Marlin_main.cpp 304 KB

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  1. /* -*- c++ -*- */
  2. /**
  3. * @file
  4. */
  5. /**
  6. * @mainpage Reprap 3D printer firmware based on Sprinter and grbl.
  7. *
  8. * @section intro_sec Introduction
  9. *
  10. * This firmware is a mashup between Sprinter and grbl.
  11. * https://github.com/kliment/Sprinter
  12. * https://github.com/simen/grbl/tree
  13. *
  14. * It has preliminary support for Matthew Roberts advance algorithm
  15. * http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  16. *
  17. * Prusa Research s.r.o. https://www.prusa3d.cz
  18. *
  19. * @section copyright_sec Copyright
  20. *
  21. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  22. *
  23. * This program is free software: you can redistribute it and/or modify
  24. * it under the terms of the GNU General Public License as published by
  25. * the Free Software Foundation, either version 3 of the License, or
  26. * (at your option) any later version.
  27. *
  28. * This program is distributed in the hope that it will be useful,
  29. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  30. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  31. * GNU General Public License for more details.
  32. *
  33. * You should have received a copy of the GNU General Public License
  34. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  35. *
  36. * @section notes_sec Notes
  37. *
  38. * * Do not create static objects in global functions.
  39. * Otherwise constructor guard against concurrent calls is generated costing
  40. * about 8B RAM and 14B flash.
  41. *
  42. *
  43. */
  44. #include "Marlin.h"
  45. #ifdef ENABLE_AUTO_BED_LEVELING
  46. #include "vector_3.h"
  47. #ifdef AUTO_BED_LEVELING_GRID
  48. #include "qr_solve.h"
  49. #endif
  50. #endif // ENABLE_AUTO_BED_LEVELING
  51. #ifdef MESH_BED_LEVELING
  52. #include "mesh_bed_leveling.h"
  53. #include "mesh_bed_calibration.h"
  54. #endif
  55. #include "printers.h"
  56. #include "menu.h"
  57. #include "ultralcd.h"
  58. #include "planner.h"
  59. #include "stepper.h"
  60. #include "temperature.h"
  61. #include "motion_control.h"
  62. #include "cardreader.h"
  63. #include "ConfigurationStore.h"
  64. #include "language.h"
  65. #include "pins_arduino.h"
  66. #include "math.h"
  67. #include "util.h"
  68. #include "Timer.h"
  69. #include "uart2.h"
  70. #include <avr/wdt.h>
  71. #include <avr/pgmspace.h>
  72. #include "Dcodes.h"
  73. #ifdef SWSPI
  74. #include "swspi.h"
  75. #endif //SWSPI
  76. #include "spi.h"
  77. #ifdef SWI2C
  78. #include "swi2c.h"
  79. #endif //SWI2C
  80. #ifdef PAT9125
  81. #include "pat9125.h"
  82. #include "fsensor.h"
  83. #endif //PAT9125
  84. #ifdef TMC2130
  85. #include "tmc2130.h"
  86. #endif //TMC2130
  87. #ifdef W25X20CL
  88. #include "w25x20cl.h"
  89. #include "optiboot_w25x20cl.h"
  90. #endif //W25X20CL
  91. #ifdef BLINKM
  92. #include "BlinkM.h"
  93. #include "Wire.h"
  94. #endif
  95. #ifdef ULTRALCD
  96. #include "ultralcd.h"
  97. #endif
  98. #if NUM_SERVOS > 0
  99. #include "Servo.h"
  100. #endif
  101. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  102. #include <SPI.h>
  103. #endif
  104. #define VERSION_STRING "1.0.2"
  105. #include "ultralcd.h"
  106. #include "cmdqueue.h"
  107. // Macros for bit masks
  108. #define BIT(b) (1<<(b))
  109. #define TEST(n,b) (((n)&BIT(b))!=0)
  110. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  111. //Macro for print fan speed
  112. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  113. #define PRINTING_TYPE_SD 0
  114. #define PRINTING_TYPE_USB 1
  115. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  116. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  117. //Implemented Codes
  118. //-------------------
  119. // PRUSA CODES
  120. // P F - Returns FW versions
  121. // P R - Returns revision of printer
  122. // G0 -> G1
  123. // G1 - Coordinated Movement X Y Z E
  124. // G2 - CW ARC
  125. // G3 - CCW ARC
  126. // G4 - Dwell S<seconds> or P<milliseconds>
  127. // G10 - retract filament according to settings of M207
  128. // G11 - retract recover filament according to settings of M208
  129. // G28 - Home all Axis
  130. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  131. // G30 - Single Z Probe, probes bed at current XY location.
  132. // G31 - Dock sled (Z_PROBE_SLED only)
  133. // G32 - Undock sled (Z_PROBE_SLED only)
  134. // G80 - Automatic mesh bed leveling
  135. // G81 - Print bed profile
  136. // G90 - Use Absolute Coordinates
  137. // G91 - Use Relative Coordinates
  138. // G92 - Set current position to coordinates given
  139. // M Codes
  140. // M0 - Unconditional stop - Wait for user to press a button on the LCD
  141. // M1 - Same as M0
  142. // M17 - Enable/Power all stepper motors
  143. // M18 - Disable all stepper motors; same as M84
  144. // M20 - List SD card
  145. // M21 - Init SD card
  146. // M22 - Release SD card
  147. // M23 - Select SD file (M23 filename.g)
  148. // M24 - Start/resume SD print
  149. // M25 - Pause SD print
  150. // M26 - Set SD position in bytes (M26 S12345)
  151. // M27 - Report SD print status
  152. // M28 - Start SD write (M28 filename.g)
  153. // M29 - Stop SD write
  154. // M30 - Delete file from SD (M30 filename.g)
  155. // M31 - Output time since last M109 or SD card start to serial
  156. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  157. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  158. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  159. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  160. // 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.
  161. // M73 - Show percent done and print time remaining
  162. // M80 - Turn on Power Supply
  163. // M81 - Turn off Power Supply
  164. // M82 - Set E codes absolute (default)
  165. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  166. // M84 - Disable steppers until next move,
  167. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  168. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  169. // M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
  170. // M92 - Set axis_steps_per_unit - same syntax as G92
  171. // M104 - Set extruder target temp
  172. // M105 - Read current temp
  173. // M106 - Fan on
  174. // M107 - Fan off
  175. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  176. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  177. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  178. // M112 - Emergency stop
  179. // M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  180. // M114 - Output current position to serial port
  181. // M115 - Capabilities string
  182. // M117 - display message
  183. // M119 - Output Endstop status to serial port
  184. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  185. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  186. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  187. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  188. // M140 - Set bed target temp
  189. // 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.
  190. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  191. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  192. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  193. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  194. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  195. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  196. // 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
  197. // 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
  198. // M206 - set additional homing offset
  199. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  200. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  201. // 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.
  202. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  203. // M220 S<factor in percent>- set speed factor override percentage
  204. // M221 S<factor in percent>- set extrude factor override percentage
  205. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  206. // M240 - Trigger a camera to take a photograph
  207. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  208. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  209. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  210. // M301 - Set PID parameters P I and D
  211. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  212. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  213. // M304 - Set bed PID parameters P I and D
  214. // M400 - Finish all moves
  215. // M401 - Lower z-probe if present
  216. // M402 - Raise z-probe if present
  217. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  218. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  219. // M406 - Turn off Filament Sensor extrusion control
  220. // M407 - Displays measured filament diameter
  221. // M500 - stores parameters in EEPROM
  222. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  223. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  224. // M503 - print the current settings (from memory not from EEPROM)
  225. // M509 - force language selection on next restart
  226. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  227. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  228. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  229. // M860 - Wait for PINDA thermistor to reach target temperature.
  230. // M861 - Set / Read PINDA temperature compensation offsets
  231. // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  232. // M907 - Set digital trimpot motor current using axis codes.
  233. // M908 - Control digital trimpot directly.
  234. // M350 - Set microstepping mode.
  235. // M351 - Toggle MS1 MS2 pins directly.
  236. // M928 - Start SD logging (M928 filename.g) - ended by M29
  237. // M999 - Restart after being stopped by error
  238. //Stepper Movement Variables
  239. //===========================================================================
  240. //=============================imported variables============================
  241. //===========================================================================
  242. //===========================================================================
  243. //=============================public variables=============================
  244. //===========================================================================
  245. #ifdef SDSUPPORT
  246. CardReader card;
  247. #endif
  248. unsigned long PingTime = millis();
  249. unsigned long NcTime;
  250. union Data
  251. {
  252. byte b[2];
  253. int value;
  254. };
  255. float homing_feedrate[] = HOMING_FEEDRATE;
  256. // Currently only the extruder axis may be switched to a relative mode.
  257. // Other axes are always absolute or relative based on the common relative_mode flag.
  258. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  259. int feedmultiply=100; //100->1 200->2
  260. int saved_feedmultiply;
  261. int extrudemultiply=100; //100->1 200->2
  262. int extruder_multiply[EXTRUDERS] = {100
  263. #if EXTRUDERS > 1
  264. , 100
  265. #if EXTRUDERS > 2
  266. , 100
  267. #endif
  268. #endif
  269. };
  270. int bowden_length[4] = {385, 385, 385, 385};
  271. bool is_usb_printing = false;
  272. bool homing_flag = false;
  273. bool temp_cal_active = false;
  274. unsigned long kicktime = millis()+100000;
  275. unsigned int usb_printing_counter;
  276. int lcd_change_fil_state = 0;
  277. int feedmultiplyBckp = 100;
  278. float HotendTempBckp = 0;
  279. int fanSpeedBckp = 0;
  280. float pause_lastpos[4];
  281. unsigned long pause_time = 0;
  282. unsigned long start_pause_print = millis();
  283. unsigned long t_fan_rising_edge = millis();
  284. static LongTimer safetyTimer;
  285. static LongTimer crashDetTimer;
  286. //unsigned long load_filament_time;
  287. bool mesh_bed_leveling_flag = false;
  288. bool mesh_bed_run_from_menu = false;
  289. int8_t FarmMode = 0;
  290. bool prusa_sd_card_upload = false;
  291. unsigned int status_number = 0;
  292. unsigned long total_filament_used;
  293. unsigned int heating_status;
  294. unsigned int heating_status_counter;
  295. bool custom_message;
  296. bool loading_flag = false;
  297. unsigned int custom_message_type;
  298. unsigned int custom_message_state;
  299. char snmm_filaments_used = 0;
  300. bool fan_state[2];
  301. int fan_edge_counter[2];
  302. int fan_speed[2];
  303. char dir_names[3][9];
  304. bool sortAlpha = false;
  305. bool volumetric_enabled = false;
  306. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  307. #if EXTRUDERS > 1
  308. , DEFAULT_NOMINAL_FILAMENT_DIA
  309. #if EXTRUDERS > 2
  310. , DEFAULT_NOMINAL_FILAMENT_DIA
  311. #endif
  312. #endif
  313. };
  314. float extruder_multiplier[EXTRUDERS] = {1.0
  315. #if EXTRUDERS > 1
  316. , 1.0
  317. #if EXTRUDERS > 2
  318. , 1.0
  319. #endif
  320. #endif
  321. };
  322. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  323. //shortcuts for more readable code
  324. #define _x current_position[X_AXIS]
  325. #define _y current_position[Y_AXIS]
  326. #define _z current_position[Z_AXIS]
  327. #define _e current_position[E_AXIS]
  328. float add_homing[3]={0,0,0};
  329. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  330. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  331. bool axis_known_position[3] = {false, false, false};
  332. float zprobe_zoffset;
  333. // Extruder offset
  334. #if EXTRUDERS > 1
  335. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  336. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  337. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  338. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  339. #endif
  340. };
  341. #endif
  342. uint8_t active_extruder = 0;
  343. int fanSpeed=0;
  344. #ifdef FWRETRACT
  345. bool autoretract_enabled=false;
  346. bool retracted[EXTRUDERS]={false
  347. #if EXTRUDERS > 1
  348. , false
  349. #if EXTRUDERS > 2
  350. , false
  351. #endif
  352. #endif
  353. };
  354. bool retracted_swap[EXTRUDERS]={false
  355. #if EXTRUDERS > 1
  356. , false
  357. #if EXTRUDERS > 2
  358. , false
  359. #endif
  360. #endif
  361. };
  362. float retract_length = RETRACT_LENGTH;
  363. float retract_length_swap = RETRACT_LENGTH_SWAP;
  364. float retract_feedrate = RETRACT_FEEDRATE;
  365. float retract_zlift = RETRACT_ZLIFT;
  366. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  367. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  368. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  369. #endif
  370. #ifdef PS_DEFAULT_OFF
  371. bool powersupply = false;
  372. #else
  373. bool powersupply = true;
  374. #endif
  375. bool cancel_heatup = false ;
  376. #ifdef HOST_KEEPALIVE_FEATURE
  377. int busy_state = NOT_BUSY;
  378. static long prev_busy_signal_ms = -1;
  379. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  380. #else
  381. #define host_keepalive();
  382. #define KEEPALIVE_STATE(n);
  383. #endif
  384. const char errormagic[] PROGMEM = "Error:";
  385. const char echomagic[] PROGMEM = "echo:";
  386. bool no_response = false;
  387. uint8_t important_status;
  388. uint8_t saved_filament_type;
  389. // save/restore printing
  390. bool saved_printing = false;
  391. // storing estimated time to end of print counted by slicer
  392. uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  393. uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  394. uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  395. uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  396. //===========================================================================
  397. //=============================Private Variables=============================
  398. //===========================================================================
  399. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  400. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  401. static float delta[3] = {0.0, 0.0, 0.0};
  402. // For tracing an arc
  403. static float offset[3] = {0.0, 0.0, 0.0};
  404. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  405. // Determines Absolute or Relative Coordinates.
  406. // Also there is bool axis_relative_modes[] per axis flag.
  407. static bool relative_mode = false;
  408. #ifndef _DISABLE_M42_M226
  409. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  410. #endif //_DISABLE_M42_M226
  411. //static float tt = 0;
  412. //static float bt = 0;
  413. //Inactivity shutdown variables
  414. static unsigned long previous_millis_cmd = 0;
  415. unsigned long max_inactive_time = 0;
  416. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  417. static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
  418. unsigned long starttime=0;
  419. unsigned long stoptime=0;
  420. unsigned long _usb_timer = 0;
  421. static uint8_t tmp_extruder;
  422. bool extruder_under_pressure = true;
  423. bool Stopped=false;
  424. #if NUM_SERVOS > 0
  425. Servo servos[NUM_SERVOS];
  426. #endif
  427. bool CooldownNoWait = true;
  428. bool target_direction;
  429. //Insert variables if CHDK is defined
  430. #ifdef CHDK
  431. unsigned long chdkHigh = 0;
  432. boolean chdkActive = false;
  433. #endif
  434. // save/restore printing
  435. static uint32_t saved_sdpos = 0;
  436. static uint8_t saved_printing_type = PRINTING_TYPE_SD;
  437. static float saved_pos[4] = { 0, 0, 0, 0 };
  438. // Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  439. static float saved_feedrate2 = 0;
  440. static uint8_t saved_active_extruder = 0;
  441. static bool saved_extruder_under_pressure = false;
  442. static bool saved_extruder_relative_mode = false;
  443. //===========================================================================
  444. //=============================Routines======================================
  445. //===========================================================================
  446. void get_arc_coordinates();
  447. bool setTargetedHotend(int code);
  448. void serial_echopair_P(const char *s_P, float v)
  449. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  450. void serial_echopair_P(const char *s_P, double v)
  451. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  452. void serial_echopair_P(const char *s_P, unsigned long v)
  453. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  454. #ifdef SDSUPPORT
  455. #include "SdFatUtil.h"
  456. int freeMemory() { return SdFatUtil::FreeRam(); }
  457. #else
  458. extern "C" {
  459. extern unsigned int __bss_end;
  460. extern unsigned int __heap_start;
  461. extern void *__brkval;
  462. int freeMemory() {
  463. int free_memory;
  464. if ((int)__brkval == 0)
  465. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  466. else
  467. free_memory = ((int)&free_memory) - ((int)__brkval);
  468. return free_memory;
  469. }
  470. }
  471. #endif //!SDSUPPORT
  472. void setup_killpin()
  473. {
  474. #if defined(KILL_PIN) && KILL_PIN > -1
  475. SET_INPUT(KILL_PIN);
  476. WRITE(KILL_PIN,HIGH);
  477. #endif
  478. }
  479. // Set home pin
  480. void setup_homepin(void)
  481. {
  482. #if defined(HOME_PIN) && HOME_PIN > -1
  483. SET_INPUT(HOME_PIN);
  484. WRITE(HOME_PIN,HIGH);
  485. #endif
  486. }
  487. void setup_photpin()
  488. {
  489. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  490. SET_OUTPUT(PHOTOGRAPH_PIN);
  491. WRITE(PHOTOGRAPH_PIN, LOW);
  492. #endif
  493. }
  494. void setup_powerhold()
  495. {
  496. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  497. SET_OUTPUT(SUICIDE_PIN);
  498. WRITE(SUICIDE_PIN, HIGH);
  499. #endif
  500. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  501. SET_OUTPUT(PS_ON_PIN);
  502. #if defined(PS_DEFAULT_OFF)
  503. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  504. #else
  505. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  506. #endif
  507. #endif
  508. }
  509. void suicide()
  510. {
  511. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  512. SET_OUTPUT(SUICIDE_PIN);
  513. WRITE(SUICIDE_PIN, LOW);
  514. #endif
  515. }
  516. void servo_init()
  517. {
  518. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  519. servos[0].attach(SERVO0_PIN);
  520. #endif
  521. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  522. servos[1].attach(SERVO1_PIN);
  523. #endif
  524. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  525. servos[2].attach(SERVO2_PIN);
  526. #endif
  527. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  528. servos[3].attach(SERVO3_PIN);
  529. #endif
  530. #if (NUM_SERVOS >= 5)
  531. #error "TODO: enter initalisation code for more servos"
  532. #endif
  533. }
  534. void stop_and_save_print_to_ram(float z_move, float e_move);
  535. void restore_print_from_ram_and_continue(float e_move);
  536. bool fans_check_enabled = true;
  537. bool filament_autoload_enabled = true;
  538. #ifdef TMC2130
  539. extern int8_t CrashDetectMenu;
  540. void crashdet_enable()
  541. {
  542. tmc2130_sg_stop_on_crash = true;
  543. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
  544. CrashDetectMenu = 1;
  545. }
  546. void crashdet_disable()
  547. {
  548. tmc2130_sg_stop_on_crash = false;
  549. tmc2130_sg_crash = 0;
  550. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
  551. CrashDetectMenu = 0;
  552. }
  553. void crashdet_stop_and_save_print()
  554. {
  555. stop_and_save_print_to_ram(10, -DEFAULT_RETRACTION); //XY - no change, Z 10mm up, E -1mm retract
  556. }
  557. void crashdet_restore_print_and_continue()
  558. {
  559. restore_print_from_ram_and_continue(DEFAULT_RETRACTION); //XYZ = orig, E +1mm unretract
  560. // babystep_apply();
  561. }
  562. void crashdet_stop_and_save_print2()
  563. {
  564. cli();
  565. planner_abort_hard(); //abort printing
  566. cmdqueue_reset(); //empty cmdqueue
  567. card.sdprinting = false;
  568. card.closefile();
  569. // Reset and re-enable the stepper timer just before the global interrupts are enabled.
  570. st_reset_timer();
  571. sei();
  572. }
  573. void crashdet_detected(uint8_t mask)
  574. {
  575. // printf("CRASH_DETECTED");
  576. /* while (!is_buffer_empty())
  577. {
  578. process_commands();
  579. cmdqueue_pop_front();
  580. }*/
  581. st_synchronize();
  582. static uint8_t crashDet_counter = 0;
  583. bool automatic_recovery_after_crash = true;
  584. if (crashDet_counter++ == 0) {
  585. crashDetTimer.start();
  586. }
  587. else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
  588. crashDetTimer.stop();
  589. crashDet_counter = 0;
  590. }
  591. else if(crashDet_counter == CRASHDET_COUNTER_MAX){
  592. automatic_recovery_after_crash = false;
  593. crashDetTimer.stop();
  594. crashDet_counter = 0;
  595. }
  596. else {
  597. crashDetTimer.start();
  598. }
  599. lcd_update_enable(true);
  600. lcd_clear();
  601. lcd_update(2);
  602. if (mask & X_AXIS_MASK)
  603. {
  604. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  605. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  606. }
  607. if (mask & Y_AXIS_MASK)
  608. {
  609. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  610. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  611. }
  612. lcd_update_enable(true);
  613. lcd_update(2);
  614. lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
  615. gcode_G28(true, true, false, false); //home X and Y
  616. st_synchronize();
  617. if (automatic_recovery_after_crash) {
  618. enquecommand_P(PSTR("CRASH_RECOVER"));
  619. }else{
  620. HotendTempBckp = degTargetHotend(active_extruder);
  621. setTargetHotend(0, active_extruder);
  622. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
  623. lcd_update_enable(true);
  624. if (yesno)
  625. {
  626. char cmd1[10];
  627. strcpy(cmd1, "M109 S");
  628. strcat(cmd1, ftostr3(HotendTempBckp));
  629. enquecommand(cmd1);
  630. enquecommand_P(PSTR("CRASH_RECOVER"));
  631. }
  632. else
  633. {
  634. enquecommand_P(PSTR("CRASH_CANCEL"));
  635. }
  636. }
  637. }
  638. void crashdet_recover()
  639. {
  640. crashdet_restore_print_and_continue();
  641. tmc2130_sg_stop_on_crash = true;
  642. }
  643. void crashdet_cancel()
  644. {
  645. tmc2130_sg_stop_on_crash = true;
  646. if (saved_printing_type == PRINTING_TYPE_SD) {
  647. lcd_print_stop();
  648. }else if(saved_printing_type == PRINTING_TYPE_USB){
  649. SERIAL_ECHOLNPGM("// action:cancel"); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
  650. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  651. }
  652. }
  653. #endif //TMC2130
  654. void failstats_reset_print()
  655. {
  656. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  657. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  658. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  659. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  660. }
  661. #ifdef MESH_BED_LEVELING
  662. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  663. #endif
  664. // Factory reset function
  665. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  666. // Level input parameter sets depth of reset
  667. // Quiet parameter masks all waitings for user interact.
  668. int er_progress = 0;
  669. void factory_reset(char level, bool quiet)
  670. {
  671. lcd_clear();
  672. int cursor_pos = 0;
  673. switch (level) {
  674. // Level 0: Language reset
  675. case 0:
  676. WRITE(BEEPER, HIGH);
  677. _delay_ms(100);
  678. WRITE(BEEPER, LOW);
  679. lang_reset();
  680. break;
  681. //Level 1: Reset statistics
  682. case 1:
  683. WRITE(BEEPER, HIGH);
  684. _delay_ms(100);
  685. WRITE(BEEPER, LOW);
  686. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  687. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  688. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  689. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  690. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  691. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  692. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  693. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  694. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  695. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  696. lcd_menu_statistics();
  697. break;
  698. // Level 2: Prepare for shipping
  699. case 2:
  700. //lcd_puts_P(PSTR("Factory RESET"));
  701. //lcd_puts_at_P(1,2,PSTR("Shipping prep"));
  702. // Force language selection at the next boot up.
  703. lang_reset();
  704. // Force the "Follow calibration flow" message at the next boot up.
  705. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  706. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  707. farm_no = 0;
  708. farm_mode = false;
  709. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  710. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  711. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  712. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  713. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  714. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  715. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  716. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  717. fsensor_enable();
  718. fautoload_set(true);
  719. WRITE(BEEPER, HIGH);
  720. _delay_ms(100);
  721. WRITE(BEEPER, LOW);
  722. //_delay_ms(2000);
  723. break;
  724. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  725. case 3:
  726. lcd_puts_P(PSTR("Factory RESET"));
  727. lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
  728. WRITE(BEEPER, HIGH);
  729. _delay_ms(100);
  730. WRITE(BEEPER, LOW);
  731. er_progress = 0;
  732. lcd_puts_at_P(3, 3, PSTR(" "));
  733. lcd_set_cursor(3, 3);
  734. lcd_print(er_progress);
  735. // Erase EEPROM
  736. for (int i = 0; i < 4096; i++) {
  737. eeprom_write_byte((uint8_t*)i, 0xFF);
  738. if (i % 41 == 0) {
  739. er_progress++;
  740. lcd_puts_at_P(3, 3, PSTR(" "));
  741. lcd_set_cursor(3, 3);
  742. lcd_print(er_progress);
  743. lcd_puts_P(PSTR("%"));
  744. }
  745. }
  746. break;
  747. case 4:
  748. bowden_menu();
  749. break;
  750. default:
  751. break;
  752. }
  753. }
  754. #include "LiquidCrystal_Prusa.h"
  755. extern LiquidCrystal_Prusa lcd;
  756. FILE _uartout = {0};
  757. int uart_putchar(char c, FILE *stream)
  758. {
  759. MYSERIAL.write(c);
  760. return 0;
  761. }
  762. void lcd_splash()
  763. {
  764. // lcd_puts_at_P(0, 1, PSTR(" Original Prusa "));
  765. // lcd_puts_at_P(0, 2, PSTR(" 3D Printers "));
  766. // lcd_puts_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
  767. // fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
  768. lcd_puts_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"));
  769. // lcd_printf_P(_N(ESC_2J "x:%.3f\ny:%.3f\nz:%.3f\ne:%.3f"), _x, _y, _z, _e);
  770. }
  771. void factory_reset()
  772. {
  773. KEEPALIVE_STATE(PAUSED_FOR_USER);
  774. if (!READ(BTN_ENC))
  775. {
  776. _delay_ms(1000);
  777. if (!READ(BTN_ENC))
  778. {
  779. lcd_clear();
  780. lcd_puts_P(PSTR("Factory RESET"));
  781. SET_OUTPUT(BEEPER);
  782. WRITE(BEEPER, HIGH);
  783. while (!READ(BTN_ENC));
  784. WRITE(BEEPER, LOW);
  785. _delay_ms(2000);
  786. char level = reset_menu();
  787. factory_reset(level, false);
  788. switch (level) {
  789. case 0: _delay_ms(0); break;
  790. case 1: _delay_ms(0); break;
  791. case 2: _delay_ms(0); break;
  792. case 3: _delay_ms(0); break;
  793. }
  794. // _delay_ms(100);
  795. /*
  796. #ifdef MESH_BED_LEVELING
  797. _delay_ms(2000);
  798. if (!READ(BTN_ENC))
  799. {
  800. WRITE(BEEPER, HIGH);
  801. _delay_ms(100);
  802. WRITE(BEEPER, LOW);
  803. _delay_ms(200);
  804. WRITE(BEEPER, HIGH);
  805. _delay_ms(100);
  806. WRITE(BEEPER, LOW);
  807. int _z = 0;
  808. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  809. EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
  810. EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
  811. EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
  812. }
  813. else
  814. {
  815. WRITE(BEEPER, HIGH);
  816. _delay_ms(100);
  817. WRITE(BEEPER, LOW);
  818. }
  819. #endif // mesh */
  820. }
  821. }
  822. else
  823. {
  824. //_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
  825. }
  826. KEEPALIVE_STATE(IN_HANDLER);
  827. }
  828. void show_fw_version_warnings() {
  829. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  830. switch (FW_DEV_VERSION) {
  831. 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
  832. 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
  833. case(FW_VERSION_DEVEL):
  834. case(FW_VERSION_DEBUG):
  835. lcd_update_enable(false);
  836. lcd_clear();
  837. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  838. lcd_puts_at_P(0, 0, PSTR("Development build !!"));
  839. #else
  840. lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
  841. #endif
  842. lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
  843. lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
  844. lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
  845. lcd_wait_for_click();
  846. break;
  847. // 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
  848. }
  849. lcd_update_enable(true);
  850. }
  851. uint8_t check_printer_version()
  852. {
  853. uint8_t version_changed = 0;
  854. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  855. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  856. if (printer_type != PRINTER_TYPE) {
  857. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  858. else version_changed |= 0b10;
  859. }
  860. if (motherboard != MOTHERBOARD) {
  861. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  862. else version_changed |= 0b01;
  863. }
  864. return version_changed;
  865. }
  866. void erase_eeprom_section(uint16_t offset, uint16_t bytes)
  867. {
  868. for (int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
  869. }
  870. #if (LANG_MODE != 0) //secondary language support
  871. #ifdef W25X20CL
  872. #include "bootapp.h" //bootloader support
  873. // language update from external flash
  874. #define LANGBOOT_BLOCKSIZE 0x1000
  875. #define LANGBOOT_RAMBUFFER 0x0800
  876. void update_sec_lang_from_external_flash()
  877. {
  878. if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
  879. {
  880. uint8_t lang = boot_reserved >> 4;
  881. uint8_t state = boot_reserved & 0xf;
  882. lang_table_header_t header;
  883. uint32_t src_addr;
  884. if (lang_get_header(lang, &header, &src_addr))
  885. {
  886. fputs_P(PSTR(ESC_H(1,3) "Language update."), lcdout);
  887. for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
  888. delay(100);
  889. boot_reserved = (state + 1) | (lang << 4);
  890. if ((state * LANGBOOT_BLOCKSIZE) < header.size)
  891. {
  892. cli();
  893. uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
  894. if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
  895. w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
  896. if (state == 0)
  897. {
  898. //TODO - check header integrity
  899. }
  900. bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
  901. }
  902. else
  903. {
  904. //TODO - check sec lang data integrity
  905. eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
  906. }
  907. }
  908. }
  909. boot_app_flags &= ~BOOT_APP_FLG_USER0;
  910. }
  911. #ifdef DEBUG_W25X20CL
  912. uint8_t lang_xflash_enum_codes(uint16_t* codes)
  913. {
  914. lang_table_header_t header;
  915. uint8_t count = 0;
  916. uint32_t addr = 0x00000;
  917. while (1)
  918. {
  919. printf_P(_n("LANGTABLE%d:"), count);
  920. w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
  921. if (header.magic != LANG_MAGIC)
  922. {
  923. printf_P(_n("NG!\n"));
  924. break;
  925. }
  926. printf_P(_n("OK\n"));
  927. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  928. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  929. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  930. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  931. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  932. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  933. addr += header.size;
  934. codes[count] = header.code;
  935. count ++;
  936. }
  937. return count;
  938. }
  939. void list_sec_lang_from_external_flash()
  940. {
  941. uint16_t codes[8];
  942. uint8_t count = lang_xflash_enum_codes(codes);
  943. printf_P(_n("XFlash lang count = %hhd\n"), count);
  944. }
  945. #endif //DEBUG_W25X20CL
  946. #endif //W25X20CL
  947. #endif //(LANG_MODE != 0)
  948. // "Setup" function is called by the Arduino framework on startup.
