave as if the move has never took place in
  2079. // order to keep E/Z coordinates unchanged. This is done by manipulating the internal planner
  2080. // position, which requires a sync
  2081. if(retracting && !retracted[active_extruder]) {
  2082. st_synchronize();
  2083. set_destination_to_current();
  2084. current_position[E_AXIS]+=(swapretract?retract_length_swap:cs.retract_length)*float(extrudemultiply)*0.01f;
  2085. plan_set_e_position(current_position[E_AXIS]);
  2086. float oldFeedrate = feedrate;
  2087. feedrate=cs.retract_feedrate*60;
  2088. retracted[active_extruder]=true;
  2089. prepare_move();
  2090. if(cs.retract_zlift) {
  2091. st_synchronize();
  2092. current_position[Z_AXIS]-=cs.retract_zlift;
  2093. plan_set_position_curposXYZE();
  2094. prepare_move();
  2095. }
  2096. feedrate = oldFeedrate;
  2097. } else if(!retracting && retracted[active_extruder]) {
  2098. st_synchronize();
  2099. set_destination_to_current();
  2100. float oldFeedrate = feedrate;
  2101. feedrate=cs.retract_recover_feedrate*60;
  2102. if(cs.retract_zlift) {
  2103. current_position[Z_AXIS]+=cs.retract_zlift;
  2104. plan_set_position_curposXYZE();
  2105. prepare_move();
  2106. st_synchronize();
  2107. }
  2108. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f;
  2109. plan_set_e_position(current_position[E_AXIS]);
  2110. retracted[active_extruder]=false;
  2111. prepare_move();
  2112. feedrate = oldFeedrate;
  2113. }
  2114. } //retract
  2115. #endif //FWRETRACT
  2116. void trace() {
  2117. Sound_MakeCustom(25,440,true);
  2118. }
  2119. /*
  2120. void ramming() {
  2121. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  2122. if (current_temperature[0] < 230) {
  2123. //PLA
  2124. max_feedrate[E_AXIS] = 50;
  2125. //current_position[E_AXIS] -= 8;
  2126. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2127. //current_position[E_AXIS] += 8;
  2128. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2129. current_position[E_AXIS] += 5.4;
  2130. plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
  2131. current_position[E_AXIS] += 3.2;
  2132. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  2133. current_position[E_AXIS] += 3;
  2134. plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
  2135. st_synchronize();
  2136. max_feedrate[E_AXIS] = 80;
  2137. current_position[E_AXIS] -= 82;
  2138. plan_buffer_line_curposXYZE(9500 / 60, active_extruder);
  2139. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2140. current_position[E_AXIS] -= 20;
  2141. plan_buffer_line_curposXYZE(1200 / 60, active_extruder);
  2142. current_position[E_AXIS] += 5;
  2143. plan_buffer_line_curposXYZE(400 / 60, active_extruder);
  2144. current_position[E_AXIS] += 5;
  2145. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2146. current_position[E_AXIS] -= 10;
  2147. st_synchronize();
  2148. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2149. current_position[E_AXIS] += 10;
  2150. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2151. current_position[E_AXIS] -= 10;
  2152. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2153. current_position[E_AXIS] += 10;
  2154. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2155. current_position[E_AXIS] -= 10;
  2156. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2157. st_synchronize();
  2158. }
  2159. else {
  2160. //ABS
  2161. max_feedrate[E_AXIS] = 50;
  2162. //current_position[E_AXIS] -= 8;
  2163. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2164. //current_position[E_AXIS] += 8;
  2165. //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
  2166. current_position[E_AXIS] += 3.1;
  2167. plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
  2168. current_position[E_AXIS] += 3.1;
  2169. plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
  2170. current_position[E_AXIS] += 4;
  2171. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  2172. st_synchronize();
  2173. //current_position[X_AXIS] += 23; //delay
  2174. //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
  2175. //current_position[X_AXIS] -= 23; //delay
  2176. //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
  2177. _delay(4700);
  2178. max_feedrate[E_AXIS] = 80;
  2179. current_position[E_AXIS] -= 92;
  2180. plan_buffer_line_curposXYZE(9900 / 60, active_extruder);
  2181. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2182. current_position[E_AXIS] -= 5;
  2183. plan_buffer_line_curposXYZE(800 / 60, active_extruder);
  2184. current_position[E_AXIS] += 5;
  2185. plan_buffer_line_curposXYZE(400 / 60, active_extruder);
  2186. current_position[E_AXIS] -= 5;
  2187. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2188. st_synchronize();
  2189. current_position[E_AXIS] += 5;
  2190. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2191. current_position[E_AXIS] -= 5;
  2192. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2193. current_position[E_AXIS] += 5;
  2194. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2195. current_position[E_AXIS] -= 5;
  2196. plan_buffer_line_curposXYZE(600 / 60, active_extruder);
  2197. st_synchronize();
  2198. }
  2199. }
  2200. */
  2201. #ifdef TMC2130
  2202. void force_high_power_mode(bool start_high_power_section) {
  2203. #ifdef PSU_Delta
  2204. if (start_high_power_section == true) enable_force_z();
  2205. #endif //PSU_Delta
  2206. uint8_t silent;
  2207. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  2208. if (silent == 1) {
  2209. //we are in silent mode, set to normal mode to enable crash detection
  2210. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  2211. st_synchronize();
  2212. cli();
  2213. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  2214. update_mode_profile();
  2215. tmc2130_init(TMCInitParams(FarmOrUserECool()));
  2216. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  2217. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  2218. st_reset_timer();
  2219. sei();
  2220. }
  2221. }
  2222. #endif //TMC2130
  2223. void gcode_M105(uint8_t extruder)
  2224. {
  2225. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  2226. SERIAL_PROTOCOLPGM("T:");
  2227. SERIAL_PROTOCOL_F(degHotend(extruder),1);
  2228. SERIAL_PROTOCOLPGM(" /");
  2229. SERIAL_PROTOCOL_F(degTargetHotend(extruder),1);
  2230. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2231. SERIAL_PROTOCOLPGM(" B:");
  2232. SERIAL_PROTOCOL_F(degBed(),1);
  2233. SERIAL_PROTOCOLPGM(" /");
  2234. SERIAL_PROTOCOL_F(degTargetBed(),1);
  2235. #endif //TEMP_BED_PIN
  2236. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2237. SERIAL_PROTOCOLPGM(" T");
  2238. SERIAL_PROTOCOL(cur_extruder);
  2239. SERIAL_PROTOCOL(':');
  2240. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2241. SERIAL_PROTOCOLPGM(" /");
  2242. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  2243. }
  2244. #else
  2245. SERIAL_ERROR_START;
  2246. SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS
  2247. #endif
  2248. SERIAL_PROTOCOLPGM(" @:");
  2249. #ifdef EXTRUDER_WATTS
  2250. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  2251. SERIAL_PROTOCOLPGM("W");
  2252. #else
  2253. SERIAL_PROTOCOL(getHeaterPower(extruder));
  2254. #endif
  2255. SERIAL_PROTOCOLPGM(" B@:");
  2256. #ifdef BED_WATTS
  2257. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  2258. SERIAL_PROTOCOLPGM("W");
  2259. #else
  2260. SERIAL_PROTOCOL(getHeaterPower(-1));
  2261. #endif
  2262. #ifdef PINDA_THERMISTOR
  2263. SERIAL_PROTOCOLPGM(" P:");
  2264. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  2265. #endif //PINDA_THERMISTOR
  2266. #ifdef AMBIENT_THERMISTOR
  2267. SERIAL_PROTOCOLPGM(" A:");
  2268. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  2269. #endif //AMBIENT_THERMISTOR
  2270. #ifdef SHOW_TEMP_ADC_VALUES
  2271. {
  2272. float raw = 0.0;
  2273. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2274. SERIAL_PROTOCOLPGM(" ADC B:");
  2275. SERIAL_PROTOCOL_F(degBed(),1);
  2276. SERIAL_PROTOCOLPGM("C->");
  2277. raw = rawBedTemp();
  2278. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  2279. SERIAL_PROTOCOLPGM(" Rb->");
  2280. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  2281. SERIAL_PROTOCOLPGM(" Rxb->");
  2282. SERIAL_PROTOCOL_F(raw, 5);
  2283. #endif
  2284. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2285. SERIAL_PROTOCOLPGM(" T");
  2286. SERIAL_PROTOCOL(cur_extruder);
  2287. SERIAL_PROTOCOLPGM(":");
  2288. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2289. SERIAL_PROTOCOLPGM("C->");
  2290. raw = rawHotendTemp(cur_extruder);
  2291. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  2292. SERIAL_PROTOCOLPGM(" Rt");
  2293. SERIAL_PROTOCOL(cur_extruder);
  2294. SERIAL_PROTOCOLPGM("->");
  2295. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  2296. SERIAL_PROTOCOLPGM(" Rx");
  2297. SERIAL_PROTOCOL(cur_extruder);
  2298. SERIAL_PROTOCOLPGM("->");
  2299. SERIAL_PROTOCOL_F(raw, 5);
  2300. }
  2301. }
  2302. #endif
  2303. SERIAL_PROTOCOLLN();
  2304. }
  2305. #ifdef TMC2130
  2306. static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl)
  2307. #else
  2308. static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool without_mbl)
  2309. #endif //TMC2130
  2310. {
  2311. // Flag for the display update routine and to disable the print cancelation during homing.
  2312. st_synchronize();
  2313. homing_flag = true;
  2314. #if 0
  2315. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2316. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2317. #endif
  2318. // Which axes should be homed?
  2319. bool home_x = home_x_axis;
  2320. bool home_y = home_y_axis;
  2321. bool home_z = home_z_axis;
  2322. // Either all X,Y,Z codes are present, or none of them.
  2323. bool home_all_axes = home_x == home_y && home_x == home_z;
  2324. if (home_all_axes)
  2325. // No X/Y/Z code provided means to home all axes.
  2326. home_x = home_y = home_z = true;
  2327. //if we are homing all axes, first move z higher to protect heatbed/steel sheet
  2328. if (home_all_axes) {
  2329. raise_z_above(MESH_HOME_Z_SEARCH);
  2330. st_synchronize();
  2331. }
  2332. #ifdef ENABLE_AUTO_BED_LEVELING
  2333. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2334. #endif //ENABLE_AUTO_BED_LEVELING
  2335. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2336. // the planner will not perform any adjustments in the XY plane.
  2337. // Wait for the motors to stop and update the current position with the absolute values.
  2338. world2machine_revert_to_uncorrected();
  2339. // For mesh bed leveling deactivate the matrix temporarily.
  2340. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2341. // in a single axis only.
  2342. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2343. #ifdef MESH_BED_LEVELING
  2344. uint8_t mbl_was_active = mbl.active;
  2345. mbl.active = 0;
  2346. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2347. #endif
  2348. // Reset baby stepping to zero, if the babystepping has already been loaded before.
  2349. if (home_z)
  2350. babystep_undo();
  2351. saved_feedrate = feedrate;
  2352. int l_feedmultiply = feedmultiply;
  2353. feedmultiply = 100;
  2354. previous_millis_cmd = _millis();
  2355. enable_endstops(true);
  2356. memcpy(destination, current_position, sizeof(destination));
  2357. feedrate = 0.0;
  2358. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2359. if(home_z)
  2360. homeaxis(Z_AXIS);
  2361. #endif
  2362. #ifdef QUICK_HOME
  2363. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2364. if(home_x && home_y) //first diagonal move
  2365. {
  2366. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2367. int x_axis_home_dir = home_dir(X_AXIS);
  2368. plan_set_position_curposXYZE();
  2369. 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);
  2370. feedrate = homing_feedrate[X_AXIS];
  2371. if(homing_feedrate[Y_AXIS]<feedrate)
  2372. feedrate = homing_feedrate[Y_AXIS];
  2373. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2374. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2375. } else {
  2376. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2377. }
  2378. plan_buffer_line_destinationXYZE(feedrate/60);
  2379. st_synchronize();
  2380. axis_is_at_home(X_AXIS);
  2381. axis_is_at_home(Y_AXIS);
  2382. plan_set_position_curposXYZE();
  2383. destination[X_AXIS] = current_position[X_AXIS];
  2384. destination[Y_AXIS] = current_position[Y_AXIS];
  2385. plan_buffer_line_destinationXYZE(feedrate/60);
  2386. feedrate = 0.0;
  2387. st_synchronize();
  2388. endstops_hit_on_purpose();
  2389. current_position[X_AXIS] = destination[X_AXIS];
  2390. current_position[Y_AXIS] = destination[Y_AXIS];
  2391. current_position[Z_AXIS] = destination[Z_AXIS];
  2392. }
  2393. #endif /* QUICK_HOME */
  2394. #ifdef TMC2130
  2395. if(home_x)
  2396. {
  2397. if (!calib)
  2398. homeaxis(X_AXIS);
  2399. else
  2400. tmc2130_home_calibrate(X_AXIS);
  2401. }
  2402. if(home_y)
  2403. {
  2404. if (!calib)
  2405. homeaxis(Y_AXIS);
  2406. else
  2407. tmc2130_home_calibrate(Y_AXIS);
  2408. }
  2409. #else //TMC2130
  2410. if(home_x) homeaxis(X_AXIS);
  2411. if(home_y) homeaxis(Y_AXIS);
  2412. #endif //TMC2130
  2413. if(home_x_axis && home_x_value != 0)
  2414. current_position[X_AXIS]=home_x_value+cs.add_homing[X_AXIS];
  2415. if(home_y_axis && home_y_value != 0)
  2416. current_position[Y_AXIS]=home_y_value+cs.add_homing[Y_AXIS];
  2417. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2418. #ifndef Z_SAFE_HOMING
  2419. if(home_z) {
  2420. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2421. raise_z_above(Z_RAISE_BEFORE_HOMING);
  2422. st_synchronize();
  2423. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2424. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
  2425. raise_z_above(MESH_HOME_Z_SEARCH);
  2426. st_synchronize();
  2427. if (!axis_known_position[X_AXIS]) homeaxis(X_AXIS);
  2428. if (!axis_known_position[Y_AXIS]) homeaxis(Y_AXIS);
  2429. // 1st mesh bed leveling measurement point, corrected.
  2430. world2machine_initialize();
  2431. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2432. world2machine_reset();
  2433. if (destination[Y_AXIS] < Y_MIN_POS)
  2434. destination[Y_AXIS] = Y_MIN_POS;
  2435. feedrate = homing_feedrate[X_AXIS] / 20;
  2436. enable_endstops(false);
  2437. #ifdef DEBUG_BUILD
  2438. SERIAL_ECHOLNPGM("plan_set_position()");
  2439. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2440. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2441. #endif
  2442. plan_set_position_curposXYZE();
  2443. #ifdef DEBUG_BUILD
  2444. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2445. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2446. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2447. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2448. #endif
  2449. plan_buffer_line_destinationXYZE(feedrate);
  2450. st_synchronize();
  2451. current_position[X_AXIS] = destination[X_AXIS];
  2452. current_position[Y_AXIS] = destination[Y_AXIS];
  2453. enable_endstops(true);
  2454. endstops_hit_on_purpose();
  2455. homeaxis(Z_AXIS);
  2456. #else // MESH_BED_LEVELING
  2457. homeaxis(Z_AXIS);
  2458. #endif // MESH_BED_LEVELING
  2459. }
  2460. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2461. if(home_all_axes) {
  2462. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2463. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2464. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2465. feedrate = XY_TRAVEL_SPEED/60;
  2466. current_position[Z_AXIS] = 0;
  2467. plan_set_position_curposXYZE();
  2468. plan_buffer_line_destinationXYZE(feedrate);
  2469. st_synchronize();
  2470. current_position[X_AXIS] = destination[X_AXIS];
  2471. current_position[Y_AXIS] = destination[Y_AXIS];
  2472. homeaxis(Z_AXIS);
  2473. }
  2474. // Let's see if X and Y are homed and probe is inside bed area.
  2475. if(home_z) {
  2476. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2477. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2478. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2479. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2480. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2481. current_position[Z_AXIS] = 0;
  2482. plan_set_position_curposXYZE();
  2483. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2484. feedrate = max_feedrate[Z_AXIS];
  2485. plan_buffer_line_destinationXYZE(feedrate);
  2486. st_synchronize();
  2487. homeaxis(Z_AXIS);
  2488. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2489. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2490. SERIAL_ECHO_START;
  2491. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2492. } else {
  2493. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2494. SERIAL_ECHO_START;
  2495. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2496. }
  2497. }
  2498. #endif // Z_SAFE_HOMING
  2499. #endif // Z_HOME_DIR < 0
  2500. if(home_z_axis && home_z_value != 0)
  2501. current_position[Z_AXIS]=home_z_value+cs.add_homing[Z_AXIS];
  2502. #ifdef ENABLE_AUTO_BED_LEVELING
  2503. if(home_z)
  2504. current_position[Z_AXIS] += cs.zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2505. #endif
  2506. // Set the planner and stepper routine positions.
  2507. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2508. // contains the machine coordinates.
  2509. plan_set_position_curposXYZE();
  2510. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2511. enable_endstops(false);
  2512. #endif
  2513. feedrate = saved_feedrate;
  2514. feedmultiply = l_feedmultiply;
  2515. previous_millis_cmd = _millis();
  2516. endstops_hit_on_purpose();
  2517. #ifndef MESH_BED_LEVELING
  2518. //-// Oct 2019 :: this part of code is (from) now probably un-compilable
  2519. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2520. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2521. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2522. lcd_adjust_z();
  2523. #endif
  2524. // Load the machine correction matrix
  2525. world2machine_initialize();
  2526. // and correct the current_position XY axes to match the transformed coordinate system.
  2527. world2machine_update_current();
  2528. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2529. if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
  2530. {
  2531. if (! home_z && mbl_was_active) {
  2532. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2533. mbl.active = true;
  2534. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2535. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2536. }
  2537. }
  2538. #endif
  2539. if (farm_mode) { prusa_statistics(20); };
  2540. st_synchronize();
  2541. homing_flag = false;
  2542. #if 0
  2543. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2544. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2545. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2546. #endif
  2547. }
  2548. static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis)
  2549. {
  2550. #ifdef TMC2130
  2551. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
  2552. #else
  2553. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, true);
  2554. #endif //TMC2130
  2555. }
  2556. // G80 - Automatic mesh bed leveling
  2557. static void gcode_G80()
  2558. {
  2559. st_synchronize();
  2560. if (waiting_inside_plan_buffer_line_print_aborted)
  2561. return;
  2562. mesh_bed_leveling_flag = true;
  2563. #ifndef PINDA_THERMISTOR
  2564. static bool run = false; // thermistor-less PINDA temperature compensation is running
  2565. #endif // ndef PINDA_THERMISTOR
  2566. #ifdef SUPPORT_VERBOSITY
  2567. int8_t verbosity_level = 0;
  2568. if (code_seen('V')) {
  2569. // Just 'V' without a number counts as V1.
  2570. char c = strchr_pointer[1];
  2571. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2572. }
  2573. #endif //SUPPORT_VERBOSITY
  2574. // Firstly check if we know where we are
  2575. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  2576. // We don't know where we are! HOME!
  2577. // Push the commands to the front of the message queue in the reverse order!
  2578. // There shall be always enough space reserved for these commands.
  2579. repeatcommand_front(); // repeat G80 with all its parameters
  2580. enquecommand_front_P(G28W0);
  2581. return;
  2582. }
  2583. uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS;
  2584. if (code_seen('N')) {
  2585. nMeasPoints = code_value_uint8();
  2586. if (nMeasPoints != 7) {
  2587. nMeasPoints = 3;
  2588. }
  2589. }
  2590. else {
  2591. nMeasPoints = eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
  2592. }
  2593. uint8_t nProbeRetry = 3;
  2594. if (code_seen('R')) {
  2595. nProbeRetry = code_value_uint8();
  2596. if (nProbeRetry > 10) {
  2597. nProbeRetry = 10;
  2598. }
  2599. }
  2600. else {
  2601. nProbeRetry = eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR);
  2602. }
  2603. bool magnet_elimination = (eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION) > 0);
  2604. #ifndef PINDA_THERMISTOR
  2605. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50)
  2606. {
  2607. temp_compensation_start();
  2608. run = true;
  2609. repeatcommand_front(); // repeat G80 with all its parameters
  2610. enquecommand_front_P(G28W0);
  2611. break;
  2612. }
  2613. run = false;
  2614. #endif //PINDA_THERMISTOR
  2615. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  2616. CustomMsg custom_message_type_old = custom_message_type;
  2617. unsigned int custom_message_state_old = custom_message_state;
  2618. custom_message_type = CustomMsg::MeshBedLeveling;
  2619. custom_message_state = (nMeasPoints * nMeasPoints) + 10;
  2620. lcd_update(1);
  2621. mbl.reset(); //reset mesh bed leveling
  2622. // Reset baby stepping to zero, if the babystepping has already been loaded before.
  2623. babystep_undo();
  2624. // Cycle through all points and probe them
  2625. // First move up. During this first movement, the babystepping will be reverted.
  2626. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2627. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
  2628. // The move to the first calibration point.
  2629. current_position[X_AXIS] = BED_X0;
  2630. current_position[Y_AXIS] = BED_Y0;
  2631. #ifdef SUPPORT_VERBOSITY
  2632. if (verbosity_level >= 1)
  2633. {
  2634. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2635. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  2636. }
  2637. #else //SUPPORT_VERBOSITY
  2638. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2639. #endif //SUPPORT_VERBOSITY
  2640. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  2641. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
  2642. // Wait until the move is finished.
  2643. st_synchronize();
  2644. if (waiting_inside_plan_buffer_line_print_aborted)
  2645. {
  2646. custom_message_type = custom_message_type_old;
  2647. custom_message_state = custom_message_state_old;
  2648. return;
  2649. }
  2650. uint8_t mesh_point = 0; //index number of calibration point
  2651. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  2652. 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)
  2653. #ifdef SUPPORT_VERBOSITY
  2654. if (verbosity_level >= 1) {
  2655. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  2656. }
  2657. #endif // SUPPORT_VERBOSITY
  2658. int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  2659. while (mesh_point != nMeasPoints * nMeasPoints) {
  2660. // Get coords of a measuring point.
  2661. uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
  2662. uint8_t iy = mesh_point / nMeasPoints;
  2663. /*if (!mbl_point_measurement_valid(ix, iy, nMeasPoints, true)) {
  2664. printf_P(PSTR("Skipping point [%d;%d] \n"), ix, iy);
  2665. custom_message_state--;
  2666. mesh_point++;
  2667. continue; //skip
  2668. }*/
  2669. if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
  2670. if (nMeasPoints == 7) //if we have 7x7 mesh, compare with Z-calibration for points which are in 3x3 mesh
  2671. {
  2672. has_z = ((ix % 3 == 0) && (iy % 3 == 0)) && is_bed_z_jitter_data_valid();
  2673. }
  2674. float z0 = 0.f;
  2675. if (has_z && (mesh_point > 0)) {
  2676. uint16_t z_offset_u = 0;
  2677. if (nMeasPoints == 7) {
  2678. z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1)));
  2679. }
  2680. else {
  2681. z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  2682. }
  2683. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  2684. #ifdef SUPPORT_VERBOSITY
  2685. if (verbosity_level >= 1) {
  2686. printf_P(PSTR("Bed leveling, point: %d, calibration Z stored in eeprom: %d, calibration z: %f \n"), mesh_point, z_offset_u, z0);
  2687. }
  2688. #endif // SUPPORT_VERBOSITY
  2689. }
  2690. // Move Z up to MESH_HOME_Z_SEARCH.
  2691. if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2692. else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
  2693. float init_z_bckp = current_position[Z_AXIS];
  2694. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  2695. st_synchronize();
  2696. // Move to XY position of the sensor point.
  2697. current_position[X_AXIS] = BED_X(ix, nMeasPoints);
  2698. current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
  2699. //printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  2700. #ifdef SUPPORT_VERBOSITY
  2701. if (verbosity_level >= 1) {
  2702. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2703. SERIAL_PROTOCOL(mesh_point);
  2704. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  2705. }
  2706. #else //SUPPORT_VERBOSITY
  2707. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  2708. #endif // SUPPORT_VERBOSITY
  2709. //printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  2710. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
  2711. st_synchronize();
  2712. if (waiting_inside_plan_buffer_line_print_aborted)
  2713. {
  2714. custom_message_type = custom_message_type_old;
  2715. custom_message_state = custom_message_state_old;
  2716. return;
  2717. }
  2718. // Go down until endstop is hit
  2719. const float Z_CALIBRATION_THRESHOLD = 1.f;
  2720. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  2721. printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2722. break;
  2723. }
  2724. if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
  2725. //printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
  2726. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2727. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  2728. st_synchronize();
  2729. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  2730. printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2731. break;
  2732. }
  2733. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  2734. puts_P(PSTR("Bed leveling failed. Sensor disconnected or cable broken."));
  2735. break;
  2736. }
  2737. }
  2738. 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
  2739. puts_P(PSTR("Bed leveling failed. Sensor triggered too high."));
  2740. break;
  2741. }
  2742. #ifdef SUPPORT_VERBOSITY
  2743. if (verbosity_level >= 10) {
  2744. SERIAL_ECHOPGM("X: ");
  2745. MYSERIAL.print(current_position[X_AXIS], 5);
  2746. SERIAL_ECHOLNPGM("");
  2747. SERIAL_ECHOPGM("Y: ");
  2748. MYSERIAL.print(current_position[Y_AXIS], 5);
  2749. SERIAL_PROTOCOLPGM("\n");
  2750. }
  2751. #endif // SUPPORT_VERBOSITY
  2752. float offset_z = 0;
  2753. #ifdef PINDA_THERMISTOR
  2754. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  2755. #endif //PINDA_THERMISTOR
  2756. // #ifdef SUPPORT_VERBOSITY
  2757. /* if (verbosity_level >= 1)
  2758. {
  2759. SERIAL_ECHOPGM("mesh bed leveling: ");
  2760. MYSERIAL.print(current_position[Z_AXIS], 5);
  2761. SERIAL_ECHOPGM(" offset: ");
  2762. MYSERIAL.print(offset_z, 5);
  2763. SERIAL_ECHOLNPGM("");
  2764. }*/
  2765. // #endif // SUPPORT_VERBOSITY
  2766. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  2767. custom_message_state--;
  2768. mesh_point++;
  2769. lcd_update(1);
  2770. }
  2771. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2772. #ifdef SUPPORT_VERBOSITY
  2773. if (verbosity_level >= 20) {
  2774. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  2775. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  2776. MYSERIAL.print(current_position[Z_AXIS], 5);
  2777. }
  2778. #endif // SUPPORT_VERBOSITY
  2779. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  2780. st_synchronize();
  2781. if (mesh_point != nMeasPoints * nMeasPoints) {
  2782. Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
  2783. bool bState;
  2784. do { // repeat until Z-leveling o.k.
  2785. lcd_display_message_fullscreen_P(_i("Some problem encountered, Z-leveling enforced ..."));
  2786. #ifdef TMC2130
  2787. lcd_wait_for_click_delay(MSG_BED_LEVELING_FAILED_TIMEOUT);
  2788. calibrate_z_auto(); // Z-leveling (X-assembly stay up!!!)
  2789. #else // TMC2130
  2790. lcd_wait_for_click_delay(0); // ~ no timeout
  2791. lcd_calibrate_z_end_stop_manual(true); // Z-leveling (X-assembly stay up!!!)
  2792. #endif // TMC2130
  2793. // ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
  2794. bState=enable_z_endstop(false);
  2795. current_position[Z_AXIS] -= 1;
  2796. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2797. st_synchronize();
  2798. enable_z_endstop(true);
  2799. #ifdef TMC2130
  2800. tmc2130_home_enter(Z_AXIS_MASK);
  2801. #endif // TMC2130
  2802. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2803. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2804. st_synchronize();
  2805. #ifdef TMC2130
  2806. tmc2130_home_exit();
  2807. #endif // TMC2130
  2808. enable_z_endstop(bState);
  2809. } while (st_get_position_mm(Z_AXIS) > MESH_HOME_Z_SEARCH); // i.e. Z-leveling not o.k.
  2810. // plan_set_z_position(MESH_HOME_Z_SEARCH); // is not necessary ('do-while' loop always ends at the expected Z-position)
  2811. custom_message_type = custom_message_type_old;
  2812. custom_message_state = custom_message_state_old;
  2813. lcd_update_enable(true); // display / status-line recovery
  2814. gcode_G28(true, true, true); // X & Y & Z-homing (must be after individual Z-homing (problem with spool-holder)!)
  2815. repeatcommand_front(); // re-run (i.e. of "G80")
  2816. return;
  2817. }
  2818. clean_up_after_endstop_move(l_feedmultiply);
  2819. // SERIAL_ECHOLNPGM("clean up finished ");
  2820. #ifndef PINDA_THERMISTOR
  2821. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  2822. #endif
  2823. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  2824. // SERIAL_ECHOLNPGM("babystep applied");
  2825. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  2826. #ifdef SUPPORT_VERBOSITY
  2827. if (verbosity_level >= 1) {
  2828. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  2829. }
  2830. #endif // SUPPORT_VERBOSITY
  2831. for (uint8_t i = 0; i < 4; ++i) {
  2832. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  2833. long correction = 0;
  2834. if (code_seen(codes[i]))
  2835. correction = code_value_long();
  2836. else if (eeprom_bed_correction_valid) {
  2837. unsigned char *addr = (i < 2) ?
  2838. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  2839. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  2840. correction = eeprom_read_int8(addr);
  2841. }
  2842. if (correction == 0)
  2843. continue;
  2844. if (labs(correction) > BED_ADJUSTMENT_UM_MAX) {
  2845. SERIAL_ERROR_START;
  2846. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  2847. SERIAL_ECHO(correction);
  2848. SERIAL_ECHOLNPGM(" microns");
  2849. }
  2850. else {
  2851. float offset = float(correction) * 0.001f;
  2852. switch (i) {
  2853. case 0:
  2854. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  2855. for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
  2856. mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
  2857. }
  2858. }
  2859. break;
  2860. case 1:
  2861. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  2862. for (uint8_t col = 1; col < nMeasPoints; ++col) {
  2863. mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
  2864. }
  2865. }
  2866. break;
  2867. case 2:
  2868. for (uint8_t col = 0; col < nMeasPoints; ++col) {
  2869. for (uint8_t row = 0; row < nMeasPoints; ++row) {
  2870. mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
  2871. }
  2872. }
  2873. break;
  2874. case 3:
  2875. for (uint8_t col = 0; col < nMeasPoints; ++col) {
  2876. for (uint8_t row = 1; row < nMeasPoints; ++row) {
  2877. mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
  2878. }
  2879. }
  2880. break;
  2881. }
  2882. }
  2883. }
  2884. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  2885. if (nMeasPoints == 3) {
  2886. mbl.upsample_3x3(); //interpolation from 3x3 to 7x7 points using largrangian polynomials while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
  2887. }
  2888. /*
  2889. SERIAL_PROTOCOLPGM("Num X,Y: ");
  2890. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  2891. SERIAL_PROTOCOLPGM(",");
  2892. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  2893. SERIAL_PROTOCOLPGM("\nZ search height: ");
  2894. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  2895. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  2896. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  2897. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  2898. SERIAL_PROTOCOLPGM(" ");
  2899. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  2900. }
  2901. SERIAL_PROTOCOLPGM("\n");
  2902. }
  2903. */
  2904. if (nMeasPoints == 7 && magnet_elimination) {
  2905. mbl_interpolation(nMeasPoints);
  2906. }
  2907. /*
  2908. SERIAL_PROTOCOLPGM("Num X,Y: ");
  2909. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  2910. SERIAL_PROTOCOLPGM(",");
  2911. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  2912. SERIAL_PROTOCOLPGM("\nZ search height: ");
  2913. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  2914. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  2915. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  2916. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  2917. SERIAL_PROTOCOLPGM(" ");
  2918. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  2919. }
  2920. SERIAL_PROTOCOLPGM("\n");
  2921. }
  2922. */
  2923. // SERIAL_ECHOLNPGM("Upsample finished");
  2924. mbl.active = 1; //activate mesh bed leveling
  2925. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  2926. go_home_with_z_lift();
  2927. // SERIAL_ECHOLNPGM("Go home finished");
  2928. //unretract (after PINDA preheat retraction)
  2929. if ((degHotend(active_extruder) > EXTRUDE_MINTEMP) && eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() && (target_temperature_bed >= 50)) {
  2930. current_position[E_AXIS] += default_retraction;
  2931. plan_buffer_line_curposXYZE(400);
  2932. }
  2933. KEEPALIVE_STATE(NOT_BUSY);
  2934. // Restore custom message state
  2935. lcd_setstatuspgm(_T(WELCOME_MSG));
  2936. custom_message_type = custom_message_type_old;
  2937. custom_message_state = custom_message_state_old;
  2938. mesh_bed_run_from_menu = false;
  2939. lcd_update(2);
  2940. st_synchronize();
  2941. mesh_bed_leveling_flag = false;
  2942. }
  2943. void adjust_bed_reset()
  2944. {
  2945. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
  2946. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT, 0);
  2947. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, 0);
  2948. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT, 0);
  2949. eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR, 0);
  2950. }
  2951. //! @brief Calibrate XYZ
  2952. //! @param onlyZ if true, calibrate only Z axis
  2953. //! @param verbosity_level
  2954. //! @retval true Succeeded
  2955. //! @retval false Failed
  2956. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  2957. {
  2958. bool final_result = false;
  2959. #ifdef TMC2130
  2960. FORCE_HIGH_POWER_START;
  2961. #endif // TMC2130
  2962. FORCE_BL_ON_START;
  2963. // Only Z calibration?
  2964. if (!onlyZ)
  2965. {
  2966. setTargetBed(0);
  2967. setAllTargetHotends(0);
  2968. adjust_bed_reset(); //reset bed level correction
  2969. }
  2970. // Disable the default update procedure of the display. We will do a modal dialog.
  2971. lcd_update_enable(false);
  2972. // Let the planner use the uncorrected coordinates.
  2973. mbl.reset();
  2974. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2975. // the planner will not perform any adjustments in the XY plane.
  2976. // Wait for the motors to stop and update the current position with the absolute values.
  2977. world2machine_revert_to_uncorrected();
  2978. // Reset the baby step value applied without moving the axes.
  2979. babystep_reset();
  2980. // Mark all axes as in a need for homing.
  2981. memset(axis_known_position, 0, sizeof(axis_known_position));
  2982. // Home in the XY plane.
  2983. //set_destination_to_current();
  2984. int l_feedmultiply = setup_for_endstop_move();
  2985. lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
  2986. raise_z_above(MESH_HOME_Z_SEARCH);
  2987. st_synchronize();
  2988. home_xy();
  2989. enable_endstops(false);
  2990. current_position[X_AXIS] += 5;
  2991. current_position[Y_AXIS] += 5;
  2992. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  2993. st_synchronize();
  2994. // Let the user move the Z axes up to the end stoppers.
  2995. #ifdef TMC2130
  2996. if (calibrate_z_auto())
  2997. {
  2998. #else //TMC2130
  2999. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  3000. {
  3001. #endif //TMC2130
  3002. lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
  3003. if(onlyZ){
  3004. lcd_display_message_fullscreen_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1));
  3005. lcd_puts_at_P(0,3,_n("1/9"));
  3006. }else{
  3007. //lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  3008. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  3009. lcd_puts_at_P(0,3,_n("1/4"));
  3010. }
  3011. refresh_cmd_timeout();
  3012. #ifndef STEEL_SHEET
  3013. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  3014. {
  3015. lcd_wait_for_cool_down();
  3016. }
  3017. #endif //STEEL_SHEET
  3018. if(!onlyZ)
  3019. {
  3020. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3021. #ifdef STEEL_SHEET
  3022. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  3023. if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  3024. #endif //STEEL_SHEET
  3025. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  3026. KEEPALIVE_STATE(IN_HANDLER);
  3027. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  3028. lcd_puts_at_P(0,3,_n("1/4"));
  3029. }
  3030. bool endstops_enabled = enable_endstops(false);
  3031. current_position[Z_AXIS] -= 1; //move 1mm down with disabled endstop
  3032. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  3033. st_synchronize();
  3034. // Move the print head close to the bed.
  3035. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3036. enable_endstops(true);
  3037. #ifdef TMC2130
  3038. tmc2130_home_enter(Z_AXIS_MASK);
  3039. #endif //TMC2130
  3040. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  3041. st_synchronize();
  3042. #ifdef TMC2130
  3043. tmc2130_home_exit();
  3044. #endif //TMC2130
  3045. enable_endstops(endstops_enabled);
  3046. if ((st_get_position_mm(Z_AXIS) <= (MESH_HOME_Z_SEARCH + HOME_Z_SEARCH_THRESHOLD)) &&
  3047. (st_get_position_mm(Z_AXIS) >= (MESH_HOME_Z_SEARCH - HOME_Z_SEARCH_THRESHOLD)))
  3048. {
  3049. if (onlyZ)
  3050. {
  3051. clean_up_after_endstop_move(l_feedmultiply);
  3052. // Z only calibration.
  3053. // Load the machine correction matrix
  3054. world2machine_initialize();
  3055. // and correct the current_position to match the transformed coordinate system.
  3056. world2machine_update_current();
  3057. //FIXME
  3058. bool result = sample_mesh_and_store_reference();
  3059. if (result)
  3060. {
  3061. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  3062. // Shipped, the nozzle height has been set already. The user can start printing now.
  3063. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3064. final_result = true;
  3065. // babystep_apply();
  3066. }
  3067. }
  3068. else
  3069. {
  3070. // Reset the baby step value and the baby step applied flag.
  3071. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  3072. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  3073. // Complete XYZ calibration.
  3074. uint8_t point_too_far_mask = 0;
  3075. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  3076. clean_up_after_endstop_move(l_feedmultiply);
  3077. // Print head up.
  3078. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3079. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  3080. st_synchronize();
  3081. //#ifndef NEW_XYZCAL
  3082. if (result >= 0)
  3083. {
  3084. #ifdef HEATBED_V2
  3085. sample_z();
  3086. #else //HEATBED_V2
  3087. point_too_far_mask = 0;
  3088. // Second half: The fine adjustment.
  3089. // Let the planner use the uncorrected coordinates.
  3090. mbl.reset();
  3091. world2machine_reset();
  3092. // Home in the XY plane.
  3093. int l_feedmultiply = setup_for_endstop_move();
  3094. home_xy();
  3095. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  3096. clean_up_after_endstop_move(l_feedmultiply);
  3097. // Print head up.
  3098. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3099. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
  3100. st_synchronize();
  3101. // if (result >= 0) babystep_apply();
  3102. #endif //HEATBED_V2
  3103. }
  3104. //#endif //NEW_XYZCAL
  3105. lcd_update_enable(true);
  3106. lcd_update(2);
  3107. lcd_bed_calibration_show_result(result, point_too_far_mask);
  3108. if (result >= 0)
  3109. {
  3110. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  3111. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3112. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  3113. final_result = true;
  3114. }
  3115. }
  3116. #ifdef TMC2130
  3117. tmc2130_home_exit();
  3118. #endif
  3119. }
  3120. else
  3121. {
  3122. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  3123. final_result = false;
  3124. }
  3125. }
  3126. else
  3127. {
  3128. // Timeouted.
  3129. }
  3130. lcd_update_enable(true);
  3131. #ifdef TMC2130
  3132. FORCE_HIGH_POWER_END;
  3133. #endif // TMC2130
  3134. FORCE_BL_ON_END;
  3135. return final_result;
  3136. }
  3137. void gcode_M114()
  3138. {
  3139. SERIAL_PROTOCOLPGM("X:");
  3140. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3141. SERIAL_PROTOCOLPGM(" Y:");
  3142. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3143. SERIAL_PROTOCOLPGM(" Z:");
  3144. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3145. SERIAL_PROTOCOLPGM(" E:");
  3146. SERIAL_PROTOCOL(current_position[E_AXIS]);
  3147. SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X
  3148. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / cs.axis_steps_per_unit[X_AXIS]);
  3149. SERIAL_PROTOCOLPGM(" Y:");
  3150. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / cs.axis_steps_per_unit[Y_AXIS]);
  3151. SERIAL_PROTOCOLPGM(" Z:");
  3152. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / cs.axis_steps_per_unit[Z_AXIS]);
  3153. SERIAL_PROTOCOLPGM(" E:");
  3154. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / cs.axis_steps_per_unit[E_AXIS]);
  3155. SERIAL_PROTOCOLLN();
  3156. }
  3157. #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  3158. void gcode_M123()
  3159. {
  3160. printf_P(_N("E0:%d RPM PRN1:%d RPM E0@:%u PRN1@:%d\n"), 60*fan_speed[active_extruder], 60*fan_speed[1], newFanSpeed, fanSpeed);
  3161. }
  3162. #endif //FANCHECK and TACH_0 or TACH_1
  3163. //! extracted code to compute z_shift for M600 in case of filament change operation
  3164. //! requested from fsensors.
  3165. //! The function ensures, that the printhead lifts to at least 25mm above the heat bed
  3166. //! unlike the previous implementation, which was adding 25mm even when the head was
  3167. //! printing at e.g. 24mm height.
  3168. //! A safety margin of FILAMENTCHANGE_ZADD is added in all cases to avoid touching
  3169. //! the printout.
  3170. //! This function is templated to enable fast change of computation data type.
