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- /* -*- c++ -*- */
- /**
- * @file
- */
- /**
- * @mainpage Reprap 3D printer firmware based on Sprinter and grbl.
- *
- * @section intro_sec Introduction
- *
- * This firmware is a mashup between Sprinter and grbl.
- * https://github.com/kliment/Sprinter
- * https://github.com/simen/grbl/tree
- *
- * It has preliminary support for Matthew Roberts advance algorithm
- * http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- *
- * Prusa Research s.r.o. https://www.prusa3d.cz
- *
- * @section copyright_sec Copyright
- *
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @section notes_sec Notes
- *
- * * Do not create static objects in global functions.
- * Otherwise constructor guard against concurrent calls is generated costing
- * about 8B RAM and 14B flash.
- *
- *
- */
- //-//
- #include "Configuration.h"
- #include "Marlin.h"
-
- #ifdef ENABLE_AUTO_BED_LEVELING
- #include "vector_3.h"
- #ifdef AUTO_BED_LEVELING_GRID
- #include "qr_solve.h"
- #endif
- #endif // ENABLE_AUTO_BED_LEVELING
- #ifdef MESH_BED_LEVELING
- #include "mesh_bed_leveling.h"
- #include "mesh_bed_calibration.h"
- #endif
- #include "printers.h"
- #include "menu.h"
- #include "ultralcd.h"
- #include "backlight.h"
- #include "planner.h"
- #include "stepper.h"
- #include "temperature.h"
- #include "motion_control.h"
- #include "cardreader.h"
- #include "ConfigurationStore.h"
- #include "language.h"
- #include "pins_arduino.h"
- #include "math.h"
- #include "util.h"
- #include "Timer.h"
- #include <avr/wdt.h>
- #include <avr/pgmspace.h>
- #include "Dcodes.h"
- #include "AutoDeplete.h"
- #ifdef SWSPI
- #include "swspi.h"
- #endif //SWSPI
- #include "spi.h"
- #ifdef SWI2C
- #include "swi2c.h"
- #endif //SWI2C
- #ifdef FILAMENT_SENSOR
- #include "fsensor.h"
- #endif //FILAMENT_SENSOR
- #ifdef TMC2130
- #include "tmc2130.h"
- #endif //TMC2130
- #ifdef W25X20CL
- #include "w25x20cl.h"
- #include "optiboot_w25x20cl.h"
- #endif //W25X20CL
- #ifdef BLINKM
- #include "BlinkM.h"
- #include "Wire.h"
- #endif
- #ifdef ULTRALCD
- #include "ultralcd.h"
- #endif
- #if NUM_SERVOS > 0
- #include "Servo.h"
- #endif
- #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
- #include <SPI.h>
- #endif
- #include "mmu.h"
- #define VERSION_STRING "1.0.2"
- #include "ultralcd.h"
- #include "sound.h"
- #include "cmdqueue.h"
- #include "io_atmega2560.h"
- // Macros for bit masks
- #define BIT(b) (1<<(b))
- #define TEST(n,b) (((n)&BIT(b))!=0)
- #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
- //Macro for print fan speed
- #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
- //filament types
- #define FILAMENT_DEFAULT 0
- #define FILAMENT_FLEX 1
- #define FILAMENT_PVA 2
- #define FILAMENT_UNDEFINED 255
- //Stepper Movement Variables
- //===========================================================================
- //=============================imported variables============================
- //===========================================================================
- //===========================================================================
- //=============================public variables=============================
- //===========================================================================
- #ifdef SDSUPPORT
- CardReader card;
- #endif
- unsigned long PingTime = _millis();
- unsigned long NcTime;
- uint8_t mbl_z_probe_nr = 3; //numer of Z measurements for each point in mesh bed leveling calibration
- //used for PINDA temp calibration and pause print
- #define DEFAULT_RETRACTION 1
- #define DEFAULT_RETRACTION_MM 4 //MM
- float default_retraction = DEFAULT_RETRACTION;
- float homing_feedrate[] = HOMING_FEEDRATE;
- // Currently only the extruder axis may be switched to a relative mode.
- // Other axes are always absolute or relative based on the common relative_mode flag.
- bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
- int feedmultiply=100; //100->1 200->2
- int extrudemultiply=100; //100->1 200->2
- int extruder_multiply[EXTRUDERS] = {100
- #if EXTRUDERS > 1
- , 100
- #if EXTRUDERS > 2
- , 100
- #endif
- #endif
- };
- int bowden_length[4] = {385, 385, 385, 385};
- bool is_usb_printing = false;
- bool homing_flag = false;
- bool temp_cal_active = false;
- unsigned long kicktime = _millis()+100000;
- unsigned int usb_printing_counter;
- int8_t lcd_change_fil_state = 0;
- unsigned long pause_time = 0;
- unsigned long start_pause_print = _millis();
- unsigned long t_fan_rising_edge = _millis();
- LongTimer safetyTimer;
- static LongTimer crashDetTimer;
- //unsigned long load_filament_time;
- bool mesh_bed_leveling_flag = false;
- bool mesh_bed_run_from_menu = false;
- bool prusa_sd_card_upload = false;
- unsigned int status_number = 0;
- unsigned long total_filament_used;
- unsigned int heating_status;
- unsigned int heating_status_counter;
- bool loading_flag = false;
- char snmm_filaments_used = 0;
- bool fan_state[2];
- int fan_edge_counter[2];
- int fan_speed[2];
- char dir_names[3][9];
- bool sortAlpha = false;
- float extruder_multiplier[EXTRUDERS] = {1.0
- #if EXTRUDERS > 1
- , 1.0
- #if EXTRUDERS > 2
- , 1.0
- #endif
- #endif
- };
- float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
- //shortcuts for more readable code
- #define _x current_position[X_AXIS]
- #define _y current_position[Y_AXIS]
- #define _z current_position[Z_AXIS]
- #define _e current_position[E_AXIS]
- float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
- float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
- bool axis_known_position[3] = {false, false, false};
- // Extruder offset
- #if EXTRUDERS > 1
- #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
- float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
- #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
- EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
- #endif
- };
- #endif
- uint8_t active_extruder = 0;
- int fanSpeed=0;
- #ifdef FWRETRACT
- bool retracted[EXTRUDERS]={false
- #if EXTRUDERS > 1
- , false
- #if EXTRUDERS > 2
- , false
- #endif
- #endif
- };
- bool retracted_swap[EXTRUDERS]={false
- #if EXTRUDERS > 1
- , false
- #if EXTRUDERS > 2
- , false
- #endif
- #endif
- };
- float retract_length_swap = RETRACT_LENGTH_SWAP;
- float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
- #endif
- #ifdef PS_DEFAULT_OFF
- bool powersupply = false;
- #else
- bool powersupply = true;
- #endif
- bool cancel_heatup = false ;
- int8_t busy_state = NOT_BUSY;
- static long prev_busy_signal_ms = -1;
- uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
- const char errormagic[] PROGMEM = "Error:";
- const char echomagic[] PROGMEM = "echo:";
- bool no_response = false;
- uint8_t important_status;
- uint8_t saved_filament_type;
- #define SAVED_TARGET_UNSET (X_MIN_POS-1)
- float saved_target[NUM_AXIS] = {SAVED_TARGET_UNSET, 0, 0, 0};
- // save/restore printing in case that mmu was not responding
- bool mmu_print_saved = false;
- // storing estimated time to end of print counted by slicer
- uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
- uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
- uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
- uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
- //===========================================================================
- //=============================Private Variables=============================
- //===========================================================================
- #define MSG_BED_LEVELING_FAILED_TIMEOUT 30
- const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
- float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
- // For tracing an arc
- static float offset[3] = {0.0, 0.0, 0.0};
- // Current feedrate
- float feedrate = 1500.0;
- // Feedrate for the next move
- static float next_feedrate;
- // Original feedrate saved during homing moves
- static float saved_feedrate;
- const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
- //static float tt = 0;
- //static float bt = 0;
- //Inactivity shutdown variables
- static unsigned long previous_millis_cmd = 0;
- unsigned long max_inactive_time = 0;
- static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
- static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
- unsigned long starttime=0;
- unsigned long stoptime=0;
- unsigned long _usb_timer = 0;
- bool extruder_under_pressure = true;
- bool Stopped=false;
- #if NUM_SERVOS > 0
- Servo servos[NUM_SERVOS];
- #endif
- bool target_direction;
- //Insert variables if CHDK is defined
- #ifdef CHDK
- unsigned long chdkHigh = 0;
- boolean chdkActive = false;
- #endif
- //! @name RAM save/restore printing
- //! @{
- bool saved_printing = false; //!< Print is paused and saved in RAM
- static uint32_t saved_sdpos = 0; //!< SD card position, or line number in case of USB printing
- uint8_t saved_printing_type = PRINTING_TYPE_SD;
- static float saved_pos[4] = { 0, 0, 0, 0 };
- static uint16_t saved_feedrate2 = 0; //!< Default feedrate (truncated from float)
- static int saved_feedmultiply2 = 0;
- static uint8_t saved_active_extruder = 0;
- static float saved_extruder_temperature = 0.0; //!< Active extruder temperature
- static bool saved_extruder_under_pressure = false;
- static bool saved_extruder_relative_mode = false;
- static int saved_fanSpeed = 0; //!< Print fan speed
- //! @}
- static int saved_feedmultiply_mm = 100;
- //===========================================================================
- //=============================Routines======================================
- //===========================================================================
- static void get_arc_coordinates();
- static bool setTargetedHotend(int code, uint8_t &extruder);
- static void print_time_remaining_init();
- static void wait_for_heater(long codenum, uint8_t extruder);
- static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
- static void temp_compensation_start();
- static void temp_compensation_apply();
- uint16_t gcode_in_progress = 0;
- uint16_t mcode_in_progress = 0;
- void serial_echopair_P(const char *s_P, float v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char *s_P, double v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char *s_P, unsigned long v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
- /*FORCE_INLINE*/ void serialprintPGM(const char *str)
- {
- #if 0
- char ch=pgm_read_byte(str);
- while(ch)
- {
- MYSERIAL.write(ch);
- ch=pgm_read_byte(++str);
- }
- #else
- // hmm, same size as the above version, the compiler did a good job optimizing the above
- while( uint8_t ch = pgm_read_byte(str) ){
- MYSERIAL.write((char)ch);
- ++str;
- }
- #endif
- }
- #ifdef SDSUPPORT
- #include "SdFatUtil.h"
- int freeMemory() { return SdFatUtil::FreeRam(); }
- #else
- extern "C" {
- extern unsigned int __bss_end;
- extern unsigned int __heap_start;
- extern void *__brkval;
- int freeMemory() {
- int free_memory;
- if ((int)__brkval == 0)
- free_memory = ((int)&free_memory) - ((int)&__bss_end);
- else
- free_memory = ((int)&free_memory) - ((int)__brkval);
- return free_memory;
- }
- }
- #endif //!SDSUPPORT
- void setup_killpin()
- {
- #if defined(KILL_PIN) && KILL_PIN > -1
- SET_INPUT(KILL_PIN);
- WRITE(KILL_PIN,HIGH);
- #endif
- }
- // Set home pin
- void setup_homepin(void)
- {
- #if defined(HOME_PIN) && HOME_PIN > -1
- SET_INPUT(HOME_PIN);
- WRITE(HOME_PIN,HIGH);
- #endif
- }
- void setup_photpin()
- {
- #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
- SET_OUTPUT(PHOTOGRAPH_PIN);
- WRITE(PHOTOGRAPH_PIN, LOW);
- #endif
- }
- void setup_powerhold()
- {
- #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
- SET_OUTPUT(SUICIDE_PIN);
- WRITE(SUICIDE_PIN, HIGH);
- #endif
- #if defined(PS_ON_PIN) && PS_ON_PIN > -1
- SET_OUTPUT(PS_ON_PIN);
- #if defined(PS_DEFAULT_OFF)
- WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #else
- WRITE(PS_ON_PIN, PS_ON_AWAKE);
- #endif
- #endif
- }
- void suicide()
- {
- #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
- SET_OUTPUT(SUICIDE_PIN);
- WRITE(SUICIDE_PIN, LOW);
- #endif
- }
- void servo_init()
- {
- #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
- servos[0].attach(SERVO0_PIN);
- #endif
- #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
- servos[1].attach(SERVO1_PIN);
- #endif
- #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
- servos[2].attach(SERVO2_PIN);
- #endif
- #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
- servos[3].attach(SERVO3_PIN);
- #endif
- #if (NUM_SERVOS >= 5)
- #error "TODO: enter initalisation code for more servos"
- #endif
- }
- bool fans_check_enabled = true;
- #ifdef TMC2130
- void crashdet_stop_and_save_print()
- {
- stop_and_save_print_to_ram(10, -default_retraction); //XY - no change, Z 10mm up, E -1mm retract
- }
- void crashdet_restore_print_and_continue()
- {
- restore_print_from_ram_and_continue(default_retraction); //XYZ = orig, E +1mm unretract
- // babystep_apply();
- }
- void crashdet_stop_and_save_print2()
- {
- cli();
- planner_abort_hard(); //abort printing
- cmdqueue_reset(); //empty cmdqueue
- card.sdprinting = false;
- card.closefile();
- // Reset and re-enable the stepper timer just before the global interrupts are enabled.
- st_reset_timer();
- sei();
- }
- void crashdet_detected(uint8_t mask)
- {
- st_synchronize();
- static uint8_t crashDet_counter = 0;
- bool automatic_recovery_after_crash = true;
- if (crashDet_counter++ == 0) {
- crashDetTimer.start();
- }
- else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
- crashDetTimer.stop();
- crashDet_counter = 0;
- }
- else if(crashDet_counter == CRASHDET_COUNTER_MAX){
- automatic_recovery_after_crash = false;
- crashDetTimer.stop();
- crashDet_counter = 0;
- }
- else {
- crashDetTimer.start();
- }
- lcd_update_enable(true);
- lcd_clear();
- lcd_update(2);
- if (mask & X_AXIS_MASK)
- {
- eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
- eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
- }
- if (mask & Y_AXIS_MASK)
- {
- eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
- eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
- }
-
- lcd_update_enable(true);
- lcd_update(2);
- lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
- gcode_G28(true, true, false); //home X and Y
- st_synchronize();
- if (automatic_recovery_after_crash) {
- enquecommand_P(PSTR("CRASH_RECOVER"));
- }else{
- setTargetHotend(0, active_extruder);
- bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
- lcd_update_enable(true);
- if (yesno)
- {
- enquecommand_P(PSTR("CRASH_RECOVER"));
- }
- else
- {
- enquecommand_P(PSTR("CRASH_CANCEL"));
- }
- }
- }
- void crashdet_recover()
- {
- crashdet_restore_print_and_continue();
- if (lcd_crash_detect_enabled()) tmc2130_sg_stop_on_crash = true;
- }
- void crashdet_cancel()
- {
- saved_printing = false;
- tmc2130_sg_stop_on_crash = true;
- if (saved_printing_type == PRINTING_TYPE_SD) {
- lcd_print_stop();
- }else if(saved_printing_type == PRINTING_TYPE_USB){
- SERIAL_ECHOLNRPGM(MSG_OCTOPRINT_CANCEL); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
- SERIAL_PROTOCOLLNRPGM(MSG_OK);
- }
- }
- #endif //TMC2130
- void failstats_reset_print()
- {
- eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
- eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
- eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
- eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
- eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
- eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
- }
- #ifdef MESH_BED_LEVELING
- enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
- #endif
- // Factory reset function
- // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
- // Level input parameter sets depth of reset
- int er_progress = 0;
- static void factory_reset(char level)
- {
- lcd_clear();
- switch (level) {
-
- // Level 0: Language reset
- case 0:
- Sound_MakeCustom(100,0,false);
- lang_reset();
- break;
-
- //Level 1: Reset statistics
- case 1:
- Sound_MakeCustom(100,0,false);
- eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
- eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
- eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
- eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
- eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
- eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
- eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
- eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
- eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
- eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
- eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
- eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
- eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
- eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
- lcd_menu_statistics();
-
- break;
- // Level 2: Prepare for shipping
- case 2:
- //lcd_puts_P(PSTR("Factory RESET"));
- //lcd_puts_at_P(1,2,PSTR("Shipping prep"));
-
- // Force language selection at the next boot up.
- lang_reset();
- // Force the "Follow calibration flow" message at the next boot up.
- calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
- eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
- farm_no = 0;
- farm_mode = false;
- eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
- EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
- eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
- eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
- eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
- eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
- eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
- eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
- eeprom_update_word((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
- eeprom_update_word((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
- eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
- eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
- #ifdef FILAMENT_SENSOR
- fsensor_enable();
- fsensor_autoload_set(true);
- #endif //FILAMENT_SENSOR
- Sound_MakeCustom(100,0,false);
- //_delay_ms(2000);
- break;
- // Level 3: erase everything, whole EEPROM will be set to 0xFF
- case 3:
- lcd_puts_P(PSTR("Factory RESET"));
- lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
- Sound_MakeCustom(100,0,false);
- er_progress = 0;
- lcd_puts_at_P(3, 3, PSTR(" "));
- lcd_set_cursor(3, 3);
- lcd_print(er_progress);
- // Erase EEPROM
- for (int i = 0; i < 4096; i++) {
- eeprom_update_byte((uint8_t*)i, 0xFF);
- if (i % 41 == 0) {
- er_progress++;
- lcd_puts_at_P(3, 3, PSTR(" "));
- lcd_set_cursor(3, 3);
- lcd_print(er_progress);
- lcd_puts_P(PSTR("%"));
- }
- }
- break;
- case 4:
- bowden_menu();
- break;
-
- default:
- break;
- }
-
- }
- extern "C" {
- FILE _uartout; //= {0}; Global variable is always zero initialized. No need to explicitly state this.
- }
- int uart_putchar(char c, FILE *)
- {
- MYSERIAL.write(c);
- return 0;
- }
- void lcd_splash()
- {
- lcd_clear(); // clears display and homes screen
- lcd_puts_P(PSTR("\n Original Prusa i3\n Prusa Research"));
- }
- void factory_reset()
- {
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- if (!READ(BTN_ENC))
- {
- _delay_ms(1000);
- if (!READ(BTN_ENC))
- {
- lcd_clear();
- lcd_puts_P(PSTR("Factory RESET"));
- SET_OUTPUT(BEEPER);
- if(eSoundMode!=e_SOUND_MODE_SILENT)
- WRITE(BEEPER, HIGH);
- while (!READ(BTN_ENC));
- WRITE(BEEPER, LOW);
- _delay_ms(2000);
- char level = reset_menu();
- factory_reset(level);
- switch (level) {
- case 0: _delay_ms(0); break;
- case 1: _delay_ms(0); break;
- case 2: _delay_ms(0); break;
- case 3: _delay_ms(0); break;
- }
- }
- }
- KEEPALIVE_STATE(IN_HANDLER);
- }
- void show_fw_version_warnings() {
- if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
- switch (FW_DEV_VERSION) {
- 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
- 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
- case(FW_VERSION_DEVEL):
- case(FW_VERSION_DEBUG):
- lcd_update_enable(false);
- lcd_clear();
- #if FW_DEV_VERSION == FW_VERSION_DEVEL
- lcd_puts_at_P(0, 0, PSTR("Development build !!"));
- #else
- lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
- #endif
- lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
- lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
- lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
- lcd_wait_for_click();
- break;
- // 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
- }
- lcd_update_enable(true);
- }
- //! @brief try to check if firmware is on right type of printer
- static void check_if_fw_is_on_right_printer(){
- #ifdef FILAMENT_SENSOR
- if((PRINTER_TYPE == PRINTER_MK3) || (PRINTER_TYPE == PRINTER_MK3S)){
- #ifdef IR_SENSOR
- swi2c_init();
- const uint8_t pat9125_detected = swi2c_readByte_A8(PAT9125_I2C_ADDR,0x00,NULL);
- if (pat9125_detected){
- lcd_show_fullscreen_message_and_wait_P(_i("MK3S firmware detected on MK3 printer"));}
- #endif //IR_SENSOR
- #ifdef PAT9125
- //will return 1 only if IR can detect filament in bondtech extruder so this may fail even when we have IR sensor
- const uint8_t ir_detected = !(PIN_GET(IR_SENSOR_PIN));
- if (ir_detected){
- lcd_show_fullscreen_message_and_wait_P(_i("MK3 firmware detected on MK3S printer"));}
- #endif //PAT9125
- }
- #endif //FILAMENT_SENSOR
- }
- uint8_t check_printer_version()
- {
- uint8_t version_changed = 0;
- uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
- uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
- if (printer_type != PRINTER_TYPE) {
- if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
- else version_changed |= 0b10;
- }
- if (motherboard != MOTHERBOARD) {
- if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
- else version_changed |= 0b01;
- }
- return version_changed;
- }
- #ifdef BOOTAPP
- #include "bootapp.h" //bootloader support
- #endif //BOOTAPP
- #if (LANG_MODE != 0) //secondary language support
- #ifdef W25X20CL
- // language update from external flash
- #define LANGBOOT_BLOCKSIZE 0x1000u
- #define LANGBOOT_RAMBUFFER 0x0800
- void update_sec_lang_from_external_flash()
- {
- if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
- {
- uint8_t lang = boot_reserved >> 4;
- uint8_t state = boot_reserved & 0xf;
- lang_table_header_t header;
- uint32_t src_addr;
- if (lang_get_header(lang, &header, &src_addr))
- {
- lcd_puts_at_P(1,3,PSTR("Language update."));
- for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
- _delay(100);
- boot_reserved = (state + 1) | (lang << 4);
- if ((state * LANGBOOT_BLOCKSIZE) < header.size)
- {
- cli();
- uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
- if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
- w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
- if (state == 0)
- {
- //TODO - check header integrity
- }
- bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
- }
- else
- {
- //TODO - check sec lang data integrity
- eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
- }
- }
- }
- boot_app_flags &= ~BOOT_APP_FLG_USER0;
- }
- #ifdef DEBUG_W25X20CL
- uint8_t lang_xflash_enum_codes(uint16_t* codes)
- {
- lang_table_header_t header;
- uint8_t count = 0;
- uint32_t addr = 0x00000;
- while (1)
- {
- printf_P(_n("LANGTABLE%d:"), count);
- w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
- if (header.magic != LANG_MAGIC)
- {
- printf_P(_n("NG!\n"));
- break;
- }
- printf_P(_n("OK\n"));
- printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
- printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
- printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
- printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
- printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
- printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
- addr += header.size;
- codes[count] = header.code;
- count ++;
- }
- return count;
- }
- void list_sec_lang_from_external_flash()
- {
- uint16_t codes[8];
- uint8_t count = lang_xflash_enum_codes(codes);
- printf_P(_n("XFlash lang count = %hhd\n"), count);
- }
- #endif //DEBUG_W25X20CL
- #endif //W25X20CL
- #endif //(LANG_MODE != 0)
- static void w25x20cl_err_msg()
- {
- lcd_clear();
- lcd_puts_P(_n("External SPI flash\nW25X20CL is not res-\nponding. Language\nswitch unavailable."));
- }
- // "Setup" function is called by the Arduino framework on startup.
- // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
- // are initialized by the main() routine provided by the Arduino framework.
- void setup()
- {
- mmu_init();
- ultralcd_init();
- spi_init();
- lcd_splash();
- Sound_Init(); // also guarantee "SET_OUTPUT(BEEPER)"
- #ifdef W25X20CL
- bool w25x20cl_success = w25x20cl_init();
- if (w25x20cl_success)
- {
- optiboot_w25x20cl_enter();
- #if (LANG_MODE != 0) //secondary language support
- update_sec_lang_from_external_flash();
- #endif //(LANG_MODE != 0)
- }
- else
- {
- w25x20cl_err_msg();
- }
- #else
- const bool w25x20cl_success = true;
- #endif //W25X20CL
- setup_killpin();
- setup_powerhold();
- farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
- EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
- if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
- farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
- if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
-
- selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
- if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
- if (farm_mode)
- {
- no_response = true; //we need confirmation by recieving PRUSA thx
- important_status = 8;
- prusa_statistics(8);
- selectedSerialPort = 1;
- #ifdef TMC2130
- //increased extruder current (PFW363)
- tmc2130_current_h[E_AXIS] = 36;
- tmc2130_current_r[E_AXIS] = 36;
- #endif //TMC2130
- #ifdef FILAMENT_SENSOR
- //disabled filament autoload (PFW360)
- fsensor_autoload_set(false);
- #endif //FILAMENT_SENSOR
- // ~ FanCheck -> on
- if(!(eeprom_read_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED)))
- eeprom_update_byte((unsigned char *)EEPROM_FAN_CHECK_ENABLED,true);
- }
- MYSERIAL.begin(BAUDRATE);
- fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
- #ifndef W25X20CL
- SERIAL_PROTOCOLLNPGM("start");
- #endif //W25X20CL
- stdout = uartout;
- SERIAL_ECHO_START;
- printf_P(PSTR(" " FW_VERSION_FULL "\n"));
- //SERIAL_ECHOPAIR("Active sheet before:", static_cast<unsigned long int>(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet))));
- #ifdef DEBUG_SEC_LANG
- lang_table_header_t header;
- uint32_t src_addr = 0x00000;
- if (lang_get_header(1, &header, &src_addr))
- {
- //this is comparsion of some printing-methods regarding to flash space usage and code size/readability
- #define LT_PRINT_TEST 2
- // flash usage
- // total p.test
- //0 252718 t+c text code
- //1 253142 424 170 254
- //2 253040 322 164 158
- //3 253248 530 135 395
- #if (LT_PRINT_TEST==1) //not optimized printf
- printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
- printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
- printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
- printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
- printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
- printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
- printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
- #elif (LT_PRINT_TEST==2) //optimized printf
- printf_P(
- _n(
- " _src_addr = 0x%08lx\n"
- " _lt_magic = 0x%08lx %S\n"
- " _lt_size = 0x%04x (%d)\n"
- " _lt_count = 0x%04x (%d)\n"
- " _lt_chsum = 0x%04x\n"
- " _lt_code = 0x%04x (%c%c)\n"
- " _lt_resv1 = 0x%08lx\n"
- ),
- src_addr,
- header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
- header.size, header.size,
- header.count, header.count,
- header.checksum,
- header.code, header.code >> 8, header.code & 0xff,
- header.signature
- );
- #elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
- MYSERIAL.print(" _src_addr = 0x");
- MYSERIAL.println(src_addr, 16);
- MYSERIAL.print(" _lt_magic = 0x");
- MYSERIAL.print(header.magic, 16);
- MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
- MYSERIAL.print(" _lt_size = 0x");
- MYSERIAL.print(header.size, 16);
- MYSERIAL.print(" (");
- MYSERIAL.print(header.size, 10);
- MYSERIAL.println(")");
- MYSERIAL.print(" _lt_count = 0x");
- MYSERIAL.print(header.count, 16);
- MYSERIAL.print(" (");
- MYSERIAL.print(header.count, 10);
- MYSERIAL.println(")");
- MYSERIAL.print(" _lt_chsum = 0x");
- MYSERIAL.println(header.checksum, 16);
- MYSERIAL.print(" _lt_code = 0x");
- MYSERIAL.print(header.code, 16);
- MYSERIAL.print(" (");
- MYSERIAL.print((char)(header.code >> 8), 0);
- MYSERIAL.print((char)(header.code & 0xff), 0);
- MYSERIAL.println(")");
- MYSERIAL.print(" _lt_resv1 = 0x");
- MYSERIAL.println(header.signature, 16);
- #endif //(LT_PRINT_TEST==)
- #undef LT_PRINT_TEST
- #if 0
- w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
- for (uint16_t i = 0; i < 1024; i++)
- {
- if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
- printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
- if ((i % 16) == 15) putchar('\n');
- }
- #endif
- uint16_t sum = 0;
- for (uint16_t i = 0; i < header.size; i++)
- sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
- printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
- sum -= header.checksum; //subtract checksum
- printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
- sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
- if (sum == header.checksum)
- printf_P(_n("Checksum OK\n"), sum);
- else
- printf_P(_n("Checksum NG\n"), sum);
- }
- else
- printf_P(_n("lang_get_header failed!\n"));
- #if 0
- for (uint16_t i = 0; i < 1024*10; i++)
- {
- if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
- printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
- if ((i % 16) == 15) putchar('\n');
- }
- #endif
- #if 0
- SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
- for (int i = 0; i < 4096; ++i) {
- int b = eeprom_read_byte((unsigned char*)i);
- if (b != 255) {
- SERIAL_ECHO(i);
- SERIAL_ECHO(":");
- SERIAL_ECHO(b);
- SERIAL_ECHOLN("");
- }
- }
- SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
- #endif
- #endif //DEBUG_SEC_LANG
- // Check startup - does nothing if bootloader sets MCUSR to 0
- byte mcu = MCUSR;
- /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
- if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
- if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
- if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
- if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
- if (mcu & 1) puts_P(MSG_POWERUP);
- if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
- if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
- if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
- if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
- MCUSR = 0;
- //SERIAL_ECHORPGM(MSG_MARLIN);
- //SERIAL_ECHOLNRPGM(VERSION_STRING);
- #ifdef STRING_VERSION_CONFIG_H
- #ifdef STRING_CONFIG_H_AUTHOR
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(_n(" Last Updated: "));////MSG_CONFIGURATION_VER
- SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
- SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR
- SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
- SERIAL_ECHOPGM("Compiled: ");
- SERIAL_ECHOLNPGM(__DATE__);
- #endif
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(_n(" Free Memory: "));////MSG_FREE_MEMORY
- SERIAL_ECHO(freeMemory());
- SERIAL_ECHORPGM(_n(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES
- SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
- //lcd_update_enable(false); // why do we need this?? - andre
- // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
-
- bool previous_settings_retrieved = false;
- uint8_t hw_changed = check_printer_version();
- 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
- previous_settings_retrieved = Config_RetrieveSettings();
- }
- else { //printer version was changed so use default settings
- Config_ResetDefault();
- }
- SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
- tp_init(); // Initialize temperature loop
- if (w25x20cl_success) lcd_splash(); // we need to do this again, because tp_init() kills lcd
- else
- {
- w25x20cl_err_msg();
- printf_P(_n("W25X20CL not responding.\n"));
- }
- plan_init(); // Initialize planner;
- factory_reset();
- if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
- eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff)
- {
- // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
- // where all the EEPROM entries are set to 0x0ff.
- // Once a firmware boots up, it forces at least a language selection, which changes
- // EEPROM_LANG to number lower than 0x0ff.
- // 1) Set a high power mode.
- eeprom_update_byte((uint8_t*)EEPROM_SILENT, SILENT_MODE_OFF);
- #ifdef TMC2130
- tmc2130_mode = TMC2130_MODE_NORMAL;
- #endif //TMC2130
- eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
- }
- lcd_encoder_diff=0;
- #ifdef TMC2130
- uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
- if (silentMode == 0xff) silentMode = 0;
- tmc2130_mode = TMC2130_MODE_NORMAL;
- if (lcd_crash_detect_enabled() && !farm_mode)
- {
- lcd_crash_detect_enable();
- puts_P(_N("CrashDetect ENABLED!"));
- }
- else
- {
- lcd_crash_detect_disable();
- puts_P(_N("CrashDetect DISABLED"));
- }
- #ifdef TMC2130_LINEARITY_CORRECTION
- #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
- tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
- tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
- tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
- #endif //TMC2130_LINEARITY_CORRECTION_XYZ
- tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
- if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
- if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
- if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
- if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
- #endif //TMC2130_LINEARITY_CORRECTION
- #ifdef TMC2130_VARIABLE_RESOLUTION
- tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[X_AXIS]);
- tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Y_AXIS]);
- tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[Z_AXIS]);
- tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(cs.axis_ustep_resolution[E_AXIS]);
- #else //TMC2130_VARIABLE_RESOLUTION
- tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
- tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
- tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
- tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
- #endif //TMC2130_VARIABLE_RESOLUTION
- #endif //TMC2130
- st_init(); // Initialize stepper, this enables interrupts!
-
- #ifdef UVLO_SUPPORT
- setup_uvlo_interrupt();
- #endif //UVLO_SUPPORT
- #ifdef TMC2130
- tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
- update_mode_profile();
- tmc2130_init();
- #endif //TMC2130
- #ifdef PSU_Delta
- init_force_z(); // ! important for correct Z-axis initialization
- #endif // PSU_Delta
-
- setup_photpin();
- servo_init();
- // Reset the machine correction matrix.
- // It does not make sense to load the correction matrix until the machine is homed.
- world2machine_reset();
-
- #ifdef FILAMENT_SENSOR
- fsensor_init();
- #endif //FILAMENT_SENSOR
- #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
- SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
- #endif
- setup_homepin();
- #ifdef TMC2130
- if (1) {
- // try to run to zero phase before powering the Z motor.
- // Move in negative direction
- WRITE(Z_DIR_PIN,INVERT_Z_DIR);
- // Round the current micro-micro steps to micro steps.
- for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
- // Until the phase counter is reset to zero.
- WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
- _delay(2);
- WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
- _delay(2);
- }
- }
- #endif //TMC2130
- #if defined(Z_AXIS_ALWAYS_ON) && !defined(PSU_Delta)
- enable_z();
- #endif
- farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
- EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
- if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == static_cast<int>(0xFFFF))) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
- if (farm_no == static_cast<int>(0xFFFF)) farm_no = 0;
- if (farm_mode)
- {
- prusa_statistics(8);
- }
- // Enable Toshiba FlashAir SD card / WiFi enahanced card.
- card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
- // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
- // but this times out if a blocking dialog is shown in setup().
- card.initsd();
- #ifdef DEBUG_SD_SPEED_TEST
- if (card.cardOK)
- {
- uint8_t* buff = (uint8_t*)block_buffer;
- uint32_t block = 0;
- uint32_t sumr = 0;
- uint32_t sumw = 0;
- for (int i = 0; i < 1024; i++)
- {
- uint32_t u = _micros();
- bool res = card.card.readBlock(i, buff);
- u = _micros() - u;
- if (res)
- {
- printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
- sumr += u;
- u = _micros();
- res = card.card.writeBlock(i, buff);
- u = _micros() - u;
- if (res)
- {
- printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
- sumw += u;
- }
- else
- {
- printf_P(PSTR("writeBlock %4d error\n"), i);
- break;
- }
- }
- else
- {
- printf_P(PSTR("readBlock %4d error\n"), i);
- break;
- }
- }
- uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
- uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
- printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
- printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
- }
- else
- printf_P(PSTR("Card NG!\n"));
- #endif //DEBUG_SD_SPEED_TEST
- eeprom_init();
- #ifdef SNMM
- if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
- int _z = BOWDEN_LENGTH;
- for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
- }
- #endif
- // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
- // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
- // is being written into the EEPROM, so the update procedure will be triggered only once.