  949. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  950. // are initialized by the main() routine provided by the Arduino framework.
  951. void setup()
  952. {
  953. lcd_init();
  954. fdev_setup_stream(lcdout, lcd_putchar, NULL, _FDEV_SETUP_WRITE); //setup lcdout stream
  955. spi_init();
  956. lcd_splash();
  957. #ifdef W25X20CL
  958. // Enter an STK500 compatible Optiboot boot loader waiting for flashing the languages to an external flash memory.
  959. optiboot_w25x20cl_enter();
  960. #endif
  961. #if (LANG_MODE != 0) //secondary language support
  962. #ifdef W25X20CL
  963. if (w25x20cl_init())
  964. update_sec_lang_from_external_flash();
  965. else
  966. kill(_i("External SPI flash W25X20CL not responding."));
  967. #endif //W25X20CL
  968. #endif //(LANG_MODE != 0)
  969. setup_killpin();
  970. setup_powerhold();
  971. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  972. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  973. if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
  974. 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
  975. if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
  976. selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
  977. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  978. if (farm_mode)
  979. {
  980. no_response = true; //we need confirmation by recieving PRUSA thx
  981. important_status = 8;
  982. prusa_statistics(8);
  983. selectedSerialPort = 1;
  984. #ifdef TMC2130
  985. //increased extruder current (PFW363)
  986. tmc2130_current_h[E_AXIS] = 36;
  987. tmc2130_current_r[E_AXIS] = 36;
  988. #endif //TMC2130
  989. //disabled filament autoload (PFW360)
  990. filament_autoload_enabled = false;
  991. eeprom_update_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED, 0);
  992. }
  993. MYSERIAL.begin(BAUDRATE);
  994. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  995. stdout = uartout;
  996. SERIAL_PROTOCOLLNPGM("start");
  997. SERIAL_ECHO_START;
  998. printf_P(PSTR(" " FW_VERSION_FULL "\n"));
  999. uart2_init();
  1000. #ifdef DEBUG_SEC_LANG
  1001. lang_table_header_t header;
  1002. uint32_t src_addr = 0x00000;
  1003. if (lang_get_header(1, &header, &src_addr))
  1004. {
  1005. //this is comparsion of some printing-methods regarding to flash space usage and code size/readability
  1006. #define LT_PRINT_TEST 2
  1007. // flash usage
  1008. // total p.test
  1009. //0 252718 t+c text code
  1010. //1 253142 424 170 254
  1011. //2 253040 322 164 158
  1012. //3 253248 530 135 395
  1013. #if (LT_PRINT_TEST==1) //not optimized printf
  1014. printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
  1015. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  1016. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  1017. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  1018. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  1019. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  1020. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  1021. #elif (LT_PRINT_TEST==2) //optimized printf
  1022. printf_P(
  1023. _n(
  1024. " _src_addr = 0x%08lx\n"
  1025. " _lt_magic = 0x%08lx %S\n"
  1026. " _lt_size = 0x%04x (%d)\n"
  1027. " _lt_count = 0x%04x (%d)\n"
  1028. " _lt_chsum = 0x%04x\n"
  1029. " _lt_code = 0x%04x (%c%c)\n"
  1030. " _lt_resv1 = 0x%08lx\n"
  1031. ),
  1032. src_addr,
  1033. header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
  1034. header.size, header.size,
  1035. header.count, header.count,
  1036. header.checksum,
  1037. header.code, header.code >> 8, header.code & 0xff,
  1038. header.signature
  1039. );
  1040. #elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
  1041. MYSERIAL.print(" _src_addr = 0x");
  1042. MYSERIAL.println(src_addr, 16);
  1043. MYSERIAL.print(" _lt_magic = 0x");
  1044. MYSERIAL.print(header.magic, 16);
  1045. MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
  1046. MYSERIAL.print(" _lt_size = 0x");
  1047. MYSERIAL.print(header.size, 16);
  1048. MYSERIAL.print(" (");
  1049. MYSERIAL.print(header.size, 10);
  1050. MYSERIAL.println(")");
  1051. MYSERIAL.print(" _lt_count = 0x");
  1052. MYSERIAL.print(header.count, 16);
  1053. MYSERIAL.print(" (");
  1054. MYSERIAL.print(header.count, 10);
  1055. MYSERIAL.println(")");
  1056. MYSERIAL.print(" _lt_chsum = 0x");
  1057. MYSERIAL.println(header.checksum, 16);
  1058. MYSERIAL.print(" _lt_code = 0x");
  1059. MYSERIAL.print(header.code, 16);
  1060. MYSERIAL.print(" (");
  1061. MYSERIAL.print((char)(header.code >> 8), 0);
  1062. MYSERIAL.print((char)(header.code & 0xff), 0);
  1063. MYSERIAL.println(")");
  1064. MYSERIAL.print(" _lt_resv1 = 0x");
  1065. MYSERIAL.println(header.signature, 16);
  1066. #endif //(LT_PRINT_TEST==)
  1067. #undef LT_PRINT_TEST
  1068. #if 0
  1069. w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
  1070. for (uint16_t i = 0; i < 1024; i++)
  1071. {
  1072. if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
  1073. printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
  1074. if ((i % 16) == 15) putchar('\n');
  1075. }
  1076. #endif
  1077. uint16_t sum = 0;
  1078. for (uint16_t i = 0; i < header.size; i++)
  1079. sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
  1080. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1081. sum -= header.checksum; //subtract checksum
  1082. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1083. sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
  1084. if (sum == header.checksum)
  1085. printf_P(_n("Checksum OK\n"), sum);
  1086. else
  1087. printf_P(_n("Checksum NG\n"), sum);
  1088. }
  1089. else
  1090. printf_P(_n("lang_get_header failed!\n"));
  1091. #if 0
  1092. for (uint16_t i = 0; i < 1024*10; i++)
  1093. {
  1094. if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
  1095. printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
  1096. if ((i % 16) == 15) putchar('\n');
  1097. }
  1098. #endif
  1099. #if 0
  1100. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  1101. for (int i = 0; i < 4096; ++i) {
  1102. int b = eeprom_read_byte((unsigned char*)i);
  1103. if (b != 255) {
  1104. SERIAL_ECHO(i);
  1105. SERIAL_ECHO(":");
  1106. SERIAL_ECHO(b);
  1107. SERIAL_ECHOLN("");
  1108. }
  1109. }
  1110. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  1111. #endif
  1112. #endif //DEBUG_SEC_LANG
  1113. // Check startup - does nothing if bootloader sets MCUSR to 0
  1114. byte mcu = MCUSR;
  1115. /* if (mcu & 1) SERIAL_ECHOLNRPGM(_T(MSG_POWERUP));
  1116. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  1117. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  1118. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  1119. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  1120. if (mcu & 1) puts_P(_T(MSG_POWERUP));
  1121. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  1122. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  1123. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  1124. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  1125. MCUSR = 0;
  1126. //SERIAL_ECHORPGM(MSG_MARLIN);
  1127. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  1128. #ifdef STRING_VERSION_CONFIG_H
  1129. #ifdef STRING_CONFIG_H_AUTHOR
  1130. SERIAL_ECHO_START;
  1131. SERIAL_ECHORPGM(_i(" Last Updated: "));////MSG_CONFIGURATION_VER c=0 r=0
  1132. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  1133. SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR c=0 r=0
  1134. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  1135. SERIAL_ECHOPGM("Compiled: ");
  1136. SERIAL_ECHOLNPGM(__DATE__);
  1137. #endif
  1138. #endif
  1139. SERIAL_ECHO_START;
  1140. SERIAL_ECHORPGM(_i(" Free Memory: "));////MSG_FREE_MEMORY c=0 r=0
  1141. SERIAL_ECHO(freeMemory());
  1142. SERIAL_ECHORPGM(_i(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES c=0 r=0
  1143. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  1144. //lcd_update_enable(false); // why do we need this?? - andre
  1145. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  1146. bool previous_settings_retrieved = false;
  1147. uint8_t hw_changed = check_printer_version();
  1148. 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
  1149. previous_settings_retrieved = Config_RetrieveSettings(EEPROM_OFFSET);
  1150. }
  1151. else { //printer version was changed so use default settings
  1152. Config_ResetDefault();
  1153. }
  1154. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  1155. tp_init(); // Initialize temperature loop
  1156. lcd_splash(); // we need to do this again, because tp_init() kills lcd
  1157. plan_init(); // Initialize planner;
  1158. factory_reset();
  1159. #ifdef TMC2130
  1160. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1161. if (silentMode == 0xff) silentMode = 0;
  1162. // tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1163. tmc2130_mode = TMC2130_MODE_NORMAL;
  1164. uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
  1165. if (crashdet && !farm_mode)
  1166. {
  1167. crashdet_enable();
  1168. puts_P(_N("CrashDetect ENABLED!"));
  1169. }
  1170. else
  1171. {
  1172. crashdet_disable();
  1173. puts_P(_N("CrashDetect DISABLED"));
  1174. }
  1175. #ifdef TMC2130_LINEARITY_CORRECTION
  1176. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  1177. tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  1178. tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  1179. tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  1180. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  1181. tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
  1182. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  1183. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  1184. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  1185. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  1186. #endif //TMC2130_LINEARITY_CORRECTION
  1187. #ifdef TMC2130_VARIABLE_RESOLUTION
  1188. tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
  1189. tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
  1190. tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
  1191. tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
  1192. if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1193. if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1194. if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1195. if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1196. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
  1197. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
  1198. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
  1199. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
  1200. #else //TMC2130_VARIABLE_RESOLUTION
  1201. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1202. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1203. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1204. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1205. #endif //TMC2130_VARIABLE_RESOLUTION
  1206. #endif //TMC2130
  1207. st_init(); // Initialize stepper, this enables interrupts!
  1208. #ifdef TMC2130
  1209. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1210. tmc2130_init();
  1211. #endif //TMC2130
  1212. setup_photpin();
  1213. servo_init();
  1214. // Reset the machine correction matrix.
  1215. // It does not make sense to load the correction matrix until the machine is homed.
  1216. world2machine_reset();
  1217. #ifdef PAT9125
  1218. fsensor_init();
  1219. #endif //PAT9125
  1220. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  1221. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  1222. #endif
  1223. setup_homepin();
  1224. #ifdef TMC2130
  1225. if (1) {
  1226. // try to run to zero phase before powering the Z motor.
  1227. // Move in negative direction
  1228. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  1229. // Round the current micro-micro steps to micro steps.
  1230. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
  1231. // Until the phase counter is reset to zero.
  1232. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  1233. delay(2);
  1234. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  1235. delay(2);
  1236. }
  1237. }
  1238. #endif //TMC2130
  1239. #if defined(Z_AXIS_ALWAYS_ON)
  1240. enable_z();
  1241. #endif
  1242. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  1243. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  1244. if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == 0xFFFF)) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
  1245. if (farm_no == 0xFFFF) farm_no = 0;
  1246. if (farm_mode)
  1247. {
  1248. prusa_statistics(8);
  1249. }
  1250. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1251. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1252. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1253. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
  1254. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1255. // where all the EEPROM entries are set to 0x0ff.
  1256. // Once a firmware boots up, it forces at least a language selection, which changes
  1257. // EEPROM_LANG to number lower than 0x0ff.
  1258. // 1) Set a high power mode.
  1259. #ifdef TMC2130
  1260. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  1261. tmc2130_mode = TMC2130_MODE_NORMAL;
  1262. #endif //TMC2130
  1263. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  1264. }
  1265. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1266. // but this times out if a blocking dialog is shown in setup().
  1267. card.initsd();
  1268. #ifdef DEBUG_SD_SPEED_TEST
  1269. if (card.cardOK)
  1270. {
  1271. uint8_t* buff = (uint8_t*)block_buffer;
  1272. uint32_t block = 0;
  1273. uint32_t sumr = 0;
  1274. uint32_t sumw = 0;
  1275. for (int i = 0; i < 1024; i++)
  1276. {
  1277. uint32_t u = micros();
  1278. bool res = card.card.readBlock(i, buff);
  1279. u = micros() - u;
  1280. if (res)
  1281. {
  1282. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1283. sumr += u;
  1284. u = micros();
  1285. res = card.card.writeBlock(i, buff);
  1286. u = micros() - u;
  1287. if (res)
  1288. {
  1289. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1290. sumw += u;
  1291. }
  1292. else
  1293. {
  1294. printf_P(PSTR("writeBlock %4d error\n"), i);
  1295. break;
  1296. }
  1297. }
  1298. else
  1299. {
  1300. printf_P(PSTR("readBlock %4d error\n"), i);
  1301. break;
  1302. }
  1303. }
  1304. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1305. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1306. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1307. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1308. }
  1309. else
  1310. printf_P(PSTR("Card NG!\n"));
  1311. #endif //DEBUG_SD_SPEED_TEST
  1312. if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
  1313. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
  1314. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
  1315. if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
  1316. if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
  1317. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
  1318. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
  1319. if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
  1320. #ifdef SNMM
  1321. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1322. int _z = BOWDEN_LENGTH;
  1323. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1324. }
  1325. #endif
  1326. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1327. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1328. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1329. #if (LANG_MODE != 0) //secondary language support
  1330. #ifdef DEBUG_W25X20CL
  1331. W25X20CL_SPI_ENTER();
  1332. uint8_t uid[8]; // 64bit unique id
  1333. w25x20cl_rd_uid(uid);
  1334. puts_P(_n("W25X20CL UID="));
  1335. for (uint8_t i = 0; i < 8; i ++)
  1336. printf_P(PSTR("%02hhx"), uid[i]);
  1337. putchar('\n');
  1338. list_sec_lang_from_external_flash();
  1339. #endif //DEBUG_W25X20CL
  1340. // lang_reset();
  1341. if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
  1342. lcd_language();
  1343. #ifdef DEBUG_SEC_LANG
  1344. uint16_t sec_lang_code = lang_get_code(1);
  1345. uint16_t ui = _SEC_LANG_TABLE; //table pointer
  1346. 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);
  1347. // lang_print_sec_lang(uartout);
  1348. #endif //DEBUG_SEC_LANG
  1349. #endif //(LANG_MODE != 0)
  1350. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1351. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1352. temp_cal_active = false;
  1353. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  1354. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1355. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1356. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1357. int16_t z_shift = 0;
  1358. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  1359. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1360. temp_cal_active = false;
  1361. }
  1362. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1363. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1364. }
  1365. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1366. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1367. }
  1368. check_babystep(); //checking if Z babystep is in allowed range
  1369. #ifdef UVLO_SUPPORT
  1370. setup_uvlo_interrupt();
  1371. #endif //UVLO_SUPPORT
  1372. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1373. setup_fan_interrupt();
  1374. #endif //DEBUG_DISABLE_FANCHECK
  1375. #ifdef PAT9125
  1376. #ifndef DEBUG_DISABLE_FSENSORCHECK
  1377. fsensor_setup_interrupt();
  1378. #endif //DEBUG_DISABLE_FSENSORCHECK
  1379. #endif //PAT9125
  1380. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1381. #ifndef DEBUG_DISABLE_STARTMSGS
  1382. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1383. show_fw_version_warnings();
  1384. switch (hw_changed) {
  1385. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1386. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1387. case(0b01):
  1388. lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
  1389. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1390. break;
  1391. case(0b10):
  1392. lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
  1393. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1394. break;
  1395. case(0b11):
  1396. lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
  1397. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1398. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1399. break;
  1400. default: break; //no change, show no message
  1401. }
  1402. if (!previous_settings_retrieved) {
  1403. 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
  1404. erase_eeprom_section(EEPROM_OFFSET, 156); //erase M500 part of eeprom
  1405. }
  1406. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  1407. lcd_wizard(0);
  1408. }
  1409. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1410. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1411. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1412. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1413. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1414. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1415. // Show the message.
  1416. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1417. }
  1418. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1419. // Show the message.
  1420. lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  1421. lcd_update_enable(true);
  1422. }
  1423. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  1424. //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
  1425. lcd_update_enable(true);
  1426. }
  1427. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1428. // Show the message.
  1429. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1430. }
  1431. }
  1432. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1433. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1434. lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
  1435. update_current_firmware_version_to_eeprom();
  1436. lcd_selftest();
  1437. }
  1438. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1439. KEEPALIVE_STATE(IN_PROCESS);
  1440. #endif //DEBUG_DISABLE_STARTMSGS
  1441. lcd_update_enable(true);
  1442. lcd_clear();
  1443. lcd_update(2);
  1444. // Store the currently running firmware into an eeprom,
  1445. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1446. update_current_firmware_version_to_eeprom();
  1447. #ifdef TMC2130
  1448. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1449. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1450. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1451. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1452. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1453. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1454. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1455. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1456. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1457. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1458. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1459. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1460. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1461. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1462. #endif //TMC2130
  1463. #ifdef UVLO_SUPPORT
  1464. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
  1465. /*
  1466. if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
  1467. else {
  1468. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1469. lcd_update_enable(true);
  1470. lcd_update(2);
  1471. lcd_setstatuspgm(_T(WELCOME_MSG));
  1472. }
  1473. */
  1474. manage_heater(); // Update temperatures
  1475. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1476. 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))
  1477. #endif
  1478. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1479. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1480. puts_P(_N("Automatic recovery!"));
  1481. #endif
  1482. recover_print(1);
  1483. }
  1484. else{
  1485. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1486. puts_P(_N("Normal recovery!"));
  1487. #endif
  1488. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
  1489. else {
  1490. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1491. lcd_update_enable(true);
  1492. lcd_update(2);
  1493. lcd_setstatuspgm(_T(WELCOME_MSG));
  1494. }
  1495. }
  1496. }
  1497. #endif //UVLO_SUPPORT
  1498. KEEPALIVE_STATE(NOT_BUSY);
  1499. #ifdef WATCHDOG
  1500. wdt_enable(WDTO_4S);
  1501. #endif //WATCHDOG
  1502. }
  1503. #ifdef PAT9125
  1504. void fsensor_init() {
  1505. int pat9125 = pat9125_init();
  1506. printf_P(_N("PAT9125_init:%d\n"), pat9125);
  1507. uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
  1508. filament_autoload_enabled=eeprom_read_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED);
  1509. if (!pat9125)
  1510. {
  1511. fsensor = 0; //disable sensor
  1512. fsensor_not_responding = true;
  1513. }
  1514. else {
  1515. fsensor_not_responding = false;
  1516. }
  1517. puts_P(PSTR("FSensor "));
  1518. if (fsensor)
  1519. {
  1520. puts_P(PSTR("ENABLED\n"));
  1521. fsensor_enable();
  1522. }
  1523. else
  1524. {
  1525. puts_P(PSTR("DISABLED\n"));
  1526. fsensor_disable();
  1527. }
  1528. #ifdef DEBUG_DISABLE_FSENSORCHECK
  1529. filament_autoload_enabled = false;
  1530. fsensor_disable();
  1531. #endif //DEBUG_DISABLE_FSENSORCHECK
  1532. }
  1533. #endif //PAT9125
  1534. void trace();
  1535. #define CHUNK_SIZE 64 // bytes
  1536. #define SAFETY_MARGIN 1
  1537. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1538. int chunkHead = 0;
  1539. int serial_read_stream() {
  1540. setTargetHotend(0, 0);
  1541. setTargetBed(0);
  1542. lcd_clear();
  1543. lcd_puts_P(PSTR(" Upload in progress"));
  1544. // first wait for how many bytes we will receive
  1545. uint32_t bytesToReceive;
  1546. // receive the four bytes
  1547. char bytesToReceiveBuffer[4];
  1548. for (int i=0; i<4; i++) {
  1549. int data;
  1550. while ((data = MYSERIAL.read()) == -1) {};
  1551. bytesToReceiveBuffer[i] = data;
  1552. }
  1553. // make it a uint32
  1554. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1555. // we're ready, notify the sender
  1556. MYSERIAL.write('+');
  1557. // lock in the routine
  1558. uint32_t receivedBytes = 0;
  1559. while (prusa_sd_card_upload) {
  1560. int i;
  1561. for (i=0; i<CHUNK_SIZE; i++) {
  1562. int data;
  1563. // check if we're not done
  1564. if (receivedBytes == bytesToReceive) {
  1565. break;
  1566. }
  1567. // read the next byte
  1568. while ((data = MYSERIAL.read()) == -1) {};
  1569. receivedBytes++;
  1570. // save it to the chunk
  1571. chunk[i] = data;
  1572. }
  1573. // write the chunk to SD
  1574. card.write_command_no_newline(&chunk[0]);
  1575. // notify the sender we're ready for more data
  1576. MYSERIAL.write('+');
  1577. // for safety
  1578. manage_heater();
  1579. // check if we're done
  1580. if(receivedBytes == bytesToReceive) {
  1581. trace(); // beep
  1582. card.closefile();
  1583. prusa_sd_card_upload = false;
  1584. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1585. return 0;
  1586. }
  1587. }
  1588. }
  1589. #ifdef HOST_KEEPALIVE_FEATURE
  1590. /**
  1591. * Output a "busy" message at regular intervals
  1592. * while the machine is not accepting commands.
  1593. */
  1594. void host_keepalive() {
  1595. if (farm_mode) return;
  1596. long ms = millis();
  1597. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1598. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1599. switch (busy_state) {
  1600. case IN_HANDLER:
  1601. case IN_PROCESS:
  1602. SERIAL_ECHO_START;
  1603. SERIAL_ECHOLNPGM("busy: processing");
  1604. break;
  1605. case PAUSED_FOR_USER:
  1606. SERIAL_ECHO_START;
  1607. SERIAL_ECHOLNPGM("busy: paused for user");
  1608. break;
  1609. case PAUSED_FOR_INPUT:
  1610. SERIAL_ECHO_START;
  1611. SERIAL_ECHOLNPGM("busy: paused for input");
  1612. break;
  1613. default:
  1614. break;
  1615. }
  1616. }
  1617. prev_busy_signal_ms = ms;
  1618. }
  1619. #endif
  1620. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1621. // Before loop(), the setup() function is called by the main() routine.
  1622. void loop()
  1623. {
  1624. KEEPALIVE_STATE(NOT_BUSY);
  1625. bool stack_integrity = true;
  1626. if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
  1627. {
  1628. is_usb_printing = true;
  1629. usb_printing_counter--;
  1630. _usb_timer = millis();
  1631. }
  1632. if (usb_printing_counter == 0)
  1633. {
  1634. is_usb_printing = false;
  1635. }
  1636. if (prusa_sd_card_upload)
  1637. {
  1638. //we read byte-by byte
  1639. serial_read_stream();
  1640. } else
  1641. {
  1642. get_command();
  1643. #ifdef SDSUPPORT
  1644. card.checkautostart(false);
  1645. #endif
  1646. if(buflen)
  1647. {
  1648. cmdbuffer_front_already_processed = false;
  1649. #ifdef SDSUPPORT
  1650. if(card.saving)
  1651. {
  1652. // Saving a G-code file onto an SD-card is in progress.
  1653. // Saving starts with M28, saving until M29 is seen.
  1654. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1655. card.write_command(CMDBUFFER_CURRENT_STRING);
  1656. if(card.logging)
  1657. process_commands();
  1658. else
  1659. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  1660. } else {
  1661. card.closefile();
  1662. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1663. }
  1664. } else {
  1665. process_commands();
  1666. }
  1667. #else
  1668. process_commands();
  1669. #endif //SDSUPPORT
  1670. if (! cmdbuffer_front_already_processed && buflen)
  1671. {
  1672. // ptr points to the start of the block currently being processed.
  1673. // The first character in the block is the block type.
  1674. char *ptr = cmdbuffer + bufindr;
  1675. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1676. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1677. union {
  1678. struct {
  1679. char lo;
  1680. char hi;
  1681. } lohi;
  1682. uint16_t value;
  1683. } sdlen;
  1684. sdlen.value = 0;
  1685. {
  1686. // This block locks the interrupts globally for 3.25 us,
  1687. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1688. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1689. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1690. cli();
  1691. // Reset the command to something, which will be ignored by the power panic routine,
  1692. // so this buffer length will not be counted twice.
  1693. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1694. // Extract the current buffer length.
  1695. sdlen.lohi.lo = *ptr ++;
  1696. sdlen.lohi.hi = *ptr;
  1697. // and pass it to the planner queue.
  1698. planner_add_sd_length(sdlen.value);
  1699. sei();
  1700. }
  1701. }
  1702. else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
  1703. cli();
  1704. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1705. // and one for each command to previous block in the planner queue.
  1706. planner_add_sd_length(1);
  1707. sei();
  1708. }
  1709. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1710. // this block's SD card length will not be counted twice as its command type has been replaced
  1711. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1712. cmdqueue_pop_front();
  1713. }
  1714. host_keepalive();
  1715. }
  1716. }
  1717. //check heater every n milliseconds
  1718. manage_heater();
  1719. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1720. checkHitEndstops();
  1721. lcd_update(0);
  1722. #ifdef PAT9125
  1723. fsensor_update();
  1724. #endif //PAT9125
  1725. #ifdef TMC2130
  1726. tmc2130_check_overtemp();
  1727. if (tmc2130_sg_crash)
  1728. {
  1729. uint8_t crash = tmc2130_sg_crash;
  1730. tmc2130_sg_crash = 0;
  1731. // crashdet_stop_and_save_print();
  1732. switch (crash)
  1733. {
  1734. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1735. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1736. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1737. }
  1738. }
  1739. #endif //TMC2130
  1740. }
  1741. #define DEFINE_PGM_READ_ANY(type, reader) \
  1742. static inline type pgm_read_any(const type *p) \
  1743. { return pgm_read_##reader##_near(p); }
  1744. DEFINE_PGM_READ_ANY(float, float);
  1745. DEFINE_PGM_READ_ANY(signed char, byte);
  1746. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1747. static const PROGMEM type array##_P[3] = \
  1748. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1749. static inline type array(int axis) \
  1750. { return pgm_read_any(&array##_P[axis]); } \
  1751. type array##_ext(int axis) \
  1752. { return pgm_read_any(&array##_P[axis]); }
  1753. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1754. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1755. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1756. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1757. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1758. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1759. static void axis_is_at_home(int axis) {
  1760. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1761. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1762. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1763. }
  1764. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1765. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1766. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1767. saved_feedrate = feedrate;
  1768. saved_feedmultiply = feedmultiply;
  1769. feedmultiply = 100;
  1770. previous_millis_cmd = millis();
  1771. enable_endstops(enable_endstops_now);
  1772. }
  1773. static void clean_up_after_endstop_move() {
  1774. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1775. enable_endstops(false);
  1776. #endif
  1777. feedrate = saved_feedrate;
  1778. feedmultiply = saved_feedmultiply;
  1779. previous_millis_cmd = millis();
  1780. }
  1781. #ifdef ENABLE_AUTO_BED_LEVELING
  1782. #ifdef AUTO_BED_LEVELING_GRID
  1783. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1784. {
  1785. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1786. planeNormal.debug("planeNormal");
  1787. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1788. //bedLevel.debug("bedLevel");
  1789. //plan_bed_level_matrix.debug("bed level before");
  1790. //vector_3 uncorrected_position = plan_get_position_mm();
  1791. //uncorrected_position.debug("position before");
  1792. vector_3 corrected_position = plan_get_position();
  1793. // corrected_position.debug("position after");
  1794. current_position[X_AXIS] = corrected_position.x;
  1795. current_position[Y_AXIS] = corrected_position.y;
  1796. current_position[Z_AXIS] = corrected_position.z;
  1797. // put the bed at 0 so we don't go below it.
  1798. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1799. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1800. }
  1801. #else // not AUTO_BED_LEVELING_GRID
  1802. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1803. plan_bed_level_matrix.set_to_identity();
  1804. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1805. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1806. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1807. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1808. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1809. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1810. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1811. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1812. vector_3 corrected_position = plan_get_position();
  1813. current_position[X_AXIS] = corrected_position.x;
  1814. current_position[Y_AXIS] = corrected_position.y;
  1815. current_position[Z_AXIS] = corrected_position.z;
  1816. // put the bed at 0 so we don't go below it.
  1817. current_position[Z_AXIS] = zprobe_zoffset;
  1818. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1819. }
  1820. #endif // AUTO_BED_LEVELING_GRID
  1821. static void run_z_probe() {
  1822. plan_bed_level_matrix.set_to_identity();
  1823. feedrate = homing_feedrate[Z_AXIS];
  1824. // move down until you find the bed
  1825. float zPosition = -10;
  1826. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1827. st_synchronize();
  1828. // we have to let the planner know where we are right now as it is not where we said to go.