  3171. //! @return new z_shift value
  3172. template<typename T>
  3173. static T gcode_M600_filament_change_z_shift()
  3174. {
  3175. #ifdef FILAMENTCHANGE_ZADD
  3176. static_assert(Z_MAX_POS < (255 - FILAMENTCHANGE_ZADD), "Z-range too high, change the T type from uint8_t to uint16_t");
  3177. // avoid floating point arithmetics when not necessary - results in shorter code
  3178. T z_shift = T(FILAMENTCHANGE_ZADD); // always move above printout
  3179. T ztmp = T( current_position[Z_AXIS] );
  3180. if((ztmp + z_shift) < T(MIN_Z_FOR_SWAP)){
  3181. z_shift = T(MIN_Z_FOR_SWAP) - ztmp; // make sure to be at least 25mm above the heat bed
  3182. }
  3183. return z_shift;
  3184. #else
  3185. return T(0);
  3186. #endif
  3187. }
  3188. static void gcode_M600(bool automatic, float x_position, float y_position, float z_shift, float e_shift, float /*e_shift_late*/)
  3189. {
  3190. st_synchronize();
  3191. float lastpos[4];
  3192. if (farm_mode)
  3193. {
  3194. prusa_statistics(22);
  3195. }
  3196. //First backup current position and settings
  3197. int feedmultiplyBckp = feedmultiply;
  3198. float HotendTempBckp = degTargetHotend(active_extruder);
  3199. int fanSpeedBckp = fanSpeed;
  3200. lastpos[X_AXIS] = current_position[X_AXIS];
  3201. lastpos[Y_AXIS] = current_position[Y_AXIS];
  3202. lastpos[Z_AXIS] = current_position[Z_AXIS];
  3203. lastpos[E_AXIS] = current_position[E_AXIS];
  3204. //Retract E
  3205. current_position[E_AXIS] += e_shift;
  3206. plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED);
  3207. st_synchronize();
  3208. //Lift Z
  3209. current_position[Z_AXIS] += z_shift;
  3210. plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED);
  3211. st_synchronize();
  3212. //Move XY to side
  3213. current_position[X_AXIS] = x_position;
  3214. current_position[Y_AXIS] = y_position;
  3215. plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED);
  3216. st_synchronize();
  3217. //Beep, manage nozzle heater and wait for user to start unload filament
  3218. if(!mmu_enabled) M600_wait_for_user(HotendTempBckp);
  3219. lcd_change_fil_state = 0;
  3220. // Unload filament
  3221. if (mmu_enabled) extr_unload(); //unload just current filament for multimaterial printers (used also in M702)
  3222. else unload_filament(true); //unload filament for single material (used also in M702)
  3223. //finish moves
  3224. st_synchronize();
  3225. if (!mmu_enabled)
  3226. {
  3227. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3228. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"),
  3229. false, true); ////MSG_UNLOAD_SUCCESSFUL c=20 r=2
  3230. if (lcd_change_fil_state == 0)
  3231. {
  3232. lcd_clear();
  3233. lcd_puts_at_P(0, 2, _T(MSG_PLEASE_WAIT));
  3234. current_position[X_AXIS] -= 100;
  3235. plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED);
  3236. st_synchronize();
  3237. lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=5
  3238. }
  3239. }
  3240. if (mmu_enabled)
  3241. {
  3242. if (!automatic) {
  3243. if (saved_printing) mmu_eject_filament(mmu_extruder, false); //if M600 was invoked by filament senzor (FINDA) eject filament so user can easily remove it
  3244. mmu_M600_wait_and_beep();
  3245. if (saved_printing) {
  3246. lcd_clear();
  3247. lcd_puts_at_P(0, 2, _T(MSG_PLEASE_WAIT));
  3248. mmu_command(MmuCmd::R0);
  3249. manage_response(false, false);
  3250. }
  3251. }
  3252. mmu_M600_load_filament(automatic, HotendTempBckp);
  3253. }
  3254. else
  3255. M600_load_filament();
  3256. if (!automatic) M600_check_state(HotendTempBckp);
  3257. lcd_update_enable(true);
  3258. //Not let's go back to print
  3259. fanSpeed = fanSpeedBckp;
  3260. //Feed a little of filament to stabilize pressure
  3261. if (!automatic)
  3262. {
  3263. current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
  3264. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED);
  3265. }
  3266. //Move XY back
  3267. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  3268. FILAMENTCHANGE_XYFEED, active_extruder);
  3269. st_synchronize();
  3270. //Move Z back
  3271. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS],
  3272. FILAMENTCHANGE_ZFEED, active_extruder);
  3273. st_synchronize();
  3274. //Set E position to original
  3275. plan_set_e_position(lastpos[E_AXIS]);
  3276. memcpy(current_position, lastpos, sizeof(lastpos));
  3277. memcpy(destination, current_position, sizeof(current_position));
  3278. //Recover feed rate
  3279. feedmultiply = feedmultiplyBckp;
  3280. char cmd[9];
  3281. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  3282. enquecommand(cmd);
  3283. #ifdef IR_SENSOR
  3284. //this will set fsensor_watch_autoload to correct value and prevent possible M701 gcode enqueuing when M600 is finished
  3285. fsensor_check_autoload();
  3286. #endif //IR_SENSOR
  3287. lcd_setstatuspgm(_T(WELCOME_MSG));
  3288. custom_message_type = CustomMsg::Status;
  3289. }
  3290. void gcode_M701()
  3291. {
  3292. printf_P(PSTR("gcode_M701 begin\n"));
  3293. if (farm_mode)
  3294. {
  3295. prusa_statistics(22);
  3296. }
  3297. if (mmu_enabled)
  3298. {
  3299. extr_adj(tmp_extruder);//loads current extruder
  3300. mmu_extruder = tmp_extruder;
  3301. }
  3302. else
  3303. {
  3304. enable_z();
  3305. custom_message_type = CustomMsg::FilamentLoading;
  3306. #ifdef FSENSOR_QUALITY
  3307. fsensor_oq_meassure_start(40);
  3308. #endif //FSENSOR_QUALITY
  3309. lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
  3310. current_position[E_AXIS] += 40;
  3311. plan_buffer_line_curposXYZE(400 / 60); //fast sequence
  3312. st_synchronize();
  3313. raise_z_above(MIN_Z_FOR_LOAD, false);
  3314. current_position[E_AXIS] += 30;
  3315. plan_buffer_line_curposXYZE(400 / 60); //fast sequence
  3316. load_filament_final_feed(); //slow sequence
  3317. st_synchronize();
  3318. Sound_MakeCustom(50,500,false);
  3319. if (!farm_mode && loading_flag) {
  3320. lcd_load_filament_color_check();
  3321. }
  3322. lcd_update_enable(true);
  3323. lcd_update(2);
  3324. lcd_setstatuspgm(_T(WELCOME_MSG));
  3325. disable_z();
  3326. loading_flag = false;
  3327. custom_message_type = CustomMsg::Status;
  3328. #ifdef FSENSOR_QUALITY
  3329. fsensor_oq_meassure_stop();
  3330. if (!fsensor_oq_result())
  3331. {
  3332. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  3333. lcd_update_enable(true);
  3334. lcd_update(2);
  3335. if (disable)
  3336. fsensor_disable();
  3337. }
  3338. #endif //FSENSOR_QUALITY
  3339. }
  3340. }
  3341. /**
  3342. * @brief Get serial number from 32U2 processor
  3343. *
  3344. * Typical format of S/N is:CZPX0917X003XC13518
  3345. *
  3346. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  3347. * reply is stored in *SN.
  3348. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  3349. * it is interrupted, so less, or no characters are retransmitted, the function returns false
  3350. * The command will fail if the 32U2 processor is unpowered via USB since it is isolated from the rest of the electronics.
  3351. * In that case the value that is stored in the EEPROM should be used instead.
  3352. *
  3353. * @return 1 on success
  3354. * @return 0 on general failure
  3355. */
  3356. static bool get_PRUSA_SN(char* SN)
  3357. {
  3358. uint8_t selectedSerialPort_bak = selectedSerialPort;
  3359. selectedSerialPort = 0;
  3360. SERIAL_ECHOLNRPGM(PSTR(";S"));
  3361. uint8_t numbersRead = 0;
  3362. ShortTimer timeout;
  3363. timeout.start();
  3364. while (numbersRead < 19) {
  3365. if (MSerial.available() > 0) {
  3366. SN[numbersRead] = MSerial.read();
  3367. numbersRead++;
  3368. }
  3369. if (timeout.expired(100u)) break;
  3370. }
  3371. SN[numbersRead] = 0;
  3372. selectedSerialPort = selectedSerialPort_bak;
  3373. return (numbersRead == 19);
  3374. }
  3375. //! Detection of faulty RAMBo 1.1b boards equipped with bigger capacitors
  3376. //! at the TACH_1 pin, which causes bad detection of print fan speed.
  3377. //! Warning: This function is not to be used by ordinary users, it is here only for automated testing purposes,
  3378. //! it may even interfere with other functions of the printer! You have been warned!
  3379. //! The test idea is to measure the time necessary to charge the capacitor.
  3380. //! So the algorithm is as follows:
  3381. //! 1. Set TACH_1 pin to INPUT mode and LOW
  3382. //! 2. Wait a few ms
  3383. //! 3. disable interrupts and measure the time until the TACH_1 pin reaches HIGH
  3384. //! Repeat 1.-3. several times
  3385. //! Good RAMBo's times are in the range of approx. 260-320 us
  3386. //! Bad RAMBo's times are approx. 260-1200 us
  3387. //! So basically we are interested in maximum time, the minima are mostly the same.
  3388. //! May be that's why the bad RAMBo's still produce some fan RPM reading, but not corresponding to reality
  3389. static void gcode_PRUSA_BadRAMBoFanTest(){
  3390. //printf_P(PSTR("Enter fan pin test\n"));
  3391. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  3392. fan_measuring = false; // prevent EXTINT7 breaking into the measurement
  3393. unsigned long tach1max = 0;
  3394. uint8_t tach1cntr = 0;
  3395. for( /* nothing */; tach1cntr < 100; ++tach1cntr){
  3396. //printf_P(PSTR("TACH_1: %d\n"), tach1cntr);
  3397. SET_OUTPUT(TACH_1);
  3398. WRITE(TACH_1, LOW);
  3399. _delay(20); // the delay may be lower
  3400. unsigned long tachMeasure = _micros();
  3401. cli();
  3402. SET_INPUT(TACH_1);
  3403. // just wait brutally in an endless cycle until we reach HIGH
  3404. // if this becomes a problem it may be improved to non-endless cycle
  3405. while( READ(TACH_1) == 0 ) ;
  3406. sei();
  3407. tachMeasure = _micros() - tachMeasure;
  3408. if( tach1max < tachMeasure )
  3409. tach1max = tachMeasure;
  3410. //printf_P(PSTR("TACH_1: %d: capacitor check time=%lu us\n"), (int)tach1cntr, tachMeasure);
  3411. }
  3412. //printf_P(PSTR("TACH_1: max=%lu us\n"), tach1max);
  3413. SERIAL_PROTOCOLPGM("RAMBo FAN ");
  3414. if( tach1max > 500 ){
  3415. // bad RAMBo
  3416. SERIAL_PROTOCOLLNPGM("BAD");
  3417. } else {
  3418. SERIAL_PROTOCOLLNPGM("OK");
  3419. }
  3420. // cleanup after the test function
  3421. SET_INPUT(TACH_1);
  3422. WRITE(TACH_1, HIGH);
  3423. #endif
  3424. }
  3425. // G92 - Set current position to coordinates given
  3426. static void gcode_G92()
  3427. {
  3428. bool codes[NUM_AXIS];
  3429. float values[NUM_AXIS];
  3430. // Check which axes need to be set
  3431. for(uint8_t i = 0; i < NUM_AXIS; ++i)
  3432. {
  3433. codes[i] = code_seen(axis_codes[i]);
  3434. if(codes[i])
  3435. values[i] = code_value();
  3436. }
  3437. if((codes[E_AXIS] && values[E_AXIS] == 0) &&
  3438. (!codes[X_AXIS] && !codes[Y_AXIS] && !codes[Z_AXIS]))
  3439. {
  3440. // As a special optimization, when _just_ clearing the E position
  3441. // we schedule a flag asynchronously along with the next block to
  3442. // reset the starting E position instead of stopping the planner
  3443. current_position[E_AXIS] = 0;
  3444. plan_reset_next_e();
  3445. }
  3446. else
  3447. {
  3448. // In any other case we're forced to synchronize
  3449. st_synchronize();
  3450. for(uint8_t i = 0; i < 3; ++i)
  3451. {
  3452. if(codes[i])
  3453. current_position[i] = values[i] + cs.add_homing[i];
  3454. }
  3455. if(codes[E_AXIS])
  3456. current_position[E_AXIS] = values[E_AXIS];
  3457. // Set all at once
  3458. plan_set_position_curposXYZE();
  3459. }
  3460. }
  3461. #ifdef EXTENDED_CAPABILITIES_REPORT
  3462. static void cap_line(const char* name, bool ena = false) {
  3463. printf_P(PSTR("Cap:%S:%c\n"), name, (char)ena + '0');
  3464. }
  3465. static void extended_capabilities_report()
  3466. {
  3467. // AUTOREPORT_TEMP (M155)
  3468. cap_line(PSTR("AUTOREPORT_TEMP"), ENABLED(AUTO_REPORT));
  3469. #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  3470. // AUTOREPORT_FANS (M123)
  3471. cap_line(PSTR("AUTOREPORT_FANS"), ENABLED(AUTO_REPORT));
  3472. #endif //FANCHECK and TACH_0 or TACH_1
  3473. // AUTOREPORT_POSITION (M114)
  3474. cap_line(PSTR("AUTOREPORT_POSITION"), ENABLED(AUTO_REPORT));
  3475. // EXTENDED_M20 (support for L and T parameters)
  3476. cap_line(PSTR("EXTENDED_M20"), 1);
  3477. }
  3478. #endif //EXTENDED_CAPABILITIES_REPORT
  3479. #ifdef BACKLASH_X
  3480. extern uint8_t st_backlash_x;
  3481. #endif //BACKLASH_X
  3482. #ifdef BACKLASH_Y
  3483. extern uint8_t st_backlash_y;
  3484. #endif //BACKLASH_Y
  3485. //! \ingroup marlin_main
  3486. //! @brief Parse and process commands
  3487. //!
  3488. //! look here for descriptions of G-codes: https://reprap.org/wiki/G-code
  3489. //!
  3490. //!
  3491. //! Implemented Codes
  3492. //! -------------------
  3493. //!
  3494. //! * _This list is not updated. Current documentation is maintained inside the process_cmd function._
  3495. //!
  3496. //!@n PRUSA CODES
  3497. //!@n P F - Returns FW versions
  3498. //!@n P R - Returns revision of printer
  3499. //!
  3500. //!@n G0 -> G1
  3501. //!@n G1 - Coordinated Movement X Y Z E
  3502. //!@n G2 - CW ARC
  3503. //!@n G3 - CCW ARC
  3504. //!@n G4 - Dwell S<seconds> or P<milliseconds>
  3505. //!@n G10 - retract filament according to settings of M207
  3506. //!@n G11 - retract recover filament according to settings of M208
  3507. //!@n G28 - Home all Axes
  3508. //!@n G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  3509. //!@n G30 - Single Z Probe, probes bed at current XY location.
  3510. //!@n G31 - Dock sled (Z_PROBE_SLED only)
  3511. //!@n G32 - Undock sled (Z_PROBE_SLED only)
  3512. //!@n G80 - Automatic mesh bed leveling
  3513. //!@n G81 - Print bed profile
  3514. //!@n G90 - Use Absolute Coordinates
  3515. //!@n G91 - Use Relative Coordinates
  3516. //!@n G92 - Set current position to coordinates given
  3517. //!
  3518. //!@n M Codes
  3519. //!@n M0 - Unconditional stop - Wait for user to press a button on the LCD
  3520. //!@n M1 - Same as M0
  3521. //!@n M17 - Enable/Power all stepper motors
  3522. //!@n M18 - Disable all stepper motors; same as M84
  3523. //!@n M20 - List SD card
  3524. //!@n M21 - Init SD card
  3525. //!@n M22 - Release SD card
  3526. //!@n M23 - Select SD file (M23 filename.g)
  3527. //!@n M24 - Start/resume SD print
  3528. //!@n M25 - Pause SD print
  3529. //!@n M26 - Set SD position in bytes (M26 S12345)
  3530. //!@n M27 - Report SD print status
  3531. //!@n M28 - Start SD write (M28 filename.g)
  3532. //!@n M29 - Stop SD write
  3533. //!@n M30 - Delete file from SD (M30 filename.g)
  3534. //!@n M31 - Output time since last M109 or SD card start to serial
  3535. //!@n M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  3536. //! syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  3537. //! Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  3538. //! The '#' is necessary when calling from within sd files, as it stops buffer prereading
  3539. //!@n M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
  3540. //!@n M73 - Show percent done and print time remaining
  3541. //!@n M80 - Turn on Power Supply
  3542. //!@n M81 - Turn off Power Supply
  3543. //!@n M82 - Set E codes absolute (default)
  3544. //!@n M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  3545. //!@n M84 - Disable steppers until next move,
  3546. //! or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  3547. //!@n M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  3548. //!@n M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
  3549. //!@n M92 - Set axis_steps_per_unit - same syntax as G92
  3550. //!@n M104 - Set extruder target temp
  3551. //!@n M105 - Read current temp
  3552. //!@n M106 - Fan on
  3553. //!@n M107 - Fan off
  3554. //!@n M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  3555. //! Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  3556. //! IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  3557. //!@n M112 - Emergency stop
  3558. //!@n M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  3559. //!@n M114 - Output current position to serial port
  3560. //!@n M115 - Capabilities string
  3561. //!@n M117 - display message
  3562. //!@n M119 - Output Endstop status to serial port
  3563. //!@n M123 - Tachometer value
  3564. //!@n M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  3565. //!@n M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  3566. //!@n M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  3567. //!@n M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  3568. //!@n M140 - Set bed target temp
  3569. //!@n M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
  3570. //!@n M155 - Automatically send temperatures, fan speeds, position
  3571. //!@n M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  3572. //! Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  3573. //!@n M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  3574. //!@n M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  3575. //!@n M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  3576. //!@n M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  3577. //!@n M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  3578. //!@n M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
  3579. //!@n M206 - set additional homing offset
  3580. //!@n M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  3581. //!@n M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  3582. //!@n M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  3583. //!@n M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  3584. //!@n M220 S<factor in percent>- set speed factor override percentage
  3585. //!@n M221 S<factor in percent>- set extrude factor override percentage
  3586. //!@n M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  3587. //!@n M240 - Trigger a camera to take a photograph
  3588. //!@n M250 - Set LCD contrast C<contrast value> (value 0..63)
  3589. //!@n M280 - set servo position absolute. P: servo index, S: angle or microseconds
  3590. //!@n M300 - Play beep sound S<frequency Hz> P<duration ms>
  3591. //!@n M301 - Set PID parameters P I and D
  3592. //!@n M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  3593. //!@n M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  3594. //!@n M304 - Set bed PID parameters P I and D
  3595. //!@n M400 - Finish all moves
  3596. //!@n M401 - Lower z-probe if present
  3597. //!@n M402 - Raise z-probe if present
  3598. //!@n M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  3599. //!@n M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  3600. //!@n M406 - Turn off Filament Sensor extrusion control
  3601. //!@n M407 - Displays measured filament diameter
  3602. //!@n M500 - stores parameters in EEPROM
  3603. //!@n M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  3604. //!@n M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  3605. //!@n M503 - print the current settings (from memory not from EEPROM)
  3606. //!@n M509 - force language selection on next restart
  3607. //!@n M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  3608. //!@n M552 - Set IP address
  3609. //!@n M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  3610. //!@n M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  3611. //!@n M860 - Wait for PINDA thermistor to reach target temperature.
  3612. //!@n M861 - Set / Read PINDA temperature compensation offsets
  3613. //!@n M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  3614. //!@n M907 - Set digital trimpot motor current using axis codes.
  3615. //!@n M908 - Control digital trimpot directly.
  3616. //!@n M350 - Set microstepping mode.
  3617. //!@n M351 - Toggle MS1 MS2 pins directly.
  3618. //!
  3619. //!@n M928 - Start SD logging (M928 filename.g) - ended by M29
  3620. //!@n M999 - Restart after being stopped by error
  3621. //! <br><br>
  3622. /** @defgroup marlin_main Marlin main */
  3623. /** \ingroup GCodes */
  3624. //! _This is a list of currently implemented G Codes in Prusa firmware (dynamically generated from doxygen)._
  3625. /**
  3626. They are shown in order of appearance in the code.
  3627. There are reasons why some G Codes aren't in numerical order.
  3628. */
  3629. void process_commands()
  3630. {
  3631. #ifdef FANCHECK
  3632. if(fan_check_error == EFCE_DETECTED) {
  3633. fan_check_error = EFCE_REPORTED;
  3634. if (is_usb_printing)
  3635. lcd_pause_usb_print();
  3636. else
  3637. lcd_pause_print();
  3638. }
  3639. #endif
  3640. if (!buflen) return; //empty command
  3641. #ifdef FILAMENT_RUNOUT_SUPPORT
  3642. SET_INPUT(FR_SENS);
  3643. #endif
  3644. #ifdef CMDBUFFER_DEBUG
  3645. SERIAL_ECHOPGM("Processing a GCODE command: ");
  3646. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  3647. SERIAL_ECHOLNPGM("");
  3648. SERIAL_ECHOPGM("In cmdqueue: ");
  3649. SERIAL_ECHO(buflen);
  3650. SERIAL_ECHOLNPGM("");
  3651. #endif /* CMDBUFFER_DEBUG */
  3652. unsigned long codenum; //throw away variable
  3653. char *starpos = NULL;
  3654. #ifdef ENABLE_AUTO_BED_LEVELING
  3655. float x_tmp, y_tmp, z_tmp, real_z;
  3656. #endif
  3657. // PRUSA GCODES
  3658. KEEPALIVE_STATE(IN_HANDLER);
  3659. #ifdef SNMM
  3660. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  3661. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  3662. int8_t SilentMode;
  3663. #endif
  3664. /*!
  3665. ---------------------------------------------------------------------------------
  3666. ### M117 - Display Message <a href="https://reprap.org/wiki/G-code#M117:_Display_Message">M117: Display Message</a>
  3667. This causes the given message to be shown in the status line on an attached LCD.
  3668. It is processed early as to allow printing messages that contain G, M, N or T.
  3669. ---------------------------------------------------------------------------------
  3670. ### Special internal commands
  3671. These are used by internal functions to process certain actions in the right order. Some of these are also usable by the user.
  3672. They are processed early as the commands are complex (strings).
  3673. These are only available on the MK3(S) as these require TMC2130 drivers:
  3674. - CRASH DETECTED
  3675. - CRASH RECOVER
  3676. - CRASH_CANCEL
  3677. - TMC_SET_WAVE
  3678. - TMC_SET_STEP
  3679. - TMC_SET_CHOP
  3680. */
  3681. if (code_seen_P(PSTR("M117"))) //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  3682. {
  3683. starpos = (strchr(strchr_pointer + 5, '*'));
  3684. if (starpos != NULL)
  3685. *(starpos) = '\0';
  3686. lcd_setstatus(strchr_pointer + 5);
  3687. custom_message_type = CustomMsg::MsgUpdate;
  3688. }
  3689. /*!
  3690. ### M0, M1 - Stop the printer <a href="https://reprap.org/wiki/G-code#M0:_Stop_or_Unconditional_stop">M0: Stop or Unconditional stop</a>
  3691. #### Usage
  3692. M0 [P<ms<] [S<sec>] [string]
  3693. M1 [P<ms>] [S<sec>] [string]
  3694. #### Parameters
  3695. - `P<ms>` - Expire time, in milliseconds
  3696. - `S<sec>` - Expire time, in seconds
  3697. - `string` - Must for M1 and optional for M0 message to display on the LCD
  3698. */
  3699. else if (code_seen_P(PSTR("M0")) || code_seen_P(PSTR("M1 "))) {// M0 and M1 - (Un)conditional stop - Wait for user button press on LCD
  3700. char *src = strchr_pointer + 2;
  3701. codenum = 0;
  3702. bool hasP = false, hasS = false;
  3703. if (code_seen('P')) {
  3704. codenum = code_value(); // milliseconds to wait
  3705. hasP = codenum > 0;
  3706. }
  3707. if (code_seen('S')) {
  3708. codenum = code_value() * 1000; // seconds to wait
  3709. hasS = codenum > 0;
  3710. }
  3711. starpos = strchr(src, '*');
  3712. if (starpos != NULL) *(starpos) = '\0';
  3713. while (*src == ' ') ++src;
  3714. custom_message_type = CustomMsg::M0Wait;
  3715. if (!hasP && !hasS && *src != '\0') {
  3716. lcd_setstatus(src);
  3717. } else {
  3718. // farmers want to abuse a bug from the previous firmware releases
  3719. // - they need to see the filename on the status screen instead of "Wait for user..."
  3720. // So we won't update the message in farm mode...
  3721. if( ! farm_mode){
  3722. LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT c=20
  3723. } else {
  3724. custom_message_type = CustomMsg::Status; // let the lcd display the name of the printed G-code file in farm mode
  3725. }
  3726. }
  3727. lcd_ignore_click(); //call lcd_ignore_click also for else ???
  3728. st_synchronize();
  3729. previous_millis_cmd = _millis();
  3730. if (codenum > 0 ) {
  3731. codenum += _millis(); // keep track of when we started waiting
  3732. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3733. while(_millis() < codenum && !lcd_clicked()) {
  3734. manage_heater();
  3735. manage_inactivity(true);
  3736. lcd_update(0);
  3737. }
  3738. KEEPALIVE_STATE(IN_HANDLER);
  3739. lcd_ignore_click(false);
  3740. } else {
  3741. marlin_wait_for_click();
  3742. }
  3743. if (IS_SD_PRINTING)
  3744. custom_message_type = CustomMsg::Status;
  3745. else
  3746. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  3747. }
  3748. #ifdef TMC2130
  3749. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  3750. {
  3751. // ### CRASH_DETECTED - TMC2130
  3752. // ---------------------------------
  3753. if(code_seen_P(PSTR("CRASH_DETECTED")))
  3754. {
  3755. uint8_t mask = 0;
  3756. if (code_seen('X')) mask |= X_AXIS_MASK;
  3757. if (code_seen('Y')) mask |= Y_AXIS_MASK;
  3758. crashdet_detected(mask);
  3759. }
  3760. // ### CRASH_RECOVER - TMC2130
  3761. // ----------------------------------
  3762. else if(code_seen_P(PSTR("CRASH_RECOVER")))
  3763. crashdet_recover();
  3764. // ### CRASH_CANCEL - TMC2130
  3765. // ----------------------------------
  3766. else if(code_seen_P(PSTR("CRASH_CANCEL")))
  3767. crashdet_cancel();
  3768. }
  3769. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  3770. {
  3771. // ### TMC_SET_WAVE_
  3772. // --------------------
  3773. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
  3774. {
  3775. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3776. axis = (axis == 'E')?3:(axis - 'X');
  3777. if (axis < 4)
  3778. {
  3779. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  3780. tmc2130_set_wave(axis, 247, fac);
  3781. }
  3782. }
  3783. // ### TMC_SET_STEP_
  3784. // ------------------
  3785. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
  3786. {
  3787. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3788. axis = (axis == 'E')?3:(axis - 'X');
  3789. if (axis < 4)
  3790. {
  3791. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  3792. uint16_t res = tmc2130_get_res(axis);
  3793. tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
  3794. }
  3795. }
  3796. // ### TMC_SET_CHOP_
  3797. // -------------------
  3798. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
  3799. {
  3800. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  3801. axis = (axis == 'E')?3:(axis - 'X');
  3802. if (axis < 4)
  3803. {
  3804. uint8_t chop0 = tmc2130_chopper_config[axis].toff;
  3805. uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
  3806. uint8_t chop2 = tmc2130_chopper_config[axis].hend;
  3807. uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
  3808. char* str_end = 0;
  3809. if (CMDBUFFER_CURRENT_STRING[14])
  3810. {
  3811. chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
  3812. if (str_end && *str_end)
  3813. {
  3814. chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
  3815. if (str_end && *str_end)
  3816. {
  3817. chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
  3818. if (str_end && *str_end)
  3819. chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
  3820. }
  3821. }
  3822. }
  3823. tmc2130_chopper_config[axis].toff = chop0;
  3824. tmc2130_chopper_config[axis].hstr = chop1 & 7;
  3825. tmc2130_chopper_config[axis].hend = chop2 & 15;
  3826. tmc2130_chopper_config[axis].tbl = chop3 & 3;
  3827. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  3828. //printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
  3829. }
  3830. }
  3831. }
  3832. #ifdef BACKLASH_X
  3833. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
  3834. {
  3835. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  3836. st_backlash_x = bl;
  3837. printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
  3838. }
  3839. #endif //BACKLASH_X
  3840. #ifdef BACKLASH_Y
  3841. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
  3842. {
  3843. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  3844. st_backlash_y = bl;
  3845. printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
  3846. }
  3847. #endif //BACKLASH_Y
  3848. #endif //TMC2130
  3849. else if(code_seen_P(PSTR("PRUSA"))){
  3850. /*!
  3851. ---------------------------------------------------------------------------------
  3852. ### PRUSA - Internal command set <a href="https://reprap.org/wiki/G-code#G98:_Activate_farm_mode">G98: Activate farm mode - Notes</a>
  3853. Set of internal PRUSA commands
  3854. #### Usage
  3855. PRUSA [ Ping | PRN | FAN | fn | thx | uvlo | MMURES | RESET | fv | M28 | SN | Fir | Rev | Lang | Lz | Beat | FR ]
  3856. #### Parameters
  3857. - `Ping`
  3858. - `PRN` - Prints revision of the printer
  3859. - `FAN` - Prints fan details
  3860. - `fn` - Prints farm no.
  3861. - `thx`
  3862. - `uvlo`
  3863. - `MMURES` - Reset MMU
  3864. - `RESET` - (Careful!)
  3865. - `fv` - ?
  3866. - `M28`
  3867. - `SN`
  3868. - `Fir` - Prints firmware version
  3869. - `Rev`- Prints filament size, elelectronics, nozzle type
  3870. - `Lang` - Reset the language
  3871. - `Lz`
  3872. - `Beat` - Kick farm link timer
  3873. - `FR` - Full factory reset
  3874. - `nozzle set <diameter>` - set nozzle diameter (farm mode only), e.g. `PRUSA nozzle set 0.4`
  3875. - `nozzle D<diameter>` - check the nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle D0.4`
  3876. - `nozzle` - prints nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle`
  3877. */
  3878. if (code_seen_P(PSTR("Ping"))) { // PRUSA Ping
  3879. if (farm_mode) {
  3880. PingTime = _millis();
  3881. }
  3882. }
  3883. else if (code_seen_P(PSTR("PRN"))) { // PRUSA PRN
  3884. printf_P(_N("%d"), status_number);
  3885. } else if( code_seen_P(PSTR("FANPINTST"))){
  3886. gcode_PRUSA_BadRAMBoFanTest();
  3887. }else if (code_seen_P(PSTR("FAN"))) { // PRUSA FAN
  3888. printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
  3889. }
  3890. else if (code_seen_P(PSTR("thx"))) // PRUSA thx
  3891. {
  3892. no_response = false;
  3893. }
  3894. else if (code_seen_P(PSTR("uvlo"))) // PRUSA uvlo
  3895. {
  3896. eeprom_update_byte((uint8_t*)EEPROM_UVLO,0);
  3897. enquecommand_P(PSTR("M24"));
  3898. }
  3899. else if (code_seen_P(PSTR("MMURES"))) // PRUSA MMURES
  3900. {
  3901. mmu_reset();
  3902. }
  3903. else if (code_seen_P(PSTR("RESET"))) { // PRUSA RESET
  3904. #ifdef WATCHDOG
  3905. #if defined(XFLASH) && defined(BOOTAPP)
  3906. boot_app_magic = BOOT_APP_MAGIC;
  3907. boot_app_flags = BOOT_APP_FLG_RUN;
  3908. #endif //defined(XFLASH) && defined(BOOTAPP)
  3909. softReset();
  3910. #elif defined(BOOTAPP) //this is a safety precaution. This is because the new bootloader turns off the heaters, but the old one doesn't. The watchdog should be used most of the time.
  3911. asm volatile("jmp 0x3E000");
  3912. #endif
  3913. }else if (code_seen_P("fv")) { // PRUSA fv
  3914. // get file version
  3915. #ifdef SDSUPPORT
  3916. card.openFileReadFilteredGcode(strchr_pointer + 3,true);
  3917. while (true) {
  3918. uint16_t readByte = card.getFilteredGcodeChar();
  3919. MYSERIAL.write(readByte);
  3920. if (readByte=='\n') {
  3921. break;
  3922. }
  3923. }
  3924. card.closefile();
  3925. #endif // SDSUPPORT
  3926. } else if (code_seen_P(PSTR("M28"))) { // PRUSA M28
  3927. trace();
  3928. prusa_sd_card_upload = true;
  3929. card.openFileWrite(strchr_pointer+4);
  3930. } else if (code_seen_P(PSTR("SN"))) { // PRUSA SN
  3931. char SN[20];
  3932. eeprom_read_block(SN, (uint8_t*)EEPROM_PRUSA_SN, 20);
  3933. if (SN[19])
  3934. puts_P(PSTR("SN invalid"));
  3935. else
  3936. puts(SN);
  3937. } else if(code_seen_P(PSTR("Fir"))){ // PRUSA Fir
  3938. SERIAL_PROTOCOLLN(FW_VERSION_FULL);
  3939. } else if(code_seen_P(PSTR("Rev"))){ // PRUSA Rev
  3940. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  3941. } else if(code_seen_P(PSTR("Lang"))) { // PRUSA Lang
  3942. lang_reset();
  3943. } else if(code_seen_P(PSTR("Lz"))) { // PRUSA Lz
  3944. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  3945. } else if(code_seen_P(PSTR("Beat"))) { // PRUSA Beat
  3946. // Kick farm link timer
  3947. kicktime = _millis();
  3948. } else if(code_seen_P(PSTR("FR"))) { // PRUSA FR
  3949. // Factory full reset
  3950. factory_reset(0);
  3951. } else if(code_seen_P(PSTR("MBL"))) { // PRUSA MBL
  3952. // Change the MBL status without changing the logical Z position.
  3953. if(code_seen('V')) {
  3954. bool value = code_value_short();
  3955. st_synchronize();
  3956. if(value != mbl.active) {
  3957. mbl.active = value;
  3958. // Use plan_set_z_position to reset the physical values
  3959. plan_set_z_position(current_position[Z_AXIS]);
  3960. }
  3961. }
  3962. //-//
  3963. /*
  3964. } else if(code_seen("rrr")) {
  3965. MYSERIAL.println("=== checking ===");
  3966. MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_CHECK_MODE),DEC);
  3967. MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER),DEC);
  3968. MYSERIAL.println(eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM),DEC);
  3969. MYSERIAL.println(farm_mode,DEC);
  3970. MYSERIAL.println(eCheckMode,DEC);
  3971. } else if(code_seen("www")) {
  3972. MYSERIAL.println("=== @ FF ===");
  3973. eeprom_update_byte((uint8_t*)EEPROM_CHECK_MODE,0xFF);
  3974. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,0xFF);
  3975. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,0xFFFF);
  3976. */
  3977. } else if (code_seen_P(PSTR("nozzle"))) { // PRUSA nozzle
  3978. uint16_t nDiameter;
  3979. if(code_seen('D'))
  3980. {
  3981. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  3982. nozzle_diameter_check(nDiameter);
  3983. }
  3984. else if(code_seen_P(PSTR("set")) && farm_mode)
  3985. {
  3986. strchr_pointer++; // skip 1st char (~ 's')
  3987. strchr_pointer++; // skip 2nd char (~ 'e')
  3988. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  3989. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
  3990. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
  3991. }
  3992. else SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
  3993. //-// !!! SupportMenu
  3994. /*
  3995. // musi byt PRED "PRUSA model"
  3996. } else if (code_seen("smodel")) { //! PRUSA smodel
  3997. size_t nOffset;
  3998. // ! -> "l"
  3999. strchr_pointer+=5*sizeof(*strchr_pointer); // skip 1st - 5th char (~ 'smode')
  4000. nOffset=strspn(strchr_pointer+1," \t\n\r\v\f");
  4001. if(*(strchr_pointer+1+nOffset))
  4002. printer_smodel_check(strchr_pointer);
  4003. else SERIAL_PROTOCOLLN(PRINTER_NAME);
  4004. } else if (code_seen("model")) { //! PRUSA model
  4005. uint16_t nPrinterModel;
  4006. strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'mode')
  4007. nPrinterModel=(uint16_t)code_value_long();
  4008. if(nPrinterModel!=0)
  4009. printer_model_check(nPrinterModel);
  4010. else SERIAL_PROTOCOLLN(PRINTER_TYPE);
  4011. } else if (code_seen("version")) { //! PRUSA version
  4012. strchr_pointer+=7*sizeof(*strchr_pointer); // skip 1st - 7th char (~ 'version')
  4013. while(*strchr_pointer==' ') // skip leading spaces
  4014. strchr_pointer++;
  4015. if(*strchr_pointer!=0)
  4016. fw_version_check(strchr_pointer);
  4017. else SERIAL_PROTOCOLLN(FW_VERSION);
  4018. } else if (code_seen("gcode")) { //! PRUSA gcode
  4019. uint16_t nGcodeLevel;
  4020. strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'gcod')
  4021. nGcodeLevel=(uint16_t)code_value_long();
  4022. if(nGcodeLevel!=0)
  4023. gcode_level_check(nGcodeLevel);
  4024. else SERIAL_PROTOCOLLN(GCODE_LEVEL);
  4025. */
  4026. }
  4027. //else if (code_seen('Cal')) {
  4028. // lcd_calibration();
  4029. // }
  4030. }
  4031. // This prevents reading files with "^" in their names.
  4032. // Since it is unclear, if there is some usage of this construct,
  4033. // it will be deprecated in 3.9 alpha a possibly completely removed in the future:
  4034. // else if (code_seen('^')) {
  4035. // // nothing, this is a version line
  4036. // }
  4037. else if(code_seen('G'))
  4038. {
  4039. gcode_in_progress = (int)code_value();
  4040. // printf_P(_N("BEGIN G-CODE=%u\n"), gcode_in_progress);
  4041. switch (gcode_in_progress)
  4042. {
  4043. /*!
  4044. ---------------------------------------------------------------------------------
  4045. # G Codes
  4046. ### G0, G1 - Coordinated movement X Y Z E <a href="https://reprap.org/wiki/G-code#G0_.26_G1:_Move">G0 & G1: Move</a>
  4047. In Prusa Firmware G0 and G1 are the same.
  4048. #### Usage
  4049. G0 [ X | Y | Z | E | F | S ]
  4050. G1 [ X | Y | Z | E | F | S ]
  4051. #### Parameters
  4052. - `X` - The position to move to on the X axis
  4053. - `Y` - The position to move to on the Y axis
  4054. - `Z` - The position to move to on the Z axis
  4055. - `E` - The amount to extrude between the starting point and ending point
  4056. - `F` - The feedrate per minute of the move between the starting point and ending point (if supplied)
  4057. */
  4058. case 0: // G0 -> G1
  4059. case 1: // G1
  4060. if(Stopped == false) {
  4061. #ifdef FILAMENT_RUNOUT_SUPPORT
  4062. if(READ(FR_SENS)){
  4063. int feedmultiplyBckp=feedmultiply;
  4064. float target[4];
  4065. float lastpos[4];
  4066. target[X_AXIS]=current_position[X_AXIS];
  4067. target[Y_AXIS]=current_position[Y_AXIS];
  4068. target[Z_AXIS]=current_position[Z_AXIS];
  4069. target[E_AXIS]=current_position[E_AXIS];
  4070. lastpos[X_AXIS]=current_position[X_AXIS];
  4071. lastpos[Y_AXIS]=current_position[Y_AXIS];
  4072. lastpos[Z_AXIS]=current_position[Z_AXIS];
  4073. lastpos[E_AXIS]=current_position[E_AXIS];
  4074. //retract by E
  4075. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  4076. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  4077. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  4078. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  4079. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  4080. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  4081. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  4082. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  4083. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  4084. //finish moves
  4085. st_synchronize();
  4086. //disable extruder steppers so filament can be removed
  4087. disable_e0();
  4088. disable_e1();
  4089. disable_e2();
  4090. _delay(100);
  4091. //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
  4092. uint8_t cnt=0;
  4093. int counterBeep = 0;
  4094. lcd_wait_interact();
  4095. while(!lcd_clicked()){
  4096. cnt++;
  4097. manage_heater();
  4098. manage_inactivity(true);
  4099. //lcd_update(0);
  4100. if(cnt==0)
  4101. {
  4102. #if BEEPER > 0
  4103. if (counterBeep== 500){
  4104. counterBeep = 0;
  4105. }
  4106. SET_OUTPUT(BEEPER);
  4107. if (counterBeep== 0){
  4108. if(eSoundMode!=e_SOUND_MODE_SILENT)
  4109. WRITE(BEEPER,HIGH);
  4110. }
  4111. if (counterBeep== 20){
  4112. WRITE(BEEPER,LOW);
  4113. }
  4114. counterBeep++;
  4115. #else
  4116. #endif
  4117. }
  4118. }
  4119. WRITE(BEEPER,LOW);
  4120. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  4121. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  4122. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4123. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  4124. lcd_change_fil_state = 0;
  4125. lcd_loading_filament();
  4126. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  4127. lcd_change_fil_state = 0;
  4128. lcd_alright();
  4129. switch(lcd_change_fil_state){
  4130. case 2:
  4131. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  4132. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  4133. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4134. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  4135. lcd_loading_filament();
  4136. break;
  4137. case 3:
  4138. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  4139. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  4140. lcd_loading_color();
  4141. break;
  4142. default:
  4143. lcd_change_success();
  4144. break;
  4145. }
  4146. }
  4147. target[E_AXIS]+= 5;
  4148. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  4149. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  4150. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  4151. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  4152. //plan_set_e_position(current_position[E_AXIS]);
  4153. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  4154. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  4155. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  4156. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  4157. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  4158. plan_set_e_position(lastpos[E_AXIS]);
  4159. feedmultiply=feedmultiplyBckp;
  4160. char cmd[9];
  4161. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  4162. enquecommand(cmd);
  4163. }
  4164. #endif
  4165. get_coordinates(); // For X Y Z E F
  4166. // When recovering from a previous print move, restore the originally
  4167. // calculated target position on the first USB/SD command. This accounts
  4168. // properly for relative moves
  4169. if ((saved_target[0] != SAVED_TARGET_UNSET) &&
  4170. ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_SDCARD) ||
  4171. (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)))
  4172. {
  4173. memcpy(destination, saved_target, sizeof(destination));
  4174. saved_target[0] = SAVED_TARGET_UNSET;
  4175. }
  4176. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  4177. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  4178. }
  4179. #ifdef FWRETRACT
  4180. if(cs.autoretract_enabled) {
  4181. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  4182. float echange=destination[E_AXIS]-current_position[E_AXIS];
  4183. if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
  4184. st_synchronize();
  4185. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  4186. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  4187. retract(!retracted[active_extruder]);
  4188. return;
  4189. }
  4190. }
  4191. }
  4192. #endif //FWRETRACT
  4193. prepare_move();
  4194. //ClearToSend();
  4195. }
  4196. break;
  4197. /*!