- #if (LANG_MODE != 0) //secondary language support
- #ifdef DEBUG_W25X20CL
- W25X20CL_SPI_ENTER();
- uint8_t uid[8]; // 64bit unique id
- w25x20cl_rd_uid(uid);
- puts_P(_n("W25X20CL UID="));
- for (uint8_t i = 0; i < 8; i ++)
- printf_P(PSTR("%02hhx"), uid[i]);
- putchar('\n');
- list_sec_lang_from_external_flash();
- #endif //DEBUG_W25X20CL
- // lang_reset();
- if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
- lcd_language();
- #ifdef DEBUG_SEC_LANG
- uint16_t sec_lang_code = lang_get_code(1);
- uint16_t ui = _SEC_LANG_TABLE; //table pointer
- 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);
- lang_print_sec_lang(uartout);
- #endif //DEBUG_SEC_LANG
- #endif //(LANG_MODE != 0)
- if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
- eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
- temp_cal_active = false;
- } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
- if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
- //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
- eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
- int16_t z_shift = 0;
- for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
- eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
- temp_cal_active = false;
- }
- if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
- eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
- }
- if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
- eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
- }
- //mbl_mode_init();
- mbl_settings_init();
- SilentModeMenu_MMU = eeprom_read_byte((uint8_t*)EEPROM_MMU_STEALTH);
- if (SilentModeMenu_MMU == 255) {
- SilentModeMenu_MMU = 1;
- eeprom_write_byte((uint8_t*)EEPROM_MMU_STEALTH, SilentModeMenu_MMU);
- }
- #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
- setup_fan_interrupt();
- #endif //DEBUG_DISABLE_FANCHECK
- #ifdef PAT9125
- fsensor_setup_interrupt();
- #endif //PAT9125
- for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
-
- #ifndef DEBUG_DISABLE_STARTMSGS
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- if (!farm_mode) {
- check_if_fw_is_on_right_printer();
- show_fw_version_warnings();
- }
- switch (hw_changed) {
- //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
- //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
- case(0b01):
- lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
- eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
- break;
- case(0b10):
- lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
- eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
- break;
- case(0b11):
- lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
- eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
- eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
- break;
- default: break; //no change, show no message
- }
- if (!previous_settings_retrieved) {
- lcd_show_fullscreen_message_and_wait_P(_i("Old settings found. Default PID, Esteps etc. will be set.")); //if EEPROM version or printer type was changed, inform user that default setting were loaded////MSG_DEFAULT_SETTINGS_LOADED c=20 r=4
- Config_StoreSettings();
- }
- if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
- lcd_wizard(WizState::Run);
- }
- if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
- if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
- calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
- calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
- // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
- eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
- // Show the message.
- lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
- }
- else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
- // Show the message.
- lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
- lcd_update_enable(true);
- }
- else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
- //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
- lcd_update_enable(true);
- }
- else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
- // Show the message.
- lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_Z_CALIBRATION_FLOW));
- }
- }
- #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
- if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
- lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
- update_current_firmware_version_to_eeprom();
- lcd_selftest();
- }
- #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
- KEEPALIVE_STATE(IN_PROCESS);
- #endif //DEBUG_DISABLE_STARTMSGS
- lcd_update_enable(true);
- lcd_clear();
- lcd_update(2);
- // Store the currently running firmware into an eeprom,
- // so the next time the firmware gets updated, it will know from which version it has been updated.
- update_current_firmware_version_to_eeprom();
- #ifdef TMC2130
- tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
- tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
- tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
- if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
- if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
- if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
- tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
- tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
- tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
- if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
- if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
- if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
- tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
- if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
- #endif //TMC2130
- #ifdef UVLO_SUPPORT
- if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != 0) { //previous print was terminated by UVLO
- /*
- if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
- else {
- eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
- lcd_update_enable(true);
- lcd_update(2);
- lcd_setstatuspgm(_T(WELCOME_MSG));
- }
- */
- manage_heater(); // Update temperatures
- #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
- 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));
- #endif
- if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
- #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
- puts_P(_N("Automatic recovery!"));
- #endif
- recover_print(1);
- }
- else{
- #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
- puts_P(_N("Normal recovery!"));
- #endif
- if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
- else {
- eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
- lcd_update_enable(true);
- lcd_update(2);
- lcd_setstatuspgm(_T(WELCOME_MSG));
- }
-
- }
-
- }
- #endif //UVLO_SUPPORT
- fCheckModeInit();
- fSetMmuMode(mmu_enabled);
- KEEPALIVE_STATE(NOT_BUSY);
- #ifdef WATCHDOG
- wdt_enable(WDTO_4S);
- #endif //WATCHDOG
- }
- void trace();
- #define CHUNK_SIZE 64 // bytes
- #define SAFETY_MARGIN 1
- char chunk[CHUNK_SIZE+SAFETY_MARGIN];
- int chunkHead = 0;
- void serial_read_stream() {
- setAllTargetHotends(0);
- setTargetBed(0);
- lcd_clear();
- lcd_puts_P(PSTR(" Upload in progress"));
- // first wait for how many bytes we will receive
- uint32_t bytesToReceive;
- // receive the four bytes
- char bytesToReceiveBuffer[4];
- for (int i=0; i<4; i++) {
- int data;
- while ((data = MYSERIAL.read()) == -1) {};
- bytesToReceiveBuffer[i] = data;
- }
- // make it a uint32
- memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
- // we're ready, notify the sender
- MYSERIAL.write('+');
- // lock in the routine
- uint32_t receivedBytes = 0;
- while (prusa_sd_card_upload) {
- int i;
- for (i=0; i<CHUNK_SIZE; i++) {
- int data;
- // check if we're not done
- if (receivedBytes == bytesToReceive) {
- break;
- }
- // read the next byte
- while ((data = MYSERIAL.read()) == -1) {};
- receivedBytes++;
- // save it to the chunk
- chunk[i] = data;
- }
- // write the chunk to SD
- card.write_command_no_newline(&chunk[0]);
- // notify the sender we're ready for more data
- MYSERIAL.write('+');
- // for safety
- manage_heater();
- // check if we're done
- if(receivedBytes == bytesToReceive) {
- trace(); // beep
- card.closefile();
- prusa_sd_card_upload = false;
- SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
- }
- }
- }
- /**
- * Output a "busy" message at regular intervals
- * while the machine is not accepting commands.
- */
- void host_keepalive() {
- #ifndef HOST_KEEPALIVE_FEATURE
- return;
- #endif //HOST_KEEPALIVE_FEATURE
- if (farm_mode) return;
- long ms = _millis();
- if (host_keepalive_interval && busy_state != NOT_BUSY) {
- if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
- switch (busy_state) {
- case IN_HANDLER:
- case IN_PROCESS:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM("busy: processing");
- break;
- case PAUSED_FOR_USER:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM("busy: paused for user");
- break;
- case PAUSED_FOR_INPUT:
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM("busy: paused for input");
- break;
- default:
- break;
- }
- }
- prev_busy_signal_ms = ms;
- }
- // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
- // Before loop(), the setup() function is called by the main() routine.
- void loop()
- {
- KEEPALIVE_STATE(NOT_BUSY);
- if ((usb_printing_counter > 0) && ((_millis()-_usb_timer) > 1000))
- {
- is_usb_printing = true;
- usb_printing_counter--;
- _usb_timer = _millis();
- }
- if (usb_printing_counter == 0)
- {
- is_usb_printing = false;
- }
- if (isPrintPaused && saved_printing_type == PRINTING_TYPE_USB) //keep believing that usb is being printed. Prevents accessing dangerous menus while pausing.
- {
- is_usb_printing = true;
- }
-
- #ifdef FANCHECK
- if (fan_check_error && isPrintPaused)
- {
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- 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.
- }
- #endif
- if (prusa_sd_card_upload)
- {
- //we read byte-by byte
- serial_read_stream();
- }
- else
- {
- get_command();
- #ifdef SDSUPPORT
- card.checkautostart(false);
- #endif
- if(buflen)
- {
- cmdbuffer_front_already_processed = false;
- #ifdef SDSUPPORT
- if(card.saving)
- {
- // Saving a G-code file onto an SD-card is in progress.
- // Saving starts with M28, saving until M29 is seen.
- if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
- card.write_command(CMDBUFFER_CURRENT_STRING);
- if(card.logging)
- process_commands();
- else
- SERIAL_PROTOCOLLNRPGM(MSG_OK);
- } else {
- card.closefile();
- SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
- }
- } else {
- process_commands();
- }
- #else
- process_commands();
- #endif //SDSUPPORT
- if (! cmdbuffer_front_already_processed && buflen)
- {
- // ptr points to the start of the block currently being processed.
- // The first character in the block is the block type.
- char *ptr = cmdbuffer + bufindr;
- if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
- // To support power panic, move the lenght of the command on the SD card to a planner buffer.
- union {
- struct {
- char lo;
- char hi;
- } lohi;
- uint16_t value;
- } sdlen;
- sdlen.value = 0;
- {
- // This block locks the interrupts globally for 3.25 us,
- // which corresponds to a maximum repeat frequency of 307.69 kHz.
- // This blocking is safe in the context of a 10kHz stepper driver interrupt
- // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
- cli();
- // Reset the command to something, which will be ignored by the power panic routine,
- // so this buffer length will not be counted twice.
- *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
- // Extract the current buffer length.
- sdlen.lohi.lo = *ptr ++;
- sdlen.lohi.hi = *ptr;
- // and pass it to the planner queue.
- planner_add_sd_length(sdlen.value);
- sei();
- }
- }
- else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
-
- cli();
- *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
- // and one for each command to previous block in the planner queue.
- planner_add_sd_length(1);
- sei();
- }
- // Now it is safe to release the already processed command block. If interrupted by the power panic now,
- // this block's SD card length will not be counted twice as its command type has been replaced
- // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
- cmdqueue_pop_front();
- }
- host_keepalive();
- }
- }
- //check heater every n milliseconds
- manage_heater();
- isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
- checkHitEndstops();
- lcd_update(0);
- #ifdef TMC2130
- tmc2130_check_overtemp();
- if (tmc2130_sg_crash)
- {
- uint8_t crash = tmc2130_sg_crash;
- tmc2130_sg_crash = 0;
- // crashdet_stop_and_save_print();
- switch (crash)
- {
- case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
- case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
- case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
- }
- }
- #endif //TMC2130
- mmu_loop();
- }
- #define DEFINE_PGM_READ_ANY(type, reader) \
- static inline type pgm_read_any(const type *p) \
- { return pgm_read_##reader##_near(p); }
- DEFINE_PGM_READ_ANY(float, float);
- DEFINE_PGM_READ_ANY(signed char, byte);
- #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
- static const PROGMEM type array##_P[3] = \
- { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
- static inline type array(int axis) \
- { return pgm_read_any(&array##_P[axis]); } \
- type array##_ext(int axis) \
- { return pgm_read_any(&array##_P[axis]); }
- XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
- XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
- XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
- XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
- XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
- XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
- static void axis_is_at_home(int axis) {
- current_position[axis] = base_home_pos(axis) + cs.add_homing[axis];
- min_pos[axis] = base_min_pos(axis) + cs.add_homing[axis];
- max_pos[axis] = base_max_pos(axis) + cs.add_homing[axis];
- }
- inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
- inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
- //! @return original feedmultiply
- static int setup_for_endstop_move(bool enable_endstops_now = true) {
- saved_feedrate = feedrate;
- int l_feedmultiply = feedmultiply;
- feedmultiply = 100;
- previous_millis_cmd = _millis();
-
- enable_endstops(enable_endstops_now);
- return l_feedmultiply;
- }
- //! @param original_feedmultiply feedmultiply to restore
- static void clean_up_after_endstop_move(int original_feedmultiply) {
- #ifdef ENDSTOPS_ONLY_FOR_HOMING
- enable_endstops(false);
- #endif
-
- feedrate = saved_feedrate;
- feedmultiply = original_feedmultiply;
- previous_millis_cmd = _millis();
- }
- #ifdef ENABLE_AUTO_BED_LEVELING
- #ifdef AUTO_BED_LEVELING_GRID
- static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
- {
- vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
- planeNormal.debug("planeNormal");
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- //bedLevel.debug("bedLevel");
- //plan_bed_level_matrix.debug("bed level before");
- //vector_3 uncorrected_position = plan_get_position_mm();
- //uncorrected_position.debug("position before");
- vector_3 corrected_position = plan_get_position();
- // corrected_position.debug("position after");
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = corrected_position.z;
- // put the bed at 0 so we don't go below it.
- current_position[Z_AXIS] = cs.zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- #else // not AUTO_BED_LEVELING_GRID
- static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
- plan_bed_level_matrix.set_to_identity();
- vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
- vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
- vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
- vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
- vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
- vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
- planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- vector_3 corrected_position = plan_get_position();
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = corrected_position.z;
- // put the bed at 0 so we don't go below it.
- current_position[Z_AXIS] = cs.zprobe_zoffset;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- #endif // AUTO_BED_LEVELING_GRID
- static void run_z_probe() {
- plan_bed_level_matrix.set_to_identity();
- feedrate = homing_feedrate[Z_AXIS];
- // move down until you find the bed
- float zPosition = -10;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- // we have to let the planner know where we are right now as it is not where we said to go.
- zPosition = st_get_position_mm(Z_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
- // move up the retract distance
- zPosition += home_retract_mm(Z_AXIS);
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- // move back down slowly to find bed
- feedrate = homing_feedrate[Z_AXIS]/4;
- zPosition -= home_retract_mm(Z_AXIS) * 2;
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
- // make sure the planner knows where we are as it may be a bit different than we last said to move to
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- static void do_blocking_move_to(float x, float y, float z) {
- float oldFeedRate = feedrate;
- feedrate = homing_feedrate[Z_AXIS];
- current_position[Z_AXIS] = z;
- plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
- st_synchronize();
- feedrate = XY_TRAVEL_SPEED;
- current_position[X_AXIS] = x;
- current_position[Y_AXIS] = y;
- plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
- st_synchronize();
- feedrate = oldFeedRate;
- }
- static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
- do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
- }
- /// Probe bed height at position (x,y), returns the measured z value
- static float probe_pt(float x, float y, float z_before) {
- // move to right place
- do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
- do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
- run_z_probe();
- float measured_z = current_position[Z_AXIS];
- SERIAL_PROTOCOLRPGM(_T(MSG_BED));
- SERIAL_PROTOCOLPGM(" x: ");
- SERIAL_PROTOCOL(x);
- SERIAL_PROTOCOLPGM(" y: ");
- SERIAL_PROTOCOL(y);
- SERIAL_PROTOCOLPGM(" z: ");
- SERIAL_PROTOCOL(measured_z);
- SERIAL_PROTOCOLPGM("\n");
- return measured_z;
- }
- #endif // #ifdef ENABLE_AUTO_BED_LEVELING
- #ifdef LIN_ADVANCE
- /**
- * M900: Set and/or Get advance K factor and WH/D ratio
- *
- * K<factor> Set advance K factor
- * R<ratio> Set ratio directly (overrides WH/D)
- * W<width> H<height> D<diam> Set ratio from WH/D
- */
- inline void gcode_M900() {
- st_synchronize();
-
- const float newK = code_seen('K') ? code_value_float() : -1;
- if (newK >= 0) extruder_advance_k = newK;
-
- float newR = code_seen('R') ? code_value_float() : -1;
- if (newR < 0) {
- const float newD = code_seen('D') ? code_value_float() : -1,
- newW = code_seen('W') ? code_value_float() : -1,
- newH = code_seen('H') ? code_value_float() : -1;
- if (newD >= 0 && newW >= 0 && newH >= 0)
- newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
- }
- if (newR >= 0) advance_ed_ratio = newR;
-
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("Advance K=");
- SERIAL_ECHOLN(extruder_advance_k);
- SERIAL_ECHOPGM(" E/D=");
- const float ratio = advance_ed_ratio;
- if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
- }
- #endif // LIN_ADVANCE
- bool check_commands() {
- bool end_command_found = false;
-
- while (buflen)
- {
- if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
- if (!cmdbuffer_front_already_processed)
- cmdqueue_pop_front();
- cmdbuffer_front_already_processed = false;
- }
- return end_command_found;
-
- }
- // raise_z_above: slowly raise Z to the requested height
- //
- // contrarily to a simple move, this function will carefully plan a move
- // when the current Z position is unknown. In such cases, stallguard is
- // enabled and will prevent prolonged pushing against the Z tops
- void raise_z_above(float target, bool plan)
- {
- if (current_position[Z_AXIS] >= target)
- return;
- // Z needs raising
- current_position[Z_AXIS] = target;
- #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
- bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
- #else
- bool z_min_endstop = false;
- #endif
- if (axis_known_position[Z_AXIS] || z_min_endstop)
- {
- // current position is known or very low, it's safe to raise Z
- if(plan) plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS], active_extruder);
- return;
- }
- // ensure Z is powered in normal mode to overcome initial load
- enable_z();
- st_synchronize();
- // rely on crashguard to limit damage
- bool z_endstop_enabled = enable_z_endstop(true);
- #ifdef TMC2130
- tmc2130_home_enter(Z_AXIS_MASK);
- #endif //TMC2130
- plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
- st_synchronize();
- #ifdef TMC2130
- if (endstop_z_hit_on_purpose())
- {
- // not necessarily exact, but will avoid further vertical moves
- current_position[Z_AXIS] = max_pos[Z_AXIS];
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS],
- current_position[Z_AXIS], current_position[E_AXIS]);
- }
- tmc2130_home_exit();
- #endif //TMC2130
- enable_z_endstop(z_endstop_enabled);
- }
- #ifdef TMC2130
- bool calibrate_z_auto()
- {
- //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
- lcd_clear();
- lcd_puts_at_P(0, 1, _T(MSG_CALIBRATE_Z_AUTO));
- bool endstops_enabled = enable_endstops(true);
- int axis_up_dir = -home_dir(Z_AXIS);
- tmc2130_home_enter(Z_AXIS_MASK);
- current_position[Z_AXIS] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- set_destination_to_current();
- destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
- feedrate = homing_feedrate[Z_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate / 60, active_extruder);
- st_synchronize();
- // current_position[axis] = 0;
- // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- tmc2130_home_exit();
- enable_endstops(false);
- current_position[Z_AXIS] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- set_destination_to_current();
- destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
- feedrate = homing_feedrate[Z_AXIS] / 2;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate / 60, active_extruder);
- st_synchronize();
- enable_endstops(endstops_enabled);
- if (PRINTER_TYPE == PRINTER_MK3) {
- current_position[Z_AXIS] = Z_MAX_POS + 2.0;
- }
- else {
- current_position[Z_AXIS] = Z_MAX_POS + 9.0;
- }
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- return true;
- }
- #endif //TMC2130
- #ifdef TMC2130
- void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
- #else
- void homeaxis(int axis, uint8_t cnt)
- #endif //TMC2130
- {
- bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
- #define HOMEAXIS_DO(LETTER) \
- ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
- if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
- {
- int axis_home_dir = home_dir(axis);
- feedrate = homing_feedrate[axis];
- #ifdef TMC2130
- tmc2130_home_enter(X_AXIS_MASK << axis);
- #endif //TMC2130
- // Move away a bit, so that the print head does not touch the end position,
- // and the following movement to endstop has a chance to achieve the required velocity
- // for the stall guard to work.
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- set_destination_to_current();
- // destination[axis] = 11.f;
- destination[axis] = -3.f * axis_home_dir;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- // Move away from the possible collision with opposite endstop with the collision detection disabled.
- endstops_hit_on_purpose();
- enable_endstops(false);
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = 1. * axis_home_dir;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- // Now continue to move up to the left end stop with the collision detection enabled.
- enable_endstops(true);
- destination[axis] = 1.1 * axis_home_dir * max_length(axis);
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- for (uint8_t i = 0; i < cnt; i++)
- {
- // Move away from the collision to a known distance from the left end stop with the collision detection disabled.
- endstops_hit_on_purpose();
- enable_endstops(false);
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = -10.f * axis_home_dir;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- endstops_hit_on_purpose();
- // Now move left up to the collision, this time with a repeatable velocity.
- enable_endstops(true);
- destination[axis] = 11.f * axis_home_dir;
- #ifdef TMC2130
- feedrate = homing_feedrate[axis];
- #else //TMC2130
- feedrate = homing_feedrate[axis] / 2;
- #endif //TMC2130
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- #ifdef TMC2130
- uint16_t mscnt = tmc2130_rd_MSCNT(axis);
- if (pstep) pstep[i] = mscnt >> 4;
- printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
- #endif //TMC2130
- }
- endstops_hit_on_purpose();
- enable_endstops(false);
- #ifdef TMC2130
- uint8_t orig = tmc2130_home_origin[axis];
- uint8_t back = tmc2130_home_bsteps[axis];
- if (tmc2130_home_enabled && (orig <= 63))
- {
- tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
- if (back > 0)
- tmc2130_do_steps(axis, back, -axis_home_dir, 1000);
- }
- else
- tmc2130_do_steps(axis, 8, -axis_home_dir, 1000);
- tmc2130_home_exit();
- #endif //TMC2130
- axis_is_at_home(axis);
- axis_known_position[axis] = true;
- // Move from minimum
- #ifdef TMC2130
- float dist = - axis_home_dir * 0.01f * tmc2130_home_fsteps[axis];
- #else //TMC2130
- float dist = - axis_home_dir * 0.01f * 64;
- #endif //TMC2130
- current_position[axis] -= dist;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- current_position[axis] += dist;
- destination[axis] = current_position[axis];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
- st_synchronize();
- feedrate = 0.0;
- }
- else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
- {
- #ifdef TMC2130
- FORCE_HIGH_POWER_START;
- #endif
- int axis_home_dir = home_dir(axis);
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
- feedrate = homing_feedrate[axis];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- #ifdef TMC2130
- if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
- FORCE_HIGH_POWER_END;
- kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
- return;
- }
- #endif //TMC2130
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = -home_retract_mm(axis) * axis_home_dir;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
- feedrate = homing_feedrate[axis]/2 ;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- #ifdef TMC2130
- if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
- FORCE_HIGH_POWER_END;
- kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
- return;
- }
- #endif //TMC2130
- axis_is_at_home(axis);
- destination[axis] = current_position[axis];
- feedrate = 0.0;
- endstops_hit_on_purpose();
- axis_known_position[axis] = true;
- #ifdef TMC2130
- FORCE_HIGH_POWER_END;
- #endif
- }
- enable_endstops(endstops_enabled);
- }
- /**/
- void home_xy()
- {
- set_destination_to_current();
- homeaxis(X_AXIS);
- homeaxis(Y_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- endstops_hit_on_purpose();
- }
- void refresh_cmd_timeout(void)
- {
- previous_millis_cmd = _millis();
- }
- #ifdef FWRETRACT
- void retract(bool retracting, bool swapretract = false) {
- if(retracting && !retracted[active_extruder]) {
- destination[X_AXIS]=current_position[X_AXIS];
- destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
- destination[E_AXIS]=current_position[E_AXIS];
- current_position[E_AXIS]+=(swapretract?retract_length_swap:cs.retract_length)*float(extrudemultiply)*0.01f;
- plan_set_e_position(current_position[E_AXIS]);
- float oldFeedrate = feedrate;
- feedrate=cs.retract_feedrate*60;
- retracted[active_extruder]=true;
- prepare_move();
- current_position[Z_AXIS]-=cs.retract_zlift;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- prepare_move();
- feedrate = oldFeedrate;
- } else if(!retracting && retracted[active_extruder]) {
- destination[X_AXIS]=current_position[X_AXIS];
- destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
- destination[E_AXIS]=current_position[E_AXIS];
- current_position[Z_AXIS]+=cs.retract_zlift;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f;
- plan_set_e_position(current_position[E_AXIS]);
- float oldFeedrate = feedrate;
- feedrate=cs.retract_recover_feedrate*60;
- retracted[active_extruder]=false;
- prepare_move();
- feedrate = oldFeedrate;
- }
- } //retract
- #endif //FWRETRACT
- void trace() {
- Sound_MakeCustom(25,440,true);
- }
- /*
- void ramming() {
- // float tmp[4] = DEFAULT_MAX_FEEDRATE;
- if (current_temperature[0] < 230) {
- //PLA
- max_feedrate[E_AXIS] = 50;
- //current_position[E_AXIS] -= 8;
- //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
- //current_position[E_AXIS] += 8;
- //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
- current_position[E_AXIS] += 5.4;
- plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
- current_position[E_AXIS] += 3.2;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[E_AXIS] += 3;
- plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
- st_synchronize();
- max_feedrate[E_AXIS] = 80;
- current_position[E_AXIS] -= 82;
- plan_buffer_line_curposXYZE(9500 / 60, active_extruder);
- max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
- current_position[E_AXIS] -= 20;
- plan_buffer_line_curposXYZE(1200 / 60, active_extruder);
- current_position[E_AXIS] += 5;
- plan_buffer_line_curposXYZE(400 / 60, active_extruder);
- current_position[E_AXIS] += 5;
- plan_buffer_line_curposXYZE(600 / 60, active_extruder);
- current_position[E_AXIS] -= 10;
- st_synchronize();
- plan_buffer_line_curposXYZE(600 / 60, active_extruder);
- current_position[E_AXIS] += 10;
- plan_buffer_line_curposXYZE(600 / 60, active_extruder);
- current_position[E_AXIS] -= 10;
- plan_buffer_line_curposXYZE(800 / 60, active_extruder);
- current_position[E_AXIS] += 10;
- plan_buffer_line_curposXYZE(800 / 60, active_extruder);
- current_position[E_AXIS] -= 10;
- plan_buffer_line_curposXYZE(800 / 60, active_extruder);
- st_synchronize();
- }
- else {
- //ABS
- max_feedrate[E_AXIS] = 50;
- //current_position[E_AXIS] -= 8;
- //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
- //current_position[E_AXIS] += 8;
- //plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
- current_position[E_AXIS] += 3.1;
- plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
- current_position[E_AXIS] += 3.1;
- plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
- current_position[E_AXIS] += 4;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
- //current_position[X_AXIS] += 23; //delay
- //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
- //current_position[X_AXIS] -= 23; //delay
- //plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
- _delay(4700);
- max_feedrate[E_AXIS] = 80;
- current_position[E_AXIS] -= 92;
- plan_buffer_line_curposXYZE(9900 / 60, active_extruder);
- max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
- current_position[E_AXIS] -= 5;
- plan_buffer_line_curposXYZE(800 / 60, active_extruder);
- current_position[E_AXIS] += 5;
- plan_buffer_line_curposXYZE(400 / 60, active_extruder);
- current_position[E_AXIS] -= 5;
- plan_buffer_line_curposXYZE(600 / 60, active_extruder);
- st_synchronize();
- current_position[E_AXIS] += 5;
- plan_buffer_line_curposXYZE(600 / 60, active_extruder);
- current_position[E_AXIS] -= 5;
- plan_buffer_line_curposXYZE(600 / 60, active_extruder);
- current_position[E_AXIS] += 5;
- plan_buffer_line_curposXYZE(600 / 60, active_extruder);
- current_position[E_AXIS] -= 5;
- plan_buffer_line_curposXYZE(600 / 60, active_extruder);
- st_synchronize();
- }
- }
- */
- #ifdef TMC2130
- void force_high_power_mode(bool start_high_power_section) {
- #ifdef PSU_Delta
- if (start_high_power_section == true) enable_force_z();
- #endif //PSU_Delta
- uint8_t silent;
- silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
- if (silent == 1) {
- //we are in silent mode, set to normal mode to enable crash detection
- // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
- st_synchronize();
- cli();
- tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
- update_mode_profile();
- tmc2130_init();
- // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
- // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
- st_reset_timer();
- sei();
- }
- }
- #endif //TMC2130
- #ifdef TMC2130
- 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)
- #else
- 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)
- #endif //TMC2130
- {
- st_synchronize();
- #if 0
- SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
- SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
- #endif
- // Flag for the display update routine and to disable the print cancelation during homing.
- homing_flag = true;
- // Which axes should be homed?
- bool home_x = home_x_axis;
- bool home_y = home_y_axis;
- bool home_z = home_z_axis;
- // Either all X,Y,Z codes are present, or none of them.
- bool home_all_axes = home_x == home_y && home_x == home_z;
- if (home_all_axes)
- // No X/Y/Z code provided means to home all axes.
- home_x = home_y = home_z = true;
- //if we are homing all axes, first move z higher to protect heatbed/steel sheet
- if (home_all_axes) {
- raise_z_above(MESH_HOME_Z_SEARCH);
- st_synchronize();
- }
- #ifdef ENABLE_AUTO_BED_LEVELING
- plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
- #endif //ENABLE_AUTO_BED_LEVELING
-
- // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
- // the planner will not perform any adjustments in the XY plane.
- // Wait for the motors to stop and update the current position with the absolute values.
- world2machine_revert_to_uncorrected();
- // For mesh bed leveling deactivate the matrix temporarily.
- // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
- // in a single axis only.
- // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
- #ifdef MESH_BED_LEVELING
- uint8_t mbl_was_active = mbl.active;
- mbl.active = 0;
- current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
- #endif
- // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
- // consumed during the first movements following this statement.
- if (home_z)
- babystep_undo();
- saved_feedrate = feedrate;
- int l_feedmultiply = feedmultiply;
- feedmultiply = 100;
- previous_millis_cmd = _millis();
- enable_endstops(true);
- memcpy(destination, current_position, sizeof(destination));
- feedrate = 0.0;
- #if Z_HOME_DIR > 0 // If homing away from BED do Z first
- if(home_z)
- homeaxis(Z_AXIS);
- #endif
- #ifdef QUICK_HOME
- // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
- if(home_x && home_y) //first diagonal move
- {
- current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
- int x_axis_home_dir = home_dir(X_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- 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);
- feedrate = homing_feedrate[X_AXIS];
- if(homing_feedrate[Y_AXIS]<feedrate)
- feedrate = homing_feedrate[Y_AXIS];
- if (max_length(X_AXIS) > max_length(Y_AXIS)) {
- feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
- } else {
- feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
- }
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
- axis_is_at_home(X_AXIS);
- axis_is_at_home(Y_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = current_position[X_AXIS];
- destination[Y_AXIS] = current_position[Y_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- feedrate = 0.0;
- st_synchronize();
- endstops_hit_on_purpose();
- current_position[X_AXIS] = destination[X_AXIS];
- current_position[Y_AXIS] = destination[Y_AXIS];
- current_position[Z_AXIS] = destination[Z_AXIS];
- }
- #endif /* QUICK_HOME */
- #ifdef TMC2130
- if(home_x)
- {
- if (!calib)
- homeaxis(X_AXIS);
- else
- tmc2130_home_calibrate(X_AXIS);
- }
- if(home_y)
- {
- if (!calib)
- homeaxis(Y_AXIS);
- else
- tmc2130_home_calibrate(Y_AXIS);
- }
- #else //TMC2130
- if(home_x) homeaxis(X_AXIS);
- if(home_y) homeaxis(Y_AXIS);
- #endif //TMC2130
- if(home_x_axis && home_x_value != 0)
- current_position[X_AXIS]=home_x_value+cs.add_homing[X_AXIS];
- if(home_y_axis && home_y_value != 0)
- current_position[Y_AXIS]=home_y_value+cs.add_homing[Y_AXIS];
- #if Z_HOME_DIR < 0 // If homing towards BED do Z last
- #ifndef Z_SAFE_HOMING
- if(home_z) {
- #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
- raise_z_above(Z_RAISE_BEFORE_HOMING);
- st_synchronize();
- #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
- #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
- raise_z_above(MESH_HOME_Z_SEARCH);
- st_synchronize();
- if (!axis_known_position[X_AXIS]) homeaxis(X_AXIS);
- if (!axis_known_position[Y_AXIS]) homeaxis(Y_AXIS);
- // 1st mesh bed leveling measurement point, corrected.
- world2machine_initialize();
- world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
- world2machine_reset();
- if (destination[Y_AXIS] < Y_MIN_POS)
- destination[Y_AXIS] = Y_MIN_POS;
- feedrate = homing_feedrate[X_AXIS] / 20;
- enable_endstops(false);
- #ifdef DEBUG_BUILD
- SERIAL_ECHOLNPGM("plan_set_position()");
- MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
- MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
- #endif
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- #ifdef DEBUG_BUILD
- SERIAL_ECHOLNPGM("plan_buffer_line()");
- MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
- MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
- MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
- #endif
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
- st_synchronize();
- current_position[X_AXIS] = destination[X_AXIS];
- current_position[Y_AXIS] = destination[Y_AXIS];
- enable_endstops(true);
- endstops_hit_on_purpose();
- homeaxis(Z_AXIS);
- #else // MESH_BED_LEVELING
- homeaxis(Z_AXIS);
- #endif // MESH_BED_LEVELING
- }
- #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
- if(home_all_axes) {
- destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
- destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
- destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
- feedrate = XY_TRAVEL_SPEED/60;
- current_position[Z_AXIS] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
- st_synchronize();
- current_position[X_AXIS] = destination[X_AXIS];
- current_position[Y_AXIS] = destination[Y_AXIS];
- homeaxis(Z_AXIS);
- }
- // Let's see if X and Y are homed and probe is inside bed area.
- if(home_z) {
- if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
- && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
- && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
- && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
- && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
- current_position[Z_AXIS] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
- feedrate = max_feedrate[Z_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
- st_synchronize();
- homeaxis(Z_AXIS);
- } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
- LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
- } else {
- LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
- }
- }
- #endif // Z_SAFE_HOMING
- #endif // Z_HOME_DIR < 0
- if(home_z_axis && home_z_value != 0)
- current_position[Z_AXIS]=home_z_value+cs.add_homing[Z_AXIS];
- #ifdef ENABLE_AUTO_BED_LEVELING
- if(home_z)
- current_position[Z_AXIS] += cs.zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
- #endif
-
- // Set the planner and stepper routine positions.
- // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
- // contains the machine coordinates.
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- #ifdef ENDSTOPS_ONLY_FOR_HOMING
- enable_endstops(false);
- #endif
- feedrate = saved_feedrate;
- feedmultiply = l_feedmultiply;
- previous_millis_cmd = _millis();
- endstops_hit_on_purpose();
- #ifndef MESH_BED_LEVELING
- //-// Oct 2019 :: this part of code is (from) now probably un-compilable
- // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
- // Offer the user to load the baby step value, which has been adjusted at the previous print session.
- if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
- lcd_adjust_z();
- #endif
- // Load the machine correction matrix
- world2machine_initialize();
- // and correct the current_position XY axes to match the transformed coordinate system.