  1829. zPosition = st_get_position_mm(Z_AXIS);
  1830. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1831. // move up the retract distance
  1832. zPosition += home_retract_mm(Z_AXIS);
  1833. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1834. st_synchronize();
  1835. // move back down slowly to find bed
  1836. feedrate = homing_feedrate[Z_AXIS]/4;
  1837. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1838. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1839. st_synchronize();
  1840. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1841. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1842. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1843. }
  1844. static void do_blocking_move_to(float x, float y, float z) {
  1845. float oldFeedRate = feedrate;
  1846. feedrate = homing_feedrate[Z_AXIS];
  1847. current_position[Z_AXIS] = z;
  1848. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1849. st_synchronize();
  1850. feedrate = XY_TRAVEL_SPEED;
  1851. current_position[X_AXIS] = x;
  1852. current_position[Y_AXIS] = y;
  1853. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1854. st_synchronize();
  1855. feedrate = oldFeedRate;
  1856. }
  1857. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1858. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1859. }
  1860. /// Probe bed height at position (x,y), returns the measured z value
  1861. static float probe_pt(float x, float y, float z_before) {
  1862. // move to right place
  1863. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1864. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1865. run_z_probe();
  1866. float measured_z = current_position[Z_AXIS];
  1867. SERIAL_PROTOCOLRPGM(_T(MSG_BED));
  1868. SERIAL_PROTOCOLPGM(" x: ");
  1869. SERIAL_PROTOCOL(x);
  1870. SERIAL_PROTOCOLPGM(" y: ");
  1871. SERIAL_PROTOCOL(y);
  1872. SERIAL_PROTOCOLPGM(" z: ");
  1873. SERIAL_PROTOCOL(measured_z);
  1874. SERIAL_PROTOCOLPGM("\n");
  1875. return measured_z;
  1876. }
  1877. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1878. #ifdef LIN_ADVANCE
  1879. /**
  1880. * M900: Set and/or Get advance K factor and WH/D ratio
  1881. *
  1882. * K<factor> Set advance K factor
  1883. * R<ratio> Set ratio directly (overrides WH/D)
  1884. * W<width> H<height> D<diam> Set ratio from WH/D
  1885. */
  1886. inline void gcode_M900() {
  1887. st_synchronize();
  1888. const float newK = code_seen('K') ? code_value_float() : -1;
  1889. if (newK >= 0) extruder_advance_k = newK;
  1890. float newR = code_seen('R') ? code_value_float() : -1;
  1891. if (newR < 0) {
  1892. const float newD = code_seen('D') ? code_value_float() : -1,
  1893. newW = code_seen('W') ? code_value_float() : -1,
  1894. newH = code_seen('H') ? code_value_float() : -1;
  1895. if (newD >= 0 && newW >= 0 && newH >= 0)
  1896. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1897. }
  1898. if (newR >= 0) advance_ed_ratio = newR;
  1899. SERIAL_ECHO_START;
  1900. SERIAL_ECHOPGM("Advance K=");
  1901. SERIAL_ECHOLN(extruder_advance_k);
  1902. SERIAL_ECHOPGM(" E/D=");
  1903. const float ratio = advance_ed_ratio;
  1904. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1905. }
  1906. #endif // LIN_ADVANCE
  1907. bool check_commands() {
  1908. bool end_command_found = false;
  1909. while (buflen)
  1910. {
  1911. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1912. if (!cmdbuffer_front_already_processed)
  1913. cmdqueue_pop_front();
  1914. cmdbuffer_front_already_processed = false;
  1915. }
  1916. return end_command_found;
  1917. }
  1918. #ifdef TMC2130
  1919. bool calibrate_z_auto()
  1920. {
  1921. //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
  1922. lcd_clear();
  1923. lcd_puts_at_P(0,1, _T(MSG_CALIBRATE_Z_AUTO));
  1924. bool endstops_enabled = enable_endstops(true);
  1925. int axis_up_dir = -home_dir(Z_AXIS);
  1926. tmc2130_home_enter(Z_AXIS_MASK);
  1927. current_position[Z_AXIS] = 0;
  1928. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1929. set_destination_to_current();
  1930. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1931. feedrate = homing_feedrate[Z_AXIS];
  1932. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1933. st_synchronize();
  1934. // current_position[axis] = 0;
  1935. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1936. tmc2130_home_exit();
  1937. enable_endstops(false);
  1938. current_position[Z_AXIS] = 0;
  1939. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1940. set_destination_to_current();
  1941. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1942. feedrate = homing_feedrate[Z_AXIS] / 2;
  1943. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1944. st_synchronize();
  1945. enable_endstops(endstops_enabled);
  1946. current_position[Z_AXIS] = Z_MAX_POS+2.0;
  1947. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1948. return true;
  1949. }
  1950. #endif //TMC2130
  1951. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1952. {
  1953. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1954. #define HOMEAXIS_DO(LETTER) \
  1955. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1956. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1957. {
  1958. int axis_home_dir = home_dir(axis);
  1959. feedrate = homing_feedrate[axis];
  1960. #ifdef TMC2130
  1961. tmc2130_home_enter(X_AXIS_MASK << axis);
  1962. #endif //TMC2130
  1963. // Move right a bit, so that the print head does not touch the left end position,
  1964. // and the following left movement has a chance to achieve the required velocity
  1965. // for the stall guard to work.
  1966. current_position[axis] = 0;
  1967. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1968. set_destination_to_current();
  1969. // destination[axis] = 11.f;
  1970. destination[axis] = 3.f;
  1971. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1972. st_synchronize();
  1973. // Move left away from the possible collision with the collision detection disabled.
  1974. endstops_hit_on_purpose();
  1975. enable_endstops(false);
  1976. current_position[axis] = 0;
  1977. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1978. destination[axis] = - 1.;
  1979. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1980. st_synchronize();
  1981. // Now continue to move up to the left end stop with the collision detection enabled.
  1982. enable_endstops(true);
  1983. destination[axis] = - 1.1 * max_length(axis);
  1984. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1985. st_synchronize();
  1986. for (uint8_t i = 0; i < cnt; i++)
  1987. {
  1988. // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
  1989. endstops_hit_on_purpose();
  1990. enable_endstops(false);
  1991. current_position[axis] = 0;
  1992. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1993. destination[axis] = 10.f;
  1994. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1995. st_synchronize();
  1996. endstops_hit_on_purpose();
  1997. // Now move left up to the collision, this time with a repeatable velocity.
  1998. enable_endstops(true);
  1999. destination[axis] = - 11.f;
  2000. #ifdef TMC2130
  2001. feedrate = homing_feedrate[axis];
  2002. #else //TMC2130
  2003. feedrate = homing_feedrate[axis] / 2;
  2004. #endif //TMC2130
  2005. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2006. st_synchronize();
  2007. #ifdef TMC2130
  2008. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  2009. if (pstep) pstep[i] = mscnt >> 4;
  2010. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  2011. #endif //TMC2130
  2012. }
  2013. endstops_hit_on_purpose();
  2014. enable_endstops(false);
  2015. #ifdef TMC2130
  2016. uint8_t orig = tmc2130_home_origin[axis];
  2017. uint8_t back = tmc2130_home_bsteps[axis];
  2018. if (tmc2130_home_enabled && (orig <= 63))
  2019. {
  2020. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  2021. if (back > 0)
  2022. tmc2130_do_steps(axis, back, 1, 1000);
  2023. }
  2024. else
  2025. tmc2130_do_steps(axis, 8, 2, 1000);
  2026. tmc2130_home_exit();
  2027. #endif //TMC2130
  2028. axis_is_at_home(axis);
  2029. axis_known_position[axis] = true;
  2030. // Move from minimum
  2031. #ifdef TMC2130
  2032. float dist = 0.01f * tmc2130_home_fsteps[axis];
  2033. #else //TMC2130
  2034. float dist = 0.01f * 64;
  2035. #endif //TMC2130
  2036. current_position[axis] -= dist;
  2037. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2038. current_position[axis] += dist;
  2039. destination[axis] = current_position[axis];
  2040. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
  2041. st_synchronize();
  2042. feedrate = 0.0;
  2043. }
  2044. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  2045. {
  2046. #ifdef TMC2130
  2047. FORCE_HIGH_POWER_START;
  2048. #endif
  2049. int axis_home_dir = home_dir(axis);
  2050. current_position[axis] = 0;
  2051. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2052. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  2053. feedrate = homing_feedrate[axis];
  2054. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2055. st_synchronize();
  2056. #ifdef TMC2130
  2057. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  2058. FORCE_HIGH_POWER_END;
  2059. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2060. return;
  2061. }
  2062. #endif //TMC2130
  2063. current_position[axis] = 0;
  2064. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2065. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  2066. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2067. st_synchronize();
  2068. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  2069. feedrate = homing_feedrate[axis]/2 ;
  2070. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2071. st_synchronize();
  2072. #ifdef TMC2130
  2073. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  2074. FORCE_HIGH_POWER_END;
  2075. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2076. return;
  2077. }
  2078. #endif //TMC2130
  2079. axis_is_at_home(axis);
  2080. destination[axis] = current_position[axis];
  2081. feedrate = 0.0;
  2082. endstops_hit_on_purpose();
  2083. axis_known_position[axis] = true;
  2084. #ifdef TMC2130
  2085. FORCE_HIGH_POWER_END;
  2086. #endif
  2087. }
  2088. enable_endstops(endstops_enabled);
  2089. }
  2090. /**/
  2091. void home_xy()
  2092. {
  2093. set_destination_to_current();
  2094. homeaxis(X_AXIS);
  2095. homeaxis(Y_AXIS);
  2096. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2097. endstops_hit_on_purpose();
  2098. }
  2099. void refresh_cmd_timeout(void)
  2100. {
  2101. previous_millis_cmd = millis();
  2102. }
  2103. #ifdef FWRETRACT
  2104. void retract(bool retracting, bool swapretract = false) {
  2105. if(retracting && !retracted[active_extruder]) {
  2106. destination[X_AXIS]=current_position[X_AXIS];
  2107. destination[Y_AXIS]=current_position[Y_AXIS];
  2108. destination[Z_AXIS]=current_position[Z_AXIS];
  2109. destination[E_AXIS]=current_position[E_AXIS];
  2110. current_position[E_AXIS]+=(swapretract?retract_length_swap:retract_length)*float(extrudemultiply)*0.01f;
  2111. plan_set_e_position(current_position[E_AXIS]);
  2112. float oldFeedrate = feedrate;
  2113. feedrate=retract_feedrate*60;
  2114. retracted[active_extruder]=true;
  2115. prepare_move();
  2116. current_position[Z_AXIS]-=retract_zlift;
  2117. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2118. prepare_move();
  2119. feedrate = oldFeedrate;
  2120. } else if(!retracting && retracted[active_extruder]) {
  2121. destination[X_AXIS]=current_position[X_AXIS];
  2122. destination[Y_AXIS]=current_position[Y_AXIS];
  2123. destination[Z_AXIS]=current_position[Z_AXIS];
  2124. destination[E_AXIS]=current_position[E_AXIS];
  2125. current_position[Z_AXIS]+=retract_zlift;
  2126. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2127. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(retract_length+retract_recover_length))*float(extrudemultiply)*0.01f;
  2128. plan_set_e_position(current_position[E_AXIS]);
  2129. float oldFeedrate = feedrate;
  2130. feedrate=retract_recover_feedrate*60;
  2131. retracted[active_extruder]=false;
  2132. prepare_move();
  2133. feedrate = oldFeedrate;
  2134. }
  2135. } //retract
  2136. #endif //FWRETRACT
  2137. void trace() {
  2138. tone(BEEPER, 440);
  2139. delay(25);
  2140. noTone(BEEPER);
  2141. delay(20);
  2142. }
  2143. /*
  2144. void ramming() {
  2145. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  2146. if (current_temperature[0] < 230) {
  2147. //PLA
  2148. max_feedrate[E_AXIS] = 50;
  2149. //current_position[E_AXIS] -= 8;
  2150. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2151. //current_position[E_AXIS] += 8;
  2152. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2153. current_position[E_AXIS] += 5.4;
  2154. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  2155. current_position[E_AXIS] += 3.2;
  2156. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2157. current_position[E_AXIS] += 3;
  2158. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  2159. st_synchronize();
  2160. max_feedrate[E_AXIS] = 80;
  2161. current_position[E_AXIS] -= 82;
  2162. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  2163. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2164. current_position[E_AXIS] -= 20;
  2165. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  2166. current_position[E_AXIS] += 5;
  2167. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  2168. current_position[E_AXIS] += 5;
  2169. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2170. current_position[E_AXIS] -= 10;
  2171. st_synchronize();
  2172. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2173. current_position[E_AXIS] += 10;
  2174. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2175. current_position[E_AXIS] -= 10;
  2176. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2177. current_position[E_AXIS] += 10;
  2178. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2179. current_position[E_AXIS] -= 10;
  2180. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2181. st_synchronize();
  2182. }
  2183. else {
  2184. //ABS
  2185. max_feedrate[E_AXIS] = 50;
  2186. //current_position[E_AXIS] -= 8;
  2187. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2188. //current_position[E_AXIS] += 8;
  2189. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2190. current_position[E_AXIS] += 3.1;
  2191. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  2192. current_position[E_AXIS] += 3.1;
  2193. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  2194. current_position[E_AXIS] += 4;
  2195. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2196. st_synchronize();
  2197. //current_position[X_AXIS] += 23; //delay
  2198. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  2199. //current_position[X_AXIS] -= 23; //delay
  2200. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  2201. delay(4700);
  2202. max_feedrate[E_AXIS] = 80;
  2203. current_position[E_AXIS] -= 92;
  2204. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  2205. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2206. current_position[E_AXIS] -= 5;
  2207. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2208. current_position[E_AXIS] += 5;
  2209. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  2210. current_position[E_AXIS] -= 5;
  2211. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2212. st_synchronize();
  2213. current_position[E_AXIS] += 5;
  2214. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2215. current_position[E_AXIS] -= 5;
  2216. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2217. current_position[E_AXIS] += 5;
  2218. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2219. current_position[E_AXIS] -= 5;
  2220. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2221. st_synchronize();
  2222. }
  2223. }
  2224. */
  2225. #ifdef TMC2130
  2226. void force_high_power_mode(bool start_high_power_section) {
  2227. uint8_t silent;
  2228. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  2229. if (silent == 1) {
  2230. //we are in silent mode, set to normal mode to enable crash detection
  2231. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  2232. st_synchronize();
  2233. cli();
  2234. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  2235. tmc2130_init();
  2236. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  2237. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  2238. st_reset_timer();
  2239. sei();
  2240. }
  2241. }
  2242. #endif //TMC2130
  2243. void gcode_G28(bool home_x, bool home_y, bool home_z, bool calib) {
  2244. st_synchronize();
  2245. #if 0
  2246. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2247. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2248. #endif
  2249. // Flag for the display update routine and to disable the print cancelation during homing.
  2250. homing_flag = true;
  2251. // Either all X,Y,Z codes are present, or none of them.
  2252. bool home_all_axes = home_x == home_y && home_x == home_z;
  2253. if (home_all_axes)
  2254. // No X/Y/Z code provided means to home all axes.
  2255. home_x = home_y = home_z = true;
  2256. //if we are homing all axes, first move z higher to protect heatbed/steel sheet
  2257. if (home_all_axes) {
  2258. current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
  2259. feedrate = homing_feedrate[Z_AXIS];
  2260. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  2261. st_synchronize();
  2262. }
  2263. #ifdef ENABLE_AUTO_BED_LEVELING
  2264. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2265. #endif //ENABLE_AUTO_BED_LEVELING
  2266. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2267. // the planner will not perform any adjustments in the XY plane.
  2268. // Wait for the motors to stop and update the current position with the absolute values.
  2269. world2machine_revert_to_uncorrected();
  2270. // For mesh bed leveling deactivate the matrix temporarily.
  2271. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2272. // in a single axis only.
  2273. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2274. #ifdef MESH_BED_LEVELING
  2275. uint8_t mbl_was_active = mbl.active;
  2276. mbl.active = 0;
  2277. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2278. #endif
  2279. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2280. // consumed during the first movements following this statement.
  2281. if (home_z)
  2282. babystep_undo();
  2283. saved_feedrate = feedrate;
  2284. saved_feedmultiply = feedmultiply;
  2285. feedmultiply = 100;
  2286. previous_millis_cmd = millis();
  2287. enable_endstops(true);
  2288. memcpy(destination, current_position, sizeof(destination));
  2289. feedrate = 0.0;
  2290. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2291. if(home_z)
  2292. homeaxis(Z_AXIS);
  2293. #endif
  2294. #ifdef QUICK_HOME
  2295. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2296. if(home_x && home_y) //first diagonal move
  2297. {
  2298. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2299. int x_axis_home_dir = home_dir(X_AXIS);
  2300. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2301. 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);
  2302. feedrate = homing_feedrate[X_AXIS];
  2303. if(homing_feedrate[Y_AXIS]<feedrate)
  2304. feedrate = homing_feedrate[Y_AXIS];
  2305. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2306. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2307. } else {
  2308. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2309. }
  2310. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2311. st_synchronize();
  2312. axis_is_at_home(X_AXIS);
  2313. axis_is_at_home(Y_AXIS);
  2314. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2315. destination[X_AXIS] = current_position[X_AXIS];
  2316. destination[Y_AXIS] = current_position[Y_AXIS];
  2317. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2318. feedrate = 0.0;
  2319. st_synchronize();
  2320. endstops_hit_on_purpose();
  2321. current_position[X_AXIS] = destination[X_AXIS];
  2322. current_position[Y_AXIS] = destination[Y_AXIS];
  2323. current_position[Z_AXIS] = destination[Z_AXIS];
  2324. }
  2325. #endif /* QUICK_HOME */
  2326. #ifdef TMC2130
  2327. if(home_x)
  2328. {
  2329. if (!calib)
  2330. homeaxis(X_AXIS);
  2331. else
  2332. tmc2130_home_calibrate(X_AXIS);
  2333. }
  2334. if(home_y)
  2335. {
  2336. if (!calib)
  2337. homeaxis(Y_AXIS);
  2338. else
  2339. tmc2130_home_calibrate(Y_AXIS);
  2340. }
  2341. #endif //TMC2130
  2342. if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
  2343. current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
  2344. if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
  2345. current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
  2346. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2347. #ifndef Z_SAFE_HOMING
  2348. if(home_z) {
  2349. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2350. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2351. feedrate = max_feedrate[Z_AXIS];
  2352. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2353. st_synchronize();
  2354. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2355. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
  2356. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2357. {
  2358. homeaxis(X_AXIS);
  2359. homeaxis(Y_AXIS);
  2360. }
  2361. // 1st mesh bed leveling measurement point, corrected.
  2362. world2machine_initialize();
  2363. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2364. world2machine_reset();
  2365. if (destination[Y_AXIS] < Y_MIN_POS)
  2366. destination[Y_AXIS] = Y_MIN_POS;
  2367. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2368. feedrate = homing_feedrate[Z_AXIS]/10;
  2369. current_position[Z_AXIS] = 0;
  2370. enable_endstops(false);
  2371. #ifdef DEBUG_BUILD
  2372. SERIAL_ECHOLNPGM("plan_set_position()");
  2373. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2374. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2375. #endif
  2376. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2377. #ifdef DEBUG_BUILD
  2378. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2379. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2380. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2381. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2382. #endif
  2383. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2384. st_synchronize();
  2385. current_position[X_AXIS] = destination[X_AXIS];
  2386. current_position[Y_AXIS] = destination[Y_AXIS];
  2387. enable_endstops(true);
  2388. endstops_hit_on_purpose();
  2389. homeaxis(Z_AXIS);
  2390. #else // MESH_BED_LEVELING
  2391. homeaxis(Z_AXIS);
  2392. #endif // MESH_BED_LEVELING
  2393. }
  2394. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2395. if(home_all_axes) {
  2396. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2397. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2398. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2399. feedrate = XY_TRAVEL_SPEED/60;
  2400. current_position[Z_AXIS] = 0;
  2401. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2402. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2403. st_synchronize();
  2404. current_position[X_AXIS] = destination[X_AXIS];
  2405. current_position[Y_AXIS] = destination[Y_AXIS];
  2406. homeaxis(Z_AXIS);
  2407. }
  2408. // Let's see if X and Y are homed and probe is inside bed area.
  2409. if(home_z) {
  2410. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2411. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2412. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2413. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2414. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2415. current_position[Z_AXIS] = 0;
  2416. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2417. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2418. feedrate = max_feedrate[Z_AXIS];
  2419. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2420. st_synchronize();
  2421. homeaxis(Z_AXIS);
  2422. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2423. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2424. SERIAL_ECHO_START;
  2425. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2426. } else {
  2427. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2428. SERIAL_ECHO_START;
  2429. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2430. }
  2431. }
  2432. #endif // Z_SAFE_HOMING
  2433. #endif // Z_HOME_DIR < 0
  2434. if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
  2435. current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
  2436. #ifdef ENABLE_AUTO_BED_LEVELING
  2437. if(home_z)
  2438. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2439. #endif
  2440. // Set the planner and stepper routine positions.
  2441. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2442. // contains the machine coordinates.
  2443. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2444. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2445. enable_endstops(false);
  2446. #endif
  2447. feedrate = saved_feedrate;
  2448. feedmultiply = saved_feedmultiply;
  2449. previous_millis_cmd = millis();
  2450. endstops_hit_on_purpose();
  2451. #ifndef MESH_BED_LEVELING
  2452. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2453. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2454. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2455. lcd_adjust_z();
  2456. #endif
  2457. // Load the machine correction matrix
  2458. world2machine_initialize();
  2459. // and correct the current_position XY axes to match the transformed coordinate system.
  2460. world2machine_update_current();
  2461. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2462. if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
  2463. {
  2464. if (! home_z && mbl_was_active) {
  2465. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2466. mbl.active = true;
  2467. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2468. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2469. }
  2470. }
  2471. else
  2472. {
  2473. st_synchronize();
  2474. homing_flag = false;
  2475. // Push the commands to the front of the message queue in the reverse order!
  2476. // There shall be always enough space reserved for these commands.
  2477. enquecommand_front_P((PSTR("G80")));
  2478. //goto case_G80;
  2479. }
  2480. #endif
  2481. if (farm_mode) { prusa_statistics(20); };
  2482. homing_flag = false;
  2483. #if 0
  2484. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2485. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2486. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2487. #endif
  2488. }
  2489. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  2490. {
  2491. bool final_result = false;
  2492. #ifdef TMC2130
  2493. FORCE_HIGH_POWER_START;
  2494. #endif // TMC2130
  2495. // Only Z calibration?
  2496. if (!onlyZ)
  2497. {
  2498. setTargetBed(0);
  2499. setTargetHotend(0, 0);
  2500. setTargetHotend(0, 1);
  2501. setTargetHotend(0, 2);
  2502. adjust_bed_reset(); //reset bed level correction
  2503. }
  2504. // Disable the default update procedure of the display. We will do a modal dialog.
  2505. lcd_update_enable(false);
  2506. // Let the planner use the uncorrected coordinates.
  2507. mbl.reset();
  2508. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2509. // the planner will not perform any adjustments in the XY plane.
  2510. // Wait for the motors to stop and update the current position with the absolute values.
  2511. world2machine_revert_to_uncorrected();
  2512. // Reset the baby step value applied without moving the axes.
  2513. babystep_reset();
  2514. // Mark all axes as in a need for homing.
  2515. memset(axis_known_position, 0, sizeof(axis_known_position));
  2516. // Home in the XY plane.
  2517. //set_destination_to_current();
  2518. setup_for_endstop_move();
  2519. lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
  2520. home_xy();
  2521. enable_endstops(false);
  2522. current_position[X_AXIS] += 5;
  2523. current_position[Y_AXIS] += 5;
  2524. 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);
  2525. st_synchronize();
  2526. // Let the user move the Z axes up to the end stoppers.
  2527. #ifdef TMC2130
  2528. if (calibrate_z_auto())
  2529. {
  2530. #else //TMC2130
  2531. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  2532. {
  2533. #endif //TMC2130
  2534. refresh_cmd_timeout();
  2535. #ifndef STEEL_SHEET
  2536. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  2537. {
  2538. lcd_wait_for_cool_down();
  2539. }
  2540. #endif //STEEL_SHEET
  2541. if(!onlyZ)
  2542. {
  2543. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2544. #ifdef STEEL_SHEET
  2545. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  2546. if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  2547. #endif //STEEL_SHEET
  2548. lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
  2549. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2550. KEEPALIVE_STATE(IN_HANDLER);
  2551. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2552. lcd_set_cursor(0, 2);
  2553. lcd_print(1);
  2554. lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2555. }
  2556. // Move the print head close to the bed.
  2557. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2558. bool endstops_enabled = enable_endstops(true);
  2559. #ifdef TMC2130
  2560. tmc2130_home_enter(Z_AXIS_MASK);
  2561. #endif //TMC2130
  2562. 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);
  2563. st_synchronize();
  2564. #ifdef TMC2130
  2565. tmc2130_home_exit();
  2566. #endif //TMC2130
  2567. enable_endstops(endstops_enabled);
  2568. if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
  2569. {
  2570. int8_t verbosity_level = 0;
  2571. if (code_seen('V'))
  2572. {
  2573. // Just 'V' without a number counts as V1.
  2574. char c = strchr_pointer[1];
  2575. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2576. }
  2577. if (onlyZ)
  2578. {
  2579. clean_up_after_endstop_move();
  2580. // Z only calibration.
  2581. // Load the machine correction matrix
  2582. world2machine_initialize();
  2583. // and correct the current_position to match the transformed coordinate system.
  2584. world2machine_update_current();
  2585. //FIXME
  2586. bool result = sample_mesh_and_store_reference();
  2587. if (result)
  2588. {
  2589. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  2590. // Shipped, the nozzle height has been set already. The user can start printing now.
  2591. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2592. final_result = true;
  2593. // babystep_apply();
  2594. }
  2595. }
  2596. else
  2597. {
  2598. // Reset the baby step value and the baby step applied flag.
  2599. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  2600. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  2601. // Complete XYZ calibration.
  2602. uint8_t point_too_far_mask = 0;
  2603. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  2604. clean_up_after_endstop_move();
  2605. // Print head up.
  2606. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2607. 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);
  2608. st_synchronize();
  2609. //#ifndef NEW_XYZCAL
  2610. if (result >= 0)
  2611. {
  2612. #ifdef HEATBED_V2
  2613. sample_z();
  2614. #else //HEATBED_V2
  2615. point_too_far_mask = 0;
  2616. // Second half: The fine adjustment.
  2617. // Let the planner use the uncorrected coordinates.
  2618. mbl.reset();
  2619. world2machine_reset();
  2620. // Home in the XY plane.
  2621. setup_for_endstop_move();
  2622. home_xy();
  2623. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  2624. clean_up_after_endstop_move();
  2625. // Print head up.
  2626. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2627. 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);
  2628. st_synchronize();
  2629. // if (result >= 0) babystep_apply();
  2630. #endif //HEATBED_V2
  2631. }
  2632. //#endif //NEW_XYZCAL
  2633. lcd_update_enable(true);
  2634. lcd_update(2);
  2635. lcd_bed_calibration_show_result(result, point_too_far_mask);
  2636. if (result >= 0)
  2637. {
  2638. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  2639. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2640. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  2641. final_result = true;
  2642. }
  2643. }
  2644. #ifdef TMC2130
  2645. tmc2130_home_exit();
  2646. #endif
  2647. }
  2648. else
  2649. {
  2650. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  2651. final_result = false;
  2652. }
  2653. }
  2654. else
  2655. {
  2656. // Timeouted.
  2657. }
  2658. lcd_update_enable(true);
  2659. #ifdef TMC2130
  2660. FORCE_HIGH_POWER_END;
  2661. #endif // TMC2130
  2662. return final_result;
  2663. }
  2664. void gcode_M114()
  2665. {
  2666. SERIAL_PROTOCOLPGM("X:");
  2667. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2668. SERIAL_PROTOCOLPGM(" Y:");
  2669. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2670. SERIAL_PROTOCOLPGM(" Z:");
  2671. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2672. SERIAL_PROTOCOLPGM(" E:");
  2673. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2674. SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
  2675. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
  2676. SERIAL_PROTOCOLPGM(" Y:");
  2677. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
  2678. SERIAL_PROTOCOLPGM(" Z:");
  2679. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
  2680. SERIAL_PROTOCOLPGM(" E:");
  2681. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
  2682. SERIAL_PROTOCOLLN("");
  2683. }
  2684. void gcode_M701()
  2685. {
  2686. #ifdef SNMM
  2687. extr_adj(snmm_extruder);//loads current extruder
  2688. #else
  2689. enable_z();
  2690. custom_message = true;
  2691. custom_message_type = 2;
  2692. lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
  2693. current_position[E_AXIS] += 70;
  2694. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
  2695. current_position[E_AXIS] += 25;
  2696. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
  2697. st_synchronize();
  2698. tone(BEEPER, 500);
  2699. delay_keep_alive(50);
  2700. noTone(BEEPER);
  2701. if (!farm_mode && loading_flag) {
  2702. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
  2703. while (!clean) {
  2704. lcd_update_enable(true);
  2705. lcd_update(2);
  2706. current_position[E_AXIS] += 25;
  2707. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
  2708. st_synchronize();
  2709. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
  2710. }
  2711. }
  2712. lcd_update_enable(true);
  2713. lcd_update(2);
  2714. lcd_setstatuspgm(_T(WELCOME_MSG));
  2715. disable_z();
  2716. loading_flag = false;
  2717. custom_message = false;
  2718. custom_message_type = 0;
  2719. #endif
  2720. }
  2721. /**
  2722. * @brief Get serial number from 32U2 processor
  2723. *
  2724. * Typical format of S/N is:CZPX0917X003XC13518
  2725. *
  2726. * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
  2727. *
  2728. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  2729. * reply is transmitted to serial port 1 character by character.
  2730. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  2731. * it is interrupted, so less, or no characters are retransmitted, only newline character is send
  2732. * in any case.