  4198. ### G2, G3 - Controlled Arc Move <a href="https://reprap.org/wiki/G-code#G2_.26_G3:_Controlled_Arc_Move">G2 & G3: Controlled Arc Move</a>
  4199. These commands don't propperly work with MBL enabled. The compensation only happens at the end of the move, so avoid long arcs.
  4200. #### Usage
  4201. G2 [ X | Y | I | E | F ] (Clockwise Arc)
  4202. G3 [ X | Y | I | E | F ] (Counter-Clockwise Arc)
  4203. #### Parameters
  4204. - `X` - The position to move to on the X axis
  4205. - `Y` - The position to move to on the Y axis
  4206. - `I` - The point in X space from the current X position to maintain a constant distance from
  4207. - `J` - The point in Y space from the current Y position to maintain a constant distance from
  4208. - `E` - The amount to extrude between the starting point and ending point
  4209. - `F` - The feedrate per minute of the move between the starting point and ending point (if supplied)
  4210. */
  4211. case 2:
  4212. if(Stopped == false) {
  4213. get_arc_coordinates();
  4214. prepare_arc_move(true);
  4215. }
  4216. break;
  4217. // -------------------------------
  4218. case 3:
  4219. if(Stopped == false) {
  4220. get_arc_coordinates();
  4221. prepare_arc_move(false);
  4222. }
  4223. break;
  4224. /*!
  4225. ### G4 - Dwell <a href="https://reprap.org/wiki/G-code#G4:_Dwell">G4: Dwell</a>
  4226. Pause the machine for a period of time.
  4227. #### Usage
  4228. G4 [ P | S ]
  4229. #### Parameters
  4230. - `P` - Time to wait, in milliseconds
  4231. - `S` - Time to wait, in seconds
  4232. */
  4233. case 4:
  4234. codenum = 0;
  4235. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  4236. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  4237. if(codenum != 0) LCD_MESSAGERPGM(_n("Sleep..."));////MSG_DWELL
  4238. st_synchronize();
  4239. codenum += _millis(); // keep track of when we started waiting
  4240. previous_millis_cmd = _millis();
  4241. while(_millis() < codenum) {
  4242. manage_heater();
  4243. manage_inactivity();
  4244. lcd_update(0);
  4245. }
  4246. break;
  4247. #ifdef FWRETRACT
  4248. /*!
  4249. ### G10 - Retract <a href="https://reprap.org/wiki/G-code#G10:_Retract">G10: Retract</a>
  4250. Retracts filament according to settings of `M207`
  4251. */
  4252. case 10:
  4253. #if EXTRUDERS > 1
  4254. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  4255. retract(true,retracted_swap[active_extruder]);
  4256. #else
  4257. retract(true);
  4258. #endif
  4259. break;
  4260. /*!
  4261. ### G11 - Retract recover <a href="https://reprap.org/wiki/G-code#G11:_Unretract">G11: Unretract</a>
  4262. Unretracts/recovers filament according to settings of `M208`
  4263. */
  4264. case 11:
  4265. #if EXTRUDERS > 1
  4266. retract(false,retracted_swap[active_extruder]);
  4267. #else
  4268. retract(false);
  4269. #endif
  4270. break;
  4271. #endif //FWRETRACT
  4272. /*!
  4273. ### G21 - Sets Units to Millimters <a href="https://reprap.org/wiki/G-code#G21:_Set_Units_to_Millimeters">G21: Set Units to Millimeters</a>
  4274. Units are in millimeters. Prusa doesn't support inches.
  4275. */
  4276. case 21:
  4277. break; //Doing nothing. This is just to prevent serial UNKOWN warnings.
  4278. /*!
  4279. ### G28 - Home all Axes one at a time <a href="https://reprap.org/wiki/G-code#G28:_Move_to_Origin_.28Home.29">G28: Move to Origin (Home)</a>
  4280. Using `G28` without any parameters will perfom homing of all axes AND mesh bed leveling, while `G28 W` will just home all axes (no mesh bed leveling).
  4281. #### Usage
  4282. G28 [ X | Y | Z | W | C ]
  4283. #### Parameters
  4284. - `X` - Flag to go back to the X axis origin
  4285. - `Y` - Flag to go back to the Y axis origin
  4286. - `Z` - Flag to go back to the Z axis origin
  4287. - `W` - Suppress mesh bed leveling if `X`, `Y` or `Z` are not provided
  4288. - `C` - Calibrate X and Y origin (home) - Only on MK3/s
  4289. */
  4290. case 28:
  4291. {
  4292. long home_x_value = 0;
  4293. long home_y_value = 0;
  4294. long home_z_value = 0;
  4295. // Which axes should be homed?
  4296. bool home_x = code_seen(axis_codes[X_AXIS]);
  4297. home_x_value = code_value_long();
  4298. bool home_y = code_seen(axis_codes[Y_AXIS]);
  4299. home_y_value = code_value_long();
  4300. bool home_z = code_seen(axis_codes[Z_AXIS]);
  4301. home_z_value = code_value_long();
  4302. bool without_mbl = code_seen('W');
  4303. // calibrate?
  4304. #ifdef TMC2130
  4305. bool calib = code_seen('C');
  4306. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
  4307. #else
  4308. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, without_mbl);
  4309. #endif //TMC2130
  4310. if ((home_x || home_y || without_mbl || home_z) == false) {
  4311. gcode_G80();
  4312. }
  4313. break;
  4314. }
  4315. #ifdef ENABLE_AUTO_BED_LEVELING
  4316. /*!
  4317. ### G29 - Detailed Z-Probe <a href="https://reprap.org/wiki/G-code#G29:_Detailed_Z-Probe">G29: Detailed Z-Probe</a>
  4318. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4319. See `G81`
  4320. */
  4321. case 29:
  4322. {
  4323. #if Z_MIN_PIN == -1
  4324. #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."
  4325. #endif
  4326. // Prevent user from running a G29 without first homing in X and Y
  4327. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  4328. {
  4329. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  4330. SERIAL_ECHO_START;
  4331. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  4332. break; // abort G29, since we don't know where we are
  4333. }
  4334. st_synchronize();
  4335. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  4336. //vector_3 corrected_position = plan_get_position_mm();
  4337. //corrected_position.debug("position before G29");
  4338. plan_bed_level_matrix.set_to_identity();
  4339. vector_3 uncorrected_position = plan_get_position();
  4340. //uncorrected_position.debug("position durring G29");
  4341. current_position[X_AXIS] = uncorrected_position.x;
  4342. current_position[Y_AXIS] = uncorrected_position.y;
  4343. current_position[Z_AXIS] = uncorrected_position.z;
  4344. plan_set_position_curposXYZE();
  4345. int l_feedmultiply = setup_for_endstop_move();
  4346. feedrate = homing_feedrate[Z_AXIS];
  4347. #ifdef AUTO_BED_LEVELING_GRID
  4348. // probe at the points of a lattice grid
  4349. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  4350. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  4351. // solve the plane equation ax + by + d = z
  4352. // A is the matrix with rows [x y 1] for all the probed points
  4353. // B is the vector of the Z positions
  4354. // 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
  4355. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  4356. // "A" matrix of the linear system of equations
  4357. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  4358. // "B" vector of Z points
  4359. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  4360. int probePointCounter = 0;
  4361. bool zig = true;
  4362. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  4363. {
  4364. int xProbe, xInc;
  4365. if (zig)
  4366. {
  4367. xProbe = LEFT_PROBE_BED_POSITION;
  4368. //xEnd = RIGHT_PROBE_BED_POSITION;
  4369. xInc = xGridSpacing;
  4370. zig = false;
  4371. } else // zag
  4372. {
  4373. xProbe = RIGHT_PROBE_BED_POSITION;
  4374. //xEnd = LEFT_PROBE_BED_POSITION;
  4375. xInc = -xGridSpacing;
  4376. zig = true;
  4377. }
  4378. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  4379. {
  4380. float z_before;
  4381. if (probePointCounter == 0)
  4382. {
  4383. // raise before probing
  4384. z_before = Z_RAISE_BEFORE_PROBING;
  4385. } else
  4386. {
  4387. // raise extruder
  4388. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  4389. }
  4390. float measured_z = probe_pt(xProbe, yProbe, z_before);
  4391. eqnBVector[probePointCounter] = measured_z;
  4392. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  4393. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  4394. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  4395. probePointCounter++;
  4396. xProbe += xInc;
  4397. }
  4398. }
  4399. clean_up_after_endstop_move(l_feedmultiply);
  4400. // solve lsq problem
  4401. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  4402. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  4403. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  4404. SERIAL_PROTOCOLPGM(" b: ");
  4405. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  4406. SERIAL_PROTOCOLPGM(" d: ");
  4407. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  4408. set_bed_level_equation_lsq(plane_equation_coefficients);
  4409. free(plane_equation_coefficients);
  4410. #else // AUTO_BED_LEVELING_GRID not defined
  4411. // Probe at 3 arbitrary points
  4412. // probe 1
  4413. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  4414. // probe 2
  4415. 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);
  4416. // probe 3
  4417. 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);
  4418. clean_up_after_endstop_move(l_feedmultiply);
  4419. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  4420. #endif // AUTO_BED_LEVELING_GRID
  4421. st_synchronize();
  4422. // The following code correct the Z height difference from z-probe position and hotend tip position.
  4423. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  4424. // When the bed is uneven, this height must be corrected.
  4425. real_z = float(st_get_position(Z_AXIS))/cs.axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
  4426. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  4427. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  4428. z_tmp = current_position[Z_AXIS];
  4429. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  4430. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  4431. plan_set_position_curposXYZE();
  4432. }
  4433. break;
  4434. #ifndef Z_PROBE_SLED
  4435. /*!
  4436. ### G30 - Single Z Probe <a href="https://reprap.org/wiki/G-code#G30:_Single_Z-Probe">G30: Single Z-Probe</a>
  4437. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4438. */
  4439. case 30:
  4440. {
  4441. st_synchronize();
  4442. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  4443. int l_feedmultiply = setup_for_endstop_move();
  4444. feedrate = homing_feedrate[Z_AXIS];
  4445. run_z_probe();
  4446. SERIAL_PROTOCOLPGM(_T(MSG_BED));
  4447. SERIAL_PROTOCOLPGM(" X: ");
  4448. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4449. SERIAL_PROTOCOLPGM(" Y: ");
  4450. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4451. SERIAL_PROTOCOLPGM(" Z: ");
  4452. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4453. SERIAL_PROTOCOLPGM("\n");
  4454. clean_up_after_endstop_move(l_feedmultiply);
  4455. }
  4456. break;
  4457. #else
  4458. /*!
  4459. ### G31 - Dock the sled <a href="https://reprap.org/wiki/G-code#G31:_Dock_Z_Probe_sled">G31: Dock Z Probe sled</a>
  4460. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4461. */
  4462. case 31:
  4463. dock_sled(true);
  4464. break;
  4465. /*!
  4466. ### G32 - Undock the sled <a href="https://reprap.org/wiki/G-code#G32:_Undock_Z_Probe_sled">G32: Undock Z Probe sled</a>
  4467. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4468. */
  4469. case 32:
  4470. dock_sled(false);
  4471. break;
  4472. #endif // Z_PROBE_SLED
  4473. #endif // ENABLE_AUTO_BED_LEVELING
  4474. #ifdef MESH_BED_LEVELING
  4475. /*!
  4476. ### G30 - Single Z Probe <a href="https://reprap.org/wiki/G-code#G30:_Single_Z-Probe">G30: Single Z-Probe</a>
  4477. Sensor must be over the bed.
  4478. The maximum travel distance before an error is triggered is 10mm.
  4479. */
  4480. case 30:
  4481. {
  4482. st_synchronize();
  4483. homing_flag = true;
  4484. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  4485. int l_feedmultiply = setup_for_endstop_move();
  4486. feedrate = homing_feedrate[Z_AXIS];
  4487. find_bed_induction_sensor_point_z(-10.f, 3);
  4488. printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
  4489. clean_up_after_endstop_move(l_feedmultiply);
  4490. homing_flag = false;
  4491. }
  4492. break;
  4493. /*!
  4494. ### G75 - Print temperature interpolation <a href="https://reprap.org/wiki/G-code#G75:_Print_temperature_interpolation">G75: Print temperature interpolation</a>
  4495. Show/print PINDA temperature interpolating.
  4496. */
  4497. case 75:
  4498. {
  4499. for (int i = 40; i <= 110; i++)
  4500. printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
  4501. }
  4502. break;
  4503. /*!
  4504. ### G76 - PINDA probe temperature calibration <a href="https://reprap.org/wiki/G-code#G76:_PINDA_probe_temperature_calibration">G76: PINDA probe temperature calibration</a>
  4505. This G-code is used to calibrate the temperature drift of the PINDA (inductive Sensor).
  4506. The PINDAv2 sensor has a built-in thermistor which has the advantage that the calibration can be done once for all materials.
  4507. The Original i3 Prusa MK2/s uses PINDAv1 and this calibration improves the temperature drift, but not as good as the PINDAv2.
  4508. superPINDA sensor has internal temperature compensation and no thermistor output. There is no point of doing temperature calibration in such case.
  4509. If PINDA_THERMISTOR and SUPERPINDA_SUPPORT is defined during compilation, calibration is skipped with serial message "No PINDA thermistor".
  4510. This can be caused also if PINDA thermistor connection is broken or PINDA temperature is lower than PINDA_MINTEMP.
  4511. #### Example
  4512. ```
  4513. G76
  4514. echo PINDA probe calibration start
  4515. echo start temperature: 35.0°
  4516. echo ...
  4517. echo PINDA temperature -- Z shift (mm): 0.---
  4518. ```
  4519. */
  4520. case 76:
  4521. {
  4522. #ifdef PINDA_THERMISTOR
  4523. if (!has_temperature_compensation())
  4524. {
  4525. SERIAL_ECHOLNPGM("No PINDA thermistor");
  4526. break;
  4527. }
  4528. if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
  4529. //we need to know accurate position of first calibration point
  4530. //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
  4531. lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
  4532. break;
  4533. }
  4534. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  4535. {
  4536. // We don't know where we are! HOME!
  4537. // Push the commands to the front of the message queue in the reverse order!
  4538. // There shall be always enough space reserved for these commands.
  4539. repeatcommand_front(); // repeat G76 with all its parameters
  4540. enquecommand_front_P(G28W0);
  4541. break;
  4542. }
  4543. lcd_show_fullscreen_message_and_wait_P(_i("Stable ambient temperature 21-26C is needed a rigid stand is required."));////MSG_TEMP_CAL_WARNING c=20 r=4
  4544. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  4545. if (result)
  4546. {
  4547. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4548. plan_buffer_line_curposXYZE(3000 / 60);
  4549. current_position[Z_AXIS] = 50;
  4550. current_position[Y_AXIS] = 180;
  4551. plan_buffer_line_curposXYZE(3000 / 60);
  4552. st_synchronize();
  4553. lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  4554. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4555. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4556. plan_buffer_line_curposXYZE(3000 / 60);
  4557. st_synchronize();
  4558. gcode_G28(false, false, true);
  4559. }
  4560. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  4561. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  4562. current_position[Z_AXIS] = 100;
  4563. plan_buffer_line_curposXYZE(3000 / 60);
  4564. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  4565. lcd_temp_cal_show_result(false);
  4566. break;
  4567. }
  4568. }
  4569. st_synchronize();
  4570. homing_flag = true; // keep homing on to avoid babystepping while the LCD is enabled
  4571. lcd_update_enable(true);
  4572. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  4573. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  4574. float zero_z;
  4575. int z_shift = 0; //unit: steps
  4576. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  4577. if (start_temp < 35) start_temp = 35;
  4578. if (start_temp < current_temperature_pinda) start_temp += 5;
  4579. printf_P(_N("start temperature: %.1f\n"), start_temp);
  4580. // setTargetHotend(200, 0);
  4581. setTargetBed(70 + (start_temp - 30));
  4582. custom_message_type = CustomMsg::TempCal;
  4583. custom_message_state = 1;
  4584. lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
  4585. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4586. plan_buffer_line_curposXYZE(3000 / 60);
  4587. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4588. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4589. plan_buffer_line_curposXYZE(3000 / 60);
  4590. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4591. plan_buffer_line_curposXYZE(3000 / 60);
  4592. st_synchronize();
  4593. while (current_temperature_pinda < start_temp)
  4594. {
  4595. delay_keep_alive(1000);
  4596. serialecho_temperatures();
  4597. }
  4598. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  4599. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4600. plan_buffer_line_curposXYZE(3000 / 60);
  4601. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4602. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4603. plan_buffer_line_curposXYZE(3000 / 60);
  4604. st_synchronize();
  4605. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  4606. if (find_z_result == false) {
  4607. lcd_temp_cal_show_result(find_z_result);
  4608. homing_flag = false;
  4609. break;
  4610. }
  4611. zero_z = current_position[Z_AXIS];
  4612. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  4613. int i = -1; for (; i < 5; i++)
  4614. {
  4615. float temp = (40 + i * 5);
  4616. printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
  4617. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  4618. if (start_temp <= temp) break;
  4619. }
  4620. for (i++; i < 5; i++)
  4621. {
  4622. float temp = (40 + i * 5);
  4623. printf_P(_N("\nStep: %d/6\n"), i + 2);
  4624. custom_message_state = i + 2;
  4625. setTargetBed(50 + 10 * (temp - 30) / 5);
  4626. // setTargetHotend(255, 0);
  4627. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4628. plan_buffer_line_curposXYZE(3000 / 60);
  4629. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4630. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4631. plan_buffer_line_curposXYZE(3000 / 60);
  4632. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4633. plan_buffer_line_curposXYZE(3000 / 60);
  4634. st_synchronize();
  4635. while (current_temperature_pinda < temp)
  4636. {
  4637. delay_keep_alive(1000);
  4638. serialecho_temperatures();
  4639. }
  4640. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4641. plan_buffer_line_curposXYZE(3000 / 60);
  4642. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  4643. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  4644. plan_buffer_line_curposXYZE(3000 / 60);
  4645. st_synchronize();
  4646. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  4647. if (find_z_result == false) {
  4648. lcd_temp_cal_show_result(find_z_result);
  4649. break;
  4650. }
  4651. z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
  4652. printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
  4653. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  4654. }
  4655. lcd_temp_cal_show_result(true);
  4656. homing_flag = false;
  4657. #else //PINDA_THERMISTOR
  4658. setTargetBed(PINDA_MIN_T);
  4659. float zero_z;
  4660. int z_shift = 0; //unit: steps
  4661. int t_c; // temperature
  4662. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  4663. // We don't know where we are! HOME!
  4664. // Push the commands to the front of the message queue in the reverse order!
  4665. // There shall be always enough space reserved for these commands.
  4666. repeatcommand_front(); // repeat G76 with all its parameters
  4667. enquecommand_front_P(G28W0);
  4668. break;
  4669. }
  4670. puts_P(_N("PINDA probe calibration start"));
  4671. custom_message_type = CustomMsg::TempCal;
  4672. custom_message_state = 1;
  4673. lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
  4674. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4675. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4676. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4677. plan_buffer_line_curposXYZE(3000 / 60);
  4678. st_synchronize();
  4679. while (abs(degBed() - PINDA_MIN_T) > 1) {
  4680. delay_keep_alive(1000);
  4681. serialecho_temperatures();
  4682. }
  4683. //enquecommand_P(PSTR("M190 S50"));
  4684. for (int i = 0; i < PINDA_HEAT_T; i++) {
  4685. delay_keep_alive(1000);
  4686. serialecho_temperatures();
  4687. }
  4688. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  4689. current_position[Z_AXIS] = 5;
  4690. plan_buffer_line_curposXYZE(3000 / 60);
  4691. current_position[X_AXIS] = BED_X0;
  4692. current_position[Y_AXIS] = BED_Y0;
  4693. plan_buffer_line_curposXYZE(3000 / 60);
  4694. st_synchronize();
  4695. find_bed_induction_sensor_point_z(-1.f);
  4696. zero_z = current_position[Z_AXIS];
  4697. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  4698. for (int i = 0; i<5; i++) {
  4699. printf_P(_N("\nStep: %d/6\n"), i + 2);
  4700. custom_message_state = i + 2;
  4701. t_c = 60 + i * 10;
  4702. setTargetBed(t_c);
  4703. current_position[X_AXIS] = PINDA_PREHEAT_X;
  4704. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  4705. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  4706. plan_buffer_line_curposXYZE(3000 / 60);
  4707. st_synchronize();
  4708. while (degBed() < t_c) {
  4709. delay_keep_alive(1000);
  4710. serialecho_temperatures();
  4711. }
  4712. for (int i = 0; i < PINDA_HEAT_T; i++) {
  4713. delay_keep_alive(1000);
  4714. serialecho_temperatures();
  4715. }
  4716. current_position[Z_AXIS] = 5;
  4717. plan_buffer_line_curposXYZE(3000 / 60);
  4718. current_position[X_AXIS] = BED_X0;
  4719. current_position[Y_AXIS] = BED_Y0;
  4720. plan_buffer_line_curposXYZE(3000 / 60);
  4721. st_synchronize();
  4722. find_bed_induction_sensor_point_z(-1.f);
  4723. z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
  4724. printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
  4725. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  4726. }
  4727. custom_message_type = CustomMsg::Status;
  4728. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  4729. puts_P(_N("Temperature calibration done."));
  4730. disable_x();
  4731. disable_y();
  4732. disable_z();
  4733. disable_e0();
  4734. disable_e1();
  4735. disable_e2();
  4736. setTargetBed(0); //set bed target temperature back to 0
  4737. lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
  4738. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  4739. lcd_update_enable(true);
  4740. lcd_update(2);
  4741. #endif //PINDA_THERMISTOR
  4742. }
  4743. break;
  4744. /*!
  4745. ### G80 - Mesh-based Z probe <a href="https://reprap.org/wiki/G-code#G80:_Mesh-based_Z_probe">G80: Mesh-based Z probe</a>
  4746. Default 3x3 grid can be changed on MK2.5/s and MK3/s to 7x7 grid.
  4747. #### Usage
  4748. G80 [ N | R | V | L | R | F | B ]
  4749. #### Parameters
  4750. - `N` - Number of mesh points on x axis. Default is 3. Valid values are 3 and 7.
  4751. - `R` - Probe retries. Default 3 max. 10
  4752. - `V` - Verbosity level 1=low, 10=mid, 20=high. It only can be used if the firmware has been compiled with SUPPORT_VERBOSITY active.
  4753. Using the following parameters enables additional "manual" bed leveling correction. Valid values are -100 microns to 100 microns.
  4754. #### Additional Parameters
  4755. - `L` - Left Bed Level correct value in um.
  4756. - `R` - Right Bed Level correct value in um.
  4757. - `F` - Front Bed Level correct value in um.
  4758. - `B` - Back Bed Level correct value in um.
  4759. */
  4760. /*
  4761. * Probes a grid and produces a mesh to compensate for variable bed height
  4762. * The S0 report the points as below
  4763. * +----> X-axis
  4764. * |
  4765. * |
  4766. * v Y-axis
  4767. */
  4768. case 80: {
  4769. #ifdef MK1BP
  4770. break;
  4771. #endif //MK1BP
  4772. gcode_G80();
  4773. }
  4774. break;
  4775. /*!
  4776. ### G81 - Mesh bed leveling status <a href="https://reprap.org/wiki/G-code#G81:_Mesh_bed_leveling_status">G81: Mesh bed leveling status</a>
  4777. Prints mesh bed leveling status and bed profile if activated.
  4778. */
  4779. case 81:
  4780. if (mbl.active) {
  4781. SERIAL_PROTOCOLPGM("Num X,Y: ");
  4782. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  4783. SERIAL_PROTOCOL(',');
  4784. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  4785. SERIAL_PROTOCOLPGM("\nZ search height: ");
  4786. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  4787. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  4788. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  4789. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  4790. SERIAL_PROTOCOLPGM(" ");
  4791. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  4792. }
  4793. SERIAL_PROTOCOLLN();
  4794. }
  4795. }
  4796. else
  4797. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  4798. break;
  4799. #if 0
  4800. /*!
  4801. ### G82: Single Z probe at current location - Not active <a href="https://reprap.org/wiki/G-code#G82:_Single_Z_probe_at_current_location">G82: Single Z probe at current location</a>
  4802. WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  4803. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4804. */
  4805. case 82:
  4806. SERIAL_PROTOCOLLNPGM("Finding bed ");
  4807. int l_feedmultiply = setup_for_endstop_move();
  4808. find_bed_induction_sensor_point_z();
  4809. clean_up_after_endstop_move(l_feedmultiply);
  4810. SERIAL_PROTOCOLPGM("Bed found at: ");
  4811. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  4812. SERIAL_PROTOCOLPGM("\n");
  4813. break;
  4814. /*!
  4815. ### G83: Babystep in Z and store to EEPROM - Not active <a href="https://reprap.org/wiki/G-code#G83:_Babystep_in_Z_and_store_to_EEPROM">G83: Babystep in Z and store to EEPROM</a>
  4816. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4817. */
  4818. case 83:
  4819. {
  4820. int babystepz = code_seen('S') ? code_value() : 0;
  4821. int BabyPosition = code_seen('P') ? code_value() : 0;
  4822. if (babystepz != 0) {
  4823. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  4824. // Is the axis indexed starting with zero or one?
  4825. if (BabyPosition > 4) {
  4826. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  4827. }else{
  4828. // Save it to the eeprom
  4829. babystepLoadZ = babystepz;
  4830. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  4831. // adjust the Z
  4832. babystepsTodoZadd(babystepLoadZ);
  4833. }
  4834. }
  4835. }
  4836. break;
  4837. /*!
  4838. ### G84: UNDO Babystep Z (move Z axis back) - Not active <a href="https://reprap.org/wiki/G-code#G84:_UNDO_Babystep_Z_.28move_Z_axis_back.29">G84: UNDO Babystep Z (move Z axis back)</a>
  4839. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4840. */
  4841. case 84:
  4842. babystepsTodoZsubtract(babystepLoadZ);
  4843. // babystepLoadZ = 0;
  4844. break;
  4845. /*!
  4846. ### G85: Pick best babystep - Not active <a href="https://reprap.org/wiki/G-code#G85:_Pick_best_babystep">G85: Pick best babystep</a>
  4847. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  4848. */
  4849. case 85:
  4850. lcd_pick_babystep();
  4851. break;
  4852. #endif
  4853. /*!
  4854. ### G86 - Disable babystep correction after home <a href="https://reprap.org/wiki/G-code#G86:_Disable_babystep_correction_after_home">G86: Disable babystep correction after home</a>
  4855. This G-code will be performed at the start of a calibration script.
  4856. (Prusa3D specific)
  4857. */
  4858. case 86:
  4859. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  4860. break;
  4861. /*!
  4862. ### G87 - Enable babystep correction after home <a href="https://reprap.org/wiki/G-code#G87:_Enable_babystep_correction_after_home">G87: Enable babystep correction after home</a>
  4863. This G-code will be performed at the end of a calibration script.
  4864. (Prusa3D specific)
  4865. */
  4866. case 87:
  4867. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  4868. break;
  4869. /*!
  4870. ### G88 - Reserved <a href="https://reprap.org/wiki/G-code#G88:_Reserved">G88: Reserved</a>
  4871. Currently has no effect.
  4872. */
  4873. // Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  4874. case 88:
  4875. break;
  4876. #endif // ENABLE_MESH_BED_LEVELING
  4877. /*!
  4878. ### G90 - Switch off relative mode <a href="https://reprap.org/wiki/G-code#G90:_Set_to_Absolute_Positioning">G90: Set to Absolute Positioning</a>
  4879. All coordinates from now on are absolute relative to the origin of the machine. E axis is left intact.
  4880. */
  4881. case 90: {
  4882. axis_relative_modes &= ~(X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK);
  4883. }
  4884. break;
  4885. /*!
  4886. ### G91 - Switch on relative mode <a href="https://reprap.org/wiki/G-code#G91:_Set_to_Relative_Positioning">G91: Set to Relative Positioning</a>
  4887. All coordinates from now on are relative to the last position. E axis is left intact.
  4888. */
  4889. case 91: {
  4890. axis_relative_modes |= X_AXIS_MASK | Y_AXIS_MASK | Z_AXIS_MASK;
  4891. }
  4892. break;
  4893. /*!
  4894. ### G92 - Set position <a href="https://reprap.org/wiki/G-code#G92:_Set_Position">G92: Set Position</a>
  4895. It is used for setting the current position of each axis. The parameters are always absolute to the origin.
  4896. If a parameter is omitted, that axis will not be affected.
  4897. If `X`, `Y`, or `Z` axis are specified, the move afterwards might stutter because of Mesh Bed Leveling. `E` axis is not affected if the target position is 0 (`G92 E0`).
  4898. A G92 without coordinates will reset all axes to zero on some firmware. This is not the case for Prusa-Firmware!
  4899. #### Usage
  4900. G92 [ X | Y | Z | E ]
  4901. #### Parameters
  4902. - `X` - new X axis position
  4903. - `Y` - new Y axis position
  4904. - `Z` - new Z axis position
  4905. - `E` - new extruder position
  4906. */
  4907. case 92: {
  4908. gcode_G92();
  4909. }
  4910. break;
  4911. /*!
  4912. ### G98 - Activate farm mode <a href="https://reprap.org/wiki/G-code#G98:_Activate_farm_mode">G98: Activate farm mode</a>
  4913. Enable Prusa-specific Farm functions and g-code.
  4914. See Internal Prusa commands.
  4915. */
  4916. case 98:
  4917. farm_mode = 1;
  4918. PingTime = _millis();
  4919. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4920. SilentModeMenu = SILENT_MODE_OFF;
  4921. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  4922. fCheckModeInit(); // alternatively invoke printer reset
  4923. break;
  4924. /*! ### G99 - Deactivate farm mode <a href="https://reprap.org/wiki/G-code#G99:_Deactivate_farm_mode">G99: Deactivate farm mode</a>
  4925. Disables Prusa-specific Farm functions and g-code.
  4926. */
  4927. case 99:
  4928. farm_mode = 0;
  4929. lcd_printer_connected();
  4930. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  4931. lcd_update(2);
  4932. fCheckModeInit(); // alternatively invoke printer reset
  4933. break;
  4934. default:
  4935. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4936. }
  4937. // printf_P(_N("END G-CODE=%u\n"), gcode_in_progress);
  4938. gcode_in_progress = 0;
  4939. } // end if(code_seen('G'))
  4940. /*!
  4941. ### End of G-Codes
  4942. */
  4943. /*!
  4944. ---------------------------------------------------------------------------------
  4945. # M Commands
  4946. */
  4947. else if(code_seen('M'))
  4948. {
  4949. int index;
  4950. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  4951. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  4952. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  4953. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4954. } else
  4955. {
  4956. mcode_in_progress = (int)code_value();
  4957. // printf_P(_N("BEGIN M-CODE=%u\n"), mcode_in_progress);
  4958. switch(mcode_in_progress)
  4959. {
  4960. /*!
  4961. ### M17 - Enable all axes <a href="https://reprap.org/wiki/G-code#M17:_Enable.2FPower_all_stepper_motors">M17: Enable/Power all stepper motors</a>
  4962. */
  4963. case 17:
  4964. LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE c=20
  4965. enable_x();
  4966. enable_y();
  4967. enable_z();
  4968. enable_e0();
  4969. enable_e1();
  4970. enable_e2();
  4971. break;
  4972. #ifdef SDSUPPORT
  4973. /*!
  4974. ### M20 - SD Card file list <a href="https://reprap.org/wiki/G-code#M20:_List_SD_card">M20: List SD card</a>
  4975. #### Usage
  4976. M20 [ L | T ]
  4977. #### Parameters
  4978. - `T` - Report timestamps as well. The value is one uint32_t encoded as hex. Requires host software parsing (Cap:EXTENDED_M20).
  4979. - `L` - Reports long filenames instead of just short filenames. Requires host software parsing (Cap:EXTENDED_M20).
  4980. */
  4981. case 20:
  4982. KEEPALIVE_STATE(NOT_BUSY); // do not send busy messages during listing. Inhibits the output of manage_heater()
  4983. SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST
  4984. card.ls(CardReader::ls_param(code_seen('L'), code_seen('T')));
  4985. SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST
  4986. break;
  4987. /*!
  4988. ### M21 - Init SD card <a href="https://reprap.org/wiki/G-code#M21:_Initialize_SD_card">M21: Initialize SD card</a>
  4989. */
  4990. case 21:
  4991. card.initsd();
  4992. break;
  4993. /*!
  4994. ### M22 - Release SD card <a href="https://reprap.org/wiki/G-code#M22:_Release_SD_card">M22: Release SD card</a>
  4995. */
  4996. case 22:
  4997. card.release();
  4998. break;
  4999. /*!
  5000. ### M23 - Select file <a href="https://reprap.org/wiki/G-code#M23:_Select_SD_file">M23: Select SD file</a>
  5001. #### Usage
  5002. M23 [filename]
  5003. */
  5004. case 23:
  5005. starpos = (strchr(strchr_pointer + 4,'*'));
  5006. if(starpos!=NULL)
  5007. *(starpos)='\0';
  5008. card.openFileReadFilteredGcode(strchr_pointer + 4, true);
  5009. break;
  5010. /*!
  5011. ### M24 - Start SD print <a href="https://reprap.org/wiki/G-code#M24:_Start.2Fresume_SD_print">M24: Start/resume SD print</a>
  5012. */
  5013. case 24:
  5014. if (isPrintPaused)
  5015. lcd_resume_print();
  5016. else
  5017. {
  5018. if (!card.get_sdpos())
  5019. {
  5020. // A new print has started from scratch, reset stats
  5021. failstats_reset_print();
  5022. #ifndef LA_NOCOMPAT
  5023. la10c_reset();
  5024. #endif
  5025. }
  5026. card.startFileprint();
  5027. starttime=_millis();
  5028. }
  5029. break;
  5030. /*!
  5031. ### M26 - Set SD index <a href="https://reprap.org/wiki/G-code#M26:_Set_SD_position">M26: Set SD position</a>
  5032. Set position in SD card file to index in bytes.
  5033. This command is expected to be called after M23 and before M24.
  5034. Otherwise effect of this command is undefined.
  5035. #### Usage
  5036. M26 [ S ]
  5037. #### Parameters
  5038. - `S` - Index in bytes
  5039. */
  5040. case 26:
  5041. if(card.cardOK && code_seen('S')) {
  5042. long index = code_value_long();
  5043. card.setIndex(index);
  5044. // We don't disable interrupt during update of sdpos_atomic
  5045. // as we expect, that SD card print is not active in this moment
  5046. sdpos_atomic = index;
  5047. }
  5048. break;
  5049. /*!
  5050. ### M27 - Get SD status <a href="https://reprap.org/wiki/G-code#M27:_Report_SD_print_status">M27: Report SD print status</a>
  5051. #### Usage
  5052. M27 [ P ]
  5053. #### Parameters
  5054. - `P` - Show full SFN path instead of LFN only.
  5055. */
  5056. case 27:
  5057. card.getStatus(code_seen('P'));
  5058. break;
  5059. /*!
  5060. ### M28 - Start SD write <a href="https://reprap.org/wiki/G-code#M28:_Begin_write_to_SD_card">M28: Begin write to SD card</a>
  5061. */
  5062. case 28:
  5063. starpos = (strchr(strchr_pointer + 4,'*'));
  5064. if(starpos != NULL){
  5065. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  5066. strchr_pointer = strchr(npos,' ') + 1;
  5067. *(starpos) = '\0';
  5068. }
  5069. card.openFileWrite(strchr_pointer+4);
  5070. break;
  5071. /*! ### M29 - Stop SD write <a href="https://reprap.org/wiki/G-code#M29:_Stop_writing_to_SD_card">M29: Stop writing to SD card</a>
  5072. Stops writing to the SD file signaling the end of the uploaded file. It is processed very early and it's not written to the card.
  5073. */
  5074. case 29:
  5075. //processed in write to file routine above
  5076. //card,saving = false;
  5077. break;
  5078. /*!
  5079. ### M30 - Delete file <a href="https://reprap.org/wiki/G-code#M30:_Delete_a_file_on_the_SD_card">M30: Delete a file on the SD card</a>
  5080. #### Usage
  5081. M30 [filename]
  5082. */
  5083. case 30:
  5084. if (card.cardOK){
  5085. card.closefile();
  5086. starpos = (strchr(strchr_pointer + 4,'*'));
  5087. if(starpos != NULL){
  5088. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  5089. strchr_pointer = strchr(npos,' ') + 1;
  5090. *(starpos) = '\0';
  5091. }
  5092. card.removeFile(strchr_pointer + 4);
  5093. }
  5094. break;
  5095. /*!
  5096. ### M32 - Select file and start SD print <a href="https://reprap.org/wiki/G-code#M32:_Select_file_and_start_SD_print">M32: Select file and start SD print</a>
  5097. @todo What are the parameters P and S for in M32?
  5098. */
  5099. case 32:
  5100. {
  5101. if(card.sdprinting) {
  5102. st_synchronize();
  5103. }
  5104. starpos = (strchr(strchr_pointer + 4,'*'));
  5105. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  5106. if(namestartpos==NULL)
  5107. {
  5108. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  5109. }
  5110. else
  5111. namestartpos++; //to skip the '!'
  5112. if(starpos!=NULL)
  5113. *(starpos)='\0';
  5114. bool call_procedure=(code_seen('P'));
  5115. if(strchr_pointer>namestartpos)
  5116. call_procedure=false; //false alert, 'P' found within filename
  5117. if( card.cardOK )
  5118. {
  5119. card.openFileReadFilteredGcode(namestartpos,!call_procedure);
  5120. if(code_seen('S'))
  5121. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  5122. card.setIndex(code_value_long());
  5123. card.startFileprint();
  5124. if(!call_procedure)
  5125. {
  5126. if(!card.get_sdpos())
  5127. {
  5128. // A new print has started from scratch, reset stats
  5129. failstats_reset_print();
  5130. #ifndef LA_NOCOMPAT
  5131. la10c_reset();
  5132. #endif
  5133. }
  5134. starttime=_millis(); // procedure calls count as normal print time.
  5135. }
  5136. }
  5137. } break;
  5138. /*!
  5139. ### M928 - Start SD logging <a href="https://reprap.org/wiki/G-code#M928:_Start_SD_logging">M928: Start SD logging</a>
  5140. #### Usage
  5141. M928 [filename]
  5142. */
  5143. case 928:
  5144. starpos = (strchr(strchr_pointer + 5,'*'));
  5145. if(starpos != NULL){
  5146. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  5147. strchr_pointer = strchr(npos,' ') + 1;
  5148. *(starpos) = '\0';
  5149. }
  5150. card.openLogFile(strchr_pointer+5);
  5151. break;
  5152. #endif //SDSUPPORT
  5153. /*!
  5154. ### M31 - Report current print time <a href="https://reprap.org/wiki/G-code#M31:_Output_time_since_last_M109_or_SD_card_start_to_serial">M31: Output time since last M109 or SD card start to serial</a>
  5155. */
  5156. case 31: //M31 take time since the start of the SD print or an M109 command
  5157. {
  5158. stoptime=_millis();
  5159. char time[30];
  5160. unsigned long t=(stoptime-starttime)/1000;
  5161. int sec,min;
  5162. min=t/60;
  5163. sec=t%60;
  5164. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  5165. SERIAL_ECHO_START;
  5166. SERIAL_ECHOLN(time);
  5167. lcd_setstatus(time);
  5168. autotempShutdown();
  5169. }
  5170. break;
  5171. /*!
  5172. ### M42 - Set pin state <a href="https://reprap.org/wiki/G-code#M42:_Switch_I.2FO_pin">M42: Switch I/O pin</a>
  5173. #### Usage
  5174. M42 [ P | S ]
  5175. #### Parameters
  5176. - `P` - Pin number.
  5177. - `S` - Pin value. If the pin is analog, values are from 0 to 255. If the pin is digital, values are from 0 to 1.
  5178. */
  5179. case 42:
  5180. if (code_seen('S'))
  5181. {
  5182. int pin_status = code_value();
  5183. int pin_number = LED_PIN;
  5184. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  5185. pin_number = code_value();
  5186. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  5187. {
  5188. if (sensitive_pins[i] == pin_number)
  5189. {
  5190. pin_number = -1;
  5191. break;
  5192. }
  5193. }
  5194. #if defined(FAN_PIN) && FAN_PIN > -1
  5195. if (pin_number == FAN_PIN)
  5196. fanSpeed = pin_status;
  5197. #endif
  5198. if (pin_number > -1)
  5199. {
  5200. pinMode(pin_number, OUTPUT);
  5201. digitalWrite(pin_number, pin_status);
  5202. analogWrite(pin_number, pin_status);
  5203. }
  5204. }
  5205. break;
  5206. /*!
  5207. ### M44 - Reset the bed skew and offset calibration <a href="https://reprap.org/wiki/G-code#M44:_Reset_the_bed_skew_and_offset_calibration">M44: Reset the bed skew and offset calibration</a>
  5208. */
  5209. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  5210. // Reset the baby step value and the baby step applied flag.
  5211. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  5212. eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
  5213. // Reset the skew and offset in both RAM and EEPROM.
  5214. reset_bed_offset_and_skew();
  5215. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  5216. // the planner will not perform any adjustments in the XY plane.
  5217. // Wait for the motors to stop and update the current position with the absolute values.
  5218. world2machine_revert_to_uncorrected();
  5219. break;
  5220. /*!
  5221. ### M45 - Bed skew and offset with manual Z up <a href="https://reprap.org/wiki/G-code#M45:_Bed_skew_and_offset_with_manual_Z_up">M45: Bed skew and offset with manual Z up</a>
  5222. #### Usage
  5223. M45 [ V ]
  5224. #### Parameters
  5225. - `V` - Verbosity level 1, 10 and 20 (low, mid, high). Only when SUPPORT_VERBOSITY is defined. Optional.
  5226. - `Z` - If it is provided, only Z calibration will run. Otherwise full calibration is executed.