- world2machine_update_current();
- #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
- if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
- {
- if (! home_z && mbl_was_active) {
- // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
- mbl.active = true;
- // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
- current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
- }
- }
- else
- {
- st_synchronize();
- homing_flag = false;
- }
- #endif
- if (farm_mode) { prusa_statistics(20); };
- homing_flag = false;
- #if 0
- SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
- SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
- SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
- #endif
- }
- static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis)
- {
- #ifdef TMC2130
- gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
- #else
- gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, true);
- #endif //TMC2130
- }
- void adjust_bed_reset()
- {
- eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
- eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_LEFT, 0);
- eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_RIGHT, 0);
- eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_FRONT, 0);
- eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_REAR, 0);
- }
- //! @brief Calibrate XYZ
- //! @param onlyZ if true, calibrate only Z axis
- //! @param verbosity_level
- //! @retval true Succeeded
- //! @retval false Failed
- bool gcode_M45(bool onlyZ, int8_t verbosity_level)
- {
- bool final_result = false;
- #ifdef TMC2130
- FORCE_HIGH_POWER_START;
- #endif // TMC2130
-
- FORCE_BL_ON_START;
-
- // Only Z calibration?
- if (!onlyZ)
- {
- setTargetBed(0);
- setAllTargetHotends(0);
- adjust_bed_reset(); //reset bed level correction
- }
- // Disable the default update procedure of the display. We will do a modal dialog.
- lcd_update_enable(false);
- // Let the planner use the uncorrected coordinates.
- mbl.reset();
- // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
- // the planner will not perform any adjustments in the XY plane.
- // Wait for the motors to stop and update the current position with the absolute values.
- world2machine_revert_to_uncorrected();
- // Reset the baby step value applied without moving the axes.
- babystep_reset();
- // Mark all axes as in a need for homing.
- memset(axis_known_position, 0, sizeof(axis_known_position));
- // Home in the XY plane.
- //set_destination_to_current();
- int l_feedmultiply = setup_for_endstop_move();
- lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
- home_xy();
- enable_endstops(false);
- current_position[X_AXIS] += 5;
- current_position[Y_AXIS] += 5;
- plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
- st_synchronize();
- // Let the user move the Z axes up to the end stoppers.
- #ifdef TMC2130
- if (calibrate_z_auto())
- {
- #else //TMC2130
- if (lcd_calibrate_z_end_stop_manual(onlyZ))
- {
- #endif //TMC2130
-
- lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
- if(onlyZ){
- lcd_display_message_fullscreen_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1));
- lcd_set_cursor(0, 3);
- lcd_print(1);
- lcd_puts_P(_T(MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2));
- }else{
- //lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
- lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
- lcd_set_cursor(0, 2);
- lcd_print(1);
- lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
- }
- refresh_cmd_timeout();
- #ifndef STEEL_SHEET
- if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
- {
- lcd_wait_for_cool_down();
- }
- #endif //STEEL_SHEET
- if(!onlyZ)
- {
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- #ifdef STEEL_SHEET
- bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
- if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
- #endif //STEEL_SHEET
- lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
- KEEPALIVE_STATE(IN_HANDLER);
- lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
- lcd_set_cursor(0, 2);
- lcd_print(1);
- lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
- }
-
- bool endstops_enabled = enable_endstops(false);
- current_position[Z_AXIS] -= 1; //move 1mm down with disabled endstop
- plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
- st_synchronize();
- // Move the print head close to the bed.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- enable_endstops(true);
- #ifdef TMC2130
- tmc2130_home_enter(Z_AXIS_MASK);
- #endif //TMC2130
- plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
- st_synchronize();
- #ifdef TMC2130
- tmc2130_home_exit();
- #endif //TMC2130
- enable_endstops(endstops_enabled);
- if ((st_get_position_mm(Z_AXIS) <= (MESH_HOME_Z_SEARCH + HOME_Z_SEARCH_THRESHOLD)) &&
- (st_get_position_mm(Z_AXIS) >= (MESH_HOME_Z_SEARCH - HOME_Z_SEARCH_THRESHOLD)))
- {
- if (onlyZ)
- {
- clean_up_after_endstop_move(l_feedmultiply);
- // Z only calibration.
- // Load the machine correction matrix
- world2machine_initialize();
- // and correct the current_position to match the transformed coordinate system.
- world2machine_update_current();
- //FIXME
- bool result = sample_mesh_and_store_reference();
- if (result)
- {
- if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
- // Shipped, the nozzle height has been set already. The user can start printing now.
- calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
- final_result = true;
- // babystep_apply();
- }
- }
- else
- {
- // Reset the baby step value and the baby step applied flag.
- calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
- eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
- // Complete XYZ calibration.
- uint8_t point_too_far_mask = 0;
- BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
- clean_up_after_endstop_move(l_feedmultiply);
- // Print head up.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
- st_synchronize();
- //#ifndef NEW_XYZCAL
- if (result >= 0)
- {
- #ifdef HEATBED_V2
- sample_z();
- #else //HEATBED_V2
- point_too_far_mask = 0;
- // Second half: The fine adjustment.
- // Let the planner use the uncorrected coordinates.
- mbl.reset();
- world2machine_reset();
- // Home in the XY plane.
- int l_feedmultiply = setup_for_endstop_move();
- home_xy();
- result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
- clean_up_after_endstop_move(l_feedmultiply);
- // Print head up.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
- st_synchronize();
- // if (result >= 0) babystep_apply();
- #endif //HEATBED_V2
- }
- //#endif //NEW_XYZCAL
- lcd_update_enable(true);
- lcd_update(2);
- lcd_bed_calibration_show_result(result, point_too_far_mask);
- if (result >= 0)
- {
- // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
- calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
- if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
- final_result = true;
- }
- }
- #ifdef TMC2130
- tmc2130_home_exit();
- #endif
- }
- else
- {
- lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
- final_result = false;
- }
- }
- else
- {
- // Timeouted.
- }
- lcd_update_enable(true);
- #ifdef TMC2130
- FORCE_HIGH_POWER_END;
- #endif // TMC2130
-
- FORCE_BL_ON_END;
-
- return final_result;
- }
- void gcode_M114()
- {
- SERIAL_PROTOCOLPGM("X:");
- SERIAL_PROTOCOL(current_position[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Y:");
- SERIAL_PROTOCOL(current_position[Y_AXIS]);
- SERIAL_PROTOCOLPGM(" Z:");
- SERIAL_PROTOCOL(current_position[Z_AXIS]);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL(current_position[E_AXIS]);
- SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X
- SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / cs.axis_steps_per_unit[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Y:");
- SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / cs.axis_steps_per_unit[Y_AXIS]);
- SERIAL_PROTOCOLPGM(" Z:");
- SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / cs.axis_steps_per_unit[Z_AXIS]);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / cs.axis_steps_per_unit[E_AXIS]);
- SERIAL_PROTOCOLLN("");
- }
- //! extracted code to compute z_shift for M600 in case of filament change operation
- //! requested from fsensors.
- //! The function ensures, that the printhead lifts to at least 25mm above the heat bed
- //! unlike the previous implementation, which was adding 25mm even when the head was
- //! printing at e.g. 24mm height.
- //! A safety margin of FILAMENTCHANGE_ZADD is added in all cases to avoid touching
- //! the printout.
- //! This function is templated to enable fast change of computation data type.
- //! @return new z_shift value
- template<typename T>
- static T gcode_M600_filament_change_z_shift()
- {
- #ifdef FILAMENTCHANGE_ZADD
- static_assert(Z_MAX_POS < (255 - FILAMENTCHANGE_ZADD), "Z-range too high, change the T type from uint8_t to uint16_t");
- // avoid floating point arithmetics when not necessary - results in shorter code
- T ztmp = T( current_position[Z_AXIS] );
- T z_shift = 0;
- if(ztmp < T(25)){
- z_shift = T(25) - ztmp; // make sure to be at least 25mm above the heat bed
- }
- return z_shift + T(FILAMENTCHANGE_ZADD); // always move above printout
- #else
- return T(0);
- #endif
- }
- static void gcode_M600(bool automatic, float x_position, float y_position, float z_shift, float e_shift, float /*e_shift_late*/)
- {
- st_synchronize();
- float lastpos[4];
- if (farm_mode)
- {
- prusa_statistics(22);
- }
- //First backup current position and settings
- int feedmultiplyBckp = feedmultiply;
- float HotendTempBckp = degTargetHotend(active_extruder);
- int fanSpeedBckp = fanSpeed;
- lastpos[X_AXIS] = current_position[X_AXIS];
- lastpos[Y_AXIS] = current_position[Y_AXIS];
- lastpos[Z_AXIS] = current_position[Z_AXIS];
- lastpos[E_AXIS] = current_position[E_AXIS];
- //Retract E
- current_position[E_AXIS] += e_shift;
- plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED, active_extruder);
- st_synchronize();
- //Lift Z
- current_position[Z_AXIS] += z_shift;
- plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED, active_extruder);
- st_synchronize();
- //Move XY to side
- current_position[X_AXIS] = x_position;
- current_position[Y_AXIS] = y_position;
- plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED, active_extruder);
- st_synchronize();
- //Beep, manage nozzle heater and wait for user to start unload filament
- if(!mmu_enabled) M600_wait_for_user(HotendTempBckp);
- lcd_change_fil_state = 0;
- // Unload filament
- if (mmu_enabled) extr_unload(); //unload just current filament for multimaterial printers (used also in M702)
- else unload_filament(); //unload filament for single material (used also in M702)
- //finish moves
- st_synchronize();
- if (!mmu_enabled)
- {
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"),
- false, true); ////MSG_UNLOAD_SUCCESSFUL c=20 r=2
- if (lcd_change_fil_state == 0)
- {
- lcd_clear();
- lcd_set_cursor(0, 2);
- lcd_puts_P(_T(MSG_PLEASE_WAIT));
- current_position[X_AXIS] -= 100;
- plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED, active_extruder);
- st_synchronize();
- lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
- }
- }
- if (mmu_enabled)
- {
- if (!automatic) {
- 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
- mmu_M600_wait_and_beep();
- if (saved_printing) {
- lcd_clear();
- lcd_set_cursor(0, 2);
- lcd_puts_P(_T(MSG_PLEASE_WAIT));
- mmu_command(MmuCmd::R0);
- manage_response(false, false);
- }
- }
- mmu_M600_load_filament(automatic, HotendTempBckp);
- }
- else
- M600_load_filament();
- if (!automatic) M600_check_state(HotendTempBckp);
- lcd_update_enable(true);
- //Not let's go back to print
- fanSpeed = fanSpeedBckp;
- //Feed a little of filament to stabilize pressure
- if (!automatic)
- {
- current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
- plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED, active_extruder);
- }
- //Move XY back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
- FILAMENTCHANGE_XYFEED, active_extruder);
- st_synchronize();
- //Move Z back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS],
- FILAMENTCHANGE_ZFEED, active_extruder);
- st_synchronize();
- //Set E position to original
- plan_set_e_position(lastpos[E_AXIS]);
- memcpy(current_position, lastpos, sizeof(lastpos));
- memcpy(destination, current_position, sizeof(current_position));
- //Recover feed rate
- feedmultiply = feedmultiplyBckp;
- char cmd[9];
- sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
- enquecommand(cmd);
- #ifdef IR_SENSOR
- //this will set fsensor_watch_autoload to correct value and prevent possible M701 gcode enqueuing when M600 is finished
- fsensor_check_autoload();
- #endif //IR_SENSOR
- lcd_setstatuspgm(_T(WELCOME_MSG));
- custom_message_type = CustomMsg::Status;
- }
- void gcode_M701()
- {
- printf_P(PSTR("gcode_M701 begin\n"));
- if (farm_mode)
- {
- prusa_statistics(22);
- }
- if (mmu_enabled)
- {
- extr_adj(tmp_extruder);//loads current extruder
- mmu_extruder = tmp_extruder;
- }
- else
- {
- enable_z();
- custom_message_type = CustomMsg::FilamentLoading;
- #ifdef FSENSOR_QUALITY
- fsensor_oq_meassure_start(40);
- #endif //FSENSOR_QUALITY
- lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
- current_position[E_AXIS] += 40;
- plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence
- st_synchronize();
- raise_z_above(MIN_Z_FOR_LOAD, false);
- current_position[E_AXIS] += 30;
- plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence
-
- load_filament_final_feed(); //slow sequence
- st_synchronize();
- Sound_MakeCustom(50,500,false);
- if (!farm_mode && loading_flag) {
- lcd_load_filament_color_check();
- }
- lcd_update_enable(true);
- lcd_update(2);
- lcd_setstatuspgm(_T(WELCOME_MSG));
- disable_z();
- loading_flag = false;
- custom_message_type = CustomMsg::Status;
- #ifdef FSENSOR_QUALITY
- fsensor_oq_meassure_stop();
- if (!fsensor_oq_result())
- {
- bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
- lcd_update_enable(true);
- lcd_update(2);
- if (disable)
- fsensor_disable();
- }
- #endif //FSENSOR_QUALITY
- }
- }
- /**
- * @brief Get serial number from 32U2 processor
- *
- * Typical format of S/N is:CZPX0917X003XC13518
- *
- * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
- *
- * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
- * reply is transmitted to serial port 1 character by character.
- * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
- * it is interrupted, so less, or no characters are retransmitted, only newline character is send
- * in any case.
- */
- static void gcode_PRUSA_SN()
- {
- if (farm_mode) {
- selectedSerialPort = 0;
- putchar(';');
- putchar('S');
- int numbersRead = 0;
- ShortTimer timeout;
- timeout.start();
- while (numbersRead < 19) {
- while (MSerial.available() > 0) {
- uint8_t serial_char = MSerial.read();
- selectedSerialPort = 1;
- putchar(serial_char);
- numbersRead++;
- selectedSerialPort = 0;
- }
- if (timeout.expired(100u)) break;
- }
- selectedSerialPort = 1;
- putchar('\n');
- #if 0
- for (int b = 0; b < 3; b++) {
- _tone(BEEPER, 110);
- _delay(50);
- _noTone(BEEPER);
- _delay(50);
- }
- #endif
- } else {
- puts_P(_N("Not in farm mode."));
- }
- }
- //! Detection of faulty RAMBo 1.1b boards equipped with bigger capacitors
- //! at the TACH_1 pin, which causes bad detection of print fan speed.
- //! Warning: This function is not to be used by ordinary users, it is here only for automated testing purposes,
- //! it may even interfere with other functions of the printer! You have been warned!
- //! The test idea is to measure the time necessary to charge the capacitor.
- //! So the algorithm is as follows:
- //! 1. Set TACH_1 pin to INPUT mode and LOW
- //! 2. Wait a few ms
- //! 3. disable interrupts and measure the time until the TACH_1 pin reaches HIGH
- //! Repeat 1.-3. several times
- //! Good RAMBo's times are in the range of approx. 260-320 us
- //! Bad RAMBo's times are approx. 260-1200 us
- //! So basically we are interested in maximum time, the minima are mostly the same.
- //! May be that's why the bad RAMBo's still produce some fan RPM reading, but not corresponding to reality
- static void gcode_PRUSA_BadRAMBoFanTest(){
- //printf_P(PSTR("Enter fan pin test\n"));
- #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
- fan_measuring = false; // prevent EXTINT7 breaking into the measurement
- unsigned long tach1max = 0;
- uint8_t tach1cntr = 0;
- for( /* nothing */; tach1cntr < 100; ++tach1cntr){
- //printf_P(PSTR("TACH_1: %d\n"), tach1cntr);
- SET_OUTPUT(TACH_1);
- WRITE(TACH_1, LOW);
- _delay(20); // the delay may be lower
- unsigned long tachMeasure = _micros();
- cli();
- SET_INPUT(TACH_1);
- // just wait brutally in an endless cycle until we reach HIGH
- // if this becomes a problem it may be improved to non-endless cycle
- while( READ(TACH_1) == 0 ) ;
- sei();
- tachMeasure = _micros() - tachMeasure;
- if( tach1max < tachMeasure )
- tach1max = tachMeasure;
- //printf_P(PSTR("TACH_1: %d: capacitor check time=%lu us\n"), (int)tach1cntr, tachMeasure);
- }
- //printf_P(PSTR("TACH_1: max=%lu us\n"), tach1max);
- SERIAL_PROTOCOLPGM("RAMBo FAN ");
- if( tach1max > 500 ){
- // bad RAMBo
- SERIAL_PROTOCOLLNPGM("BAD");
- } else {
- SERIAL_PROTOCOLLNPGM("OK");
- }
- // cleanup after the test function
- SET_INPUT(TACH_1);
- WRITE(TACH_1, HIGH);
- #endif
- }
- #ifdef BACKLASH_X
- extern uint8_t st_backlash_x;
- #endif //BACKLASH_X
- #ifdef BACKLASH_Y
- extern uint8_t st_backlash_y;
- #endif //BACKLASH_Y
- //! \ingroup marlin_main
- //! @brief Parse and process commands
- //!
- //! look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
- //! http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
- //!
- //!
- //! Implemented Codes
- //! -------------------
- //!
- //! * _This list is not updated. Current documentation is maintained inside the process_cmd function._
- //!
- //!@n PRUSA CODES
- //!@n P F - Returns FW versions
- //!@n P R - Returns revision of printer
- //!
- //!@n G0 -> G1
- //!@n G1 - Coordinated Movement X Y Z E
- //!@n G2 - CW ARC
- //!@n G3 - CCW ARC
- //!@n G4 - Dwell S<seconds> or P<milliseconds>
- //!@n G10 - retract filament according to settings of M207
- //!@n G11 - retract recover filament according to settings of M208
- //!@n G28 - Home all Axis
- //!@n G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
- //!@n G30 - Single Z Probe, probes bed at current XY location.
- //!@n G31 - Dock sled (Z_PROBE_SLED only)
- //!@n G32 - Undock sled (Z_PROBE_SLED only)
- //!@n G80 - Automatic mesh bed leveling
- //!@n G81 - Print bed profile
- //!@n G90 - Use Absolute Coordinates
- //!@n G91 - Use Relative Coordinates
- //!@n G92 - Set current position to coordinates given
- //!
- //!@n M Codes
- //!@n M0 - Unconditional stop - Wait for user to press a button on the LCD
- //!@n M1 - Same as M0
- //!@n M17 - Enable/Power all stepper motors
- //!@n M18 - Disable all stepper motors; same as M84
- //!@n M20 - List SD card
- //!@n M21 - Init SD card
- //!@n M22 - Release SD card
- //!@n M23 - Select SD file (M23 filename.g)
- //!@n M24 - Start/resume SD print
- //!@n M25 - Pause SD print
- //!@n M26 - Set SD position in bytes (M26 S12345)
- //!@n M27 - Report SD print status
- //!@n M28 - Start SD write (M28 filename.g)
- //!@n M29 - Stop SD write
- //!@n M30 - Delete file from SD (M30 filename.g)
- //!@n M31 - Output time since last M109 or SD card start to serial
- //!@n M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
- //! syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
- //! Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
- //! The '#' is necessary when calling from within sd files, as it stops buffer prereading
- //!@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.
- //!@n M73 - Show percent done and print time remaining
- //!@n M80 - Turn on Power Supply
- //!@n M81 - Turn off Power Supply
- //!@n M82 - Set E codes absolute (default)
- //!@n M83 - Set E codes relative while in Absolute Coordinates (G90) mode
- //!@n M84 - Disable steppers until next move,
- //! or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
- //!@n M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
- //!@n M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
- //!@n M92 - Set axis_steps_per_unit - same syntax as G92
- //!@n M104 - Set extruder target temp
- //!@n M105 - Read current temp
- //!@n M106 - Fan on
- //!@n M107 - Fan off
- //!@n M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
- //! Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
- //! IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
- //!@n M112 - Emergency stop
- //!@n M113 - Get or set the timeout interval for Host Keepalive "busy" messages
- //!@n M114 - Output current position to serial port
- //!@n M115 - Capabilities string
- //!@n M117 - display message
- //!@n M119 - Output Endstop status to serial port
- //!@n M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
- //!@n M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
- //!@n M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
- //!@n M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
- //!@n M140 - Set bed target temp
- //!@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.
- //!@n M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
- //! Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
- //!@n M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
- //!@n M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
- //!@n M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
- //!@n M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
- //!@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
- //!@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
- //!@n M206 - set additional homing offset
- //!@n M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
- //!@n M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
- //!@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.
- //!@n M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
- //!@n M220 S<factor in percent>- set speed factor override percentage
- //!@n M221 S<factor in percent>- set extrude factor override percentage
- //!@n M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
- //!@n M240 - Trigger a camera to take a photograph
- //!@n M250 - Set LCD contrast C<contrast value> (value 0..63)
- //!@n M280 - set servo position absolute. P: servo index, S: angle or microseconds
- //!@n M300 - Play beep sound S<frequency Hz> P<duration ms>
- //!@n M301 - Set PID parameters P I and D
- //!@n M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
- //!@n M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
- //!@n M304 - Set bed PID parameters P I and D
- //!@n M400 - Finish all moves
- //!@n M401 - Lower z-probe if present
- //!@n M402 - Raise z-probe if present
- //!@n M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
- //!@n M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
- //!@n M406 - Turn off Filament Sensor extrusion control
- //!@n M407 - Displays measured filament diameter
- //!@n M500 - stores parameters in EEPROM
- //!@n M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
- //!@n M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
- //!@n M503 - print the current settings (from memory not from EEPROM)
- //!@n M509 - force language selection on next restart
- //!@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)
- //!@n M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
- //!@n M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
- //!@n M860 - Wait for PINDA thermistor to reach target temperature.
- //!@n M861 - Set / Read PINDA temperature compensation offsets
- //!@n M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
- //!@n M907 - Set digital trimpot motor current using axis codes.
- //!@n M908 - Control digital trimpot directly.
- //!@n M350 - Set microstepping mode.
- //!@n M351 - Toggle MS1 MS2 pins directly.
- //!
- //!@n M928 - Start SD logging (M928 filename.g) - ended by M29
- //!@n M999 - Restart after being stopped by error
- //! <br><br>
- /** @defgroup marlin_main Marlin main */
- /** \ingroup GCodes */
- //! _This is a list of currently implemented G Codes in Prusa firmware (dynamically generated from doxygen)_
- void process_commands()
- {
- #ifdef FANCHECK
- if(fan_check_error){
- if(fan_check_error == EFCE_DETECTED){
- fan_check_error = EFCE_REPORTED;
- // SERIAL_PROTOCOLLNRPGM(MSG_OCTOPRINT_PAUSED);
- lcd_pause_print();
- } // otherwise it has already been reported, so just ignore further processing
- return; //ignore usb stream. It is reenabled by selecting resume from the lcd.
- }
- #endif
- if (!buflen) return; //empty command
- #ifdef FILAMENT_RUNOUT_SUPPORT
- SET_INPUT(FR_SENS);
- #endif
- #ifdef CMDBUFFER_DEBUG
- SERIAL_ECHOPGM("Processing a GCODE command: ");
- SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
- SERIAL_ECHOLNPGM("");
- SERIAL_ECHOPGM("In cmdqueue: ");
- SERIAL_ECHO(buflen);
- SERIAL_ECHOLNPGM("");
- #endif /* CMDBUFFER_DEBUG */
-
- unsigned long codenum; //throw away variable
- char *starpos = NULL;
- #ifdef ENABLE_AUTO_BED_LEVELING
- float x_tmp, y_tmp, z_tmp, real_z;
- #endif
- // PRUSA GCODES
- KEEPALIVE_STATE(IN_HANDLER);
- #ifdef SNMM
- float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
- float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
- int8_t SilentMode;
- #endif
-
- if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
- starpos = (strchr(strchr_pointer + 5, '*'));
- if (starpos != NULL)
- *(starpos) = '\0';
- lcd_setstatus(strchr_pointer + 5);
- }
- #ifdef TMC2130
- else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
- {
- //! ### CRASH_DETECTED - TMC2130
- // ---------------------------------
- if(code_seen("CRASH_DETECTED"))
- {
- uint8_t mask = 0;
- if (code_seen('X')) mask |= X_AXIS_MASK;
- if (code_seen('Y')) mask |= Y_AXIS_MASK;
- crashdet_detected(mask);
- }
- //! ### CRASH_RECOVER - TMC2130
- // ----------------------------------
- else if(code_seen("CRASH_RECOVER"))
- crashdet_recover();
- //! ### CRASH_CANCEL - TMC2130
- // ----------------------------------
- else if(code_seen("CRASH_CANCEL"))
- crashdet_cancel();
- }
- else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
- {
-
- //! ### TMC_SET_WAVE_
- // --------------------
- if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
- {
- uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
- axis = (axis == 'E')?3:(axis - 'X');
- if (axis < 4)
- {
- uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
- tmc2130_set_wave(axis, 247, fac);
- }
- }
-
- //! ### TMC_SET_STEP_
- // ------------------
- else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
- {
- uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
- axis = (axis == 'E')?3:(axis - 'X');
- if (axis < 4)
- {
- uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
- uint16_t res = tmc2130_get_res(axis);
- tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
- }
- }
- //! ### TMC_SET_CHOP_
- // -------------------
- else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
- {
- uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
- axis = (axis == 'E')?3:(axis - 'X');
- if (axis < 4)
- {
- uint8_t chop0 = tmc2130_chopper_config[axis].toff;
- uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
- uint8_t chop2 = tmc2130_chopper_config[axis].hend;
- uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
- char* str_end = 0;
- if (CMDBUFFER_CURRENT_STRING[14])
- {
- chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
- if (str_end && *str_end)
- {
- chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
- if (str_end && *str_end)
- {
- chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
- if (str_end && *str_end)
- chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
- }
- }
- }
- tmc2130_chopper_config[axis].toff = chop0;
- tmc2130_chopper_config[axis].hstr = chop1 & 7;
- tmc2130_chopper_config[axis].hend = chop2 & 15;
- tmc2130_chopper_config[axis].tbl = chop3 & 3;
- tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
- //printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
- }
- }
- }
- #ifdef BACKLASH_X
- else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
- {
- uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
- st_backlash_x = bl;
- printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
- }
- #endif //BACKLASH_X
- #ifdef BACKLASH_Y
- else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
- {
- uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
- st_backlash_y = bl;
- printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
- }
- #endif //BACKLASH_Y
- #endif //TMC2130
- else if(code_seen("PRUSA")){
- /*!
- *
- ### PRUSA - Internal command set
-
- Set of internal PRUSA commands
-
- PRUSA [ Ping | PRN | FAN | fn | thx | uvlo | MMURES | RESET | fv | M28 | SN | Fir | Rev | Lang | Lz | Beat | FR ]
-
- - `Ping`
- - `PRN` - Prints revision of the printer
- - `FAN` - Prints fan details
- - `fn` - Prints farm no.
- - `thx`
- - `uvlo`
- - `MMURES` - Reset MMU
- - `RESET` - (Careful!)
- - `fv` - ?
- - `M28`
- - `SN`
- - `Fir` - Prints firmware version
- - `Rev`- Prints filament size, elelectronics, nozzle type
- - `Lang` - Reset the language
- - `Lz`
- - `Beat` - Kick farm link timer
- - `FR` - Full factory reset
- - `nozzle set <diameter>` - set nozzle diameter (farm mode only), e.g. `PRUSA nozzle set 0.4`
- - `nozzle D<diameter>` - check the nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle D0.4`
- - `nozzle` - prints nozzle diameter (farm mode only), works like M862.1 P, e.g. `PRUSA nozzle`
- *
- */
- if (code_seen("Ping")) { // PRUSA Ping
- if (farm_mode) {
- PingTime = _millis();
- //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
- }
- }
- else if (code_seen("PRN")) { // PRUSA PRN
- printf_P(_N("%d"), status_number);
- } else if( code_seen("FANPINTST") ){
- gcode_PRUSA_BadRAMBoFanTest();
- }else if (code_seen("FAN")) { //! PRUSA FAN
- printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
- }else if (code_seen("fn")) { // PRUSA fn
- if (farm_mode) {
- printf_P(_N("%d"), farm_no);
- }
- else {
- puts_P(_N("Not in farm mode."));
- }
-
- }
- else if (code_seen("thx")) // PRUSA thx
- {
- no_response = false;
- }
- else if (code_seen("uvlo")) // PRUSA uvlo
- {
- eeprom_update_byte((uint8_t*)EEPROM_UVLO,0);
- enquecommand_P(PSTR("M24"));
- }
- else if (code_seen("MMURES")) // PRUSA MMURES
- {
- mmu_reset();
- }
- else if (code_seen("RESET")) { // PRUSA RESET
- // careful!
- if (farm_mode) {
- #if (defined(WATCHDOG) && (MOTHERBOARD == BOARD_EINSY_1_0a))
- boot_app_magic = BOOT_APP_MAGIC;
- boot_app_flags = BOOT_APP_FLG_RUN;
- wdt_enable(WDTO_15MS);
- cli();
- while(1);
- #else //WATCHDOG
- asm volatile("jmp 0x3E000");
- #endif //WATCHDOG
- }
- else {
- MYSERIAL.println("Not in farm mode.");
- }
- }else if (code_seen("fv")) { // PRUSA fv
- // get file version
- #ifdef SDSUPPORT
- card.openFile(strchr_pointer + 3,true);
- while (true) {
- uint16_t readByte = card.get();
- MYSERIAL.write(readByte);
- if (readByte=='\n') {
- break;
- }
- }
- card.closefile();
- #endif // SDSUPPORT
- } else if (code_seen("M28")) { // PRUSA M28
- trace();
- prusa_sd_card_upload = true;
- card.openFile(strchr_pointer+4,false);
- } else if (code_seen("SN")) { // PRUSA SN
- gcode_PRUSA_SN();
- } else if(code_seen("Fir")){ // PRUSA Fir
- SERIAL_PROTOCOLLN(FW_VERSION_FULL);
- } else if(code_seen("Rev")){ // PRUSA Rev
- SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
- } else if(code_seen("Lang")) { // PRUSA Lang
- lang_reset();
- } else if(code_seen("Lz")) { // PRUSA Lz
- eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
- } else if(code_seen("Beat")) { // PRUSA Beat
- // Kick farm link timer
- kicktime = _millis();
- } else if(code_seen("FR")) { // PRUSA FR
- // Factory full reset
- factory_reset(0);
- //-//
- /*
- } else if(code_seen("rrr")) {
- MYSERIAL.println("=== checking ===");
- MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_CHECK_MODE),DEC);
- MYSERIAL.println(eeprom_read_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER),DEC);
- MYSERIAL.println(eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM),DEC);
- MYSERIAL.println(farm_mode,DEC);
- MYSERIAL.println(eCheckMode,DEC);
- } else if(code_seen("www")) {
- MYSERIAL.println("=== @ FF ===");
- eeprom_update_byte((uint8_t*)EEPROM_CHECK_MODE,0xFF);
- eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,0xFF);
- eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,0xFFFF);
- */
- } else if (code_seen("nozzle")) { // PRUSA nozzle
- uint16_t nDiameter;
- if(code_seen('D'))
- {
- nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
- nozzle_diameter_check(nDiameter);
- }
- else if(code_seen("set") && farm_mode)
- {
- strchr_pointer++; // skip 1st char (~ 's')
- strchr_pointer++; // skip 2nd char (~ 'e')
- nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
- eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
- eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
- }
- else SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
- //-// !!! SupportMenu
- /*
- // musi byt PRED "PRUSA model"
- } else if (code_seen("smodel")) { //! PRUSA smodel
- size_t nOffset;
- // ! -> "l"
- strchr_pointer+=5*sizeof(*strchr_pointer); // skip 1st - 5th char (~ 'smode')
- nOffset=strspn(strchr_pointer+1," \t\n\r\v\f");
- if(*(strchr_pointer+1+nOffset))
- printer_smodel_check(strchr_pointer);
- else SERIAL_PROTOCOLLN(PRINTER_NAME);
- } else if (code_seen("model")) { //! PRUSA model
- uint16_t nPrinterModel;
- strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'mode')
- nPrinterModel=(uint16_t)code_value_long();
- if(nPrinterModel!=0)
- printer_model_check(nPrinterModel);
- else SERIAL_PROTOCOLLN(PRINTER_TYPE);
- } else if (code_seen("version")) { //! PRUSA version
- strchr_pointer+=7*sizeof(*strchr_pointer); // skip 1st - 7th char (~ 'version')
- while(*strchr_pointer==' ') // skip leading spaces
- strchr_pointer++;
- if(*strchr_pointer!=0)
- fw_version_check(strchr_pointer);
- else SERIAL_PROTOCOLLN(FW_VERSION);
- } else if (code_seen("gcode")) { //! PRUSA gcode
- uint16_t nGcodeLevel;
- strchr_pointer+=4*sizeof(*strchr_pointer); // skip 1st - 4th char (~ 'gcod')
- nGcodeLevel=(uint16_t)code_value_long();
- if(nGcodeLevel!=0)
- gcode_level_check(nGcodeLevel);
- else SERIAL_PROTOCOLLN(GCODE_LEVEL);
- */
- }
- //else if (code_seen('Cal')) {
- // lcd_calibration();
- // }
- }
- // This prevents reading files with "^" in their names.