  2733. */
  2734. static void gcode_PRUSA_SN()
  2735. {
  2736. if (farm_mode) {
  2737. selectedSerialPort = 0;
  2738. putchar(';');
  2739. putchar('S');
  2740. int numbersRead = 0;
  2741. ShortTimer timeout;
  2742. timeout.start();
  2743. while (numbersRead < 19) {
  2744. while (MSerial.available() > 0) {
  2745. uint8_t serial_char = MSerial.read();
  2746. selectedSerialPort = 1;
  2747. putchar(serial_char);
  2748. numbersRead++;
  2749. selectedSerialPort = 0;
  2750. }
  2751. if (timeout.expired(100u)) break;
  2752. }
  2753. selectedSerialPort = 1;
  2754. putchar('\n');
  2755. #if 0
  2756. for (int b = 0; b < 3; b++) {
  2757. tone(BEEPER, 110);
  2758. delay(50);
  2759. noTone(BEEPER);
  2760. delay(50);
  2761. }
  2762. #endif
  2763. } else {
  2764. puts_P(_N("Not in farm mode."));
  2765. }
  2766. }
  2767. #ifdef BACKLASH_X
  2768. extern uint8_t st_backlash_x;
  2769. #endif //BACKLASH_X
  2770. #ifdef BACKLASH_Y
  2771. extern uint8_t st_backlash_y;
  2772. #endif //BACKLASH_Y
  2773. void process_commands()
  2774. {
  2775. if (!buflen) return; //empty command
  2776. #ifdef FILAMENT_RUNOUT_SUPPORT
  2777. SET_INPUT(FR_SENS);
  2778. #endif
  2779. #ifdef CMDBUFFER_DEBUG
  2780. SERIAL_ECHOPGM("Processing a GCODE command: ");
  2781. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  2782. SERIAL_ECHOLNPGM("");
  2783. SERIAL_ECHOPGM("In cmdqueue: ");
  2784. SERIAL_ECHO(buflen);
  2785. SERIAL_ECHOLNPGM("");
  2786. #endif /* CMDBUFFER_DEBUG */
  2787. unsigned long codenum; //throw away variable
  2788. char *starpos = NULL;
  2789. #ifdef ENABLE_AUTO_BED_LEVELING
  2790. float x_tmp, y_tmp, z_tmp, real_z;
  2791. #endif
  2792. // PRUSA GCODES
  2793. KEEPALIVE_STATE(IN_HANDLER);
  2794. #ifdef SNMM
  2795. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  2796. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  2797. int8_t SilentMode;
  2798. #endif
  2799. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  2800. starpos = (strchr(strchr_pointer + 5, '*'));
  2801. if (starpos != NULL)
  2802. *(starpos) = '\0';
  2803. lcd_setstatus(strchr_pointer + 5);
  2804. }
  2805. #ifdef TMC2130
  2806. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  2807. {
  2808. if(code_seen("CRASH_DETECTED"))
  2809. {
  2810. uint8_t mask = 0;
  2811. if (code_seen("X")) mask |= X_AXIS_MASK;
  2812. if (code_seen("Y")) mask |= Y_AXIS_MASK;
  2813. crashdet_detected(mask);
  2814. }
  2815. else if(code_seen("CRASH_RECOVER"))
  2816. crashdet_recover();
  2817. else if(code_seen("CRASH_CANCEL"))
  2818. crashdet_cancel();
  2819. }
  2820. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  2821. {
  2822. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
  2823. {
  2824. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2825. axis = (axis == 'E')?3:(axis - 'X');
  2826. if (axis < 4)
  2827. {
  2828. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2829. tmc2130_set_wave(axis, 247, fac);
  2830. }
  2831. }
  2832. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
  2833. {
  2834. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2835. axis = (axis == 'E')?3:(axis - 'X');
  2836. if (axis < 4)
  2837. {
  2838. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2839. uint16_t res = tmc2130_get_res(axis);
  2840. tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
  2841. }
  2842. }
  2843. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
  2844. {
  2845. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2846. axis = (axis == 'E')?3:(axis - 'X');
  2847. if (axis < 4)
  2848. {
  2849. uint8_t chop0 = tmc2130_chopper_config[axis].toff;
  2850. uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
  2851. uint8_t chop2 = tmc2130_chopper_config[axis].hend;
  2852. uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
  2853. char* str_end = 0;
  2854. if (CMDBUFFER_CURRENT_STRING[14])
  2855. {
  2856. chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
  2857. if (str_end && *str_end)
  2858. {
  2859. chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
  2860. if (str_end && *str_end)
  2861. {
  2862. chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
  2863. if (str_end && *str_end)
  2864. chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
  2865. }
  2866. }
  2867. }
  2868. tmc2130_chopper_config[axis].toff = chop0;
  2869. tmc2130_chopper_config[axis].hstr = chop1 & 7;
  2870. tmc2130_chopper_config[axis].hend = chop2 & 15;
  2871. tmc2130_chopper_config[axis].tbl = chop3 & 3;
  2872. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  2873. //printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
  2874. }
  2875. }
  2876. }
  2877. #ifdef BACKLASH_X
  2878. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
  2879. {
  2880. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  2881. st_backlash_x = bl;
  2882. printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
  2883. }
  2884. #endif //BACKLASH_X
  2885. #ifdef BACKLASH_Y
  2886. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
  2887. {
  2888. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  2889. st_backlash_y = bl;
  2890. printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
  2891. }
  2892. #endif //BACKLASH_Y
  2893. #endif //TMC2130
  2894. else if(code_seen("PRUSA")){
  2895. if (code_seen("Ping")) { //PRUSA Ping
  2896. if (farm_mode) {
  2897. PingTime = millis();
  2898. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  2899. }
  2900. }
  2901. else if (code_seen("PRN")) {
  2902. printf_P(_N("%d"), status_number);
  2903. }else if (code_seen("FAN")) {
  2904. printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
  2905. }else if (code_seen("fn")) {
  2906. if (farm_mode) {
  2907. printf_P(_N("%d"), farm_no);
  2908. }
  2909. else {
  2910. puts_P(_N("Not in farm mode."));
  2911. }
  2912. }
  2913. else if (code_seen("thx")) {
  2914. no_response = false;
  2915. } else if (code_seen("RESET")) {
  2916. // careful!
  2917. if (farm_mode) {
  2918. #ifdef WATCHDOG
  2919. wdt_enable(WDTO_15MS);
  2920. cli();
  2921. while(1);
  2922. #else //WATCHDOG
  2923. asm volatile("jmp 0x3E000");
  2924. #endif //WATCHDOG
  2925. }
  2926. else {
  2927. MYSERIAL.println("Not in farm mode.");
  2928. }
  2929. }else if (code_seen("fv")) {
  2930. // get file version
  2931. #ifdef SDSUPPORT
  2932. card.openFile(strchr_pointer + 3,true);
  2933. while (true) {
  2934. uint16_t readByte = card.get();
  2935. MYSERIAL.write(readByte);
  2936. if (readByte=='\n') {
  2937. break;
  2938. }
  2939. }
  2940. card.closefile();
  2941. #endif // SDSUPPORT
  2942. } else if (code_seen("M28")) {
  2943. trace();
  2944. prusa_sd_card_upload = true;
  2945. card.openFile(strchr_pointer+4,false);
  2946. } else if (code_seen("SN")) {
  2947. gcode_PRUSA_SN();
  2948. } else if(code_seen("Fir")){
  2949. SERIAL_PROTOCOLLN(FW_VERSION);
  2950. } else if(code_seen("Rev")){
  2951. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  2952. } else if(code_seen("Lang")) {
  2953. lang_reset();
  2954. } else if(code_seen("Lz")) {
  2955. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  2956. } else if(code_seen("Beat")) {
  2957. // Kick farm link timer
  2958. kicktime = millis();
  2959. } else if(code_seen("FR")) {
  2960. // Factory full reset
  2961. factory_reset(0,true);
  2962. }
  2963. //else if (code_seen('Cal')) {
  2964. // lcd_calibration();
  2965. // }
  2966. }
  2967. else if (code_seen('^')) {
  2968. // nothing, this is a version line
  2969. } else if(code_seen('G'))
  2970. {
  2971. switch((int)code_value())
  2972. {
  2973. case 0: // G0 -> G1
  2974. case 1: // G1
  2975. if(Stopped == false) {
  2976. #ifdef FILAMENT_RUNOUT_SUPPORT
  2977. if(READ(FR_SENS)){
  2978. feedmultiplyBckp=feedmultiply;
  2979. float target[4];
  2980. float lastpos[4];
  2981. target[X_AXIS]=current_position[X_AXIS];
  2982. target[Y_AXIS]=current_position[Y_AXIS];
  2983. target[Z_AXIS]=current_position[Z_AXIS];
  2984. target[E_AXIS]=current_position[E_AXIS];
  2985. lastpos[X_AXIS]=current_position[X_AXIS];
  2986. lastpos[Y_AXIS]=current_position[Y_AXIS];
  2987. lastpos[Z_AXIS]=current_position[Z_AXIS];
  2988. lastpos[E_AXIS]=current_position[E_AXIS];
  2989. //retract by E
  2990. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  2991. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2992. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  2993. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  2994. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  2995. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  2996. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  2997. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  2998. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2999. //finish moves
  3000. st_synchronize();
  3001. //disable extruder steppers so filament can be removed
  3002. disable_e0();
  3003. disable_e1();
  3004. disable_e2();
  3005. delay(100);
  3006. //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
  3007. uint8_t cnt=0;
  3008. int counterBeep = 0;
  3009. lcd_wait_interact();
  3010. while(!lcd_clicked()){
  3011. cnt++;
  3012. manage_heater();
  3013. manage_inactivity(true);
  3014. //lcd_update(0);
  3015. if(cnt==0)
  3016. {
  3017. #if BEEPER > 0
  3018. if (counterBeep== 500){
  3019. counterBeep = 0;
  3020. }
  3021. SET_OUTPUT(BEEPER);
  3022. if (counterBeep== 0){
  3023. WRITE(BEEPER,HIGH);
  3024. }
  3025. if (counterBeep== 20){
  3026. WRITE(BEEPER,LOW);
  3027. }
  3028. counterBeep++;
  3029. #else
  3030. #endif
  3031. }
  3032. }
  3033. WRITE(BEEPER,LOW);
  3034. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3035. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3036. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3037. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3038. lcd_change_fil_state = 0;
  3039. lcd_loading_filament();
  3040. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  3041. lcd_change_fil_state = 0;
  3042. lcd_alright();
  3043. switch(lcd_change_fil_state){
  3044. case 2:
  3045. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3046. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3047. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3048. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3049. lcd_loading_filament();
  3050. break;
  3051. case 3:
  3052. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3053. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3054. lcd_loading_color();
  3055. break;
  3056. default:
  3057. lcd_change_success();
  3058. break;
  3059. }
  3060. }
  3061. target[E_AXIS]+= 5;
  3062. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3063. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  3064. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3065. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3066. //plan_set_e_position(current_position[E_AXIS]);
  3067. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  3068. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  3069. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  3070. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  3071. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  3072. plan_set_e_position(lastpos[E_AXIS]);
  3073. feedmultiply=feedmultiplyBckp;
  3074. char cmd[9];
  3075. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  3076. enquecommand(cmd);
  3077. }
  3078. #endif
  3079. get_coordinates(); // For X Y Z E F
  3080. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  3081. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  3082. }
  3083. #ifdef FWRETRACT
  3084. if(autoretract_enabled)
  3085. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  3086. float echange=destination[E_AXIS]-current_position[E_AXIS];
  3087. if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
  3088. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  3089. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  3090. retract(!retracted[active_extruder]);
  3091. return;
  3092. }
  3093. }
  3094. #endif //FWRETRACT
  3095. prepare_move();
  3096. //ClearToSend();
  3097. }
  3098. break;
  3099. case 2: // G2 - CW ARC
  3100. if(Stopped == false) {
  3101. get_arc_coordinates();
  3102. prepare_arc_move(true);
  3103. }
  3104. break;
  3105. case 3: // G3 - CCW ARC
  3106. if(Stopped == false) {
  3107. get_arc_coordinates();
  3108. prepare_arc_move(false);
  3109. }
  3110. break;
  3111. case 4: // G4 dwell
  3112. codenum = 0;
  3113. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  3114. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  3115. if(codenum != 0) LCD_MESSAGERPGM(_i("Sleep..."));////MSG_DWELL c=0 r=0
  3116. st_synchronize();
  3117. codenum += millis(); // keep track of when we started waiting
  3118. previous_millis_cmd = millis();
  3119. while(millis() < codenum) {
  3120. manage_heater();
  3121. manage_inactivity();
  3122. lcd_update(0);
  3123. }
  3124. break;
  3125. #ifdef FWRETRACT
  3126. case 10: // G10 retract
  3127. #if EXTRUDERS > 1
  3128. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  3129. retract(true,retracted_swap[active_extruder]);
  3130. #else
  3131. retract(true);
  3132. #endif
  3133. break;
  3134. case 11: // G11 retract_recover
  3135. #if EXTRUDERS > 1
  3136. retract(false,retracted_swap[active_extruder]);
  3137. #else
  3138. retract(false);
  3139. #endif
  3140. break;
  3141. #endif //FWRETRACT
  3142. case 28: //G28 Home all Axis one at a time
  3143. {
  3144. // Which axes should be homed?
  3145. bool home_x = code_seen(axis_codes[X_AXIS]);
  3146. bool home_y = code_seen(axis_codes[Y_AXIS]);
  3147. bool home_z = code_seen(axis_codes[Z_AXIS]);
  3148. // calibrate?
  3149. bool calib = code_seen('C');
  3150. gcode_G28(home_x, home_y, home_z, calib);
  3151. break;
  3152. }
  3153. #ifdef ENABLE_AUTO_BED_LEVELING
  3154. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  3155. {
  3156. #if Z_MIN_PIN == -1
  3157. #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."
  3158. #endif
  3159. // Prevent user from running a G29 without first homing in X and Y
  3160. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  3161. {
  3162. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  3163. SERIAL_ECHO_START;
  3164. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  3165. break; // abort G29, since we don't know where we are
  3166. }
  3167. st_synchronize();
  3168. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  3169. //vector_3 corrected_position = plan_get_position_mm();
  3170. //corrected_position.debug("position before G29");
  3171. plan_bed_level_matrix.set_to_identity();
  3172. vector_3 uncorrected_position = plan_get_position();
  3173. //uncorrected_position.debug("position durring G29");
  3174. current_position[X_AXIS] = uncorrected_position.x;
  3175. current_position[Y_AXIS] = uncorrected_position.y;
  3176. current_position[Z_AXIS] = uncorrected_position.z;
  3177. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3178. setup_for_endstop_move();
  3179. feedrate = homing_feedrate[Z_AXIS];
  3180. #ifdef AUTO_BED_LEVELING_GRID
  3181. // probe at the points of a lattice grid
  3182. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3183. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3184. // solve the plane equation ax + by + d = z
  3185. // A is the matrix with rows [x y 1] for all the probed points
  3186. // B is the vector of the Z positions
  3187. // 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
  3188. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3189. // "A" matrix of the linear system of equations
  3190. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  3191. // "B" vector of Z points
  3192. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  3193. int probePointCounter = 0;
  3194. bool zig = true;
  3195. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  3196. {
  3197. int xProbe, xInc;
  3198. if (zig)
  3199. {
  3200. xProbe = LEFT_PROBE_BED_POSITION;
  3201. //xEnd = RIGHT_PROBE_BED_POSITION;
  3202. xInc = xGridSpacing;
  3203. zig = false;
  3204. } else // zag
  3205. {
  3206. xProbe = RIGHT_PROBE_BED_POSITION;
  3207. //xEnd = LEFT_PROBE_BED_POSITION;
  3208. xInc = -xGridSpacing;
  3209. zig = true;
  3210. }
  3211. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  3212. {
  3213. float z_before;
  3214. if (probePointCounter == 0)
  3215. {
  3216. // raise before probing
  3217. z_before = Z_RAISE_BEFORE_PROBING;
  3218. } else
  3219. {
  3220. // raise extruder
  3221. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  3222. }
  3223. float measured_z = probe_pt(xProbe, yProbe, z_before);
  3224. eqnBVector[probePointCounter] = measured_z;
  3225. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  3226. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  3227. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  3228. probePointCounter++;
  3229. xProbe += xInc;
  3230. }
  3231. }
  3232. clean_up_after_endstop_move();
  3233. // solve lsq problem
  3234. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  3235. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3236. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  3237. SERIAL_PROTOCOLPGM(" b: ");
  3238. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  3239. SERIAL_PROTOCOLPGM(" d: ");
  3240. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  3241. set_bed_level_equation_lsq(plane_equation_coefficients);
  3242. free(plane_equation_coefficients);
  3243. #else // AUTO_BED_LEVELING_GRID not defined
  3244. // Probe at 3 arbitrary points
  3245. // probe 1
  3246. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  3247. // probe 2
  3248. 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);
  3249. // probe 3
  3250. 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);
  3251. clean_up_after_endstop_move();
  3252. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  3253. #endif // AUTO_BED_LEVELING_GRID
  3254. st_synchronize();
  3255. // The following code correct the Z height difference from z-probe position and hotend tip position.
  3256. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  3257. // When the bed is uneven, this height must be corrected.
  3258. real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
  3259. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  3260. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3261. z_tmp = current_position[Z_AXIS];
  3262. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  3263. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  3264. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3265. }
  3266. break;
  3267. #ifndef Z_PROBE_SLED
  3268. case 30: // G30 Single Z Probe
  3269. {
  3270. st_synchronize();
  3271. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3272. setup_for_endstop_move();
  3273. feedrate = homing_feedrate[Z_AXIS];
  3274. run_z_probe();
  3275. SERIAL_PROTOCOLPGM(_T(MSG_BED));
  3276. SERIAL_PROTOCOLPGM(" X: ");
  3277. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3278. SERIAL_PROTOCOLPGM(" Y: ");
  3279. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3280. SERIAL_PROTOCOLPGM(" Z: ");
  3281. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3282. SERIAL_PROTOCOLPGM("\n");
  3283. clean_up_after_endstop_move();
  3284. }
  3285. break;
  3286. #else
  3287. case 31: // dock the sled
  3288. dock_sled(true);
  3289. break;
  3290. case 32: // undock the sled
  3291. dock_sled(false);
  3292. break;
  3293. #endif // Z_PROBE_SLED
  3294. #endif // ENABLE_AUTO_BED_LEVELING
  3295. #ifdef MESH_BED_LEVELING
  3296. case 30: // G30 Single Z Probe
  3297. {
  3298. st_synchronize();
  3299. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3300. setup_for_endstop_move();
  3301. feedrate = homing_feedrate[Z_AXIS];
  3302. find_bed_induction_sensor_point_z(-10.f, 3);
  3303. printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
  3304. clean_up_after_endstop_move();
  3305. }
  3306. break;
  3307. case 75:
  3308. {
  3309. for (int i = 40; i <= 110; i++)
  3310. printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
  3311. }
  3312. break;
  3313. case 76: //PINDA probe temperature calibration
  3314. {
  3315. #ifdef PINDA_THERMISTOR
  3316. if (true)
  3317. {
  3318. if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
  3319. //we need to know accurate position of first calibration point
  3320. //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
  3321. lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
  3322. break;
  3323. }
  3324. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  3325. {
  3326. // We don't know where we are! HOME!
  3327. // Push the commands to the front of the message queue in the reverse order!
  3328. // There shall be always enough space reserved for these commands.
  3329. repeatcommand_front(); // repeat G76 with all its parameters
  3330. enquecommand_front_P((PSTR("G28 W0")));
  3331. break;
  3332. }
  3333. 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
  3334. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  3335. if (result)
  3336. {
  3337. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3338. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3339. current_position[Z_AXIS] = 50;
  3340. current_position[Y_AXIS] = 180;
  3341. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3342. st_synchronize();
  3343. lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  3344. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3345. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3346. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3347. st_synchronize();
  3348. gcode_G28(false, false, true, false);
  3349. }
  3350. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  3351. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  3352. current_position[Z_AXIS] = 100;
  3353. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3354. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  3355. lcd_temp_cal_show_result(false);
  3356. break;
  3357. }
  3358. }
  3359. lcd_update_enable(true);
  3360. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  3361. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  3362. float zero_z;
  3363. int z_shift = 0; //unit: steps
  3364. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  3365. if (start_temp < 35) start_temp = 35;
  3366. if (start_temp < current_temperature_pinda) start_temp += 5;
  3367. printf_P(_N("start temperature: %.1f\n"), start_temp);
  3368. // setTargetHotend(200, 0);
  3369. setTargetBed(70 + (start_temp - 30));
  3370. custom_message = true;
  3371. custom_message_type = 4;
  3372. custom_message_state = 1;
  3373. custom_message = _T(MSG_TEMP_CALIBRATION);
  3374. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3375. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3376. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3377. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3378. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3379. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3380. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3381. st_synchronize();
  3382. while (current_temperature_pinda < start_temp)
  3383. {
  3384. delay_keep_alive(1000);
  3385. serialecho_temperatures();
  3386. }
  3387. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3388. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3389. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3390. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3391. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3392. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3393. st_synchronize();
  3394. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3395. if (find_z_result == false) {
  3396. lcd_temp_cal_show_result(find_z_result);
  3397. break;
  3398. }
  3399. zero_z = current_position[Z_AXIS];
  3400. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3401. int i = -1; for (; i < 5; i++)
  3402. {
  3403. float temp = (40 + i * 5);
  3404. printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
  3405. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3406. if (start_temp <= temp) break;
  3407. }
  3408. for (i++; i < 5; i++)
  3409. {
  3410. float temp = (40 + i * 5);
  3411. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3412. custom_message_state = i + 2;
  3413. setTargetBed(50 + 10 * (temp - 30) / 5);
  3414. // setTargetHotend(255, 0);
  3415. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3416. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3417. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3418. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3419. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3420. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3421. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3422. st_synchronize();
  3423. while (current_temperature_pinda < temp)
  3424. {
  3425. delay_keep_alive(1000);
  3426. serialecho_temperatures();
  3427. }
  3428. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3429. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3430. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3431. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3432. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3433. st_synchronize();
  3434. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3435. if (find_z_result == false) {
  3436. lcd_temp_cal_show_result(find_z_result);
  3437. break;
  3438. }
  3439. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3440. printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
  3441. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3442. }
  3443. lcd_temp_cal_show_result(true);
  3444. break;
  3445. }
  3446. #endif //PINDA_THERMISTOR
  3447. setTargetBed(PINDA_MIN_T);
  3448. float zero_z;
  3449. int z_shift = 0; //unit: steps
  3450. int t_c; // temperature
  3451. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3452. // We don't know where we are! HOME!
  3453. // Push the commands to the front of the message queue in the reverse order!
  3454. // There shall be always enough space reserved for these commands.
  3455. repeatcommand_front(); // repeat G76 with all its parameters
  3456. enquecommand_front_P((PSTR("G28 W0")));
  3457. break;
  3458. }
  3459. puts_P(_N("PINDA probe calibration start"));
  3460. custom_message = true;
  3461. custom_message_type = 4;
  3462. custom_message_state = 1;
  3463. custom_message = _T(MSG_TEMP_CALIBRATION);
  3464. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3465. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3466. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3467. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3468. st_synchronize();
  3469. while (abs(degBed() - PINDA_MIN_T) > 1) {
  3470. delay_keep_alive(1000);
  3471. serialecho_temperatures();
  3472. }
  3473. //enquecommand_P(PSTR("M190 S50"));
  3474. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3475. delay_keep_alive(1000);
  3476. serialecho_temperatures();
  3477. }
  3478. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3479. current_position[Z_AXIS] = 5;
  3480. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3481. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3482. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3483. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3484. st_synchronize();
  3485. find_bed_induction_sensor_point_z(-1.f);
  3486. zero_z = current_position[Z_AXIS];
  3487. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3488. for (int i = 0; i<5; i++) {
  3489. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3490. custom_message_state = i + 2;
  3491. t_c = 60 + i * 10;
  3492. setTargetBed(t_c);
  3493. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3494. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3495. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3496. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3497. st_synchronize();
  3498. while (degBed() < t_c) {
  3499. delay_keep_alive(1000);
  3500. serialecho_temperatures();
  3501. }
  3502. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3503. delay_keep_alive(1000);
  3504. serialecho_temperatures();
  3505. }
  3506. current_position[Z_AXIS] = 5;
  3507. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3508. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3509. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3510. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3511. st_synchronize();
  3512. find_bed_induction_sensor_point_z(-1.f);
  3513. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3514. printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
  3515. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  3516. }
  3517. custom_message_type = 0;
  3518. custom_message = false;
  3519. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  3520. puts_P(_N("Temperature calibration done."));
  3521. disable_x();
  3522. disable_y();
  3523. disable_z();
  3524. disable_e0();
  3525. disable_e1();
  3526. disable_e2();
  3527. setTargetBed(0); //set bed target temperature back to 0
  3528. lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
  3529. temp_cal_active = true;
  3530. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  3531. lcd_update_enable(true);
  3532. lcd_update(2);
  3533. }
  3534. break;
  3535. #ifdef DIS
  3536. case 77:
  3537. {
  3538. //G77 X200 Y150 XP100 YP15 XO10 Y015
  3539. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  3540. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  3541. float dimension_x = 40;
  3542. float dimension_y = 40;
  3543. int points_x = 40;
  3544. int points_y = 40;
  3545. float offset_x = 74;
  3546. float offset_y = 33;
  3547. if (code_seen('X')) dimension_x = code_value();
  3548. if (code_seen('Y')) dimension_y = code_value();
  3549. if (code_seen('XP')) points_x = code_value();
  3550. if (code_seen('YP')) points_y = code_value();
  3551. if (code_seen('XO')) offset_x = code_value();
  3552. if (code_seen('YO')) offset_y = code_value();
  3553. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  3554. } break;
  3555. #endif
  3556. case 79: {
  3557. for (int i = 255; i > 0; i = i - 5) {
  3558. fanSpeed = i;
  3559. //delay_keep_alive(2000);
  3560. for (int j = 0; j < 100; j++) {
  3561. delay_keep_alive(100);
  3562. }
  3563. fan_speed[1];
  3564. printf_P(_N("%d: %d\n"), i, fan_speed[1]);
  3565. }
  3566. }break;
  3567. /**
  3568. * G80: Mesh-based Z probe, probes a grid and produces a
  3569. * mesh to compensate for variable bed height
  3570. *
  3571. * The S0 report the points as below
  3572. *
  3573. * +----> X-axis
  3574. * |
  3575. * |
  3576. * v Y-axis
  3577. *
  3578. */
  3579. case 80:
  3580. #ifdef MK1BP
  3581. break;
  3582. #endif //MK1BP
  3583. case_G80:
  3584. {
  3585. mesh_bed_leveling_flag = true;
  3586. int8_t verbosity_level = 0;
  3587. static bool run = false;
  3588. if (code_seen('V')) {
  3589. // Just 'V' without a number counts as V1.
  3590. char c = strchr_pointer[1];
  3591. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3592. }
  3593. // Firstly check if we know where we are
  3594. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3595. // We don't know where we are! HOME!
  3596. // Push the commands to the front of the message queue in the reverse order!
  3597. // There shall be always enough space reserved for these commands.
  3598. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3599. repeatcommand_front(); // repeat G80 with all its parameters
  3600. enquecommand_front_P((PSTR("G28 W0")));
  3601. }
  3602. else {
  3603. mesh_bed_leveling_flag = false;
  3604. }
  3605. break;
  3606. }
  3607. bool temp_comp_start = true;
  3608. #ifdef PINDA_THERMISTOR
  3609. temp_comp_start = false;
  3610. #endif //PINDA_THERMISTOR
  3611. if (temp_comp_start)
  3612. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3613. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3614. temp_compensation_start();
  3615. run = true;
  3616. repeatcommand_front(); // repeat G80 with all its parameters
  3617. enquecommand_front_P((PSTR("G28 W0")));
  3618. }
  3619. else {
  3620. mesh_bed_leveling_flag = false;
  3621. }
  3622. break;
  3623. }
  3624. run = false;
  3625. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  3626. mesh_bed_leveling_flag = false;
  3627. break;
  3628. }
  3629. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  3630. bool custom_message_old = custom_message;
  3631. unsigned int custom_message_type_old = custom_message_type;
  3632. unsigned int custom_message_state_old = custom_message_state;
  3633. custom_message = true;
  3634. custom_message_type = 1;
  3635. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  3636. lcd_update(1);
  3637. mbl.reset(); //reset mesh bed leveling
  3638. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  3639. // consumed during the first movements following this statement.
  3640. babystep_undo();
  3641. // Cycle through all points and probe them
  3642. // First move up. During this first movement, the babystepping will be reverted.
  3643. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3644. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
  3645. // The move to the first calibration point.
  3646. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3647. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3648. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3649. #ifdef SUPPORT_VERBOSITY
  3650. if (verbosity_level >= 1) {
  3651. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  3652. }
  3653. #endif //SUPPORT_VERBOSITY
  3654. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  3655. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder);
  3656. // Wait until the move is finished.
  3657. st_synchronize();
  3658. int mesh_point = 0; //index number of calibration point
  3659. int ix = 0;
  3660. int iy = 0;
  3661. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  3662. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  3663. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  3664. 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)
  3665. #ifdef SUPPORT_VERBOSITY
  3666. if (verbosity_level >= 1) {
  3667. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  3668. }
  3669. #endif // SUPPORT_VERBOSITY
  3670. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  3671. const char *kill_message = NULL;
  3672. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3673. // Get coords of a measuring point.
  3674. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  3675. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  3676. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  3677. float z0 = 0.f;
  3678. if (has_z && mesh_point > 0) {
  3679. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  3680. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  3681. //#if 0
  3682. #ifdef SUPPORT_VERBOSITY
  3683. if (verbosity_level >= 1) {
  3684. SERIAL_ECHOLNPGM("");
  3685. SERIAL_ECHOPGM("Bed leveling, point: ");
  3686. MYSERIAL.print(mesh_point);
  3687. SERIAL_ECHOPGM(", calibration z: ");
  3688. MYSERIAL.print(z0, 5);
  3689. SERIAL_ECHOLNPGM("");
  3690. }
  3691. #endif // SUPPORT_VERBOSITY
  3692. //#endif
  3693. }
  3694. // Move Z up to MESH_HOME_Z_SEARCH.
  3695. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3696. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3697. st_synchronize();
  3698. // Move to XY position of the sensor point.
  3699. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  3700. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  3701. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3702. #ifdef SUPPORT_VERBOSITY
  3703. if (verbosity_level >= 1) {
  3704. SERIAL_PROTOCOL(mesh_point);
  3705. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  3706. }
  3707. #endif // SUPPORT_VERBOSITY
  3708. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  3709. st_synchronize();
  3710. // Go down until endstop is hit
  3711. const float Z_CALIBRATION_THRESHOLD = 1.f;
  3712. if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
  3713. kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW);
  3714. break;
  3715. }
  3716. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  3717. kill_message = _i("Bed leveling failed. Sensor disconnected or cable broken. Waiting for reset.");////MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED c=20 r=4
  3718. break;
  3719. }
  3720. 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
  3721. kill_message = _i("Bed leveling failed. Sensor triggered too high. Waiting for reset.");////MSG_BED_LEVELING_FAILED_POINT_HIGH c=20 r=4
  3722. break;
  3723. }
  3724. #ifdef SUPPORT_VERBOSITY
  3725. if (verbosity_level >= 10) {
  3726. SERIAL_ECHOPGM("X: ");
  3727. MYSERIAL.print(current_position[X_AXIS], 5);
  3728. SERIAL_ECHOLNPGM("");
  3729. SERIAL_ECHOPGM("Y: ");
  3730. MYSERIAL.print(current_position[Y_AXIS], 5);
  3731. SERIAL_PROTOCOLPGM("\n");
  3732. }
  3733. #endif // SUPPORT_VERBOSITY
  3734. float offset_z = 0;
  3735. #ifdef PINDA_THERMISTOR
  3736. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  3737. #endif //PINDA_THERMISTOR
  3738. // #ifdef SUPPORT_VERBOSITY
  3739. /* if (verbosity_level >= 1)
  3740. {
  3741. SERIAL_ECHOPGM("mesh bed leveling: ");
  3742. MYSERIAL.print(current_position[Z_AXIS], 5);
  3743. SERIAL_ECHOPGM(" offset: ");
  3744. MYSERIAL.print(offset_z, 5);
  3745. SERIAL_ECHOLNPGM("");
  3746. }*/
  3747. // #endif // SUPPORT_VERBOSITY
  3748. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  3749. custom_message_state--;
  3750. mesh_point++;
  3751. lcd_update(1);
  3752. }
  3753. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3754. #ifdef SUPPORT_VERBOSITY
  3755. if (verbosity_level >= 20) {
  3756. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  3757. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  3758. MYSERIAL.print(current_position[Z_AXIS], 5);
  3759. }
  3760. #endif // SUPPORT_VERBOSITY
  3761. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3762. st_synchronize();
  3763. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3764. kill(kill_message);
  3765. SERIAL_ECHOLNPGM("killed");
  3766. }
  3767. clean_up_after_endstop_move();
  3768. // SERIAL_ECHOLNPGM("clean up finished ");
  3769. bool apply_temp_comp = true;
  3770. #ifdef PINDA_THERMISTOR
  3771. apply_temp_comp = false;
  3772. #endif
  3773. if (apply_temp_comp)
  3774. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  3775. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  3776. // SERIAL_ECHOLNPGM("babystep applied");
  3777. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  3778. #ifdef SUPPORT_VERBOSITY
  3779. if (verbosity_level >= 1) {
  3780. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  3781. }
  3782. #endif // SUPPORT_VERBOSITY
  3783. for (uint8_t i = 0; i < 4; ++i) {
  3784. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  3785. long correction = 0;
  3786. if (code_seen(codes[i]))
  3787. correction = code_value_long();
  3788. else if (eeprom_bed_correction_valid) {
  3789. unsigned char *addr = (i < 2) ?