  5227. */
  5228. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  5229. {
  5230. int8_t verbosity_level = 0;
  5231. bool only_Z = code_seen('Z');
  5232. #ifdef SUPPORT_VERBOSITY
  5233. if (code_seen('V'))
  5234. {
  5235. // Just 'V' without a number counts as V1.
  5236. char c = strchr_pointer[1];
  5237. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  5238. }
  5239. #endif //SUPPORT_VERBOSITY
  5240. gcode_M45(only_Z, verbosity_level);
  5241. }
  5242. break;
  5243. /*!
  5244. ### M46 - Show the assigned IP address <a href="https://reprap.org/wiki/G-code#M46:_Show_the_assigned_IP_address">M46: Show the assigned IP address.</a>
  5245. */
  5246. case 46:
  5247. {
  5248. // M46: Prusa3D: Show the assigned IP address.
  5249. if (card.ToshibaFlashAir_isEnabled()) {
  5250. uint8_t ip[4];
  5251. if (card.ToshibaFlashAir_GetIP(ip)) {
  5252. // SERIAL_PROTOCOLPGM("Toshiba FlashAir current IP: ");
  5253. SERIAL_PROTOCOL(uint8_t(ip[0]));
  5254. SERIAL_PROTOCOL('.');
  5255. SERIAL_PROTOCOL(uint8_t(ip[1]));
  5256. SERIAL_PROTOCOL('.');
  5257. SERIAL_PROTOCOL(uint8_t(ip[2]));
  5258. SERIAL_PROTOCOL('.');
  5259. SERIAL_PROTOCOL(uint8_t(ip[3]));
  5260. SERIAL_PROTOCOLLN();
  5261. } else {
  5262. SERIAL_PROTOCOLPGM("?Toshiba FlashAir GetIP failed\n");
  5263. }
  5264. } else {
  5265. SERIAL_PROTOCOLLNPGM("n/a");
  5266. }
  5267. break;
  5268. }
  5269. /*!
  5270. ### M47 - Show end stops dialog on the display <a href="https://reprap.org/wiki/G-code#M47:_Show_end_stops_dialog_on_the_display">M47: Show end stops dialog on the display</a>
  5271. */
  5272. case 47:
  5273. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5274. lcd_diag_show_end_stops();
  5275. KEEPALIVE_STATE(IN_HANDLER);
  5276. break;
  5277. #if 0
  5278. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  5279. {
  5280. // Disable the default update procedure of the display. We will do a modal dialog.
  5281. lcd_update_enable(false);
  5282. // Let the planner use the uncorrected coordinates.
  5283. mbl.reset();
  5284. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  5285. // the planner will not perform any adjustments in the XY plane.
  5286. // Wait for the motors to stop and update the current position with the absolute values.
  5287. world2machine_revert_to_uncorrected();
  5288. // Move the print head close to the bed.
  5289. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  5290. 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);
  5291. st_synchronize();
  5292. // Home in the XY plane.
  5293. set_destination_to_current();
  5294. int l_feedmultiply = setup_for_endstop_move();
  5295. home_xy();
  5296. int8_t verbosity_level = 0;
  5297. if (code_seen('V')) {
  5298. // Just 'V' without a number counts as V1.
  5299. char c = strchr_pointer[1];
  5300. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  5301. }
  5302. bool success = scan_bed_induction_points(verbosity_level);
  5303. clean_up_after_endstop_move(l_feedmultiply);
  5304. // Print head up.
  5305. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  5306. 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);
  5307. st_synchronize();
  5308. lcd_update_enable(true);
  5309. break;
  5310. }
  5311. #endif
  5312. #ifdef ENABLE_AUTO_BED_LEVELING
  5313. #ifdef Z_PROBE_REPEATABILITY_TEST
  5314. /*!
  5315. ### M48 - Z-Probe repeatability measurement function <a href="https://reprap.org/wiki/G-code#M48:_Measure_Z-Probe_repeatability">M48: Measure Z-Probe repeatability</a>
  5316. This function assumes the bed has been homed. Specifically, that a G28 command as been issued prior to invoking the M48 Z-Probe repeatability measurement function. Any information generated by a prior G29 Bed leveling command will be lost and needs to be regenerated.
  5317. The number of samples will default to 10 if not specified. You can use upper or lower case letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital N for its communication protocol and will get horribly confused if you send it a capital N.
  5318. @todo Why would you check for both uppercase and lowercase? Seems wasteful.
  5319. #### Usage
  5320. M48 [ n | X | Y | V | L ]
  5321. #### Parameters
  5322. - `n` - Number of samples. Valid values 4-50
  5323. - `X` - X position for samples
  5324. - `Y` - Y position for samples
  5325. - `V` - Verbose level. Valid values 1-4
  5326. - `L` - Legs of movementprior to doing probe. Valid values 1-15
  5327. */
  5328. case 48: // M48 Z-Probe repeatability
  5329. {
  5330. #if Z_MIN_PIN == -1
  5331. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  5332. #endif
  5333. double sum=0.0;
  5334. double mean=0.0;
  5335. double sigma=0.0;
  5336. double sample_set[50];
  5337. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  5338. double X_current, Y_current, Z_current;
  5339. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  5340. if (code_seen('V') || code_seen('v')) {
  5341. verbose_level = code_value();
  5342. if (verbose_level<0 || verbose_level>4 ) {
  5343. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  5344. goto Sigma_Exit;
  5345. }
  5346. }
  5347. if (verbose_level > 0) {
  5348. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  5349. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  5350. }
  5351. if (code_seen('n')) {
  5352. n_samples = code_value();
  5353. if (n_samples<4 || n_samples>50 ) {
  5354. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  5355. goto Sigma_Exit;
  5356. }
  5357. }
  5358. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  5359. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  5360. Z_current = st_get_position_mm(Z_AXIS);
  5361. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  5362. ext_position = st_get_position_mm(E_AXIS);
  5363. if (code_seen('X') || code_seen('x') ) {
  5364. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  5365. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  5366. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  5367. goto Sigma_Exit;
  5368. }
  5369. }
  5370. if (code_seen('Y') || code_seen('y') ) {
  5371. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  5372. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  5373. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  5374. goto Sigma_Exit;
  5375. }
  5376. }
  5377. if (code_seen('L') || code_seen('l') ) {
  5378. n_legs = code_value();
  5379. if ( n_legs==1 )
  5380. n_legs = 2;
  5381. if ( n_legs<0 || n_legs>15 ) {
  5382. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  5383. goto Sigma_Exit;
  5384. }
  5385. }
  5386. //
  5387. // Do all the preliminary setup work. First raise the probe.
  5388. //
  5389. st_synchronize();
  5390. plan_bed_level_matrix.set_to_identity();
  5391. plan_buffer_line( X_current, Y_current, Z_start_location,
  5392. ext_position,
  5393. homing_feedrate[Z_AXIS]/60,
  5394. active_extruder);
  5395. st_synchronize();
  5396. //
  5397. // Now get everything to the specified probe point So we can safely do a probe to
  5398. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  5399. // use that as a starting point for each probe.
  5400. //
  5401. if (verbose_level > 2)
  5402. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  5403. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5404. ext_position,
  5405. homing_feedrate[X_AXIS]/60,
  5406. active_extruder);
  5407. st_synchronize();
  5408. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  5409. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  5410. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5411. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  5412. //
  5413. // OK, do the inital probe to get us close to the bed.
  5414. // Then retrace the right amount and use that in subsequent probes
  5415. //
  5416. int l_feedmultiply = setup_for_endstop_move();
  5417. run_z_probe();
  5418. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5419. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  5420. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5421. ext_position,
  5422. homing_feedrate[X_AXIS]/60,
  5423. active_extruder);
  5424. st_synchronize();
  5425. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  5426. for( n=0; n<n_samples; n++) {
  5427. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  5428. if ( n_legs) {
  5429. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  5430. int rotational_direction, l;
  5431. rotational_direction = (unsigned long) _millis() & 0x0001; // clockwise or counter clockwise
  5432. radius = (unsigned long) _millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  5433. theta = (float) ((unsigned long) _millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  5434. //SERIAL_ECHOPAIR("starting radius: ",radius);
  5435. //SERIAL_ECHOPAIR(" theta: ",theta);
  5436. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  5437. //SERIAL_PROTOCOLLNPGM("");
  5438. for( l=0; l<n_legs-1; l++) {
  5439. if (rotational_direction==1)
  5440. theta += (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  5441. else
  5442. theta -= (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  5443. radius += (float) ( ((long) ((unsigned long) _millis() % (long) 10)) - 5);
  5444. if ( radius<0.0 )
  5445. radius = -radius;
  5446. X_current = X_probe_location + cos(theta) * radius;
  5447. Y_current = Y_probe_location + sin(theta) * radius;
  5448. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  5449. X_current = X_MIN_POS;
  5450. if ( X_current>X_MAX_POS)
  5451. X_current = X_MAX_POS;
  5452. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  5453. Y_current = Y_MIN_POS;
  5454. if ( Y_current>Y_MAX_POS)
  5455. Y_current = Y_MAX_POS;
  5456. if (verbose_level>3 ) {
  5457. SERIAL_ECHOPAIR("x: ", X_current);
  5458. SERIAL_ECHOPAIR("y: ", Y_current);
  5459. SERIAL_PROTOCOLLNPGM("");
  5460. }
  5461. do_blocking_move_to( X_current, Y_current, Z_current );
  5462. }
  5463. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  5464. }
  5465. int l_feedmultiply = setup_for_endstop_move();
  5466. run_z_probe();
  5467. sample_set[n] = current_position[Z_AXIS];
  5468. //
  5469. // Get the current mean for the data points we have so far
  5470. //
  5471. sum=0.0;
  5472. for( j=0; j<=n; j++) {
  5473. sum = sum + sample_set[j];
  5474. }
  5475. mean = sum / (double (n+1));
  5476. //
  5477. // Now, use that mean to calculate the standard deviation for the
  5478. // data points we have so far
  5479. //
  5480. sum=0.0;
  5481. for( j=0; j<=n; j++) {
  5482. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  5483. }
  5484. sigma = sqrt( sum / (double (n+1)) );
  5485. if (verbose_level > 1) {
  5486. SERIAL_PROTOCOL(n+1);
  5487. SERIAL_PROTOCOL(" of ");
  5488. SERIAL_PROTOCOL(n_samples);
  5489. SERIAL_PROTOCOLPGM(" z: ");
  5490. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  5491. }
  5492. if (verbose_level > 2) {
  5493. SERIAL_PROTOCOL(" mean: ");
  5494. SERIAL_PROTOCOL_F(mean,6);
  5495. SERIAL_PROTOCOL(" sigma: ");
  5496. SERIAL_PROTOCOL_F(sigma,6);
  5497. }
  5498. if (verbose_level > 0)
  5499. SERIAL_PROTOCOLPGM("\n");
  5500. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  5501. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  5502. st_synchronize();
  5503. }
  5504. _delay(1000);
  5505. clean_up_after_endstop_move(l_feedmultiply);
  5506. // enable_endstops(true);
  5507. if (verbose_level > 0) {
  5508. SERIAL_PROTOCOLPGM("Mean: ");
  5509. SERIAL_PROTOCOL_F(mean, 6);
  5510. SERIAL_PROTOCOLPGM("\n");
  5511. }
  5512. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  5513. SERIAL_PROTOCOL_F(sigma, 6);
  5514. SERIAL_PROTOCOLPGM("\n\n");
  5515. Sigma_Exit:
  5516. break;
  5517. }
  5518. #endif // Z_PROBE_REPEATABILITY_TEST
  5519. #endif // ENABLE_AUTO_BED_LEVELING
  5520. /*!
  5521. ### M73 - Set/get print progress <a href="https://reprap.org/wiki/G-code#M73:_Set.2FGet_build_percentage">M73: Set/Get build percentage</a>
  5522. #### Usage
  5523. M73 [ P | R | Q | S | C | D ]
  5524. #### Parameters
  5525. - `P` - Percent in normal mode
  5526. - `R` - Time remaining in normal mode
  5527. - `Q` - Percent in silent mode
  5528. - `S` - Time in silent mode
  5529. - `C` - Time to change/pause/user interaction in normal mode
  5530. - `D` - Time to change/pause/user interaction in silent mode
  5531. */
  5532. case 73: //M73 show percent done, time remaining and time to change/pause
  5533. {
  5534. if(code_seen('P')) print_percent_done_normal = code_value();
  5535. if(code_seen('R')) print_time_remaining_normal = code_value();
  5536. if(code_seen('Q')) print_percent_done_silent = code_value();
  5537. if(code_seen('S')) print_time_remaining_silent = code_value();
  5538. if(code_seen('C')){
  5539. float print_time_to_change_normal_f = code_value_float();
  5540. print_time_to_change_normal = ( print_time_to_change_normal_f <= 0 ) ? PRINT_TIME_REMAINING_INIT : print_time_to_change_normal_f;
  5541. }
  5542. if(code_seen('D')){
  5543. float print_time_to_change_silent_f = code_value_float();
  5544. print_time_to_change_silent = ( print_time_to_change_silent_f <= 0 ) ? PRINT_TIME_REMAINING_INIT : print_time_to_change_silent_f;
  5545. }
  5546. {
  5547. const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %hhd; print time remaining in mins: %d; Change in mins: %d\n");
  5548. printf_P(_msg_mode_done_remain, _N("NORMAL"), int8_t(print_percent_done_normal), print_time_remaining_normal, print_time_to_change_normal);
  5549. printf_P(_msg_mode_done_remain, _N("SILENT"), int8_t(print_percent_done_silent), print_time_remaining_silent, print_time_to_change_silent);
  5550. }
  5551. break;
  5552. }
  5553. /*!
  5554. ### M104 - Set hotend temperature <a href="https://reprap.org/wiki/G-code#M104:_Set_Extruder_Temperature">M104: Set Extruder Temperature</a>
  5555. #### Usage
  5556. M104 [ S ]
  5557. #### Parameters
  5558. - `S` - Target temperature
  5559. */
  5560. case 104: // M104
  5561. {
  5562. uint8_t extruder;
  5563. if(setTargetedHotend(104,extruder)){
  5564. break;
  5565. }
  5566. if (code_seen('S'))
  5567. {
  5568. setTargetHotendSafe(code_value(), extruder);
  5569. }
  5570. break;
  5571. }
  5572. /*!
  5573. ### M112 - Emergency stop <a href="https://reprap.org/wiki/G-code#M112:_Full_.28Emergency.29_Stop">M112: Full (Emergency) Stop</a>
  5574. It is processed much earlier as to bypass the cmdqueue.
  5575. */
  5576. case 112:
  5577. kill(MSG_M112_KILL, 3);
  5578. break;
  5579. /*!
  5580. ### M140 - Set bed temperature <a href="https://reprap.org/wiki/G-code#M140:_Set_Bed_Temperature_.28Fast.29">M140: Set Bed Temperature (Fast)</a>
  5581. #### Usage
  5582. M140 [ S ]
  5583. #### Parameters
  5584. - `S` - Target temperature
  5585. */
  5586. case 140:
  5587. if (code_seen('S')) setTargetBed(code_value());
  5588. break;
  5589. /*!
  5590. ### M105 - Report temperatures <a href="https://reprap.org/wiki/G-code#M105:_Get_Extruder_Temperature">M105: Get Extruder Temperature</a>
  5591. Prints temperatures:
  5592. - `T:` - Hotend (actual / target)
  5593. - `B:` - Bed (actual / target)
  5594. - `Tx:` - x Tool (actual / target)
  5595. - `@:` - Hotend power
  5596. - `B@:` - Bed power
  5597. - `P:` - PINDAv2 actual (only MK2.5/s and MK3/s)
  5598. - `A:` - Ambient actual (only MK3/s)
  5599. _Example:_
  5600. ok T:20.2 /0.0 B:19.1 /0.0 T0:20.2 /0.0 @:0 B@:0 P:19.8 A:26.4
  5601. */
  5602. case 105:
  5603. {
  5604. uint8_t extruder;
  5605. if(setTargetedHotend(105, extruder)){
  5606. break;
  5607. }
  5608. SERIAL_PROTOCOLPGM("ok ");
  5609. gcode_M105(extruder);
  5610. cmdqueue_pop_front(); //prevent an ok after the command since this command uses an ok at the beginning.
  5611. cmdbuffer_front_already_processed = true;
  5612. break;
  5613. }
  5614. #if defined(AUTO_REPORT)
  5615. /*!
  5616. ### M155 - Automatically send status <a href="https://reprap.org/wiki/G-code#M155:_Automatically_send_temperatures">M155: Automatically send temperatures</a>
  5617. #### Usage
  5618. M155 [ S ] [ C ]
  5619. #### Parameters
  5620. - `S` - Set autoreporting interval in seconds. 0 to disable. Maximum: 255
  5621. - `C` - Activate auto-report function (bit mask). Default is temperature.
  5622. bit 0 = Auto-report temperatures
  5623. bit 1 = Auto-report fans
  5624. bit 2 = Auto-report position
  5625. bit 3 = free
  5626. bit 4 = free
  5627. bit 5 = free
  5628. bit 6 = free
  5629. bit 7 = free
  5630. */
  5631. case 155:
  5632. {
  5633. if (code_seen('S')){
  5634. autoReportFeatures.SetPeriod( code_value_uint8() );
  5635. }
  5636. if (code_seen('C')){
  5637. autoReportFeatures.SetMask(code_value());
  5638. } else{
  5639. autoReportFeatures.SetMask(1); //Backwards compability to host systems like Octoprint to send only temp if paramerter `C`isn't used.
  5640. }
  5641. }
  5642. break;
  5643. #endif //AUTO_REPORT
  5644. /*!
  5645. ### M109 - Wait for extruder temperature <a href="https://reprap.org/wiki/G-code#M109:_Set_Extruder_Temperature_and_Wait">M109: Set Extruder Temperature and Wait</a>
  5646. #### Usage
  5647. M104 [ B | R | S ]
  5648. #### Parameters (not mandatory)
  5649. - `S` - Set extruder temperature
  5650. - `R` - Set extruder temperature
  5651. - `B` - Set max. extruder temperature, while `S` is min. temperature. Not active in default, only if AUTOTEMP is defined in source code.
  5652. Parameters S and R are treated identically.
  5653. Command always waits for both cool down and heat up.
  5654. If no parameters are supplied waits for previously set extruder temperature.
  5655. */
  5656. case 109:
  5657. {
  5658. uint8_t extruder;
  5659. if(setTargetedHotend(109, extruder)){
  5660. break;
  5661. }
  5662. LCD_MESSAGERPGM(_T(MSG_HEATING));
  5663. heating_status = 1;
  5664. if (farm_mode) { prusa_statistics(1); };
  5665. #ifdef AUTOTEMP
  5666. autotemp_enabled=false;
  5667. #endif
  5668. if (code_seen('S')) {
  5669. setTargetHotendSafe(code_value(), extruder);
  5670. } else if (code_seen('R')) {
  5671. setTargetHotendSafe(code_value(), extruder);
  5672. }
  5673. #ifdef AUTOTEMP
  5674. if (code_seen('S')) autotemp_min=code_value();
  5675. if (code_seen('B')) autotemp_max=code_value();
  5676. if (code_seen('F'))
  5677. {
  5678. autotemp_factor=code_value();
  5679. autotemp_enabled=true;
  5680. }
  5681. #endif
  5682. codenum = _millis();
  5683. /* See if we are heating up or cooling down */
  5684. target_direction = isHeatingHotend(extruder); // true if heating, false if cooling
  5685. KEEPALIVE_STATE(NOT_BUSY);
  5686. cancel_heatup = false;
  5687. wait_for_heater(codenum, extruder); //loops until target temperature is reached
  5688. LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
  5689. KEEPALIVE_STATE(IN_HANDLER);
  5690. heating_status = 2;
  5691. if (farm_mode) { prusa_statistics(2); };
  5692. //starttime=_millis();
  5693. previous_millis_cmd = _millis();
  5694. }
  5695. break;
  5696. /*!
  5697. ### M190 - Wait for bed temperature <a href="https://reprap.org/wiki/G-code#M190:_Wait_for_bed_temperature_to_reach_target_temp">M190: Wait for bed temperature to reach target temp</a>
  5698. #### Usage
  5699. M190 [ R | S ]
  5700. #### Parameters (not mandatory)
  5701. - `S` - Set extruder temperature and wait for heating
  5702. - `R` - Set extruder temperature and wait for heating or cooling
  5703. If no parameter is supplied, waits for heating or cooling to previously set temperature.
  5704. */
  5705. case 190:
  5706. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  5707. {
  5708. bool CooldownNoWait = false;
  5709. LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
  5710. heating_status = 3;
  5711. if (farm_mode) { prusa_statistics(1); };
  5712. if (code_seen('S'))
  5713. {
  5714. setTargetBed(code_value());
  5715. CooldownNoWait = true;
  5716. }
  5717. else if (code_seen('R'))
  5718. {
  5719. setTargetBed(code_value());
  5720. }
  5721. codenum = _millis();
  5722. cancel_heatup = false;
  5723. target_direction = isHeatingBed(); // true if heating, false if cooling
  5724. KEEPALIVE_STATE(NOT_BUSY);
  5725. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  5726. {
  5727. if(( _millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  5728. {
  5729. if (!farm_mode) {
  5730. float tt = degHotend(active_extruder);
  5731. SERIAL_PROTOCOLPGM("T:");
  5732. SERIAL_PROTOCOL(tt);
  5733. SERIAL_PROTOCOLPGM(" E:");
  5734. SERIAL_PROTOCOL((int)active_extruder);
  5735. SERIAL_PROTOCOLPGM(" B:");
  5736. SERIAL_PROTOCOL_F(degBed(), 1);
  5737. SERIAL_PROTOCOLLN();
  5738. }
  5739. codenum = _millis();
  5740. }
  5741. manage_heater();
  5742. manage_inactivity();
  5743. lcd_update(0);
  5744. }
  5745. LCD_MESSAGERPGM(_T(MSG_BED_DONE));
  5746. KEEPALIVE_STATE(IN_HANDLER);
  5747. heating_status = 4;
  5748. previous_millis_cmd = _millis();
  5749. }
  5750. #endif
  5751. break;
  5752. #if defined(FAN_PIN) && FAN_PIN > -1
  5753. /*!
  5754. ### M106 - Set fan speed <a href="https://reprap.org/wiki/G-code#M106:_Fan_On">M106: Fan On</a>
  5755. #### Usage
  5756. M106 [ S ]
  5757. #### Parameters
  5758. - `S` - Specifies the duty cycle of the print fan. Allowed values are 0-255. If it's omitted, a value of 255 is used.
  5759. */
  5760. case 106: // M106 Sxxx Fan On S<speed> 0 .. 255
  5761. if (code_seen('S')){
  5762. fanSpeed=constrain(code_value(),0,255);
  5763. }
  5764. else {
  5765. fanSpeed=255;
  5766. }
  5767. break;
  5768. /*!
  5769. ### M107 - Fan off <a href="https://reprap.org/wiki/G-code#M107:_Fan_Off">M107: Fan Off</a>
  5770. */
  5771. case 107:
  5772. fanSpeed = 0;
  5773. break;
  5774. #endif //FAN_PIN
  5775. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  5776. /*!
  5777. ### M80 - Turn on the Power Supply <a href="https://reprap.org/wiki/G-code#M80:_ATX_Power_On">M80: ATX Power On</a>
  5778. Only works if the firmware is compiled with PS_ON_PIN defined.
  5779. */
  5780. case 80:
  5781. SET_OUTPUT(PS_ON_PIN); //GND
  5782. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  5783. // If you have a switch on suicide pin, this is useful
  5784. // if you want to start another print with suicide feature after
  5785. // a print without suicide...
  5786. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  5787. SET_OUTPUT(SUICIDE_PIN);
  5788. WRITE(SUICIDE_PIN, HIGH);
  5789. #endif
  5790. powersupply = true;
  5791. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  5792. lcd_update(0);
  5793. break;
  5794. /*!
  5795. ### M81 - Turn off Power Supply <a href="https://reprap.org/wiki/G-code#M81:_ATX_Power_Off">M81: ATX Power Off</a>
  5796. Only works if the firmware is compiled with PS_ON_PIN defined.
  5797. */
  5798. case 81:
  5799. disable_heater();
  5800. st_synchronize();
  5801. disable_e0();
  5802. disable_e1();
  5803. disable_e2();
  5804. finishAndDisableSteppers();
  5805. fanSpeed = 0;
  5806. _delay(1000); // Wait a little before to switch off
  5807. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  5808. st_synchronize();
  5809. suicide();
  5810. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  5811. SET_OUTPUT(PS_ON_PIN);
  5812. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  5813. #endif
  5814. powersupply = false;
  5815. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
  5816. lcd_update(0);
  5817. break;
  5818. #endif
  5819. /*!
  5820. ### M82 - Set E axis to absolute mode <a href="https://reprap.org/wiki/G-code#M82:_Set_extruder_to_absolute_mode">M82: Set extruder to absolute mode</a>
  5821. Makes the extruder interpret extrusion as absolute positions.
  5822. */
  5823. case 82:
  5824. axis_relative_modes &= ~E_AXIS_MASK;
  5825. break;
  5826. /*!
  5827. ### M83 - Set E axis to relative mode <a href="https://reprap.org/wiki/G-code#M83:_Set_extruder_to_relative_mode">M83: Set extruder to relative mode</a>
  5828. Makes the extruder interpret extrusion values as relative positions.
  5829. */
  5830. case 83:
  5831. axis_relative_modes |= E_AXIS_MASK;
  5832. break;
  5833. /*!
  5834. ### M84 - Disable steppers <a href="https://reprap.org/wiki/G-code#M84:_Stop_idle_hold">M84: Stop idle hold</a>
  5835. This command can be used to set the stepper inactivity timeout (`S`) or to disable steppers (`X`,`Y`,`Z`,`E`)
  5836. This command can be used without any additional parameters. In that case all steppers are disabled.
  5837. The file completeness check uses this parameter to detect an incomplete file. It has to be present at the end of a file with no parameters.
  5838. M84 [ S | X | Y | Z | E ]
  5839. - `S` - Seconds
  5840. - `X` - X axis
  5841. - `Y` - Y axis
  5842. - `Z` - Z axis
  5843. - `E` - Exruder
  5844. ### M18 - Disable steppers <a href="https://reprap.org/wiki/G-code#M18:_Disable_all_stepper_motors">M18: Disable all stepper motors</a>
  5845. Equal to M84 (compatibility)
  5846. */
  5847. case 18: //compatibility
  5848. case 84: // M84
  5849. if(code_seen('S')){
  5850. stepper_inactive_time = code_value() * 1000;
  5851. }
  5852. else
  5853. {
  5854. 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])));
  5855. if(all_axis)
  5856. {
  5857. st_synchronize();
  5858. disable_e0();
  5859. disable_e1();
  5860. disable_e2();
  5861. finishAndDisableSteppers();
  5862. }
  5863. else
  5864. {
  5865. st_synchronize();
  5866. if (code_seen('X')) disable_x();
  5867. if (code_seen('Y')) disable_y();
  5868. if (code_seen('Z')) disable_z();
  5869. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  5870. if (code_seen('E')) {
  5871. disable_e0();
  5872. disable_e1();
  5873. disable_e2();
  5874. }
  5875. #endif
  5876. }
  5877. }
  5878. //in the end of print set estimated time to end of print and extruders used during print to default values for next print
  5879. print_time_remaining_init();
  5880. snmm_filaments_used = 0;
  5881. break;
  5882. /*!
  5883. ### M85 - Set max inactive time <a href="https://reprap.org/wiki/G-code#M85:_Set_Inactivity_Shutdown_Timer">M85: Set Inactivity Shutdown Timer</a>
  5884. #### Usage
  5885. M85 [ S ]
  5886. #### Parameters
  5887. - `S` - specifies the time in seconds. If a value of 0 is specified, the timer is disabled.
  5888. */
  5889. case 85: // M85
  5890. if(code_seen('S')) {
  5891. max_inactive_time = code_value() * 1000;
  5892. }
  5893. break;
  5894. #ifdef SAFETYTIMER
  5895. /*!
  5896. ### M86 - Set safety timer expiration time <a href="https://reprap.org/wiki/G-code#M86:_Set_Safety_Timer_expiration_time">M86: Set Safety Timer expiration time</a>
  5897. When safety timer expires, heatbed and nozzle target temperatures are set to zero.
  5898. #### Usage
  5899. M86 [ S ]
  5900. #### Parameters
  5901. - `S` - specifies the time in seconds. If a value of 0 is specified, the timer is disabled.
  5902. */
  5903. case 86:
  5904. if (code_seen('S')) {
  5905. safetytimer_inactive_time = code_value() * 1000;
  5906. safetyTimer.start();
  5907. }
  5908. break;
  5909. #endif
  5910. /*!
  5911. ### M92 Set Axis steps-per-unit <a href="https://reprap.org/wiki/G-code#M92:_Set_axis_steps_per_unit">M92: Set axis_steps_per_unit</a>
  5912. Allows programming of steps per unit (usually mm) for motor drives. These values are reset to firmware defaults on power on, unless saved to EEPROM if available (M500 in Marlin)
  5913. #### Usage
  5914. M92 [ X | Y | Z | E ]
  5915. #### Parameters
  5916. - `X` - Steps per unit for the X drive
  5917. - `Y` - Steps per unit for the Y drive
  5918. - `Z` - Steps per unit for the Z drive
  5919. - `E` - Steps per unit for the extruder drive
  5920. */
  5921. case 92:
  5922. for(int8_t i=0; i < NUM_AXIS; i++)
  5923. {
  5924. if(code_seen(axis_codes[i]))
  5925. {
  5926. if(i == E_AXIS) { // E
  5927. float value = code_value();
  5928. if(value < 20.0) {
  5929. float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  5930. cs.max_jerk[E_AXIS] *= factor;
  5931. max_feedrate[i] *= factor;
  5932. axis_steps_per_sqr_second[i] *= factor;
  5933. }
  5934. cs.axis_steps_per_unit[i] = value;
  5935. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  5936. fsensor_set_axis_steps_per_unit(value);
  5937. #endif
  5938. }
  5939. else {
  5940. cs.axis_steps_per_unit[i] = code_value();
  5941. }
  5942. }
  5943. }
  5944. break;
  5945. /*!
  5946. ### M110 - Set Line number <a href="https://reprap.org/wiki/G-code#M110:_Set_Current_Line_Number">M110: Set Current Line Number</a>
  5947. Sets the line number in G-code
  5948. #### Usage
  5949. M110 [ N ]
  5950. #### Parameters
  5951. - `N` - Line number
  5952. */
  5953. case 110:
  5954. if (code_seen('N'))
  5955. gcode_LastN = code_value_long();
  5956. break;
  5957. /*!
  5958. ### M113 - Get or set host keep-alive interval <a href="https://reprap.org/wiki/G-code#M113:_Host_Keepalive">M113: Host Keepalive</a>
  5959. During some lengthy processes, such as G29, Marlin may appear to the host to have “gone away.” The “host keepalive” feature will send messages to the host when Marlin is busy or waiting for user response so the host won’t try to reconnect (or disconnect).
  5960. #### Usage
  5961. M113 [ S ]
  5962. #### Parameters
  5963. - `S` - Seconds. Default is 2 seconds between "busy" messages
  5964. */
  5965. case 113:
  5966. if (code_seen('S')) {
  5967. host_keepalive_interval = (uint8_t)code_value_short();
  5968. // NOMORE(host_keepalive_interval, 60);
  5969. }
  5970. else {
  5971. SERIAL_ECHO_START;
  5972. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  5973. SERIAL_PROTOCOLLN();
  5974. }
  5975. break;
  5976. /*!
  5977. ### M115 - Firmware info <a href="https://reprap.org/wiki/G-code#M115:_Get_Firmware_Version_and_Capabilities">M115: Get Firmware Version and Capabilities</a>
  5978. Print the firmware info and capabilities
  5979. Without any arguments, prints Prusa firmware version number, machine type, extruder count and UUID.
  5980. `M115 U` Checks the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware, it will pause the print for 30s and ask the user to upgrade the firmware.
  5981. _Examples:_
  5982. `M115` results:
  5983. `FIRMWARE_NAME:Prusa-Firmware 3.8.1 based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:1.0 MACHINE_TYPE:Prusa i3 MK3S EXTRUDER_COUNT:1 UUID:00000000-0000-0000-0000-000000000000`
  5984. `M115 V` results:
  5985. `3.8.1`
  5986. `M115 U3.8.2-RC1` results on LCD display for 30s or user interaction:
  5987. `New firmware version available: 3.8.2-RC1 Please upgrade.`
  5988. #### Usage
  5989. M115 [ V | U ]
  5990. #### Parameters
  5991. - V - Report current installed firmware version
  5992. - U - Firmware version provided by G-code to be compared to current one.
  5993. */
  5994. case 115: // M115
  5995. if (code_seen('V')) {
  5996. // Report the Prusa version number.
  5997. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  5998. } else if (code_seen('U')) {
  5999. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  6000. // pause the print for 30s and ask the user to upgrade the firmware.
  6001. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  6002. } else {
  6003. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  6004. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  6005. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  6006. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  6007. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  6008. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  6009. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  6010. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  6011. SERIAL_ECHOPGM(" UUID:");
  6012. SERIAL_ECHOLNPGM(MACHINE_UUID);
  6013. #ifdef EXTENDED_CAPABILITIES_REPORT
  6014. extended_capabilities_report();
  6015. #endif //EXTENDED_CAPABILITIES_REPORT
  6016. }
  6017. break;
  6018. /*!
  6019. ### M114 - Get current position <a href="https://reprap.org/wiki/G-code#M114:_Get_Current_Position">M114: Get Current Position</a>
  6020. */
  6021. case 114:
  6022. gcode_M114();
  6023. break;
  6024. /*
  6025. M117 moved up to get the high priority
  6026. case 117: // M117 display message
  6027. starpos = (strchr(strchr_pointer + 5,'*'));
  6028. if(starpos!=NULL)
  6029. *(starpos)='\0';
  6030. lcd_setstatus(strchr_pointer + 5);
  6031. break;*/
  6032. #ifdef M120_M121_ENABLED
  6033. /*!
  6034. ### M120 - Enable endstops <a href="https://reprap.org/wiki/G-code#M120:_Enable_endstop_detection">M120: Enable endstop detection</a>
  6035. */
  6036. case 120:
  6037. enable_endstops(true) ;
  6038. break;
  6039. /*!
  6040. ### M121 - Disable endstops <a href="https://reprap.org/wiki/G-code#M121:_Disable_endstop_detection">M121: Disable endstop detection</a>
  6041. */
  6042. case 121:
  6043. enable_endstops(false) ;
  6044. break;
  6045. #endif //M120_M121_ENABLED
  6046. /*!
  6047. ### M119 - Get endstop states <a href="https://reprap.org/wiki/G-code#M119:_Get_Endstop_Status">M119: Get Endstop Status</a>
  6048. Returns the current state of the configured X, Y, Z endstops. Takes into account any 'inverted endstop' settings, so one can confirm that the machine is interpreting the endstops correctly.
  6049. */
  6050. case 119:
  6051. SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT
  6052. SERIAL_PROTOCOLLN();
  6053. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  6054. SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN
  6055. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  6056. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6057. }else{
  6058. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6059. }
  6060. SERIAL_PROTOCOLLN();
  6061. #endif
  6062. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  6063. SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX
  6064. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  6065. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6066. }else{
  6067. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6068. }
  6069. SERIAL_PROTOCOLLN();
  6070. #endif
  6071. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  6072. SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN
  6073. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  6074. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6075. }else{
  6076. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6077. }
  6078. SERIAL_PROTOCOLLN();
  6079. #endif
  6080. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  6081. SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX
  6082. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  6083. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6084. }else{
  6085. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6086. }
  6087. SERIAL_PROTOCOLLN();
  6088. #endif
  6089. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  6090. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  6091. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  6092. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6093. }else{
  6094. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6095. }
  6096. SERIAL_PROTOCOLLN();
  6097. #endif
  6098. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  6099. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  6100. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  6101. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  6102. }else{
  6103. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  6104. }
  6105. SERIAL_PROTOCOLLN();
  6106. #endif
  6107. break;
  6108. //!@todo update for all axes, use for loop
  6109. #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  6110. /*!
  6111. ### M123 - Tachometer value <a href="https://www.reprap.org/wiki/G-code#M123:_Tachometer_value_.28RepRap_.26_Prusa.29">M123: Tachometer value</a>
  6112. This command is used to report fan speeds and fan pwm values.
  6113. #### Usage
  6114. M123
  6115. - E0: - Hotend fan speed in RPM
  6116. - PRN1: - Part cooling fans speed in RPM
  6117. - E0@: - Hotend fan PWM value
  6118. - PRN1@: -Part cooling fan PWM value
  6119. _Example:_
  6120. E0:3240 RPM PRN1:4560 RPM E0@:255 PRN1@:255
  6121. */
  6122. case 123:
  6123. gcode_M123();
  6124. break;
  6125. #endif //FANCHECK and TACH_0 and TACH_1
  6126. #ifdef BLINKM
  6127. /*!
  6128. ### M150 - Set RGB(W) Color <a href="https://reprap.org/wiki/G-code#M150:_Set_LED_color">M150: Set LED color</a>
  6129. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code by defining BLINKM and its dependencies.
  6130. #### Usage
  6131. M150 [ R | U | B ]
  6132. #### Parameters
  6133. - `R` - Red color value
  6134. - `U` - Green color value. It is NOT `G`!
  6135. - `B` - Blue color value
  6136. */
  6137. case 150:
  6138. {
  6139. byte red;
  6140. byte grn;
  6141. byte blu;
  6142. if(code_seen('R')) red = code_value();
  6143. if(code_seen('U')) grn = code_value();
  6144. if(code_seen('B')) blu = code_value();
  6145. SendColors(red,grn,blu);
  6146. }
  6147. break;
  6148. #endif //BLINKM
  6149. /*!
  6150. ### M200 - Set filament diameter <a href="https://reprap.org/wiki/G-code#M200:_Set_filament_diameter">M200: Set filament diameter</a>
  6151. #### Usage
  6152. M200 [ D | T ]
  6153. #### Parameters
  6154. - `D` - Diameter in mm
  6155. - `T` - Number of extruder (MMUs)
  6156. */
  6157. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  6158. {
  6159. uint8_t extruder = active_extruder;
  6160. if(code_seen('T')) {
  6161. extruder = code_value();
  6162. if(extruder >= EXTRUDERS) {
  6163. SERIAL_ECHO_START;
  6164. SERIAL_ECHO(_n("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER
  6165. break;
  6166. }
  6167. }
  6168. if(code_seen('D')) {
  6169. float diameter = (float)code_value();
  6170. if (diameter == 0.0) {
  6171. // setting any extruder filament size disables volumetric on the assumption that
  6172. // slicers either generate in extruder values as cubic mm or as as filament feeds
  6173. // for all extruders
  6174. cs.volumetric_enabled = false;
  6175. } else {
  6176. cs.filament_size[extruder] = (float)code_value();
  6177. // make sure all extruders have some sane value for the filament size
  6178. cs.filament_size[0] = (cs.filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[0]);
  6179. #if EXTRUDERS > 1
  6180. cs.filament_size[1] = (cs.filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[1]);
  6181. #if EXTRUDERS > 2
  6182. cs.filament_size[2] = (cs.filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[2]);
  6183. #endif
  6184. #endif
  6185. cs.volumetric_enabled = true;
  6186. }
  6187. } else {
  6188. //reserved for setting filament diameter via UFID or filament measuring device
  6189. break;
  6190. }
  6191. calculate_extruder_multipliers();
  6192. }
  6193. break;
  6194. /*!
  6195. ### M201 - Set Print Max Acceleration <a href="https://reprap.org/wiki/G-code#M201:_Set_max_printing_acceleration">M201: Set max printing acceleration</a>
  6196. For each axis individually.
  6197. */
  6198. case 201:
  6199. for (int8_t i = 0; i < NUM_AXIS; i++)
  6200. {
  6201. if (code_seen(axis_codes[i]))
  6202. {
  6203. unsigned long val = code_value();
  6204. #ifdef TMC2130
  6205. unsigned long val_silent = val;
  6206. if ((i == X_AXIS) || (i == Y_AXIS))
  6207. {
  6208. if (val > NORMAL_MAX_ACCEL_XY)
  6209. val = NORMAL_MAX_ACCEL_XY;
  6210. if (val_silent > SILENT_MAX_ACCEL_XY)
  6211. val_silent = SILENT_MAX_ACCEL_XY;
  6212. }
  6213. cs.max_acceleration_units_per_sq_second_normal[i] = val;
  6214. cs.max_acceleration_units_per_sq_second_silent[i] = val_silent;
  6215. #else //TMC2130
  6216. max_acceleration_units_per_sq_second[i] = val;
  6217. #endif //TMC2130
  6218. }
  6219. }
  6220. // 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)
  6221. reset_acceleration_rates();
  6222. break;
  6223. #if 0 // Not used for Sprinter/grbl gen6
  6224. case 202: // M202
  6225. for(int8_t i=0; i < NUM_AXIS; i++) {
  6226. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * cs.axis_steps_per_unit[i];
  6227. }
  6228. break;
  6229. #endif
  6230. /*!
  6231. ### M203 - Set Max Feedrate <a href="https://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate">M203: Set maximum feedrate</a>
  6232. For each axis individually.
  6233. */
  6234. case 203: // M203 max feedrate mm/sec
  6235. for (uint8_t i = 0; i < NUM_AXIS; i++)
  6236. {
  6237. if (code_seen(axis_codes[i]))
  6238. {
  6239. float val = code_value();
  6240. #ifdef TMC2130
  6241. float val_silent = val;
  6242. if ((i == X_AXIS) || (i == Y_AXIS))
  6243. {
  6244. if (val > NORMAL_MAX_FEEDRATE_XY)
  6245. val = NORMAL_MAX_FEEDRATE_XY;
  6246. if (val_silent > SILENT_MAX_FEEDRATE_XY)
  6247. val_silent = SILENT_MAX_FEEDRATE_XY;
  6248. }
  6249. cs.max_feedrate_normal[i] = val;
  6250. cs.max_feedrate_silent[i] = val_silent;
  6251. #else //TMC2130
  6252. max_feedrate[i] = val;
  6253. #endif //TMC2130
  6254. }
  6255. }
  6256. break;
  6257. /*!