- // Since it is unclear, if there is some usage of this construct,
- // it will be deprecated in 3.9 alpha a possibly completely removed in the future:
- // else if (code_seen('^')) {
- // // nothing, this is a version line
- // }
- else if(code_seen('G'))
- {
- gcode_in_progress = (int)code_value();
- // printf_P(_N("BEGIN G-CODE=%u\n"), gcode_in_progress);
- switch (gcode_in_progress)
- {
- //! ### G0, G1 - Coordinated movement X Y Z E
- // --------------------------------------
- case 0: // G0 -> G1
- case 1: // G1
- if(Stopped == false) {
- #ifdef FILAMENT_RUNOUT_SUPPORT
-
- if(READ(FR_SENS)){
- int feedmultiplyBckp=feedmultiply;
- float target[4];
- float lastpos[4];
- target[X_AXIS]=current_position[X_AXIS];
- target[Y_AXIS]=current_position[Y_AXIS];
- target[Z_AXIS]=current_position[Z_AXIS];
- target[E_AXIS]=current_position[E_AXIS];
- lastpos[X_AXIS]=current_position[X_AXIS];
- lastpos[Y_AXIS]=current_position[Y_AXIS];
- lastpos[Z_AXIS]=current_position[Z_AXIS];
- lastpos[E_AXIS]=current_position[E_AXIS];
- //retract by E
-
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
-
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
- target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
- target[X_AXIS]= FILAMENTCHANGE_XPOS ;
-
- target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
-
-
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
- target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
-
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
- //finish moves
- st_synchronize();
- //disable extruder steppers so filament can be removed
- disable_e0();
- disable_e1();
- disable_e2();
- _delay(100);
-
- //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
- uint8_t cnt=0;
- int counterBeep = 0;
- lcd_wait_interact();
- while(!lcd_clicked()){
- cnt++;
- manage_heater();
- manage_inactivity(true);
- //lcd_update(0);
- if(cnt==0)
- {
- #if BEEPER > 0
-
- if (counterBeep== 500){
- counterBeep = 0;
-
- }
-
-
- SET_OUTPUT(BEEPER);
- if (counterBeep== 0){
- if(eSoundMode!=e_SOUND_MODE_SILENT)
- WRITE(BEEPER,HIGH);
- }
-
- if (counterBeep== 20){
- WRITE(BEEPER,LOW);
- }
-
-
-
-
- counterBeep++;
- #else
- #endif
- }
- }
-
- WRITE(BEEPER,LOW);
-
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
-
-
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
-
-
-
-
-
- lcd_change_fil_state = 0;
- lcd_loading_filament();
- while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
-
- lcd_change_fil_state = 0;
- lcd_alright();
- switch(lcd_change_fil_state){
-
- case 2:
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
-
-
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
-
-
- lcd_loading_filament();
- break;
- case 3:
- target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
- lcd_loading_color();
- break;
-
- default:
- lcd_change_success();
- break;
- }
-
- }
-
-
- target[E_AXIS]+= 5;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
-
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
-
- //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
- //plan_set_e_position(current_position[E_AXIS]);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
-
-
- target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
-
-
-
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
-
-
- plan_set_e_position(lastpos[E_AXIS]);
-
- feedmultiply=feedmultiplyBckp;
-
-
-
- char cmd[9];
- sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
- enquecommand(cmd);
- }
- #endif
- get_coordinates(); // For X Y Z E F
- // When recovering from a previous print move, restore the originally
- // calculated target position on the first USB/SD command. This accounts
- // properly for relative moves
- if ((saved_target[0] != SAVED_TARGET_UNSET) &&
- ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_SDCARD) ||
- (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)))
- {
- memcpy(destination, saved_target, sizeof(destination));
- saved_target[0] = SAVED_TARGET_UNSET;
- }
- if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
- total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
- }
- #ifdef FWRETRACT
- if(cs.autoretract_enabled)
- if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
- float echange=destination[E_AXIS]-current_position[E_AXIS];
- if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
- current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
- plan_set_e_position(current_position[E_AXIS]); //AND from the planner
- retract(!retracted[active_extruder]);
- return;
- }
- }
- #endif //FWRETRACT
- prepare_move();
- //ClearToSend();
- }
- break;
- //! ### G2 - CW ARC
- // ------------------------------
- case 2:
- if(Stopped == false) {
- get_arc_coordinates();
- prepare_arc_move(true);
- }
- break;
-
- //! ### G3 - CCW ARC
- // -------------------------------
- case 3:
- if(Stopped == false) {
- get_arc_coordinates();
- prepare_arc_move(false);
- }
- break;
- //! ### G4 - Dwell
- // -------------------------------
- case 4:
- codenum = 0;
- if(code_seen('P')) codenum = code_value(); // milliseconds to wait
- if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
- if(codenum != 0) LCD_MESSAGERPGM(_n("Sleep..."));////MSG_DWELL
- st_synchronize();
- codenum += _millis(); // keep track of when we started waiting
- previous_millis_cmd = _millis();
- while(_millis() < codenum) {
- manage_heater();
- manage_inactivity();
- lcd_update(0);
- }
- break;
- #ifdef FWRETRACT
-
- //! ### G10 Retract
- // ------------------------------
- case 10:
- #if EXTRUDERS > 1
- retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
- retract(true,retracted_swap[active_extruder]);
- #else
- retract(true);
- #endif
- break;
-
- //! ### G11 - Retract recover
- // -----------------------------
- case 11:
- #if EXTRUDERS > 1
- retract(false,retracted_swap[active_extruder]);
- #else
- retract(false);
- #endif
- break;
- #endif //FWRETRACT
-
- //! ### G28 - Home all Axis one at a time
- // --------------------------------------------
- case 28:
- {
- long home_x_value = 0;
- long home_y_value = 0;
- long home_z_value = 0;
- // Which axes should be homed?
- bool home_x = code_seen(axis_codes[X_AXIS]);
- home_x_value = code_value_long();
- bool home_y = code_seen(axis_codes[Y_AXIS]);
- home_y_value = code_value_long();
- bool home_z = code_seen(axis_codes[Z_AXIS]);
- home_z_value = code_value_long();
- bool without_mbl = code_seen('W');
- // calibrate?
- #ifdef TMC2130
- bool calib = code_seen('C');
- gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
- #else
- gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, without_mbl);
- #endif //TMC2130
- if ((home_x || home_y || without_mbl || home_z) == false) {
- // Push the commands to the front of the message queue in the reverse order!
- // There shall be always enough space reserved for these commands.
- goto case_G80;
- }
- break;
- }
- #ifdef ENABLE_AUTO_BED_LEVELING
-
- //! ### G29 - Detailed Z-Probe
- // --------------------------------
- case 29:
- {
- #if Z_MIN_PIN == -1
- #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."
- #endif
- // Prevent user from running a G29 without first homing in X and Y
- if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
- {
- LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
- break; // abort G29, since we don't know where we are
- }
- st_synchronize();
- // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
- //vector_3 corrected_position = plan_get_position_mm();
- //corrected_position.debug("position before G29");
- plan_bed_level_matrix.set_to_identity();
- vector_3 uncorrected_position = plan_get_position();
- //uncorrected_position.debug("position durring G29");
- current_position[X_AXIS] = uncorrected_position.x;
- current_position[Y_AXIS] = uncorrected_position.y;
- current_position[Z_AXIS] = uncorrected_position.z;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- int l_feedmultiply = setup_for_endstop_move();
- feedrate = homing_feedrate[Z_AXIS];
- #ifdef AUTO_BED_LEVELING_GRID
- // probe at the points of a lattice grid
- int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
- int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
- // solve the plane equation ax + by + d = z
- // A is the matrix with rows [x y 1] for all the probed points
- // B is the vector of the Z positions
- // 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
- // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
- // "A" matrix of the linear system of equations
- double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
- // "B" vector of Z points
- double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
- int probePointCounter = 0;
- bool zig = true;
- for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
- {
- int xProbe, xInc;
- if (zig)
- {
- xProbe = LEFT_PROBE_BED_POSITION;
- //xEnd = RIGHT_PROBE_BED_POSITION;
- xInc = xGridSpacing;
- zig = false;
- } else // zag
- {
- xProbe = RIGHT_PROBE_BED_POSITION;
- //xEnd = LEFT_PROBE_BED_POSITION;
- xInc = -xGridSpacing;
- zig = true;
- }
- for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
- {
- float z_before;
- if (probePointCounter == 0)
- {
- // raise before probing
- z_before = Z_RAISE_BEFORE_PROBING;
- } else
- {
- // raise extruder
- z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
- }
- float measured_z = probe_pt(xProbe, yProbe, z_before);
- eqnBVector[probePointCounter] = measured_z;
- eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
- eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
- eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
- probePointCounter++;
- xProbe += xInc;
- }
- }
- clean_up_after_endstop_move(l_feedmultiply);
- // solve lsq problem
- double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
- SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
- SERIAL_PROTOCOL(plane_equation_coefficients[0]);
- SERIAL_PROTOCOLPGM(" b: ");
- SERIAL_PROTOCOL(plane_equation_coefficients[1]);
- SERIAL_PROTOCOLPGM(" d: ");
- SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
- set_bed_level_equation_lsq(plane_equation_coefficients);
- free(plane_equation_coefficients);
- #else // AUTO_BED_LEVELING_GRID not defined
- // Probe at 3 arbitrary points
- // probe 1
- float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
- // probe 2
- 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);
- // probe 3
- 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);
- clean_up_after_endstop_move(l_feedmultiply);
- set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
- #endif // AUTO_BED_LEVELING_GRID
- st_synchronize();
- // The following code correct the Z height difference from z-probe position and hotend tip position.
- // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
- // When the bed is uneven, this height must be corrected.
- 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)
- x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
- y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
- z_tmp = current_position[Z_AXIS];
- apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
- current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- break;
- #ifndef Z_PROBE_SLED
- //! ### G30 - Single Z Probe
- // ------------------------------------
- case 30:
- {
- st_synchronize();
- // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
- int l_feedmultiply = setup_for_endstop_move();
- feedrate = homing_feedrate[Z_AXIS];
- run_z_probe();
- SERIAL_PROTOCOLPGM(_T(MSG_BED));
- SERIAL_PROTOCOLPGM(" X: ");
- SERIAL_PROTOCOL(current_position[X_AXIS]);
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL(current_position[Y_AXIS]);
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOL(current_position[Z_AXIS]);
- SERIAL_PROTOCOLPGM("\n");
- clean_up_after_endstop_move(l_feedmultiply);
- }
- break;
- #else
- //! ### G31 - Dock the sled
- // ---------------------------
- case 31:
- dock_sled(true);
- break;
- //! ### G32 - Undock the sled
- // ----------------------------
- case 32:
- dock_sled(false);
- break;
- #endif // Z_PROBE_SLED
- #endif // ENABLE_AUTO_BED_LEVELING
-
- #ifdef MESH_BED_LEVELING
- //! ### G30 - Single Z Probe
- // ----------------------------
- case 30:
- {
- st_synchronize();
- // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
- int l_feedmultiply = setup_for_endstop_move();
- feedrate = homing_feedrate[Z_AXIS];
- find_bed_induction_sensor_point_z(-10.f, 3);
- printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
- clean_up_after_endstop_move(l_feedmultiply);
- }
- break;
-
- //! ### G75 - Print temperature interpolation
- // ---------------------------------------------
- case 75:
- {
- for (int i = 40; i <= 110; i++)
- printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
- }
- break;
- //! ### G76 - PINDA probe temperature calibration
- // ------------------------------------------------
- case 76:
- {
- #ifdef PINDA_THERMISTOR
- if (true)
- {
- if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
- //we need to know accurate position of first calibration point
- //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
- lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
- break;
- }
-
- if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
- {
- // We don't know where we are! HOME!
- // Push the commands to the front of the message queue in the reverse order!
- // There shall be always enough space reserved for these commands.
- repeatcommand_front(); // repeat G76 with all its parameters
- enquecommand_front_P((PSTR("G28 W0")));
- break;
- }
- 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
- bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
-
- if (result)
- {
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[Z_AXIS] = 50;
- current_position[Y_AXIS] = 180;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
- lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
- current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
- current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
- gcode_G28(false, false, true);
- }
- if ((current_temperature_pinda > 35) && (farm_mode == false)) {
- //waiting for PIDNA probe to cool down in case that we are not in farm mode
- current_position[Z_AXIS] = 100;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
- lcd_temp_cal_show_result(false);
- break;
- }
- }
- lcd_update_enable(true);
- KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
- SERIAL_ECHOLNPGM("PINDA probe calibration start");
- float zero_z;
- int z_shift = 0; //unit: steps
- float start_temp = 5 * (int)(current_temperature_pinda / 5);
- if (start_temp < 35) start_temp = 35;
- if (start_temp < current_temperature_pinda) start_temp += 5;
- printf_P(_N("start temperature: %.1f\n"), start_temp);
- // setTargetHotend(200, 0);
- setTargetBed(70 + (start_temp - 30));
- custom_message_type = CustomMsg::TempCal;
- custom_message_state = 1;
- lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[X_AXIS] = PINDA_PREHEAT_X;
- current_position[Y_AXIS] = PINDA_PREHEAT_Y;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[Z_AXIS] = PINDA_PREHEAT_Z;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
- while (current_temperature_pinda < start_temp)
- {
- delay_keep_alive(1000);
- serialecho_temperatures();
- }
- eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
- current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
- bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
- if (find_z_result == false) {
- lcd_temp_cal_show_result(find_z_result);
- break;
- }
- zero_z = current_position[Z_AXIS];
- printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
- int i = -1; for (; i < 5; i++)
- {
- float temp = (40 + i * 5);
- printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
- if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
- if (start_temp <= temp) break;
- }
- for (i++; i < 5; i++)
- {
- float temp = (40 + i * 5);
- printf_P(_N("\nStep: %d/6\n"), i + 2);
- custom_message_state = i + 2;
- setTargetBed(50 + 10 * (temp - 30) / 5);
- // setTargetHotend(255, 0);
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[X_AXIS] = PINDA_PREHEAT_X;
- current_position[Y_AXIS] = PINDA_PREHEAT_Y;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[Z_AXIS] = PINDA_PREHEAT_Z;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
- while (current_temperature_pinda < temp)
- {
- delay_keep_alive(1000);
- serialecho_temperatures();
- }
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
- current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
- find_z_result = find_bed_induction_sensor_point_z(-1.f);
- if (find_z_result == false) {
- lcd_temp_cal_show_result(find_z_result);
- break;
- }
- z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
- printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
- EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
- }
- lcd_temp_cal_show_result(true);
- break;
- }
- #endif //PINDA_THERMISTOR
- setTargetBed(PINDA_MIN_T);
- float zero_z;
- int z_shift = 0; //unit: steps
- int t_c; // temperature
- if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
- // We don't know where we are! HOME!
- // Push the commands to the front of the message queue in the reverse order!
- // There shall be always enough space reserved for these commands.
- repeatcommand_front(); // repeat G76 with all its parameters
- enquecommand_front_P((PSTR("G28 W0")));
- break;
- }
- puts_P(_N("PINDA probe calibration start"));
- custom_message_type = CustomMsg::TempCal;
- custom_message_state = 1;
- lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
- current_position[X_AXIS] = PINDA_PREHEAT_X;
- current_position[Y_AXIS] = PINDA_PREHEAT_Y;
- current_position[Z_AXIS] = PINDA_PREHEAT_Z;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
-
- while (abs(degBed() - PINDA_MIN_T) > 1) {
- delay_keep_alive(1000);
- serialecho_temperatures();
- }
-
- //enquecommand_P(PSTR("M190 S50"));
- for (int i = 0; i < PINDA_HEAT_T; i++) {
- delay_keep_alive(1000);
- serialecho_temperatures();
- }
- eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
- current_position[Z_AXIS] = 5;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[X_AXIS] = BED_X0;
- current_position[Y_AXIS] = BED_Y0;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
-
- find_bed_induction_sensor_point_z(-1.f);
- zero_z = current_position[Z_AXIS];
- printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
- for (int i = 0; i<5; i++) {
- printf_P(_N("\nStep: %d/6\n"), i + 2);
- custom_message_state = i + 2;
- t_c = 60 + i * 10;
- setTargetBed(t_c);
- current_position[X_AXIS] = PINDA_PREHEAT_X;
- current_position[Y_AXIS] = PINDA_PREHEAT_Y;
- current_position[Z_AXIS] = PINDA_PREHEAT_Z;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
- while (degBed() < t_c) {
- delay_keep_alive(1000);
- serialecho_temperatures();
- }
- for (int i = 0; i < PINDA_HEAT_T; i++) {
- delay_keep_alive(1000);
- serialecho_temperatures();
- }
- current_position[Z_AXIS] = 5;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- current_position[X_AXIS] = BED_X0;
- current_position[Y_AXIS] = BED_Y0;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
- find_bed_induction_sensor_point_z(-1.f);
- z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
- printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
- EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
-
-
- }
- custom_message_type = CustomMsg::Status;
- eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
- puts_P(_N("Temperature calibration done."));
- disable_x();
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
- setTargetBed(0); //set bed target temperature back to 0
- lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
- temp_cal_active = true;
- eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
- lcd_update_enable(true);
- lcd_update(2);
-
- }
- break;
- //! ### G80 - Mesh-based Z probe
- // -----------------------------------
-
- /*
- * Probes a grid and produces a mesh to compensate for variable bed height
- * The S0 report the points as below
- * +----> X-axis
- * |
- * |
- * v Y-axis
- */
- case 80:
- #ifdef MK1BP
- break;
- #endif //MK1BP
- case_G80:
- {
- mesh_bed_leveling_flag = true;
- #ifndef PINDA_THERMISTOR
- static bool run = false; // thermistor-less PINDA temperature compensation is running
- #endif // ndef PINDA_THERMISTOR
- #ifdef SUPPORT_VERBOSITY
- int8_t verbosity_level = 0;
- if (code_seen('V')) {
- // Just 'V' without a number counts as V1.
- char c = strchr_pointer[1];
- verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
- }
- #endif //SUPPORT_VERBOSITY
- // Firstly check if we know where we are
- if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
- // We don't know where we are! HOME!
- // Push the commands to the front of the message queue in the reverse order!
- // There shall be always enough space reserved for these commands.
- if (lcd_commands_type != LcdCommands::StopPrint) {
- repeatcommand_front(); // repeat G80 with all its parameters
- enquecommand_front_P((PSTR("G28 W0")));
- }
- else {
- mesh_bed_leveling_flag = false;
- }
- break;
- }
-
- uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS;
- if (code_seen('N')) {
- nMeasPoints = code_value_uint8();
- if (nMeasPoints != 7) {
- nMeasPoints = 3;
- }
- }
- else {
- nMeasPoints = eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
- }
- uint8_t nProbeRetry = 3;
- if (code_seen('R')) {
- nProbeRetry = code_value_uint8();
- if (nProbeRetry > 10) {
- nProbeRetry = 10;
- }
- }
- else {
- nProbeRetry = eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR);
- }
- bool magnet_elimination = (eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION) > 0);
-
- #ifndef PINDA_THERMISTOR
- if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50)
- {
- if (lcd_commands_type != LcdCommands::StopPrint) {
- temp_compensation_start();
- run = true;
- repeatcommand_front(); // repeat G80 with all its parameters
- enquecommand_front_P((PSTR("G28 W0")));
- }
- else {
- mesh_bed_leveling_flag = false;
- }
- break;
- }
- run = false;
- #endif //PINDA_THERMISTOR
- if (lcd_commands_type == LcdCommands::StopPrint) {
- mesh_bed_leveling_flag = false;
- break;
- }
- // Save custom message state, set a new custom message state to display: Calibrating point 9.
- CustomMsg custom_message_type_old = custom_message_type;
- unsigned int custom_message_state_old = custom_message_state;
- custom_message_type = CustomMsg::MeshBedLeveling;
- custom_message_state = (nMeasPoints * nMeasPoints) + 10;
- lcd_update(1);
- mbl.reset(); //reset mesh bed leveling
- // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
- // consumed during the first movements following this statement.
- babystep_undo();
- // Cycle through all points and probe them
- // First move up. During this first movement, the babystepping will be reverted.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
- // The move to the first calibration point.
- current_position[X_AXIS] = BED_X0;
- current_position[Y_AXIS] = BED_Y0;
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1)
- {
- bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
- clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
- }
- #else //SUPPORT_VERBOSITY
- world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
- #endif //SUPPORT_VERBOSITY
- plan_buffer_line_curposXYZE(homing_feedrate[X_AXIS] / 30, active_extruder);
- // Wait until the move is finished.
- st_synchronize();
- uint8_t mesh_point = 0; //index number of calibration point
- int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
- int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
- 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)
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1) {
- has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
- }
- #endif // SUPPORT_VERBOSITY
- int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
- const char *kill_message = NULL;
- while (mesh_point != nMeasPoints * nMeasPoints) {
- // Get coords of a measuring point.
- uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
- uint8_t iy = mesh_point / nMeasPoints;
- /*if (!mbl_point_measurement_valid(ix, iy, nMeasPoints, true)) {
- printf_P(PSTR("Skipping point [%d;%d] \n"), ix, iy);
- custom_message_state--;
- mesh_point++;
- continue; //skip
- }*/
- if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
- if (nMeasPoints == 7) //if we have 7x7 mesh, compare with Z-calibration for points which are in 3x3 mesh
- {
- has_z = ((ix % 3 == 0) && (iy % 3 == 0)) && is_bed_z_jitter_data_valid();
- }
- float z0 = 0.f;
- if (has_z && (mesh_point > 0)) {
- uint16_t z_offset_u = 0;
- if (nMeasPoints == 7) {
- z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1)));
- }
- else {
- z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
- }
- z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1) {
- printf_P(PSTR("Bed leveling, point: %d, calibration Z stored in eeprom: %d, calibration z: %f \n"), mesh_point, z_offset_u, z0);
- }
- #endif // SUPPORT_VERBOSITY
- }
- // Move Z up to MESH_HOME_Z_SEARCH.
- if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
- float init_z_bckp = current_position[Z_AXIS];
- plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
- st_synchronize();
- // Move to XY position of the sensor point.
- current_position[X_AXIS] = BED_X(ix, nMeasPoints);
- current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
- //printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
-
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1) {
- clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
- SERIAL_PROTOCOL(mesh_point);
- clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
- }
- #else //SUPPORT_VERBOSITY
- world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
- #endif // SUPPORT_VERBOSITY
- //printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
- plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
- st_synchronize();
- // Go down until endstop is hit
- const float Z_CALIBRATION_THRESHOLD = 1.f;
- 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
- printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
- break;
- }
- 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.
- //printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
- st_synchronize();
- 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
- printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
- break;
- }
- if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
- printf_P(PSTR("Bed leveling failed. Sensor disconnected or cable broken.\n"));
- break;
- }
- }
- 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
- printf_P(PSTR("Bed leveling failed. Sensor triggered too high.\n"));
- break;
- }
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 10) {
- SERIAL_ECHOPGM("X: ");
- MYSERIAL.print(current_position[X_AXIS], 5);
- SERIAL_ECHOLNPGM("");
- SERIAL_ECHOPGM("Y: ");
- MYSERIAL.print(current_position[Y_AXIS], 5);
- SERIAL_PROTOCOLPGM("\n");
- }
- #endif // SUPPORT_VERBOSITY
- float offset_z = 0;
- #ifdef PINDA_THERMISTOR
- offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
- #endif //PINDA_THERMISTOR
- // #ifdef SUPPORT_VERBOSITY
- /* if (verbosity_level >= 1)
- {
- SERIAL_ECHOPGM("mesh bed leveling: ");
- MYSERIAL.print(current_position[Z_AXIS], 5);
- SERIAL_ECHOPGM(" offset: ");
- MYSERIAL.print(offset_z, 5);
- SERIAL_ECHOLNPGM("");
- }*/
- // #endif // SUPPORT_VERBOSITY
- mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
- custom_message_state--;
- mesh_point++;
- lcd_update(1);
- }
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 20) {
- SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
- SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
- MYSERIAL.print(current_position[Z_AXIS], 5);
- }
- #endif // SUPPORT_VERBOSITY
- plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
- st_synchronize();
- if (mesh_point != nMeasPoints * nMeasPoints) {
- Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
- bool bState;
- do { // repeat until Z-leveling o.k.
- lcd_display_message_fullscreen_P(_i("Some problem encountered, Z-leveling enforced ..."));
- #ifdef TMC2130
- lcd_wait_for_click_delay(MSG_BED_LEVELING_FAILED_TIMEOUT);
- calibrate_z_auto(); // Z-leveling (X-assembly stay up!!!)
- #else // TMC2130
- lcd_wait_for_click_delay(0); // ~ no timeout
- lcd_calibrate_z_end_stop_manual(true); // Z-leveling (X-assembly stay up!!!)
- #endif // TMC2130
- // ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
- bState=enable_z_endstop(false);
- current_position[Z_AXIS] -= 1;
- plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
- st_synchronize();
- enable_z_endstop(true);
- #ifdef TMC2130
- tmc2130_home_enter(Z_AXIS_MASK);
- #endif // TMC2130
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
- st_synchronize();
- #ifdef TMC2130
- tmc2130_home_exit();
- #endif // TMC2130
- enable_z_endstop(bState);
- } while (st_get_position_mm(Z_AXIS) > MESH_HOME_Z_SEARCH); // i.e. Z-leveling not o.k.
- // plan_set_z_position(MESH_HOME_Z_SEARCH); // is not necessary ('do-while' loop always ends at the expected Z-position)
- custom_message_type=CustomMsg::Status; // display / status-line recovery
- lcd_update_enable(true); // display / status-line recovery
- gcode_G28(true, true, true); // X & Y & Z-homing (must be after individual Z-homing (problem with spool-holder)!)
- repeatcommand_front(); // re-run (i.e. of "G80")
- break;
- }
- clean_up_after_endstop_move(l_feedmultiply);
- // SERIAL_ECHOLNPGM("clean up finished ");
- #ifndef PINDA_THERMISTOR
- if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
- #endif
- babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
- // SERIAL_ECHOLNPGM("babystep applied");
- bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
- #ifdef SUPPORT_VERBOSITY
- if (verbosity_level >= 1) {
- eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
- }
- #endif // SUPPORT_VERBOSITY
- for (uint8_t i = 0; i < 4; ++i) {
- unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
- long correction = 0;
- if (code_seen(codes[i]))
- correction = code_value_long();
- else if (eeprom_bed_correction_valid) {
- unsigned char *addr = (i < 2) ?
- ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
- ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
- correction = eeprom_read_int8(addr);
- }
- if (correction == 0)
- continue;
-
- if (labs(correction) > BED_ADJUSTMENT_UM_MAX) {
- SERIAL_ERROR_START;
- SERIAL_ECHOPGM("Excessive bed leveling correction: ");
- SERIAL_ECHO(correction);
- SERIAL_ECHOLNPGM(" microns");
- }
- else {
- float offset = float(correction) * 0.001f;
- switch (i) {
- case 0:
- for (uint8_t row = 0; row < nMeasPoints; ++row) {
- for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
- mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
- }
- }
- break;
- case 1:
- for (uint8_t row = 0; row < nMeasPoints; ++row) {
- for (uint8_t col = 1; col < nMeasPoints; ++col) {
- mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
- }
- }
- break;
- case 2:
- for (uint8_t col = 0; col < nMeasPoints; ++col) {
- for (uint8_t row = 0; row < nMeasPoints; ++row) {
- mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
- }
- }
- break;
- case 3:
- for (uint8_t col = 0; col < nMeasPoints; ++col) {
- for (uint8_t row = 1; row < nMeasPoints; ++row) {
- mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
- }
- }
- break;
- }
- }
- }
- // SERIAL_ECHOLNPGM("Bed leveling correction finished");
- if (nMeasPoints == 3) {
- 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)
- }
- /*
- SERIAL_PROTOCOLPGM("Num X,Y: ");
- SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
- SERIAL_PROTOCOLPGM(",");
- SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
- SERIAL_PROTOCOLPGM("\nZ search height: ");
- SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
- SERIAL_PROTOCOLLNPGM("\nMeasured points:");
- for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
- for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
- SERIAL_PROTOCOLPGM(" ");
- SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
- }
- SERIAL_PROTOCOLPGM("\n");
- }
- */
- if (nMeasPoints == 7 && magnet_elimination) {
- mbl_interpolation(nMeasPoints);
- }
- /*
- SERIAL_PROTOCOLPGM("Num X,Y: ");
- SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
- SERIAL_PROTOCOLPGM(",");
- SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
- SERIAL_PROTOCOLPGM("\nZ search height: ");
- SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
- SERIAL_PROTOCOLLNPGM("\nMeasured points:");
- for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
- for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
- SERIAL_PROTOCOLPGM(" ");
- SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
- }
- SERIAL_PROTOCOLPGM("\n");
- }
- */
- // SERIAL_ECHOLNPGM("Upsample finished");
- mbl.active = 1; //activate mesh bed leveling
- // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
- go_home_with_z_lift();
- // SERIAL_ECHOLNPGM("Go home finished");
- //unretract (after PINDA preheat retraction)
- if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
- current_position[E_AXIS] += default_retraction;
- plan_buffer_line_curposXYZE(400, active_extruder);
- }
- KEEPALIVE_STATE(NOT_BUSY);
- // Restore custom message state
- lcd_setstatuspgm(_T(WELCOME_MSG));
- custom_message_type = custom_message_type_old;
- custom_message_state = custom_message_state_old;
- mesh_bed_leveling_flag = false;
- mesh_bed_run_from_menu = false;
- lcd_update(2);
-
- }
- break;
- //! ### G81 - Mesh bed leveling status
- // -----------------------------------------
- /*
- * Prints mesh bed leveling status and bed profile if activated
- */
- case 81:
- if (mbl.active) {
- SERIAL_PROTOCOLPGM("Num X,Y: ");
- SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
- SERIAL_PROTOCOLPGM(",");
- SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
- SERIAL_PROTOCOLPGM("\nZ search height: ");
- SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
- SERIAL_PROTOCOLLNPGM("\nMeasured points:");
- for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
- for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
- SERIAL_PROTOCOLPGM(" ");
- SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
- }
- SERIAL_PROTOCOLPGM("\n");
- }
- }
- else
- SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
- break;
-
- #if 0
- /*
- * G82: Single Z probe at current location
- *
- * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
- *
- */
- case 82:
- SERIAL_PROTOCOLLNPGM("Finding bed ");
- int l_feedmultiply = setup_for_endstop_move();
- find_bed_induction_sensor_point_z();
- clean_up_after_endstop_move(l_feedmultiply);
- SERIAL_PROTOCOLPGM("Bed found at: ");
- SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
- SERIAL_PROTOCOLPGM("\n");
- break;
- /*
- * G83: Prusa3D specific: Babystep in Z and store to EEPROM
- */
- case 83:
- {
- int babystepz = code_seen('S') ? code_value() : 0;
- int BabyPosition = code_seen('P') ? code_value() : 0;
-
- if (babystepz != 0) {
- //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
- // Is the axis indexed starting with zero or one?
- if (BabyPosition > 4) {
- SERIAL_PROTOCOLLNPGM("Index out of bounds");
- }else{
- // Save it to the eeprom
- babystepLoadZ = babystepz;
- EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
- // adjust the Z
- babystepsTodoZadd(babystepLoadZ);
- }
-
- }
-
- }
- break;
- /*
- * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
- */
- case 84:
- babystepsTodoZsubtract(babystepLoadZ);
- // babystepLoadZ = 0;
- break;
-
- /*
- * G85: Prusa3D specific: Pick best babystep
- */
- case 85:
- lcd_pick_babystep();
- break;
- #endif
-
- /**
- * ### G86 - Disable babystep correction after home
- *
- * This G-code will be performed at the start of a calibration script.
- * (Prusa3D specific)
- */
- case 86:
- calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
- break;
-
- /**
- * ### G87 - Enable babystep correction after home
- *
- *
- * This G-code will be performed at the end of a calibration script.
- * (Prusa3D specific)
- */
- case 87:
- calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
- break;
- /**
- * ### G88 - Reserved
- *
- * Currently has no effect.
- */
- // Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
- case 88:
- break;
- #endif // ENABLE_MESH_BED_LEVELING
-
- //! ### G90 - Switch off relative mode
- // -------------------------------
- case 90: {
- for(uint8_t i = 0; i != NUM_AXIS; ++i)
- axis_relative_modes[i] = false;
- }
- break;
- //! ### G91 - Switch on relative mode
- // -------------------------------
- case 91: {
- for(uint8_t i = 0; i != NUM_AXIS; ++i)
- axis_relative_modes[i] = true;
- }
- break;
- //! ### G92 - Set position
- // -----------------------------
- case 92:
- if(!code_seen(axis_codes[E_AXIS]))
- st_synchronize();
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) {
- if(i == E_AXIS) {
- current_position[i] = code_value();
- plan_set_e_position(current_position[E_AXIS]);
- }
- else {
- current_position[i] = code_value()+cs.add_homing[i];
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- }
- }
- break;
- //! ### G98 - Activate farm mode
- // -----------------------------------
- case 98:
- farm_mode = 1;
- PingTime = _millis();
- eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
- EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
- SilentModeMenu = SILENT_MODE_OFF;
- eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
- fCheckModeInit(); // alternatively invoke printer reset
- break;
- //! ### G99 - Deactivate farm mode
- // -------------------------------------
- case 99:
- farm_mode = 0;
- lcd_printer_connected();
- eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
- lcd_update(2);
- fCheckModeInit(); // alternatively invoke printer reset
- break;
- default:
- printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
- }
- // printf_P(_N("END G-CODE=%u\n"), gcode_in_progress);
- gcode_in_progress = 0;
- } // end if(code_seen('G'))
- //! ---------------------------------------------------------------------------------
- else if(code_seen('M'))
- {
- int index;
- for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
-
- /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
- if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
- printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
- } else
- {
- mcode_in_progress = (int)code_value();
- // printf_P(_N("BEGIN M-CODE=%u\n"), mcode_in_progress);
- switch(mcode_in_progress)
- {
- //! ### M0, M1 - Stop the printer
- // ---------------------------------------------------------------
- case 0: // M0 - Unconditional stop - Wait for user button press on LCD
- case 1: // M1 - Conditional stop - Wait for user button press on LCD
- {
- char *src = strchr_pointer + 2;
- codenum = 0;
- bool hasP = false, hasS = false;
- if (code_seen('P')) {
- codenum = code_value(); // milliseconds to wait
- hasP = codenum > 0;
- }
- if (code_seen('S')) {
- codenum = code_value() * 1000; // seconds to wait
- hasS = codenum > 0;
- }
- starpos = strchr(src, '*');
- if (starpos != NULL) *(starpos) = '\0';
- while (*src == ' ') ++src;
- if (!hasP && !hasS && *src != '\0') {
- lcd_setstatus(src);
- } else {
- LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT
- }
- lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
- st_synchronize();
- previous_millis_cmd = _millis();
- if (codenum > 0){
- codenum += _millis(); // keep track of when we started waiting
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- while(_millis() < codenum && !lcd_clicked()){
- manage_heater();
- manage_inactivity(true);
- lcd_update(0);
- }
- KEEPALIVE_STATE(IN_HANDLER);
- lcd_ignore_click(false);
- }else{
- marlin_wait_for_click();
- }
- if (IS_SD_PRINTING)
- LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
- else
- LCD_MESSAGERPGM(_T(WELCOME_MSG));
- }
- break;
- //! ### M17 - Enable axes
- // ---------------------------------
- case 17:
- LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE
- enable_x();
- enable_y();
- enable_z();
- enable_e0();
- enable_e1();
- enable_e2();
- break;
- #ifdef SDSUPPORT
- //! ### M20 - SD Card file list
- // -----------------------------------
- case 20:
- SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST
- card.ls();
- SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST
- break;
- //! ### M21 - Init SD card
- // ------------------------------------
- case 21:
- card.initsd();
- break;
- //! ### M22 - Release SD card
- // -----------------------------------
- case 22:
- card.release();
- break;
- //! ### M23 - Select file
- // -----------------------------------
- case 23:
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos!=NULL)
- *(starpos)='\0';
- card.openFile(strchr_pointer + 4,true);
- break;
- //! ### M24 - Start/resume SD print
- // ----------------------------------
- case 24:
- if (isPrintPaused)
- lcd_resume_print();
- else
- {
- failstats_reset_print();
- card.startFileprint();
- starttime=_millis();
- }
- break;
- //! ### M26 S\<index\> - Set SD index
- //! Set position in SD card file to index in bytes.
- //! This command is expected to be called after M23 and before M24.
- //! Otherwise effect of this command is undefined.