  3790. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  3791. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  3792. correction = eeprom_read_int8(addr);
  3793. }
  3794. if (correction == 0)
  3795. continue;
  3796. float offset = float(correction) * 0.001f;
  3797. if (fabs(offset) > 0.101f) {
  3798. SERIAL_ERROR_START;
  3799. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  3800. SERIAL_ECHO(offset);
  3801. SERIAL_ECHOLNPGM(" microns");
  3802. }
  3803. else {
  3804. switch (i) {
  3805. case 0:
  3806. for (uint8_t row = 0; row < 3; ++row) {
  3807. mbl.z_values[row][1] += 0.5f * offset;
  3808. mbl.z_values[row][0] += offset;
  3809. }
  3810. break;
  3811. case 1:
  3812. for (uint8_t row = 0; row < 3; ++row) {
  3813. mbl.z_values[row][1] += 0.5f * offset;
  3814. mbl.z_values[row][2] += offset;
  3815. }
  3816. break;
  3817. case 2:
  3818. for (uint8_t col = 0; col < 3; ++col) {
  3819. mbl.z_values[1][col] += 0.5f * offset;
  3820. mbl.z_values[0][col] += offset;
  3821. }
  3822. break;
  3823. case 3:
  3824. for (uint8_t col = 0; col < 3; ++col) {
  3825. mbl.z_values[1][col] += 0.5f * offset;
  3826. mbl.z_values[2][col] += offset;
  3827. }
  3828. break;
  3829. }
  3830. }
  3831. }
  3832. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  3833. mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
  3834. // SERIAL_ECHOLNPGM("Upsample finished");
  3835. mbl.active = 1; //activate mesh bed leveling
  3836. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  3837. go_home_with_z_lift();
  3838. // SERIAL_ECHOLNPGM("Go home finished");
  3839. //unretract (after PINDA preheat retraction)
  3840. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3841. current_position[E_AXIS] += DEFAULT_RETRACTION;
  3842. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  3843. }
  3844. KEEPALIVE_STATE(NOT_BUSY);
  3845. // Restore custom message state
  3846. lcd_setstatuspgm(_T(WELCOME_MSG));
  3847. custom_message = custom_message_old;
  3848. custom_message_type = custom_message_type_old;
  3849. custom_message_state = custom_message_state_old;
  3850. mesh_bed_leveling_flag = false;
  3851. mesh_bed_run_from_menu = false;
  3852. lcd_update(2);
  3853. }
  3854. break;
  3855. /**
  3856. * G81: Print mesh bed leveling status and bed profile if activated
  3857. */
  3858. case 81:
  3859. if (mbl.active) {
  3860. SERIAL_PROTOCOLPGM("Num X,Y: ");
  3861. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  3862. SERIAL_PROTOCOLPGM(",");
  3863. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  3864. SERIAL_PROTOCOLPGM("\nZ search height: ");
  3865. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  3866. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3867. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  3868. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  3869. SERIAL_PROTOCOLPGM(" ");
  3870. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  3871. }
  3872. SERIAL_PROTOCOLPGM("\n");
  3873. }
  3874. }
  3875. else
  3876. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3877. break;
  3878. #if 0
  3879. /**
  3880. * G82: Single Z probe at current location
  3881. *
  3882. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  3883. *
  3884. */
  3885. case 82:
  3886. SERIAL_PROTOCOLLNPGM("Finding bed ");
  3887. setup_for_endstop_move();
  3888. find_bed_induction_sensor_point_z();
  3889. clean_up_after_endstop_move();
  3890. SERIAL_PROTOCOLPGM("Bed found at: ");
  3891. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  3892. SERIAL_PROTOCOLPGM("\n");
  3893. break;
  3894. /**
  3895. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  3896. */
  3897. case 83:
  3898. {
  3899. int babystepz = code_seen('S') ? code_value() : 0;
  3900. int BabyPosition = code_seen('P') ? code_value() : 0;
  3901. if (babystepz != 0) {
  3902. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  3903. // Is the axis indexed starting with zero or one?
  3904. if (BabyPosition > 4) {
  3905. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  3906. }else{
  3907. // Save it to the eeprom
  3908. babystepLoadZ = babystepz;
  3909. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  3910. // adjust the Z
  3911. babystepsTodoZadd(babystepLoadZ);
  3912. }
  3913. }
  3914. }
  3915. break;
  3916. /**
  3917. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  3918. */
  3919. case 84:
  3920. babystepsTodoZsubtract(babystepLoadZ);
  3921. // babystepLoadZ = 0;
  3922. break;
  3923. /**
  3924. * G85: Prusa3D specific: Pick best babystep
  3925. */
  3926. case 85:
  3927. lcd_pick_babystep();
  3928. break;
  3929. #endif
  3930. /**
  3931. * G86: Prusa3D specific: Disable babystep correction after home.
  3932. * This G-code will be performed at the start of a calibration script.
  3933. */
  3934. case 86:
  3935. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3936. break;
  3937. /**
  3938. * G87: Prusa3D specific: Enable babystep correction after home
  3939. * This G-code will be performed at the end of a calibration script.
  3940. */
  3941. case 87:
  3942. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3943. break;
  3944. /**
  3945. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  3946. */
  3947. case 88:
  3948. break;
  3949. #endif // ENABLE_MESH_BED_LEVELING
  3950. case 90: // G90
  3951. relative_mode = false;
  3952. break;
  3953. case 91: // G91
  3954. relative_mode = true;
  3955. break;
  3956. case 92: // G92
  3957. if(!code_seen(axis_codes[E_AXIS]))
  3958. st_synchronize();
  3959. for(int8_t i=0; i < NUM_AXIS; i++) {
  3960. if(code_seen(axis_codes[i])) {
  3961. if(i == E_AXIS) {
  3962. current_position[i] = code_value();
  3963. plan_set_e_position(current_position[E_AXIS]);
  3964. }
  3965. else {
  3966. current_position[i] = code_value()+add_homing[i];
  3967. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3968. }
  3969. }
  3970. }
  3971. break;
  3972. case 98: // G98 (activate farm mode)
  3973. farm_mode = 1;
  3974. PingTime = millis();
  3975. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3976. SilentModeMenu = SILENT_MODE_OFF;
  3977. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  3978. break;
  3979. case 99: // G99 (deactivate farm mode)
  3980. farm_mode = 0;
  3981. lcd_printer_connected();
  3982. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3983. lcd_update(2);
  3984. break;
  3985. default:
  3986. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  3987. }
  3988. } // end if(code_seen('G'))
  3989. else if(code_seen('M'))
  3990. {
  3991. int index;
  3992. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  3993. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  3994. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  3995. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  3996. } else
  3997. switch((int)code_value())
  3998. {
  3999. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  4000. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  4001. {
  4002. char *src = strchr_pointer + 2;
  4003. codenum = 0;
  4004. bool hasP = false, hasS = false;
  4005. if (code_seen('P')) {
  4006. codenum = code_value(); // milliseconds to wait
  4007. hasP = codenum > 0;
  4008. }
  4009. if (code_seen('S')) {
  4010. codenum = code_value() * 1000; // seconds to wait
  4011. hasS = codenum > 0;
  4012. }
  4013. starpos = strchr(src, '*');
  4014. if (starpos != NULL) *(starpos) = '\0';
  4015. while (*src == ' ') ++src;
  4016. if (!hasP && !hasS && *src != '\0') {
  4017. lcd_setstatus(src);
  4018. } else {
  4019. LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT c=0 r=0
  4020. }
  4021. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  4022. st_synchronize();
  4023. previous_millis_cmd = millis();
  4024. if (codenum > 0){
  4025. codenum += millis(); // keep track of when we started waiting
  4026. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4027. while(millis() < codenum && !lcd_clicked()){
  4028. manage_heater();
  4029. manage_inactivity(true);
  4030. lcd_update(0);
  4031. }
  4032. KEEPALIVE_STATE(IN_HANDLER);
  4033. lcd_ignore_click(false);
  4034. }else{
  4035. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4036. while(!lcd_clicked()){
  4037. manage_heater();
  4038. manage_inactivity(true);
  4039. lcd_update(0);
  4040. }
  4041. KEEPALIVE_STATE(IN_HANDLER);
  4042. }
  4043. if (IS_SD_PRINTING)
  4044. LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
  4045. else
  4046. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4047. }
  4048. break;
  4049. case 17:
  4050. LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE c=0 r=0
  4051. enable_x();
  4052. enable_y();
  4053. enable_z();
  4054. enable_e0();
  4055. enable_e1();
  4056. enable_e2();
  4057. break;
  4058. #ifdef SDSUPPORT
  4059. case 20: // M20 - list SD card
  4060. SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST c=0 r=0
  4061. card.ls();
  4062. SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST c=0 r=0
  4063. break;
  4064. case 21: // M21 - init SD card
  4065. card.initsd();
  4066. break;
  4067. case 22: //M22 - release SD card
  4068. card.release();
  4069. break;
  4070. case 23: //M23 - Select file
  4071. starpos = (strchr(strchr_pointer + 4,'*'));
  4072. if(starpos!=NULL)
  4073. *(starpos)='\0';
  4074. card.openFile(strchr_pointer + 4,true);
  4075. break;
  4076. case 24: //M24 - Start SD print
  4077. if (!card.paused)
  4078. failstats_reset_print();
  4079. card.startFileprint();
  4080. starttime=millis();
  4081. break;
  4082. case 25: //M25 - Pause SD print
  4083. card.pauseSDPrint();
  4084. break;
  4085. case 26: //M26 - Set SD index
  4086. if(card.cardOK && code_seen('S')) {
  4087. card.setIndex(code_value_long());
  4088. }
  4089. break;
  4090. case 27: //M27 - Get SD status
  4091. card.getStatus();
  4092. break;
  4093. case 28: //M28 - Start SD write
  4094. starpos = (strchr(strchr_pointer + 4,'*'));
  4095. if(starpos != NULL){
  4096. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4097. strchr_pointer = strchr(npos,' ') + 1;
  4098. *(starpos) = '\0';
  4099. }
  4100. card.openFile(strchr_pointer+4,false);
  4101. break;
  4102. case 29: //M29 - Stop SD write
  4103. //processed in write to file routine above
  4104. //card,saving = false;
  4105. break;
  4106. case 30: //M30 <filename> Delete File
  4107. if (card.cardOK){
  4108. card.closefile();
  4109. starpos = (strchr(strchr_pointer + 4,'*'));
  4110. if(starpos != NULL){
  4111. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4112. strchr_pointer = strchr(npos,' ') + 1;
  4113. *(starpos) = '\0';
  4114. }
  4115. card.removeFile(strchr_pointer + 4);
  4116. }
  4117. break;
  4118. case 32: //M32 - Select file and start SD print
  4119. {
  4120. if(card.sdprinting) {
  4121. st_synchronize();
  4122. }
  4123. starpos = (strchr(strchr_pointer + 4,'*'));
  4124. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  4125. if(namestartpos==NULL)
  4126. {
  4127. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  4128. }
  4129. else
  4130. namestartpos++; //to skip the '!'
  4131. if(starpos!=NULL)
  4132. *(starpos)='\0';
  4133. bool call_procedure=(code_seen('P'));
  4134. if(strchr_pointer>namestartpos)
  4135. call_procedure=false; //false alert, 'P' found within filename
  4136. if( card.cardOK )
  4137. {
  4138. card.openFile(namestartpos,true,!call_procedure);
  4139. if(code_seen('S'))
  4140. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  4141. card.setIndex(code_value_long());
  4142. card.startFileprint();
  4143. if(!call_procedure)
  4144. starttime=millis(); //procedure calls count as normal print time.
  4145. }
  4146. } break;
  4147. case 928: //M928 - Start SD write
  4148. starpos = (strchr(strchr_pointer + 5,'*'));
  4149. if(starpos != NULL){
  4150. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4151. strchr_pointer = strchr(npos,' ') + 1;
  4152. *(starpos) = '\0';
  4153. }
  4154. card.openLogFile(strchr_pointer+5);
  4155. break;
  4156. #endif //SDSUPPORT
  4157. case 31: //M31 take time since the start of the SD print or an M109 command
  4158. {
  4159. stoptime=millis();
  4160. char time[30];
  4161. unsigned long t=(stoptime-starttime)/1000;
  4162. int sec,min;
  4163. min=t/60;
  4164. sec=t%60;
  4165. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  4166. SERIAL_ECHO_START;
  4167. SERIAL_ECHOLN(time);
  4168. lcd_setstatus(time);
  4169. autotempShutdown();
  4170. }
  4171. break;
  4172. #ifndef _DISABLE_M42_M226
  4173. case 42: //M42 -Change pin status via gcode
  4174. if (code_seen('S'))
  4175. {
  4176. int pin_status = code_value();
  4177. int pin_number = LED_PIN;
  4178. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  4179. pin_number = code_value();
  4180. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4181. {
  4182. if (sensitive_pins[i] == pin_number)
  4183. {
  4184. pin_number = -1;
  4185. break;
  4186. }
  4187. }
  4188. #if defined(FAN_PIN) && FAN_PIN > -1
  4189. if (pin_number == FAN_PIN)
  4190. fanSpeed = pin_status;
  4191. #endif
  4192. if (pin_number > -1)
  4193. {
  4194. pinMode(pin_number, OUTPUT);
  4195. digitalWrite(pin_number, pin_status);
  4196. analogWrite(pin_number, pin_status);
  4197. }
  4198. }
  4199. break;
  4200. #endif //_DISABLE_M42_M226
  4201. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  4202. // Reset the baby step value and the baby step applied flag.
  4203. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  4204. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  4205. // Reset the skew and offset in both RAM and EEPROM.
  4206. reset_bed_offset_and_skew();
  4207. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4208. // the planner will not perform any adjustments in the XY plane.
  4209. // Wait for the motors to stop and update the current position with the absolute values.
  4210. world2machine_revert_to_uncorrected();
  4211. break;
  4212. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  4213. {
  4214. int8_t verbosity_level = 0;
  4215. bool only_Z = code_seen('Z');
  4216. #ifdef SUPPORT_VERBOSITY
  4217. if (code_seen('V'))
  4218. {
  4219. // Just 'V' without a number counts as V1.
  4220. char c = strchr_pointer[1];
  4221. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4222. }
  4223. #endif //SUPPORT_VERBOSITY
  4224. gcode_M45(only_Z, verbosity_level);
  4225. }
  4226. break;
  4227. /*
  4228. case 46:
  4229. {
  4230. // M46: Prusa3D: Show the assigned IP address.
  4231. uint8_t ip[4];
  4232. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  4233. if (hasIP) {
  4234. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  4235. SERIAL_ECHO(int(ip[0]));
  4236. SERIAL_ECHOPGM(".");
  4237. SERIAL_ECHO(int(ip[1]));
  4238. SERIAL_ECHOPGM(".");
  4239. SERIAL_ECHO(int(ip[2]));
  4240. SERIAL_ECHOPGM(".");
  4241. SERIAL_ECHO(int(ip[3]));
  4242. SERIAL_ECHOLNPGM("");
  4243. } else {
  4244. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  4245. }
  4246. break;
  4247. }
  4248. */
  4249. case 47:
  4250. // M47: Prusa3D: Show end stops dialog on the display.
  4251. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4252. lcd_diag_show_end_stops();
  4253. KEEPALIVE_STATE(IN_HANDLER);
  4254. break;
  4255. #if 0
  4256. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  4257. {
  4258. // Disable the default update procedure of the display. We will do a modal dialog.
  4259. lcd_update_enable(false);
  4260. // Let the planner use the uncorrected coordinates.
  4261. mbl.reset();
  4262. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4263. // the planner will not perform any adjustments in the XY plane.
  4264. // Wait for the motors to stop and update the current position with the absolute values.
  4265. world2machine_revert_to_uncorrected();
  4266. // Move the print head close to the bed.
  4267. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4268. 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);
  4269. st_synchronize();
  4270. // Home in the XY plane.
  4271. set_destination_to_current();
  4272. setup_for_endstop_move();
  4273. home_xy();
  4274. int8_t verbosity_level = 0;
  4275. if (code_seen('V')) {
  4276. // Just 'V' without a number counts as V1.
  4277. char c = strchr_pointer[1];
  4278. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4279. }
  4280. bool success = scan_bed_induction_points(verbosity_level);
  4281. clean_up_after_endstop_move();
  4282. // Print head up.
  4283. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4284. 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);
  4285. st_synchronize();
  4286. lcd_update_enable(true);
  4287. break;
  4288. }
  4289. #endif
  4290. // M48 Z-Probe repeatability measurement function.
  4291. //
  4292. // 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>
  4293. //
  4294. // This function assumes the bed has been homed. Specificaly, that a G28 command
  4295. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  4296. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  4297. // regenerated.
  4298. //
  4299. // The number of samples will default to 10 if not specified. You can use upper or lower case
  4300. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  4301. // N for its communication protocol and will get horribly confused if you send it a capital N.
  4302. //
  4303. #ifdef ENABLE_AUTO_BED_LEVELING
  4304. #ifdef Z_PROBE_REPEATABILITY_TEST
  4305. case 48: // M48 Z-Probe repeatability
  4306. {
  4307. #if Z_MIN_PIN == -1
  4308. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  4309. #endif
  4310. double sum=0.0;
  4311. double mean=0.0;
  4312. double sigma=0.0;
  4313. double sample_set[50];
  4314. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  4315. double X_current, Y_current, Z_current;
  4316. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  4317. if (code_seen('V') || code_seen('v')) {
  4318. verbose_level = code_value();
  4319. if (verbose_level<0 || verbose_level>4 ) {
  4320. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  4321. goto Sigma_Exit;
  4322. }
  4323. }
  4324. if (verbose_level > 0) {
  4325. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  4326. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  4327. }
  4328. if (code_seen('n')) {
  4329. n_samples = code_value();
  4330. if (n_samples<4 || n_samples>50 ) {
  4331. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  4332. goto Sigma_Exit;
  4333. }
  4334. }
  4335. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  4336. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  4337. Z_current = st_get_position_mm(Z_AXIS);
  4338. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4339. ext_position = st_get_position_mm(E_AXIS);
  4340. if (code_seen('X') || code_seen('x') ) {
  4341. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  4342. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  4343. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  4344. goto Sigma_Exit;
  4345. }
  4346. }
  4347. if (code_seen('Y') || code_seen('y') ) {
  4348. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  4349. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  4350. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  4351. goto Sigma_Exit;
  4352. }
  4353. }
  4354. if (code_seen('L') || code_seen('l') ) {
  4355. n_legs = code_value();
  4356. if ( n_legs==1 )
  4357. n_legs = 2;
  4358. if ( n_legs<0 || n_legs>15 ) {
  4359. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  4360. goto Sigma_Exit;
  4361. }
  4362. }
  4363. //
  4364. // Do all the preliminary setup work. First raise the probe.
  4365. //
  4366. st_synchronize();
  4367. plan_bed_level_matrix.set_to_identity();
  4368. plan_buffer_line( X_current, Y_current, Z_start_location,
  4369. ext_position,
  4370. homing_feedrate[Z_AXIS]/60,
  4371. active_extruder);
  4372. st_synchronize();
  4373. //
  4374. // Now get everything to the specified probe point So we can safely do a probe to
  4375. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  4376. // use that as a starting point for each probe.
  4377. //
  4378. if (verbose_level > 2)
  4379. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  4380. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4381. ext_position,
  4382. homing_feedrate[X_AXIS]/60,
  4383. active_extruder);
  4384. st_synchronize();
  4385. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  4386. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  4387. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4388. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  4389. //
  4390. // OK, do the inital probe to get us close to the bed.
  4391. // Then retrace the right amount and use that in subsequent probes
  4392. //
  4393. setup_for_endstop_move();
  4394. run_z_probe();
  4395. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4396. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4397. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4398. ext_position,
  4399. homing_feedrate[X_AXIS]/60,
  4400. active_extruder);
  4401. st_synchronize();
  4402. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4403. for( n=0; n<n_samples; n++) {
  4404. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  4405. if ( n_legs) {
  4406. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  4407. int rotational_direction, l;
  4408. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  4409. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  4410. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  4411. //SERIAL_ECHOPAIR("starting radius: ",radius);
  4412. //SERIAL_ECHOPAIR(" theta: ",theta);
  4413. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  4414. //SERIAL_PROTOCOLLNPGM("");
  4415. for( l=0; l<n_legs-1; l++) {
  4416. if (rotational_direction==1)
  4417. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4418. else
  4419. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4420. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  4421. if ( radius<0.0 )
  4422. radius = -radius;
  4423. X_current = X_probe_location + cos(theta) * radius;
  4424. Y_current = Y_probe_location + sin(theta) * radius;
  4425. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  4426. X_current = X_MIN_POS;
  4427. if ( X_current>X_MAX_POS)
  4428. X_current = X_MAX_POS;
  4429. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  4430. Y_current = Y_MIN_POS;
  4431. if ( Y_current>Y_MAX_POS)
  4432. Y_current = Y_MAX_POS;
  4433. if (verbose_level>3 ) {
  4434. SERIAL_ECHOPAIR("x: ", X_current);
  4435. SERIAL_ECHOPAIR("y: ", Y_current);
  4436. SERIAL_PROTOCOLLNPGM("");
  4437. }
  4438. do_blocking_move_to( X_current, Y_current, Z_current );
  4439. }
  4440. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  4441. }
  4442. setup_for_endstop_move();
  4443. run_z_probe();
  4444. sample_set[n] = current_position[Z_AXIS];
  4445. //
  4446. // Get the current mean for the data points we have so far
  4447. //
  4448. sum=0.0;
  4449. for( j=0; j<=n; j++) {
  4450. sum = sum + sample_set[j];
  4451. }
  4452. mean = sum / (double (n+1));
  4453. //
  4454. // Now, use that mean to calculate the standard deviation for the
  4455. // data points we have so far
  4456. //
  4457. sum=0.0;
  4458. for( j=0; j<=n; j++) {
  4459. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  4460. }
  4461. sigma = sqrt( sum / (double (n+1)) );
  4462. if (verbose_level > 1) {
  4463. SERIAL_PROTOCOL(n+1);
  4464. SERIAL_PROTOCOL(" of ");
  4465. SERIAL_PROTOCOL(n_samples);
  4466. SERIAL_PROTOCOLPGM(" z: ");
  4467. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  4468. }
  4469. if (verbose_level > 2) {
  4470. SERIAL_PROTOCOL(" mean: ");
  4471. SERIAL_PROTOCOL_F(mean,6);
  4472. SERIAL_PROTOCOL(" sigma: ");
  4473. SERIAL_PROTOCOL_F(sigma,6);
  4474. }
  4475. if (verbose_level > 0)
  4476. SERIAL_PROTOCOLPGM("\n");
  4477. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4478. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  4479. st_synchronize();
  4480. }
  4481. delay(1000);
  4482. clean_up_after_endstop_move();
  4483. // enable_endstops(true);
  4484. if (verbose_level > 0) {
  4485. SERIAL_PROTOCOLPGM("Mean: ");
  4486. SERIAL_PROTOCOL_F(mean, 6);
  4487. SERIAL_PROTOCOLPGM("\n");
  4488. }
  4489. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  4490. SERIAL_PROTOCOL_F(sigma, 6);
  4491. SERIAL_PROTOCOLPGM("\n\n");
  4492. Sigma_Exit:
  4493. break;
  4494. }
  4495. #endif // Z_PROBE_REPEATABILITY_TEST
  4496. #endif // ENABLE_AUTO_BED_LEVELING
  4497. case 73: //M73 show percent done and time remaining
  4498. if(code_seen('P')) print_percent_done_normal = code_value();
  4499. if(code_seen('R')) print_time_remaining_normal = code_value();
  4500. if(code_seen('Q')) print_percent_done_silent = code_value();
  4501. if(code_seen('S')) print_time_remaining_silent = code_value();
  4502. {
  4503. const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
  4504. printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
  4505. printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
  4506. }
  4507. break;
  4508. case 104: // M104
  4509. if(setTargetedHotend(104)){
  4510. break;
  4511. }
  4512. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  4513. setWatch();
  4514. break;
  4515. case 112: // M112 -Emergency Stop
  4516. kill(_n(""), 3);
  4517. break;
  4518. case 140: // M140 set bed temp
  4519. if (code_seen('S')) setTargetBed(code_value());
  4520. break;
  4521. case 105 : // M105
  4522. if(setTargetedHotend(105)){
  4523. break;
  4524. }
  4525. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  4526. SERIAL_PROTOCOLPGM("ok T:");
  4527. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  4528. SERIAL_PROTOCOLPGM(" /");
  4529. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  4530. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4531. SERIAL_PROTOCOLPGM(" B:");
  4532. SERIAL_PROTOCOL_F(degBed(),1);
  4533. SERIAL_PROTOCOLPGM(" /");
  4534. SERIAL_PROTOCOL_F(degTargetBed(),1);
  4535. #endif //TEMP_BED_PIN
  4536. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4537. SERIAL_PROTOCOLPGM(" T");
  4538. SERIAL_PROTOCOL(cur_extruder);
  4539. SERIAL_PROTOCOLPGM(":");
  4540. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4541. SERIAL_PROTOCOLPGM(" /");
  4542. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  4543. }
  4544. #else
  4545. SERIAL_ERROR_START;
  4546. SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS c=0 r=0
  4547. #endif
  4548. SERIAL_PROTOCOLPGM(" @:");
  4549. #ifdef EXTRUDER_WATTS
  4550. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  4551. SERIAL_PROTOCOLPGM("W");
  4552. #else
  4553. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  4554. #endif
  4555. SERIAL_PROTOCOLPGM(" B@:");
  4556. #ifdef BED_WATTS
  4557. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  4558. SERIAL_PROTOCOLPGM("W");
  4559. #else
  4560. SERIAL_PROTOCOL(getHeaterPower(-1));
  4561. #endif
  4562. #ifdef PINDA_THERMISTOR
  4563. SERIAL_PROTOCOLPGM(" P:");
  4564. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  4565. #endif //PINDA_THERMISTOR
  4566. #ifdef AMBIENT_THERMISTOR
  4567. SERIAL_PROTOCOLPGM(" A:");
  4568. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  4569. #endif //AMBIENT_THERMISTOR
  4570. #ifdef SHOW_TEMP_ADC_VALUES
  4571. {float raw = 0.0;
  4572. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4573. SERIAL_PROTOCOLPGM(" ADC B:");
  4574. SERIAL_PROTOCOL_F(degBed(),1);
  4575. SERIAL_PROTOCOLPGM("C->");
  4576. raw = rawBedTemp();
  4577. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4578. SERIAL_PROTOCOLPGM(" Rb->");
  4579. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4580. SERIAL_PROTOCOLPGM(" Rxb->");
  4581. SERIAL_PROTOCOL_F(raw, 5);
  4582. #endif
  4583. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4584. SERIAL_PROTOCOLPGM(" T");
  4585. SERIAL_PROTOCOL(cur_extruder);
  4586. SERIAL_PROTOCOLPGM(":");
  4587. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4588. SERIAL_PROTOCOLPGM("C->");
  4589. raw = rawHotendTemp(cur_extruder);
  4590. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4591. SERIAL_PROTOCOLPGM(" Rt");
  4592. SERIAL_PROTOCOL(cur_extruder);
  4593. SERIAL_PROTOCOLPGM("->");
  4594. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4595. SERIAL_PROTOCOLPGM(" Rx");
  4596. SERIAL_PROTOCOL(cur_extruder);
  4597. SERIAL_PROTOCOLPGM("->");
  4598. SERIAL_PROTOCOL_F(raw, 5);
  4599. }}
  4600. #endif
  4601. SERIAL_PROTOCOLLN("");
  4602. KEEPALIVE_STATE(NOT_BUSY);
  4603. return;
  4604. break;
  4605. case 109:
  4606. {// M109 - Wait for extruder heater to reach target.
  4607. if(setTargetedHotend(109)){
  4608. break;
  4609. }
  4610. LCD_MESSAGERPGM(_T(MSG_HEATING));
  4611. heating_status = 1;
  4612. if (farm_mode) { prusa_statistics(1); };
  4613. #ifdef AUTOTEMP
  4614. autotemp_enabled=false;
  4615. #endif
  4616. if (code_seen('S')) {
  4617. setTargetHotend(code_value(), tmp_extruder);
  4618. CooldownNoWait = true;
  4619. } else if (code_seen('R')) {
  4620. setTargetHotend(code_value(), tmp_extruder);
  4621. CooldownNoWait = false;
  4622. }
  4623. #ifdef AUTOTEMP
  4624. if (code_seen('S')) autotemp_min=code_value();
  4625. if (code_seen('B')) autotemp_max=code_value();
  4626. if (code_seen('F'))
  4627. {
  4628. autotemp_factor=code_value();
  4629. autotemp_enabled=true;
  4630. }
  4631. #endif
  4632. setWatch();
  4633. codenum = millis();
  4634. /* See if we are heating up or cooling down */
  4635. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  4636. KEEPALIVE_STATE(NOT_BUSY);
  4637. cancel_heatup = false;
  4638. wait_for_heater(codenum); //loops until target temperature is reached
  4639. LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
  4640. KEEPALIVE_STATE(IN_HANDLER);
  4641. heating_status = 2;
  4642. if (farm_mode) { prusa_statistics(2); };
  4643. //starttime=millis();
  4644. previous_millis_cmd = millis();
  4645. }
  4646. break;
  4647. case 190: // M190 - Wait for bed heater to reach target.