  6258. ### M204 - Acceleration settings <a href="https://reprap.org/wiki/G-code#M204:_Set_default_acceleration">M204: Set default acceleration</a>
  6259. #### Old format:
  6260. ##### Usage
  6261. M204 [ S | T ]
  6262. ##### Parameters
  6263. - `S` - normal moves
  6264. - `T` - filmanent only moves
  6265. #### New format:
  6266. ##### Usage
  6267. M204 [ P | R | T ]
  6268. ##### Parameters
  6269. - `P` - printing moves
  6270. - `R` - filmanent only moves
  6271. - `T` - travel moves (as of now T is ignored)
  6272. */
  6273. case 204:
  6274. {
  6275. if(code_seen('S')) {
  6276. // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
  6277. // and it is also generated by Slic3r to control acceleration per extrusion type
  6278. // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
  6279. cs.acceleration = cs.travel_acceleration = code_value();
  6280. // Interpret the T value as retract acceleration in the old Marlin format.
  6281. if(code_seen('T'))
  6282. cs.retract_acceleration = code_value();
  6283. } else {
  6284. // New acceleration format, compatible with the upstream Marlin.
  6285. if(code_seen('P'))
  6286. cs.acceleration = code_value();
  6287. if(code_seen('R'))
  6288. cs.retract_acceleration = code_value();
  6289. if(code_seen('T'))
  6290. cs.travel_acceleration = code_value();
  6291. }
  6292. }
  6293. break;
  6294. /*!
  6295. ### M205 - Set advanced settings <a href="https://reprap.org/wiki/G-code#M205:_Advanced_settings">M205: Advanced settings</a>
  6296. Set some advanced settings related to movement.
  6297. #### Usage
  6298. M205 [ S | T | B | X | Y | Z | E ]
  6299. #### Parameters
  6300. - `S` - Minimum feedrate for print moves (unit/s)
  6301. - `T` - Minimum feedrate for travel moves (units/s)
  6302. - `B` - Minimum segment time (us)
  6303. - `X` - Maximum X jerk (units/s)
  6304. - `Y` - Maximum Y jerk (units/s)
  6305. - `Z` - Maximum Z jerk (units/s)
  6306. - `E` - Maximum E jerk (units/s)
  6307. */
  6308. case 205:
  6309. {
  6310. if(code_seen('S')) cs.minimumfeedrate = code_value();
  6311. if(code_seen('T')) cs.mintravelfeedrate = code_value();
  6312. if(code_seen('B')) cs.minsegmenttime = code_value() ;
  6313. if(code_seen('X')) cs.max_jerk[X_AXIS] = cs.max_jerk[Y_AXIS] = code_value();
  6314. if(code_seen('Y')) cs.max_jerk[Y_AXIS] = code_value();
  6315. if(code_seen('Z')) cs.max_jerk[Z_AXIS] = code_value();
  6316. if(code_seen('E'))
  6317. {
  6318. float e = code_value();
  6319. #ifndef LA_NOCOMPAT
  6320. e = la10c_jerk(e);
  6321. #endif
  6322. cs.max_jerk[E_AXIS] = e;
  6323. }
  6324. if (cs.max_jerk[X_AXIS] > DEFAULT_XJERK) cs.max_jerk[X_AXIS] = DEFAULT_XJERK;
  6325. if (cs.max_jerk[Y_AXIS] > DEFAULT_YJERK) cs.max_jerk[Y_AXIS] = DEFAULT_YJERK;
  6326. }
  6327. break;
  6328. /*!
  6329. ### M206 - Set additional homing offsets <a href="https://reprap.org/wiki/G-code#M206:_Offset_axes">M206: Offset axes</a>
  6330. #### Usage
  6331. M206 [ X | Y | Z ]
  6332. #### Parameters
  6333. - `X` - X axis offset
  6334. - `Y` - Y axis offset
  6335. - `Z` - Z axis offset
  6336. */
  6337. case 206:
  6338. for(uint8_t i=0; i < 3; i++)
  6339. {
  6340. if(code_seen(axis_codes[i])) cs.add_homing[i] = code_value();
  6341. }
  6342. break;
  6343. #ifdef FWRETRACT
  6344. /*!
  6345. ### M207 - Set firmware retraction <a href="https://reprap.org/wiki/G-code#M207:_Set_retract_length">M207: Set retract length</a>
  6346. #### Usage
  6347. M207 [ S | F | Z ]
  6348. #### Parameters
  6349. - `S` - positive length to retract, in mm
  6350. - `F` - retraction feedrate, in mm/min
  6351. - `Z` - additional zlift/hop
  6352. */
  6353. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  6354. {
  6355. if(code_seen('S'))
  6356. {
  6357. cs.retract_length = code_value() ;
  6358. }
  6359. if(code_seen('F'))
  6360. {
  6361. cs.retract_feedrate = code_value()/60 ;
  6362. }
  6363. if(code_seen('Z'))
  6364. {
  6365. cs.retract_zlift = code_value() ;
  6366. }
  6367. }break;
  6368. /*!
  6369. ### M208 - Set retract recover length <a href="https://reprap.org/wiki/G-code#M208:_Set_unretract_length">M208: Set unretract length</a>
  6370. #### Usage
  6371. M208 [ S | F ]
  6372. #### Parameters
  6373. - `S` - positive length surplus to the M207 Snnn, in mm
  6374. - `F` - feedrate, in mm/sec
  6375. */
  6376. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  6377. {
  6378. if(code_seen('S'))
  6379. {
  6380. cs.retract_recover_length = code_value() ;
  6381. }
  6382. if(code_seen('F'))
  6383. {
  6384. cs.retract_recover_feedrate = code_value()/60 ;
  6385. }
  6386. }break;
  6387. /*!
  6388. ### M209 - Enable/disable automatict retract <a href="https://reprap.org/wiki/G-code#M209:_Enable_automatic_retract">M209: Enable automatic retract</a>
  6389. This boolean value S 1=true or 0=false enables automatic retract detect if the slicer did not support G10/G11: every normal extrude-only move will be classified as retract depending on the direction.
  6390. #### Usage
  6391. M209 [ S ]
  6392. #### Parameters
  6393. - `S` - 1=true or 0=false
  6394. */
  6395. 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.
  6396. {
  6397. if(code_seen('S'))
  6398. {
  6399. int t= code_value() ;
  6400. switch(t)
  6401. {
  6402. case 0:
  6403. {
  6404. cs.autoretract_enabled=false;
  6405. retracted[0]=false;
  6406. #if EXTRUDERS > 1
  6407. retracted[1]=false;
  6408. #endif
  6409. #if EXTRUDERS > 2
  6410. retracted[2]=false;
  6411. #endif
  6412. }break;
  6413. case 1:
  6414. {
  6415. cs.autoretract_enabled=true;
  6416. retracted[0]=false;
  6417. #if EXTRUDERS > 1
  6418. retracted[1]=false;
  6419. #endif
  6420. #if EXTRUDERS > 2
  6421. retracted[2]=false;
  6422. #endif
  6423. }break;
  6424. default:
  6425. SERIAL_ECHO_START;
  6426. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  6427. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  6428. SERIAL_ECHOLNPGM("\"(1)");
  6429. }
  6430. }
  6431. }break;
  6432. #endif // FWRETRACT
  6433. #if EXTRUDERS > 1
  6434. /*!
  6435. ### M218 - Set hotend offset <a href="https://reprap.org/wiki/G-code#M218:_Set_Hotend_Offset">M218: Set Hotend Offset</a>
  6436. In Prusa Firmware this G-code is only active if `EXTRUDERS` is higher then 1 in the source code. On Original i3 Prusa MK2/s MK2.5/s MK3/s it is not active.
  6437. #### Usage
  6438. M218 [ X | Y ]
  6439. #### Parameters
  6440. - `X` - X offset
  6441. - `Y` - Y offset
  6442. */
  6443. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  6444. {
  6445. uint8_t extruder;
  6446. if(setTargetedHotend(218, extruder)){
  6447. break;
  6448. }
  6449. if(code_seen('X'))
  6450. {
  6451. extruder_offset[X_AXIS][extruder] = code_value();
  6452. }
  6453. if(code_seen('Y'))
  6454. {
  6455. extruder_offset[Y_AXIS][extruder] = code_value();
  6456. }
  6457. SERIAL_ECHO_START;
  6458. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  6459. for(extruder = 0; extruder < EXTRUDERS; extruder++)
  6460. {
  6461. SERIAL_ECHO(" ");
  6462. SERIAL_ECHO(extruder_offset[X_AXIS][extruder]);
  6463. SERIAL_ECHO(",");
  6464. SERIAL_ECHO(extruder_offset[Y_AXIS][extruder]);
  6465. }
  6466. SERIAL_ECHOLN("");
  6467. }break;
  6468. #endif
  6469. /*!
  6470. ### M220 Set feedrate percentage <a href="https://reprap.org/wiki/G-code#M220:_Set_speed_factor_override_percentage">M220: Set speed factor override percentage</a>
  6471. #### Usage
  6472. M220 [ B | S | R ]
  6473. #### Parameters
  6474. - `B` - Backup current speed factor
  6475. - `S` - Speed factor override percentage (0..100 or higher)
  6476. - `R` - Restore previous speed factor
  6477. */
  6478. case 220: // M220 S<factor in percent>- set speed factor override percentage
  6479. {
  6480. bool codesWereSeen = false;
  6481. if (code_seen('B')) //backup current speed factor
  6482. {
  6483. saved_feedmultiply_mm = feedmultiply;
  6484. codesWereSeen = true;
  6485. }
  6486. if (code_seen('S'))
  6487. {
  6488. feedmultiply = code_value();
  6489. codesWereSeen = true;
  6490. }
  6491. if (code_seen('R')) //restore previous feedmultiply
  6492. {
  6493. feedmultiply = saved_feedmultiply_mm;
  6494. codesWereSeen = true;
  6495. }
  6496. if (!codesWereSeen)
  6497. {
  6498. printf_P(PSTR("%i%%\n"), feedmultiply);
  6499. }
  6500. }
  6501. break;
  6502. /*!
  6503. ### M221 - Set extrude factor override percentage <a href="https://reprap.org/wiki/G-code#M221:_Set_extrude_factor_override_percentage">M221: Set extrude factor override percentage</a>
  6504. #### Usage
  6505. M221 [ S | T ]
  6506. #### Parameters
  6507. - `S` - Extrude factor override percentage (0..100 or higher), default 100%
  6508. - `T` - Extruder drive number (Prusa Firmware only), default 0 if not set.
  6509. */
  6510. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  6511. {
  6512. if (code_seen('S'))
  6513. {
  6514. int tmp_code = code_value();
  6515. if (code_seen('T'))
  6516. {
  6517. uint8_t extruder;
  6518. if (setTargetedHotend(221, extruder))
  6519. break;
  6520. extruder_multiply[extruder] = tmp_code;
  6521. }
  6522. else
  6523. {
  6524. extrudemultiply = tmp_code ;
  6525. }
  6526. }
  6527. else
  6528. {
  6529. printf_P(PSTR("%i%%\n"), extrudemultiply);
  6530. }
  6531. calculate_extruder_multipliers();
  6532. }
  6533. break;
  6534. /*!
  6535. ### M226 - Wait for Pin state <a href="https://reprap.org/wiki/G-code#M226:_Wait_for_pin_state">M226: Wait for pin state</a>
  6536. Wait until the specified pin reaches the state required
  6537. #### Usage
  6538. M226 [ P | S ]
  6539. #### Parameters
  6540. - `P` - pin number
  6541. - `S` - pin state
  6542. */
  6543. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  6544. {
  6545. if(code_seen('P')){
  6546. int pin_number = code_value(); // pin number
  6547. int pin_state = -1; // required pin state - default is inverted
  6548. if(code_seen('S')) pin_state = code_value(); // required pin state
  6549. if(pin_state >= -1 && pin_state <= 1){
  6550. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  6551. {
  6552. if (sensitive_pins[i] == pin_number)
  6553. {
  6554. pin_number = -1;
  6555. break;
  6556. }
  6557. }
  6558. if (pin_number > -1)
  6559. {
  6560. int target = LOW;
  6561. st_synchronize();
  6562. pinMode(pin_number, INPUT);
  6563. switch(pin_state){
  6564. case 1:
  6565. target = HIGH;
  6566. break;
  6567. case 0:
  6568. target = LOW;
  6569. break;
  6570. case -1:
  6571. target = !digitalRead(pin_number);
  6572. break;
  6573. }
  6574. while(digitalRead(pin_number) != target){
  6575. manage_heater();
  6576. manage_inactivity();
  6577. lcd_update(0);
  6578. }
  6579. }
  6580. }
  6581. }
  6582. }
  6583. break;
  6584. #if NUM_SERVOS > 0
  6585. /*!
  6586. ### M280 - Set/Get servo position <a href="https://reprap.org/wiki/G-code#M280:_Set_servo_position">M280: Set servo position</a>
  6587. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  6588. #### Usage
  6589. M280 [ P | S ]
  6590. #### Parameters
  6591. - `P` - Servo index (id)
  6592. - `S` - Target position
  6593. */
  6594. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  6595. {
  6596. int servo_index = -1;
  6597. int servo_position = 0;
  6598. if (code_seen('P'))
  6599. servo_index = code_value();
  6600. if (code_seen('S')) {
  6601. servo_position = code_value();
  6602. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  6603. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  6604. servos[servo_index].attach(0);
  6605. #endif
  6606. servos[servo_index].write(servo_position);
  6607. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  6608. _delay(PROBE_SERVO_DEACTIVATION_DELAY);
  6609. servos[servo_index].detach();
  6610. #endif
  6611. }
  6612. else {
  6613. SERIAL_ECHO_START;
  6614. SERIAL_ECHO("Servo ");
  6615. SERIAL_ECHO(servo_index);
  6616. SERIAL_ECHOLN(" out of range");
  6617. }
  6618. }
  6619. else if (servo_index >= 0) {
  6620. SERIAL_PROTOCOL(MSG_OK);
  6621. SERIAL_PROTOCOL(" Servo ");
  6622. SERIAL_PROTOCOL(servo_index);
  6623. SERIAL_PROTOCOL(": ");
  6624. SERIAL_PROTOCOL(servos[servo_index].read());
  6625. SERIAL_PROTOCOLLN();
  6626. }
  6627. }
  6628. break;
  6629. #endif // NUM_SERVOS > 0
  6630. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  6631. /*!
  6632. ### M300 - Play tone <a href="https://reprap.org/wiki/G-code#M300:_Play_beep_sound">M300: Play beep sound</a>
  6633. In Prusa Firmware the defaults are `100Hz` and `1000ms`, so that `M300` without parameters will beep for a second.
  6634. #### Usage
  6635. M300 [ S | P ]
  6636. #### Parameters
  6637. - `S` - frequency in Hz. Not all firmware versions support this parameter
  6638. - `P` - duration in milliseconds
  6639. */
  6640. case 300: // M300
  6641. {
  6642. int beepS = code_seen('S') ? code_value() : 110;
  6643. int beepP = code_seen('P') ? code_value() : 1000;
  6644. if (beepS > 0)
  6645. {
  6646. #if BEEPER > 0
  6647. Sound_MakeCustom(beepP,beepS,false);
  6648. #endif
  6649. }
  6650. else
  6651. {
  6652. _delay(beepP);
  6653. }
  6654. }
  6655. break;
  6656. #endif // M300
  6657. #ifdef PIDTEMP
  6658. /*!
  6659. ### M301 - Set hotend PID <a href="https://reprap.org/wiki/G-code#M301:_Set_PID_parameters">M301: Set PID parameters</a>
  6660. Sets Proportional (P), Integral (I) and Derivative (D) values for hot end.
  6661. See also <a href="https://reprap.org/wiki/PID_Tuning">PID Tuning.</a>
  6662. #### Usage
  6663. M301 [ P | I | D | C ]
  6664. #### Parameters
  6665. - `P` - proportional (Kp)
  6666. - `I` - integral (Ki)
  6667. - `D` - derivative (Kd)
  6668. - `C` - heating power=Kc*(e_speed0)
  6669. */
  6670. case 301:
  6671. {
  6672. if(code_seen('P')) cs.Kp = code_value();
  6673. if(code_seen('I')) cs.Ki = scalePID_i(code_value());
  6674. if(code_seen('D')) cs.Kd = scalePID_d(code_value());
  6675. #ifdef PID_ADD_EXTRUSION_RATE
  6676. if(code_seen('C')) Kc = code_value();
  6677. #endif
  6678. updatePID();
  6679. SERIAL_PROTOCOLRPGM(MSG_OK);
  6680. SERIAL_PROTOCOL(" p:");
  6681. SERIAL_PROTOCOL(cs.Kp);
  6682. SERIAL_PROTOCOL(" i:");
  6683. SERIAL_PROTOCOL(unscalePID_i(cs.Ki));
  6684. SERIAL_PROTOCOL(" d:");
  6685. SERIAL_PROTOCOL(unscalePID_d(cs.Kd));
  6686. #ifdef PID_ADD_EXTRUSION_RATE
  6687. SERIAL_PROTOCOL(" c:");
  6688. //Kc does not have scaling applied above, or in resetting defaults
  6689. SERIAL_PROTOCOL(Kc);
  6690. #endif
  6691. SERIAL_PROTOCOLLN();
  6692. }
  6693. break;
  6694. #endif //PIDTEMP
  6695. #ifdef PIDTEMPBED
  6696. /*!
  6697. ### M304 - Set bed PID <a href="https://reprap.org/wiki/G-code#M304:_Set_PID_parameters_-_Bed">M304: Set PID parameters - Bed</a>
  6698. Sets Proportional (P), Integral (I) and Derivative (D) values for bed.
  6699. See also <a href="https://reprap.org/wiki/PID_Tuning">PID Tuning.</a>
  6700. #### Usage
  6701. M304 [ P | I | D ]
  6702. #### Parameters
  6703. - `P` - proportional (Kp)
  6704. - `I` - integral (Ki)
  6705. - `D` - derivative (Kd)
  6706. */
  6707. case 304:
  6708. {
  6709. if(code_seen('P')) cs.bedKp = code_value();
  6710. if(code_seen('I')) cs.bedKi = scalePID_i(code_value());
  6711. if(code_seen('D')) cs.bedKd = scalePID_d(code_value());
  6712. updatePID();
  6713. SERIAL_PROTOCOLRPGM(MSG_OK);
  6714. SERIAL_PROTOCOL(" p:");
  6715. SERIAL_PROTOCOL(cs.bedKp);
  6716. SERIAL_PROTOCOL(" i:");
  6717. SERIAL_PROTOCOL(unscalePID_i(cs.bedKi));
  6718. SERIAL_PROTOCOL(" d:");
  6719. SERIAL_PROTOCOL(unscalePID_d(cs.bedKd));
  6720. SERIAL_PROTOCOLLN();
  6721. }
  6722. break;
  6723. #endif //PIDTEMP
  6724. /*!
  6725. ### M240 - Trigger camera <a href="https://reprap.org/wiki/G-code#M240:_Trigger_camera">M240: Trigger camera</a>
  6726. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code.
  6727. You need to (re)define and assign `CHDK` or `PHOTOGRAPH_PIN` the correct pin number to be able to use the feature.
  6728. */
  6729. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  6730. {
  6731. #ifdef CHDK
  6732. SET_OUTPUT(CHDK);
  6733. WRITE(CHDK, HIGH);
  6734. chdkHigh = _millis();
  6735. chdkActive = true;
  6736. #else
  6737. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  6738. const uint8_t NUM_PULSES=16;
  6739. const float PULSE_LENGTH=0.01524;
  6740. for(int i=0; i < NUM_PULSES; i++) {
  6741. WRITE(PHOTOGRAPH_PIN, HIGH);
  6742. _delay_ms(PULSE_LENGTH);
  6743. WRITE(PHOTOGRAPH_PIN, LOW);
  6744. _delay_ms(PULSE_LENGTH);
  6745. }
  6746. _delay(7.33);
  6747. for(int i=0; i < NUM_PULSES; i++) {
  6748. WRITE(PHOTOGRAPH_PIN, HIGH);
  6749. _delay_ms(PULSE_LENGTH);
  6750. WRITE(PHOTOGRAPH_PIN, LOW);
  6751. _delay_ms(PULSE_LENGTH);
  6752. }
  6753. #endif
  6754. #endif //chdk end if
  6755. }
  6756. break;
  6757. #ifdef PREVENT_DANGEROUS_EXTRUDE
  6758. /*!
  6759. ### M302 - Allow cold extrude, or set minimum extrude temperature <a href="https://reprap.org/wiki/G-code#M302:_Allow_cold_extrudes">M302: Allow cold extrudes</a>
  6760. This tells the printer to allow movement of the extruder motor above a certain temperature, or if disabled, to allow extruder movement when the hotend is below a safe printing temperature.
  6761. #### Usage
  6762. M302 [ S ]
  6763. #### Parameters
  6764. - `S` - Cold extrude minimum temperature
  6765. */
  6766. case 302:
  6767. {
  6768. float temp = .0;
  6769. if (code_seen('S')) temp=code_value();
  6770. set_extrude_min_temp(temp);
  6771. }
  6772. break;
  6773. #endif
  6774. /*!
  6775. ### M303 - PID autotune <a href="https://reprap.org/wiki/G-code#M303:_Run_PID_tuning">M303: Run PID tuning</a>
  6776. PID Tuning refers to a control algorithm used in some repraps to tune heating behavior for hot ends and heated beds. This command generates Proportional (Kp), Integral (Ki), and Derivative (Kd) values for the hotend or bed. Send the appropriate code and wait for the output to update the firmware values.
  6777. #### Usage
  6778. M303 [ E | S | C ]
  6779. #### Parameters
  6780. - `E` - Extruder, default `E0`. Use `E-1` to calibrate the bed PID
  6781. - `S` - Target temperature, default `210°C` for hotend, 70 for bed
  6782. - `C` - Cycles, default `5`
  6783. */
  6784. case 303:
  6785. {
  6786. float temp = 150.0;
  6787. int e=0;
  6788. int c=5;
  6789. if (code_seen('E')) e=code_value();
  6790. if (e<0)
  6791. temp=70;
  6792. if (code_seen('S')) temp=code_value();
  6793. if (code_seen('C')) c=code_value();
  6794. PID_autotune(temp, e, c);
  6795. }
  6796. break;
  6797. /*!
  6798. ### M400 - Wait for all moves to finish <a href="https://reprap.org/wiki/G-code#M400:_Wait_for_current_moves_to_finish">M400: Wait for current moves to finish</a>
  6799. Finishes all current moves and and thus clears the buffer.
  6800. Equivalent to `G4` with no parameters.
  6801. */
  6802. case 400:
  6803. {
  6804. st_synchronize();
  6805. }
  6806. break;
  6807. /*!
  6808. ### M403 - Set filament type (material) for particular extruder and notify the MMU <a href="https://reprap.org/wiki/G-code#M403:_Set_filament_type_.28material.29_for_particular_extruder_and_notify_the_MMU.">M403 - Set filament type (material) for particular extruder and notify the MMU</a>
  6809. Currently three different materials are needed (default, flex and PVA).
  6810. And storing this information for different load/unload profiles etc. in the future firmware does not have to wait for "ok" from MMU.
  6811. #### Usage
  6812. M403 [ E | F ]
  6813. #### Parameters
  6814. - `E` - Extruder number. 0-indexed.
  6815. - `F` - Filament type
  6816. */
  6817. case 403:
  6818. {
  6819. // currently three different materials are needed (default, flex and PVA)
  6820. // add storing this information for different load/unload profiles etc. in the future
  6821. // firmware does not wait for "ok" from mmu
  6822. if (mmu_enabled)
  6823. {
  6824. uint8_t extruder = 255;
  6825. uint8_t filament = FILAMENT_UNDEFINED;
  6826. if(code_seen('E')) extruder = code_value();
  6827. if(code_seen('F')) filament = code_value();
  6828. mmu_set_filament_type(extruder, filament);
  6829. }
  6830. }
  6831. break;
  6832. /*!
  6833. ### M500 - Store settings in EEPROM <a href="https://reprap.org/wiki/G-code#M500:_Store_parameters_in_non-volatile_storage">M500: Store parameters in non-volatile storage</a>
  6834. Save current parameters to EEPROM.
  6835. */
  6836. case 500:
  6837. {
  6838. Config_StoreSettings();
  6839. }
  6840. break;
  6841. /*!
  6842. ### M501 - Read settings from EEPROM <a href="https://reprap.org/wiki/G-code#M501:_Read_parameters_from_EEPROM">M501: Read parameters from EEPROM</a>
  6843. Set the active parameters to those stored in the EEPROM. This is useful to revert parameters after experimenting with them.
  6844. */
  6845. case 501:
  6846. {
  6847. Config_RetrieveSettings();
  6848. }
  6849. break;
  6850. /*!
  6851. ### M502 - Revert all settings to factory default <a href="https://reprap.org/wiki/G-code#M502:_Restore_Default_Settings">M502: Restore Default Settings</a>
  6852. This command resets all tunable parameters to their default values, as set in the firmware's configuration files. This doesn't reset any parameters stored in the EEPROM, so it must be followed by M500 to write the default settings.
  6853. */
  6854. case 502:
  6855. {
  6856. Config_ResetDefault();
  6857. }
  6858. break;
  6859. /*!
  6860. ### M503 - Repport all settings currently in memory <a href="https://reprap.org/wiki/G-code#M503:_Report_Current_Settings">M503: Report Current Settings</a>
  6861. This command asks the firmware to reply with the current print settings as set in memory. Settings will differ from EEPROM contents if changed since the last load / save. The reply output includes the G-Code commands to produce each setting. For example, Steps-Per-Unit values are displayed as an M92 command.
  6862. */
  6863. case 503:
  6864. {
  6865. Config_PrintSettings();
  6866. }
  6867. break;
  6868. /*!
  6869. ### M509 - Force language selection <a href="https://reprap.org/wiki/G-code#M509:_Force_language_selection">M509: Force language selection</a>
  6870. Resets the language to English.
  6871. Only on Original Prusa i3 MK2.5/s and MK3/s with multiple languages.
  6872. */
  6873. case 509:
  6874. {
  6875. lang_reset();
  6876. SERIAL_ECHO_START;
  6877. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  6878. }
  6879. break;
  6880. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  6881. /*!
  6882. ### M540 - Abort print on endstop hit (enable/disable) <a href="https://reprap.org/wiki/G-code#M540_in_Marlin:_Enable.2FDisable_.22Stop_SD_Print_on_Endstop_Hit.22">M540 in Marlin: Enable/Disable "Stop SD Print on Endstop Hit"</a>
  6883. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code. You must define `ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED`.
  6884. #### Usage
  6885. M540 [ S ]
  6886. #### Parameters
  6887. - `S` - disabled=0, enabled=1
  6888. */
  6889. case 540:
  6890. {
  6891. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  6892. }
  6893. break;
  6894. #endif
  6895. /*!
  6896. ### M851 - Set Z-Probe Offset <a href="https://reprap.org/wiki/G-code#M851:_Set_Z-Probe_Offset">M851: Set Z-Probe Offset"</a>
  6897. Sets the Z-probe Z offset. This offset is used to determine the actual Z position of the nozzle when using a probe to home Z with G28. This value may also be used by G81 (Prusa) / G29 (Marlin) to apply correction to the Z position.
  6898. This value represents the distance from nozzle to the bed surface at the point where the probe is triggered. This value will be negative for typical switch probes, inductive probes, and setups where the nozzle makes a circuit with a raised metal contact. This setting will be greater than zero on machines where the nozzle itself is used as the probe, pressing down on the bed to press a switch. (This is a common setup on delta machines.)
  6899. #### Usage
  6900. M851 [ Z ]
  6901. #### Parameters
  6902. - `Z` - Z offset probe to nozzle.
  6903. */
  6904. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  6905. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  6906. {
  6907. float value;
  6908. if (code_seen('Z'))
  6909. {
  6910. value = code_value();
  6911. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  6912. {
  6913. cs.zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  6914. SERIAL_ECHO_START;
  6915. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  6916. SERIAL_PROTOCOLLN();
  6917. }
  6918. else
  6919. {
  6920. SERIAL_ECHO_START;
  6921. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  6922. SERIAL_ECHORPGM(MSG_Z_MIN);
  6923. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  6924. SERIAL_ECHORPGM(MSG_Z_MAX);
  6925. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  6926. SERIAL_PROTOCOLLN();
  6927. }
  6928. }
  6929. else
  6930. {
  6931. SERIAL_ECHO_START;
  6932. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  6933. SERIAL_ECHO(-cs.zprobe_zoffset);
  6934. SERIAL_PROTOCOLLN();
  6935. }
  6936. break;
  6937. }
  6938. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  6939. /*!
  6940. ### M552 - Set IP address <a href="https://reprap.org/wiki/G-code#M552:_Set_IP_address.2C_enable.2Fdisable_network_interface">M552: Set IP address, enable/disable network interface"</a>
  6941. Sets the printer IP address that is shown in the support menu. Designed to be used with the help of host software.
  6942. If P is not specified nothing happens.
  6943. If the structure of the IP address is invalid, 0.0.0.0 is assumed and nothing is shown on the screen in the Support menu.
  6944. #### Usage
  6945. M552 [ P<IP_address> ]
  6946. #### Parameters
  6947. - `P` - The IP address in xxx.xxx.xxx.xxx format. Eg: P192.168.1.14
  6948. */
  6949. case 552:
  6950. {
  6951. if (code_seen('P'))
  6952. {
  6953. uint8_t valCnt = 0;
  6954. IP_address = 0;
  6955. do
  6956. {
  6957. *strchr_pointer = '*';
  6958. ((uint8_t*)&IP_address)[valCnt] = code_value_short();
  6959. valCnt++;
  6960. } while ((valCnt < 4) && code_seen('.'));
  6961. if (valCnt != 4)
  6962. IP_address = 0;
  6963. }
  6964. } break;
  6965. #ifdef FILAMENTCHANGEENABLE
  6966. /*!
  6967. ### M600 - Initiate Filament change procedure <a href="https://reprap.org/wiki/G-code#M600:_Filament_change_pause">M600: Filament change pause</a>
  6968. Initiates Filament change, it is also used during Filament Runout Sensor process.
  6969. If the `M600` is triggered under 25mm it will do a Z-lift of 25mm to prevent a filament blob.
  6970. #### Usage
  6971. M600 [ X | Y | Z | E | L | AUTO ]
  6972. - `X` - X position, default 211
  6973. - `Y` - Y position, default 0
  6974. - `Z` - relative lift Z, default 2.
  6975. - `E` - initial retract, default -2
  6976. - `L` - later retract distance for removal, default -80
  6977. - `AUTO` - Automatically (only with MMU)
  6978. */
  6979. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  6980. {
  6981. st_synchronize();
  6982. float x_position = current_position[X_AXIS];
  6983. float y_position = current_position[Y_AXIS];
  6984. float z_shift = 0; // is it necessary to be a float?
  6985. float e_shift_init = 0;
  6986. float e_shift_late = 0;
  6987. bool automatic = false;
  6988. //Retract extruder
  6989. if(code_seen('E'))
  6990. {
  6991. e_shift_init = code_value();
  6992. }
  6993. else
  6994. {
  6995. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  6996. e_shift_init = FILAMENTCHANGE_FIRSTRETRACT ;
  6997. #endif
  6998. }
  6999. //currently don't work as we are using the same unload sequence as in M702, needs re-work
  7000. if (code_seen('L'))
  7001. {
  7002. e_shift_late = code_value();
  7003. }
  7004. else
  7005. {
  7006. #ifdef FILAMENTCHANGE_FINALRETRACT
  7007. e_shift_late = FILAMENTCHANGE_FINALRETRACT;
  7008. #endif
  7009. }
  7010. //Lift Z
  7011. if(code_seen('Z'))
  7012. {
  7013. z_shift = code_value();
  7014. }
  7015. else
  7016. {
  7017. z_shift = gcode_M600_filament_change_z_shift<uint8_t>();
  7018. }
  7019. //Move XY to side
  7020. if(code_seen('X'))
  7021. {
  7022. x_position = code_value();
  7023. }
  7024. else
  7025. {
  7026. #ifdef FILAMENTCHANGE_XPOS
  7027. x_position = FILAMENTCHANGE_XPOS;
  7028. #endif
  7029. }
  7030. if(code_seen('Y'))
  7031. {
  7032. y_position = code_value();
  7033. }
  7034. else
  7035. {
  7036. #ifdef FILAMENTCHANGE_YPOS
  7037. y_position = FILAMENTCHANGE_YPOS ;
  7038. #endif
  7039. }
  7040. if (mmu_enabled && code_seen_P(PSTR("AUTO")))
  7041. automatic = true;
  7042. gcode_M600(automatic, x_position, y_position, z_shift, e_shift_init, e_shift_late);
  7043. }
  7044. break;
  7045. #endif //FILAMENTCHANGEENABLE
  7046. /*!
  7047. ### M601 - Pause print <a href="https://reprap.org/wiki/G-code#M601:_Pause_print">M601: Pause print</a>
  7048. */
  7049. /*!
  7050. ### M125 - Pause print (TODO: not implemented)
  7051. */
  7052. /*!
  7053. ### M25 - Pause SD print <a href="https://reprap.org/wiki/G-code#M25:_Pause_SD_print">M25: Pause SD print</a>
  7054. */
  7055. case 25:
  7056. case 601:
  7057. {
  7058. if (!isPrintPaused) {
  7059. st_synchronize();
  7060. ClearToSend(); //send OK even before the command finishes executing because we want to make sure it is not skipped because of cmdqueue_pop_front();
  7061. cmdqueue_pop_front(); //trick because we want skip this command (M601) after restore
  7062. lcd_pause_print();
  7063. }
  7064. }
  7065. break;
  7066. /*!
  7067. ### M602 - Resume print <a href="https://reprap.org/wiki/G-code#M602:_Resume_print">M602: Resume print</a>
  7068. */
  7069. case 602:
  7070. {
  7071. if (isPrintPaused) lcd_resume_print();
  7072. }
  7073. break;
  7074. /*!
  7075. ### M603 - Stop print <a href="https://reprap.org/wiki/G-code#M603:_Stop_print">M603: Stop print</a>
  7076. */
  7077. case 603: {
  7078. lcd_print_stop();
  7079. }
  7080. break;
  7081. #ifdef PINDA_THERMISTOR
  7082. /*!
  7083. ### M860 - Wait for extruder temperature (PINDA) <a href="https://reprap.org/wiki/G-code#M860_Wait_for_Probe_Temperature">M860 Wait for Probe Temperature</a>
  7084. Wait for PINDA thermistor to reach target temperature
  7085. #### Usage
  7086. M860 [ S ]
  7087. #### Parameters
  7088. - `S` - Target temperature
  7089. */
  7090. case 860:
  7091. {
  7092. int set_target_pinda = 0;
  7093. if (code_seen('S')) {
  7094. set_target_pinda = code_value();
  7095. }
  7096. else {
  7097. break;
  7098. }
  7099. LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
  7100. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  7101. SERIAL_PROTOCOL(set_target_pinda);
  7102. SERIAL_PROTOCOLLN();
  7103. codenum = _millis();
  7104. cancel_heatup = false;
  7105. bool is_pinda_cooling = false;
  7106. if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
  7107. is_pinda_cooling = true;
  7108. }
  7109. while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
  7110. if ((_millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  7111. {
  7112. SERIAL_PROTOCOLPGM("P:");
  7113. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  7114. SERIAL_PROTOCOL('/');
  7115. SERIAL_PROTOCOLLN(set_target_pinda);
  7116. codenum = _millis();
  7117. }
  7118. manage_heater();
  7119. manage_inactivity();
  7120. lcd_update(0);
  7121. }
  7122. LCD_MESSAGERPGM(MSG_OK);
  7123. break;
  7124. }
  7125. /*!
  7126. ### M861 - Set/Get PINDA temperature compensation offsets <a href="https://reprap.org/wiki/G-code#M861_Set_Probe_Thermal_Compensation">M861 Set Probe Thermal Compensation</a>
  7127. Set compensation ustep value `S` for compensation table index `I`.
  7128. #### Usage
  7129. M861 [ ? | ! | Z | S | I ]
  7130. #### Parameters
  7131. - `?` - Print current EEPROM offset values
  7132. - `!` - Set factory default values
  7133. - `Z` - Set all values to 0 (effectively disabling PINDA temperature compensation)
  7134. - `S` - Microsteps
  7135. - `I` - Table index
  7136. */
  7137. case 861:
  7138. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  7139. uint8_t cal_status = calibration_status_pinda();
  7140. int16_t usteps = 0;
  7141. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  7142. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  7143. for (uint8_t i = 0; i < 6; i++)
  7144. {
  7145. if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
  7146. float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
  7147. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  7148. SERIAL_PROTOCOLPGM(", ");
  7149. SERIAL_PROTOCOL(35 + (i * 5));
  7150. SERIAL_PROTOCOLPGM(", ");
  7151. SERIAL_PROTOCOL(usteps);
  7152. SERIAL_PROTOCOLPGM(", ");
  7153. SERIAL_PROTOCOL(mm * 1000);
  7154. SERIAL_PROTOCOLLN();
  7155. }
  7156. }
  7157. else if (code_seen('!')) { // ! - Set factory default values
  7158. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  7159. int16_t z_shift = 8; //40C - 20um - 8usteps
  7160. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
  7161. z_shift = 24; //45C - 60um - 24usteps
  7162. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
  7163. z_shift = 48; //50C - 120um - 48usteps
  7164. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
  7165. z_shift = 80; //55C - 200um - 80usteps
  7166. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
  7167. z_shift = 120; //60C - 300um - 120usteps
  7168. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
  7169. SERIAL_PROTOCOLLN("factory restored");
  7170. }
  7171. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  7172. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  7173. int16_t z_shift = 0;
  7174. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  7175. SERIAL_PROTOCOLLN("zerorized");
  7176. }
  7177. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  7178. int16_t usteps = code_value();
  7179. if (code_seen('I')) {
  7180. uint8_t index = code_value();
  7181. if (index < 5) {
  7182. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
  7183. SERIAL_PROTOCOLLN("OK");
  7184. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  7185. for (uint8_t i = 0; i < 6; i++)
  7186. {
  7187. usteps = 0;
  7188. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
  7189. float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
  7190. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  7191. SERIAL_PROTOCOLPGM(", ");
  7192. SERIAL_PROTOCOL(35 + (i * 5));
  7193. SERIAL_PROTOCOLPGM(", ");
  7194. SERIAL_PROTOCOL(usteps);
  7195. SERIAL_PROTOCOLPGM(", ");
  7196. SERIAL_PROTOCOL(mm * 1000);
  7197. SERIAL_PROTOCOLLN();
  7198. }
  7199. }
  7200. }
  7201. }
  7202. else {
  7203. SERIAL_PROTOCOLPGM("no valid command");
  7204. }
  7205. break;
  7206. #endif //PINDA_THERMISTOR
  7207. /*!
  7208. ### M862 - Print checking <a href="https://reprap.org/wiki/G-code#M862:_Print_checking">M862: Print checking</a>
  7209. Checks the parameters of the printer and gcode and performs compatibility check
  7210. - M862.1 { P<nozzle_diameter> | Q } 0.25/0.40/0.60
  7211. - M862.2 { P<model_code> | Q }
  7212. - M862.3 { P"<model_name>" | Q }
  7213. - M862.4 { P<fw_version> | Q }
  7214. - M862.5 { P<gcode_level> | Q }
  7215. When run with P<> argument, the check is performed against the input value.
  7216. When run with Q argument, the current value is shown.
  7217. M862.3 accepts text identifiers of printer types too.
  7218. The syntax of M862.3 is (note the quotes around the type):
  7219. M862.3 P "MK3S"
  7220. Accepted printer type identifiers and their numeric counterparts:
  7221. - MK1 (100)
  7222. - MK2 (200)
  7223. - MK2MM (201)
  7224. - MK2S (202)
  7225. - MK2SMM (203)
  7226. - MK2.5 (250)
  7227. - MK2.5MMU2 (20250)
  7228. - MK2.5S (252)
  7229. - MK2.5SMMU2S (20252)
  7230. - MK3 (300)
  7231. - MK3MMU2 (20300)
  7232. - MK3S (302)
  7233. - MK3SMMU2S (20302)
  7234. */
  7235. case 862: // M862: print checking
  7236. float nDummy;
  7237. uint8_t nCommand;
  7238. nCommand=(uint8_t)(modff(code_value_float(),&nDummy)*10.0+0.5);
  7239. switch((ClPrintChecking)nCommand)
  7240. {
  7241. case ClPrintChecking::_Nozzle: // ~ .1
  7242. uint16_t nDiameter;
  7243. if(code_seen('P'))
  7244. {
  7245. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  7246. nozzle_diameter_check(nDiameter);
  7247. }
  7248. /*
  7249. else if(code_seen('S')&&farm_mode)
  7250. {
  7251. nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
  7252. eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
  7253. eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
  7254. }
  7255. */
  7256. else if(code_seen('Q'))
  7257. SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
  7258. break;
  7259. case ClPrintChecking::_Model: // ~ .2
  7260. if(code_seen('P'))
  7261. {
  7262. uint16_t nPrinterModel;
  7263. nPrinterModel=(uint16_t)code_value_long();
  7264. printer_model_check(nPrinterModel);
  7265. }
  7266. else if(code_seen('Q'))
  7267. SERIAL_PROTOCOLLN(nPrinterType);
  7268. break;
  7269. case ClPrintChecking::_Smodel: // ~ .3
  7270. if(code_seen('P'))
  7271. printer_smodel_check(strchr_pointer);
  7272. else if(code_seen('Q'))
  7273. SERIAL_PROTOCOLLNRPGM(sPrinterName);
  7274. break;
  7275. case ClPrintChecking::_Version: // ~ .4
  7276. if(code_seen('P'))
  7277. fw_version_check(++strchr_pointer);
  7278. else if(code_seen('Q'))
  7279. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  7280. break;
  7281. case ClPrintChecking::_Gcode: // ~ .5
  7282. if(code_seen('P'))
  7283. {
  7284. uint16_t nGcodeLevel;
  7285. nGcodeLevel=(uint16_t)code_value_long();
  7286. gcode_level_check(nGcodeLevel);
  7287. }
  7288. else if(code_seen('Q'))
  7289. SERIAL_PROTOCOLLN(GCODE_LEVEL);
  7290. break;
  7291. }
  7292. break;
  7293. #ifdef LIN_ADVANCE
  7294. /*!