- // ----------------------------------
- case 26:
- if(card.cardOK && code_seen('S')) {
- long index = code_value_long();
- card.setIndex(index);
- // We don't disable interrupt during update of sdpos_atomic
- // as we expect, that SD card print is not active in this moment
- sdpos_atomic = index;
- }
- break;
- //! ### M27 - Get SD status
- // ----------------------------------
- case 27:
- card.getStatus();
- break;
- //! ### M28 - Start SD write
- // ---------------------------------
- case 28:
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos != NULL){
- char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos) = '\0';
- }
- card.openFile(strchr_pointer+4,false);
- break;
- //! ### M29 - Stop SD write
- // -------------------------------------
- //! Currently has no effect.
- case 29:
- //processed in write to file routine above
- //card,saving = false;
- break;
- //! ### M30 - Delete file <filename>
- // ----------------------------------
- case 30:
- if (card.cardOK){
- card.closefile();
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos != NULL){
- char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos) = '\0';
- }
- card.removeFile(strchr_pointer + 4);
- }
- break;
- //! ### M32 - Select file and start SD print
- // ------------------------------------
- case 32:
- {
- if(card.sdprinting) {
- st_synchronize();
- }
- starpos = (strchr(strchr_pointer + 4,'*'));
- char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
- if(namestartpos==NULL)
- {
- namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
- }
- else
- namestartpos++; //to skip the '!'
- if(starpos!=NULL)
- *(starpos)='\0';
- bool call_procedure=(code_seen('P'));
- if(strchr_pointer>namestartpos)
- call_procedure=false; //false alert, 'P' found within filename
- if( card.cardOK )
- {
- card.openFile(namestartpos,true,!call_procedure);
- if(code_seen('S'))
- if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
- card.setIndex(code_value_long());
- card.startFileprint();
- if(!call_procedure)
- starttime=_millis(); //procedure calls count as normal print time.
- }
- } break;
- //! ### M982 - Start SD write
- // ---------------------------------
- case 928:
- starpos = (strchr(strchr_pointer + 5,'*'));
- if(starpos != NULL){
- char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos) = '\0';
- }
- card.openLogFile(strchr_pointer+5);
- break;
- #endif //SDSUPPORT
- //! ### M31 - Report current print time
- // --------------------------------------------------
- case 31: //M31 take time since the start of the SD print or an M109 command
- {
- stoptime=_millis();
- char time[30];
- unsigned long t=(stoptime-starttime)/1000;
- int sec,min;
- min=t/60;
- sec=t%60;
- sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(time);
- lcd_setstatus(time);
- autotempShutdown();
- }
- break;
- //! ### M42 - Set pin state
- // -----------------------------
- case 42:
- if (code_seen('S'))
- {
- int pin_status = code_value();
- int pin_number = LED_PIN;
- if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
- pin_number = code_value();
- for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
- {
- if (sensitive_pins[i] == pin_number)
- {
- pin_number = -1;
- break;
- }
- }
- #if defined(FAN_PIN) && FAN_PIN > -1
- if (pin_number == FAN_PIN)
- fanSpeed = pin_status;
- #endif
- if (pin_number > -1)
- {
- pinMode(pin_number, OUTPUT);
- digitalWrite(pin_number, pin_status);
- analogWrite(pin_number, pin_status);
- }
- }
- break;
- //! ### M44 - Reset the bed skew and offset calibration (Prusa specific)
- // --------------------------------------------------------------------
- case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
- // Reset the baby step value and the baby step applied flag.
- calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
- eeprom_update_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),0);
- // Reset the skew and offset in both RAM and EEPROM.
- reset_bed_offset_and_skew();
- // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
- // the planner will not perform any adjustments in the XY plane.
- // Wait for the motors to stop and update the current position with the absolute values.
- world2machine_revert_to_uncorrected();
- break;
- //! ### M45 - Bed skew and offset with manual Z up (Prusa specific)
- // ------------------------------------------------------
- case 45: // M45: Prusa3D: bed skew and offset with manual Z up
- {
- int8_t verbosity_level = 0;
- bool only_Z = code_seen('Z');
- #ifdef SUPPORT_VERBOSITY
- if (code_seen('V'))
- {
- // Just 'V' without a number counts as V1.
- char c = strchr_pointer[1];
- verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
- }
- #endif //SUPPORT_VERBOSITY
- gcode_M45(only_Z, verbosity_level);
- }
- break;
- /*
- case 46:
- {
- // M46: Prusa3D: Show the assigned IP address.
- uint8_t ip[4];
- bool hasIP = card.ToshibaFlashAir_GetIP(ip);
- if (hasIP) {
- SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
- SERIAL_ECHO(int(ip[0]));
- SERIAL_ECHOPGM(".");
- SERIAL_ECHO(int(ip[1]));
- SERIAL_ECHOPGM(".");
- SERIAL_ECHO(int(ip[2]));
- SERIAL_ECHOPGM(".");
- SERIAL_ECHO(int(ip[3]));
- SERIAL_ECHOLNPGM("");
- } else {
- SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
- }
- break;
- }
- */
- //! ### M47 - Show end stops dialog on the display (Prusa specific)
- // ----------------------------------------------------
- case 47:
-
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- lcd_diag_show_end_stops();
- KEEPALIVE_STATE(IN_HANDLER);
- break;
- #if 0
- case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
- {
- // Disable the default update procedure of the display. We will do a modal dialog.
- lcd_update_enable(false);
- // Let the planner use the uncorrected coordinates.
- mbl.reset();
- // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
- // the planner will not perform any adjustments in the XY plane.
- // Wait for the motors to stop and update the current position with the absolute values.
- world2machine_revert_to_uncorrected();
- // Move the print head close to the bed.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- 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);
- st_synchronize();
- // Home in the XY plane.
- set_destination_to_current();
- int l_feedmultiply = setup_for_endstop_move();
- home_xy();
- int8_t verbosity_level = 0;
- if (code_seen('V')) {
- // Just 'V' without a number counts as V1.
- char c = strchr_pointer[1];
- verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
- }
- bool success = scan_bed_induction_points(verbosity_level);
- clean_up_after_endstop_move(l_feedmultiply);
- // Print head up.
- current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
- 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);
- st_synchronize();
- lcd_update_enable(true);
- break;
- }
- #endif
- #ifdef ENABLE_AUTO_BED_LEVELING
- #ifdef Z_PROBE_REPEATABILITY_TEST
- //! ### M48 - Z-Probe repeatability measurement function.
- // ------------------------------------------------------
- //!
- //! _Usage:_
- //!
- //! M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <L legs_of_movement_prior_to_doing_probe>
- //!
- //! 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 need to be
- //! regenerated.
- //!
- //! 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.
- //!
- case 48: // M48 Z-Probe repeatability
- {
- #if Z_MIN_PIN == -1
- #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
- #endif
- double sum=0.0;
- double mean=0.0;
- double sigma=0.0;
- double sample_set[50];
- int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
- double X_current, Y_current, Z_current;
- double X_probe_location, Y_probe_location, Z_start_location, ext_position;
-
- if (code_seen('V') || code_seen('v')) {
- verbose_level = code_value();
- if (verbose_level<0 || verbose_level>4 ) {
- SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
- goto Sigma_Exit;
- }
- }
- if (verbose_level > 0) {
- SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
- SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
- }
- if (code_seen('n')) {
- n_samples = code_value();
- if (n_samples<4 || n_samples>50 ) {
- SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
- goto Sigma_Exit;
- }
- }
- X_current = X_probe_location = st_get_position_mm(X_AXIS);
- Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
- Z_current = st_get_position_mm(Z_AXIS);
- Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
- ext_position = st_get_position_mm(E_AXIS);
- if (code_seen('X') || code_seen('x') ) {
- X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
- if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
- SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
- goto Sigma_Exit;
- }
- }
- if (code_seen('Y') || code_seen('y') ) {
- Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
- if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
- SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
- goto Sigma_Exit;
- }
- }
- if (code_seen('L') || code_seen('l') ) {
- n_legs = code_value();
- if ( n_legs==1 )
- n_legs = 2;
- if ( n_legs<0 || n_legs>15 ) {
- SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
- goto Sigma_Exit;
- }
- }
- //
- // Do all the preliminary setup work. First raise the probe.
- //
- st_synchronize();
- plan_bed_level_matrix.set_to_identity();
- plan_buffer_line( X_current, Y_current, Z_start_location,
- ext_position,
- homing_feedrate[Z_AXIS]/60,
- active_extruder);
- st_synchronize();
- //
- // Now get everything to the specified probe point So we can safely do a probe to
- // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
- // use that as a starting point for each probe.
- //
- if (verbose_level > 2)
- SERIAL_PROTOCOL("Positioning probe for the test.\n");
- plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
- ext_position,
- homing_feedrate[X_AXIS]/60,
- active_extruder);
- st_synchronize();
- current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
- current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
- current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
- current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
- //
- // OK, do the inital probe to get us close to the bed.
- // Then retrace the right amount and use that in subsequent probes
- //
- int l_feedmultiply = setup_for_endstop_move();
- run_z_probe();
- current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
- Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
- plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
- ext_position,
- homing_feedrate[X_AXIS]/60,
- active_extruder);
- st_synchronize();
- current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
- for( n=0; n<n_samples; n++) {
- do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
- if ( n_legs) {
- double radius=0.0, theta=0.0, x_sweep, y_sweep;
- int rotational_direction, l;
- rotational_direction = (unsigned long) _millis() & 0x0001; // clockwise or counter clockwise
- radius = (unsigned long) _millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
- theta = (float) ((unsigned long) _millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
- //SERIAL_ECHOPAIR("starting radius: ",radius);
- //SERIAL_ECHOPAIR(" theta: ",theta);
- //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
- //SERIAL_PROTOCOLLNPGM("");
- for( l=0; l<n_legs-1; l++) {
- if (rotational_direction==1)
- theta += (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
- else
- theta -= (float) ((unsigned long) _millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
- radius += (float) ( ((long) ((unsigned long) _millis() % (long) 10)) - 5);
- if ( radius<0.0 )
- radius = -radius;
- X_current = X_probe_location + cos(theta) * radius;
- Y_current = Y_probe_location + sin(theta) * radius;
- if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
- X_current = X_MIN_POS;
- if ( X_current>X_MAX_POS)
- X_current = X_MAX_POS;
- if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
- Y_current = Y_MIN_POS;
- if ( Y_current>Y_MAX_POS)
- Y_current = Y_MAX_POS;
- if (verbose_level>3 ) {
- SERIAL_ECHOPAIR("x: ", X_current);
- SERIAL_ECHOPAIR("y: ", Y_current);
- SERIAL_PROTOCOLLNPGM("");
- }
- do_blocking_move_to( X_current, Y_current, Z_current );
- }
- do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
- }
- int l_feedmultiply = setup_for_endstop_move();
- run_z_probe();
- sample_set[n] = current_position[Z_AXIS];
- //
- // Get the current mean for the data points we have so far
- //
- sum=0.0;
- for( j=0; j<=n; j++) {
- sum = sum + sample_set[j];
- }
- mean = sum / (double (n+1));
- //
- // Now, use that mean to calculate the standard deviation for the
- // data points we have so far
- //
- sum=0.0;
- for( j=0; j<=n; j++) {
- sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
- }
- sigma = sqrt( sum / (double (n+1)) );
- if (verbose_level > 1) {
- SERIAL_PROTOCOL(n+1);
- SERIAL_PROTOCOL(" of ");
- SERIAL_PROTOCOL(n_samples);
- SERIAL_PROTOCOLPGM(" z: ");
- SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
- }
- if (verbose_level > 2) {
- SERIAL_PROTOCOL(" mean: ");
- SERIAL_PROTOCOL_F(mean,6);
- SERIAL_PROTOCOL(" sigma: ");
- SERIAL_PROTOCOL_F(sigma,6);
- }
- if (verbose_level > 0)
- SERIAL_PROTOCOLPGM("\n");
- plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
- current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
- st_synchronize();
- }
- _delay(1000);
- clean_up_after_endstop_move(l_feedmultiply);
- // enable_endstops(true);
- if (verbose_level > 0) {
- SERIAL_PROTOCOLPGM("Mean: ");
- SERIAL_PROTOCOL_F(mean, 6);
- SERIAL_PROTOCOLPGM("\n");
- }
- SERIAL_PROTOCOLPGM("Standard Deviation: ");
- SERIAL_PROTOCOL_F(sigma, 6);
- SERIAL_PROTOCOLPGM("\n\n");
- Sigma_Exit:
- break;
- }
- #endif // Z_PROBE_REPEATABILITY_TEST
- #endif // ENABLE_AUTO_BED_LEVELING
- //! ### M73 - Set/get print progress
- // -------------------------------------
- //! _Usage:_
- //!
- //! M73 P<percent> R<time_remaining> Q<percent_silent> S<time_remaining_silent>
- //!
- case 73: //M73 show percent done and time remaining
- if(code_seen('P')) print_percent_done_normal = code_value();
- if(code_seen('R')) print_time_remaining_normal = code_value();
- if(code_seen('Q')) print_percent_done_silent = code_value();
- if(code_seen('S')) print_time_remaining_silent = code_value();
- {
- const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
- printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
- printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
- }
- break;
- //! ### M104 - Set hotend temperature
- // -----------------------------------------
- case 104: // M104
- {
- uint8_t extruder;
- if(setTargetedHotend(104,extruder)){
- break;
- }
- if (code_seen('S'))
- {
- setTargetHotendSafe(code_value(), extruder);
- }
- break;
- }
- //! ### M112 - Emergency stop
- // -----------------------------------------
- case 112:
- kill(MSG_M112_KILL, 3);
- break;
- //! ### M140 - Set bed temperature
- // -----------------------------------------
- case 140:
- if (code_seen('S')) setTargetBed(code_value());
- break;
- //! ### M105 - Report temperatures
- // -----------------------------------------
- case 105:
- {
- uint8_t extruder;
- if(setTargetedHotend(105, extruder)){
- break;
- }
- #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
- SERIAL_PROTOCOLPGM("ok T:");
- SERIAL_PROTOCOL_F(degHotend(extruder),1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetHotend(extruder),1);
- #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(),1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetBed(),1);
- #endif //TEMP_BED_PIN
- for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
- SERIAL_PROTOCOLPGM(" T");
- SERIAL_PROTOCOL(cur_extruder);
- SERIAL_PROTOCOLPGM(":");
- SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
- }
- #else
- SERIAL_ERROR_START;
- SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS
- #endif
- SERIAL_PROTOCOLPGM(" @:");
- #ifdef EXTRUDER_WATTS
- SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
- SERIAL_PROTOCOLPGM("W");
- #else
- SERIAL_PROTOCOL(getHeaterPower(extruder));
- #endif
- SERIAL_PROTOCOLPGM(" B@:");
- #ifdef BED_WATTS
- SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
- SERIAL_PROTOCOLPGM("W");
- #else
- SERIAL_PROTOCOL(getHeaterPower(-1));
- #endif
- #ifdef PINDA_THERMISTOR
- SERIAL_PROTOCOLPGM(" P:");
- SERIAL_PROTOCOL_F(current_temperature_pinda,1);
- #endif //PINDA_THERMISTOR
- #ifdef AMBIENT_THERMISTOR
- SERIAL_PROTOCOLPGM(" A:");
- SERIAL_PROTOCOL_F(current_temperature_ambient,1);
- #endif //AMBIENT_THERMISTOR
- #ifdef SHOW_TEMP_ADC_VALUES
- {float raw = 0.0;
- #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
- SERIAL_PROTOCOLPGM(" ADC B:");
- SERIAL_PROTOCOL_F(degBed(),1);
- SERIAL_PROTOCOLPGM("C->");
- raw = rawBedTemp();
- SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
- SERIAL_PROTOCOLPGM(" Rb->");
- SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
- SERIAL_PROTOCOLPGM(" Rxb->");
- SERIAL_PROTOCOL_F(raw, 5);
- #endif
- for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
- SERIAL_PROTOCOLPGM(" T");
- SERIAL_PROTOCOL(cur_extruder);
- SERIAL_PROTOCOLPGM(":");
- SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
- SERIAL_PROTOCOLPGM("C->");
- raw = rawHotendTemp(cur_extruder);
- SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
- SERIAL_PROTOCOLPGM(" Rt");
- SERIAL_PROTOCOL(cur_extruder);
- SERIAL_PROTOCOLPGM("->");
- SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
- SERIAL_PROTOCOLPGM(" Rx");
- SERIAL_PROTOCOL(cur_extruder);
- SERIAL_PROTOCOLPGM("->");
- SERIAL_PROTOCOL_F(raw, 5);
- }}
- #endif
- SERIAL_PROTOCOLLN("");
- KEEPALIVE_STATE(NOT_BUSY);
- return;
- break;
- }
- //! ### M109 - Wait for extruder temperature
- //! Parameters (not mandatory):
- //! * S \<temp\> set extruder temperature
- //! * R \<temp\> set extruder temperature
- //!
- //! Parameters S and R are treated identically.
- //! Command always waits for both cool down and heat up.
- //! If no parameters are supplied waits for previously
- //! set extruder temperature.
- // -------------------------------------------------
- case 109:
- {
- uint8_t extruder;
- if(setTargetedHotend(109, extruder)){
- break;
- }
- LCD_MESSAGERPGM(_T(MSG_HEATING));
- heating_status = 1;
- if (farm_mode) { prusa_statistics(1); };
- #ifdef AUTOTEMP
- autotemp_enabled=false;
- #endif
- if (code_seen('S')) {
- setTargetHotendSafe(code_value(), extruder);
- } else if (code_seen('R')) {
- setTargetHotendSafe(code_value(), extruder);
- }
- #ifdef AUTOTEMP
- if (code_seen('S')) autotemp_min=code_value();
- if (code_seen('B')) autotemp_max=code_value();
- if (code_seen('F'))
- {
- autotemp_factor=code_value();
- autotemp_enabled=true;
- }
- #endif
- codenum = _millis();
- /* See if we are heating up or cooling down */
- target_direction = isHeatingHotend(extruder); // true if heating, false if cooling
-
- KEEPALIVE_STATE(NOT_BUSY);
- cancel_heatup = false;
- wait_for_heater(codenum, extruder); //loops until target temperature is reached
- LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
- KEEPALIVE_STATE(IN_HANDLER);
- heating_status = 2;
- if (farm_mode) { prusa_statistics(2); };
-
- //starttime=_millis();
- previous_millis_cmd = _millis();
- }
- break;
- //! ### M190 - Wait for bed temperature
- //! Parameters (not mandatory):
- //! * S \<temp\> set extruder temperature and wait for heating
- //! * R \<temp\> set extruder temperature and wait for heating or cooling
- //!
- //! If no parameter is supplied, waits for heating or cooling to previously set temperature.
- case 190:
- #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
- {
- bool CooldownNoWait = false;
- LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
- heating_status = 3;
- if (farm_mode) { prusa_statistics(1); };
- if (code_seen('S'))
- {
- setTargetBed(code_value());
- CooldownNoWait = true;
- }
- else if (code_seen('R'))
- {
- setTargetBed(code_value());
- }
- codenum = _millis();
-
- cancel_heatup = false;
- target_direction = isHeatingBed(); // true if heating, false if cooling
- KEEPALIVE_STATE(NOT_BUSY);
- while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
- {
- if(( _millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
- {
- if (!farm_mode) {
- float tt = degHotend(active_extruder);
- SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL(tt);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)active_extruder);
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(), 1);
- SERIAL_PROTOCOLLN("");
- }
- codenum = _millis();
-
- }
- manage_heater();
- manage_inactivity();
- lcd_update(0);
- }
- LCD_MESSAGERPGM(_T(MSG_BED_DONE));
- KEEPALIVE_STATE(IN_HANDLER);
- heating_status = 4;
- previous_millis_cmd = _millis();
- }
- #endif
- break;
- #if defined(FAN_PIN) && FAN_PIN > -1
- //! ### M106 - Set fan speed
- // -------------------------------------------
- case 106: // M106 Sxxx Fan On S<speed> 0 .. 255
- if (code_seen('S')){
- fanSpeed=constrain(code_value(),0,255);
- }
- else {
- fanSpeed=255;
- }
- break;
- //! ### M107 - Fan off
- // -------------------------------
- case 107:
- fanSpeed = 0;
- break;
- #endif //FAN_PIN
- #if defined(PS_ON_PIN) && PS_ON_PIN > -1
- //! ### M80 - Turn on the Power Supply
- // -------------------------------
- case 80:
- SET_OUTPUT(PS_ON_PIN); //GND
- WRITE(PS_ON_PIN, PS_ON_AWAKE);
- // If you have a switch on suicide pin, this is useful
- // if you want to start another print with suicide feature after
- // a print without suicide...
- #if defined SUICIDE_PIN && SUICIDE_PIN > -1
- SET_OUTPUT(SUICIDE_PIN);
- WRITE(SUICIDE_PIN, HIGH);
- #endif
- powersupply = true;
- LCD_MESSAGERPGM(_T(WELCOME_MSG));
- lcd_update(0);
- break;
- //! ### M81 - Turn off Power Supply
- // --------------------------------------
- case 81:
- disable_heater();
- st_synchronize();
- disable_e0();
- disable_e1();
- disable_e2();
- finishAndDisableSteppers();
- fanSpeed = 0;
- _delay(1000); // Wait a little before to switch off
- #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
- st_synchronize();
- suicide();
- #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
- SET_OUTPUT(PS_ON_PIN);
- WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #endif
- powersupply = false;
- LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
- lcd_update(0);
- break;
- #endif
- //! ### M82 - Set E axis to absolute mode
- // ---------------------------------------
- case 82:
- axis_relative_modes[E_AXIS] = false;
- break;
- //! ### M83 - Set E axis to relative mode
- // ---------------------------------------
- case 83:
- axis_relative_modes[E_AXIS] = true;
- break;
- //! ### M84, M18 - Disable steppers
- //---------------------------------------
- //! This command can be used to set the stepper inactivity timeout (`S`) or to disable steppers (`X`,`Y`,`Z`,`E`)
- //!
- //! M84 [E<flag>] [S<seconds>] [X<flag>] [Y<flag>] [Z<flag>]
- //!
- case 18: //compatibility
- case 84: // M84
- if(code_seen('S')){
- stepper_inactive_time = code_value() * 1000;
- }
- else
- {
- 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])));
- if(all_axis)
- {
- st_synchronize();
- disable_e0();
- disable_e1();
- disable_e2();
- finishAndDisableSteppers();
- }
- else
- {
- st_synchronize();
- if (code_seen('X')) disable_x();
- if (code_seen('Y')) disable_y();
- if (code_seen('Z')) disable_z();
- #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
- if (code_seen('E')) {
- disable_e0();
- disable_e1();
- disable_e2();
- }
- #endif
- }
- }
- //in the end of print set estimated time to end of print and extruders used during print to default values for next print
- print_time_remaining_init();
- snmm_filaments_used = 0;
- break;
- //! ### M85 - Set max inactive time
- // ---------------------------------------
- case 85: // M85
- if(code_seen('S')) {
- max_inactive_time = code_value() * 1000;
- }
- break;
- #ifdef SAFETYTIMER
- //! ### M86 - Set safety timer expiration time
- //!
- //! _Usage:_
- //! M86 S<seconds>
- //!
- //! Sets the safety timer expiration time in seconds. M86 S0 will disable safety timer.
- //! When safety timer expires, heatbed and nozzle target temperatures are set to zero.
- case 86:
- if (code_seen('S')) {
- safetytimer_inactive_time = code_value() * 1000;
- safetyTimer.start();
- }
- break;
- #endif
- //! ### M92 Set Axis steps-per-unit
- // ---------------------------------------
- //! Same syntax as G92
- case 92:
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- if(code_seen(axis_codes[i]))
- {
- if(i == 3) { // E
- float value = code_value();
- if(value < 20.0) {
- float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
- cs.max_jerk[E_AXIS] *= factor;
- max_feedrate[i] *= factor;
- axis_steps_per_sqr_second[i] *= factor;
- }
- cs.axis_steps_per_unit[i] = value;
- }
- else {
- cs.axis_steps_per_unit[i] = code_value();
- }
- }
- }
- break;
- //! ### M110 - Set Line number
- // ---------------------------------------
- case 110:
- if (code_seen('N'))
- gcode_LastN = code_value_long();
- break;
- //! ### M113 - Get or set host keep-alive interval
- // ------------------------------------------
- case 113:
- if (code_seen('S')) {
- host_keepalive_interval = (uint8_t)code_value_short();
- // NOMORE(host_keepalive_interval, 60);
- }
- else {
- SERIAL_ECHO_START;
- SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
- SERIAL_PROTOCOLLN("");
- }
- break;
- //! ### M115 - Firmware info
- // --------------------------------------
- //! Print the firmware info and capabilities
- //!
- //! M115 [V] [U<version>]
- //!
- //! Without any arguments, prints Prusa firmware version number, machine type, extruder count and UUID.
- //! `M115 U` Checks the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
- //! pause the print for 30s and ask the user to upgrade the firmware.
- case 115: // M115
- if (code_seen('V')) {
- // Report the Prusa version number.
- SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
- } else if (code_seen('U')) {
- // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
- // pause the print for 30s and ask the user to upgrade the firmware.
- show_upgrade_dialog_if_version_newer(++ strchr_pointer);
- } else {
- SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
- SERIAL_ECHORPGM(FW_VERSION_STR_P());
- SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
- SERIAL_ECHOPGM(PROTOCOL_VERSION);
- SERIAL_ECHOPGM(" MACHINE_TYPE:");
- SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
- SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
- SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
- SERIAL_ECHOPGM(" UUID:");
- SERIAL_ECHOLNPGM(MACHINE_UUID);
- }
- break;
- //! ### M114 - Get current position
- // -------------------------------------
- case 114:
- gcode_M114();
- break;
- //! ### M117 - Set LCD Message
- // --------------------------------------
-
- /*
- M117 moved up to get the high priority
- case 117: // M117 display message
- starpos = (strchr(strchr_pointer + 5,'*'));
- if(starpos!=NULL)
- *(starpos)='\0';
- lcd_setstatus(strchr_pointer + 5);
- break;*/
- //! ### M120 - Ensable endstops
- // ----------------------------------------
- case 120:
- enable_endstops(true) ;
- break;
- //! ### M121 - Disable endstops
- // ----------------------------------------
- case 121:
- enable_endstops(false) ;
- break;
- //! ### M119 - Get endstop states
- // ----------------------------------------
- case 119:
- SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT
- SERIAL_PROTOCOLLN("");
- #if defined(X_MIN_PIN) && X_MIN_PIN > -1
- SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN
- if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- #if defined(X_MAX_PIN) && X_MAX_PIN > -1
- SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX
- if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
- SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN
- if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
- SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX
- if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
- SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
- if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
- SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
- if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
- }else{
- SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
- }
- SERIAL_PROTOCOLLN("");
- #endif
- break;
- //TODO: update for all axis, use for loop
-
- #ifdef BLINKM
- //! ### M150 - Set RGB(W) Color
- // -------------------------------------------
- case 150:
- {
- byte red;
- byte grn;
- byte blu;
- if(code_seen('R')) red = code_value();
- if(code_seen('U')) grn = code_value();
- if(code_seen('B')) blu = code_value();
- SendColors(red,grn,blu);
- }
- break;
- #endif //BLINKM
- //! ### M200 - Set filament diameter
- // ----------------------------------------
- case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
- {
- uint8_t extruder = active_extruder;
- if(code_seen('T')) {
- extruder = code_value();
- if(extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- SERIAL_ECHO(_n("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER
- break;
- }
- }
- if(code_seen('D')) {
- float diameter = (float)code_value();
- if (diameter == 0.0) {
- // setting any extruder filament size disables volumetric on the assumption that
- // slicers either generate in extruder values as cubic mm or as as filament feeds
- // for all extruders
- cs.volumetric_enabled = false;
- } else {
- cs.filament_size[extruder] = (float)code_value();
- // make sure all extruders have some sane value for the filament size
- cs.filament_size[0] = (cs.filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[0]);
- #if EXTRUDERS > 1
- cs.filament_size[1] = (cs.filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[1]);
- #if EXTRUDERS > 2
- cs.filament_size[2] = (cs.filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : cs.filament_size[2]);
- #endif
- #endif
- cs.volumetric_enabled = true;
- }
- } else {
- //reserved for setting filament diameter via UFID or filament measuring device
- break;
- }
- calculate_extruder_multipliers();
- }
- break;
- //! ### M201 - Set Print Max Acceleration
- // -------------------------------------------
- case 201:
- for (int8_t i = 0; i < NUM_AXIS; i++)
- {
- if (code_seen(axis_codes[i]))
- {
- unsigned long val = code_value();
- #ifdef TMC2130
- unsigned long val_silent = val;
- if ((i == X_AXIS) || (i == Y_AXIS))
- {
- if (val > NORMAL_MAX_ACCEL_XY)
- val = NORMAL_MAX_ACCEL_XY;
- if (val_silent > SILENT_MAX_ACCEL_XY)
- val_silent = SILENT_MAX_ACCEL_XY;
- }
- cs.max_acceleration_units_per_sq_second_normal[i] = val;
- cs.max_acceleration_units_per_sq_second_silent[i] = val_silent;
- #else //TMC2130
- max_acceleration_units_per_sq_second[i] = val;
- #endif //TMC2130
- }
- }
- // 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)
- reset_acceleration_rates();
- break;
- #if 0 // Not used for Sprinter/grbl gen6
- case 202: // M202
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * cs.axis_steps_per_unit[i];
- }
- break;
- #endif
- //! ### M203 - Set Max Feedrate
- // ---------------------------------------
- case 203: // M203 max feedrate mm/sec
- for (int8_t i = 0; i < NUM_AXIS; i++)
- {
- if (code_seen(axis_codes[i]))
- {
- float val = code_value();
- #ifdef TMC2130
- float val_silent = val;
- if ((i == X_AXIS) || (i == Y_AXIS))
- {
- if (val > NORMAL_MAX_FEEDRATE_XY)
- val = NORMAL_MAX_FEEDRATE_XY;
- if (val_silent > SILENT_MAX_FEEDRATE_XY)
- val_silent = SILENT_MAX_FEEDRATE_XY;
- }
- cs.max_feedrate_normal[i] = val;
- cs.max_feedrate_silent[i] = val_silent;
- #else //TMC2130
- max_feedrate[i] = val;
- #endif //TMC2130
- }
- }
- break;
- //! ### M204 - Acceleration settings
- // ------------------------------------------
- //! Supporting old format:
- //!
- //! M204 S[normal moves] T[filmanent only moves]
- //!
- //! and new format:
- //!
- //! M204 P[printing moves] R[filmanent only moves] T[travel moves] (as of now T is ignored)
- case 204:
- {
- if(code_seen('S')) {
- // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
- // and it is also generated by Slic3r to control acceleration per extrusion type
- // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
- cs.acceleration = code_value();
- // Interpret the T value as retract acceleration in the old Marlin format.
- if(code_seen('T'))
- cs.retract_acceleration = code_value();
- } else {
- // New acceleration format, compatible with the upstream Marlin.
- if(code_seen('P'))
- cs.acceleration = code_value();
- if(code_seen('R'))
- cs.retract_acceleration = code_value();
- if(code_seen('T')) {
- // Interpret the T value as the travel acceleration in the new Marlin format.
- //FIXME Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
- // travel_acceleration = code_value();
- }
- }
- }
- break;
- //! ### M205 - Set advanced settings
- // ---------------------------------------------
- //! Set some advanced settings related to movement.
- //!
- //! M205 [S] [T] [B] [X] [Y] [Z] [E]
- /*!
- - `S` - Minimum feedrate for print moves (unit/s)
- - `T` - Minimum feedrate for travel moves (units/s)
- - `B` - Minimum segment time (us)
- - `X` - Maximum X jerk (units/s), similarly for other axes
- */
- case 205:
- {
- if(code_seen('S')) cs.minimumfeedrate = code_value();
- if(code_seen('T')) cs.mintravelfeedrate = code_value();
- if(code_seen('B')) cs.minsegmenttime = code_value() ;
- if(code_seen('X')) cs.max_jerk[X_AXIS] = cs.max_jerk[Y_AXIS] = code_value();
- if(code_seen('Y')) cs.max_jerk[Y_AXIS] = code_value();
- if(code_seen('Z')) cs.max_jerk[Z_AXIS] = code_value();
- if(code_seen('E')) cs.max_jerk[E_AXIS] = code_value();
- if (cs.max_jerk[X_AXIS] > DEFAULT_XJERK) cs.max_jerk[X_AXIS] = DEFAULT_XJERK;
- if (cs.max_jerk[Y_AXIS] > DEFAULT_YJERK) cs.max_jerk[Y_AXIS] = DEFAULT_YJERK;
- }
- break;
- //! ### M206 - Set additional homing offsets
- // ----------------------------------------------
- case 206:
- for(int8_t i=0; i < 3; i++)
- {
- if(code_seen(axis_codes[i])) cs.add_homing[i] = code_value();
- }
- break;
- #ifdef FWRETRACT
- //! ### M207 - Set firmware retraction
- // --------------------------------------------------
- case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
- {
- if(code_seen('S'))
- {
- cs.retract_length = code_value() ;
- }
- if(code_seen('F'))
- {
- cs.retract_feedrate = code_value()/60 ;
- }
- if(code_seen('Z'))
- {
- cs.retract_zlift = code_value() ;
- }
- }break;
- //! ### M208 - Set retract recover length
- // --------------------------------------------
- case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
- {
- if(code_seen('S'))
- {
- cs.retract_recover_length = code_value() ;
- }
- if(code_seen('F'))
- {
- cs.retract_recover_feedrate = code_value()/60 ;
- }
- }break;
- //! ### M209 - Enable/disable automatict retract
- // ---------------------------------------------
- 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.