  4648. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4649. LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
  4650. heating_status = 3;
  4651. if (farm_mode) { prusa_statistics(1); };
  4652. if (code_seen('S'))
  4653. {
  4654. setTargetBed(code_value());
  4655. CooldownNoWait = true;
  4656. }
  4657. else if (code_seen('R'))
  4658. {
  4659. setTargetBed(code_value());
  4660. CooldownNoWait = false;
  4661. }
  4662. codenum = millis();
  4663. cancel_heatup = false;
  4664. target_direction = isHeatingBed(); // true if heating, false if cooling
  4665. KEEPALIVE_STATE(NOT_BUSY);
  4666. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  4667. {
  4668. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  4669. {
  4670. if (!farm_mode) {
  4671. float tt = degHotend(active_extruder);
  4672. SERIAL_PROTOCOLPGM("T:");
  4673. SERIAL_PROTOCOL(tt);
  4674. SERIAL_PROTOCOLPGM(" E:");
  4675. SERIAL_PROTOCOL((int)active_extruder);
  4676. SERIAL_PROTOCOLPGM(" B:");
  4677. SERIAL_PROTOCOL_F(degBed(), 1);
  4678. SERIAL_PROTOCOLLN("");
  4679. }
  4680. codenum = millis();
  4681. }
  4682. manage_heater();
  4683. manage_inactivity();
  4684. lcd_update(0);
  4685. }
  4686. LCD_MESSAGERPGM(_T(MSG_BED_DONE));
  4687. KEEPALIVE_STATE(IN_HANDLER);
  4688. heating_status = 4;
  4689. previous_millis_cmd = millis();
  4690. #endif
  4691. break;
  4692. #if defined(FAN_PIN) && FAN_PIN > -1
  4693. case 106: //M106 Fan On
  4694. if (code_seen('S')){
  4695. fanSpeed=constrain(code_value(),0,255);
  4696. }
  4697. else {
  4698. fanSpeed=255;
  4699. }
  4700. break;
  4701. case 107: //M107 Fan Off
  4702. fanSpeed = 0;
  4703. break;
  4704. #endif //FAN_PIN
  4705. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  4706. case 80: // M80 - Turn on Power Supply
  4707. SET_OUTPUT(PS_ON_PIN); //GND
  4708. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  4709. // If you have a switch on suicide pin, this is useful
  4710. // if you want to start another print with suicide feature after
  4711. // a print without suicide...
  4712. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  4713. SET_OUTPUT(SUICIDE_PIN);
  4714. WRITE(SUICIDE_PIN, HIGH);
  4715. #endif
  4716. powersupply = true;
  4717. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4718. lcd_update(0);
  4719. break;
  4720. #endif
  4721. case 81: // M81 - Turn off Power Supply
  4722. disable_heater();
  4723. st_synchronize();
  4724. disable_e0();
  4725. disable_e1();
  4726. disable_e2();
  4727. finishAndDisableSteppers();
  4728. fanSpeed = 0;
  4729. delay(1000); // Wait a little before to switch off
  4730. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  4731. st_synchronize();
  4732. suicide();
  4733. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  4734. SET_OUTPUT(PS_ON_PIN);
  4735. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4736. #endif
  4737. powersupply = false;
  4738. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
  4739. lcd_update(0);
  4740. break;
  4741. case 82:
  4742. axis_relative_modes[3] = false;
  4743. break;
  4744. case 83:
  4745. axis_relative_modes[3] = true;
  4746. break;
  4747. case 18: //compatibility
  4748. case 84: // M84
  4749. if(code_seen('S')){
  4750. stepper_inactive_time = code_value() * 1000;
  4751. }
  4752. else
  4753. {
  4754. 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])));
  4755. if(all_axis)
  4756. {
  4757. st_synchronize();
  4758. disable_e0();
  4759. disable_e1();
  4760. disable_e2();
  4761. finishAndDisableSteppers();
  4762. }
  4763. else
  4764. {
  4765. st_synchronize();
  4766. if (code_seen('X')) disable_x();
  4767. if (code_seen('Y')) disable_y();
  4768. if (code_seen('Z')) disable_z();
  4769. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4770. if (code_seen('E')) {
  4771. disable_e0();
  4772. disable_e1();
  4773. disable_e2();
  4774. }
  4775. #endif
  4776. }
  4777. }
  4778. //in the end of print set estimated time to end of print and extruders used during print to default values for next print
  4779. print_time_remaining_init();
  4780. snmm_filaments_used = 0;
  4781. break;
  4782. case 85: // M85
  4783. if(code_seen('S')) {
  4784. max_inactive_time = code_value() * 1000;
  4785. }
  4786. break;
  4787. #ifdef SAFETYTIMER
  4788. case 86: // M86 - set safety timer expiration time in seconds; M86 S0 will disable safety timer
  4789. //when safety timer expires heatbed and nozzle target temperatures are set to zero
  4790. if (code_seen('S')) {
  4791. safetytimer_inactive_time = code_value() * 1000;
  4792. safetyTimer.start();
  4793. }
  4794. break;
  4795. #endif
  4796. case 92: // M92
  4797. for(int8_t i=0; i < NUM_AXIS; i++)
  4798. {
  4799. if(code_seen(axis_codes[i]))
  4800. {
  4801. if(i == 3) { // E
  4802. float value = code_value();
  4803. if(value < 20.0) {
  4804. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  4805. max_jerk[E_AXIS] *= factor;
  4806. max_feedrate[i] *= factor;
  4807. axis_steps_per_sqr_second[i] *= factor;
  4808. }
  4809. axis_steps_per_unit[i] = value;
  4810. }
  4811. else {
  4812. axis_steps_per_unit[i] = code_value();
  4813. }
  4814. }
  4815. }
  4816. break;
  4817. case 110: // M110 - reset line pos
  4818. if (code_seen('N'))
  4819. gcode_LastN = code_value_long();
  4820. break;
  4821. #ifdef HOST_KEEPALIVE_FEATURE
  4822. case 113: // M113 - Get or set Host Keepalive interval
  4823. if (code_seen('S')) {
  4824. host_keepalive_interval = (uint8_t)code_value_short();
  4825. // NOMORE(host_keepalive_interval, 60);
  4826. }
  4827. else {
  4828. SERIAL_ECHO_START;
  4829. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4830. SERIAL_PROTOCOLLN("");
  4831. }
  4832. break;
  4833. #endif
  4834. case 115: // M115
  4835. if (code_seen('V')) {
  4836. // Report the Prusa version number.
  4837. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  4838. } else if (code_seen('U')) {
  4839. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  4840. // pause the print and ask the user to upgrade the firmware.
  4841. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  4842. } else {
  4843. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  4844. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  4845. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  4846. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  4847. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  4848. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  4849. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  4850. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  4851. SERIAL_ECHOPGM(" UUID:");
  4852. SERIAL_ECHOLNPGM(MACHINE_UUID);
  4853. }
  4854. break;
  4855. /* case 117: // M117 display message
  4856. starpos = (strchr(strchr_pointer + 5,'*'));
  4857. if(starpos!=NULL)
  4858. *(starpos)='\0';
  4859. lcd_setstatus(strchr_pointer + 5);
  4860. break;*/
  4861. case 114: // M114
  4862. gcode_M114();
  4863. break;
  4864. case 120: // M120
  4865. enable_endstops(false) ;
  4866. break;
  4867. case 121: // M121
  4868. enable_endstops(true) ;
  4869. break;
  4870. case 119: // M119
  4871. SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT c=0 r=0
  4872. SERIAL_PROTOCOLLN("");
  4873. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  4874. SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN c=0 r=0
  4875. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  4876. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4877. }else{
  4878. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4879. }
  4880. SERIAL_PROTOCOLLN("");
  4881. #endif
  4882. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  4883. SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX c=0 r=0
  4884. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  4885. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4886. }else{
  4887. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4888. }
  4889. SERIAL_PROTOCOLLN("");
  4890. #endif
  4891. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  4892. SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN c=0 r=0
  4893. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  4894. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4895. }else{
  4896. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4897. }
  4898. SERIAL_PROTOCOLLN("");
  4899. #endif
  4900. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  4901. SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX c=0 r=0
  4902. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  4903. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4904. }else{
  4905. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4906. }
  4907. SERIAL_PROTOCOLLN("");
  4908. #endif
  4909. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  4910. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  4911. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  4912. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4913. }else{
  4914. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4915. }
  4916. SERIAL_PROTOCOLLN("");
  4917. #endif
  4918. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  4919. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  4920. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  4921. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4922. }else{
  4923. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4924. }
  4925. SERIAL_PROTOCOLLN("");
  4926. #endif
  4927. break;
  4928. //TODO: update for all axis, use for loop
  4929. #ifdef BLINKM
  4930. case 150: // M150
  4931. {
  4932. byte red;
  4933. byte grn;
  4934. byte blu;
  4935. if(code_seen('R')) red = code_value();
  4936. if(code_seen('U')) grn = code_value();
  4937. if(code_seen('B')) blu = code_value();
  4938. SendColors(red,grn,blu);
  4939. }
  4940. break;
  4941. #endif //BLINKM
  4942. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  4943. {
  4944. tmp_extruder = active_extruder;
  4945. if(code_seen('T')) {
  4946. tmp_extruder = code_value();
  4947. if(tmp_extruder >= EXTRUDERS) {
  4948. SERIAL_ECHO_START;
  4949. SERIAL_ECHO(_i("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER c=0 r=0
  4950. break;
  4951. }
  4952. }
  4953. float area = .0;
  4954. if(code_seen('D')) {
  4955. float diameter = (float)code_value();
  4956. if (diameter == 0.0) {
  4957. // setting any extruder filament size disables volumetric on the assumption that
  4958. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4959. // for all extruders
  4960. volumetric_enabled = false;
  4961. } else {
  4962. filament_size[tmp_extruder] = (float)code_value();
  4963. // make sure all extruders have some sane value for the filament size
  4964. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  4965. #if EXTRUDERS > 1
  4966. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  4967. #if EXTRUDERS > 2
  4968. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  4969. #endif
  4970. #endif
  4971. volumetric_enabled = true;
  4972. }
  4973. } else {
  4974. //reserved for setting filament diameter via UFID or filament measuring device
  4975. break;
  4976. }
  4977. calculate_extruder_multipliers();
  4978. }
  4979. break;
  4980. case 201: // M201
  4981. for(int8_t i=0; i < NUM_AXIS; i++)
  4982. {
  4983. if(code_seen(axis_codes[i]))
  4984. {
  4985. max_acceleration_units_per_sq_second[i] = code_value();
  4986. }
  4987. }
  4988. // 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)
  4989. reset_acceleration_rates();
  4990. break;
  4991. #if 0 // Not used for Sprinter/grbl gen6
  4992. case 202: // M202
  4993. for(int8_t i=0; i < NUM_AXIS; i++) {
  4994. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  4995. }
  4996. break;
  4997. #endif
  4998. case 203: // M203 max feedrate mm/sec
  4999. for(int8_t i=0; i < NUM_AXIS; i++) {
  5000. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  5001. }
  5002. break;
  5003. case 204: // M204 acclereration S normal moves T filmanent only moves
  5004. {
  5005. if(code_seen('S')) acceleration = code_value() ;
  5006. if(code_seen('T')) retract_acceleration = code_value() ;
  5007. }
  5008. break;
  5009. case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
  5010. {
  5011. if(code_seen('S')) minimumfeedrate = code_value();
  5012. if(code_seen('T')) mintravelfeedrate = code_value();
  5013. if(code_seen('B')) minsegmenttime = code_value() ;
  5014. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  5015. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  5016. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  5017. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  5018. if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
  5019. if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
  5020. }
  5021. break;
  5022. case 206: // M206 additional homing offset
  5023. for(int8_t i=0; i < 3; i++)
  5024. {
  5025. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  5026. }
  5027. break;
  5028. #ifdef FWRETRACT
  5029. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  5030. {
  5031. if(code_seen('S'))
  5032. {
  5033. retract_length = code_value() ;
  5034. }
  5035. if(code_seen('F'))
  5036. {
  5037. retract_feedrate = code_value()/60 ;
  5038. }
  5039. if(code_seen('Z'))
  5040. {
  5041. retract_zlift = code_value() ;
  5042. }
  5043. }break;
  5044. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  5045. {
  5046. if(code_seen('S'))
  5047. {
  5048. retract_recover_length = code_value() ;
  5049. }
  5050. if(code_seen('F'))
  5051. {
  5052. retract_recover_feedrate = code_value()/60 ;
  5053. }
  5054. }break;
  5055. 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.
  5056. {
  5057. if(code_seen('S'))
  5058. {
  5059. int t= code_value() ;
  5060. switch(t)
  5061. {
  5062. case 0:
  5063. {
  5064. autoretract_enabled=false;
  5065. retracted[0]=false;
  5066. #if EXTRUDERS > 1
  5067. retracted[1]=false;
  5068. #endif
  5069. #if EXTRUDERS > 2
  5070. retracted[2]=false;
  5071. #endif
  5072. }break;
  5073. case 1:
  5074. {
  5075. autoretract_enabled=true;
  5076. retracted[0]=false;
  5077. #if EXTRUDERS > 1
  5078. retracted[1]=false;
  5079. #endif
  5080. #if EXTRUDERS > 2
  5081. retracted[2]=false;
  5082. #endif
  5083. }break;
  5084. default:
  5085. SERIAL_ECHO_START;
  5086. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5087. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5088. SERIAL_ECHOLNPGM("\"(1)");
  5089. }
  5090. }
  5091. }break;
  5092. #endif // FWRETRACT
  5093. #if EXTRUDERS > 1
  5094. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  5095. {
  5096. if(setTargetedHotend(218)){
  5097. break;
  5098. }
  5099. if(code_seen('X'))
  5100. {
  5101. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  5102. }
  5103. if(code_seen('Y'))
  5104. {
  5105. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  5106. }
  5107. SERIAL_ECHO_START;
  5108. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  5109. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  5110. {
  5111. SERIAL_ECHO(" ");
  5112. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  5113. SERIAL_ECHO(",");
  5114. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  5115. }
  5116. SERIAL_ECHOLN("");
  5117. }break;
  5118. #endif
  5119. case 220: // M220 S<factor in percent>- set speed factor override percentage
  5120. {
  5121. if(code_seen('S'))
  5122. {
  5123. feedmultiply = code_value() ;
  5124. }
  5125. }
  5126. break;
  5127. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  5128. {
  5129. if(code_seen('S'))
  5130. {
  5131. int tmp_code = code_value();
  5132. if (code_seen('T'))
  5133. {
  5134. if(setTargetedHotend(221)){
  5135. break;
  5136. }
  5137. extruder_multiply[tmp_extruder] = tmp_code;
  5138. }
  5139. else
  5140. {
  5141. extrudemultiply = tmp_code ;
  5142. }
  5143. }
  5144. calculate_extruder_multipliers();
  5145. }
  5146. break;
  5147. #ifndef _DISABLE_M42_M226
  5148. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  5149. {
  5150. if(code_seen('P')){
  5151. int pin_number = code_value(); // pin number
  5152. int pin_state = -1; // required pin state - default is inverted
  5153. if(code_seen('S')) pin_state = code_value(); // required pin state
  5154. if(pin_state >= -1 && pin_state <= 1){
  5155. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  5156. {
  5157. if (sensitive_pins[i] == pin_number)
  5158. {
  5159. pin_number = -1;
  5160. break;
  5161. }
  5162. }
  5163. if (pin_number > -1)
  5164. {
  5165. int target = LOW;
  5166. st_synchronize();
  5167. pinMode(pin_number, INPUT);
  5168. switch(pin_state){
  5169. case 1:
  5170. target = HIGH;
  5171. break;
  5172. case 0:
  5173. target = LOW;
  5174. break;
  5175. case -1:
  5176. target = !digitalRead(pin_number);
  5177. break;
  5178. }
  5179. while(digitalRead(pin_number) != target){
  5180. manage_heater();
  5181. manage_inactivity();
  5182. lcd_update(0);
  5183. }
  5184. }
  5185. }
  5186. }
  5187. }
  5188. break;
  5189. #endif //_DISABLE_M42_M226
  5190. #if NUM_SERVOS > 0
  5191. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  5192. {
  5193. int servo_index = -1;
  5194. int servo_position = 0;
  5195. if (code_seen('P'))
  5196. servo_index = code_value();
  5197. if (code_seen('S')) {
  5198. servo_position = code_value();
  5199. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  5200. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5201. servos[servo_index].attach(0);
  5202. #endif
  5203. servos[servo_index].write(servo_position);
  5204. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5205. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  5206. servos[servo_index].detach();
  5207. #endif
  5208. }
  5209. else {
  5210. SERIAL_ECHO_START;
  5211. SERIAL_ECHO("Servo ");
  5212. SERIAL_ECHO(servo_index);
  5213. SERIAL_ECHOLN(" out of range");
  5214. }
  5215. }
  5216. else if (servo_index >= 0) {
  5217. SERIAL_PROTOCOL(_T(MSG_OK));
  5218. SERIAL_PROTOCOL(" Servo ");
  5219. SERIAL_PROTOCOL(servo_index);
  5220. SERIAL_PROTOCOL(": ");
  5221. SERIAL_PROTOCOL(servos[servo_index].read());
  5222. SERIAL_PROTOCOLLN("");
  5223. }
  5224. }
  5225. break;
  5226. #endif // NUM_SERVOS > 0
  5227. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  5228. case 300: // M300
  5229. {
  5230. int beepS = code_seen('S') ? code_value() : 110;
  5231. int beepP = code_seen('P') ? code_value() : 1000;
  5232. if (beepS > 0)
  5233. {
  5234. #if BEEPER > 0
  5235. tone(BEEPER, beepS);
  5236. delay(beepP);
  5237. noTone(BEEPER);
  5238. #endif
  5239. }
  5240. else
  5241. {
  5242. delay(beepP);
  5243. }
  5244. }
  5245. break;
  5246. #endif // M300
  5247. #ifdef PIDTEMP
  5248. case 301: // M301
  5249. {
  5250. if(code_seen('P')) Kp = code_value();
  5251. if(code_seen('I')) Ki = scalePID_i(code_value());
  5252. if(code_seen('D')) Kd = scalePID_d(code_value());
  5253. #ifdef PID_ADD_EXTRUSION_RATE
  5254. if(code_seen('C')) Kc = code_value();
  5255. #endif
  5256. updatePID();
  5257. SERIAL_PROTOCOLRPGM(_T(MSG_OK));
  5258. SERIAL_PROTOCOL(" p:");
  5259. SERIAL_PROTOCOL(Kp);
  5260. SERIAL_PROTOCOL(" i:");
  5261. SERIAL_PROTOCOL(unscalePID_i(Ki));
  5262. SERIAL_PROTOCOL(" d:");
  5263. SERIAL_PROTOCOL(unscalePID_d(Kd));
  5264. #ifdef PID_ADD_EXTRUSION_RATE
  5265. SERIAL_PROTOCOL(" c:");
  5266. //Kc does not have scaling applied above, or in resetting defaults
  5267. SERIAL_PROTOCOL(Kc);
  5268. #endif
  5269. SERIAL_PROTOCOLLN("");
  5270. }
  5271. break;
  5272. #endif //PIDTEMP
  5273. #ifdef PIDTEMPBED
  5274. case 304: // M304
  5275. {
  5276. if(code_seen('P')) bedKp = code_value();
  5277. if(code_seen('I')) bedKi = scalePID_i(code_value());
  5278. if(code_seen('D')) bedKd = scalePID_d(code_value());
  5279. updatePID();
  5280. SERIAL_PROTOCOLRPGM(_T(MSG_OK));
  5281. SERIAL_PROTOCOL(" p:");
  5282. SERIAL_PROTOCOL(bedKp);
  5283. SERIAL_PROTOCOL(" i:");
  5284. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  5285. SERIAL_PROTOCOL(" d:");
  5286. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  5287. SERIAL_PROTOCOLLN("");
  5288. }
  5289. break;
  5290. #endif //PIDTEMP
  5291. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  5292. {
  5293. #ifdef CHDK
  5294. SET_OUTPUT(CHDK);
  5295. WRITE(CHDK, HIGH);
  5296. chdkHigh = millis();
  5297. chdkActive = true;
  5298. #else
  5299. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  5300. const uint8_t NUM_PULSES=16;
  5301. const float PULSE_LENGTH=0.01524;
  5302. for(int i=0; i < NUM_PULSES; i++) {
  5303. WRITE(PHOTOGRAPH_PIN, HIGH);
  5304. _delay_ms(PULSE_LENGTH);
  5305. WRITE(PHOTOGRAPH_PIN, LOW);
  5306. _delay_ms(PULSE_LENGTH);
  5307. }
  5308. delay(7.33);
  5309. for(int i=0; i < NUM_PULSES; i++) {
  5310. WRITE(PHOTOGRAPH_PIN, HIGH);
  5311. _delay_ms(PULSE_LENGTH);
  5312. WRITE(PHOTOGRAPH_PIN, LOW);
  5313. _delay_ms(PULSE_LENGTH);
  5314. }
  5315. #endif
  5316. #endif //chdk end if
  5317. }
  5318. break;
  5319. #ifdef PREVENT_DANGEROUS_EXTRUDE
  5320. case 302: // allow cold extrudes, or set the minimum extrude temperature
  5321. {
  5322. float temp = .0;
  5323. if (code_seen('S')) temp=code_value();
  5324. set_extrude_min_temp(temp);
  5325. }
  5326. break;
  5327. #endif
  5328. case 303: // M303 PID autotune
  5329. {
  5330. float temp = 150.0;
  5331. int e=0;
  5332. int c=5;
  5333. if (code_seen('E')) e=code_value();
  5334. if (e<0)
  5335. temp=70;
  5336. if (code_seen('S')) temp=code_value();
  5337. if (code_seen('C')) c=code_value();
  5338. PID_autotune(temp, e, c);
  5339. }
  5340. break;
  5341. case 400: // M400 finish all moves
  5342. {
  5343. st_synchronize();
  5344. }
  5345. break;
  5346. case 500: // M500 Store settings in EEPROM
  5347. {
  5348. Config_StoreSettings(EEPROM_OFFSET);
  5349. }
  5350. break;
  5351. case 501: // M501 Read settings from EEPROM
  5352. {
  5353. Config_RetrieveSettings(EEPROM_OFFSET);
  5354. }
  5355. break;
  5356. case 502: // M502 Revert to default settings
  5357. {
  5358. Config_ResetDefault();
  5359. }
  5360. break;
  5361. case 503: // M503 print settings currently in memory
  5362. {
  5363. Config_PrintSettings();
  5364. }
  5365. break;
  5366. case 509: //M509 Force language selection
  5367. {
  5368. lang_reset();
  5369. SERIAL_ECHO_START;
  5370. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  5371. }
  5372. break;
  5373. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5374. case 540:
  5375. {
  5376. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  5377. }
  5378. break;
  5379. #endif
  5380. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5381. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  5382. {
  5383. float value;
  5384. if (code_seen('Z'))
  5385. {
  5386. value = code_value();
  5387. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  5388. {
  5389. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  5390. SERIAL_ECHO_START;
  5391. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", _T(MSG_OK),PSTR("")));
  5392. SERIAL_PROTOCOLLN("");
  5393. }
  5394. else
  5395. {
  5396. SERIAL_ECHO_START;
  5397. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  5398. SERIAL_ECHORPGM(MSG_Z_MIN);
  5399. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  5400. SERIAL_ECHORPGM(MSG_Z_MAX);
  5401. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  5402. SERIAL_PROTOCOLLN("");
  5403. }
  5404. }
  5405. else
  5406. {
  5407. SERIAL_ECHO_START;
  5408. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  5409. SERIAL_ECHO(-zprobe_zoffset);
  5410. SERIAL_PROTOCOLLN("");
  5411. }
  5412. break;
  5413. }
  5414. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5415. #ifdef FILAMENTCHANGEENABLE
  5416. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  5417. {
  5418. #ifdef PAT9125
  5419. bool old_fsensor_enabled = fsensor_enabled;
  5420. fsensor_enabled = false; //temporary solution for unexpected restarting
  5421. #endif //PAT9125
  5422. st_synchronize();
  5423. float target[4];
  5424. float lastpos[4];
  5425. if (farm_mode)
  5426. {
  5427. prusa_statistics(22);
  5428. }
  5429. feedmultiplyBckp=feedmultiply;
  5430. int8_t TooLowZ = 0;
  5431. float HotendTempBckp = degTargetHotend(active_extruder);
  5432. int fanSpeedBckp = fanSpeed;
  5433. target[X_AXIS]=current_position[X_AXIS];
  5434. target[Y_AXIS]=current_position[Y_AXIS];
  5435. target[Z_AXIS]=current_position[Z_AXIS];
  5436. target[E_AXIS]=current_position[E_AXIS];
  5437. lastpos[X_AXIS]=current_position[X_AXIS];
  5438. lastpos[Y_AXIS]=current_position[Y_AXIS];
  5439. lastpos[Z_AXIS]=current_position[Z_AXIS];
  5440. lastpos[E_AXIS]=current_position[E_AXIS];
  5441. //Restract extruder
  5442. if(code_seen('E'))
  5443. {
  5444. target[E_AXIS]+= code_value();
  5445. }
  5446. else
  5447. {
  5448. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  5449. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  5450. #endif
  5451. }
  5452. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5453. //Lift Z
  5454. if(code_seen('Z'))
  5455. {
  5456. target[Z_AXIS]+= code_value();
  5457. }
  5458. else
  5459. {
  5460. #ifdef FILAMENTCHANGE_ZADD
  5461. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  5462. if(target[Z_AXIS] < 10){
  5463. target[Z_AXIS]+= 10 ;
  5464. TooLowZ = 1;
  5465. }else{
  5466. TooLowZ = 0;
  5467. }
  5468. #endif
  5469. }
  5470. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5471. //Move XY to side
  5472. if(code_seen('X'))
  5473. {
  5474. target[X_AXIS]+= code_value();
  5475. }
  5476. else
  5477. {
  5478. #ifdef FILAMENTCHANGE_XPOS
  5479. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  5480. #endif
  5481. }
  5482. if(code_seen('Y'))
  5483. {
  5484. target[Y_AXIS]= code_value();
  5485. }
  5486. else
  5487. {
  5488. #ifdef FILAMENTCHANGE_YPOS
  5489. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  5490. #endif
  5491. }
  5492. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5493. st_synchronize();
  5494. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5495. uint8_t cnt = 0;
  5496. int counterBeep = 0;
  5497. fanSpeed = 0;
  5498. unsigned long waiting_start_time = millis();
  5499. uint8_t wait_for_user_state = 0;
  5500. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  5501. while (!(wait_for_user_state == 0 && lcd_clicked())){
  5502. //cnt++;
  5503. manage_heater();
  5504. manage_inactivity(true);
  5505. /*#ifdef SNMM
  5506. target[E_AXIS] += 0.002;
  5507. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5508. #endif // SNMM*/
  5509. //if (cnt == 0)
  5510. {
  5511. #if BEEPER > 0
  5512. if (counterBeep == 500) {
  5513. counterBeep = 0;
  5514. }
  5515. SET_OUTPUT(BEEPER);
  5516. if (counterBeep == 0) {
  5517. WRITE(BEEPER, HIGH);
  5518. }
  5519. if (counterBeep == 20) {
  5520. WRITE(BEEPER, LOW);
  5521. }
  5522. counterBeep++;
  5523. #else
  5524. #endif
  5525. }
  5526. switch (wait_for_user_state) {
  5527. case 0:
  5528. delay_keep_alive(4);
  5529. if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  5530. lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
  5531. wait_for_user_state = 1;
  5532. setTargetHotend(0, 0);
  5533. setTargetHotend(0, 1);
  5534. setTargetHotend(0, 2);
  5535. st_synchronize();
  5536. disable_e0();
  5537. disable_e1();
  5538. disable_e2();
  5539. }
  5540. break;
  5541. case 1:
  5542. delay_keep_alive(4);
  5543. if (lcd_clicked()) {
  5544. setTargetHotend(HotendTempBckp, active_extruder);
  5545. lcd_wait_for_heater();
  5546. wait_for_user_state = 2;
  5547. }
  5548. break;
  5549. case 2:
  5550. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  5551. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  5552. waiting_start_time = millis();
  5553. wait_for_user_state = 0;
  5554. }
  5555. else {
  5556. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  5557. lcd_set_cursor(1, 4);
  5558. lcd_print(ftostr3(degHotend(active_extruder)));
  5559. }
  5560. break;
  5561. }
  5562. }
  5563. WRITE(BEEPER, LOW);
  5564. lcd_change_fil_state = 0;
  5565. // Unload filament
  5566. lcd_display_message_fullscreen_P(_T(MSG_UNLOADING_FILAMENT));
  5567. KEEPALIVE_STATE(IN_HANDLER);
  5568. custom_message = true;
  5569. lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
  5570. if (code_seen('L'))
  5571. {
  5572. target[E_AXIS] += code_value();
  5573. }
  5574. else
  5575. {
  5576. #ifdef SNMM
  5577. #else
  5578. #ifdef FILAMENTCHANGE_FINALRETRACT
  5579. target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  5580. #endif
  5581. #endif // SNMM
  5582. }
  5583. #ifdef SNMM
  5584. target[E_AXIS] += 12;
  5585. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
  5586. target[E_AXIS] += 6;
  5587. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  5588. target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
  5589. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  5590. st_synchronize();
  5591. target[E_AXIS] += (FIL_COOLING);
  5592. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5593. target[E_AXIS] += (FIL_COOLING*-1);
  5594. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5595. target[E_AXIS] += (bowden_length[snmm_extruder] * -1);
  5596. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5597. st_synchronize();
  5598. #else
  5599. // plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5600. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500 / 60, active_extruder);
  5601. target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
  5602. st_synchronize();
  5603. #ifdef TMC2130
  5604. uint8_t tmc2130_current_r_bckp = tmc2130_current_r[E_AXIS];
  5605. tmc2130_set_current_r(E_AXIS, TMC2130_UNLOAD_CURRENT_R);
  5606. #else
  5607. st_current_set(2, 200); //set lower E motor current for unload to protect filament sensor and ptfe tube
  5608. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  5609. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  5610. #endif //TMC2130
  5611. target[E_AXIS] -= 45;
  5612. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5200 / 60, active_extruder);
  5613. st_synchronize();
  5614. target[E_AXIS] -= 15;
  5615. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
  5616. st_synchronize();
  5617. target[E_AXIS] -= 20;
  5618. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
  5619. st_synchronize();
  5620. #ifdef TMC2130
  5621. tmc2130_set_current_r(E_AXIS, tmc2130_current_r_bckp);
  5622. #else
  5623. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  5624. if(silentMode != SILENT_MODE_POWER) st_current_set(2, tmp_motor[2]); //set E back to normal operation currents
  5625. else st_current_set(2, tmp_motor_loud[2]);
  5626. #endif //TMC2130
  5627. #endif // SNMM
  5628. //finish moves
  5629. st_synchronize();
  5630. lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
  5631. //disable extruder steppers so filament can be removed
  5632. disable_e0();
  5633. disable_e1();
  5634. disable_e2();
  5635. delay(100);
  5636. WRITE(BEEPER, HIGH);
  5637. counterBeep = 0;
  5638. while(!lcd_clicked() && (counterBeep < 50)) {
  5639. if(counterBeep > 5) WRITE(BEEPER, LOW);
  5640. delay_keep_alive(100);
  5641. counterBeep++;
  5642. }
  5643. WRITE(BEEPER, LOW);
  5644. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5645. 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
  5646. if (lcd_change_fil_state == 0) lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
  5647. //lcd_return_to_status();
  5648. lcd_update_enable(true);
  5649. //Wait for user to insert filament
  5650. lcd_wait_interact();
  5651. //load_filament_time = millis();
  5652. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5653. #ifdef PAT9125
  5654. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_start();
  5655. #endif //PAT9125
  5656. // printf_P(PSTR("M600 PAT9125 filament_autoload_enabled=%d, old_fsensor_enabled=%d, fsensor_M600=%d"), filament_autoload_enabled, old_fsensor_enabled, fsensor_M600);
  5657. while(!lcd_clicked())
  5658. {
  5659. manage_heater();
  5660. manage_inactivity(true);
  5661. #ifdef PAT9125
  5662. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600) && fsensor_check_autoload())
  5663. {
  5664. tone(BEEPER, 1000);
  5665. delay_keep_alive(50);
  5666. noTone(BEEPER);
  5667. break;
  5668. }
  5669. #endif //PAT9125
  5670. /*#ifdef SNMM
  5671. target[E_AXIS] += 0.002;
  5672. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5673. #endif // SNMM*/
  5674. }
  5675. #ifdef PAT9125
  5676. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_stop();
  5677. #endif //PAT9125
  5678. //WRITE(BEEPER, LOW);
  5679. KEEPALIVE_STATE(IN_HANDLER);
  5680. #ifdef SNMM
  5681. display_loading();
  5682. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5683. do {
  5684. target[E_AXIS] += 0.002;
  5685. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5686. delay_keep_alive(2);
  5687. } while (!lcd_clicked());
  5688. KEEPALIVE_STATE(IN_HANDLER);
  5689. /*if (millis() - load_filament_time > 2) {
  5690. load_filament_time = millis();
  5691. target[E_AXIS] += 0.001;
  5692. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
  5693. }*/
  5694. //Filament inserted
  5695. //Feed the filament to the end of nozzle quickly
  5696. st_synchronize();
  5697. target[E_AXIS] += bowden_length[snmm_extruder];
  5698. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5699. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  5700. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  5701. target[E_AXIS] += 40;
  5702. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  5703. target[E_AXIS] += 10;
  5704. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5705. #else
  5706. target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
  5707. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  5708. #endif // SNMM
  5709. //Extrude some filament
  5710. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5711. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5712. //Wait for user to check the state
  5713. lcd_change_fil_state = 0;
  5714. lcd_loading_filament();
  5715. tone(BEEPER, 500);
  5716. delay_keep_alive(50);
  5717. noTone(BEEPER);
  5718. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  5719. lcd_change_fil_state = 0;
  5720. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5721. lcd_alright();
  5722. KEEPALIVE_STATE(IN_HANDLER);
  5723. switch(lcd_change_fil_state){
  5724. // Filament failed to load so load it again
  5725. case 2:
  5726. #ifdef SNMM
  5727. display_loading();
  5728. do {
  5729. target[E_AXIS] += 0.002;
  5730. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5731. delay_keep_alive(2);
  5732. } while (!lcd_clicked());
  5733. st_synchronize();
  5734. target[E_AXIS] += bowden_length[snmm_extruder];
  5735. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5736. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  5737. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  5738. target[E_AXIS] += 40;
  5739. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  5740. target[E_AXIS] += 10;
  5741. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5742. #else
  5743. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  5744. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  5745. #endif
  5746. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5747. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5748. lcd_loading_filament();
  5749. break;
  5750. // Filament loaded properly but color is not clear
  5751. case 3:
  5752. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5753. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  5754. lcd_loading_color();
  5755. break;
  5756. // Everything good
  5757. default:
  5758. lcd_change_success();
  5759. lcd_update_enable(true);
  5760. break;
  5761. }
  5762. }
  5763. //Not let's go back to print
  5764. fanSpeed = fanSpeedBckp;
  5765. //Feed a little of filament to stabilize pressure
  5766. target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
  5767. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5768. //Retract
  5769. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  5770. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5771. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  5772. //Move XY back
  5773. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5774. //Move Z back
  5775. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5776. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  5777. //Unretract
  5778. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5779. //Set E position to original
  5780. plan_set_e_position(lastpos[E_AXIS]);
  5781. //Recover feed rate
  5782. feedmultiply=feedmultiplyBckp;
  5783. char cmd[9];
  5784. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  5785. enquecommand(cmd);
  5786. lcd_setstatuspgm(_T(WELCOME_MSG));
  5787. custom_message = false;
  5788. custom_message_type = 0;
  5789. #ifdef PAT9125
  5790. fsensor_enabled = old_fsensor_enabled; //temporary solution for unexpected restarting
  5791. if (fsensor_M600)
  5792. {
  5793. cmdqueue_pop_front(); //hack because M600 repeated 2x when enqueued to front
  5794. st_synchronize();
  5795. while (!is_buffer_empty())
  5796. {
  5797. process_commands();
  5798. cmdqueue_pop_front();
  5799. }
  5800. KEEPALIVE_STATE(IN_HANDLER);
  5801. fsensor_enable();
  5802. fsensor_restore_print_and_continue();
  5803. }
  5804. #endif //PAT9125
  5805. }
  5806. break;
  5807. #endif //FILAMENTCHANGEENABLE
  5808. case 601: {
  5809. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  5810. }
  5811. break;
  5812. case 602: {
  5813. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  5814. }
  5815. break;
  5816. #ifdef PINDA_THERMISTOR
  5817. case 860: // M860 - Wait for PINDA thermistor to reach target temperature.