  7295. ### M900 - Set Linear advance options <a href="https://reprap.org/wiki/G-code#M900_Set_Linear_Advance_Scaling_Factors">M900 Set Linear Advance Scaling Factors</a>
  7296. Sets the advance extrusion factors for Linear Advance. If any of the R, W, H, or D parameters are set to zero the ratio will be computed dynamically during printing.
  7297. #### Usage
  7298. M900 [ K | R | W | H | D]
  7299. #### Parameters
  7300. - `K` - Advance K factor
  7301. - `R` - Set ratio directly (overrides WH/D)
  7302. - `W` - Width
  7303. - `H` - Height
  7304. - `D` - Diameter Set ratio from WH/D
  7305. */
  7306. case 900:
  7307. gcode_M900();
  7308. break;
  7309. #endif
  7310. /*!
  7311. ### M907 - Set digital trimpot motor current in mA using axis codes <a href="https://reprap.org/wiki/G-code#M907:_Set_digital_trimpot_motor">M907: Set digital trimpot motor</a>
  7312. Set digital trimpot motor current using axis codes (X, Y, Z, E, B, S).
  7313. M907 has no effect when the experimental Extruder motor current scaling mode is active (that applies to farm printing as well)
  7314. #### Usage
  7315. M907 [ X | Y | Z | E | B | S ]
  7316. #### Parameters
  7317. - `X` - X motor driver
  7318. - `Y` - Y motor driver
  7319. - `Z` - Z motor driver
  7320. - `E` - Extruder motor driver
  7321. - `B` - Second Extruder motor driver
  7322. - `S` - All motors
  7323. */
  7324. case 907:
  7325. {
  7326. #ifdef TMC2130
  7327. // See tmc2130_cur2val() for translation to 0 .. 63 range
  7328. for (uint_least8_t i = 0; i < NUM_AXIS; i++){
  7329. if(code_seen(axis_codes[i])){
  7330. if( i == E_AXIS && FarmOrUserECool() ){
  7331. SERIAL_ECHORPGM(eMotorCurrentScalingEnabled);
  7332. SERIAL_ECHOLNPGM(", M907 E ignored");
  7333. continue;
  7334. }
  7335. long cur_mA = code_value_long();
  7336. uint8_t val = tmc2130_cur2val(cur_mA);
  7337. tmc2130_set_current_h(i, val);
  7338. tmc2130_set_current_r(i, val);
  7339. //if (i == E_AXIS) printf_P(PSTR("E-axis current=%ldmA\n"), cur_mA);
  7340. }
  7341. }
  7342. #else //TMC2130
  7343. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  7344. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  7345. if(code_seen('B')) st_current_set(4,code_value());
  7346. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  7347. #endif
  7348. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  7349. if(code_seen('X')) st_current_set(0, code_value());
  7350. #endif
  7351. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  7352. if(code_seen('Z')) st_current_set(1, code_value());
  7353. #endif
  7354. #ifdef MOTOR_CURRENT_PWM_E_PIN
  7355. if(code_seen('E')) st_current_set(2, code_value());
  7356. #endif
  7357. #endif //TMC2130
  7358. }
  7359. break;
  7360. /*!
  7361. ### M908 - Control digital trimpot directly <a href="https://reprap.org/wiki/G-code#M908:_Control_digital_trimpot_directly">M908: Control digital trimpot directly</a>
  7362. In Prusa Firmware this G-code is deactivated by default, must be turned on in the source code. Not usable on Prusa printers.
  7363. #### Usage
  7364. M908 [ P | S ]
  7365. #### Parameters
  7366. - `P` - channel
  7367. - `S` - current
  7368. */
  7369. case 908:
  7370. {
  7371. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  7372. uint8_t channel,current;
  7373. if(code_seen('P')) channel=code_value();
  7374. if(code_seen('S')) current=code_value();
  7375. digitalPotWrite(channel, current);
  7376. #endif
  7377. }
  7378. break;
  7379. #ifdef TMC2130_SERVICE_CODES_M910_M918
  7380. /*!
  7381. ### M910 - TMC2130 init <a href="https://reprap.org/wiki/G-code#M910:_TMC2130_init">M910: TMC2130 init</a>
  7382. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7383. */
  7384. case 910:
  7385. {
  7386. tmc2130_init();
  7387. }
  7388. break;
  7389. /*!
  7390. ### M911 - Set TMC2130 holding currents <a href="https://reprap.org/wiki/G-code#M911:_Set_TMC2130_holding_currents">M911: Set TMC2130 holding currents</a>
  7391. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7392. #### Usage
  7393. M911 [ X | Y | Z | E ]
  7394. #### Parameters
  7395. - `X` - X stepper driver holding current value
  7396. - `Y` - Y stepper driver holding current value
  7397. - `Z` - Z stepper driver holding current value
  7398. - `E` - Extruder stepper driver holding current value
  7399. */
  7400. case 911:
  7401. {
  7402. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  7403. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  7404. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  7405. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  7406. }
  7407. break;
  7408. /*!
  7409. ### M912 - Set TMC2130 running currents <a href="https://reprap.org/wiki/G-code#M912:_Set_TMC2130_running_currents">M912: Set TMC2130 running currents</a>
  7410. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7411. #### Usage
  7412. M912 [ X | Y | Z | E ]
  7413. #### Parameters
  7414. - `X` - X stepper driver running current value
  7415. - `Y` - Y stepper driver running current value
  7416. - `Z` - Z stepper driver running current value
  7417. - `E` - Extruder stepper driver running current value
  7418. */
  7419. case 912:
  7420. {
  7421. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  7422. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  7423. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  7424. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  7425. }
  7426. break;
  7427. /*!
  7428. ### M913 - Print TMC2130 currents <a href="https://reprap.org/wiki/G-code#M913:_Print_TMC2130_currents">M913: Print TMC2130 currents</a>
  7429. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7430. Shows TMC2130 currents.
  7431. */
  7432. case 913:
  7433. {
  7434. tmc2130_print_currents();
  7435. }
  7436. break;
  7437. /*!
  7438. ### M914 - Set TMC2130 normal mode <a href="https://reprap.org/wiki/G-code#M914:_Set_TMC2130_normal_mode">M914: Set TMC2130 normal mode</a>
  7439. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7440. */
  7441. case 914:
  7442. {
  7443. tmc2130_mode = TMC2130_MODE_NORMAL;
  7444. update_mode_profile();
  7445. tmc2130_init();
  7446. }
  7447. break;
  7448. /*!
  7449. ### M915 - Set TMC2130 silent mode <a href="https://reprap.org/wiki/G-code#M915:_Set_TMC2130_silent_mode">M915: Set TMC2130 silent mode</a>
  7450. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7451. */
  7452. case 915:
  7453. {
  7454. tmc2130_mode = TMC2130_MODE_SILENT;
  7455. update_mode_profile();
  7456. tmc2130_init();
  7457. }
  7458. break;
  7459. /*!
  7460. ### M916 - Set TMC2130 Stallguard sensitivity threshold <a href="https://reprap.org/wiki/G-code#M916:_Set_TMC2130_Stallguard_sensitivity_threshold">M916: Set TMC2130 Stallguard sensitivity threshold</a>
  7461. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7462. #### Usage
  7463. M916 [ X | Y | Z | E ]
  7464. #### Parameters
  7465. - `X` - X stepper driver stallguard sensitivity threshold value
  7466. - `Y` - Y stepper driver stallguard sensitivity threshold value
  7467. - `Z` - Z stepper driver stallguard sensitivity threshold value
  7468. - `E` - Extruder stepper driver stallguard sensitivity threshold value
  7469. */
  7470. case 916:
  7471. {
  7472. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  7473. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  7474. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  7475. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  7476. for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
  7477. printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
  7478. }
  7479. break;
  7480. /*!
  7481. ### M917 - Set TMC2130 PWM amplitude offset (pwm_ampl) <a href="https://reprap.org/wiki/G-code#M917:_Set_TMC2130_PWM_amplitude_offset_.28pwm_ampl.29">M917: Set TMC2130 PWM amplitude offset (pwm_ampl)</a>
  7482. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7483. #### Usage
  7484. M917 [ X | Y | Z | E ]
  7485. #### Parameters
  7486. - `X` - X stepper driver PWM amplitude offset value
  7487. - `Y` - Y stepper driver PWM amplitude offset value
  7488. - `Z` - Z stepper driver PWM amplitude offset value
  7489. - `E` - Extruder stepper driver PWM amplitude offset value
  7490. */
  7491. case 917:
  7492. {
  7493. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  7494. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  7495. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  7496. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  7497. }
  7498. break;
  7499. /*!
  7500. ### M918 - Set TMC2130 PWM amplitude gradient (pwm_grad) <a href="https://reprap.org/wiki/G-code#M918:_Set_TMC2130_PWM_amplitude_gradient_.28pwm_grad.29">M918: Set TMC2130 PWM amplitude gradient (pwm_grad)</a>
  7501. Not active in default, only if `TMC2130_SERVICE_CODES_M910_M918` is defined in source code.
  7502. #### Usage
  7503. M918 [ X | Y | Z | E ]
  7504. #### Parameters
  7505. - `X` - X stepper driver PWM amplitude gradient value
  7506. - `Y` - Y stepper driver PWM amplitude gradient value
  7507. - `Z` - Z stepper driver PWM amplitude gradient value
  7508. - `E` - Extruder stepper driver PWM amplitude gradient value
  7509. */
  7510. case 918:
  7511. {
  7512. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  7513. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  7514. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  7515. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  7516. }
  7517. break;
  7518. #endif //TMC2130_SERVICE_CODES_M910_M918
  7519. /*!
  7520. ### M350 - Set microstepping mode <a href="https://reprap.org/wiki/G-code#M350:_Set_microstepping_mode">M350: Set microstepping mode</a>
  7521. Printers with TMC2130 drivers have `X`, `Y`, `Z` and `E` as options. The steps-per-unit value is updated accordingly. Not all resolutions are valid!
  7522. Printers without TMC2130 drivers also have `B` and `S` options. In this case, the steps-per-unit value in not changed!
  7523. #### Usage
  7524. M350 [ X | Y | Z | E | B | S ]
  7525. #### Parameters
  7526. - `X` - X new resolution
  7527. - `Y` - Y new resolution
  7528. - `Z` - Z new resolution
  7529. - `E` - E new resolution
  7530. Only valid for MK2.5(S) or printers without TMC2130 drivers
  7531. - `B` - Second extruder new resolution
  7532. - `S` - All axes new resolution
  7533. */
  7534. case 350:
  7535. {
  7536. #ifdef TMC2130
  7537. for (uint_least8_t i=0; i<NUM_AXIS; i++)
  7538. {
  7539. if(code_seen(axis_codes[i]))
  7540. {
  7541. uint16_t res_new = code_value();
  7542. bool res_valid = (res_new == 8) || (res_new == 16) || (res_new == 32); // resolutions valid for all axis
  7543. res_valid |= (i != E_AXIS) && ((res_new == 1) || (res_new == 2) || (res_new == 4)); // resolutions valid for X Y Z only
  7544. res_valid |= (i == E_AXIS) && ((res_new == 64) || (res_new == 128)); // resolutions valid for E only
  7545. if (res_valid)
  7546. {
  7547. st_synchronize();
  7548. uint16_t res = tmc2130_get_res(i);
  7549. tmc2130_set_res(i, res_new);
  7550. cs.axis_ustep_resolution[i] = res_new;
  7551. if (res_new > res)
  7552. {
  7553. uint16_t fac = (res_new / res);
  7554. cs.axis_steps_per_unit[i] *= fac;
  7555. position[i] *= fac;
  7556. }
  7557. else
  7558. {
  7559. uint16_t fac = (res / res_new);
  7560. cs.axis_steps_per_unit[i] /= fac;
  7561. position[i] /= fac;
  7562. }
  7563. #if defined(FILAMENT_SENSOR) && defined(PAT9125)
  7564. if (i == E_AXIS)
  7565. fsensor_set_axis_steps_per_unit(cs.axis_steps_per_unit[i]);
  7566. #endif
  7567. }
  7568. }
  7569. }
  7570. #else //TMC2130
  7571. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  7572. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  7573. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  7574. if(code_seen('B')) microstep_mode(4,code_value());
  7575. microstep_readings();
  7576. #endif
  7577. #endif //TMC2130
  7578. }
  7579. break;
  7580. /*!
  7581. ### M351 - Toggle Microstep Pins <a href="https://reprap.org/wiki/G-code#M351:_Toggle_MS1_MS2_pins_directly">M351: Toggle MS1 MS2 pins directly</a>
  7582. Toggle MS1 MS2 pins directly.
  7583. #### Usage
  7584. M351 [B<0|1>] [E<0|1>] S<1|2> [X<0|1>] [Y<0|1>] [Z<0|1>]
  7585. #### Parameters
  7586. - `X` - Update X axis
  7587. - `Y` - Update Y axis
  7588. - `Z` - Update Z axis
  7589. - `E` - Update E axis
  7590. - `S` - which MSx pin to toggle
  7591. - `B` - new pin value
  7592. */
  7593. case 351:
  7594. {
  7595. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  7596. if(code_seen('S')) switch((int)code_value())
  7597. {
  7598. case 1:
  7599. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  7600. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  7601. break;
  7602. case 2:
  7603. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  7604. if(code_seen('B')) microstep_ms(4,-1,code_value());
  7605. break;
  7606. }
  7607. microstep_readings();
  7608. #endif
  7609. }
  7610. break;
  7611. /*!
  7612. ### M701 - Load filament <a href="https://reprap.org/wiki/G-code#M701:_Load_filament">M701: Load filament</a>
  7613. */
  7614. case 701:
  7615. {
  7616. if (mmu_enabled && code_seen('E'))
  7617. tmp_extruder = code_value();
  7618. gcode_M701();
  7619. }
  7620. break;
  7621. /*!
  7622. ### M702 - Unload filament <a href="https://reprap.org/wiki/G-code#M702:_Unload_filament">G32: Undock Z Probe sled</a>
  7623. #### Usage
  7624. M702 [ U | C ]
  7625. #### Parameters
  7626. - `U` - Unload all filaments used in current print
  7627. - `C` - Unload just current filament
  7628. - without any parameters unload all filaments
  7629. */
  7630. case 702:
  7631. {
  7632. #ifdef SNMM
  7633. if (code_seen('U'))
  7634. extr_unload_used(); //! if "U" unload all filaments which were used in current print
  7635. else if (code_seen('C'))
  7636. extr_unload(); //! if "C" unload just current filament
  7637. else
  7638. extr_unload_all(); //! otherwise unload all filaments
  7639. #else
  7640. if (code_seen('C')) {
  7641. if(mmu_enabled) extr_unload(); //! if "C" unload current filament; if mmu is not present no action is performed
  7642. }
  7643. else {
  7644. if(mmu_enabled) extr_unload(); //! unload current filament
  7645. else unload_filament();
  7646. }
  7647. #endif //SNMM
  7648. }
  7649. break;
  7650. /*!
  7651. ### M999 - Restart after being stopped <a href="https://reprap.org/wiki/G-code#M999:_Restart_after_being_stopped_by_error">M999: Restart after being stopped by error</a>
  7652. @todo Usually doesn't work. Should be fixed or removed. Most of the time, if `Stopped` it set, the print fails and is unrecoverable.
  7653. */
  7654. case 999:
  7655. Stopped = false;
  7656. lcd_reset_alert_level();
  7657. gcode_LastN = Stopped_gcode_LastN;
  7658. FlushSerialRequestResend();
  7659. break;
  7660. /*!
  7661. #### End of M-Commands
  7662. */
  7663. default:
  7664. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  7665. }
  7666. // printf_P(_N("END M-CODE=%u\n"), mcode_in_progress);
  7667. mcode_in_progress = 0;
  7668. }
  7669. }
  7670. // end if(code_seen('M')) (end of M codes)
  7671. /*!
  7672. -----------------------------------------------------------------------------------------
  7673. # T Codes
  7674. T<extruder nr.> - select extruder in case of multi extruder printer. select filament in case of MMU_V2.
  7675. #### For MMU_V2:
  7676. T<n> Gcode to extrude at least 38.10 mm at feedrate 19.02 mm/s must follow immediately to load to extruder wheels.
  7677. @n T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
  7678. @n Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
  7679. @n Tc Load to nozzle after filament was prepared by Tc and extruder nozzle is already heated.
  7680. */
  7681. else if(code_seen('T'))
  7682. {
  7683. static const char duplicate_Tcode_ignored[] PROGMEM = "Duplicate T-code ignored.";
  7684. int index;
  7685. bool load_to_nozzle = false;
  7686. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  7687. *(strchr_pointer + index) = tolower(*(strchr_pointer + index));
  7688. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '4') && *(strchr_pointer + index) != '?' && *(strchr_pointer + index) != 'x' && *(strchr_pointer + index) != 'c') {
  7689. SERIAL_ECHOLNPGM("Invalid T code.");
  7690. }
  7691. else if (*(strchr_pointer + index) == 'x'){ //load to bondtech gears; if mmu is not present do nothing
  7692. if (mmu_enabled)
  7693. {
  7694. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
  7695. if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
  7696. {
  7697. puts_P(duplicate_Tcode_ignored);
  7698. }
  7699. else
  7700. {
  7701. st_synchronize();
  7702. mmu_command(MmuCmd::T0 + tmp_extruder);
  7703. manage_response(true, true, MMU_TCODE_MOVE);
  7704. }
  7705. }
  7706. }
  7707. else if (*(strchr_pointer + index) == 'c') { //load to from bondtech gears to nozzle (nozzle should be preheated)
  7708. if (mmu_enabled)
  7709. {
  7710. st_synchronize();
  7711. mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
  7712. mmu_extruder = tmp_extruder; //filament change is finished
  7713. mmu_load_to_nozzle();
  7714. }
  7715. }
  7716. else {
  7717. if (*(strchr_pointer + index) == '?')
  7718. {
  7719. if(mmu_enabled)
  7720. {
  7721. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
  7722. load_to_nozzle = true;
  7723. } else
  7724. {
  7725. tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_EXTRUDER), _T(MSG_EXTRUDER));
  7726. }
  7727. }
  7728. else {
  7729. tmp_extruder = code_value();
  7730. if (mmu_enabled && lcd_autoDepleteEnabled())
  7731. {
  7732. tmp_extruder = ad_getAlternative(tmp_extruder);
  7733. }
  7734. }
  7735. st_synchronize();
  7736. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  7737. if (mmu_enabled)
  7738. {
  7739. if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
  7740. {
  7741. puts_P(duplicate_Tcode_ignored);
  7742. }
  7743. else
  7744. {
  7745. #if defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
  7746. if (EEPROM_MMU_CUTTER_ENABLED_always == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
  7747. {
  7748. mmu_command(MmuCmd::K0 + tmp_extruder);
  7749. manage_response(true, true, MMU_UNLOAD_MOVE);
  7750. }
  7751. #endif //defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
  7752. mmu_command(MmuCmd::T0 + tmp_extruder);
  7753. manage_response(true, true, MMU_TCODE_MOVE);
  7754. mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
  7755. mmu_extruder = tmp_extruder; //filament change is finished
  7756. if (load_to_nozzle)// for single material usage with mmu
  7757. {
  7758. mmu_load_to_nozzle();
  7759. }
  7760. }
  7761. }
  7762. else
  7763. {
  7764. #ifdef SNMM
  7765. mmu_extruder = tmp_extruder;
  7766. _delay(100);
  7767. disable_e0();
  7768. disable_e1();
  7769. disable_e2();
  7770. pinMode(E_MUX0_PIN, OUTPUT);
  7771. pinMode(E_MUX1_PIN, OUTPUT);
  7772. _delay(100);
  7773. SERIAL_ECHO_START;
  7774. SERIAL_ECHO("T:");
  7775. SERIAL_ECHOLN((int)tmp_extruder);
  7776. switch (tmp_extruder) {
  7777. case 1:
  7778. WRITE(E_MUX0_PIN, HIGH);
  7779. WRITE(E_MUX1_PIN, LOW);
  7780. break;
  7781. case 2:
  7782. WRITE(E_MUX0_PIN, LOW);
  7783. WRITE(E_MUX1_PIN, HIGH);
  7784. break;
  7785. case 3:
  7786. WRITE(E_MUX0_PIN, HIGH);
  7787. WRITE(E_MUX1_PIN, HIGH);
  7788. break;
  7789. default:
  7790. WRITE(E_MUX0_PIN, LOW);
  7791. WRITE(E_MUX1_PIN, LOW);
  7792. break;
  7793. }
  7794. _delay(100);
  7795. #else //SNMM
  7796. if (tmp_extruder >= EXTRUDERS) {
  7797. SERIAL_ECHO_START;
  7798. SERIAL_ECHO('T');
  7799. SERIAL_PROTOCOLLN((int)tmp_extruder);
  7800. SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER
  7801. }
  7802. else {
  7803. #if EXTRUDERS > 1
  7804. boolean make_move = false;
  7805. #endif
  7806. if (code_seen('F')) {
  7807. #if EXTRUDERS > 1
  7808. make_move = true;
  7809. #endif
  7810. next_feedrate = code_value();
  7811. if (next_feedrate > 0.0) {
  7812. feedrate = next_feedrate;
  7813. }
  7814. }
  7815. #if EXTRUDERS > 1
  7816. if (tmp_extruder != active_extruder) {
  7817. // Save current position to return to after applying extruder offset
  7818. memcpy(destination, current_position, sizeof(destination));
  7819. // Offset extruder (only by XY)
  7820. int i;
  7821. for (i = 0; i < 2; i++) {
  7822. current_position[i] = current_position[i] -
  7823. extruder_offset[i][active_extruder] +
  7824. extruder_offset[i][tmp_extruder];
  7825. }
  7826. // Set the new active extruder and position
  7827. active_extruder = tmp_extruder;
  7828. plan_set_position_curposXYZE();
  7829. // Move to the old position if 'F' was in the parameters
  7830. if (make_move && Stopped == false) {
  7831. prepare_move();
  7832. }
  7833. }
  7834. #endif
  7835. SERIAL_ECHO_START;
  7836. SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER
  7837. SERIAL_PROTOCOLLN((int)active_extruder);
  7838. }
  7839. #endif //SNMM
  7840. }
  7841. }
  7842. } // end if(code_seen('T')) (end of T codes)
  7843. /*!
  7844. #### End of T-Codes
  7845. */
  7846. /**
  7847. *---------------------------------------------------------------------------------
  7848. *# D codes
  7849. */
  7850. else if (code_seen('D')) // D codes (debug)
  7851. {
  7852. switch((int)code_value())
  7853. {
  7854. /*!
  7855. ### D-1 - Endless Loop <a href="https://reprap.org/wiki/G-code#D-1:_Endless_Loop">D-1: Endless Loop</a>
  7856. */
  7857. case -1:
  7858. dcode__1(); break;
  7859. #ifdef DEBUG_DCODES
  7860. /*!
  7861. ### D0 - Reset <a href="https://reprap.org/wiki/G-code#D0:_Reset">D0: Reset</a>
  7862. #### Usage
  7863. D0 [ B ]
  7864. #### Parameters
  7865. - `B` - Bootloader
  7866. */
  7867. case 0:
  7868. dcode_0(); break;
  7869. /*!
  7870. *
  7871. ### D1 - Clear EEPROM and RESET <a href="https://reprap.org/wiki/G-code#D1:_Clear_EEPROM_and_RESET">D1: Clear EEPROM and RESET</a>
  7872. D1
  7873. *
  7874. */
  7875. case 1:
  7876. dcode_1(); break;
  7877. #endif
  7878. #if defined DEBUG_DCODE2 || defined DEBUG_DCODES
  7879. /*!
  7880. ### D2 - Read/Write RAM <a href="https://reprap.org/wiki/G-code#D2:_Read.2FWrite_RAM">D3: Read/Write RAM</a>
  7881. This command can be used without any additional parameters. It will read the entire RAM.
  7882. #### Usage
  7883. D2 [ A | C | X ]
  7884. #### Parameters
  7885. - `A` - Address (x0000-x1fff)
  7886. - `C` - Count (1-8192)
  7887. - `X` - Data
  7888. #### Notes
  7889. - The hex address needs to be lowercase without the 0 before the x
  7890. - Count is decimal
  7891. - The hex data needs to be lowercase
  7892. */
  7893. case 2:
  7894. dcode_2(); break;
  7895. #endif //DEBUG_DCODES
  7896. #if defined DEBUG_DCODE3 || defined DEBUG_DCODES
  7897. /*!
  7898. ### D3 - Read/Write EEPROM <a href="https://reprap.org/wiki/G-code#D3:_Read.2FWrite_EEPROM">D3: Read/Write EEPROM</a>
  7899. This command can be used without any additional parameters. It will read the entire eeprom.
  7900. #### Usage
  7901. D3 [ A | C | X ]
  7902. #### Parameters
  7903. - `A` - Address (x0000-x0fff)
  7904. - `C` - Count (1-4096)
  7905. - `X` - Data (hex)
  7906. #### Notes
  7907. - The hex address needs to be lowercase without the 0 before the x
  7908. - Count is decimal
  7909. - The hex data needs to be lowercase
  7910. */
  7911. case 3:
  7912. dcode_3(); break;
  7913. #endif //DEBUG_DCODE3
  7914. #ifdef DEBUG_DCODES
  7915. /*!
  7916. ### D4 - Read/Write PIN <a href="https://reprap.org/wiki/G-code#D4:_Read.2FWrite_PIN">D4: Read/Write PIN</a>
  7917. To read the digital value of a pin you need only to define the pin number.
  7918. #### Usage
  7919. D4 [ P | F | V ]
  7920. #### Parameters
  7921. - `P` - Pin (0-255)
  7922. - `F` - Function in/out (0/1)
  7923. - `V` - Value (0/1)
  7924. */
  7925. case 4:
  7926. dcode_4(); break;
  7927. #endif //DEBUG_DCODES
  7928. #if defined DEBUG_DCODE5 || defined DEBUG_DCODES
  7929. /*!
  7930. ### D5 - Read/Write FLASH <a href="https://reprap.org/wiki/G-code#D5:_Read.2FWrite_FLASH">D5: Read/Write Flash</a>
  7931. This command can be used without any additional parameters. It will read the 1kb FLASH.
  7932. #### Usage
  7933. D5 [ A | C | X | E ]
  7934. #### Parameters
  7935. - `A` - Address (x00000-x3ffff)
  7936. - `C` - Count (1-8192)
  7937. - `X` - Data (hex)
  7938. - `E` - Erase
  7939. #### Notes
  7940. - The hex address needs to be lowercase without the 0 before the x
  7941. - Count is decimal
  7942. - The hex data needs to be lowercase
  7943. */
  7944. case 5:
  7945. dcode_5(); break;
  7946. #endif //DEBUG_DCODE5
  7947. #if defined DEBUG_DCODE6 || defined DEBUG_DCODES
  7948. /*!
  7949. ### D6 - Read/Write external FLASH <a href="https://reprap.org/wiki/G-code#D6:_Read.2FWrite_external_FLASH">D6: Read/Write external Flash</a>
  7950. Reserved
  7951. */
  7952. case 6:
  7953. dcode_6(); break;
  7954. #endif
  7955. #ifdef DEBUG_DCODES
  7956. /*!
  7957. ### D7 - Read/Write Bootloader <a href="https://reprap.org/wiki/G-code#D7:_Read.2FWrite_Bootloader">D7: Read/Write Bootloader</a>
  7958. Reserved
  7959. */
  7960. case 7:
  7961. dcode_7(); break;
  7962. /*!
  7963. ### D8 - Read/Write PINDA <a href="https://reprap.org/wiki/G-code#D8:_Read.2FWrite_PINDA">D8: Read/Write PINDA</a>
  7964. #### Usage
  7965. D8 [ ? | ! | P | Z ]
  7966. #### Parameters
  7967. - `?` - Read PINDA temperature shift values
  7968. - `!` - Reset PINDA temperature shift values to default
  7969. - `P` - Pinda temperature [C]
  7970. - `Z` - Z Offset [mm]
  7971. */
  7972. case 8:
  7973. dcode_8(); break;
  7974. /*!
  7975. ### D9 - Read ADC <a href="https://reprap.org/wiki/G-code#D9:_Read.2FWrite_ADC">D9: Read ADC</a>
  7976. #### Usage
  7977. D9 [ I | V ]
  7978. #### Parameters
  7979. - `I` - ADC channel index
  7980. - `0` - Heater 0 temperature
  7981. - `1` - Heater 1 temperature
  7982. - `2` - Bed temperature
  7983. - `3` - PINDA temperature
  7984. - `4` - PWR voltage
  7985. - `5` - Ambient temperature
  7986. - `6` - BED voltage
  7987. - `V` Value to be written as simulated
  7988. */
  7989. case 9:
  7990. dcode_9(); break;
  7991. /*!
  7992. ### D10 - Set XYZ calibration = OK <a href="https://reprap.org/wiki/G-code#D10:_Set_XYZ_calibration_.3D_OK">D10: Set XYZ calibration = OK</a>
  7993. */
  7994. case 10:
  7995. dcode_10(); break;
  7996. /*!
  7997. ### D12 - Time <a href="https://reprap.org/wiki/G-code#D12:_Time">D12: Time</a>
  7998. Writes the current time in the log file.
  7999. */
  8000. #endif //DEBUG_DCODES
  8001. #ifdef XFLASH_DUMP
  8002. /*!
  8003. ### D20 - Generate an offline crash dump
  8004. Generate a crash dump for later retrival.
  8005. #### Usage
  8006. D20 [E]
  8007. ### Parameters
  8008. - `E` - Perform an emergency crash dump (resets the printer).
  8009. ### Notes
  8010. - A crash dump can be later recovered with D21, or cleared with D22.
  8011. - An emergency crash dump includes register data, but will cause the printer to reset after the dump
  8012. is completed.
  8013. */
  8014. case 20: {
  8015. dcode_20();
  8016. break;
  8017. };
  8018. /*!
  8019. ### D21 - Print crash dump to serial
  8020. Output the complete crash dump (if present) to the serial.
  8021. #### Usage
  8022. D21
  8023. ### Notes
  8024. - The starting address can vary between builds, but it's always at the beginning of the data section.
  8025. */
  8026. case 21: {
  8027. dcode_21();
  8028. break;
  8029. };
  8030. /*!
  8031. ### D22 - Clear crash dump state
  8032. Clear an existing internal crash dump.
  8033. #### Usage
  8034. D22
  8035. */
  8036. case 22: {
  8037. dcode_22();
  8038. break;
  8039. };
  8040. #endif
  8041. #ifdef HEATBED_ANALYSIS
  8042. /*!
  8043. ### D80 - Bed check <a href="https://reprap.org/wiki/G-code#D80:_Bed_check">D80: Bed check</a>
  8044. This command will log data to SD card file "mesh.txt".
  8045. #### Usage
  8046. D80 [ E | F | G | H | I | J ]
  8047. #### Parameters
  8048. - `E` - Dimension X (default 40)
  8049. - `F` - Dimention Y (default 40)
  8050. - `G` - Points X (default 40)
  8051. - `H` - Points Y (default 40)
  8052. - `I` - Offset X (default 74)
  8053. - `J` - Offset Y (default 34)
  8054. */
  8055. case 80:
  8056. dcode_80(); break;
  8057. /*!
  8058. ### D81 - Bed analysis <a href="https://reprap.org/wiki/G-code#D81:_Bed_analysis">D80: Bed analysis</a>
  8059. This command will log data to SD card file "wldsd.txt".
  8060. #### Usage
  8061. D81 [ E | F | G | H | I | J ]
  8062. #### Parameters
  8063. - `E` - Dimension X (default 40)
  8064. - `F` - Dimention Y (default 40)
  8065. - `G` - Points X (default 40)
  8066. - `H` - Points Y (default 40)
  8067. - `I` - Offset X (default 74)
  8068. - `J` - Offset Y (default 34)
  8069. */
  8070. case 81:
  8071. dcode_81(); break;
  8072. #endif //HEATBED_ANALYSIS
  8073. #ifdef DEBUG_DCODES
  8074. /*!
  8075. ### D106 - Print measured fan speed for different pwm values <a href="https://reprap.org/wiki/G-code#D106:_Print_measured_fan_speed_for_different_pwm_values">D106: Print measured fan speed for different pwm values</a>
  8076. */
  8077. case 106:
  8078. dcode_106(); break;
  8079. #ifdef TMC2130
  8080. /*!
  8081. ### D2130 - Trinamic stepper controller <a href="https://reprap.org/wiki/G-code#D2130:_Trinamic_stepper_controller">D2130: Trinamic stepper controller</a>
  8082. @todo Please review by owner of the code. RepRap Wiki Gcode needs to be updated after review of owner as well.
  8083. #### Usage
  8084. D2130 [ Axis | Command | Subcommand | Value ]
  8085. #### Parameters
  8086. - Axis
  8087. - `X` - X stepper driver
  8088. - `Y` - Y stepper driver
  8089. - `Z` - Z stepper driver
  8090. - `E` - Extruder stepper driver
  8091. - Commands
  8092. - `0` - Current off
  8093. - `1` - Current on
  8094. - `+` - Single step
  8095. - `-` - Single step oposite direction
  8096. - `NNN` - Value sereval steps
  8097. - `?` - Read register
  8098. - Subcommands for read register
  8099. - `mres` - Micro step resolution. More information in datasheet '5.5.2 CHOPCONF – Chopper Configuration'
  8100. - `step` - Step
  8101. - `mscnt` - Microstep counter. More information in datasheet '5.5 Motor Driver Registers'
  8102. - `mscuract` - Actual microstep current for motor. More information in datasheet '5.5 Motor Driver Registers'
  8103. - `wave` - Microstep linearity compensation curve
  8104. - `!` - Set register
  8105. - Subcommands for set register
  8106. - `mres` - Micro step resolution
  8107. - `step` - Step
  8108. - `wave` - Microstep linearity compensation curve
  8109. - Values for set register
  8110. - `0, 180 --> 250` - Off
  8111. - `0.9 --> 1.25` - Valid values (recommended is 1.1)
  8112. - `@` - Home calibrate axis
  8113. Examples:
  8114. D2130E?wave
  8115. Print extruder microstep linearity compensation curve
  8116. D2130E!wave0
  8117. Disable extruder linearity compensation curve, (sine curve is used)
  8118. D2130E!wave220
  8119. (sin(x))^1.1 extruder microstep compensation curve used
  8120. Notes:
  8121. For more information see https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
  8122. *
  8123. */
  8124. case 2130:
  8125. dcode_2130(); break;
  8126. #endif //TMC2130
  8127. #if (defined (FILAMENT_SENSOR) && defined(PAT9125))
  8128. /*!
  8129. ### D9125 - PAT9125 filament sensor <a href="https://reprap.org/wiki/G-code#D9:_Read.2FWrite_ADC">D9125: PAT9125 filament sensor</a>
  8130. #### Usage
  8131. D9125 [ ? | ! | R | X | Y | L ]
  8132. #### Parameters
  8133. - `?` - Print values
  8134. - `!` - Print values
  8135. - `R` - Resolution. Not active in code
  8136. - `X` - X values
  8137. - `Y` - Y values
  8138. - `L` - Activate filament sensor log
  8139. */
  8140. case 9125:
  8141. dcode_9125(); break;
  8142. #endif //FILAMENT_SENSOR
  8143. #endif //DEBUG_DCODES
  8144. }
  8145. }
  8146. else
  8147. {
  8148. SERIAL_ECHO_START;
  8149. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  8150. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  8151. SERIAL_ECHOLNPGM("\"(2)");
  8152. }
  8153. KEEPALIVE_STATE(NOT_BUSY);
  8154. ClearToSend();
  8155. }
  8156. /*!
  8157. #### End of D-Codes
  8158. */
  8159. /** @defgroup GCodes G-Code List
  8160. */
  8161. // ---------------------------------------------------
  8162. void FlushSerialRequestResend()
  8163. {
  8164. //char cmdbuffer[bufindr][100]="Resend:";
  8165. MYSERIAL.flush();
  8166. printf_P(_N("%S: %ld\n%S\n"), _n("Resend"), gcode_LastN + 1, MSG_OK);
  8167. }
  8168. // Confirm the execution of a command, if sent from a serial line.
  8169. // Execution of a command from a SD card will not be confirmed.
  8170. void ClearToSend()
  8171. {
  8172. previous_millis_cmd = _millis();
  8173. if (buflen && ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)))
  8174. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  8175. }
  8176. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8177. void update_currents() {
  8178. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  8179. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  8180. float tmp_motor[3];
  8181. //SERIAL_ECHOLNPGM("Currents updated: ");
  8182. if (destination[Z_AXIS] < Z_SILENT) {
  8183. //SERIAL_ECHOLNPGM("LOW");
  8184. for (uint8_t i = 0; i < 3; i++) {
  8185. st_current_set(i, current_low[i]);
  8186. /*MYSERIAL.print(int(i));
  8187. SERIAL_ECHOPGM(": ");
  8188. MYSERIAL.println(current_low[i]);*/
  8189. }
  8190. }
  8191. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  8192. //SERIAL_ECHOLNPGM("HIGH");
  8193. for (uint8_t i = 0; i < 3; i++) {
  8194. st_current_set(i, current_high[i]);
  8195. /*MYSERIAL.print(int(i));
  8196. SERIAL_ECHOPGM(": ");
  8197. MYSERIAL.println(current_high[i]);*/
  8198. }
  8199. }
  8200. else {
  8201. for (uint8_t i = 0; i < 3; i++) {
  8202. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  8203. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  8204. st_current_set(i, tmp_motor[i]);
  8205. /*MYSERIAL.print(int(i));
  8206. SERIAL_ECHOPGM(": ");
  8207. MYSERIAL.println(tmp_motor[i]);*/
  8208. }
  8209. }
  8210. }
  8211. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8212. void get_coordinates()
  8213. {
  8214. bool seen[4]={false,false,false,false};
  8215. for(int8_t i=0; i < NUM_AXIS; i++) {
  8216. if(code_seen(axis_codes[i]))
  8217. {
  8218. bool relative = axis_relative_modes & (1 << i);
  8219. destination[i] = (float)code_value();
  8220. if (i == E_AXIS) {
  8221. float emult = extruder_multiplier[active_extruder];
  8222. if (emult != 1.) {
  8223. if (! relative) {
  8224. destination[i] -= current_position[i];
  8225. relative = true;
  8226. }
  8227. destination[i] *= emult;
  8228. }
  8229. }
  8230. if (relative)
  8231. destination[i] += current_position[i];
  8232. seen[i]=true;
  8233. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8234. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  8235. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  8236. }
  8237. else destination[i] = current_position[i]; //Are these else lines really needed?
  8238. }
  8239. if(code_seen('F')) {
  8240. next_feedrate = code_value();
  8241. #ifdef MAX_SILENT_FEEDRATE
  8242. if (tmc2130_mode == TMC2130_MODE_SILENT)
  8243. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  8244. #endif //MAX_SILENT_FEEDRATE
  8245. if(next_feedrate > 0.0) feedrate = next_feedrate;
  8246. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  8247. {
  8248. // float e_max_speed =
  8249. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  8250. }
  8251. }
  8252. }
  8253. void get_arc_coordinates()
  8254. {
  8255. #ifdef SF_ARC_FIX
  8256. bool relative_mode_backup = relative_mode;
  8257. relative_mode = true;
  8258. #endif
  8259. get_coordinates();
  8260. #ifdef SF_ARC_FIX
  8261. relative_mode=relative_mode_backup;
  8262. #endif
  8263. if(code_seen('I')) {
  8264. offset[0] = code_value();
  8265. }
  8266. else {
  8267. offset[0] = 0.0;
  8268. }
  8269. if(code_seen('J')) {
  8270. offset[1] = code_value();
  8271. }
  8272. else {
  8273. offset[1] = 0.0;
  8274. }
  8275. }
  8276. void clamp_to_software_endstops(float target[3])
  8277. {
  8278. #ifdef DEBUG_DISABLE_SWLIMITS
  8279. return;
  8280. #endif //DEBUG_DISABLE_SWLIMITS
  8281. world2machine_clamp(target[0], target[1]);
  8282. // Clamp the Z coordinate.
  8283. if (min_software_endstops) {
  8284. float negative_z_offset = 0;
  8285. #ifdef ENABLE_AUTO_BED_LEVELING
  8286. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  8287. if (cs.add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + cs.add_homing[Z_AXIS];
  8288. #endif
  8289. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  8290. }
  8291. if (max_software_endstops) {
  8292. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  8293. }
  8294. }
  8295. #ifdef MESH_BED_LEVELING
  8296. 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) {
  8297. float dx = x - current_position[X_AXIS];
  8298. float dy = y - current_position[Y_AXIS];
  8299. int n_segments = 0;
  8300. if (mbl.active) {
  8301. float len = abs(dx) + abs(dy);
  8302. if (len > 0)
  8303. // Split to 3cm segments or shorter.
  8304. n_segments = int(ceil(len / 30.f));
  8305. }
  8306. if (n_segments > 1) {
  8307. // In a multi-segment move explicitly set the final target in the plan
  8308. // as the move will be recalculated in it's entirety
  8309. float gcode_target[NUM_AXIS];
  8310. gcode_target[X_AXIS] = x;
  8311. gcode_target[Y_AXIS] = y;
  8312. gcode_target[Z_AXIS] = z;
  8313. gcode_target[E_AXIS] = e;
  8314. float dz = z - current_position[Z_AXIS];
  8315. float de = e - current_position[E_AXIS];
  8316. for (int i = 1; i < n_segments; ++ i) {
  8317. float t = float(i) / float(n_segments);
  8318. plan_buffer_line(current_position[X_AXIS] + t * dx,
  8319. current_position[Y_AXIS] + t * dy,
  8320. current_position[Z_AXIS] + t * dz,
  8321. current_position[E_AXIS] + t * de,
  8322. feed_rate, extruder, gcode_target);
  8323. if (waiting_inside_plan_buffer_line_print_aborted)
  8324. return;
  8325. }
  8326. }
  8327. // The rest of the path.