- {
- if(code_seen('S'))
- {
- int t= code_value() ;
- switch(t)
- {
- case 0:
- {
- cs.autoretract_enabled=false;
- retracted[0]=false;
- #if EXTRUDERS > 1
- retracted[1]=false;
- #endif
- #if EXTRUDERS > 2
- retracted[2]=false;
- #endif
- }break;
- case 1:
- {
- cs.autoretract_enabled=true;
- retracted[0]=false;
- #if EXTRUDERS > 1
- retracted[1]=false;
- #endif
- #if EXTRUDERS > 2
- retracted[2]=false;
- #endif
- }break;
- default:
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
- SERIAL_ECHOLNPGM("\"(1)");
- }
- }
- }break;
- #endif // FWRETRACT
- #if EXTRUDERS > 1
- // ### M218 - Set hotend offset
- // ----------------------------------------
- case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
- {
- uint8_t extruder;
- if(setTargetedHotend(218, extruder)){
- break;
- }
- if(code_seen('X'))
- {
- extruder_offset[X_AXIS][extruder] = code_value();
- }
- if(code_seen('Y'))
- {
- extruder_offset[Y_AXIS][extruder] = code_value();
- }
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
- for(extruder = 0; extruder < EXTRUDERS; extruder++)
- {
- SERIAL_ECHO(" ");
- SERIAL_ECHO(extruder_offset[X_AXIS][extruder]);
- SERIAL_ECHO(",");
- SERIAL_ECHO(extruder_offset[Y_AXIS][extruder]);
- }
- SERIAL_ECHOLN("");
- }break;
- #endif
- //! ### M220 Set feedrate percentage
- // -----------------------------------------------
- case 220: // M220 S<factor in percent>- set speed factor override percentage
- {
- if (code_seen('B')) //backup current speed factor
- {
- saved_feedmultiply_mm = feedmultiply;
- }
- if(code_seen('S'))
- {
- feedmultiply = code_value() ;
- }
- if (code_seen('R')) { //restore previous feedmultiply
- feedmultiply = saved_feedmultiply_mm;
- }
- }
- break;
- //! ### M221 - Set extrude factor override percentage
- // ----------------------------------------------------
- case 221: // M221 S<factor in percent>- set extrude factor override percentage
- {
- if(code_seen('S'))
- {
- int tmp_code = code_value();
- if (code_seen('T'))
- {
- uint8_t extruder;
- if(setTargetedHotend(221, extruder)){
- break;
- }
- extruder_multiply[extruder] = tmp_code;
- }
- else
- {
- extrudemultiply = tmp_code ;
- }
- }
- calculate_extruder_multipliers();
- }
- break;
- //! ### M226 - Wait for Pin state
- // ------------------------------------------
- case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
- {
- if(code_seen('P')){
- int pin_number = code_value(); // pin number
- int pin_state = -1; // required pin state - default is inverted
- if(code_seen('S')) pin_state = code_value(); // required pin state
- if(pin_state >= -1 && pin_state <= 1){
- for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
- {
- if (sensitive_pins[i] == pin_number)
- {
- pin_number = -1;
- break;
- }
- }
- if (pin_number > -1)
- {
- int target = LOW;
- st_synchronize();
- pinMode(pin_number, INPUT);
- switch(pin_state){
- case 1:
- target = HIGH;
- break;
- case 0:
- target = LOW;
- break;
- case -1:
- target = !digitalRead(pin_number);
- break;
- }
- while(digitalRead(pin_number) != target){
- manage_heater();
- manage_inactivity();
- lcd_update(0);
- }
- }
- }
- }
- }
- break;
- #if NUM_SERVOS > 0
- //! ### M280 - Set/Get servo position
- // --------------------------------------------
- case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
- {
- int servo_index = -1;
- int servo_position = 0;
- if (code_seen('P'))
- servo_index = code_value();
- if (code_seen('S')) {
- servo_position = code_value();
- if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
- #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
- servos[servo_index].attach(0);
- #endif
- servos[servo_index].write(servo_position);
- #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
- _delay(PROBE_SERVO_DEACTIVATION_DELAY);
- servos[servo_index].detach();
- #endif
- }
- else {
- SERIAL_ECHO_START;
- SERIAL_ECHO("Servo ");
- SERIAL_ECHO(servo_index);
- SERIAL_ECHOLN(" out of range");
- }
- }
- else if (servo_index >= 0) {
- SERIAL_PROTOCOL(MSG_OK);
- SERIAL_PROTOCOL(" Servo ");
- SERIAL_PROTOCOL(servo_index);
- SERIAL_PROTOCOL(": ");
- SERIAL_PROTOCOL(servos[servo_index].read());
- SERIAL_PROTOCOLLN("");
- }
- }
- break;
- #endif // NUM_SERVOS > 0
- #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
-
- //! ### M300 - Play tone
- // -----------------------
- case 300: // M300
- {
- int beepS = code_seen('S') ? code_value() : 110;
- int beepP = code_seen('P') ? code_value() : 1000;
- if (beepS > 0)
- {
- #if BEEPER > 0
- Sound_MakeCustom(beepP,beepS,false);
- #endif
- }
- else
- {
- _delay(beepP);
- }
- }
- break;
- #endif // M300
- #ifdef PIDTEMP
- //! ### M301 - Set hotend PID
- // ---------------------------------------
- case 301:
- {
- if(code_seen('P')) cs.Kp = code_value();
- if(code_seen('I')) cs.Ki = scalePID_i(code_value());
- if(code_seen('D')) cs.Kd = scalePID_d(code_value());
- #ifdef PID_ADD_EXTRUSION_RATE
- if(code_seen('C')) Kc = code_value();
- #endif
- updatePID();
- SERIAL_PROTOCOLRPGM(MSG_OK);
- SERIAL_PROTOCOL(" p:");
- SERIAL_PROTOCOL(cs.Kp);
- SERIAL_PROTOCOL(" i:");
- SERIAL_PROTOCOL(unscalePID_i(cs.Ki));
- SERIAL_PROTOCOL(" d:");
- SERIAL_PROTOCOL(unscalePID_d(cs.Kd));
- #ifdef PID_ADD_EXTRUSION_RATE
- SERIAL_PROTOCOL(" c:");
- //Kc does not have scaling applied above, or in resetting defaults
- SERIAL_PROTOCOL(Kc);
- #endif
- SERIAL_PROTOCOLLN("");
- }
- break;
- #endif //PIDTEMP
- #ifdef PIDTEMPBED
- //! ### M304 - Set bed PID
- // --------------------------------------
- case 304:
- {
- if(code_seen('P')) cs.bedKp = code_value();
- if(code_seen('I')) cs.bedKi = scalePID_i(code_value());
- if(code_seen('D')) cs.bedKd = scalePID_d(code_value());
- updatePID();
- SERIAL_PROTOCOLRPGM(MSG_OK);
- SERIAL_PROTOCOL(" p:");
- SERIAL_PROTOCOL(cs.bedKp);
- SERIAL_PROTOCOL(" i:");
- SERIAL_PROTOCOL(unscalePID_i(cs.bedKi));
- SERIAL_PROTOCOL(" d:");
- SERIAL_PROTOCOL(unscalePID_d(cs.bedKd));
- SERIAL_PROTOCOLLN("");
- }
- break;
- #endif //PIDTEMP
- //! ### M240 - Trigger camera
- // --------------------------------------------
- case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
- {
- #ifdef CHDK
-
- SET_OUTPUT(CHDK);
- WRITE(CHDK, HIGH);
- chdkHigh = _millis();
- chdkActive = true;
-
- #else
-
- #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
- const uint8_t NUM_PULSES=16;
- const float PULSE_LENGTH=0.01524;
- for(int i=0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
- _delay(7.33);
- for(int i=0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
- #endif
- #endif //chdk end if
- }
- break;
- #ifdef PREVENT_DANGEROUS_EXTRUDE
- //! ### M302 - Allow cold extrude, or set minimum extrude temperature
- // -------------------------------------------------------------------
- case 302:
- {
- float temp = .0;
- if (code_seen('S')) temp=code_value();
- set_extrude_min_temp(temp);
- }
- break;
- #endif
- //! ### M303 - PID autotune
- // -------------------------------------
- case 303:
- {
- float temp = 150.0;
- int e=0;
- int c=5;
- if (code_seen('E')) e=code_value();
- if (e<0)
- temp=70;
- if (code_seen('S')) temp=code_value();
- if (code_seen('C')) c=code_value();
- PID_autotune(temp, e, c);
- }
- break;
-
- //! ### M400 - Wait for all moves to finish
- // -----------------------------------------
- case 400:
- {
- st_synchronize();
- }
- break;
- //! ### M403 - Set filament type (material) for particular extruder and notify the MMU
- // ----------------------------------------------
- case 403:
- {
- // currently three different materials are needed (default, flex and PVA)
- // add storing this information for different load/unload profiles etc. in the future
- // firmware does not wait for "ok" from mmu
- if (mmu_enabled)
- {
- uint8_t extruder = 255;
- uint8_t filament = FILAMENT_UNDEFINED;
- if(code_seen('E')) extruder = code_value();
- if(code_seen('F')) filament = code_value();
- mmu_set_filament_type(extruder, filament);
- }
- }
- break;
- //! ### M500 - Store settings in EEPROM
- // -----------------------------------------
- case 500:
- {
- Config_StoreSettings();
- }
- break;
- //! ### M501 - Read settings from EEPROM
- // ----------------------------------------
- case 501:
- {
- Config_RetrieveSettings();
- }
- break;
- //! ### M502 - Revert all settings to factory default
- // -------------------------------------------------
- case 502:
- {
- Config_ResetDefault();
- }
- break;
- //! ### M503 - Repport all settings currently in memory
- // -------------------------------------------------
- case 503:
- {
- Config_PrintSettings();
- }
- break;
- //! ### M509 - Force language selection
- // ------------------------------------------------
- case 509:
- {
- lang_reset();
- SERIAL_ECHO_START;
- SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
- }
- break;
- #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
- //! ### M540 - Abort print on endstop hit (enable/disable)
- // -----------------------------------------------------
- case 540:
- {
- if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
- }
- break;
- #endif
- #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
- case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
- {
- float value;
- if (code_seen('Z'))
- {
- value = code_value();
- if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
- {
- cs.zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
- SERIAL_PROTOCOLLN("");
- }
- else
- {
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
- SERIAL_ECHORPGM(MSG_Z_MIN);
- SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
- SERIAL_ECHORPGM(MSG_Z_MAX);
- SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
- SERIAL_PROTOCOLLN("");
- }
- }
- else
- {
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
- SERIAL_ECHO(-cs.zprobe_zoffset);
- SERIAL_PROTOCOLLN("");
- }
- break;
- }
- #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
- #ifdef FILAMENTCHANGEENABLE
- //! ### M600 - Initiate Filament change procedure
- // --------------------------------------
- case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
- {
- st_synchronize();
- float x_position = current_position[X_AXIS];
- float y_position = current_position[Y_AXIS];
- float z_shift = 0; // is it necessary to be a float?
- float e_shift_init = 0;
- float e_shift_late = 0;
- bool automatic = false;
-
- //Retract extruder
- if(code_seen('E'))
- {
- e_shift_init = code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_FIRSTRETRACT
- e_shift_init = FILAMENTCHANGE_FIRSTRETRACT ;
- #endif
- }
- //currently don't work as we are using the same unload sequence as in M702, needs re-work
- if (code_seen('L'))
- {
- e_shift_late = code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_FINALRETRACT
- e_shift_late = FILAMENTCHANGE_FINALRETRACT;
- #endif
- }
- //Lift Z
- if(code_seen('Z'))
- {
- z_shift = code_value();
- }
- else
- {
- z_shift = gcode_M600_filament_change_z_shift<uint8_t>();
- }
- //Move XY to side
- if(code_seen('X'))
- {
- x_position = code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_XPOS
- x_position = FILAMENTCHANGE_XPOS;
- #endif
- }
- if(code_seen('Y'))
- {
- y_position = code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_YPOS
- y_position = FILAMENTCHANGE_YPOS ;
- #endif
- }
- if (mmu_enabled && code_seen("AUTO"))
- automatic = true;
- gcode_M600(automatic, x_position, y_position, z_shift, e_shift_init, e_shift_late);
-
- }
- break;
- #endif //FILAMENTCHANGEENABLE
- //! ### M25 - Pause SD print
- //! ### M601 - Pause print
- //! ### M125 - Pause print (TODO: not implemented)
- // -------------------------------
- case 25:
- case 601:
- {
- if (!isPrintPaused)
- {
- st_synchronize();
- cmdqueue_pop_front(); //trick because we want skip this command (M601) after restore
- lcd_pause_print();
- }
- }
- break;
- //! ### M602 - Resume print
- // -------------------------------
- case 602: {
- if (isPrintPaused)
- lcd_resume_print();
- }
- break;
- //! ### M603 - Stop print
- // -------------------------------
- case 603: {
- lcd_print_stop();
- }
- break;
- #ifdef PINDA_THERMISTOR
- //! ### M860 - Wait for extruder temperature (PINDA)
- // --------------------------------------------------------------
- /*!
- Wait for PINDA thermistor to reach target temperature
-
- M860 [S<target_temperature>]
-
- */
- case 860:
- {
- int set_target_pinda = 0;
- if (code_seen('S')) {
- set_target_pinda = code_value();
- }
- else {
- break;
- }
- LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
- SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
- SERIAL_PROTOCOL(set_target_pinda);
- SERIAL_PROTOCOLLN("");
- codenum = _millis();
- cancel_heatup = false;
- bool is_pinda_cooling = false;
- if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
- is_pinda_cooling = true;
- }
- while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
- if ((_millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
- {
- SERIAL_PROTOCOLPGM("P:");
- SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
- SERIAL_PROTOCOLPGM("/");
- SERIAL_PROTOCOL(set_target_pinda);
- SERIAL_PROTOCOLLN("");
- codenum = _millis();
- }
- manage_heater();
- manage_inactivity();
- lcd_update(0);
- }
- LCD_MESSAGERPGM(MSG_OK);
- break;
- }
-
- //! ### M861 - Set/Get PINDA temperature compensation offsets
- // -----------------------------------------------------------
- /*!
-
- M861 [ ? | ! | Z | S<microsteps> [I<table_index>] ]
-
- - `?` - Print current EEPROM offset values
- - `!` - Set factory default values
- - `Z` - Set all values to 0 (effectively disabling PINDA temperature compensation)
- - `S<microsteps>` `I<table_index>` - Set compensation ustep value S for compensation table index I
- */
- case 861:
- if (code_seen('?')) { // ? - Print out current EEPROM offset values
- uint8_t cal_status = calibration_status_pinda();
- int16_t usteps = 0;
- cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
- SERIAL_PROTOCOLLN("index, temp, ustep, um");
- for (uint8_t i = 0; i < 6; i++)
- {
- if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
- float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
- i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
- SERIAL_PROTOCOLPGM(", ");
- SERIAL_PROTOCOL(35 + (i * 5));
- SERIAL_PROTOCOLPGM(", ");
- SERIAL_PROTOCOL(usteps);
- SERIAL_PROTOCOLPGM(", ");
- SERIAL_PROTOCOL(mm * 1000);
- SERIAL_PROTOCOLLN("");
- }
- }
- else if (code_seen('!')) { // ! - Set factory default values
- eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
- int16_t z_shift = 8; //40C - 20um - 8usteps
- EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
- z_shift = 24; //45C - 60um - 24usteps
- EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
- z_shift = 48; //50C - 120um - 48usteps
- EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
- z_shift = 80; //55C - 200um - 80usteps
- EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
- z_shift = 120; //60C - 300um - 120usteps
- EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
- SERIAL_PROTOCOLLN("factory restored");
- }
- else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
- eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
- int16_t z_shift = 0;
- for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
- SERIAL_PROTOCOLLN("zerorized");
- }
- else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
- int16_t usteps = code_value();
- if (code_seen('I')) {
- uint8_t index = code_value();
- if (index < 5) {
- EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
- SERIAL_PROTOCOLLN("OK");
- SERIAL_PROTOCOLLN("index, temp, ustep, um");
- for (uint8_t i = 0; i < 6; i++)
- {
- usteps = 0;
- if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
- float mm = ((float)usteps) / cs.axis_steps_per_unit[Z_AXIS];
- i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
- SERIAL_PROTOCOLPGM(", ");
- SERIAL_PROTOCOL(35 + (i * 5));
- SERIAL_PROTOCOLPGM(", ");
- SERIAL_PROTOCOL(usteps);
- SERIAL_PROTOCOLPGM(", ");
- SERIAL_PROTOCOL(mm * 1000);
- SERIAL_PROTOCOLLN("");
- }
- }
- }
- }
- else {
- SERIAL_PROTOCOLPGM("no valid command");
- }
- break;
- #endif //PINDA_THERMISTOR
-
- //! ### M862 - Print checking
- // ----------------------------------------------
- /*!
- Checks the parameters of the printer and gcode and performs compatibility check
- - M862.1 { P<nozzle_diameter> | Q }
- - M862.2 { P<model_code> | Q }
- - M862.3 { P"<model_name>" | Q }
- - M862.4 { P<fw_version> | Q }
- - M862.5 { P<gcode_level> | Q }
- When run with P<> argument, the check is performed against the input value.
- When run with Q argument, the current value is shown.
-
- M862.3 accepts text identifiers of printer types too.
- The syntax of M862.3 is (note the quotes around the type):
-
- M862.3 P "MK3S"
-
- Accepted printer type identifiers and their numeric counterparts:
- - MK1 (100)
- - MK2 (200)
- - MK2MM (201)
- - MK2S (202)
- - MK2SMM (203)
- - MK2.5 (250)
- - MK2.5MMU2 (20250)
- - MK2.5S (252)
- - MK2.5SMMU2S (20252)
- - MK3 (300)
- - MK3MMU2 (20300)
- - MK3S (302)
- - MK3SMMU2S (20302)
- */
- case 862: // M862: print checking
- float nDummy;
- uint8_t nCommand;
- nCommand=(uint8_t)(modff(code_value_float(),&nDummy)*10.0+0.5);
- switch((ClPrintChecking)nCommand)
- {
- case ClPrintChecking::_Nozzle: // ~ .1
- uint16_t nDiameter;
- if(code_seen('P'))
- {
- nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
- nozzle_diameter_check(nDiameter);
- }
- /*
- else if(code_seen('S')&&farm_mode)
- {
- nDiameter=(uint16_t)(code_value()*1000.0+0.5); // [,um]
- eeprom_update_byte((uint8_t*)EEPROM_NOZZLE_DIAMETER,(uint8_t)ClNozzleDiameter::_Diameter_Undef); // for correct synchronization after farm-mode exiting
- eeprom_update_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM,nDiameter);
- }
- */
- else if(code_seen('Q'))
- SERIAL_PROTOCOLLN((float)eeprom_read_word((uint16_t*)EEPROM_NOZZLE_DIAMETER_uM)/1000.0);
- break;
- case ClPrintChecking::_Model: // ~ .2
- if(code_seen('P'))
- {
- uint16_t nPrinterModel;
- nPrinterModel=(uint16_t)code_value_long();
- printer_model_check(nPrinterModel);
- }
- else if(code_seen('Q'))
- SERIAL_PROTOCOLLN(nPrinterType);
- break;
- case ClPrintChecking::_Smodel: // ~ .3
- if(code_seen('P'))
- printer_smodel_check(strchr_pointer);
- else if(code_seen('Q'))
- SERIAL_PROTOCOLLNRPGM(sPrinterName);
- break;
- case ClPrintChecking::_Version: // ~ .4
- if(code_seen('P'))
- fw_version_check(++strchr_pointer);
- else if(code_seen('Q'))
- SERIAL_PROTOCOLLN(FW_VERSION);
- break;
- case ClPrintChecking::_Gcode: // ~ .5
- if(code_seen('P'))
- {
- uint16_t nGcodeLevel;
- nGcodeLevel=(uint16_t)code_value_long();
- gcode_level_check(nGcodeLevel);
- }
- else if(code_seen('Q'))
- SERIAL_PROTOCOLLN(GCODE_LEVEL);
- break;
- }
- break;
- #ifdef LIN_ADVANCE
- //! ### M900 - Set Linear advance options
- // ----------------------------------------------
- case 900:
- gcode_M900();
- break;
- #endif
- //! ### M907 - Set digital trimpot motor current in mA using axis codes
- // ---------------------------------------------------------------
- case 907:
- {
- #ifdef TMC2130
- //! See tmc2130_cur2val() for translation to 0 .. 63 range
- for (int i = 0; i < NUM_AXIS; i++)
- if(code_seen(axis_codes[i]))
- {
- long cur_mA = code_value_long();
- uint8_t val = tmc2130_cur2val(cur_mA);
- tmc2130_set_current_h(i, val);
- tmc2130_set_current_r(i, val);
- //if (i == E_AXIS) printf_P(PSTR("E-axis current=%ldmA\n"), cur_mA);
- }
- #else //TMC2130
- #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
- if(code_seen('B')) st_current_set(4,code_value());
- if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
- #endif
- #ifdef MOTOR_CURRENT_PWM_XY_PIN
- if(code_seen('X')) st_current_set(0, code_value());
- #endif
- #ifdef MOTOR_CURRENT_PWM_Z_PIN
- if(code_seen('Z')) st_current_set(1, code_value());
- #endif
- #ifdef MOTOR_CURRENT_PWM_E_PIN
- if(code_seen('E')) st_current_set(2, code_value());
- #endif
- #endif //TMC2130
- }
- break;
- //! ### M908 - Control digital trimpot directly
- // ---------------------------------------------------------
- case 908:
- {
- #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
- uint8_t channel,current;
- if(code_seen('P')) channel=code_value();
- if(code_seen('S')) current=code_value();
- digitalPotWrite(channel, current);
- #endif
- }
- break;
- #ifdef TMC2130_SERVICE_CODES_M910_M918
- //! ### M910 - TMC2130 init
- // -----------------------------------------------
- case 910:
- {
- tmc2130_init();
- }
- break;
- //! ### M911 - Set TMC2130 holding currents
- // -------------------------------------------------
- case 911:
- {
- if (code_seen('X')) tmc2130_set_current_h(0, code_value());
- if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
- if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
- if (code_seen('E')) tmc2130_set_current_h(3, code_value());
- }
- break;
- //! ### M912 - Set TMC2130 running currents
- // -----------------------------------------------
- case 912:
- {
- if (code_seen('X')) tmc2130_set_current_r(0, code_value());
- if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
- if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
- if (code_seen('E')) tmc2130_set_current_r(3, code_value());
- }
- break;
- //! ### M913 - Print TMC2130 currents
- // -----------------------------
- case 913:
- {
- tmc2130_print_currents();
- }
- break;
- //! ### M914 - Set TMC2130 normal mode
- // ------------------------------
- case 914:
- {
- tmc2130_mode = TMC2130_MODE_NORMAL;
- update_mode_profile();
- tmc2130_init();
- }
- break;
- //! ### M95 - Set TMC2130 silent mode
- // ------------------------------
- case 915:
- {
- tmc2130_mode = TMC2130_MODE_SILENT;
- update_mode_profile();
- tmc2130_init();
- }
- break;
- //! ### M916 - Set TMC2130 Stallguard sensitivity threshold
- // -------------------------------------------------------
- case 916:
- {
- if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
- if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
- if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
- if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
- for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
- printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
- }
- break;
- //! ### M917 - Set TMC2130 PWM amplitude offset (pwm_ampl)
- // --------------------------------------------------------------
- case 917:
- {
- if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
- if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
- if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
- if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
- }
- break;
- //! ### M918 - Set TMC2130 PWM amplitude gradient (pwm_grad)
- // -------------------------------------------------------------
- case 918:
- {
- if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
- if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
- if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
- if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
- }
- break;
- #endif //TMC2130_SERVICE_CODES_M910_M918
- //! ### M350 - Set microstepping mode
- // ---------------------------------------------------
- //! Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
- case 350:
- {
- #ifdef TMC2130
- for (int i=0; i<NUM_AXIS; i++)
- {
- if(code_seen(axis_codes[i]))
- {
- uint16_t res_new = code_value();
- bool res_valid = (res_new == 8) || (res_new == 16) || (res_new == 32); // resolutions valid for all axis
- res_valid |= (i != E_AXIS) && ((res_new == 1) || (res_new == 2) || (res_new == 4)); // resolutions valid for X Y Z only
- res_valid |= (i == E_AXIS) && ((res_new == 64) || (res_new == 128)); // resolutions valid for E only
- if (res_valid)
- {
-
- st_synchronize();
- uint16_t res = tmc2130_get_res(i);
- tmc2130_set_res(i, res_new);
- cs.axis_ustep_resolution[i] = res_new;
- if (res_new > res)
- {
- uint16_t fac = (res_new / res);
- cs.axis_steps_per_unit[i] *= fac;
- position[i] *= fac;
- }
- else
- {
- uint16_t fac = (res / res_new);
- cs.axis_steps_per_unit[i] /= fac;
- position[i] /= fac;
- }
- }
- }
- }
- #else //TMC2130
- #if defined(X_MS1_PIN) && X_MS1_PIN > -1
- if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
- if(code_seen('B')) microstep_mode(4,code_value());
- microstep_readings();
- #endif
- #endif //TMC2130
- }
- break;
- //! ### M351 - Toggle Microstep Pins
- // -----------------------------------
- //! Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
- //!
- //! M351 [B<0|1>] [E<0|1>] S<1|2> [X<0|1>] [Y<0|1>] [Z<0|1>]
- case 351:
- {
- #if defined(X_MS1_PIN) && X_MS1_PIN > -1
- if(code_seen('S')) switch((int)code_value())
- {
- case 1:
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
- if(code_seen('B')) microstep_ms(4,code_value(),-1);
- break;
- case 2:
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
- if(code_seen('B')) microstep_ms(4,-1,code_value());
- break;
- }
- microstep_readings();
- #endif
- }
- break;
- //! ### M701 - Load filament
- // -------------------------
- case 701:
- {
- if (mmu_enabled && code_seen('E'))
- tmp_extruder = code_value();
- gcode_M701();
- }
- break;
- //! ### M702 - Unload filament
- // ------------------------
- /*!
-
- M702 [U C]
-
- - `U` Unload all filaments used in current print
- - `C` Unload just current filament
- - without any parameters unload all filaments
- */
- case 702:
- {
- #ifdef SNMM
- if (code_seen('U'))
- extr_unload_used(); //! if "U" unload all filaments which were used in current print
- else if (code_seen('C'))
- extr_unload(); //! if "C" unload just current filament
- else
- extr_unload_all(); //! otherwise unload all filaments
- #else
- if (code_seen('C')) {
- if(mmu_enabled) extr_unload(); //! if "C" unload current filament; if mmu is not present no action is performed
- }
- else {
- if(mmu_enabled) extr_unload(); //! unload current filament
- else unload_filament();
- }
- #endif //SNMM
- }
- break;
- //! ### M999 - Restart after being stopped
- // ------------------------------------
- case 999:
- Stopped = false;
- lcd_reset_alert_level();
- gcode_LastN = Stopped_gcode_LastN;
- FlushSerialRequestResend();
- break;
- default:
- printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
- }
- // printf_P(_N("END M-CODE=%u\n"), mcode_in_progress);
- mcode_in_progress = 0;
- }
- }
- // end if(code_seen('M')) (end of M codes)
- //! -----------------------------------------------------------------------------------------
- //! T Codes
- //!
- //! T<extruder nr.> - select extruder in case of multi extruder printer
- //! select filament in case of MMU_V2
- //! if extruder is "?", open menu to let the user select extruder/filament
- //!
- //! For MMU_V2:
- //! @n T<n> Gcode to extrude at least 38.10 mm at feedrate 19.02 mm/s must follow immediately to load to extruder wheels.
- //! @n T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
- //! @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.
- //! @n Tc Load to nozzle after filament was prepared by Tc and extruder nozzle is already heated.
- else if(code_seen('T'))
- {
- int index;
- bool load_to_nozzle = false;
- for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
- *(strchr_pointer + index) = tolower(*(strchr_pointer + index));
- if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '4') && *(strchr_pointer + index) != '?' && *(strchr_pointer + index) != 'x' && *(strchr_pointer + index) != 'c') {
- SERIAL_ECHOLNPGM("Invalid T code.");
- }
- else if (*(strchr_pointer + index) == 'x'){ //load to bondtech gears; if mmu is not present do nothing
- if (mmu_enabled)
- {
- tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
- if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
- {
- printf_P(PSTR("Duplicate T-code ignored.\n"));
- }
- else
- {
- st_synchronize();
- mmu_command(MmuCmd::T0 + tmp_extruder);
- manage_response(true, true, MMU_TCODE_MOVE);
- }
- }
- }
- else if (*(strchr_pointer + index) == 'c') { //load to from bondtech gears to nozzle (nozzle should be preheated)
- if (mmu_enabled)
- {
- st_synchronize();
- mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
- mmu_extruder = tmp_extruder; //filament change is finished
- mmu_load_to_nozzle();
- }
- }
- else {
- if (*(strchr_pointer + index) == '?')
- {
- if(mmu_enabled)
- {
- tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
- load_to_nozzle = true;
- } else
- {
- tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_EXTRUDER), _T(MSG_EXTRUDER));
- }
- }
- else {
- tmp_extruder = code_value();
- if (mmu_enabled && lcd_autoDepleteEnabled())
- {
- tmp_extruder = ad_getAlternative(tmp_extruder);
- }
- }
- st_synchronize();
- snmm_filaments_used |= (1 << tmp_extruder); //for stop print
- if (mmu_enabled)
- {
- if ((tmp_extruder == mmu_extruder) && mmu_fil_loaded) //dont execute the same T-code twice in a row
- {
- printf_P(PSTR("Duplicate T-code ignored.\n"));
- }
- else
- {
- #if defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
- if (EEPROM_MMU_CUTTER_ENABLED_always == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
- {
- mmu_command(MmuCmd::K0 + tmp_extruder);
- manage_response(true, true, MMU_UNLOAD_MOVE);
- }
- #endif //defined(MMU_HAS_CUTTER) && defined(MMU_ALWAYS_CUT)
- mmu_command(MmuCmd::T0 + tmp_extruder);
- manage_response(true, true, MMU_TCODE_MOVE);
- mmu_continue_loading(is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal));
- mmu_extruder = tmp_extruder; //filament change is finished
- if (load_to_nozzle)// for single material usage with mmu
- {
- mmu_load_to_nozzle();
- }
- }
- }
- else
- {
- #ifdef SNMM
- #ifdef LIN_ADVANCE
- if (mmu_extruder != tmp_extruder)
- clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
- #endif
- mmu_extruder = tmp_extruder;
- _delay(100);
- disable_e0();
- disable_e1();
- disable_e2();
- pinMode(E_MUX0_PIN, OUTPUT);
- pinMode(E_MUX1_PIN, OUTPUT);
- _delay(100);
- SERIAL_ECHO_START;
- SERIAL_ECHO("T:");
- SERIAL_ECHOLN((int)tmp_extruder);
- switch (tmp_extruder) {
- case 1:
- WRITE(E_MUX0_PIN, HIGH);
- WRITE(E_MUX1_PIN, LOW);
- break;
- case 2:
- WRITE(E_MUX0_PIN, LOW);
- WRITE(E_MUX1_PIN, HIGH);
- break;
- case 3:
- WRITE(E_MUX0_PIN, HIGH);
- WRITE(E_MUX1_PIN, HIGH);
- break;
- default:
- WRITE(E_MUX0_PIN, LOW);
- WRITE(E_MUX1_PIN, LOW);
- break;
- }
- _delay(100);
- #else //SNMM
- if (tmp_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("T");
- SERIAL_PROTOCOLLN((int)tmp_extruder);
- SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER
- }
- else {
- #if EXTRUDERS > 1
- boolean make_move = false;
- #endif
- if (code_seen('F')) {
- #if EXTRUDERS > 1
- make_move = true;
- #endif
- next_feedrate = code_value();
- if (next_feedrate > 0.0) {
- feedrate = next_feedrate;
- }
- }
- #if EXTRUDERS > 1
- if (tmp_extruder != active_extruder) {
- // Save current position to return to after applying extruder offset
- memcpy(destination, current_position, sizeof(destination));
- // Offset extruder (only by XY)
- int i;
- for (i = 0; i < 2; i++) {
- current_position[i] = current_position[i] -
- extruder_offset[i][active_extruder] +
- extruder_offset[i][tmp_extruder];
- }
- // Set the new active extruder and position
- active_extruder = tmp_extruder;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- // Move to the old position if 'F' was in the parameters
- if (make_move && Stopped == false) {
- prepare_move();
- }
- }
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER
- SERIAL_PROTOCOLLN((int)active_extruder);
- }
- #endif //SNMM
- }
- }
- } // end if(code_seen('T')) (end of T codes)
- //! ----------------------------------------------------------------------------------------------
- else if (code_seen('D')) // D codes (debug)
- {
- switch((int)code_value())
- {
- //! ### D-1 - Endless loop
- // -------------------
- case -1:
- dcode__1(); break;
- #ifdef DEBUG_DCODES
- //! ### D0 - Reset
- // --------------
- case 0:
- dcode_0(); break;
- //! ### D1 - Clear EEPROM
- // ------------------
- case 1:
- dcode_1(); break;
- //! ### D2 - Read/Write RAM
- // --------------------
- case 2:
- dcode_2(); break;
- #endif //DEBUG_DCODES
- #ifdef DEBUG_DCODE3
- //! ### D3 - Read/Write EEPROM
- // -----------------------
- case 3:
- dcode_3(); break;
- #endif //DEBUG_DCODE3
- #ifdef DEBUG_DCODES
- //! ### D4 - Read/Write PIN
- // ---------------------
- case 4:
- dcode_4(); break;
- #endif //DEBUG_DCODES
- #ifdef DEBUG_DCODE5
- //! ### D5 - Read/Write FLASH
- // ------------------------
- case 5:
- dcode_5(); break;
- break;
- #endif //DEBUG_DCODE5
- #ifdef DEBUG_DCODES
- //! ### D6 - Read/Write external FLASH
- // ---------------------------------------
- case 6:
- dcode_6(); break;
- //! ### D7 - Read/Write Bootloader
- // -------------------------------
- case 7:
- dcode_7(); break;
- //! ### D8 - Read/Write PINDA
- // ---------------------------
- case 8:
- dcode_8(); break;
- // ### D9 - Read/Write ADC
- // ------------------------
- case 9:
- dcode_9(); break;
- //! ### D10 - XYZ calibration = OK
- // ------------------------------
- case 10:
- dcode_10(); break;
- #endif //DEBUG_DCODES
- #ifdef HEATBED_ANALYSIS
- //! ### D80 - Bed check
- // ---------------------
- /*!
- - `E` - dimension x
- - `F` - dimention y
- - `G` - points_x
- - `H` - points_y
- - `I` - offset_x
- - `J` - offset_y
- */
- case 80:
- {
- float dimension_x = 40;
- float dimension_y = 40;
- int points_x = 40;
- int points_y = 40;
- float offset_x = 74;
- float offset_y = 33;
- if (code_seen('E')) dimension_x = code_value();
- if (code_seen('F')) dimension_y = code_value();
- if (code_seen('G')) {points_x = code_value(); }
- if (code_seen('H')) {points_y = code_value(); }
- if (code_seen('I')) {offset_x = code_value(); }
- if (code_seen('J')) {offset_y = code_value(); }
- printf_P(PSTR("DIM X: %f\n"), dimension_x);
- printf_P(PSTR("DIM Y: %f\n"), dimension_y);
- printf_P(PSTR("POINTS X: %d\n"), points_x);
- printf_P(PSTR("POINTS Y: %d\n"), points_y);
- printf_P(PSTR("OFFSET X: %f\n"), offset_x);
- printf_P(PSTR("OFFSET Y: %f\n"), offset_y);
- bed_check(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
- }break;
- //! ### D81 - Bed analysis
- // -----------------------------
- /*!