  5818. {
  5819. int set_target_pinda = 0;
  5820. if (code_seen('S')) {
  5821. set_target_pinda = code_value();
  5822. }
  5823. else {
  5824. break;
  5825. }
  5826. LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
  5827. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  5828. SERIAL_PROTOCOL(set_target_pinda);
  5829. SERIAL_PROTOCOLLN("");
  5830. codenum = millis();
  5831. cancel_heatup = false;
  5832. bool is_pinda_cooling = false;
  5833. if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
  5834. is_pinda_cooling = true;
  5835. }
  5836. while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
  5837. if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  5838. {
  5839. SERIAL_PROTOCOLPGM("P:");
  5840. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  5841. SERIAL_PROTOCOLPGM("/");
  5842. SERIAL_PROTOCOL(set_target_pinda);
  5843. SERIAL_PROTOCOLLN("");
  5844. codenum = millis();
  5845. }
  5846. manage_heater();
  5847. manage_inactivity();
  5848. lcd_update(0);
  5849. }
  5850. LCD_MESSAGERPGM(_T(MSG_OK));
  5851. break;
  5852. }
  5853. case 861: // M861 - Set/Read PINDA temperature compensation offsets
  5854. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  5855. uint8_t cal_status = calibration_status_pinda();
  5856. int16_t usteps = 0;
  5857. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  5858. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5859. for (uint8_t i = 0; i < 6; i++)
  5860. {
  5861. if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
  5862. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5863. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5864. SERIAL_PROTOCOLPGM(", ");
  5865. SERIAL_PROTOCOL(35 + (i * 5));
  5866. SERIAL_PROTOCOLPGM(", ");
  5867. SERIAL_PROTOCOL(usteps);
  5868. SERIAL_PROTOCOLPGM(", ");
  5869. SERIAL_PROTOCOL(mm * 1000);
  5870. SERIAL_PROTOCOLLN("");
  5871. }
  5872. }
  5873. else if (code_seen('!')) { // ! - Set factory default values
  5874. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5875. int16_t z_shift = 8; //40C - 20um - 8usteps
  5876. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
  5877. z_shift = 24; //45C - 60um - 24usteps
  5878. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
  5879. z_shift = 48; //50C - 120um - 48usteps
  5880. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
  5881. z_shift = 80; //55C - 200um - 80usteps
  5882. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
  5883. z_shift = 120; //60C - 300um - 120usteps
  5884. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
  5885. SERIAL_PROTOCOLLN("factory restored");
  5886. }
  5887. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  5888. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5889. int16_t z_shift = 0;
  5890. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  5891. SERIAL_PROTOCOLLN("zerorized");
  5892. }
  5893. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  5894. int16_t usteps = code_value();
  5895. if (code_seen('I')) {
  5896. byte index = code_value();
  5897. if ((index >= 0) && (index < 5)) {
  5898. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
  5899. SERIAL_PROTOCOLLN("OK");
  5900. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5901. for (uint8_t i = 0; i < 6; i++)
  5902. {
  5903. usteps = 0;
  5904. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
  5905. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5906. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5907. SERIAL_PROTOCOLPGM(", ");
  5908. SERIAL_PROTOCOL(35 + (i * 5));
  5909. SERIAL_PROTOCOLPGM(", ");
  5910. SERIAL_PROTOCOL(usteps);
  5911. SERIAL_PROTOCOLPGM(", ");
  5912. SERIAL_PROTOCOL(mm * 1000);
  5913. SERIAL_PROTOCOLLN("");
  5914. }
  5915. }
  5916. }
  5917. }
  5918. else {
  5919. SERIAL_PROTOCOLPGM("no valid command");
  5920. }
  5921. break;
  5922. #endif //PINDA_THERMISTOR
  5923. #ifdef LIN_ADVANCE
  5924. case 900: // M900: Set LIN_ADVANCE options.
  5925. gcode_M900();
  5926. break;
  5927. #endif
  5928. case 907: // M907 Set digital trimpot motor current using axis codes.
  5929. {
  5930. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5931. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  5932. if(code_seen('B')) st_current_set(4,code_value());
  5933. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  5934. #endif
  5935. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  5936. if(code_seen('X')) st_current_set(0, code_value());
  5937. #endif
  5938. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  5939. if(code_seen('Z')) st_current_set(1, code_value());
  5940. #endif
  5941. #ifdef MOTOR_CURRENT_PWM_E_PIN
  5942. if(code_seen('E')) st_current_set(2, code_value());
  5943. #endif
  5944. }
  5945. break;
  5946. case 908: // M908 Control digital trimpot directly.
  5947. {
  5948. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5949. uint8_t channel,current;
  5950. if(code_seen('P')) channel=code_value();
  5951. if(code_seen('S')) current=code_value();
  5952. digitalPotWrite(channel, current);
  5953. #endif
  5954. }
  5955. break;
  5956. #ifdef TMC2130
  5957. case 910: // M910 TMC2130 init
  5958. {
  5959. tmc2130_init();
  5960. }
  5961. break;
  5962. case 911: // M911 Set TMC2130 holding currents
  5963. {
  5964. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  5965. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  5966. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  5967. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  5968. }
  5969. break;
  5970. case 912: // M912 Set TMC2130 running currents
  5971. {
  5972. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  5973. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  5974. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  5975. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  5976. }
  5977. break;
  5978. case 913: // M913 Print TMC2130 currents
  5979. {
  5980. tmc2130_print_currents();
  5981. }
  5982. break;
  5983. case 914: // M914 Set normal mode
  5984. {
  5985. tmc2130_mode = TMC2130_MODE_NORMAL;
  5986. tmc2130_init();
  5987. }
  5988. break;
  5989. case 915: // M915 Set silent mode
  5990. {
  5991. tmc2130_mode = TMC2130_MODE_SILENT;
  5992. tmc2130_init();
  5993. }
  5994. break;
  5995. case 916: // M916 Set sg_thrs
  5996. {
  5997. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  5998. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  5999. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  6000. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  6001. for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
  6002. printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
  6003. }
  6004. break;
  6005. case 917: // M917 Set TMC2130 pwm_ampl
  6006. {
  6007. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  6008. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  6009. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  6010. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  6011. }
  6012. break;
  6013. case 918: // M918 Set TMC2130 pwm_grad
  6014. {
  6015. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  6016. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  6017. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  6018. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  6019. }
  6020. break;
  6021. #endif //TMC2130
  6022. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  6023. {
  6024. #ifdef TMC2130
  6025. if(code_seen('E'))
  6026. {
  6027. uint16_t res_new = code_value();
  6028. if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
  6029. {
  6030. st_synchronize();
  6031. uint8_t axis = E_AXIS;
  6032. uint16_t res = tmc2130_get_res(axis);
  6033. tmc2130_set_res(axis, res_new);
  6034. if (res_new > res)
  6035. {
  6036. uint16_t fac = (res_new / res);
  6037. axis_steps_per_unit[axis] *= fac;
  6038. position[E_AXIS] *= fac;
  6039. }
  6040. else
  6041. {
  6042. uint16_t fac = (res / res_new);
  6043. axis_steps_per_unit[axis] /= fac;
  6044. position[E_AXIS] /= fac;
  6045. }
  6046. }
  6047. }
  6048. #else //TMC2130
  6049. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  6050. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  6051. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  6052. if(code_seen('B')) microstep_mode(4,code_value());
  6053. microstep_readings();
  6054. #endif
  6055. #endif //TMC2130
  6056. }
  6057. break;
  6058. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  6059. {
  6060. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  6061. if(code_seen('S')) switch((int)code_value())
  6062. {
  6063. case 1:
  6064. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  6065. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  6066. break;
  6067. case 2:
  6068. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  6069. if(code_seen('B')) microstep_ms(4,-1,code_value());
  6070. break;
  6071. }
  6072. microstep_readings();
  6073. #endif
  6074. }
  6075. break;
  6076. case 701: //M701: load filament
  6077. {
  6078. gcode_M701();
  6079. }
  6080. break;
  6081. case 702:
  6082. {
  6083. #ifdef SNMM
  6084. if (code_seen('U')) {
  6085. extr_unload_used(); //unload all filaments which were used in current print
  6086. }
  6087. else if (code_seen('C')) {
  6088. extr_unload(); //unload just current filament
  6089. }
  6090. else {
  6091. extr_unload_all(); //unload all filaments
  6092. }
  6093. #else
  6094. #ifdef PAT9125
  6095. bool old_fsensor_enabled = fsensor_enabled;
  6096. fsensor_enabled = false;
  6097. #endif //PAT9125
  6098. custom_message = true;
  6099. custom_message_type = 2;
  6100. lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
  6101. // extr_unload2();
  6102. current_position[E_AXIS] -= 45;
  6103. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
  6104. st_synchronize();
  6105. current_position[E_AXIS] -= 15;
  6106. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  6107. st_synchronize();
  6108. current_position[E_AXIS] -= 20;
  6109. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  6110. st_synchronize();
  6111. lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
  6112. //disable extruder steppers so filament can be removed
  6113. disable_e0();
  6114. disable_e1();
  6115. disable_e2();
  6116. delay(100);
  6117. WRITE(BEEPER, HIGH);
  6118. uint8_t counterBeep = 0;
  6119. while (!lcd_clicked() && (counterBeep < 50)) {
  6120. if (counterBeep > 5) WRITE(BEEPER, LOW);
  6121. delay_keep_alive(100);
  6122. counterBeep++;
  6123. }
  6124. WRITE(BEEPER, LOW);
  6125. st_synchronize();
  6126. while (lcd_clicked()) delay_keep_alive(100);
  6127. lcd_update_enable(true);
  6128. lcd_setstatuspgm(_T(WELCOME_MSG));
  6129. custom_message = false;
  6130. custom_message_type = 0;
  6131. #ifdef PAT9125
  6132. fsensor_enabled = old_fsensor_enabled;
  6133. #endif //PAT9125
  6134. #endif
  6135. }
  6136. break;
  6137. case 999: // M999: Restart after being stopped
  6138. Stopped = false;
  6139. lcd_reset_alert_level();
  6140. gcode_LastN = Stopped_gcode_LastN;
  6141. FlushSerialRequestResend();
  6142. break;
  6143. default:
  6144. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  6145. }
  6146. } // end if(code_seen('M')) (end of M codes)
  6147. else if(code_seen('T'))
  6148. {
  6149. int index;
  6150. st_synchronize();
  6151. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  6152. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
  6153. SERIAL_ECHOLNPGM("Invalid T code.");
  6154. }
  6155. else {
  6156. if (*(strchr_pointer + index) == '?') {
  6157. tmp_extruder = choose_extruder_menu();
  6158. }
  6159. else {
  6160. tmp_extruder = code_value();
  6161. }
  6162. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  6163. #ifdef SNMM_V2
  6164. printf_P(PSTR("T code: %d \n"), tmp_extruder);
  6165. switch (tmp_extruder)
  6166. {
  6167. case 1:
  6168. fprintf_P(uart2io, PSTR("T1\n"));
  6169. break;
  6170. case 2:
  6171. fprintf_P(uart2io, PSTR("T2\n"));
  6172. break;
  6173. case 3:
  6174. fprintf_P(uart2io, PSTR("T3\n"));
  6175. break;
  6176. case 4:
  6177. fprintf_P(uart2io, PSTR("T4\n"));
  6178. break;
  6179. default:
  6180. fprintf_P(uart2io, PSTR("T0\n"));
  6181. break;
  6182. }
  6183. // get response
  6184. uart2_rx_clr();
  6185. while (!uart2_rx_ok())
  6186. {
  6187. //printf_P(PSTR("waiting..\n"));
  6188. delay_keep_alive(100);
  6189. }
  6190. #endif
  6191. #ifdef SNMM
  6192. #ifdef LIN_ADVANCE
  6193. if (snmm_extruder != tmp_extruder)
  6194. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  6195. #endif
  6196. snmm_extruder = tmp_extruder;
  6197. delay(100);
  6198. disable_e0();
  6199. disable_e1();
  6200. disable_e2();
  6201. pinMode(E_MUX0_PIN, OUTPUT);
  6202. pinMode(E_MUX1_PIN, OUTPUT);
  6203. delay(100);
  6204. SERIAL_ECHO_START;
  6205. SERIAL_ECHO("T:");
  6206. SERIAL_ECHOLN((int)tmp_extruder);
  6207. switch (tmp_extruder) {
  6208. case 1:
  6209. WRITE(E_MUX0_PIN, HIGH);
  6210. WRITE(E_MUX1_PIN, LOW);
  6211. break;
  6212. case 2:
  6213. WRITE(E_MUX0_PIN, LOW);
  6214. WRITE(E_MUX1_PIN, HIGH);
  6215. break;
  6216. case 3:
  6217. WRITE(E_MUX0_PIN, HIGH);
  6218. WRITE(E_MUX1_PIN, HIGH);
  6219. break;
  6220. default:
  6221. WRITE(E_MUX0_PIN, LOW);
  6222. WRITE(E_MUX1_PIN, LOW);
  6223. break;
  6224. }
  6225. delay(100);
  6226. #else
  6227. if (tmp_extruder >= EXTRUDERS) {
  6228. SERIAL_ECHO_START;
  6229. SERIAL_ECHOPGM("T");
  6230. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6231. SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER c=0 r=0
  6232. }
  6233. else {
  6234. boolean make_move = false;
  6235. if (code_seen('F')) {
  6236. make_move = true;
  6237. next_feedrate = code_value();
  6238. if (next_feedrate > 0.0) {
  6239. feedrate = next_feedrate;
  6240. }
  6241. }
  6242. #if EXTRUDERS > 1
  6243. if (tmp_extruder != active_extruder) {
  6244. // Save current position to return to after applying extruder offset
  6245. memcpy(destination, current_position, sizeof(destination));
  6246. // Offset extruder (only by XY)
  6247. int i;
  6248. for (i = 0; i < 2; i++) {
  6249. current_position[i] = current_position[i] -
  6250. extruder_offset[i][active_extruder] +
  6251. extruder_offset[i][tmp_extruder];
  6252. }
  6253. // Set the new active extruder and position
  6254. active_extruder = tmp_extruder;
  6255. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6256. // Move to the old position if 'F' was in the parameters
  6257. if (make_move && Stopped == false) {
  6258. prepare_move();
  6259. }
  6260. }
  6261. #endif
  6262. SERIAL_ECHO_START;
  6263. SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER c=0 r=0
  6264. SERIAL_PROTOCOLLN((int)active_extruder);
  6265. }
  6266. #endif
  6267. }
  6268. } // end if(code_seen('T')) (end of T codes)
  6269. #ifdef DEBUG_DCODES
  6270. else if (code_seen('D')) // D codes (debug)
  6271. {
  6272. switch((int)code_value())
  6273. {
  6274. case -1: // D-1 - Endless loop
  6275. dcode__1(); break;
  6276. case 0: // D0 - Reset
  6277. dcode_0(); break;
  6278. case 1: // D1 - Clear EEPROM
  6279. dcode_1(); break;
  6280. case 2: // D2 - Read/Write RAM
  6281. dcode_2(); break;
  6282. case 3: // D3 - Read/Write EEPROM
  6283. dcode_3(); break;
  6284. case 4: // D4 - Read/Write PIN
  6285. dcode_4(); break;
  6286. case 5: // D5 - Read/Write FLASH
  6287. // dcode_5(); break;
  6288. break;
  6289. case 6: // D6 - Read/Write external FLASH
  6290. dcode_6(); break;
  6291. case 7: // D7 - Read/Write Bootloader
  6292. dcode_7(); break;
  6293. case 8: // D8 - Read/Write PINDA
  6294. dcode_8(); break;
  6295. case 9: // D9 - Read/Write ADC
  6296. dcode_9(); break;
  6297. case 10: // D10 - XYZ calibration = OK
  6298. dcode_10(); break;
  6299. #ifdef TMC2130
  6300. case 2130: // D9125 - TMC2130
  6301. dcode_2130(); break;
  6302. #endif //TMC2130
  6303. #ifdef PAT9125
  6304. case 9125: // D9125 - PAT9125
  6305. dcode_9125(); break;
  6306. #endif //PAT9125
  6307. }
  6308. }
  6309. #endif //DEBUG_DCODES
  6310. else
  6311. {
  6312. SERIAL_ECHO_START;
  6313. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  6314. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  6315. SERIAL_ECHOLNPGM("\"(2)");
  6316. }
  6317. KEEPALIVE_STATE(NOT_BUSY);
  6318. ClearToSend();
  6319. }
  6320. void FlushSerialRequestResend()
  6321. {
  6322. //char cmdbuffer[bufindr][100]="Resend:";
  6323. MYSERIAL.flush();
  6324. printf_P(_N("%S: %ld\n%S\n"), _i("Resend"), gcode_LastN + 1, _T(MSG_OK));
  6325. }
  6326. // Confirm the execution of a command, if sent from a serial line.
  6327. // Execution of a command from a SD card will not be confirmed.
  6328. void ClearToSend()
  6329. {
  6330. previous_millis_cmd = millis();
  6331. if ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR))
  6332. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  6333. }
  6334. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6335. void update_currents() {
  6336. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  6337. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  6338. float tmp_motor[3];
  6339. //SERIAL_ECHOLNPGM("Currents updated: ");
  6340. if (destination[Z_AXIS] < Z_SILENT) {
  6341. //SERIAL_ECHOLNPGM("LOW");
  6342. for (uint8_t i = 0; i < 3; i++) {
  6343. st_current_set(i, current_low[i]);
  6344. /*MYSERIAL.print(int(i));
  6345. SERIAL_ECHOPGM(": ");
  6346. MYSERIAL.println(current_low[i]);*/
  6347. }
  6348. }
  6349. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  6350. //SERIAL_ECHOLNPGM("HIGH");
  6351. for (uint8_t i = 0; i < 3; i++) {
  6352. st_current_set(i, current_high[i]);
  6353. /*MYSERIAL.print(int(i));
  6354. SERIAL_ECHOPGM(": ");
  6355. MYSERIAL.println(current_high[i]);*/
  6356. }
  6357. }
  6358. else {
  6359. for (uint8_t i = 0; i < 3; i++) {
  6360. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  6361. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  6362. st_current_set(i, tmp_motor[i]);
  6363. /*MYSERIAL.print(int(i));
  6364. SERIAL_ECHOPGM(": ");
  6365. MYSERIAL.println(tmp_motor[i]);*/
  6366. }
  6367. }
  6368. }
  6369. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6370. void get_coordinates()
  6371. {
  6372. bool seen[4]={false,false,false,false};
  6373. for(int8_t i=0; i < NUM_AXIS; i++) {
  6374. if(code_seen(axis_codes[i]))
  6375. {
  6376. bool relative = axis_relative_modes[i] || relative_mode;
  6377. destination[i] = (float)code_value();
  6378. if (i == E_AXIS) {
  6379. float emult = extruder_multiplier[active_extruder];
  6380. if (emult != 1.) {
  6381. if (! relative) {
  6382. destination[i] -= current_position[i];
  6383. relative = true;
  6384. }
  6385. destination[i] *= emult;
  6386. }
  6387. }
  6388. if (relative)
  6389. destination[i] += current_position[i];
  6390. seen[i]=true;
  6391. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6392. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  6393. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6394. }
  6395. else destination[i] = current_position[i]; //Are these else lines really needed?
  6396. }
  6397. if(code_seen('F')) {
  6398. next_feedrate = code_value();
  6399. #ifdef MAX_SILENT_FEEDRATE
  6400. if (tmc2130_mode == TMC2130_MODE_SILENT)
  6401. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  6402. #endif //MAX_SILENT_FEEDRATE
  6403. if(next_feedrate > 0.0) feedrate = next_feedrate;
  6404. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  6405. {
  6406. // float e_max_speed =
  6407. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  6408. }
  6409. }
  6410. }
  6411. void get_arc_coordinates()
  6412. {
  6413. #ifdef SF_ARC_FIX
  6414. bool relative_mode_backup = relative_mode;
  6415. relative_mode = true;
  6416. #endif
  6417. get_coordinates();
  6418. #ifdef SF_ARC_FIX
  6419. relative_mode=relative_mode_backup;
  6420. #endif
  6421. if(code_seen('I')) {
  6422. offset[0] = code_value();
  6423. }
  6424. else {
  6425. offset[0] = 0.0;
  6426. }
  6427. if(code_seen('J')) {
  6428. offset[1] = code_value();
  6429. }
  6430. else {
  6431. offset[1] = 0.0;
  6432. }
  6433. }
  6434. void clamp_to_software_endstops(float target[3])
  6435. {
  6436. #ifdef DEBUG_DISABLE_SWLIMITS
  6437. return;
  6438. #endif //DEBUG_DISABLE_SWLIMITS
  6439. world2machine_clamp(target[0], target[1]);
  6440. // Clamp the Z coordinate.
  6441. if (min_software_endstops) {
  6442. float negative_z_offset = 0;
  6443. #ifdef ENABLE_AUTO_BED_LEVELING
  6444. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  6445. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  6446. #endif
  6447. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  6448. }
  6449. if (max_software_endstops) {
  6450. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  6451. }
  6452. }
  6453. #ifdef MESH_BED_LEVELING
  6454. 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) {
  6455. float dx = x - current_position[X_AXIS];
  6456. float dy = y - current_position[Y_AXIS];
  6457. float dz = z - current_position[Z_AXIS];
  6458. int n_segments = 0;
  6459. if (mbl.active) {
  6460. float len = abs(dx) + abs(dy);
  6461. if (len > 0)
  6462. // Split to 3cm segments or shorter.
  6463. n_segments = int(ceil(len / 30.f));
  6464. }
  6465. if (n_segments > 1) {
  6466. float de = e - current_position[E_AXIS];
  6467. for (int i = 1; i < n_segments; ++ i) {
  6468. float t = float(i) / float(n_segments);
  6469. if (saved_printing || (mbl.active == false)) return;
  6470. plan_buffer_line(
  6471. current_position[X_AXIS] + t * dx,
  6472. current_position[Y_AXIS] + t * dy,
  6473. current_position[Z_AXIS] + t * dz,
  6474. current_position[E_AXIS] + t * de,
  6475. feed_rate, extruder);
  6476. }
  6477. }
  6478. // The rest of the path.
  6479. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  6480. current_position[X_AXIS] = x;
  6481. current_position[Y_AXIS] = y;
  6482. current_position[Z_AXIS] = z;
  6483. current_position[E_AXIS] = e;
  6484. }
  6485. #endif // MESH_BED_LEVELING
  6486. void prepare_move()
  6487. {
  6488. clamp_to_software_endstops(destination);
  6489. previous_millis_cmd = millis();
  6490. // Do not use feedmultiply for E or Z only moves
  6491. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  6492. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  6493. }
  6494. else {
  6495. #ifdef MESH_BED_LEVELING
  6496. 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);
  6497. #else
  6498. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  6499. #endif
  6500. }
  6501. for(int8_t i=0; i < NUM_AXIS; i++) {
  6502. current_position[i] = destination[i];
  6503. }
  6504. }
  6505. void prepare_arc_move(char isclockwise) {
  6506. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  6507. // Trace the arc
  6508. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  6509. // As far as the parser is concerned, the position is now == target. In reality the
  6510. // motion control system might still be processing the action and the real tool position
  6511. // in any intermediate location.
  6512. for(int8_t i=0; i < NUM_AXIS; i++) {
  6513. current_position[i] = destination[i];
  6514. }
  6515. previous_millis_cmd = millis();
  6516. }
  6517. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6518. #if defined(FAN_PIN)
  6519. #if CONTROLLERFAN_PIN == FAN_PIN
  6520. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  6521. #endif
  6522. #endif
  6523. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  6524. unsigned long lastMotorCheck = 0;
  6525. void controllerFan()
  6526. {
  6527. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  6528. {
  6529. lastMotorCheck = millis();
  6530. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  6531. #if EXTRUDERS > 2
  6532. || !READ(E2_ENABLE_PIN)
  6533. #endif
  6534. #if EXTRUDER > 1
  6535. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  6536. || !READ(X2_ENABLE_PIN)
  6537. #endif
  6538. || !READ(E1_ENABLE_PIN)
  6539. #endif
  6540. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  6541. {
  6542. lastMotor = millis(); //... set time to NOW so the fan will turn on
  6543. }
  6544. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  6545. {
  6546. digitalWrite(CONTROLLERFAN_PIN, 0);
  6547. analogWrite(CONTROLLERFAN_PIN, 0);
  6548. }
  6549. else
  6550. {
  6551. // allows digital or PWM fan output to be used (see M42 handling)
  6552. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6553. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6554. }
  6555. }
  6556. }
  6557. #endif
  6558. #ifdef TEMP_STAT_LEDS
  6559. static bool blue_led = false;
  6560. static bool red_led = false;
  6561. static uint32_t stat_update = 0;
  6562. void handle_status_leds(void) {
  6563. float max_temp = 0.0;
  6564. if(millis() > stat_update) {
  6565. stat_update += 500; // Update every 0.5s
  6566. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  6567. max_temp = max(max_temp, degHotend(cur_extruder));
  6568. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  6569. }
  6570. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  6571. max_temp = max(max_temp, degTargetBed());
  6572. max_temp = max(max_temp, degBed());
  6573. #endif
  6574. if((max_temp > 55.0) && (red_led == false)) {
  6575. digitalWrite(STAT_LED_RED, 1);
  6576. digitalWrite(STAT_LED_BLUE, 0);
  6577. red_led = true;
  6578. blue_led = false;
  6579. }
  6580. if((max_temp < 54.0) && (blue_led == false)) {
  6581. digitalWrite(STAT_LED_RED, 0);
  6582. digitalWrite(STAT_LED_BLUE, 1);
  6583. red_led = false;
  6584. blue_led = true;
  6585. }
  6586. }
  6587. }
  6588. #endif
  6589. #ifdef SAFETYTIMER
  6590. /**
  6591. * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
  6592. *
  6593. * Full screen blocking notification message is shown after heater turning off.