  8328. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  8329. }
  8330. #endif // MESH_BED_LEVELING
  8331. void prepare_move()
  8332. {
  8333. clamp_to_software_endstops(destination);
  8334. previous_millis_cmd = _millis();
  8335. // Do not use feedmultiply for E or Z only moves
  8336. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  8337. plan_buffer_line_destinationXYZE(feedrate/60);
  8338. }
  8339. else {
  8340. #ifdef MESH_BED_LEVELING
  8341. 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);
  8342. #else
  8343. plan_buffer_line_destinationXYZE(feedrate*feedmultiply*(1./(60.f*100.f)));
  8344. #endif
  8345. }
  8346. set_current_to_destination();
  8347. }
  8348. void prepare_arc_move(char isclockwise) {
  8349. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  8350. // Trace the arc
  8351. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  8352. // As far as the parser is concerned, the position is now == target. In reality the
  8353. // motion control system might still be processing the action and the real tool position
  8354. // in any intermediate location.
  8355. for(int8_t i=0; i < NUM_AXIS; i++) {
  8356. current_position[i] = destination[i];
  8357. }
  8358. previous_millis_cmd = _millis();
  8359. }
  8360. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  8361. #if defined(FAN_PIN)
  8362. #if CONTROLLERFAN_PIN == FAN_PIN
  8363. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  8364. #endif
  8365. #endif
  8366. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  8367. unsigned long lastMotorCheck = 0;
  8368. void controllerFan()
  8369. {
  8370. if ((_millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  8371. {
  8372. lastMotorCheck = _millis();
  8373. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  8374. #if EXTRUDERS > 2
  8375. || !READ(E2_ENABLE_PIN)
  8376. #endif
  8377. #if EXTRUDER > 1
  8378. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  8379. || !READ(X2_ENABLE_PIN)
  8380. #endif
  8381. || !READ(E1_ENABLE_PIN)
  8382. #endif
  8383. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  8384. {
  8385. lastMotor = _millis(); //... set time to NOW so the fan will turn on
  8386. }
  8387. if ((_millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  8388. {
  8389. digitalWrite(CONTROLLERFAN_PIN, 0);
  8390. analogWrite(CONTROLLERFAN_PIN, 0);
  8391. }
  8392. else
  8393. {
  8394. // allows digital or PWM fan output to be used (see M42 handling)
  8395. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  8396. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  8397. }
  8398. }
  8399. }
  8400. #endif
  8401. #ifdef TEMP_STAT_LEDS
  8402. static bool blue_led = false;
  8403. static bool red_led = false;
  8404. static uint32_t stat_update = 0;
  8405. void handle_status_leds(void) {
  8406. float max_temp = 0.0;
  8407. if(_millis() > stat_update) {
  8408. stat_update += 500; // Update every 0.5s
  8409. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  8410. max_temp = max(max_temp, degHotend(cur_extruder));
  8411. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  8412. }
  8413. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  8414. max_temp = max(max_temp, degTargetBed());
  8415. max_temp = max(max_temp, degBed());
  8416. #endif
  8417. if((max_temp > 55.0) && (red_led == false)) {
  8418. digitalWrite(STAT_LED_RED, 1);
  8419. digitalWrite(STAT_LED_BLUE, 0);
  8420. red_led = true;
  8421. blue_led = false;
  8422. }
  8423. if((max_temp < 54.0) && (blue_led == false)) {
  8424. digitalWrite(STAT_LED_RED, 0);
  8425. digitalWrite(STAT_LED_BLUE, 1);
  8426. red_led = false;
  8427. blue_led = true;
  8428. }
  8429. }
  8430. }
  8431. #endif
  8432. #ifdef SAFETYTIMER
  8433. /**
  8434. * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
  8435. *
  8436. * Full screen blocking notification message is shown after heater turning off.
  8437. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  8438. * damage print.
  8439. *
  8440. * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
  8441. */
  8442. static void handleSafetyTimer()
  8443. {
  8444. #if (EXTRUDERS > 1)
  8445. #error Implemented only for one extruder.
  8446. #endif //(EXTRUDERS > 1)
  8447. if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
  8448. {
  8449. safetyTimer.stop();
  8450. }
  8451. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  8452. {
  8453. safetyTimer.start();
  8454. }
  8455. else if (safetyTimer.expired(farm_mode?FARM_DEFAULT_SAFETYTIMER_TIME_ms:safetytimer_inactive_time))
  8456. {
  8457. setTargetBed(0);
  8458. setAllTargetHotends(0);
  8459. lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=20 r=4
  8460. }
  8461. }
  8462. #endif //SAFETYTIMER
  8463. #ifdef IR_SENSOR_ANALOG
  8464. #define FS_CHECK_COUNT 16
  8465. /// Switching mechanism of the fsensor type.
  8466. /// Called from 2 spots which have a very similar behavior
  8467. /// 1: ClFsensorPCB::_Old -> ClFsensorPCB::_Rev04 and print _i("FS v0.4 or newer")
  8468. /// 2: ClFsensorPCB::_Rev04 -> oFsensorPCB=ClFsensorPCB::_Old and print _i("FS v0.3 or older")
  8469. void manage_inactivity_IR_ANALOG_Check(uint16_t &nFSCheckCount, ClFsensorPCB isVersion, ClFsensorPCB switchTo, const char *statusLineTxt_P) {
  8470. bool bTemp = (!CHECK_ALL_HEATERS);
  8471. bTemp = bTemp && (menu_menu == lcd_status_screen);
  8472. bTemp = bTemp && ((oFsensorPCB == isVersion) || (oFsensorPCB == ClFsensorPCB::_Undef));
  8473. bTemp = bTemp && fsensor_enabled;
  8474. if (bTemp) {
  8475. nFSCheckCount++;
  8476. if (nFSCheckCount > FS_CHECK_COUNT) {
  8477. nFSCheckCount = 0; // not necessary
  8478. oFsensorPCB = switchTo;
  8479. eeprom_update_byte((uint8_t *)EEPROM_FSENSOR_PCB, (uint8_t)oFsensorPCB);
  8480. printf_IRSensorAnalogBoardChange();
  8481. lcd_setstatuspgm(statusLineTxt_P);
  8482. }
  8483. } else {
  8484. nFSCheckCount = 0;
  8485. }
  8486. }
  8487. #endif
  8488. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  8489. {
  8490. #ifdef FILAMENT_SENSOR
  8491. bool bInhibitFlag = false;
  8492. #ifdef IR_SENSOR_ANALOG
  8493. static uint16_t nFSCheckCount=0;
  8494. #endif // IR_SENSOR_ANALOG
  8495. if (mmu_enabled == false)
  8496. {
  8497. //-// if (mcode_in_progress != 600) //M600 not in progress
  8498. if (!PRINTER_ACTIVE) bInhibitFlag=(menu_menu==lcd_menu_show_sensors_state); //Block Filament sensor actions if PRINTER is not active and Support::SensorInfo menu active
  8499. #ifdef IR_SENSOR_ANALOG
  8500. bInhibitFlag=bInhibitFlag||bMenuFSDetect; // Block Filament sensor actions if Settings::HWsetup::FSdetect menu active
  8501. #endif // IR_SENSOR_ANALOG
  8502. if ((mcode_in_progress != 600) && (eFilamentAction != FilamentAction::AutoLoad) && (!bInhibitFlag) && (menu_menu != lcd_move_e)) //M600 not in progress, preHeat @ autoLoad menu not active
  8503. {
  8504. if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LcdCommands::Layer1Cal) && ! eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE))
  8505. {
  8506. #ifdef IR_SENSOR_ANALOG
  8507. static uint16_t minVolt = Voltage2Raw(6.F), maxVolt = 0;
  8508. // detect min-max, some long term sliding window for filtration may be added
  8509. // avoiding floating point operations, thus computing in raw
  8510. if( current_voltage_raw_IR > maxVolt )maxVolt = current_voltage_raw_IR;
  8511. if( current_voltage_raw_IR < minVolt )minVolt = current_voltage_raw_IR;
  8512. #if 0 // Start: IR Sensor debug info
  8513. { // debug print
  8514. static uint16_t lastVolt = ~0U;
  8515. if( current_voltage_raw_IR != lastVolt ){
  8516. printf_P(PSTR("fs volt=%4.2fV (min=%4.2f max=%4.2f)\n"), Raw2Voltage(current_voltage_raw_IR), Raw2Voltage(minVolt), Raw2Voltage(maxVolt) );
  8517. lastVolt = current_voltage_raw_IR;
  8518. }
  8519. }
  8520. #endif // End: IR Sensor debug info
  8521. //! The trouble is, I can hold the filament in the hole in such a way, that it creates the exact voltage
  8522. //! to be detected as the new fsensor
  8523. //! We can either fake it by extending the detection window to a looooong time
  8524. //! or do some other countermeasures
  8525. //! what we want to detect:
  8526. //! if minvolt gets below ~0.3V, it means there is an old fsensor
  8527. //! if maxvolt gets above 4.6V, it means we either have an old fsensor or broken cables/fsensor
  8528. //! So I'm waiting for a situation, when minVolt gets to range <0, 1.5> and maxVolt gets into range <3.0, 5>
  8529. //! If and only if minVolt is in range <0.3, 1.5> and maxVolt is in range <3.0, 4.6>, I'm considering a situation with the new fsensor
  8530. if( minVolt >= IRsensor_Ldiode_TRESHOLD && minVolt <= IRsensor_Lmax_TRESHOLD
  8531. && maxVolt >= IRsensor_Hmin_TRESHOLD && maxVolt <= IRsensor_Hopen_TRESHOLD
  8532. ){
  8533. manage_inactivity_IR_ANALOG_Check(nFSCheckCount, ClFsensorPCB::_Old, ClFsensorPCB::_Rev04, _i("FS v0.4 or newer") ); ////MSG_FS_V_04_OR_NEWER c=18
  8534. }
  8535. //! If and only if minVolt is in range <0.0, 0.3> and maxVolt is in range <4.6, 5.0V>, I'm considering a situation with the old fsensor
  8536. //! Note, we are not relying on one voltage here - getting just +5V can mean an old fsensor or a broken new sensor - that's why
  8537. //! we need to have both voltages detected correctly to allow switching back to the old fsensor.
  8538. else if( minVolt < IRsensor_Ldiode_TRESHOLD
  8539. && maxVolt > IRsensor_Hopen_TRESHOLD && maxVolt <= IRsensor_VMax_TRESHOLD
  8540. ){
  8541. manage_inactivity_IR_ANALOG_Check(nFSCheckCount, ClFsensorPCB::_Rev04, oFsensorPCB=ClFsensorPCB::_Old, _i("FS v0.3 or older")); ////MSG_FS_V_03_OR_OLDER c=18
  8542. }
  8543. #endif // IR_SENSOR_ANALOG
  8544. if (fsensor_check_autoload())
  8545. {
  8546. #ifdef PAT9125
  8547. fsensor_autoload_check_stop();
  8548. #endif //PAT9125
  8549. //-// if (degHotend0() > EXTRUDE_MINTEMP)
  8550. if(0)
  8551. {
  8552. Sound_MakeCustom(50,1000,false);
  8553. loading_flag = true;
  8554. enquecommand_front_P((PSTR("M701")));
  8555. }
  8556. else
  8557. {
  8558. /*
  8559. lcd_update_enable(false);
  8560. show_preheat_nozzle_warning();
  8561. lcd_update_enable(true);
  8562. */
  8563. eFilamentAction=FilamentAction::AutoLoad;
  8564. bFilamentFirstRun=false;
  8565. if(target_temperature[0]>=EXTRUDE_MINTEMP){
  8566. bFilamentPreheatState=true;
  8567. // mFilamentItem(target_temperature[0],target_temperature_bed);
  8568. menu_submenu(mFilamentItemForce);
  8569. } else {
  8570. menu_submenu(lcd_generic_preheat_menu);
  8571. lcd_timeoutToStatus.start();
  8572. }
  8573. }
  8574. }
  8575. }
  8576. else
  8577. {
  8578. #ifdef PAT9125
  8579. fsensor_autoload_check_stop();
  8580. #endif //PAT9125
  8581. if (fsensor_enabled && !saved_printing)
  8582. fsensor_update();
  8583. }
  8584. }
  8585. }
  8586. #endif //FILAMENT_SENSOR
  8587. #ifdef SAFETYTIMER
  8588. handleSafetyTimer();
  8589. #endif //SAFETYTIMER
  8590. #if defined(KILL_PIN) && KILL_PIN > -1
  8591. static int killCount = 0; // make the inactivity button a bit less responsive
  8592. const int KILL_DELAY = 10000;
  8593. #endif
  8594. if(buflen < (BUFSIZE-1)){
  8595. get_command();
  8596. }
  8597. if( (_millis() - previous_millis_cmd) > max_inactive_time )
  8598. if(max_inactive_time)
  8599. kill(_n("Inactivity Shutdown"), 4);
  8600. if(stepper_inactive_time) {
  8601. if( (_millis() - previous_millis_cmd) > stepper_inactive_time )
  8602. {
  8603. if(blocks_queued() == false && ignore_stepper_queue == false) {
  8604. disable_x();
  8605. disable_y();
  8606. disable_z();
  8607. disable_e0();
  8608. disable_e1();
  8609. disable_e2();
  8610. }
  8611. }
  8612. }
  8613. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  8614. if (chdkActive && (_millis() - chdkHigh > CHDK_DELAY))
  8615. {
  8616. chdkActive = false;
  8617. WRITE(CHDK, LOW);
  8618. }
  8619. #endif
  8620. #if defined(KILL_PIN) && KILL_PIN > -1
  8621. // Check if the kill button was pressed and wait just in case it was an accidental
  8622. // key kill key press
  8623. // -------------------------------------------------------------------------------
  8624. if( 0 == READ(KILL_PIN) )
  8625. {
  8626. killCount++;
  8627. }
  8628. else if (killCount > 0)
  8629. {
  8630. killCount--;
  8631. }
  8632. // Exceeded threshold and we can confirm that it was not accidental
  8633. // KILL the machine
  8634. // ----------------------------------------------------------------
  8635. if ( killCount >= KILL_DELAY)
  8636. {
  8637. kill(NULL, 5);
  8638. }
  8639. #endif
  8640. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  8641. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  8642. #endif
  8643. #ifdef EXTRUDER_RUNOUT_PREVENT
  8644. if( (_millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  8645. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  8646. {
  8647. bool oldstatus=READ(E0_ENABLE_PIN);
  8648. enable_e0();
  8649. float oldepos=current_position[E_AXIS];
  8650. float oldedes=destination[E_AXIS];
  8651. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  8652. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS],
  8653. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS], active_extruder);
  8654. current_position[E_AXIS]=oldepos;
  8655. destination[E_AXIS]=oldedes;
  8656. plan_set_e_position(oldepos);
  8657. previous_millis_cmd=_millis();
  8658. st_synchronize();
  8659. WRITE(E0_ENABLE_PIN,oldstatus);
  8660. }
  8661. #endif
  8662. #ifdef TEMP_STAT_LEDS
  8663. handle_status_leds();
  8664. #endif
  8665. check_axes_activity();
  8666. mmu_loop();
  8667. }
  8668. void kill(const char *full_screen_message, unsigned char id)
  8669. {
  8670. printf_P(_N("KILL: %d\n"), id);
  8671. //return;
  8672. cli(); // Stop interrupts
  8673. disable_heater();
  8674. disable_x();
  8675. // SERIAL_ECHOLNPGM("kill - disable Y");
  8676. disable_y();
  8677. poweroff_z();
  8678. disable_e0();
  8679. disable_e1();
  8680. disable_e2();
  8681. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  8682. pinMode(PS_ON_PIN,INPUT);
  8683. #endif
  8684. SERIAL_ERROR_START;
  8685. SERIAL_ERRORLNRPGM(_n("Printer halted. kill() called!"));////MSG_ERR_KILLED
  8686. if (full_screen_message != NULL) {
  8687. SERIAL_ERRORLNRPGM(full_screen_message);
  8688. lcd_display_message_fullscreen_P(full_screen_message);
  8689. } else {
  8690. LCD_ALERTMESSAGERPGM(_n("KILLED. "));////MSG_KILLED
  8691. }
  8692. // FMC small patch to update the LCD before ending
  8693. sei(); // enable interrupts
  8694. for ( int i=5; i--; lcd_update(0))
  8695. {
  8696. _delay(200);
  8697. }
  8698. cli(); // disable interrupts
  8699. suicide();
  8700. while(1)
  8701. {
  8702. #ifdef WATCHDOG
  8703. wdt_reset();
  8704. #endif //WATCHDOG
  8705. /* Intentionally left empty */
  8706. } // Wait for reset
  8707. }
  8708. // Stop: Emergency stop used by overtemp functions which allows recovery
  8709. //
  8710. // In addition to stopping the print, this prevents subsequent G[0-3] commands to be
  8711. // processed via USB (using "Stopped") until the print is resumed via M999 or
  8712. // manually started from scratch with the LCD.
  8713. //
  8714. // Note that the current instruction is completely discarded, so resuming from Stop()
  8715. // will introduce either over/under extrusion on the current segment, and will not
  8716. // survive a power panic. Switching Stop() to use the pause machinery instead (with
  8717. // the addition of disabling the headers) could allow true recovery in the future.
  8718. void Stop()
  8719. {
  8720. disable_heater();
  8721. if(Stopped == false) {
  8722. Stopped = true;
  8723. lcd_print_stop();
  8724. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  8725. SERIAL_ERROR_START;
  8726. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  8727. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  8728. }
  8729. }
  8730. bool IsStopped() { return Stopped; };
  8731. void finishAndDisableSteppers()
  8732. {
  8733. st_synchronize();
  8734. disable_x();
  8735. disable_y();
  8736. disable_z();
  8737. disable_e0();
  8738. disable_e1();
  8739. disable_e2();
  8740. #ifndef LA_NOCOMPAT
  8741. // Steppers are disabled both when a print is stopped and also via M84 (which is additionally
  8742. // checked-for to indicate a complete file), so abuse this function to reset the LA detection
  8743. // state for the next print.
  8744. la10c_reset();
  8745. #endif
  8746. }
  8747. #ifdef FAST_PWM_FAN
  8748. void setPwmFrequency(uint8_t pin, int val)
  8749. {
  8750. val &= 0x07;
  8751. switch(digitalPinToTimer(pin))
  8752. {
  8753. #if defined(TCCR0A)
  8754. case TIMER0A:
  8755. case TIMER0B:
  8756. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  8757. // TCCR0B |= val;
  8758. break;
  8759. #endif
  8760. #if defined(TCCR1A)
  8761. case TIMER1A:
  8762. case TIMER1B:
  8763. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  8764. // TCCR1B |= val;
  8765. break;
  8766. #endif
  8767. #if defined(TCCR2)
  8768. case TIMER2:
  8769. case TIMER2:
  8770. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  8771. TCCR2 |= val;
  8772. break;
  8773. #endif
  8774. #if defined(TCCR2A)
  8775. case TIMER2A:
  8776. case TIMER2B:
  8777. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  8778. TCCR2B |= val;
  8779. break;
  8780. #endif
  8781. #if defined(TCCR3A)
  8782. case TIMER3A:
  8783. case TIMER3B:
  8784. case TIMER3C:
  8785. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  8786. TCCR3B |= val;
  8787. break;
  8788. #endif
  8789. #if defined(TCCR4A)
  8790. case TIMER4A:
  8791. case TIMER4B:
  8792. case TIMER4C:
  8793. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  8794. TCCR4B |= val;
  8795. break;
  8796. #endif
  8797. #if defined(TCCR5A)
  8798. case TIMER5A:
  8799. case TIMER5B:
  8800. case TIMER5C:
  8801. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  8802. TCCR5B |= val;
  8803. break;
  8804. #endif
  8805. }
  8806. }
  8807. #endif //FAST_PWM_FAN
  8808. //! @brief Get and validate extruder number
  8809. //!
  8810. //! If it is not specified, active_extruder is returned in parameter extruder.
  8811. //! @param [in] code M code number
  8812. //! @param [out] extruder
  8813. //! @return error
  8814. //! @retval true Invalid extruder specified in T code
  8815. //! @retval false Valid extruder specified in T code, or not specifiead
  8816. bool setTargetedHotend(int code, uint8_t &extruder)
  8817. {
  8818. extruder = active_extruder;
  8819. if(code_seen('T')) {
  8820. extruder = code_value();
  8821. if(extruder >= EXTRUDERS) {
  8822. SERIAL_ECHO_START;
  8823. switch(code){
  8824. case 104:
  8825. SERIAL_ECHORPGM(_n("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER
  8826. break;
  8827. case 105:
  8828. SERIAL_ECHORPGM(_n("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER
  8829. break;
  8830. case 109:
  8831. SERIAL_ECHORPGM(_n("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER
  8832. break;
  8833. case 218:
  8834. SERIAL_ECHORPGM(_n("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER
  8835. break;
  8836. case 221:
  8837. SERIAL_ECHORPGM(_n("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER
  8838. break;
  8839. }
  8840. SERIAL_PROTOCOLLN((int)extruder);
  8841. return true;
  8842. }
  8843. }
  8844. return false;
  8845. }
  8846. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  8847. {
  8848. 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)
  8849. {
  8850. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  8851. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  8852. }
  8853. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  8854. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  8855. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  8856. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  8857. total_filament_used = 0;
  8858. }
  8859. float calculate_extruder_multiplier(float diameter) {
  8860. float out = 1.f;
  8861. if (cs.volumetric_enabled && diameter > 0.f) {
  8862. float area = M_PI * diameter * diameter * 0.25;
  8863. out = 1.f / area;
  8864. }
  8865. if (extrudemultiply != 100)
  8866. out *= float(extrudemultiply) * 0.01f;
  8867. return out;
  8868. }
  8869. void calculate_extruder_multipliers() {
  8870. extruder_multiplier[0] = calculate_extruder_multiplier(cs.filament_size[0]);
  8871. #if EXTRUDERS > 1
  8872. extruder_multiplier[1] = calculate_extruder_multiplier(cs.filament_size[1]);
  8873. #if EXTRUDERS > 2
  8874. extruder_multiplier[2] = calculate_extruder_multiplier(cs.filament_size[2]);
  8875. #endif
  8876. #endif
  8877. }
  8878. void delay_keep_alive(unsigned int ms)
  8879. {
  8880. for (;;) {
  8881. manage_heater();
  8882. // Manage inactivity, but don't disable steppers on timeout.
  8883. manage_inactivity(true);
  8884. lcd_update(0);
  8885. if (ms == 0)
  8886. break;
  8887. else if (ms >= 50) {
  8888. _delay(50);
  8889. ms -= 50;
  8890. } else {
  8891. _delay(ms);
  8892. ms = 0;
  8893. }
  8894. }
  8895. }
  8896. static void wait_for_heater(long codenum, uint8_t extruder) {
  8897. if (!degTargetHotend(extruder))
  8898. return;
  8899. #ifdef TEMP_RESIDENCY_TIME
  8900. long residencyStart;
  8901. residencyStart = -1;
  8902. /* continue to loop until we have reached the target temp
  8903. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  8904. cancel_heatup = false;
  8905. while ((!cancel_heatup) && ((residencyStart == -1) ||
  8906. (residencyStart >= 0 && (((unsigned int)(_millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  8907. #else
  8908. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  8909. #endif //TEMP_RESIDENCY_TIME
  8910. if ((_millis() - codenum) > 1000UL)
  8911. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  8912. if (!farm_mode) {
  8913. SERIAL_PROTOCOLPGM("T:");
  8914. SERIAL_PROTOCOL_F(degHotend(extruder), 1);
  8915. SERIAL_PROTOCOLPGM(" E:");
  8916. SERIAL_PROTOCOL((int)extruder);
  8917. #ifdef TEMP_RESIDENCY_TIME
  8918. SERIAL_PROTOCOLPGM(" W:");
  8919. if (residencyStart > -1)
  8920. {
  8921. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (_millis() - residencyStart)) / 1000UL;
  8922. SERIAL_PROTOCOLLN(codenum);
  8923. }
  8924. else
  8925. {
  8926. SERIAL_PROTOCOLLN('?');
  8927. }
  8928. }
  8929. #else
  8930. SERIAL_PROTOCOLLN();
  8931. #endif
  8932. codenum = _millis();
  8933. }
  8934. manage_heater();
  8935. manage_inactivity(true); //do not disable steppers
  8936. lcd_update(0);
  8937. #ifdef TEMP_RESIDENCY_TIME
  8938. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  8939. or when current temp falls outside the hysteresis after target temp was reached */
  8940. if ((residencyStart == -1 && target_direction && (degHotend(extruder) >= (degTargetHotend(extruder) - TEMP_WINDOW))) ||
  8941. (residencyStart == -1 && !target_direction && (degHotend(extruder) <= (degTargetHotend(extruder) + TEMP_WINDOW))) ||
  8942. (residencyStart > -1 && labs(degHotend(extruder) - degTargetHotend(extruder)) > TEMP_HYSTERESIS))
  8943. {
  8944. residencyStart = _millis();
  8945. }
  8946. #endif //TEMP_RESIDENCY_TIME
  8947. }
  8948. }
  8949. void check_babystep()
  8950. {
  8951. int babystep_z = eeprom_read_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
  8952. s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)));
  8953. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  8954. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  8955. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  8956. eeprom_write_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
  8957. s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),
  8958. babystep_z);
  8959. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  8960. lcd_update_enable(true);
  8961. }
  8962. }
  8963. #ifdef HEATBED_ANALYSIS
  8964. void d_setup()
  8965. {
  8966. pinMode(D_DATACLOCK, INPUT_PULLUP);
  8967. pinMode(D_DATA, INPUT_PULLUP);
  8968. pinMode(D_REQUIRE, OUTPUT);
  8969. digitalWrite(D_REQUIRE, HIGH);
  8970. }
  8971. float d_ReadData()
  8972. {
  8973. int digit[13];
  8974. String mergeOutput;
  8975. float output;
  8976. digitalWrite(D_REQUIRE, HIGH);
  8977. for (int i = 0; i<13; i++)
  8978. {
  8979. for (int j = 0; j < 4; j++)
  8980. {
  8981. while (digitalRead(D_DATACLOCK) == LOW) {}
  8982. while (digitalRead(D_DATACLOCK) == HIGH) {}
  8983. bitWrite(digit[i], j, digitalRead(D_DATA));
  8984. }
  8985. }
  8986. digitalWrite(D_REQUIRE, LOW);
  8987. mergeOutput = "";
  8988. output = 0;
  8989. for (int r = 5; r <= 10; r++) //Merge digits
  8990. {
  8991. mergeOutput += digit[r];
  8992. }
  8993. output = mergeOutput.toFloat();
  8994. if (digit[4] == 8) //Handle sign
  8995. {
  8996. output *= -1;
  8997. }
  8998. for (int i = digit[11]; i > 0; i--) //Handle floating point
  8999. {
  9000. output /= 10;
  9001. }
  9002. return output;
  9003. }
  9004. void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  9005. int t1 = 0;
  9006. int t_delay = 0;
  9007. int digit[13];
  9008. int m;
  9009. char str[3];
  9010. //String mergeOutput;
  9011. char mergeOutput[15];
  9012. float output;
  9013. int mesh_point = 0; //index number of calibration point
  9014. 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
  9015. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  9016. float mesh_home_z_search = 4;
  9017. float measure_z_height = 0.2f;
  9018. float row[x_points_num];
  9019. int ix = 0;
  9020. int iy = 0;
  9021. const char* filename_wldsd = "mesh.txt";
  9022. char data_wldsd[x_points_num * 7 + 1]; //6 chars(" -A.BCD")for each measurement + null
  9023. char numb_wldsd[8]; // (" -A.BCD" + null)
  9024. #ifdef MICROMETER_LOGGING
  9025. d_setup();
  9026. #endif //MICROMETER_LOGGING
  9027. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  9028. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  9029. unsigned int custom_message_type_old = custom_message_type;
  9030. unsigned int custom_message_state_old = custom_message_state;
  9031. custom_message_type = CustomMsg::MeshBedLeveling;
  9032. custom_message_state = (x_points_num * y_points_num) + 10;
  9033. lcd_update(1);
  9034. //mbl.reset();
  9035. babystep_undo();
  9036. card.openFile(filename_wldsd, false);
  9037. /*destination[Z_AXIS] = mesh_home_z_search;
  9038. //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  9039. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  9040. for(int8_t i=0; i < NUM_AXIS; i++) {
  9041. current_position[i] = destination[i];
  9042. }
  9043. st_synchronize();
  9044. */
  9045. destination[Z_AXIS] = measure_z_height;
  9046. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  9047. for(int8_t i=0; i < NUM_AXIS; i++) {
  9048. current_position[i] = destination[i];
  9049. }
  9050. st_synchronize();
  9051. /*int l_feedmultiply = */setup_for_endstop_move(false);
  9052. SERIAL_PROTOCOLPGM("Num X,Y: ");
  9053. SERIAL_PROTOCOL(x_points_num);
  9054. SERIAL_PROTOCOLPGM(",");
  9055. SERIAL_PROTOCOL(y_points_num);
  9056. SERIAL_PROTOCOLPGM("\nZ search height: ");
  9057. SERIAL_PROTOCOL(mesh_home_z_search);
  9058. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  9059. SERIAL_PROTOCOL(x_dimension);
  9060. SERIAL_PROTOCOLPGM(",");
  9061. SERIAL_PROTOCOL(y_dimension);
  9062. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  9063. while (mesh_point != x_points_num * y_points_num) {
  9064. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  9065. iy = mesh_point / x_points_num;
  9066. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  9067. float z0 = 0.f;
  9068. /*destination[Z_AXIS] = mesh_home_z_search;
  9069. //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
  9070. plan_buffer_line_destinationXYZE(Z_LIFT_FEEDRATE);
  9071. for(int8_t i=0; i < NUM_AXIS; i++) {
  9072. current_position[i] = destination[i];
  9073. }
  9074. st_synchronize();*/
  9075. //current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  9076. //current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  9077. destination[X_AXIS] = ix * (x_dimension / (x_points_num - 1)) + shift_x;
  9078. destination[Y_AXIS] = iy * (y_dimension / (y_points_num - 1)) + shift_y;
  9079. mesh_plan_buffer_line_destinationXYZE(XY_AXIS_FEEDRATE/6);
  9080. set_current_to_destination();
  9081. st_synchronize();
  9082. // printf_P(PSTR("X = %f; Y= %f \n"), current_position[X_AXIS], current_position[Y_AXIS]);
  9083. delay_keep_alive(1000);
  9084. #ifdef MICROMETER_LOGGING
  9085. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9086. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  9087. //strcat(data_wldsd, numb_wldsd);
  9088. //MYSERIAL.println(data_wldsd);
  9089. //delay(1000);
  9090. //delay(3000);
  9091. //t1 = millis();
  9092. //while (digitalRead(D_DATACLOCK) == LOW) {}
  9093. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  9094. memset(digit, 0, sizeof(digit));
  9095. //cli();
  9096. digitalWrite(D_REQUIRE, LOW);
  9097. for (int i = 0; i<13; i++)
  9098. {
  9099. //t1 = millis();
  9100. for (int j = 0; j < 4; j++)
  9101. {
  9102. while (digitalRead(D_DATACLOCK) == LOW) {}
  9103. while (digitalRead(D_DATACLOCK) == HIGH) {}
  9104. //printf_P(PSTR("Done %d\n"), j);
  9105. bitWrite(digit[i], j, digitalRead(D_DATA));
  9106. }
  9107. //t_delay = (millis() - t1);
  9108. //SERIAL_PROTOCOLPGM(" ");
  9109. //SERIAL_PROTOCOL_F(t_delay, 5);
  9110. //SERIAL_PROTOCOLPGM(" ");
  9111. }
  9112. //sei();
  9113. digitalWrite(D_REQUIRE, HIGH);
  9114. mergeOutput[0] = '\0';
  9115. output = 0;
  9116. for (int r = 5; r <= 10; r++) //Merge digits
  9117. {
  9118. sprintf(str, "%d", digit[r]);
  9119. strcat(mergeOutput, str);
  9120. }
  9121. output = atof(mergeOutput);
  9122. if (digit[4] == 8) //Handle sign
  9123. {
  9124. output *= -1;
  9125. }
  9126. for (int i = digit[11]; i > 0; i--) //Handle floating point
  9127. {
  9128. output *= 0.1;
  9129. }
  9130. //output = d_ReadData();
  9131. //row[ix] = current_position[Z_AXIS];
  9132. //row[ix] = d_ReadData();
  9133. row[ix] = output;
  9134. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  9135. memset(data_wldsd, 0, sizeof(data_wldsd));
  9136. for (int i = 0; i < x_points_num; i++) {
  9137. SERIAL_PROTOCOLPGM(" ");
  9138. SERIAL_PROTOCOL_F(row[i], 5);
  9139. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9140. dtostrf(row[i], 7, 3, numb_wldsd);
  9141. strcat(data_wldsd, numb_wldsd);
  9142. }
  9143. card.write_command(data_wldsd);
  9144. SERIAL_PROTOCOLPGM("\n");
  9145. }
  9146. custom_message_state--;
  9147. mesh_point++;
  9148. lcd_update(1);
  9149. }
  9150. #endif //MICROMETER_LOGGING
  9151. card.closefile();
  9152. //clean_up_after_endstop_move(l_feedmultiply);
  9153. }
  9154. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  9155. int t1 = 0;
  9156. int t_delay = 0;
  9157. int digit[13];
  9158. int m;
  9159. char str[3];
  9160. //String mergeOutput;
  9161. char mergeOutput[15];
  9162. float output;
  9163. int mesh_point = 0; //index number of calibration point
  9164. 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
  9165. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  9166. float mesh_home_z_search = 4;
  9167. float row[x_points_num];
  9168. int ix = 0;
  9169. int iy = 0;
  9170. const char* filename_wldsd = "wldsd.txt";
  9171. char data_wldsd[70];
  9172. char numb_wldsd[10];
  9173. d_setup();
  9174. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  9175. // We don't know where we are! HOME!
  9176. // Push the commands to the front of the message queue in the reverse order!
  9177. // There shall be always enough space reserved for these commands.
  9178. repeatcommand_front(); // repeat G80 with all its parameters
  9179. enquecommand_front_P(G28W0);
  9180. enquecommand_front_P((PSTR("G1 Z5")));
  9181. return;
  9182. }
  9183. unsigned int custom_message_type_old = custom_message_type;
  9184. unsigned int custom_message_state_old = custom_message_state;
  9185. custom_message_type = CustomMsg::MeshBedLeveling;
  9186. custom_message_state = (x_points_num * y_points_num) + 10;
  9187. lcd_update(1);
  9188. mbl.reset();
  9189. babystep_undo();
  9190. card.openFile(filename_wldsd, false);
  9191. current_position[Z_AXIS] = mesh_home_z_search;
  9192. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
  9193. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  9194. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  9195. int l_feedmultiply = setup_for_endstop_move(false);
  9196. SERIAL_PROTOCOLPGM("Num X,Y: ");
  9197. SERIAL_PROTOCOL(x_points_num);
  9198. SERIAL_PROTOCOLPGM(",");
  9199. SERIAL_PROTOCOL(y_points_num);
  9200. SERIAL_PROTOCOLPGM("\nZ search height: ");
  9201. SERIAL_PROTOCOL(mesh_home_z_search);
  9202. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  9203. SERIAL_PROTOCOL(x_dimension);
  9204. SERIAL_PROTOCOLPGM(",");
  9205. SERIAL_PROTOCOL(y_dimension);
  9206. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  9207. while (mesh_point != x_points_num * y_points_num) {
  9208. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  9209. iy = mesh_point / x_points_num;
  9210. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  9211. float z0 = 0.f;
  9212. current_position[Z_AXIS] = mesh_home_z_search;
  9213. plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
  9214. st_synchronize();
  9215. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  9216. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  9217. plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
  9218. st_synchronize();
  9219. 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
  9220. break;
  9221. card.closefile();
  9222. }
  9223. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9224. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  9225. //strcat(data_wldsd, numb_wldsd);
  9226. //MYSERIAL.println(data_wldsd);
  9227. //_delay(1000);
  9228. //_delay(3000);
  9229. //t1 = _millis();
  9230. //while (digitalRead(D_DATACLOCK) == LOW) {}
  9231. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  9232. memset(digit, 0, sizeof(digit));
  9233. //cli();
  9234. digitalWrite(D_REQUIRE, LOW);
  9235. for (int i = 0; i<13; i++)
  9236. {
  9237. //t1 = _millis();
  9238. for (int j = 0; j < 4; j++)
  9239. {
  9240. while (digitalRead(D_DATACLOCK) == LOW) {}
  9241. while (digitalRead(D_DATACLOCK) == HIGH) {}
  9242. bitWrite(digit[i], j, digitalRead(D_DATA));
  9243. }
  9244. //t_delay = (_millis() - t1);
  9245. //SERIAL_PROTOCOLPGM(" ");
  9246. //SERIAL_PROTOCOL_F(t_delay, 5);
  9247. //SERIAL_PROTOCOLPGM(" ");
  9248. }
  9249. //sei();
  9250. digitalWrite(D_REQUIRE, HIGH);
  9251. mergeOutput[0] = '\0';
  9252. output = 0;
  9253. for (int r = 5; r <= 10; r++) //Merge digits
  9254. {
  9255. sprintf(str, "%d", digit[r]);
  9256. strcat(mergeOutput, str);
  9257. }
  9258. output = atof(mergeOutput);
  9259. if (digit[4] == 8) //Handle sign
  9260. {
  9261. output *= -1;
  9262. }
  9263. for (int i = digit[11]; i > 0; i--) //Handle floating point
  9264. {
  9265. output *= 0.1;
  9266. }
  9267. //output = d_ReadData();
  9268. //row[ix] = current_position[Z_AXIS];
  9269. memset(data_wldsd, 0, sizeof(data_wldsd));
  9270. for (int i = 0; i <3; i++) {
  9271. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9272. dtostrf(current_position[i], 8, 5, numb_wldsd);
  9273. strcat(data_wldsd, numb_wldsd);
  9274. strcat(data_wldsd, ";");
  9275. }
  9276. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  9277. dtostrf(output, 8, 5, numb_wldsd);
  9278. strcat(data_wldsd, numb_wldsd);
  9279. //strcat(data_wldsd, ";");
  9280. card.write_command(data_wldsd);
  9281. //row[ix] = d_ReadData();
  9282. row[ix] = output; // current_position[Z_AXIS];
  9283. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  9284. for (int i = 0; i < x_points_num; i++) {
  9285. SERIAL_PROTOCOLPGM(" ");
  9286. SERIAL_PROTOCOL_F(row[i], 5);
  9287. }
  9288. SERIAL_PROTOCOLPGM("\n");
  9289. }
  9290. custom_message_state--;
  9291. mesh_point++;
  9292. lcd_update(1);
  9293. }
  9294. card.closefile();
  9295. clean_up_after_endstop_move(l_feedmultiply);
  9296. }
  9297. #endif //HEATBED_ANALYSIS
  9298. #ifndef PINDA_THERMISTOR
  9299. static void temp_compensation_start() {
  9300. custom_message_type = CustomMsg::TempCompPreheat;
  9301. custom_message_state = PINDA_HEAT_T + 1;
  9302. lcd_update(2);
  9303. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  9304. current_position[E_AXIS] -= default_retraction;
  9305. }
  9306. plan_buffer_line_curposXYZE(400, active_extruder);
  9307. current_position[X_AXIS] = PINDA_PREHEAT_X;
  9308. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  9309. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  9310. plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
  9311. st_synchronize();
  9312. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  9313. for (int i = 0; i < PINDA_HEAT_T; i++) {
  9314. delay_keep_alive(1000);
  9315. custom_message_state = PINDA_HEAT_T - i;
  9316. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  9317. else lcd_update(1);
  9318. }
  9319. custom_message_type = CustomMsg::Status;
  9320. custom_message_state = 0;
  9321. }
  9322. static void temp_compensation_apply() {
  9323. int i_add;
  9324. int z_shift = 0;
  9325. float z_shift_mm;
  9326. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  9327. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  9328. i_add = (target_temperature_bed - 60) / 10;
  9329. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  9330. z_shift_mm = z_shift / cs.axis_steps_per_unit[Z_AXIS];
  9331. }else {
  9332. //interpolation
  9333. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / cs.axis_steps_per_unit[Z_AXIS];
  9334. }
  9335. printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
  9336. 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);
  9337. st_synchronize();
  9338. plan_set_z_position(current_position[Z_AXIS]);
  9339. }
  9340. else {
  9341. //we have no temp compensation data
  9342. }
  9343. }
  9344. #endif //ndef PINDA_THERMISTOR
  9345. float temp_comp_interpolation(float inp_temperature) {
  9346. //cubic spline interpolation
  9347. int n, i, j;
  9348. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  9349. int shift[10];
  9350. int temp_C[10];
  9351. n = 6; //number of measured points
  9352. shift[0] = 0;
  9353. for (i = 0; i < n; i++) {
  9354. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  9355. temp_C[i] = 50 + i * 10; //temperature in C
  9356. #ifdef PINDA_THERMISTOR
  9357. constexpr int start_compensating_temp = 35;
  9358. temp_C[i] = start_compensating_temp + i * 5; //temperature in degrees C
  9359. #ifdef SUPERPINDA_SUPPORT
  9360. static_assert(start_compensating_temp >= PINDA_MINTEMP, "Temperature compensation start point is lower than PINDA_MINTEMP.");
  9361. #endif //SUPERPINDA_SUPPORT
  9362. #else
  9363. temp_C[i] = 50 + i * 10; //temperature in C
  9364. #endif
  9365. x[i] = (float)temp_C[i];
  9366. f[i] = (float)shift[i];
  9367. }
  9368. if (inp_temperature < x[0]) return 0;
  9369. for (i = n - 1; i>0; i--) {
  9370. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  9371. h[i - 1] = x[i] - x[i - 1];
  9372. }
  9373. //*********** formation of h, s , f matrix **************
  9374. for (i = 1; i<n - 1; i++) {
  9375. m[i][i] = 2 * (h[i - 1] + h[i]);
  9376. if (i != 1) {
  9377. m[i][i - 1] = h[i - 1];
  9378. m[i - 1][i] = h[i - 1];
  9379. }
  9380. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  9381. }
  9382. //*********** forward elimination **************
  9383. for (i = 1; i<n - 2; i++) {
  9384. temp = (m[i + 1][i] / m[i][i]);
  9385. for (j = 1; j <= n - 1; j++)
  9386. m[i + 1][j] -= temp*m[i][j];
  9387. }
  9388. //*********** backward substitution *********
  9389. for (i = n - 2; i>0; i--) {
  9390. sum = 0;
  9391. for (j = i; j <= n - 2; j++)
  9392. sum += m[i][j] * s[j];
  9393. s[i] = (m[i][n - 1] - sum) / m[i][i];
  9394. }
  9395. for (i = 0; i<n - 1; i++)
  9396. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  9397. a = (s[i + 1] - s[i]) / (6 * h[i]);
  9398. b = s[i] / 2;
  9399. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  9400. d = f[i];
  9401. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  9402. }
  9403. return sum;
  9404. }
  9405. #ifdef PINDA_THERMISTOR
  9406. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  9407. {
  9408. if (!eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE)) return 0;
  9409. if (!calibration_status_pinda()) return 0;
  9410. return temp_comp_interpolation(temperature_pinda) / cs.axis_steps_per_unit[Z_AXIS];
  9411. }
  9412. #endif //PINDA_THERMISTOR
  9413. void long_pause() //long pause print
  9414. {
  9415. st_synchronize();
  9416. start_pause_print = _millis();
  9417. // Stop heaters
  9418. setAllTargetHotends(0);
  9419. //lift z
  9420. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  9421. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  9422. plan_buffer_line_curposXYZE(15);
  9423. //Move XY to side
  9424. current_position[X_AXIS] = X_PAUSE_POS;
  9425. current_position[Y_AXIS] = Y_PAUSE_POS;
  9426. plan_buffer_line_curposXYZE(50);
  9427. // Turn off the print fan
  9428. fanSpeed = 0;
  9429. }
  9430. void serialecho_temperatures() {
  9431. float tt = degHotend(active_extruder);
  9432. SERIAL_PROTOCOLPGM("T:");
  9433. SERIAL_PROTOCOL(tt);
  9434. SERIAL_PROTOCOLPGM(" E:");
  9435. SERIAL_PROTOCOL((int)active_extruder);
  9436. SERIAL_PROTOCOLPGM(" B:");
  9437. SERIAL_PROTOCOL_F(degBed(), 1);
  9438. SERIAL_PROTOCOLLN();
  9439. }
  9440. #ifdef UVLO_SUPPORT
  9441. void uvlo_drain_reset()
  9442. {
  9443. // burn all that residual power
  9444. wdt_enable(WDTO_1S);
  9445. WRITE(BEEPER,HIGH);
  9446. lcd_clear();
  9447. lcd_puts_at_P(0, 1, MSG_POWERPANIC_DETECTED);
  9448. while(1);
  9449. }
  9450. void uvlo_()
  9451. {
  9452. unsigned long time_start = _millis();
  9453. bool sd_print = card.sdprinting;
  9454. // Conserve power as soon as possible.