- - `E` - dimension x
- - `F` - dimention y
- - `G` - points_x
- - `H` - points_y
- - `I` - offset_x
- - `J` - offset_y
- */
- case 81:
- {
- float dimension_x = 40;
- float dimension_y = 40;
- int points_x = 40;
- int points_y = 40;
- float offset_x = 74;
- float offset_y = 33;
- if (code_seen('E')) dimension_x = code_value();
- if (code_seen('F')) dimension_y = code_value();
- if (code_seen("G")) { strchr_pointer+=1; points_x = code_value(); }
- if (code_seen("H")) { strchr_pointer+=1; points_y = code_value(); }
- if (code_seen("I")) { strchr_pointer+=1; offset_x = code_value(); }
- if (code_seen("J")) { strchr_pointer+=1; offset_y = code_value(); }
-
- bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
-
- } break;
-
- #endif //HEATBED_ANALYSIS
- #ifdef DEBUG_DCODES
- //! ### D106 print measured fan speed for different pwm values
- // --------------------------------------------------------------
- case 106:
- {
- for (int i = 255; i > 0; i = i - 5) {
- fanSpeed = i;
- //delay_keep_alive(2000);
- for (int j = 0; j < 100; j++) {
- delay_keep_alive(100);
- }
- printf_P(_N("%d: %d\n"), i, fan_speed[1]);
- }
- }break;
- #ifdef TMC2130
- //! ### D2130 - TMC2130 Trinamic stepper controller
- // ---------------------------
-
- /*!
-
-
- D2130<axis><command>[subcommand][value]
- - <command>:
- - '0' current off
- - '1' current on
- - '+' single step
- - * value sereval steps
- - '-' dtto oposite direction
- - '?' read register
- - * "mres"
- - * "step"
- - * "mscnt"
- - * "mscuract"
- - * "wave"
- - '!' set register
- - * "mres"
- - * "step"
- - * "wave"
- - '@' home calibrate axis
- Example:
- D2130E?wave ... print extruder microstep linearity compensation curve
- D2130E!wave0 ... disable extruder linearity compensation curve, (sine curve is used)
- D2130E!wave220 ... (sin(x))^1.1 extruder microstep compensation curve used
- */
- case 2130:
- dcode_2130(); break;
- #endif //TMC2130
- #if (defined (FILAMENT_SENSOR) && defined(PAT9125))
- //! ### D9125 - FILAMENT_SENSOR
- // ---------------------------------
- case 9125:
- dcode_9125(); break;
- #endif //FILAMENT_SENSOR
- #endif //DEBUG_DCODES
- }
- }
- else
- {
- SERIAL_ECHO_START;
- SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
- SERIAL_ECHOLNPGM("\"(2)");
- }
- KEEPALIVE_STATE(NOT_BUSY);
- ClearToSend();
- }
- /** @defgroup GCodes G-Code List
- */
- // ---------------------------------------------------
- void FlushSerialRequestResend()
- {
- //char cmdbuffer[bufindr][100]="Resend:";
- MYSERIAL.flush();
- printf_P(_N("%S: %ld\n%S\n"), _n("Resend"), gcode_LastN + 1, MSG_OK);
- }
- // Confirm the execution of a command, if sent from a serial line.
- // Execution of a command from a SD card will not be confirmed.
- void ClearToSend()
- {
- previous_millis_cmd = _millis();
- if ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR))
- SERIAL_PROTOCOLLNRPGM(MSG_OK);
- }
- #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
- void update_currents() {
- float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
- float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
- float tmp_motor[3];
-
- //SERIAL_ECHOLNPGM("Currents updated: ");
- if (destination[Z_AXIS] < Z_SILENT) {
- //SERIAL_ECHOLNPGM("LOW");
- for (uint8_t i = 0; i < 3; i++) {
- st_current_set(i, current_low[i]);
- /*MYSERIAL.print(int(i));
- SERIAL_ECHOPGM(": ");
- MYSERIAL.println(current_low[i]);*/
- }
- }
- else if (destination[Z_AXIS] > Z_HIGH_POWER) {
- //SERIAL_ECHOLNPGM("HIGH");
- for (uint8_t i = 0; i < 3; i++) {
- st_current_set(i, current_high[i]);
- /*MYSERIAL.print(int(i));
- SERIAL_ECHOPGM(": ");
- MYSERIAL.println(current_high[i]);*/
- }
- }
- else {
- for (uint8_t i = 0; i < 3; i++) {
- float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
- tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
- st_current_set(i, tmp_motor[i]);
- /*MYSERIAL.print(int(i));
- SERIAL_ECHOPGM(": ");
- MYSERIAL.println(tmp_motor[i]);*/
- }
- }
- }
- #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
- void get_coordinates()
- {
- bool seen[4]={false,false,false,false};
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i]))
- {
- bool relative = axis_relative_modes[i];
- destination[i] = (float)code_value();
- if (i == E_AXIS) {
- float emult = extruder_multiplier[active_extruder];
- if (emult != 1.) {
- if (! relative) {
- destination[i] -= current_position[i];
- relative = true;
- }
- destination[i] *= emult;
- }
- }
- if (relative)
- destination[i] += current_position[i];
- seen[i]=true;
- #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
- if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
- #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
- }
- else destination[i] = current_position[i]; //Are these else lines really needed?
- }
- if(code_seen('F')) {
- next_feedrate = code_value();
- #ifdef MAX_SILENT_FEEDRATE
- if (tmc2130_mode == TMC2130_MODE_SILENT)
- if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
- #endif //MAX_SILENT_FEEDRATE
- if(next_feedrate > 0.0) feedrate = next_feedrate;
- if (!seen[0] && !seen[1] && !seen[2] && seen[3])
- {
- // float e_max_speed =
- // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
- }
- }
- }
- void get_arc_coordinates()
- {
- #ifdef SF_ARC_FIX
- bool relative_mode_backup = relative_mode;
- relative_mode = true;
- #endif
- get_coordinates();
- #ifdef SF_ARC_FIX
- relative_mode=relative_mode_backup;
- #endif
- if(code_seen('I')) {
- offset[0] = code_value();
- }
- else {
- offset[0] = 0.0;
- }
- if(code_seen('J')) {
- offset[1] = code_value();
- }
- else {
- offset[1] = 0.0;
- }
- }
- void clamp_to_software_endstops(float target[3])
- {
- #ifdef DEBUG_DISABLE_SWLIMITS
- return;
- #endif //DEBUG_DISABLE_SWLIMITS
- world2machine_clamp(target[0], target[1]);
- // Clamp the Z coordinate.
- if (min_software_endstops) {
- float negative_z_offset = 0;
- #ifdef ENABLE_AUTO_BED_LEVELING
- if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
- if (cs.add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + cs.add_homing[Z_AXIS];
- #endif
- if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
- }
- if (max_software_endstops) {
- if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
- }
- }
- #ifdef MESH_BED_LEVELING
- 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) {
- float dx = x - current_position[X_AXIS];
- float dy = y - current_position[Y_AXIS];
- int n_segments = 0;
- if (mbl.active) {
- float len = abs(dx) + abs(dy);
- if (len > 0)
- // Split to 3cm segments or shorter.
- n_segments = int(ceil(len / 30.f));
- }
- if (n_segments > 1) {
- // In a multi-segment move explicitly set the final target in the plan
- // as the move will be recalculated in it's entirety
- float gcode_target[NUM_AXIS];
- gcode_target[X_AXIS] = x;
- gcode_target[Y_AXIS] = y;
- gcode_target[Z_AXIS] = z;
- gcode_target[E_AXIS] = e;
- float dz = z - current_position[Z_AXIS];
- float de = e - current_position[E_AXIS];
- for (int i = 1; i < n_segments; ++ i) {
- float t = float(i) / float(n_segments);
- plan_buffer_line(current_position[X_AXIS] + t * dx,
- current_position[Y_AXIS] + t * dy,
- current_position[Z_AXIS] + t * dz,
- current_position[E_AXIS] + t * de,
- feed_rate, extruder, gcode_target);
- if (waiting_inside_plan_buffer_line_print_aborted)
- return;
- }
- }
- // The rest of the path.
- plan_buffer_line(x, y, z, e, feed_rate, extruder);
- }
- #endif // MESH_BED_LEVELING
-
- void prepare_move()
- {
- clamp_to_software_endstops(destination);
- previous_millis_cmd = _millis();
- // Do not use feedmultiply for E or Z only moves
- if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- }
- else {
- #ifdef MESH_BED_LEVELING
- 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);
- #else
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
- #endif
- }
- set_current_to_destination();
- }
- void prepare_arc_move(char isclockwise) {
- float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
- // Trace the arc
- mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
- // As far as the parser is concerned, the position is now == target. In reality the
- // motion control system might still be processing the action and the real tool position
- // in any intermediate location.
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
- previous_millis_cmd = _millis();
- }
- #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
- #if defined(FAN_PIN)
- #if CONTROLLERFAN_PIN == FAN_PIN
- #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
- #endif
- #endif
- unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
- unsigned long lastMotorCheck = 0;
- void controllerFan()
- {
- if ((_millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
- {
- lastMotorCheck = _millis();
- if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
- #if EXTRUDERS > 2
- || !READ(E2_ENABLE_PIN)
- #endif
- #if EXTRUDER > 1
- #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
- || !READ(X2_ENABLE_PIN)
- #endif
- || !READ(E1_ENABLE_PIN)
- #endif
- || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
- {
- lastMotor = _millis(); //... set time to NOW so the fan will turn on
- }
- if ((_millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
- {
- digitalWrite(CONTROLLERFAN_PIN, 0);
- analogWrite(CONTROLLERFAN_PIN, 0);
- }
- else
- {
- // allows digital or PWM fan output to be used (see M42 handling)
- digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
- analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
- }
- }
- }
- #endif
- #ifdef TEMP_STAT_LEDS
- static bool blue_led = false;
- static bool red_led = false;
- static uint32_t stat_update = 0;
- void handle_status_leds(void) {
- float max_temp = 0.0;
- if(_millis() > stat_update) {
- stat_update += 500; // Update every 0.5s
- for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
- max_temp = max(max_temp, degHotend(cur_extruder));
- max_temp = max(max_temp, degTargetHotend(cur_extruder));
- }
- #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
- max_temp = max(max_temp, degTargetBed());
- max_temp = max(max_temp, degBed());
- #endif
- if((max_temp > 55.0) && (red_led == false)) {
- digitalWrite(STAT_LED_RED, 1);
- digitalWrite(STAT_LED_BLUE, 0);
- red_led = true;
- blue_led = false;
- }
- if((max_temp < 54.0) && (blue_led == false)) {
- digitalWrite(STAT_LED_RED, 0);
- digitalWrite(STAT_LED_BLUE, 1);
- red_led = false;
- blue_led = true;
- }
- }
- }
- #endif
- #ifdef SAFETYTIMER
- /**
- * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
- *
- * Full screen blocking notification message is shown after heater turning off.
- * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
- * damage print.
- *
- * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
- */
- static void handleSafetyTimer()
- {
- #if (EXTRUDERS > 1)
- #error Implemented only for one extruder.
- #endif //(EXTRUDERS > 1)
- if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
- {
- safetyTimer.stop();
- }
- else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
- {
- safetyTimer.start();
- }
- else if (safetyTimer.expired(farm_mode?FARM_DEFAULT_SAFETYTIMER_TIME_ms:safetytimer_inactive_time))
- {
- setTargetBed(0);
- setAllTargetHotends(0);
- lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED
- }
- }
- #endif //SAFETYTIMER
- void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
- {
- bool bInhibitFlag;
- #ifdef FILAMENT_SENSOR
- if (mmu_enabled == false)
- {
- //-// if (mcode_in_progress != 600) //M600 not in progress
- #ifdef PAT9125
- bInhibitFlag=(menu_menu==lcd_menu_extruder_info); // Support::ExtruderInfo menu active
- #endif // PAT9125
- #ifdef IR_SENSOR
- bInhibitFlag=(menu_menu==lcd_menu_show_sensors_state); // Support::SensorInfo menu active
- #endif // IR_SENSOR
- if ((mcode_in_progress != 600) && (eFilamentAction != FilamentAction::AutoLoad) && (!bInhibitFlag)) //M600 not in progress, preHeat @ autoLoad menu not active, Support::ExtruderInfo/SensorInfo menu not active
- {
- if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LcdCommands::Layer1Cal) && ! eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE))
- {
- if (fsensor_check_autoload())
- {
- #ifdef PAT9125
- fsensor_autoload_check_stop();
- #endif //PAT9125
- //-// if (degHotend0() > EXTRUDE_MINTEMP)
- if(0)
- {
- Sound_MakeCustom(50,1000,false);
- loading_flag = true;
- enquecommand_front_P((PSTR("M701")));
- }
- else
- {
- /*
- lcd_update_enable(false);
- show_preheat_nozzle_warning();
- lcd_update_enable(true);
- */
- eFilamentAction=FilamentAction::AutoLoad;
- bFilamentFirstRun=false;
- if(target_temperature[0]>=EXTRUDE_MINTEMP)
- {
- bFilamentPreheatState=true;
- // mFilamentItem(target_temperature[0],target_temperature_bed);
- menu_submenu(mFilamentItemForce);
- }
- else
- {
- menu_submenu(lcd_generic_preheat_menu);
- lcd_timeoutToStatus.start();
- }
- }
- }
- }
- else
- {
- #ifdef PAT9125
- fsensor_autoload_check_stop();
- #endif //PAT9125
- fsensor_update();
- }
- }
- }
- #endif //FILAMENT_SENSOR
- #ifdef SAFETYTIMER
- handleSafetyTimer();
- #endif //SAFETYTIMER
- #if defined(KILL_PIN) && KILL_PIN > -1
- static int killCount = 0; // make the inactivity button a bit less responsive
- const int KILL_DELAY = 10000;
- #endif
-
- if(buflen < (BUFSIZE-1)){
- get_command();
- }
- if( (_millis() - previous_millis_cmd) > max_inactive_time )
- if(max_inactive_time)
- kill(_n("Inactivity Shutdown"), 4);
- if(stepper_inactive_time) {
- if( (_millis() - previous_millis_cmd) > stepper_inactive_time )
- {
- if(blocks_queued() == false && ignore_stepper_queue == false) {
- disable_x();
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
- }
- }
- }
-
- #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
- if (chdkActive && (_millis() - chdkHigh > CHDK_DELAY))
- {
- chdkActive = false;
- WRITE(CHDK, LOW);
- }
- #endif
-
- #if defined(KILL_PIN) && KILL_PIN > -1
-
- // Check if the kill button was pressed and wait just in case it was an accidental
- // key kill key press
- // -------------------------------------------------------------------------------
- if( 0 == READ(KILL_PIN) )
- {
- killCount++;
- }
- else if (killCount > 0)
- {
- killCount--;
- }
- // Exceeded threshold and we can confirm that it was not accidental
- // KILL the machine
- // ----------------------------------------------------------------
- if ( killCount >= KILL_DELAY)
- {
- kill(NULL, 5);
- }
- #endif
-
- #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
- controllerFan(); //Check if fan should be turned on to cool stepper drivers down
- #endif
- #ifdef EXTRUDER_RUNOUT_PREVENT
- if( (_millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
- if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
- {
- bool oldstatus=READ(E0_ENABLE_PIN);
- enable_e0();
- float oldepos=current_position[E_AXIS];
- float oldedes=destination[E_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
- destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS],
- EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/cs.axis_steps_per_unit[E_AXIS], active_extruder);
- current_position[E_AXIS]=oldepos;
- destination[E_AXIS]=oldedes;
- plan_set_e_position(oldepos);
- previous_millis_cmd=_millis();
- st_synchronize();
- WRITE(E0_ENABLE_PIN,oldstatus);
- }
- #endif
- #ifdef TEMP_STAT_LEDS
- handle_status_leds();
- #endif
- check_axes_activity();
- mmu_loop();
- }
- void kill(const char *full_screen_message, unsigned char id)
- {
- printf_P(_N("KILL: %d\n"), id);
- //return;
- cli(); // Stop interrupts
- disable_heater();
- disable_x();
- // SERIAL_ECHOLNPGM("kill - disable Y");
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
- #if defined(PS_ON_PIN) && PS_ON_PIN > -1
- pinMode(PS_ON_PIN,INPUT);
- #endif
- SERIAL_ERROR_START;
- SERIAL_ERRORLNRPGM(_n("Printer halted. kill() called!"));////MSG_ERR_KILLED
- if (full_screen_message != NULL) {
- SERIAL_ERRORLNRPGM(full_screen_message);
- lcd_display_message_fullscreen_P(full_screen_message);
- } else {
- LCD_ALERTMESSAGERPGM(_n("KILLED. "));////MSG_KILLED
- }
- // FMC small patch to update the LCD before ending
- sei(); // enable interrupts
- for ( int i=5; i--; lcd_update(0))
- {
- _delay(200);
- }
- cli(); // disable interrupts
- suicide();
- while(1)
- {
- #ifdef WATCHDOG
- wdt_reset();
- #endif //WATCHDOG
- /* Intentionally left empty */
-
- } // Wait for reset
- }
- // Stop: Emergency stop used by overtemp functions which allows recovery
- //
- // In addition to stopping the print, this prevents subsequent G[0-3] commands to be
- // processed via USB (using "Stopped") until the print is resumed via M999 or
- // manually started from scratch with the LCD.
- //
- // Note that the current instruction is completely discarded, so resuming from Stop()
- // will introduce either over/under extrusion on the current segment, and will not
- // survive a power panic. Switching Stop() to use the pause machinery instead (with
- // the addition of disabling the headers) could allow true recovery in the future.
- void Stop()
- {
- disable_heater();
- if(Stopped == false) {
- Stopped = true;
- lcd_print_stop();
- Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
- SERIAL_ERROR_START;
- SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
- LCD_MESSAGERPGM(_T(MSG_STOPPED));
- }
- }
- bool IsStopped() { return Stopped; };
- #ifdef FAST_PWM_FAN
- void setPwmFrequency(uint8_t pin, int val)
- {
- val &= 0x07;
- switch(digitalPinToTimer(pin))
- {
- #if defined(TCCR0A)
- case TIMER0A:
- case TIMER0B:
- // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
- // TCCR0B |= val;
- break;
- #endif
- #if defined(TCCR1A)
- case TIMER1A:
- case TIMER1B:
- // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- // TCCR1B |= val;
- break;
- #endif
- #if defined(TCCR2)
- case TIMER2:
- case TIMER2:
- TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- TCCR2 |= val;
- break;
- #endif
- #if defined(TCCR2A)
- case TIMER2A:
- case TIMER2B:
- TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
- TCCR2B |= val;
- break;
- #endif
- #if defined(TCCR3A)
- case TIMER3A:
- case TIMER3B:
- case TIMER3C:
- TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
- TCCR3B |= val;
- break;
- #endif
- #if defined(TCCR4A)
- case TIMER4A:
- case TIMER4B:
- case TIMER4C:
- TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
- TCCR4B |= val;
- break;
- #endif
- #if defined(TCCR5A)
- case TIMER5A:
- case TIMER5B:
- case TIMER5C:
- TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
- TCCR5B |= val;
- break;
- #endif
- }
- }
- #endif //FAST_PWM_FAN
- //! @brief Get and validate extruder number
- //!
- //! If it is not specified, active_extruder is returned in parameter extruder.
- //! @param [in] code M code number
- //! @param [out] extruder
- //! @return error
- //! @retval true Invalid extruder specified in T code
- //! @retval false Valid extruder specified in T code, or not specifiead
- bool setTargetedHotend(int code, uint8_t &extruder)
- {
- extruder = active_extruder;
- if(code_seen('T')) {
- extruder = code_value();
- if(extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- switch(code){
- case 104:
- SERIAL_ECHORPGM(_n("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER
- break;
- case 105:
- SERIAL_ECHO(_n("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER
- break;
- case 109:
- SERIAL_ECHO(_n("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER
- break;
- case 218:
- SERIAL_ECHO(_n("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER
- break;
- case 221:
- SERIAL_ECHO(_n("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER
- break;
- }
- SERIAL_PROTOCOLLN((int)extruder);
- return true;
- }
- }
- return false;
- }
- void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
- {
- 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)
- {
- eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
- eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
- }
- unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
- unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
- eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
- eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
- total_filament_used = 0;
- }
- float calculate_extruder_multiplier(float diameter) {
- float out = 1.f;
- if (cs.volumetric_enabled && diameter > 0.f) {
- float area = M_PI * diameter * diameter * 0.25;
- out = 1.f / area;
- }
- if (extrudemultiply != 100)
- out *= float(extrudemultiply) * 0.01f;
- return out;
- }
- void calculate_extruder_multipliers() {
- extruder_multiplier[0] = calculate_extruder_multiplier(cs.filament_size[0]);
- #if EXTRUDERS > 1
- extruder_multiplier[1] = calculate_extruder_multiplier(cs.filament_size[1]);
- #if EXTRUDERS > 2
- extruder_multiplier[2] = calculate_extruder_multiplier(cs.filament_size[2]);
- #endif
- #endif
- }
- void delay_keep_alive(unsigned int ms)
- {
- for (;;) {
- manage_heater();
- // Manage inactivity, but don't disable steppers on timeout.
- manage_inactivity(true);
- lcd_update(0);
- if (ms == 0)
- break;
- else if (ms >= 50) {
- _delay(50);
- ms -= 50;
- } else {
- _delay(ms);
- ms = 0;
- }
- }
- }
- static void wait_for_heater(long codenum, uint8_t extruder) {
- if (!degTargetHotend(extruder))
- return;
- #ifdef TEMP_RESIDENCY_TIME
- long residencyStart;
- residencyStart = -1;
- /* continue to loop until we have reached the target temp
- _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
- while ((!cancel_heatup) && ((residencyStart == -1) ||
- (residencyStart >= 0 && (((unsigned int)(_millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
- #else
- while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
- #endif //TEMP_RESIDENCY_TIME
- if ((_millis() - codenum) > 1000UL)
- { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
- if (!farm_mode) {
- SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL_F(degHotend(extruder), 1);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)extruder);
- #ifdef TEMP_RESIDENCY_TIME
- SERIAL_PROTOCOLPGM(" W:");
- if (residencyStart > -1)
- {
- codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (_millis() - residencyStart)) / 1000UL;
- SERIAL_PROTOCOLLN(codenum);
- }
- else
- {
- SERIAL_PROTOCOLLN("?");
- }
- }
- #else
- SERIAL_PROTOCOLLN("");
- #endif
- codenum = _millis();
- }
- manage_heater();
- manage_inactivity(true); //do not disable steppers
- lcd_update(0);
- #ifdef TEMP_RESIDENCY_TIME
- /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
- or when current temp falls outside the hysteresis after target temp was reached */
- if ((residencyStart == -1 && target_direction && (degHotend(extruder) >= (degTargetHotend(extruder) - TEMP_WINDOW))) ||
- (residencyStart == -1 && !target_direction && (degHotend(extruder) <= (degTargetHotend(extruder) + TEMP_WINDOW))) ||
- (residencyStart > -1 && labs(degHotend(extruder) - degTargetHotend(extruder)) > TEMP_HYSTERESIS))
- {
- residencyStart = _millis();
- }
- #endif //TEMP_RESIDENCY_TIME
- }
- }
- void check_babystep()
- {
- int babystep_z = eeprom_read_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
- s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)));
- if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
- babystep_z = 0; //if babystep value is out of min max range, set it to 0
- SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
- eeprom_write_word(reinterpret_cast<uint16_t *>(&(EEPROM_Sheets_base->
- s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)),
- babystep_z);
- lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
- lcd_update_enable(true);
- }
- }
- #ifdef HEATBED_ANALYSIS
- void d_setup()
- {
- pinMode(D_DATACLOCK, INPUT_PULLUP);
- pinMode(D_DATA, INPUT_PULLUP);
- pinMode(D_REQUIRE, OUTPUT);
- digitalWrite(D_REQUIRE, HIGH);
- }
- float d_ReadData()
- {
- int digit[13];
- String mergeOutput;
- float output;
- digitalWrite(D_REQUIRE, HIGH);
- for (int i = 0; i<13; i++)
- {
- for (int j = 0; j < 4; j++)
- {
- while (digitalRead(D_DATACLOCK) == LOW) {}
- while (digitalRead(D_DATACLOCK) == HIGH) {}
- bitWrite(digit[i], j, digitalRead(D_DATA));
- }
- }
- digitalWrite(D_REQUIRE, LOW);
- mergeOutput = "";
- output = 0;
- for (int r = 5; r <= 10; r++) //Merge digits
- {
- mergeOutput += digit[r];
- }
- output = mergeOutput.toFloat();
- if (digit[4] == 8) //Handle sign
- {
- output *= -1;
- }
- for (int i = digit[11]; i > 0; i--) //Handle floating point
- {
- output /= 10;
- }
- return output;
- }
- void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
- int t1 = 0;
- int t_delay = 0;
- int digit[13];
- int m;
- char str[3];
- //String mergeOutput;
- char mergeOutput[15];
- float output;
- int mesh_point = 0; //index number of calibration point
- 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
- float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
- float mesh_home_z_search = 4;
- float measure_z_height = 0.2f;
- float row[x_points_num];
- int ix = 0;
- int iy = 0;
- const char* filename_wldsd = "mesh.txt";
- char data_wldsd[x_points_num * 7 + 1]; //6 chars(" -A.BCD")for each measurement + null
- char numb_wldsd[8]; // (" -A.BCD" + null)
- #ifdef MICROMETER_LOGGING
- d_setup();
- #endif //MICROMETER_LOGGING
- int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
- int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
- unsigned int custom_message_type_old = custom_message_type;
- unsigned int custom_message_state_old = custom_message_state;
- custom_message_type = CustomMsg::MeshBedLeveling;
- custom_message_state = (x_points_num * y_points_num) + 10;
- lcd_update(1);
- //mbl.reset();
- babystep_undo();
- card.openFile(filename_wldsd, false);
- /*destination[Z_AXIS] = mesh_home_z_search;
- //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
- st_synchronize();
- */
- destination[Z_AXIS] = measure_z_height;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
- st_synchronize();
- /*int l_feedmultiply = */setup_for_endstop_move(false);
- SERIAL_PROTOCOLPGM("Num X,Y: ");
- SERIAL_PROTOCOL(x_points_num);
- SERIAL_PROTOCOLPGM(",");
- SERIAL_PROTOCOL(y_points_num);
- SERIAL_PROTOCOLPGM("\nZ search height: ");
- SERIAL_PROTOCOL(mesh_home_z_search);
- SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
- SERIAL_PROTOCOL(x_dimension);
- SERIAL_PROTOCOLPGM(",");
- SERIAL_PROTOCOL(y_dimension);
- SERIAL_PROTOCOLLNPGM("\nMeasured points:");
- while (mesh_point != x_points_num * y_points_num) {
- ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
- iy = mesh_point / x_points_num;
- if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
- float z0 = 0.f;
- /*destination[Z_AXIS] = mesh_home_z_search;
- //plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
- st_synchronize();*/
- //current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
- //current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
- destination[X_AXIS] = ix * (x_dimension / (x_points_num - 1)) + shift_x;
- destination[Y_AXIS] = iy * (y_dimension / (y_points_num - 1)) + shift_y;
- mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], XY_AXIS_FEEDRATE/6, active_extruder);
- set_current_to_destination();
- st_synchronize();
- // printf_P(PSTR("X = %f; Y= %f \n"), current_position[X_AXIS], current_position[Y_AXIS]);
- delay_keep_alive(1000);
- #ifdef MICROMETER_LOGGING
- //memset(numb_wldsd, 0, sizeof(numb_wldsd));
- //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
- //strcat(data_wldsd, numb_wldsd);
-
- //MYSERIAL.println(data_wldsd);
- //delay(1000);
- //delay(3000);
- //t1 = millis();
-
- //while (digitalRead(D_DATACLOCK) == LOW) {}
- //while (digitalRead(D_DATACLOCK) == HIGH) {}
- memset(digit, 0, sizeof(digit));
- //cli();
- digitalWrite(D_REQUIRE, LOW);
-
- for (int i = 0; i<13; i++)
- {
- //t1 = millis();
- for (int j = 0; j < 4; j++)
- {
- while (digitalRead(D_DATACLOCK) == LOW) {}
- while (digitalRead(D_DATACLOCK) == HIGH) {}
- //printf_P(PSTR("Done %d\n"), j);
- bitWrite(digit[i], j, digitalRead(D_DATA));
- }
- //t_delay = (millis() - t1);
- //SERIAL_PROTOCOLPGM(" ");
- //SERIAL_PROTOCOL_F(t_delay, 5);
- //SERIAL_PROTOCOLPGM(" ");
- }
- //sei();
- digitalWrite(D_REQUIRE, HIGH);
- mergeOutput[0] = '\0';
- output = 0;
- for (int r = 5; r <= 10; r++) //Merge digits
- {
- sprintf(str, "%d", digit[r]);
- strcat(mergeOutput, str);
- }
-
- output = atof(mergeOutput);
- if (digit[4] == 8) //Handle sign
- {
- output *= -1;
- }
- for (int i = digit[11]; i > 0; i--) //Handle floating point
- {
- output *= 0.1;
- }
-
- //output = d_ReadData();
- //row[ix] = current_position[Z_AXIS];
-
- //row[ix] = d_ReadData();
-
- row[ix] = output;
- if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
- memset(data_wldsd, 0, sizeof(data_wldsd));
- for (int i = 0; i < x_points_num; i++) {
- SERIAL_PROTOCOLPGM(" ");
- SERIAL_PROTOCOL_F(row[i], 5);
- memset(numb_wldsd, 0, sizeof(numb_wldsd));
- dtostrf(row[i], 7, 3, numb_wldsd);
- strcat(data_wldsd, numb_wldsd);
- }
- card.write_command(data_wldsd);
- SERIAL_PROTOCOLPGM("\n");
- }
- custom_message_state--;
- mesh_point++;
- lcd_update(1);
- }
- #endif //MICROMETER_LOGGING
- card.closefile();
- //clean_up_after_endstop_move(l_feedmultiply);
- }
- void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
- int t1 = 0;
- int t_delay = 0;
- int digit[13];
- int m;
- char str[3];
- //String mergeOutput;
- char mergeOutput[15];
- float output;
- int mesh_point = 0; //index number of calibration point
- 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
- float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
- float mesh_home_z_search = 4;
- float row[x_points_num];
- int ix = 0;
- int iy = 0;
- const char* filename_wldsd = "wldsd.txt";
- char data_wldsd[70];
- char numb_wldsd[10];
- d_setup();
- if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
- // We don't know where we are! HOME!
- // Push the commands to the front of the message queue in the reverse order!
- // There shall be always enough space reserved for these commands.