  9455. #ifdef LCD_BL_PIN
  9456. backlightMode = BACKLIGHT_MODE_DIM;
  9457. backlightLevel_LOW = 0;
  9458. backlight_update();
  9459. #endif //LCD_BL_PIN
  9460. disable_x();
  9461. disable_y();
  9462. #ifdef TMC2130
  9463. tmc2130_set_current_h(Z_AXIS, 20);
  9464. tmc2130_set_current_r(Z_AXIS, 20);
  9465. tmc2130_set_current_h(E_AXIS, 20);
  9466. tmc2130_set_current_r(E_AXIS, 20);
  9467. #endif //TMC2130
  9468. // Stop all heaters
  9469. uint8_t saved_target_temperature_bed = target_temperature_bed;
  9470. uint16_t saved_target_temperature_ext = target_temperature[active_extruder];
  9471. setAllTargetHotends(0);
  9472. setTargetBed(0);
  9473. // Calculate the file position, from which to resume this print.
  9474. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  9475. {
  9476. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  9477. sd_position -= sdlen_planner;
  9478. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  9479. sd_position -= sdlen_cmdqueue;
  9480. if (sd_position < 0) sd_position = 0;
  9481. }
  9482. // save the global state at planning time
  9483. bool pos_invalid = XY_NO_RESTORE_FLAG;
  9484. uint16_t feedrate_bckp;
  9485. if (current_block && !pos_invalid)
  9486. {
  9487. memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
  9488. feedrate_bckp = current_block->gcode_feedrate;
  9489. }
  9490. else
  9491. {
  9492. saved_target[0] = SAVED_TARGET_UNSET;
  9493. feedrate_bckp = feedrate;
  9494. }
  9495. // From this point on and up to the print recovery, Z should not move during X/Y travels and
  9496. // should be controlled precisely. Reset the MBL status before planner_abort_hard in order to
  9497. // get the physical Z for further manipulation.
  9498. bool mbl_was_active = mbl.active;
  9499. mbl.active = false;
  9500. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  9501. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  9502. // are in action.
  9503. planner_abort_hard();
  9504. // Store the print logical Z position, which we need to recover (a slight error here would be
  9505. // recovered on the next Gcode instruction, while a physical location error would not)
  9506. float logical_z = current_position[Z_AXIS];
  9507. if(mbl_was_active) logical_z -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  9508. eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z, logical_z);
  9509. // Store the print E position before we lose track
  9510. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), current_position[E_AXIS]);
  9511. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, (axis_relative_modes & E_AXIS_MASK)?0:1);
  9512. // Clean the input command queue, inhibit serial processing using saved_printing
  9513. cmdqueue_reset();
  9514. card.sdprinting = false;
  9515. saved_printing = true;
  9516. // Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
  9517. // command queues are empty, SD card printing is disabled, usb is inhibited.
  9518. sei();
  9519. // Retract
  9520. current_position[E_AXIS] -= default_retraction;
  9521. plan_buffer_line_curposXYZE(95);
  9522. st_synchronize();
  9523. disable_e0();
  9524. // Read out the current Z motor microstep counter to move the axis up towards
  9525. // a full step before powering off. NOTE: we need to ensure to schedule more
  9526. // than "dropsegments" steps in order to move (this is always the case here
  9527. // due to UVLO_Z_AXIS_SHIFT being used)
  9528. uint16_t z_res = tmc2130_get_res(Z_AXIS);
  9529. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9530. current_position[Z_AXIS] += float(1024 - z_microsteps)
  9531. / (z_res * cs.axis_steps_per_unit[Z_AXIS])
  9532. + UVLO_Z_AXIS_SHIFT;
  9533. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
  9534. st_synchronize();
  9535. poweroff_z();
  9536. // Write the file position.
  9537. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  9538. // Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
  9539. for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
  9540. uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  9541. uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
  9542. // Scale the z value to 1u resolution.
  9543. int16_t v = mbl_was_active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
  9544. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  9545. }
  9546. // Write the _final_ Z position and motor microstep counter (unused).
  9547. eeprom_update_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z, current_position[Z_AXIS]);
  9548. z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9549. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  9550. // Store the current position.
  9551. if (pos_invalid)
  9552. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), X_COORD_INVALID);
  9553. else
  9554. {
  9555. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  9556. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  9557. }
  9558. // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
  9559. eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDRATE, feedrate_bckp);
  9560. eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY, feedmultiply);
  9561. eeprom_update_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND, saved_target_temperature_ext);
  9562. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, saved_target_temperature_bed);
  9563. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  9564. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
  9565. #if EXTRUDERS > 1
  9566. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
  9567. #if EXTRUDERS > 2
  9568. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
  9569. #endif
  9570. #endif
  9571. eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
  9572. eeprom_update_float((float*)(EEPROM_UVLO_ACCELL), cs.acceleration);
  9573. eeprom_update_float((float*)(EEPROM_UVLO_RETRACT_ACCELL), cs.retract_acceleration);
  9574. eeprom_update_float((float*)(EEPROM_UVLO_TRAVEL_ACCELL), cs.travel_acceleration);
  9575. // Store the saved target
  9576. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4), saved_target[X_AXIS]);
  9577. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4), saved_target[Y_AXIS]);
  9578. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4), saved_target[Z_AXIS]);
  9579. eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4), saved_target[E_AXIS]);
  9580. #ifdef LIN_ADVANCE
  9581. eeprom_update_float((float*)(EEPROM_UVLO_LA_K), extruder_advance_K);
  9582. #endif
  9583. // Finaly store the "power outage" flag.
  9584. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  9585. // Increment power failure counter
  9586. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  9587. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  9588. printf_P(_N("UVLO - end %d\n"), _millis() - time_start);
  9589. WRITE(BEEPER,HIGH);
  9590. // All is set: with all the juice left, try to move extruder away to detach the nozzle completely from the print
  9591. poweron_z();
  9592. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  9593. plan_buffer_line_curposXYZE(500);
  9594. st_synchronize();
  9595. wdt_enable(WDTO_1S);
  9596. while(1);
  9597. }
  9598. void uvlo_tiny()
  9599. {
  9600. unsigned long time_start = _millis();
  9601. // Conserve power as soon as possible.
  9602. disable_x();
  9603. disable_y();
  9604. disable_e0();
  9605. #ifdef TMC2130
  9606. tmc2130_set_current_h(Z_AXIS, 20);
  9607. tmc2130_set_current_r(Z_AXIS, 20);
  9608. #endif //TMC2130
  9609. // Stop all heaters
  9610. setAllTargetHotends(0);
  9611. setTargetBed(0);
  9612. // When power is interrupted on the _first_ recovery an attempt can be made to raise the
  9613. // extruder, causing the Z position to change. Similarly, when recovering, the Z position is
  9614. // lowered. In such cases we cannot just save Z, we need to re-align the steppers to a fullstep.
  9615. // Disable MBL (if not already) to work with physical coordinates.
  9616. mbl.active = false;
  9617. planner_abort_hard();
  9618. // Allow for small roundoffs to be ignored
  9619. if(abs(current_position[Z_AXIS] - eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))) >= 1.f/cs.axis_steps_per_unit[Z_AXIS])
  9620. {
  9621. // Clean the input command queue, inhibit serial processing using saved_printing
  9622. cmdqueue_reset();
  9623. card.sdprinting = false;
  9624. saved_printing = true;
  9625. // Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
  9626. // command queues are empty, SD card printing is disabled, usb is inhibited.
  9627. sei();
  9628. // The axis was moved: adjust Z as done on a regular UVLO.
  9629. uint16_t z_res = tmc2130_get_res(Z_AXIS);
  9630. uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9631. current_position[Z_AXIS] += float(1024 - z_microsteps)
  9632. / (z_res * cs.axis_steps_per_unit[Z_AXIS])
  9633. + UVLO_TINY_Z_AXIS_SHIFT;
  9634. plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
  9635. st_synchronize();
  9636. poweroff_z();
  9637. // Update Z position
  9638. eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  9639. // Update the _final_ Z motor microstep counter (unused).
  9640. z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
  9641. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  9642. }
  9643. // Update the the "power outage" flag.
  9644. eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
  9645. // Increment power failure counter
  9646. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  9647. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  9648. printf_P(_N("UVLO_TINY - end %d\n"), _millis() - time_start);
  9649. uvlo_drain_reset();
  9650. }
  9651. #endif //UVLO_SUPPORT
  9652. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  9653. void setup_fan_interrupt() {
  9654. //INT7
  9655. DDRE &= ~(1 << 7); //input pin
  9656. PORTE &= ~(1 << 7); //no internal pull-up
  9657. //start with sensing rising edge
  9658. EICRB &= ~(1 << 6);
  9659. EICRB |= (1 << 7);
  9660. //enable INT7 interrupt
  9661. EIMSK |= (1 << 7);
  9662. }
  9663. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  9664. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  9665. ISR(INT7_vect) {
  9666. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  9667. #ifdef FAN_SOFT_PWM
  9668. if (!fan_measuring || (fanSpeedSoftPwm < MIN_PRINT_FAN_SPEED)) return;
  9669. #else //FAN_SOFT_PWM
  9670. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  9671. #endif //FAN_SOFT_PWM
  9672. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  9673. t_fan_rising_edge = millis_nc();
  9674. }
  9675. else { //interrupt was triggered by falling edge
  9676. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  9677. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  9678. }
  9679. }
  9680. EICRB ^= (1 << 6); //change edge
  9681. }
  9682. #endif
  9683. #ifdef UVLO_SUPPORT
  9684. void setup_uvlo_interrupt() {
  9685. DDRE &= ~(1 << 4); //input pin
  9686. PORTE &= ~(1 << 4); //no internal pull-up
  9687. // sensing falling edge
  9688. EICRB |= (1 << 0);
  9689. EICRB &= ~(1 << 1);
  9690. // enable INT4 interrupt
  9691. EIMSK |= (1 << 4);
  9692. // check if power was lost before we armed the interrupt
  9693. if(!(PINE & (1 << 4)) && eeprom_read_byte((uint8_t*)EEPROM_UVLO))
  9694. {
  9695. SERIAL_ECHOLNPGM("INT4");
  9696. uvlo_drain_reset();
  9697. }
  9698. }
  9699. ISR(INT4_vect) {
  9700. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  9701. SERIAL_ECHOLNPGM("INT4");
  9702. //fire normal uvlo only in case where EEPROM_UVLO is 0 or if IS_SD_PRINTING is 1.
  9703. if(PRINTER_ACTIVE && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))) uvlo_();
  9704. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
  9705. }
  9706. void recover_print(uint8_t automatic) {
  9707. char cmd[30];
  9708. lcd_update_enable(true);
  9709. lcd_update(2);
  9710. lcd_setstatuspgm(_i("Recovering print"));////MSG_RECOVERING_PRINT c=20
  9711. // Recover position, temperatures and extrude_multipliers
  9712. bool mbl_was_active = recover_machine_state_after_power_panic();
  9713. // Lift the print head 25mm, first to avoid collisions with oozed material with the print,
  9714. // and second also so one may remove the excess priming material.
  9715. if(eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1)
  9716. {
  9717. sprintf_P(cmd, PSTR("G1 Z%.3f F800"), current_position[Z_AXIS] + 25);
  9718. enquecommand(cmd);
  9719. }
  9720. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine
  9721. // transformation status. G28 will not touch Z when MBL is off.
  9722. enquecommand_P(PSTR("G28 X Y"));
  9723. // Set the target bed and nozzle temperatures and wait.
  9724. sprintf_P(cmd, PSTR("M104 S%d"), target_temperature[active_extruder]);
  9725. enquecommand(cmd);
  9726. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  9727. enquecommand(cmd);
  9728. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  9729. enquecommand(cmd);
  9730. enquecommand_P(PSTR("M83")); //E axis relative mode
  9731. // If not automatically recoreverd (long power loss)
  9732. if(automatic == 0){
  9733. //Extrude some filament to stabilize the pressure
  9734. enquecommand_P(PSTR("G1 E5 F120"));
  9735. // Retract to be consistent with a short pause
  9736. sprintf_P(cmd, PSTR("G1 E%-0.3f F2700"), default_retraction);
  9737. enquecommand(cmd);
  9738. }
  9739. printf_P(_N("After waiting for temp:\nCurrent pos X_AXIS:%.3f\nCurrent pos Y_AXIS:%.3f\n"), current_position[X_AXIS], current_position[Y_AXIS]);
  9740. // Restart the print.
  9741. restore_print_from_eeprom(mbl_was_active);
  9742. printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
  9743. }
  9744. bool recover_machine_state_after_power_panic()
  9745. {
  9746. // 1) Preset some dummy values for the XY axes
  9747. current_position[X_AXIS] = 0;
  9748. current_position[Y_AXIS] = 0;
  9749. // 2) Restore the mesh bed leveling offsets, but not the MBL status.
  9750. // This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
  9751. bool mbl_was_active = false;
  9752. for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
  9753. uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  9754. uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
  9755. // Scale the z value to 10u resolution.
  9756. int16_t v;
  9757. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
  9758. if (v != 0)
  9759. mbl_was_active = true;
  9760. mbl.z_values[iy][ix] = float(v) * 0.001f;
  9761. }
  9762. // Recover the physical coordinate of the Z axis at the time of the power panic.
  9763. // The current position after power panic is moved to the next closest 0th full step.
  9764. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z));
  9765. // Recover last E axis position
  9766. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  9767. // 3) Initialize the logical to physical coordinate system transformation.
  9768. world2machine_initialize();
  9769. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  9770. // print_mesh_bed_leveling_table();
  9771. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  9772. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  9773. babystep_load();
  9774. // 5) Set the physical positions from the logical positions using the world2machine transformation
  9775. // This is only done to inizialize Z/E axes with physical locations, since X/Y are unknown.
  9776. clamp_to_software_endstops(current_position);
  9777. memcpy(destination, current_position, sizeof(destination));
  9778. plan_set_position_curposXYZE();
  9779. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  9780. print_world_coordinates();
  9781. // 6) Power up the Z motors, mark their positions as known.
  9782. axis_known_position[Z_AXIS] = true;
  9783. enable_z();
  9784. // 7) Recover the target temperatures.
  9785. target_temperature[active_extruder] = eeprom_read_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND);
  9786. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  9787. // 8) Recover extruder multipilers
  9788. extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
  9789. #if EXTRUDERS > 1
  9790. extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
  9791. #if EXTRUDERS > 2
  9792. extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
  9793. #endif
  9794. #endif
  9795. extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
  9796. // 9) Recover the saved target
  9797. saved_target[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4));
  9798. saved_target[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4));
  9799. saved_target[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4));
  9800. saved_target[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4));
  9801. #ifdef LIN_ADVANCE
  9802. extruder_advance_K = eeprom_read_float((float*)EEPROM_UVLO_LA_K);
  9803. #endif
  9804. return mbl_was_active;
  9805. }
  9806. void restore_print_from_eeprom(bool mbl_was_active) {
  9807. int feedrate_rec;
  9808. int feedmultiply_rec;
  9809. uint8_t fan_speed_rec;
  9810. char cmd[48];
  9811. char filename[13];
  9812. uint8_t depth = 0;
  9813. char dir_name[9];
  9814. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  9815. feedrate_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDRATE);
  9816. feedmultiply_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY);
  9817. SERIAL_ECHOPGM("Feedrate:");
  9818. MYSERIAL.print(feedrate_rec);
  9819. SERIAL_ECHOPGM(", feedmultiply:");
  9820. MYSERIAL.println(feedmultiply_rec);
  9821. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  9822. MYSERIAL.println(int(depth));
  9823. for (int i = 0; i < depth; i++) {
  9824. for (int j = 0; j < 8; j++) {
  9825. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  9826. }
  9827. dir_name[8] = '\0';
  9828. MYSERIAL.println(dir_name);
  9829. // strcpy(card.dir_names[i], dir_name);
  9830. card.chdir(dir_name, false);
  9831. }
  9832. for (int i = 0; i < 8; i++) {
  9833. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  9834. }
  9835. filename[8] = '\0';
  9836. MYSERIAL.print(filename);
  9837. strcat_P(filename, PSTR(".gco"));
  9838. sprintf_P(cmd, PSTR("M23 %s"), filename);
  9839. enquecommand(cmd);
  9840. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  9841. SERIAL_ECHOPGM("Position read from eeprom:");
  9842. MYSERIAL.println(position);
  9843. // Move to the XY print position in logical coordinates, where the print has been killed, but
  9844. // without shifting Z along the way. This requires performing the move without mbl.
  9845. float pos_x = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  9846. float pos_y = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  9847. if (pos_x != X_COORD_INVALID)
  9848. {
  9849. sprintf_P(cmd, PSTR("G1 X%f Y%f F3000"), pos_x, pos_y);
  9850. enquecommand(cmd);
  9851. }
  9852. // Enable MBL and switch to logical positioning
  9853. if (mbl_was_active)
  9854. enquecommand_P(PSTR("PRUSA MBL V1"));
  9855. // Move the Z axis down to the print, in logical coordinates.
  9856. sprintf_P(cmd, PSTR("G1 Z%f"), eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)));
  9857. enquecommand(cmd);
  9858. // Restore acceleration settings
  9859. float acceleration = eeprom_read_float((float*)(EEPROM_UVLO_ACCELL));
  9860. float retract_acceleration = eeprom_read_float((float*)(EEPROM_UVLO_RETRACT_ACCELL));
  9861. float travel_acceleration = eeprom_read_float((float*)(EEPROM_UVLO_TRAVEL_ACCELL));
  9862. sprintf_P(cmd, PSTR("M204 P%f R%f T%f"), acceleration, retract_acceleration, travel_acceleration);
  9863. enquecommand(cmd);
  9864. // Unretract.
  9865. sprintf_P(cmd, PSTR("G1 E%0.3f F2700"), default_retraction);
  9866. enquecommand(cmd);
  9867. // Recover final E axis position and mode
  9868. float pos_e = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  9869. sprintf_P(cmd, PSTR("G92 E"));
  9870. dtostrf(pos_e, 6, 3, cmd + strlen(cmd));
  9871. enquecommand(cmd);
  9872. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  9873. enquecommand_P(PSTR("M82")); //E axis abslute mode
  9874. // Set the feedrates saved at the power panic.
  9875. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  9876. enquecommand(cmd);
  9877. sprintf_P(cmd, PSTR("M220 S%d"), feedmultiply_rec);
  9878. enquecommand(cmd);
  9879. // Set the fan speed saved at the power panic.
  9880. strcpy_P(cmd, PSTR("M106 S"));
  9881. strcat(cmd, itostr3(int(fan_speed_rec)));
  9882. enquecommand(cmd);
  9883. // Set a position in the file.
  9884. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  9885. enquecommand(cmd);
  9886. enquecommand_P(PSTR("G4 S0"));
  9887. enquecommand_P(PSTR("PRUSA uvlo"));
  9888. }
  9889. #endif //UVLO_SUPPORT
  9890. //! @brief Immediately stop print moves
  9891. //!
  9892. //! Immediately stop print moves, save current extruder temperature and position to RAM.
  9893. //! If printing from sd card, position in file is saved.
  9894. //! If printing from USB, line number is saved.
  9895. //!
  9896. //! @param z_move
  9897. //! @param e_move
  9898. void stop_and_save_print_to_ram(float z_move, float e_move)
  9899. {
  9900. if (saved_printing) return;
  9901. #if 0
  9902. unsigned char nplanner_blocks;
  9903. #endif
  9904. unsigned char nlines;
  9905. uint16_t sdlen_planner;
  9906. uint16_t sdlen_cmdqueue;
  9907. cli();
  9908. if (card.sdprinting) {
  9909. #if 0
  9910. nplanner_blocks = number_of_blocks();
  9911. #endif
  9912. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  9913. sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  9914. saved_sdpos -= sdlen_planner;
  9915. sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  9916. saved_sdpos -= sdlen_cmdqueue;
  9917. saved_printing_type = PRINTING_TYPE_SD;
  9918. }
  9919. else if (is_usb_printing) { //reuse saved_sdpos for storing line number
  9920. saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
  9921. //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
  9922. nlines = planner_calc_sd_length(); //number of lines of commands in planner
  9923. saved_sdpos -= nlines;
  9924. saved_sdpos -= buflen; //number of blocks in cmd buffer
  9925. saved_printing_type = PRINTING_TYPE_USB;
  9926. }
  9927. else {
  9928. saved_printing_type = PRINTING_TYPE_NONE;
  9929. //not sd printing nor usb printing
  9930. }
  9931. #if 0
  9932. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  9933. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  9934. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  9935. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  9936. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  9937. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  9938. //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  9939. {
  9940. card.setIndex(saved_sdpos);
  9941. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  9942. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  9943. MYSERIAL.print(char(card.get()));
  9944. SERIAL_ECHOLNPGM("Content of command buffer: ");
  9945. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  9946. MYSERIAL.print(char(card.get()));
  9947. SERIAL_ECHOLNPGM("End of command buffer");
  9948. }
  9949. {
  9950. // Print the content of the planner buffer, line by line:
  9951. card.setIndex(saved_sdpos);
  9952. int8_t iline = 0;
  9953. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  9954. SERIAL_ECHOPGM("Planner line (from file): ");
  9955. MYSERIAL.print(int(iline), DEC);
  9956. SERIAL_ECHOPGM(", length: ");
  9957. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  9958. SERIAL_ECHOPGM(", steps: (");
  9959. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  9960. SERIAL_ECHOPGM(",");
  9961. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  9962. SERIAL_ECHOPGM(",");
  9963. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  9964. SERIAL_ECHOPGM(",");
  9965. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  9966. SERIAL_ECHOPGM("), events: ");
  9967. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  9968. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  9969. MYSERIAL.print(char(card.get()));
  9970. }
  9971. }
  9972. {
  9973. // Print the content of the command buffer, line by line:
  9974. int8_t iline = 0;
  9975. union {
  9976. struct {
  9977. char lo;
  9978. char hi;
  9979. } lohi;
  9980. uint16_t value;
  9981. } sdlen_single;
  9982. int _bufindr = bufindr;
  9983. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  9984. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  9985. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  9986. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  9987. }
  9988. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  9989. MYSERIAL.print(int(iline), DEC);
  9990. SERIAL_ECHOPGM(", type: ");
  9991. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  9992. SERIAL_ECHOPGM(", len: ");
  9993. MYSERIAL.println(sdlen_single.value, DEC);
  9994. // Print the content of the buffer line.
  9995. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  9996. SERIAL_ECHOPGM("Buffer line (from file): ");
  9997. MYSERIAL.println(int(iline), DEC);
  9998. for (; sdlen_single.value > 0; -- sdlen_single.value)
  9999. MYSERIAL.print(char(card.get()));
  10000. if (-- _buflen == 0)
  10001. break;
  10002. // First skip the current command ID and iterate up to the end of the string.
  10003. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  10004. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  10005. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  10006. // If the end of the buffer was empty,
  10007. if (_bufindr == sizeof(cmdbuffer)) {
  10008. // skip to the start and find the nonzero command.
  10009. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  10010. }
  10011. }
  10012. }
  10013. #endif
  10014. // save the global state at planning time
  10015. bool pos_invalid = XY_NO_RESTORE_FLAG;
  10016. if (current_block && !pos_invalid)
  10017. {
  10018. memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
  10019. saved_feedrate2 = current_block->gcode_feedrate;
  10020. }
  10021. else
  10022. {
  10023. saved_target[0] = SAVED_TARGET_UNSET;
  10024. saved_feedrate2 = feedrate;
  10025. }
  10026. planner_abort_hard(); //abort printing
  10027. memcpy(saved_pos, current_position, sizeof(saved_pos));
  10028. if (pos_invalid) saved_pos[X_AXIS] = X_COORD_INVALID;
  10029. saved_feedmultiply2 = feedmultiply; //save feedmultiply
  10030. saved_active_extruder = active_extruder; //save active_extruder
  10031. saved_extruder_temperature = degTargetHotend(active_extruder);
  10032. saved_extruder_relative_mode = axis_relative_modes & E_AXIS_MASK;
  10033. saved_fanSpeed = fanSpeed;
  10034. cmdqueue_reset(); //empty cmdqueue
  10035. card.sdprinting = false;
  10036. // card.closefile();
  10037. saved_printing = true;
  10038. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  10039. st_reset_timer();
  10040. sei();
  10041. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  10042. #if 1
  10043. // Rather than calling plan_buffer_line directly, push the move into the command queue so that
  10044. // the caller can continue processing. This is used during powerpanic to save the state as we
  10045. // move away from the print.
  10046. char buf[48];
  10047. if(e_move)
  10048. {
  10049. // First unretract (relative extrusion)
  10050. if(!saved_extruder_relative_mode){
  10051. enquecommand(PSTR("M83"), true);
  10052. }
  10053. //retract 45mm/s
  10054. // A single sprintf may not be faster, but is definitely 20B shorter
  10055. // than a sequence of commands building the string piece by piece
  10056. // A snprintf would have been a safer call, but since it is not used
  10057. // in the whole program, its implementation would bring more bytes to the total size
  10058. // The behavior of dtostrf 8,3 should be roughly the same as %-0.3
  10059. sprintf_P(buf, PSTR("G1 E%-0.3f F2700"), e_move);
  10060. enquecommand(buf, false);
  10061. }
  10062. if(z_move)
  10063. {
  10064. // Then lift Z axis
  10065. sprintf_P(buf, PSTR("G1 Z%-0.3f F%-0.3f"), saved_pos[Z_AXIS] + z_move, homing_feedrate[Z_AXIS]);
  10066. enquecommand(buf, false);
  10067. }
  10068. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  10069. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  10070. repeatcommand_front();
  10071. #else
  10072. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS] + z_move, saved_pos[E_AXIS] + e_move, homing_feedrate[Z_AXIS], active_extruder);
  10073. st_synchronize(); //wait moving
  10074. memcpy(current_position, saved_pos, sizeof(saved_pos));
  10075. memcpy(destination, current_position, sizeof(destination));
  10076. #endif
  10077. waiting_inside_plan_buffer_line_print_aborted = true; //unroll the stack
  10078. }
  10079. }
  10080. //! @brief Restore print from ram
  10081. //!
  10082. //! Restore print saved by stop_and_save_print_to_ram(). Is blocking, restores
  10083. //! print fan speed, waits for extruder temperature restore, then restores
  10084. //! position and continues print moves.
  10085. //!
  10086. //! Internally lcd_update() is called by wait_for_heater().
  10087. //!
  10088. //! @param e_move
  10089. void restore_print_from_ram_and_continue(float e_move)
  10090. {
  10091. if (!saved_printing) return;
  10092. #ifdef FANCHECK
  10093. // Do not allow resume printing if fans are still not ok
  10094. if ((fan_check_error != EFCE_OK) && (fan_check_error != EFCE_FIXED)) return;
  10095. if (fan_check_error == EFCE_FIXED) fan_check_error = EFCE_OK; //reenable serial stream processing if printing from usb
  10096. #endif
  10097. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  10098. // current_position[axis] = st_get_position_mm(axis);
  10099. active_extruder = saved_active_extruder; //restore active_extruder
  10100. fanSpeed = saved_fanSpeed;
  10101. if (degTargetHotend(saved_active_extruder) != saved_extruder_temperature)
  10102. {
  10103. setTargetHotendSafe(saved_extruder_temperature, saved_active_extruder);
  10104. heating_status = 1;
  10105. wait_for_heater(_millis(), saved_active_extruder);
  10106. heating_status = 2;
  10107. }
  10108. axis_relative_modes ^= (-saved_extruder_relative_mode ^ axis_relative_modes) & E_AXIS_MASK;
  10109. float e = saved_pos[E_AXIS] - e_move;
  10110. plan_set_e_position(e);
  10111. #ifdef FANCHECK
  10112. fans_check_enabled = false;
  10113. #endif
  10114. // do not restore XY for commands that do not require that
  10115. if (saved_pos[X_AXIS] == X_COORD_INVALID)
  10116. {
  10117. saved_pos[X_AXIS] = current_position[X_AXIS];
  10118. saved_pos[Y_AXIS] = current_position[Y_AXIS];
  10119. }
  10120. //first move print head in XY to the saved position:
  10121. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], current_position[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
  10122. //then move Z
  10123. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
  10124. //and finaly unretract (35mm/s)
  10125. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  10126. st_synchronize();
  10127. #ifdef FANCHECK
  10128. fans_check_enabled = true;
  10129. #endif
  10130. // restore original feedrate/feedmultiply _after_ restoring the extruder position
  10131. feedrate = saved_feedrate2;
  10132. feedmultiply = saved_feedmultiply2;
  10133. memcpy(current_position, saved_pos, sizeof(saved_pos));
  10134. memcpy(destination, current_position, sizeof(destination));
  10135. if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
  10136. card.setIndex(saved_sdpos);
  10137. sdpos_atomic = saved_sdpos;
  10138. card.sdprinting = true;
  10139. }
  10140. else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
  10141. gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
  10142. serial_count = 0;
  10143. FlushSerialRequestResend();
  10144. }
  10145. else {
  10146. //not sd printing nor usb printing
  10147. }
  10148. lcd_setstatuspgm(_T(WELCOME_MSG));
  10149. saved_printing_type = PRINTING_TYPE_NONE;
  10150. saved_printing = false;
  10151. waiting_inside_plan_buffer_line_print_aborted = true; //unroll the stack
  10152. }
  10153. // Cancel the state related to a currently saved print
  10154. void cancel_saved_printing()
  10155. {
  10156. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  10157. saved_target[0] = SAVED_TARGET_UNSET;
  10158. saved_printing_type = PRINTING_TYPE_NONE;
  10159. saved_printing = false;
  10160. }
  10161. void print_world_coordinates()
  10162. {
  10163. printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  10164. }
  10165. void print_physical_coordinates()
  10166. {
  10167. printf_P(_N("physical coordinates: (%.3f, %.3f, %.3f)\n"), st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
  10168. }
  10169. void print_mesh_bed_leveling_table()
  10170. {
  10171. SERIAL_ECHOPGM("mesh bed leveling: ");
  10172. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  10173. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  10174. MYSERIAL.print(mbl.z_values[y][x], 3);
  10175. SERIAL_ECHO(' ');
  10176. }
  10177. SERIAL_ECHOLN();
  10178. }
  10179. uint8_t calc_percent_done()
  10180. {
  10181. //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
  10182. uint8_t percent_done = 0;
  10183. #ifdef TMC2130
  10184. if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100)
  10185. {
  10186. percent_done = print_percent_done_normal;
  10187. }
  10188. else if (print_percent_done_silent <= 100)
  10189. {
  10190. percent_done = print_percent_done_silent;
  10191. }
  10192. #else
  10193. if (print_percent_done_normal <= 100)
  10194. {
  10195. percent_done = print_percent_done_normal;
  10196. }
  10197. #endif //TMC2130
  10198. else
  10199. {
  10200. percent_done = card.percentDone();
  10201. }
  10202. return percent_done;
  10203. }
  10204. static void print_time_remaining_init()
  10205. {
  10206. print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
  10207. print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  10208. print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
  10209. print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  10210. print_time_to_change_normal = PRINT_TIME_REMAINING_INIT;
  10211. print_time_to_change_silent = PRINT_TIME_REMAINING_INIT;
  10212. }
  10213. void load_filament_final_feed()
  10214. {
  10215. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED;
  10216. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FINAL);
  10217. }
  10218. //! @brief Wait for user to check the state
  10219. //! @par nozzle_temp nozzle temperature to load filament
  10220. void M600_check_state(float nozzle_temp)
  10221. {
  10222. lcd_change_fil_state = 0;
  10223. while (lcd_change_fil_state != 1)
  10224. {
  10225. lcd_change_fil_state = 0;
  10226. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10227. lcd_alright();
  10228. KEEPALIVE_STATE(IN_HANDLER);
  10229. switch(lcd_change_fil_state)
  10230. {
  10231. // Filament failed to load so load it again
  10232. case 2:
  10233. if (mmu_enabled)
  10234. mmu_M600_load_filament(false, nozzle_temp); //nonautomatic load; change to "wrong filament loaded" option?
  10235. else
  10236. M600_load_filament_movements();
  10237. break;
  10238. // Filament loaded properly but color is not clear
  10239. case 3:
  10240. st_synchronize();
  10241. load_filament_final_feed();
  10242. lcd_loading_color();
  10243. st_synchronize();
  10244. break;
  10245. // Everything good
  10246. default:
  10247. lcd_change_success();
  10248. break;
  10249. }
  10250. }
  10251. }
  10252. //! @brief Wait for user action
  10253. //!
  10254. //! Beep, manage nozzle heater and wait for user to start unload filament
  10255. //! If times out, active extruder temperature is set to 0.
  10256. //!
  10257. //! @param HotendTempBckp Temperature to be restored for active extruder, after user resolves MMU problem.
  10258. void M600_wait_for_user(float HotendTempBckp) {
  10259. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10260. int counterBeep = 0;
  10261. unsigned long waiting_start_time = _millis();
  10262. uint8_t wait_for_user_state = 0;
  10263. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  10264. bool bFirst=true;
  10265. while (!(wait_for_user_state == 0 && lcd_clicked())){
  10266. manage_heater();
  10267. manage_inactivity(true);
  10268. #if BEEPER > 0
  10269. if (counterBeep == 500) {
  10270. counterBeep = 0;
  10271. }
  10272. SET_OUTPUT(BEEPER);
  10273. if (counterBeep == 0) {
  10274. if((eSoundMode==e_SOUND_MODE_BLIND)|| (eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
  10275. {
  10276. bFirst=false;
  10277. WRITE(BEEPER, HIGH);
  10278. }
  10279. }
  10280. if (counterBeep == 20) {
  10281. WRITE(BEEPER, LOW);
  10282. }
  10283. counterBeep++;
  10284. #endif //BEEPER > 0
  10285. switch (wait_for_user_state) {
  10286. case 0: //nozzle is hot, waiting for user to press the knob to unload filament
  10287. delay_keep_alive(4);
  10288. if (_millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  10289. lcd_display_message_fullscreen_P(_i("Press the knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
  10290. wait_for_user_state = 1;
  10291. setAllTargetHotends(0);
  10292. st_synchronize();
  10293. disable_e0();
  10294. disable_e1();
  10295. disable_e2();
  10296. }
  10297. break;
  10298. case 1: //nozzle target temperature is set to zero, waiting for user to start nozzle preheat
  10299. delay_keep_alive(4);
  10300. if (lcd_clicked()) {
  10301. setTargetHotend(HotendTempBckp, active_extruder);
  10302. lcd_wait_for_heater();
  10303. wait_for_user_state = 2;
  10304. }
  10305. break;
  10306. case 2: //waiting for nozzle to reach target temperature
  10307. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  10308. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  10309. waiting_start_time = _millis();
  10310. wait_for_user_state = 0;
  10311. }
  10312. else {
  10313. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  10314. lcd_set_cursor(1, 4);
  10315. lcd_print(ftostr3(degHotend(active_extruder)));
  10316. }
  10317. break;
  10318. }
  10319. }
  10320. WRITE(BEEPER, LOW);
  10321. }
  10322. void M600_load_filament_movements()
  10323. {
  10324. #ifdef SNMM
  10325. display_loading();
  10326. do
  10327. {
  10328. current_position[E_AXIS] += 0.002;
  10329. plan_buffer_line_curposXYZE(500, active_extruder);
  10330. delay_keep_alive(2);
  10331. }
  10332. while (!lcd_clicked());
  10333. st_synchronize();
  10334. current_position[E_AXIS] += bowden_length[mmu_extruder];
  10335. plan_buffer_line_curposXYZE(3000, active_extruder);
  10336. current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
  10337. plan_buffer_line_curposXYZE(1400, active_extruder);
  10338. current_position[E_AXIS] += 40;
  10339. plan_buffer_line_curposXYZE(400, active_extruder);
  10340. current_position[E_AXIS] += 10;
  10341. plan_buffer_line_curposXYZE(50, active_extruder);
  10342. #else
  10343. current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  10344. plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FIRST);
  10345. #endif
  10346. load_filament_final_feed();
  10347. lcd_loading_filament();
  10348. st_synchronize();
  10349. }
  10350. void M600_load_filament() {
  10351. //load filament for single material and SNMM
  10352. lcd_wait_interact();
  10353. //load_filament_time = _millis();
  10354. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10355. #ifdef PAT9125
  10356. fsensor_autoload_check_start();
  10357. #endif //PAT9125
  10358. while(!lcd_clicked())
  10359. {
  10360. manage_heater();
  10361. manage_inactivity(true);
  10362. #ifdef FILAMENT_SENSOR
  10363. if (fsensor_check_autoload())
  10364. {
  10365. Sound_MakeCustom(50,1000,false);
  10366. break;
  10367. }
  10368. #endif //FILAMENT_SENSOR
  10369. }
  10370. #ifdef PAT9125
  10371. fsensor_autoload_check_stop();
  10372. #endif //PAT9125
  10373. KEEPALIVE_STATE(IN_HANDLER);
  10374. #ifdef FSENSOR_QUALITY
  10375. fsensor_oq_meassure_start(70);
  10376. #endif //FSENSOR_QUALITY
  10377. M600_load_filament_movements();
  10378. Sound_MakeCustom(50,1000,false);
  10379. #ifdef FSENSOR_QUALITY
  10380. fsensor_oq_meassure_stop();
  10381. if (!fsensor_oq_result())
  10382. {
  10383. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  10384. lcd_update_enable(true);
  10385. lcd_update(2);
  10386. if (disable)
  10387. fsensor_disable();
  10388. }
  10389. #endif //FSENSOR_QUALITY
  10390. lcd_update_enable(false);
  10391. }
  10392. //! @brief Wait for click
  10393. //!
  10394. //! Set
  10395. void marlin_wait_for_click()
  10396. {
  10397. int8_t busy_state_backup = busy_state;
  10398. KEEPALIVE_STATE(PAUSED_FOR_USER);
  10399. lcd_consume_click();
  10400. while(!lcd_clicked())
  10401. {
  10402. manage_heater();
  10403. manage_inactivity(true);
  10404. lcd_update(0);
  10405. }
  10406. KEEPALIVE_STATE(busy_state_backup);
  10407. }
  10408. #define FIL_LOAD_LENGTH 60
  10409. #ifdef PSU_Delta
  10410. bool bEnableForce_z;
  10411. void init_force_z()
  10412. {
  10413. WRITE(Z_ENABLE_PIN,Z_ENABLE_ON);
  10414. bEnableForce_z=true; // "true"-value enforce "disable_force_z()" executing
  10415. disable_force_z();
  10416. }
  10417. void check_force_z()
  10418. {
  10419. if(!(bEnableForce_z||eeprom_read_byte((uint8_t*)EEPROM_SILENT)))
  10420. init_force_z(); // causes enforced switching into disable-state
  10421. }
  10422. void disable_force_z()
  10423. {
  10424. if(!bEnableForce_z) return; // motor already disabled (may be ;-p )
  10425. bEnableForce_z=false;
  10426. // switching to silent mode
  10427. #ifdef TMC2130
  10428. tmc2130_mode=TMC2130_MODE_SILENT;
  10429. update_mode_profile();
  10430. tmc2130_init(TMCInitParams(true, FarmOrUserECool()));
  10431. #endif // TMC2130
  10432. }
  10433. void enable_force_z()
  10434. {
  10435. if(bEnableForce_z)
  10436. return; // motor already enabled (may be ;-p )
  10437. bEnableForce_z=true;
  10438. // mode recovering
  10439. #ifdef TMC2130
  10440. tmc2130_mode=eeprom_read_byte((uint8_t*)EEPROM_SILENT)?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  10441. update_mode_profile();
  10442. tmc2130_init(TMCInitParams(true, FarmOrUserECool()));
  10443. #endif // TMC2130
  10444. WRITE(Z_ENABLE_PIN,Z_ENABLE_ON); // slightly redundant ;-p
  10445. }
  10446. #endif // PSU_Delta