- repeatcommand_front(); // repeat G80 with all its parameters
-
- enquecommand_front_P((PSTR("G28 W0")));
- enquecommand_front_P((PSTR("G1 Z5")));
- return;
- }
- unsigned int custom_message_type_old = custom_message_type;
- unsigned int custom_message_state_old = custom_message_state;
- custom_message_type = CustomMsg::MeshBedLeveling;
- custom_message_state = (x_points_num * y_points_num) + 10;
- lcd_update(1);
- mbl.reset();
- babystep_undo();
- card.openFile(filename_wldsd, false);
- current_position[Z_AXIS] = mesh_home_z_search;
- plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
- int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
- int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
- int l_feedmultiply = setup_for_endstop_move(false);
- SERIAL_PROTOCOLPGM("Num X,Y: ");
- SERIAL_PROTOCOL(x_points_num);
- SERIAL_PROTOCOLPGM(",");
- SERIAL_PROTOCOL(y_points_num);
- SERIAL_PROTOCOLPGM("\nZ search height: ");
- SERIAL_PROTOCOL(mesh_home_z_search);
- SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
- SERIAL_PROTOCOL(x_dimension);
- SERIAL_PROTOCOLPGM(",");
- SERIAL_PROTOCOL(y_dimension);
- SERIAL_PROTOCOLLNPGM("\nMeasured points:");
- while (mesh_point != x_points_num * y_points_num) {
- ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
- iy = mesh_point / x_points_num;
- if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
- float z0 = 0.f;
- current_position[Z_AXIS] = mesh_home_z_search;
- plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
- st_synchronize();
- current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
- current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
- plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
- st_synchronize();
- 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
- break;
- card.closefile();
- }
- //memset(numb_wldsd, 0, sizeof(numb_wldsd));
- //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
- //strcat(data_wldsd, numb_wldsd);
-
- //MYSERIAL.println(data_wldsd);
- //_delay(1000);
- //_delay(3000);
- //t1 = _millis();
-
- //while (digitalRead(D_DATACLOCK) == LOW) {}
- //while (digitalRead(D_DATACLOCK) == HIGH) {}
- memset(digit, 0, sizeof(digit));
- //cli();
- digitalWrite(D_REQUIRE, LOW);
-
- for (int i = 0; i<13; i++)
- {
- //t1 = _millis();
- for (int j = 0; j < 4; j++)
- {
- while (digitalRead(D_DATACLOCK) == LOW) {}
- while (digitalRead(D_DATACLOCK) == HIGH) {}
- bitWrite(digit[i], j, digitalRead(D_DATA));
- }
- //t_delay = (_millis() - t1);
- //SERIAL_PROTOCOLPGM(" ");
- //SERIAL_PROTOCOL_F(t_delay, 5);
- //SERIAL_PROTOCOLPGM(" ");
- }
- //sei();
- digitalWrite(D_REQUIRE, HIGH);
- mergeOutput[0] = '\0';
- output = 0;
- for (int r = 5; r <= 10; r++) //Merge digits
- {
- sprintf(str, "%d", digit[r]);
- strcat(mergeOutput, str);
- }
-
- output = atof(mergeOutput);
- if (digit[4] == 8) //Handle sign
- {
- output *= -1;
- }
- for (int i = digit[11]; i > 0; i--) //Handle floating point
- {
- output *= 0.1;
- }
-
- //output = d_ReadData();
- //row[ix] = current_position[Z_AXIS];
- memset(data_wldsd, 0, sizeof(data_wldsd));
- for (int i = 0; i <3; i++) {
- memset(numb_wldsd, 0, sizeof(numb_wldsd));
- dtostrf(current_position[i], 8, 5, numb_wldsd);
- strcat(data_wldsd, numb_wldsd);
- strcat(data_wldsd, ";");
- }
- memset(numb_wldsd, 0, sizeof(numb_wldsd));
- dtostrf(output, 8, 5, numb_wldsd);
- strcat(data_wldsd, numb_wldsd);
- //strcat(data_wldsd, ";");
- card.write_command(data_wldsd);
-
- //row[ix] = d_ReadData();
-
- row[ix] = output; // current_position[Z_AXIS];
- if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
- for (int i = 0; i < x_points_num; i++) {
- SERIAL_PROTOCOLPGM(" ");
- SERIAL_PROTOCOL_F(row[i], 5);
- }
- SERIAL_PROTOCOLPGM("\n");
- }
- custom_message_state--;
- mesh_point++;
- lcd_update(1);
- }
- card.closefile();
- clean_up_after_endstop_move(l_feedmultiply);
- }
- #endif //HEATBED_ANALYSIS
- #ifndef PINDA_THERMISTOR
- static void temp_compensation_start() {
-
- custom_message_type = CustomMsg::TempCompPreheat;
- custom_message_state = PINDA_HEAT_T + 1;
- lcd_update(2);
- if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
- current_position[E_AXIS] -= default_retraction;
- }
- plan_buffer_line_curposXYZE(400, active_extruder);
-
- current_position[X_AXIS] = PINDA_PREHEAT_X;
- current_position[Y_AXIS] = PINDA_PREHEAT_Y;
- current_position[Z_AXIS] = PINDA_PREHEAT_Z;
- plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
- st_synchronize();
- while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
- for (int i = 0; i < PINDA_HEAT_T; i++) {
- delay_keep_alive(1000);
- custom_message_state = PINDA_HEAT_T - i;
- if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
- else lcd_update(1);
- }
- custom_message_type = CustomMsg::Status;
- custom_message_state = 0;
- }
- static void temp_compensation_apply() {
- int i_add;
- int z_shift = 0;
- float z_shift_mm;
- if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
- if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
- i_add = (target_temperature_bed - 60) / 10;
- EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
- z_shift_mm = z_shift / cs.axis_steps_per_unit[Z_AXIS];
- }else {
- //interpolation
- z_shift_mm = temp_comp_interpolation(target_temperature_bed) / cs.axis_steps_per_unit[Z_AXIS];
- }
- printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
- 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);
- st_synchronize();
- plan_set_z_position(current_position[Z_AXIS]);
- }
- else {
- //we have no temp compensation data
- }
- }
- #endif //ndef PINDA_THERMISTOR
- float temp_comp_interpolation(float inp_temperature) {
- //cubic spline interpolation
- int n, i, j;
- float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
- int shift[10];
- int temp_C[10];
- n = 6; //number of measured points
- shift[0] = 0;
- for (i = 0; i < n; i++) {
- if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
- temp_C[i] = 50 + i * 10; //temperature in C
- #ifdef PINDA_THERMISTOR
- temp_C[i] = 35 + i * 5; //temperature in C
- #else
- temp_C[i] = 50 + i * 10; //temperature in C
- #endif
- x[i] = (float)temp_C[i];
- f[i] = (float)shift[i];
- }
- if (inp_temperature < x[0]) return 0;
- for (i = n - 1; i>0; i--) {
- F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
- h[i - 1] = x[i] - x[i - 1];
- }
- //*********** formation of h, s , f matrix **************
- for (i = 1; i<n - 1; i++) {
- m[i][i] = 2 * (h[i - 1] + h[i]);
- if (i != 1) {
- m[i][i - 1] = h[i - 1];
- m[i - 1][i] = h[i - 1];
- }
- m[i][n - 1] = 6 * (F[i + 1] - F[i]);
- }
- //*********** forward elimination **************
- for (i = 1; i<n - 2; i++) {
- temp = (m[i + 1][i] / m[i][i]);
- for (j = 1; j <= n - 1; j++)
- m[i + 1][j] -= temp*m[i][j];
- }
- //*********** backward substitution *********
- for (i = n - 2; i>0; i--) {
- sum = 0;
- for (j = i; j <= n - 2; j++)
- sum += m[i][j] * s[j];
- s[i] = (m[i][n - 1] - sum) / m[i][i];
- }
- for (i = 0; i<n - 1; i++)
- if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
- a = (s[i + 1] - s[i]) / (6 * h[i]);
- b = s[i] / 2;
- c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
- d = f[i];
- sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
- }
- return sum;
- }
- #ifdef PINDA_THERMISTOR
- float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
- {
- if (!temp_cal_active) return 0;
- if (!calibration_status_pinda()) return 0;
- return temp_comp_interpolation(temperature_pinda) / cs.axis_steps_per_unit[Z_AXIS];
- }
- #endif //PINDA_THERMISTOR
- void long_pause() //long pause print
- {
- st_synchronize();
- start_pause_print = _millis();
- // Stop heaters
- setAllTargetHotends(0);
- //retract
- current_position[E_AXIS] -= default_retraction;
- plan_buffer_line_curposXYZE(400, active_extruder);
- //lift z
- current_position[Z_AXIS] += Z_PAUSE_LIFT;
- if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
- plan_buffer_line_curposXYZE(15, active_extruder);
- //Move XY to side
- current_position[X_AXIS] = X_PAUSE_POS;
- current_position[Y_AXIS] = Y_PAUSE_POS;
- plan_buffer_line_curposXYZE(50, active_extruder);
- // Turn off the print fan
- fanSpeed = 0;
- }
- void serialecho_temperatures() {
- float tt = degHotend(active_extruder);
- SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL(tt);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)active_extruder);
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(), 1);
- SERIAL_PROTOCOLLN("");
- }
- #ifdef UVLO_SUPPORT
- void uvlo_()
- {
- unsigned long time_start = _millis();
- bool sd_print = card.sdprinting;
- // Conserve power as soon as possible.
- #ifdef LCD_BL_PIN
- backlightMode = BACKLIGHT_MODE_DIM;
- backlightLevel_LOW = 0;
- backlight_update();
- #endif //LCD_BL_PIN
- disable_x();
- disable_y();
-
- #ifdef TMC2130
- tmc2130_set_current_h(Z_AXIS, 20);
- tmc2130_set_current_r(Z_AXIS, 20);
- tmc2130_set_current_h(E_AXIS, 20);
- tmc2130_set_current_r(E_AXIS, 20);
- #endif //TMC2130
- // Indicate that the interrupt has been triggered.
- // SERIAL_ECHOLNPGM("UVLO");
- // Read out the current Z motor microstep counter. This will be later used
- // for reaching the zero full step before powering off.
- uint16_t z_microsteps = 0;
- #ifdef TMC2130
- z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
- #endif //TMC2130
- // Calculate the file position, from which to resume this print.
- long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
- {
- uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
- sd_position -= sdlen_planner;
- uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
- sd_position -= sdlen_cmdqueue;
- if (sd_position < 0) sd_position = 0;
- }
- // save the global state at planning time
- uint16_t feedrate_bckp;
- if (blocks_queued())
- {
- memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
- feedrate_bckp = current_block->gcode_feedrate;
- }
- else
- {
- saved_target[0] = SAVED_TARGET_UNSET;
- feedrate_bckp = feedrate;
- }
- // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
- // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
- // are in action.
- planner_abort_hard();
- // Store the current extruder position.
- eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
- eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
- // Clean the input command queue.
- cmdqueue_reset();
- card.sdprinting = false;
- // card.closefile();
- // Enable stepper driver interrupt to move Z axis.
- // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
- //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
- // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
- sei();
- plan_buffer_line(
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS],
- current_position[E_AXIS] - default_retraction,
- 95, active_extruder);
-
- st_synchronize();
- disable_e0();
-
- plan_buffer_line(
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
- current_position[E_AXIS] - default_retraction,
- 40, active_extruder);
- st_synchronize();
- disable_e0();
- plan_buffer_line(
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
- current_position[E_AXIS] - default_retraction,
- 40, active_extruder);
- st_synchronize();
- disable_e0();
- // Move Z up to the next 0th full step.
- // Write the file position.
- eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
- // Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
- for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
- uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
- uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
- // Scale the z value to 1u resolution.
- int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
- eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
- }
- // Read out the current Z motor microstep counter. This will be later used
- // for reaching the zero full step before powering off.
- eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
- // Store the current position.
- eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
- eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
- eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z , current_position[Z_AXIS]);
- // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
- eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDRATE, feedrate_bckp);
- EEPROM_save_B(EEPROM_UVLO_FEEDMULTIPLY, &feedmultiply);
- eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
- eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
- eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
- eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
- #if EXTRUDERS > 1
- eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
- #if EXTRUDERS > 2
- eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
- #endif
- #endif
- eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
- // Store the saved target
- eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4), saved_target[X_AXIS]);
- eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4), saved_target[Y_AXIS]);
- eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4), saved_target[Z_AXIS]);
- eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4), saved_target[E_AXIS]);
- // Finaly store the "power outage" flag.
- if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
- st_synchronize();
- printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
-
- // Increment power failure counter
- eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
- eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
- printf_P(_N("UVLO - end %d\n"), _millis() - time_start);
- #if 0
- // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
- current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
- plan_buffer_line_curposXYZE(500, active_extruder);
- st_synchronize();
- #endif
- wdt_enable(WDTO_500MS);
- WRITE(BEEPER,HIGH);
- while(1)
- ;
- }
- void uvlo_tiny()
- {
- uint16_t z_microsteps=0;
- // Conserve power as soon as possible.
- disable_x();
- disable_y();
- disable_e0();
-
- #ifdef TMC2130
- tmc2130_set_current_h(Z_AXIS, 20);
- tmc2130_set_current_r(Z_AXIS, 20);
- #endif //TMC2130
- // Read out the current Z motor microstep counter
- #ifdef TMC2130
- z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
- #endif //TMC2130
- planner_abort_hard();
- //save current position only in case, where the printer is moving on Z axis, which is only when EEPROM_UVLO is 1
- //EEPROM_UVLO is 1 after normal uvlo or after recover_print(), when the extruder is moving on Z axis after rehome
- if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)!=2){
- eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
- eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS),z_microsteps);
- }
- //after multiple power panics current Z axis is unknow
- //in this case we set EEPROM_UVLO_TINY_CURRENT_POSITION_Z to last know position which is EEPROM_UVLO_CURRENT_POSITION_Z
- if(eeprom_read_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z) < 0.001f){
- eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), eeprom_read_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z));
- eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS), eeprom_read_word((uint16_t*)EEPROM_UVLO_Z_MICROSTEPS));
- }
- // Finaly store the "power outage" flag.
- eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
- // Increment power failure counter
- eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
- eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
- wdt_enable(WDTO_500MS);
- WRITE(BEEPER,HIGH);
- while(1)
- ;
- }
- #endif //UVLO_SUPPORT
- #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
- void setup_fan_interrupt() {
- //INT7
- DDRE &= ~(1 << 7); //input pin
- PORTE &= ~(1 << 7); //no internal pull-up
- //start with sensing rising edge
- EICRB &= ~(1 << 6);
- EICRB |= (1 << 7);
- //enable INT7 interrupt
- EIMSK |= (1 << 7);
- }
- // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
- // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
- ISR(INT7_vect) {
- //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
- #ifdef FAN_SOFT_PWM
- if (!fan_measuring || (fanSpeedSoftPwm < MIN_PRINT_FAN_SPEED)) return;
- #else //FAN_SOFT_PWM
- if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
- #endif //FAN_SOFT_PWM
- if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
- t_fan_rising_edge = millis_nc();
- }
- else { //interrupt was triggered by falling edge
- if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
- fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
- }
- }
- EICRB ^= (1 << 6); //change edge
- }
- #endif
- #ifdef UVLO_SUPPORT
- void setup_uvlo_interrupt() {
- DDRE &= ~(1 << 4); //input pin
- PORTE &= ~(1 << 4); //no internal pull-up
- //sensing falling edge
- EICRB |= (1 << 0);
- EICRB &= ~(1 << 1);
- //enable INT4 interrupt
- EIMSK |= (1 << 4);
- }
- ISR(INT4_vect) {
- EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
- SERIAL_ECHOLNPGM("INT4");
- //fire normal uvlo only in case where EEPROM_UVLO is 0 or if IS_SD_PRINTING is 1.
- if(PRINTER_ACTIVE && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))) uvlo_();
- if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
- }
- void recover_print(uint8_t automatic) {
- char cmd[30];
- lcd_update_enable(true);
- lcd_update(2);
- lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
- bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
- recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers
- // Lift the print head, so one may remove the excess priming material.
- if(!bTiny&&(current_position[Z_AXIS]<25))
- enquecommand_P(PSTR("G1 Z25 F800"));
- // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
- enquecommand_P(PSTR("G28 X Y"));
- // Set the target bed and nozzle temperatures and wait.
- sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
- enquecommand(cmd);
- sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
- enquecommand(cmd);
- enquecommand_P(PSTR("M83")); //E axis relative mode
- //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
- // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
- if(automatic == 0){
- enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
- }
- enquecommand_P(PSTR("G1 E" STRINGIFY(-default_retraction)" F480"));
- 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]);
- // Restart the print.
- restore_print_from_eeprom();
- printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
- }
- void recover_machine_state_after_power_panic(bool bTiny)
- {
- char cmd[30];
- // 1) Recover the logical cordinates at the time of the power panic.
- // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
- current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
- current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
- // 2) Restore the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
- mbl.active = false;
- for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
- uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
- uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
- // Scale the z value to 10u resolution.
- int16_t v;
- eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
- if (v != 0)
- mbl.active = true;
- mbl.z_values[iy][ix] = float(v) * 0.001f;
- }
- // Recover the logical coordinate of the Z axis at the time of the power panic.
- // The current position after power panic is moved to the next closest 0th full step.
- if(bTiny){
- current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))
- + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS))
- + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
- //after multiple power panics the print is slightly in the air so get it little bit down.
- //Not exactly sure why is this happening, but it has something to do with bed leveling and world2machine coordinates
- current_position[Z_AXIS] -= 0.4*mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
- }
- else{
- current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
- UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS))
- + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
- }
- if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
- current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
- sprintf_P(cmd, PSTR("G92 E"));
- dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
- enquecommand(cmd);
- }
- memcpy(destination, current_position, sizeof(destination));
- SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
- print_world_coordinates();
- // 3) Initialize the logical to physical coordinate system transformation.
- world2machine_initialize();
- // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
- // print_mesh_bed_leveling_table();
- // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
- // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
- babystep_load();
- // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- // 6) Power up the motors, mark their positions as known.
- //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
- axis_known_position[X_AXIS] = true; enable_x();
- axis_known_position[Y_AXIS] = true; enable_y();
- axis_known_position[Z_AXIS] = true; enable_z();
-
- SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
- print_physical_coordinates();
- // 7) Recover the target temperatures.
- target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
- target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
- // 8) Recover extruder multipilers
- extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
- #if EXTRUDERS > 1
- extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
- #if EXTRUDERS > 2
- extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
- #endif
- #endif
- extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
- // 9) Recover the saved target
- saved_target[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4));
- saved_target[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4));
- saved_target[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4));
- saved_target[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4));
- }
- void restore_print_from_eeprom() {
- int feedrate_rec;
- int feedmultiply_rec;
- uint8_t fan_speed_rec;
- char cmd[30];
- char filename[13];
- uint8_t depth = 0;
- char dir_name[9];
- fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
- feedrate_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDRATE);
- EEPROM_read_B(EEPROM_UVLO_FEEDMULTIPLY, &feedmultiply_rec);
- SERIAL_ECHOPGM("Feedrate:");
- MYSERIAL.print(feedrate_rec);
- SERIAL_ECHOPGM(", feedmultiply:");
- MYSERIAL.println(feedmultiply_rec);
- depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
-
- MYSERIAL.println(int(depth));
- for (int i = 0; i < depth; i++) {
- for (int j = 0; j < 8; j++) {
- dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
- }
- dir_name[8] = '\0';
- MYSERIAL.println(dir_name);
- strcpy(dir_names[i], dir_name);
- card.chdir(dir_name);
- }
- for (int i = 0; i < 8; i++) {
- filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
- }
- filename[8] = '\0';
- MYSERIAL.print(filename);
- strcat_P(filename, PSTR(".gco"));
- sprintf_P(cmd, PSTR("M23 %s"), filename);
- enquecommand(cmd);
- uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
- SERIAL_ECHOPGM("Position read from eeprom:");
- MYSERIAL.println(position);
- // E axis relative mode.
- enquecommand_P(PSTR("M83"));
- // Move to the XY print position in logical coordinates, where the print has been killed.
- strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
- strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
- strcat_P(cmd, PSTR(" F2000"));
- enquecommand(cmd);
- //moving on Z axis ahead, set EEPROM_UVLO to 1, so normal uvlo can fire
- eeprom_update_byte((uint8_t*)EEPROM_UVLO,1);
- // Move the Z axis down to the print, in logical coordinates.
- strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
- enquecommand(cmd);
- // Unretract.
- enquecommand_P(PSTR("G1 E" STRINGIFY(2*default_retraction)" F480"));
- // Set the feedrates saved at the power panic.
- sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
- enquecommand(cmd);
- sprintf_P(cmd, PSTR("M220 S%d"), feedmultiply_rec);
- enquecommand(cmd);
- if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
- {
- enquecommand_P(PSTR("M82")); //E axis abslute mode
- }
- // Set the fan speed saved at the power panic.
- strcpy_P(cmd, PSTR("M106 S"));
- strcat(cmd, itostr3(int(fan_speed_rec)));
- enquecommand(cmd);
- // Set a position in the file.
- sprintf_P(cmd, PSTR("M26 S%lu"), position);
- enquecommand(cmd);
- enquecommand_P(PSTR("G4 S0"));
- enquecommand_P(PSTR("PRUSA uvlo"));
- }
- #endif //UVLO_SUPPORT
- //! @brief Immediately stop print moves
- //!
- //! Immediately stop print moves, save current extruder temperature and position to RAM.
- //! If printing from sd card, position in file is saved.
- //! If printing from USB, line number is saved.
- //!
- //! @param z_move
- //! @param e_move
- void stop_and_save_print_to_ram(float z_move, float e_move)
- {
- if (saved_printing) return;
- #if 0
- unsigned char nplanner_blocks;
- #endif
- unsigned char nlines;
- uint16_t sdlen_planner;
- uint16_t sdlen_cmdqueue;
-
- cli();
- if (card.sdprinting) {
- #if 0
- nplanner_blocks = number_of_blocks();
- #endif
- saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
- sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
- saved_sdpos -= sdlen_planner;
- sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
- saved_sdpos -= sdlen_cmdqueue;
- saved_printing_type = PRINTING_TYPE_SD;
- }
- else if (is_usb_printing) { //reuse saved_sdpos for storing line number
- saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
- //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
- nlines = planner_calc_sd_length(); //number of lines of commands in planner
- saved_sdpos -= nlines;
- saved_sdpos -= buflen; //number of blocks in cmd buffer
- saved_printing_type = PRINTING_TYPE_USB;
- }
- else {
- saved_printing_type = PRINTING_TYPE_NONE;
- //not sd printing nor usb printing
- }
- #if 0
- SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
- SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
- SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
- SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
- SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
- SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
- //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
- {
- card.setIndex(saved_sdpos);
- SERIAL_ECHOLNPGM("Content of planner buffer: ");
- for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
- MYSERIAL.print(char(card.get()));
- SERIAL_ECHOLNPGM("Content of command buffer: ");
- for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
- MYSERIAL.print(char(card.get()));
- SERIAL_ECHOLNPGM("End of command buffer");
- }
- {
- // Print the content of the planner buffer, line by line:
- card.setIndex(saved_sdpos);
- int8_t iline = 0;
- for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
- SERIAL_ECHOPGM("Planner line (from file): ");
- MYSERIAL.print(int(iline), DEC);
- SERIAL_ECHOPGM(", length: ");
- MYSERIAL.print(block_buffer[idx].sdlen, DEC);
- SERIAL_ECHOPGM(", steps: (");
- MYSERIAL.print(block_buffer[idx].steps_x, DEC);
- SERIAL_ECHOPGM(",");
- MYSERIAL.print(block_buffer[idx].steps_y, DEC);
- SERIAL_ECHOPGM(",");
- MYSERIAL.print(block_buffer[idx].steps_z, DEC);
- SERIAL_ECHOPGM(",");
- MYSERIAL.print(block_buffer[idx].steps_e, DEC);
- SERIAL_ECHOPGM("), events: ");
- MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
- for (int len = block_buffer[idx].sdlen; len > 0; -- len)
- MYSERIAL.print(char(card.get()));
- }
- }
- {
- // Print the content of the command buffer, line by line:
- int8_t iline = 0;
- union {
- struct {
- char lo;
- char hi;
- } lohi;
- uint16_t value;
- } sdlen_single;
- int _bufindr = bufindr;
- for (int _buflen = buflen; _buflen > 0; ++ iline) {
- if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
- sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
- sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
- }
- SERIAL_ECHOPGM("Buffer line (from buffer): ");
- MYSERIAL.print(int(iline), DEC);
- SERIAL_ECHOPGM(", type: ");
- MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
- SERIAL_ECHOPGM(", len: ");
- MYSERIAL.println(sdlen_single.value, DEC);
- // Print the content of the buffer line.
- MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
- SERIAL_ECHOPGM("Buffer line (from file): ");
- MYSERIAL.println(int(iline), DEC);
- for (; sdlen_single.value > 0; -- sdlen_single.value)
- MYSERIAL.print(char(card.get()));
- if (-- _buflen == 0)
- break;
- // First skip the current command ID and iterate up to the end of the string.
- for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
- // Second, skip the end of string null character and iterate until a nonzero command ID is found.
- for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
- // If the end of the buffer was empty,
- if (_bufindr == sizeof(cmdbuffer)) {
- // skip to the start and find the nonzero command.
- for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
- }
- }
- }
- #endif
- // save the global state at planning time
- if (blocks_queued())
- {
- memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
- saved_feedrate2 = current_block->gcode_feedrate;
- }
- else
- {
- saved_target[0] = SAVED_TARGET_UNSET;
- saved_feedrate2 = feedrate;
- }
- planner_abort_hard(); //abort printing
- memcpy(saved_pos, current_position, sizeof(saved_pos));
- saved_feedmultiply2 = feedmultiply; //save feedmultiply
- saved_active_extruder = active_extruder; //save active_extruder
- saved_extruder_temperature = degTargetHotend(active_extruder);
- saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
- saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
- saved_fanSpeed = fanSpeed;
- cmdqueue_reset(); //empty cmdqueue
- card.sdprinting = false;
- // card.closefile();
- saved_printing = true;
- // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
- st_reset_timer();
- sei();
- if ((z_move != 0) || (e_move != 0)) { // extruder or z move
- #if 1
- // Rather than calling plan_buffer_line directly, push the move into the command queue so that
- // the caller can continue processing. This is used during powerpanic to save the state as we
- // move away from the print.
- char buf[48];
- // First unretract (relative extrusion)
- if(!saved_extruder_relative_mode){
- enquecommand(PSTR("M83"), true);
- }
- //retract 45mm/s
- // A single sprintf may not be faster, but is definitely 20B shorter
- // than a sequence of commands building the string piece by piece
- // A snprintf would have been a safer call, but since it is not used
- // in the whole program, its implementation would bring more bytes to the total size
- // The behavior of dtostrf 8,3 should be roughly the same as %-0.3
- sprintf_P(buf, PSTR("G1 E%-0.3f F2700"), e_move);
- enquecommand(buf, false);
- // Then lift Z axis
- sprintf_P(buf, PSTR("G1 Z%-0.3f F%-0.3f"), saved_pos[Z_AXIS] + z_move, homing_feedrate[Z_AXIS]);
- // At this point the command queue is empty.
- enquecommand(buf, false);
- // If this call is invoked from the main Arduino loop() function, let the caller know that the command
- // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
- repeatcommand_front();
- #else
- 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);
- st_synchronize(); //wait moving
- memcpy(current_position, saved_pos, sizeof(saved_pos));
- memcpy(destination, current_position, sizeof(destination));
- #endif
- waiting_inside_plan_buffer_line_print_aborted = true; //unroll the stack
- }
- }
- //! @brief Restore print from ram
- //!
- //! Restore print saved by stop_and_save_print_to_ram(). Is blocking, restores
- //! print fan speed, waits for extruder temperature restore, then restores
- //! position and continues print moves.
- //!
- //! Internally lcd_update() is called by wait_for_heater().
- //!
- //! @param e_move
- void restore_print_from_ram_and_continue(float e_move)
- {
- if (!saved_printing) return;
-
- #ifdef FANCHECK
- // Do not allow resume printing if fans are still not ok
- if ((fan_check_error != EFCE_OK) && (fan_check_error != EFCE_FIXED)) return;
- if (fan_check_error == EFCE_FIXED) fan_check_error = EFCE_OK; //reenable serial stream processing if printing from usb
- #endif
-
- // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
- // current_position[axis] = st_get_position_mm(axis);
- active_extruder = saved_active_extruder; //restore active_extruder
- fanSpeed = saved_fanSpeed;
- if (degTargetHotend(saved_active_extruder) != saved_extruder_temperature)
- {
- setTargetHotendSafe(saved_extruder_temperature, saved_active_extruder);
- heating_status = 1;
- wait_for_heater(_millis(), saved_active_extruder);
- heating_status = 2;
- }
- axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
- float e = saved_pos[E_AXIS] - e_move;
- plan_set_e_position(e);
-
- #ifdef FANCHECK
- fans_check_enabled = false;
- #endif
- //first move print head in XY to the saved position:
- 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);
- st_synchronize();
- //then move Z
- 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);
- st_synchronize();
- //and finaly unretract (35mm/s)
- plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], 35, active_extruder);
- st_synchronize();
- #ifdef FANCHECK
- fans_check_enabled = true;
- #endif
- // restore original feedrate/feedmultiply _after_ restoring the extruder position
- feedrate = saved_feedrate2;
- feedmultiply = saved_feedmultiply2;
- memcpy(current_position, saved_pos, sizeof(saved_pos));
- memcpy(destination, current_position, sizeof(destination));
- if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
- card.setIndex(saved_sdpos);
- sdpos_atomic = saved_sdpos;
- card.sdprinting = true;
- }
- else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
- gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
- serial_count = 0;
- FlushSerialRequestResend();
- }
- else {
- //not sd printing nor usb printing
- }
- SERIAL_PROTOCOLLNRPGM(MSG_OK); //dummy response because of octoprint is waiting for this
- lcd_setstatuspgm(_T(WELCOME_MSG));
- saved_printing_type = PRINTING_TYPE_NONE;
- saved_printing = false;
- waiting_inside_plan_buffer_line_print_aborted = true; //unroll the stack
- }
- // Cancel the state related to a currently saved print
- void cancel_saved_printing()
- {
- saved_target[0] = SAVED_TARGET_UNSET;
- saved_printing_type = PRINTING_TYPE_NONE;
- saved_printing = false;
- }
- void print_world_coordinates()
- {
- printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
- }
- void print_physical_coordinates()
- {
- 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));
- }
- void print_mesh_bed_leveling_table()
- {
- SERIAL_ECHOPGM("mesh bed leveling: ");
- for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
- for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
- MYSERIAL.print(mbl.z_values[y][x], 3);
- SERIAL_ECHOPGM(" ");
- }
- SERIAL_ECHOLNPGM("");
- }
- uint16_t print_time_remaining() {
- uint16_t print_t = PRINT_TIME_REMAINING_INIT;
- #ifdef TMC2130
- if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
- else print_t = print_time_remaining_silent;
- #else
- print_t = print_time_remaining_normal;
- #endif //TMC2130
- if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100ul * print_t / feedmultiply;
- return print_t;
- }
- uint8_t calc_percent_done()
- {
- //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
- uint8_t percent_done = 0;
- #ifdef TMC2130
- if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
- percent_done = print_percent_done_normal;
- }
- else if (print_percent_done_silent <= 100) {
- percent_done = print_percent_done_silent;
- }
- #else
- if (print_percent_done_normal <= 100) {
- percent_done = print_percent_done_normal;
- }
- #endif //TMC2130
- else {
- percent_done = card.percentDone();
- }
- return percent_done;
- }
- static void print_time_remaining_init()
- {
- print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
- print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
- print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
- print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
- }
- void load_filament_final_feed()
- {
- current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED;
- plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FINAL, active_extruder);
- }
- //! @brief Wait for user to check the state
- //! @par nozzle_temp nozzle temperature to load filament
- void M600_check_state(float nozzle_temp)
- {
- lcd_change_fil_state = 0;
- while (lcd_change_fil_state != 1)
- {
- lcd_change_fil_state = 0;
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- lcd_alright();
- KEEPALIVE_STATE(IN_HANDLER);
- switch(lcd_change_fil_state)
- {
- // Filament failed to load so load it again
- case 2:
- if (mmu_enabled)
- mmu_M600_load_filament(false, nozzle_temp); //nonautomatic load; change to "wrong filament loaded" option?
- else
- M600_load_filament_movements();
- break;
- // Filament loaded properly but color is not clear
- case 3:
- st_synchronize();
- load_filament_final_feed();
- lcd_loading_color();
- st_synchronize();
- break;
- // Everything good
- default:
- lcd_change_success();
- break;
- }
- }
- }
- //! @brief Wait for user action
- //!
- //! Beep, manage nozzle heater and wait for user to start unload filament
- //! If times out, active extruder temperature is set to 0.
- //!
- //! @param HotendTempBckp Temperature to be restored for active extruder, after user resolves MMU problem.
- void M600_wait_for_user(float HotendTempBckp) {
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- int counterBeep = 0;
- unsigned long waiting_start_time = _millis();
- uint8_t wait_for_user_state = 0;
- lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
- bool bFirst=true;
- while (!(wait_for_user_state == 0 && lcd_clicked())){
- manage_heater();
- manage_inactivity(true);
- #if BEEPER > 0
- if (counterBeep == 500) {
- counterBeep = 0;
- }
- SET_OUTPUT(BEEPER);
- if (counterBeep == 0) {
- if((eSoundMode==e_SOUND_MODE_BLIND)|| (eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
- {
- bFirst=false;
- WRITE(BEEPER, HIGH);
- }
- }
- if (counterBeep == 20) {
- WRITE(BEEPER, LOW);
- }
-
- counterBeep++;
- #endif //BEEPER > 0
-
- switch (wait_for_user_state) {
- case 0: //nozzle is hot, waiting for user to press the knob to unload filament
- delay_keep_alive(4);
- if (_millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
- lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
- wait_for_user_state = 1;
- setAllTargetHotends(0);
- st_synchronize();
- disable_e0();
- disable_e1();
- disable_e2();
- }
- break;
- case 1: //nozzle target temperature is set to zero, waiting for user to start nozzle preheat
- delay_keep_alive(4);
-
- if (lcd_clicked()) {
- setTargetHotend(HotendTempBckp, active_extruder);
- lcd_wait_for_heater();
- wait_for_user_state = 2;
- }
- break;
- case 2: //waiting for nozzle to reach target temperature
- if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
- lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
- waiting_start_time = _millis();
- wait_for_user_state = 0;
- }
- else {
- counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
- lcd_set_cursor(1, 4);
- lcd_print(ftostr3(degHotend(active_extruder)));
- }
- break;
- }
- }
- WRITE(BEEPER, LOW);
- }
- void M600_load_filament_movements()
- {
- #ifdef SNMM
- display_loading();
- do
- {
- current_position[E_AXIS] += 0.002;
- plan_buffer_line_curposXYZE(500, active_extruder);
- delay_keep_alive(2);
- }
- while (!lcd_clicked());
- st_synchronize();
- current_position[E_AXIS] += bowden_length[mmu_extruder];
- plan_buffer_line_curposXYZE(3000, active_extruder);
- current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
- plan_buffer_line_curposXYZE(1400, active_extruder);
- current_position[E_AXIS] += 40;
- plan_buffer_line_curposXYZE(400, active_extruder);
- current_position[E_AXIS] += 10;
- plan_buffer_line_curposXYZE(50, active_extruder);
- #else
- current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
- plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FIRST, active_extruder);
- #endif
- load_filament_final_feed();
- lcd_loading_filament();
- st_synchronize();
- }
- void M600_load_filament() {
- //load filament for single material and SNMM
- lcd_wait_interact();
- //load_filament_time = _millis();
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- #ifdef PAT9125
- fsensor_autoload_check_start();
- #endif //PAT9125
- while(!lcd_clicked())
- {
- manage_heater();
- manage_inactivity(true);
- #ifdef FILAMENT_SENSOR
- if (fsensor_check_autoload())
- {
- Sound_MakeCustom(50,1000,false);
- break;
- }
- #endif //FILAMENT_SENSOR
- }
- #ifdef PAT9125
- fsensor_autoload_check_stop();
- #endif //PAT9125
- KEEPALIVE_STATE(IN_HANDLER);
- #ifdef FSENSOR_QUALITY
- fsensor_oq_meassure_start(70);
- #endif //FSENSOR_QUALITY
- M600_load_filament_movements();
- Sound_MakeCustom(50,1000,false);
- #ifdef FSENSOR_QUALITY
- fsensor_oq_meassure_stop();
- if (!fsensor_oq_result())
- {
- bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
- lcd_update_enable(true);
- lcd_update(2);
- if (disable)
- fsensor_disable();
- }
- #endif //FSENSOR_QUALITY
- lcd_update_enable(false);
- }
- //! @brief Wait for click
- //!
- //! Set
- void marlin_wait_for_click()
- {
- int8_t busy_state_backup = busy_state;
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- lcd_consume_click();
- while(!lcd_clicked())
- {
- manage_heater();
- manage_inactivity(true);
- lcd_update(0);
- }
- KEEPALIVE_STATE(busy_state_backup);
- }
- #define FIL_LOAD_LENGTH 60
- #ifdef PSU_Delta
- bool bEnableForce_z;
- void init_force_z()
- {
- WRITE(Z_ENABLE_PIN,Z_ENABLE_ON);
- bEnableForce_z=true; // "true"-value enforce "disable_force_z()" executing
- disable_force_z();
- }
- void check_force_z()
- {
- if(!(bEnableForce_z||eeprom_read_byte((uint8_t*)EEPROM_SILENT)))
- init_force_z(); // causes enforced switching into disable-state
- }
- void disable_force_z()
- {
- uint16_t z_microsteps=0;
- if(!bEnableForce_z) return; // motor already disabled (may be ;-p )
- bEnableForce_z=false;
- // switching to silent mode
- #ifdef TMC2130
- tmc2130_mode=TMC2130_MODE_SILENT;
- update_mode_profile();
- tmc2130_init(true);
- #endif // TMC2130
- axis_known_position[Z_AXIS]=false;
- }
- void enable_force_z()
- {
- if(bEnableForce_z)
- return; // motor already enabled (may be ;-p )
- bEnableForce_z=true;
- // mode recovering
- #ifdef TMC2130
- tmc2130_mode=eeprom_read_byte((uint8_t*)EEPROM_SILENT)?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
- update_mode_profile();
- tmc2130_init(true);
- #endif // TMC2130
- WRITE(Z_ENABLE_PIN,Z_ENABLE_ON); // slightly redundant ;-p
- }
- #endif // PSU_Delta
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