  6594. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  6595. * damage print.
  6596. *
  6597. * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
  6598. */
  6599. static void handleSafetyTimer()
  6600. {
  6601. #if (EXTRUDERS > 1)
  6602. #error Implemented only for one extruder.
  6603. #endif //(EXTRUDERS > 1)
  6604. if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
  6605. {
  6606. safetyTimer.stop();
  6607. }
  6608. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  6609. {
  6610. safetyTimer.start();
  6611. }
  6612. else if (safetyTimer.expired(safetytimer_inactive_time))
  6613. {
  6614. setTargetBed(0);
  6615. setTargetHotend(0, 0);
  6616. lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
  6617. }
  6618. }
  6619. #endif //SAFETYTIMER
  6620. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  6621. {
  6622. #ifdef PAT9125
  6623. if (fsensor_enabled && filament_autoload_enabled && !fsensor_M600 && !moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
  6624. {
  6625. if (fsensor_autoload_enabled)
  6626. {
  6627. if (fsensor_check_autoload())
  6628. {
  6629. if (degHotend0() > EXTRUDE_MINTEMP)
  6630. {
  6631. fsensor_autoload_check_stop();
  6632. tone(BEEPER, 1000);
  6633. delay_keep_alive(50);
  6634. noTone(BEEPER);
  6635. loading_flag = true;
  6636. enquecommand_front_P((PSTR("M701")));
  6637. }
  6638. else
  6639. {
  6640. lcd_update_enable(false);
  6641. lcd_clear();
  6642. lcd.setCursor(0, 0);
  6643. lcd_puts_P(_T(MSG_ERROR));
  6644. lcd.setCursor(0, 2);
  6645. lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
  6646. delay(2000);
  6647. lcd_clear();
  6648. lcd_update_enable(true);
  6649. }
  6650. }
  6651. }
  6652. else
  6653. fsensor_autoload_check_start();
  6654. }
  6655. else
  6656. if (fsensor_autoload_enabled)
  6657. fsensor_autoload_check_stop();
  6658. #endif //PAT9125
  6659. #ifdef SAFETYTIMER
  6660. handleSafetyTimer();
  6661. #endif //SAFETYTIMER
  6662. #if defined(KILL_PIN) && KILL_PIN > -1
  6663. static int killCount = 0; // make the inactivity button a bit less responsive
  6664. const int KILL_DELAY = 10000;
  6665. #endif
  6666. if(buflen < (BUFSIZE-1)){
  6667. get_command();
  6668. }
  6669. if( (millis() - previous_millis_cmd) > max_inactive_time )
  6670. if(max_inactive_time)
  6671. kill(_n(""), 4);
  6672. if(stepper_inactive_time) {
  6673. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  6674. {
  6675. if(blocks_queued() == false && ignore_stepper_queue == false) {
  6676. disable_x();
  6677. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  6678. disable_y();
  6679. disable_z();
  6680. disable_e0();
  6681. disable_e1();
  6682. disable_e2();
  6683. }
  6684. }
  6685. }
  6686. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  6687. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  6688. {
  6689. chdkActive = false;
  6690. WRITE(CHDK, LOW);
  6691. }
  6692. #endif
  6693. #if defined(KILL_PIN) && KILL_PIN > -1
  6694. // Check if the kill button was pressed and wait just in case it was an accidental
  6695. // key kill key press
  6696. // -------------------------------------------------------------------------------
  6697. if( 0 == READ(KILL_PIN) )
  6698. {
  6699. killCount++;
  6700. }
  6701. else if (killCount > 0)
  6702. {
  6703. killCount--;
  6704. }
  6705. // Exceeded threshold and we can confirm that it was not accidental
  6706. // KILL the machine
  6707. // ----------------------------------------------------------------
  6708. if ( killCount >= KILL_DELAY)
  6709. {
  6710. kill("", 5);
  6711. }
  6712. #endif
  6713. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6714. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  6715. #endif
  6716. #ifdef EXTRUDER_RUNOUT_PREVENT
  6717. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  6718. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  6719. {
  6720. bool oldstatus=READ(E0_ENABLE_PIN);
  6721. enable_e0();
  6722. float oldepos=current_position[E_AXIS];
  6723. float oldedes=destination[E_AXIS];
  6724. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  6725. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  6726. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  6727. current_position[E_AXIS]=oldepos;
  6728. destination[E_AXIS]=oldedes;
  6729. plan_set_e_position(oldepos);
  6730. previous_millis_cmd=millis();
  6731. st_synchronize();
  6732. WRITE(E0_ENABLE_PIN,oldstatus);
  6733. }
  6734. #endif
  6735. #ifdef TEMP_STAT_LEDS
  6736. handle_status_leds();
  6737. #endif
  6738. check_axes_activity();
  6739. }
  6740. void kill(const char *full_screen_message, unsigned char id)
  6741. {
  6742. printf_P(_N("KILL: %d\n"), id);
  6743. //return;
  6744. cli(); // Stop interrupts
  6745. disable_heater();
  6746. disable_x();
  6747. // SERIAL_ECHOLNPGM("kill - disable Y");
  6748. disable_y();
  6749. disable_z();
  6750. disable_e0();
  6751. disable_e1();
  6752. disable_e2();
  6753. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  6754. pinMode(PS_ON_PIN,INPUT);
  6755. #endif
  6756. SERIAL_ERROR_START;
  6757. SERIAL_ERRORLNRPGM(_i("Printer halted. kill() called!"));////MSG_ERR_KILLED c=0 r=0
  6758. if (full_screen_message != NULL) {
  6759. SERIAL_ERRORLNRPGM(full_screen_message);
  6760. lcd_display_message_fullscreen_P(full_screen_message);
  6761. } else {
  6762. LCD_ALERTMESSAGERPGM(_i("KILLED. "));////MSG_KILLED c=0 r=0
  6763. }
  6764. // FMC small patch to update the LCD before ending
  6765. sei(); // enable interrupts
  6766. for ( int i=5; i--; lcd_update(0))
  6767. {
  6768. delay(200);
  6769. }
  6770. cli(); // disable interrupts
  6771. suicide();
  6772. while(1)
  6773. {
  6774. #ifdef WATCHDOG
  6775. wdt_reset();
  6776. #endif //WATCHDOG
  6777. /* Intentionally left empty */
  6778. } // Wait for reset
  6779. }
  6780. void Stop()
  6781. {
  6782. disable_heater();
  6783. if(Stopped == false) {
  6784. Stopped = true;
  6785. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  6786. SERIAL_ERROR_START;
  6787. SERIAL_ERRORLNRPGM(_T(MSG_ERR_STOPPED));
  6788. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  6789. }
  6790. }
  6791. bool IsStopped() { return Stopped; };
  6792. #ifdef FAST_PWM_FAN
  6793. void setPwmFrequency(uint8_t pin, int val)
  6794. {
  6795. val &= 0x07;
  6796. switch(digitalPinToTimer(pin))
  6797. {
  6798. #if defined(TCCR0A)
  6799. case TIMER0A:
  6800. case TIMER0B:
  6801. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  6802. // TCCR0B |= val;
  6803. break;
  6804. #endif
  6805. #if defined(TCCR1A)
  6806. case TIMER1A:
  6807. case TIMER1B:
  6808. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6809. // TCCR1B |= val;
  6810. break;
  6811. #endif
  6812. #if defined(TCCR2)
  6813. case TIMER2:
  6814. case TIMER2:
  6815. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6816. TCCR2 |= val;
  6817. break;
  6818. #endif
  6819. #if defined(TCCR2A)
  6820. case TIMER2A:
  6821. case TIMER2B:
  6822. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  6823. TCCR2B |= val;
  6824. break;
  6825. #endif
  6826. #if defined(TCCR3A)
  6827. case TIMER3A:
  6828. case TIMER3B:
  6829. case TIMER3C:
  6830. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  6831. TCCR3B |= val;
  6832. break;
  6833. #endif
  6834. #if defined(TCCR4A)
  6835. case TIMER4A:
  6836. case TIMER4B:
  6837. case TIMER4C:
  6838. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  6839. TCCR4B |= val;
  6840. break;
  6841. #endif
  6842. #if defined(TCCR5A)
  6843. case TIMER5A:
  6844. case TIMER5B:
  6845. case TIMER5C:
  6846. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  6847. TCCR5B |= val;
  6848. break;
  6849. #endif
  6850. }
  6851. }
  6852. #endif //FAST_PWM_FAN
  6853. bool setTargetedHotend(int code){
  6854. tmp_extruder = active_extruder;
  6855. if(code_seen('T')) {
  6856. tmp_extruder = code_value();
  6857. if(tmp_extruder >= EXTRUDERS) {
  6858. SERIAL_ECHO_START;
  6859. switch(code){
  6860. case 104:
  6861. SERIAL_ECHORPGM(_i("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER c=0 r=0
  6862. break;
  6863. case 105:
  6864. SERIAL_ECHO(_i("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER c=0 r=0
  6865. break;
  6866. case 109:
  6867. SERIAL_ECHO(_i("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER c=0 r=0
  6868. break;
  6869. case 218:
  6870. SERIAL_ECHO(_i("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER c=0 r=0
  6871. break;
  6872. case 221:
  6873. SERIAL_ECHO(_i("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER c=0 r=0
  6874. break;
  6875. }
  6876. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6877. return true;
  6878. }
  6879. }
  6880. return false;
  6881. }
  6882. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  6883. {
  6884. 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)
  6885. {
  6886. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  6887. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  6888. }
  6889. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  6890. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  6891. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  6892. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  6893. total_filament_used = 0;
  6894. }
  6895. float calculate_extruder_multiplier(float diameter) {
  6896. float out = 1.f;
  6897. if (volumetric_enabled && diameter > 0.f) {
  6898. float area = M_PI * diameter * diameter * 0.25;
  6899. out = 1.f / area;
  6900. }
  6901. if (extrudemultiply != 100)
  6902. out *= float(extrudemultiply) * 0.01f;
  6903. return out;
  6904. }
  6905. void calculate_extruder_multipliers() {
  6906. extruder_multiplier[0] = calculate_extruder_multiplier(filament_size[0]);
  6907. #if EXTRUDERS > 1
  6908. extruder_multiplier[1] = calculate_extruder_multiplier(filament_size[1]);
  6909. #if EXTRUDERS > 2
  6910. extruder_multiplier[2] = calculate_extruder_multiplier(filament_size[2]);
  6911. #endif
  6912. #endif
  6913. }
  6914. void delay_keep_alive(unsigned int ms)
  6915. {
  6916. for (;;) {
  6917. manage_heater();
  6918. // Manage inactivity, but don't disable steppers on timeout.
  6919. manage_inactivity(true);
  6920. lcd_update(0);
  6921. if (ms == 0)
  6922. break;
  6923. else if (ms >= 50) {
  6924. delay(50);
  6925. ms -= 50;
  6926. } else {
  6927. delay(ms);
  6928. ms = 0;
  6929. }
  6930. }
  6931. }
  6932. void wait_for_heater(long codenum) {
  6933. #ifdef TEMP_RESIDENCY_TIME
  6934. long residencyStart;
  6935. residencyStart = -1;
  6936. /* continue to loop until we have reached the target temp
  6937. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  6938. while ((!cancel_heatup) && ((residencyStart == -1) ||
  6939. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  6940. #else
  6941. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  6942. #endif //TEMP_RESIDENCY_TIME
  6943. if ((millis() - codenum) > 1000UL)
  6944. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  6945. if (!farm_mode) {
  6946. SERIAL_PROTOCOLPGM("T:");
  6947. SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
  6948. SERIAL_PROTOCOLPGM(" E:");
  6949. SERIAL_PROTOCOL((int)tmp_extruder);
  6950. #ifdef TEMP_RESIDENCY_TIME
  6951. SERIAL_PROTOCOLPGM(" W:");
  6952. if (residencyStart > -1)
  6953. {
  6954. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  6955. SERIAL_PROTOCOLLN(codenum);
  6956. }
  6957. else
  6958. {
  6959. SERIAL_PROTOCOLLN("?");
  6960. }
  6961. }
  6962. #else
  6963. SERIAL_PROTOCOLLN("");
  6964. #endif
  6965. codenum = millis();
  6966. }
  6967. manage_heater();
  6968. manage_inactivity();
  6969. lcd_update(0);
  6970. #ifdef TEMP_RESIDENCY_TIME
  6971. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  6972. or when current temp falls outside the hysteresis after target temp was reached */
  6973. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
  6974. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
  6975. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
  6976. {
  6977. residencyStart = millis();
  6978. }
  6979. #endif //TEMP_RESIDENCY_TIME
  6980. }
  6981. }
  6982. void check_babystep() {
  6983. int babystep_z;
  6984. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6985. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  6986. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  6987. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  6988. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6989. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  6990. lcd_update_enable(true);
  6991. }
  6992. }
  6993. #ifdef DIS
  6994. void d_setup()
  6995. {
  6996. pinMode(D_DATACLOCK, INPUT_PULLUP);
  6997. pinMode(D_DATA, INPUT_PULLUP);
  6998. pinMode(D_REQUIRE, OUTPUT);
  6999. digitalWrite(D_REQUIRE, HIGH);
  7000. }
  7001. float d_ReadData()
  7002. {
  7003. int digit[13];
  7004. String mergeOutput;
  7005. float output;
  7006. digitalWrite(D_REQUIRE, HIGH);
  7007. for (int i = 0; i<13; i++)
  7008. {
  7009. for (int j = 0; j < 4; j++)
  7010. {
  7011. while (digitalRead(D_DATACLOCK) == LOW) {}
  7012. while (digitalRead(D_DATACLOCK) == HIGH) {}
  7013. bitWrite(digit[i], j, digitalRead(D_DATA));
  7014. }
  7015. }
  7016. digitalWrite(D_REQUIRE, LOW);
  7017. mergeOutput = "";
  7018. output = 0;
  7019. for (int r = 5; r <= 10; r++) //Merge digits
  7020. {
  7021. mergeOutput += digit[r];
  7022. }
  7023. output = mergeOutput.toFloat();
  7024. if (digit[4] == 8) //Handle sign
  7025. {
  7026. output *= -1;
  7027. }
  7028. for (int i = digit[11]; i > 0; i--) //Handle floating point
  7029. {
  7030. output /= 10;
  7031. }
  7032. return output;
  7033. }
  7034. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  7035. int t1 = 0;
  7036. int t_delay = 0;
  7037. int digit[13];
  7038. int m;
  7039. char str[3];
  7040. //String mergeOutput;
  7041. char mergeOutput[15];
  7042. float output;
  7043. int mesh_point = 0; //index number of calibration point
  7044. 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
  7045. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  7046. float mesh_home_z_search = 4;
  7047. float row[x_points_num];
  7048. int ix = 0;
  7049. int iy = 0;
  7050. char* filename_wldsd = "wldsd.txt";
  7051. char data_wldsd[70];
  7052. char numb_wldsd[10];
  7053. d_setup();
  7054. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  7055. // We don't know where we are! HOME!
  7056. // Push the commands to the front of the message queue in the reverse order!
  7057. // There shall be always enough space reserved for these commands.
  7058. repeatcommand_front(); // repeat G80 with all its parameters
  7059. enquecommand_front_P((PSTR("G28 W0")));
  7060. enquecommand_front_P((PSTR("G1 Z5")));
  7061. return;
  7062. }
  7063. bool custom_message_old = custom_message;
  7064. unsigned int custom_message_type_old = custom_message_type;
  7065. unsigned int custom_message_state_old = custom_message_state;
  7066. custom_message = true;
  7067. custom_message_type = 1;
  7068. custom_message_state = (x_points_num * y_points_num) + 10;
  7069. lcd_update(1);
  7070. mbl.reset();
  7071. babystep_undo();
  7072. card.openFile(filename_wldsd, false);
  7073. current_position[Z_AXIS] = mesh_home_z_search;
  7074. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
  7075. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  7076. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  7077. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  7078. setup_for_endstop_move(false);
  7079. SERIAL_PROTOCOLPGM("Num X,Y: ");
  7080. SERIAL_PROTOCOL(x_points_num);
  7081. SERIAL_PROTOCOLPGM(",");
  7082. SERIAL_PROTOCOL(y_points_num);
  7083. SERIAL_PROTOCOLPGM("\nZ search height: ");
  7084. SERIAL_PROTOCOL(mesh_home_z_search);
  7085. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  7086. SERIAL_PROTOCOL(x_dimension);
  7087. SERIAL_PROTOCOLPGM(",");
  7088. SERIAL_PROTOCOL(y_dimension);
  7089. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  7090. while (mesh_point != x_points_num * y_points_num) {
  7091. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  7092. iy = mesh_point / x_points_num;
  7093. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  7094. float z0 = 0.f;
  7095. current_position[Z_AXIS] = mesh_home_z_search;
  7096. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  7097. st_synchronize();
  7098. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  7099. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  7100. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  7101. st_synchronize();
  7102. 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
  7103. break;
  7104. card.closefile();
  7105. }
  7106. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7107. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  7108. //strcat(data_wldsd, numb_wldsd);
  7109. //MYSERIAL.println(data_wldsd);
  7110. //delay(1000);
  7111. //delay(3000);
  7112. //t1 = millis();
  7113. //while (digitalRead(D_DATACLOCK) == LOW) {}
  7114. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  7115. memset(digit, 0, sizeof(digit));
  7116. //cli();
  7117. digitalWrite(D_REQUIRE, LOW);
  7118. for (int i = 0; i<13; i++)
  7119. {
  7120. //t1 = millis();
  7121. for (int j = 0; j < 4; j++)
  7122. {
  7123. while (digitalRead(D_DATACLOCK) == LOW) {}
  7124. while (digitalRead(D_DATACLOCK) == HIGH) {}
  7125. bitWrite(digit[i], j, digitalRead(D_DATA));
  7126. }
  7127. //t_delay = (millis() - t1);
  7128. //SERIAL_PROTOCOLPGM(" ");
  7129. //SERIAL_PROTOCOL_F(t_delay, 5);
  7130. //SERIAL_PROTOCOLPGM(" ");
  7131. }
  7132. //sei();
  7133. digitalWrite(D_REQUIRE, HIGH);
  7134. mergeOutput[0] = '\0';
  7135. output = 0;
  7136. for (int r = 5; r <= 10; r++) //Merge digits
  7137. {
  7138. sprintf(str, "%d", digit[r]);
  7139. strcat(mergeOutput, str);
  7140. }
  7141. output = atof(mergeOutput);
  7142. if (digit[4] == 8) //Handle sign
  7143. {
  7144. output *= -1;
  7145. }
  7146. for (int i = digit[11]; i > 0; i--) //Handle floating point
  7147. {
  7148. output *= 0.1;
  7149. }
  7150. //output = d_ReadData();
  7151. //row[ix] = current_position[Z_AXIS];
  7152. memset(data_wldsd, 0, sizeof(data_wldsd));
  7153. for (int i = 0; i <3; i++) {
  7154. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7155. dtostrf(current_position[i], 8, 5, numb_wldsd);
  7156. strcat(data_wldsd, numb_wldsd);
  7157. strcat(data_wldsd, ";");
  7158. }
  7159. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7160. dtostrf(output, 8, 5, numb_wldsd);
  7161. strcat(data_wldsd, numb_wldsd);
  7162. //strcat(data_wldsd, ";");
  7163. card.write_command(data_wldsd);
  7164. //row[ix] = d_ReadData();
  7165. row[ix] = output; // current_position[Z_AXIS];
  7166. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  7167. for (int i = 0; i < x_points_num; i++) {
  7168. SERIAL_PROTOCOLPGM(" ");
  7169. SERIAL_PROTOCOL_F(row[i], 5);
  7170. }
  7171. SERIAL_PROTOCOLPGM("\n");
  7172. }
  7173. custom_message_state--;
  7174. mesh_point++;
  7175. lcd_update(1);
  7176. }
  7177. card.closefile();
  7178. }
  7179. #endif
  7180. void temp_compensation_start() {
  7181. custom_message = true;
  7182. custom_message_type = 5;
  7183. custom_message_state = PINDA_HEAT_T + 1;
  7184. lcd_update(2);
  7185. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  7186. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  7187. }
  7188. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7189. current_position[X_AXIS] = PINDA_PREHEAT_X;
  7190. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  7191. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  7192. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  7193. st_synchronize();
  7194. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  7195. for (int i = 0; i < PINDA_HEAT_T; i++) {
  7196. delay_keep_alive(1000);
  7197. custom_message_state = PINDA_HEAT_T - i;
  7198. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  7199. else lcd_update(1);
  7200. }
  7201. custom_message_type = 0;
  7202. custom_message_state = 0;
  7203. custom_message = false;
  7204. }
  7205. void temp_compensation_apply() {
  7206. int i_add;
  7207. int compensation_value;
  7208. int z_shift = 0;
  7209. float z_shift_mm;
  7210. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  7211. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  7212. i_add = (target_temperature_bed - 60) / 10;
  7213. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  7214. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  7215. }else {
  7216. //interpolation
  7217. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  7218. }
  7219. printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
  7220. 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);
  7221. st_synchronize();
  7222. plan_set_z_position(current_position[Z_AXIS]);
  7223. }
  7224. else {
  7225. //we have no temp compensation data
  7226. }
  7227. }
  7228. float temp_comp_interpolation(float inp_temperature) {
  7229. //cubic spline interpolation
  7230. int n, i, j, k;
  7231. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  7232. int shift[10];
  7233. int temp_C[10];
  7234. n = 6; //number of measured points
  7235. shift[0] = 0;
  7236. for (i = 0; i < n; i++) {
  7237. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  7238. temp_C[i] = 50 + i * 10; //temperature in C
  7239. #ifdef PINDA_THERMISTOR
  7240. temp_C[i] = 35 + i * 5; //temperature in C
  7241. #else
  7242. temp_C[i] = 50 + i * 10; //temperature in C
  7243. #endif
  7244. x[i] = (float)temp_C[i];
  7245. f[i] = (float)shift[i];
  7246. }
  7247. if (inp_temperature < x[0]) return 0;
  7248. for (i = n - 1; i>0; i--) {
  7249. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  7250. h[i - 1] = x[i] - x[i - 1];
  7251. }
  7252. //*********** formation of h, s , f matrix **************
  7253. for (i = 1; i<n - 1; i++) {
  7254. m[i][i] = 2 * (h[i - 1] + h[i]);
  7255. if (i != 1) {
  7256. m[i][i - 1] = h[i - 1];
  7257. m[i - 1][i] = h[i - 1];
  7258. }
  7259. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  7260. }
  7261. //*********** forward elimination **************
  7262. for (i = 1; i<n - 2; i++) {
  7263. temp = (m[i + 1][i] / m[i][i]);
  7264. for (j = 1; j <= n - 1; j++)
  7265. m[i + 1][j] -= temp*m[i][j];
  7266. }
  7267. //*********** backward substitution *********
  7268. for (i = n - 2; i>0; i--) {
  7269. sum = 0;
  7270. for (j = i; j <= n - 2; j++)
  7271. sum += m[i][j] * s[j];
  7272. s[i] = (m[i][n - 1] - sum) / m[i][i];
  7273. }
  7274. for (i = 0; i<n - 1; i++)
  7275. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  7276. a = (s[i + 1] - s[i]) / (6 * h[i]);
  7277. b = s[i] / 2;
  7278. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  7279. d = f[i];
  7280. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  7281. }
  7282. return sum;
  7283. }
  7284. #ifdef PINDA_THERMISTOR
  7285. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  7286. {
  7287. if (!temp_cal_active) return 0;
  7288. if (!calibration_status_pinda()) return 0;
  7289. return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
  7290. }
  7291. #endif //PINDA_THERMISTOR
  7292. void long_pause() //long pause print
  7293. {
  7294. st_synchronize();
  7295. //save currently set parameters to global variables
  7296. saved_feedmultiply = feedmultiply;
  7297. HotendTempBckp = degTargetHotend(active_extruder);
  7298. fanSpeedBckp = fanSpeed;
  7299. start_pause_print = millis();
  7300. //save position
  7301. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  7302. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  7303. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  7304. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  7305. //retract
  7306. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  7307. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7308. //lift z
  7309. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  7310. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  7311. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  7312. //set nozzle target temperature to 0
  7313. setTargetHotend(0, 0);
  7314. setTargetHotend(0, 1);
  7315. setTargetHotend(0, 2);
  7316. //Move XY to side
  7317. current_position[X_AXIS] = X_PAUSE_POS;
  7318. current_position[Y_AXIS] = Y_PAUSE_POS;
  7319. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  7320. // Turn off the print fan
  7321. fanSpeed = 0;
  7322. st_synchronize();
  7323. }
  7324. void serialecho_temperatures() {
  7325. float tt = degHotend(active_extruder);
  7326. SERIAL_PROTOCOLPGM("T:");
  7327. SERIAL_PROTOCOL(tt);
  7328. SERIAL_PROTOCOLPGM(" E:");
  7329. SERIAL_PROTOCOL((int)active_extruder);
  7330. SERIAL_PROTOCOLPGM(" B:");
  7331. SERIAL_PROTOCOL_F(degBed(), 1);
  7332. SERIAL_PROTOCOLLN("");
  7333. }
  7334. extern uint32_t sdpos_atomic;
  7335. #ifdef UVLO_SUPPORT
  7336. void uvlo_()
  7337. {
  7338. unsigned long time_start = millis();
  7339. bool sd_print = card.sdprinting;
  7340. // Conserve power as soon as possible.
  7341. disable_x();
  7342. disable_y();
  7343. #ifdef TMC2130
  7344. tmc2130_set_current_h(Z_AXIS, 20);
  7345. tmc2130_set_current_r(Z_AXIS, 20);
  7346. tmc2130_set_current_h(E_AXIS, 20);
  7347. tmc2130_set_current_r(E_AXIS, 20);
  7348. #endif //TMC2130
  7349. // Indicate that the interrupt has been triggered.
  7350. // SERIAL_ECHOLNPGM("UVLO");
  7351. // Read out the current Z motor microstep counter. This will be later used
  7352. // for reaching the zero full step before powering off.
  7353. uint16_t z_microsteps = 0;
  7354. #ifdef TMC2130
  7355. z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  7356. #endif //TMC2130
  7357. // Calculate the file position, from which to resume this print.
  7358. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  7359. {
  7360. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7361. sd_position -= sdlen_planner;
  7362. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7363. sd_position -= sdlen_cmdqueue;
  7364. if (sd_position < 0) sd_position = 0;
  7365. }
  7366. // Backup the feedrate in mm/min.
  7367. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7368. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  7369. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  7370. // are in action.
  7371. planner_abort_hard();
  7372. // Store the current extruder position.
  7373. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  7374. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  7375. // Clean the input command queue.
  7376. cmdqueue_reset();
  7377. card.sdprinting = false;
  7378. // card.closefile();
  7379. // Enable stepper driver interrupt to move Z axis.
  7380. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  7381. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  7382. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  7383. sei();
  7384. plan_buffer_line(
  7385. current_position[X_AXIS],
  7386. current_position[Y_AXIS],
  7387. current_position[Z_AXIS],
  7388. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7389. 95, active_extruder);
  7390. st_synchronize();
  7391. disable_e0();
  7392. plan_buffer_line(
  7393. current_position[X_AXIS],
  7394. current_position[Y_AXIS],
  7395. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7396. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7397. 40, active_extruder);
  7398. st_synchronize();
  7399. disable_e0();
  7400. plan_buffer_line(
  7401. current_position[X_AXIS],
  7402. current_position[Y_AXIS],
  7403. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7404. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7405. 40, active_extruder);
  7406. st_synchronize();
  7407. disable_e0();
  7408. disable_z();
  7409. // Move Z up to the next 0th full step.
  7410. // Write the file position.
  7411. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  7412. // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7413. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7414. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7415. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7416. // Scale the z value to 1u resolution.
  7417. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
  7418. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  7419. }
  7420. // Read out the current Z motor microstep counter. This will be later used
  7421. // for reaching the zero full step before powering off.
  7422. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  7423. // Store the current position.
  7424. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  7425. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  7426. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  7427. // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
  7428. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  7429. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  7430. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  7431. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  7432. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
  7433. #if EXTRUDERS > 1
  7434. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
  7435. #if EXTRUDERS > 2
  7436. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
  7437. #endif
  7438. #endif
  7439. eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
  7440. // Finaly store the "power outage" flag.
  7441. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  7442. st_synchronize();
  7443. printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
  7444. disable_z();
  7445. // Increment power failure counter
  7446. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  7447. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  7448. printf_P(_N("UVLO - end %d\n"), millis() - time_start);
  7449. #if 0
  7450. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  7451. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  7452. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  7453. st_synchronize();
  7454. #endif
  7455. cli();
  7456. volatile unsigned int ppcount = 0;
  7457. SET_OUTPUT(BEEPER);
  7458. WRITE(BEEPER, HIGH);
  7459. for(ppcount = 0; ppcount < 2000; ppcount ++){
  7460. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  7461. }
  7462. WRITE(BEEPER, LOW);
  7463. while(1){
  7464. #if 1
  7465. WRITE(BEEPER, LOW);
  7466. for(ppcount = 0; ppcount < 8000; ppcount ++){
  7467. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  7468. }
  7469. #endif
  7470. };
  7471. }
  7472. #endif //UVLO_SUPPORT
  7473. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  7474. void setup_fan_interrupt() {
  7475. //INT7
  7476. DDRE &= ~(1 << 7); //input pin
  7477. PORTE &= ~(1 << 7); //no internal pull-up
  7478. //start with sensing rising edge
  7479. EICRB &= ~(1 << 6);
  7480. EICRB |= (1 << 7);
  7481. //enable INT7 interrupt
  7482. EIMSK |= (1 << 7);
  7483. }
  7484. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  7485. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  7486. ISR(INT7_vect) {
  7487. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  7488. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  7489. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  7490. t_fan_rising_edge = millis_nc();
  7491. }
  7492. else { //interrupt was triggered by falling edge
  7493. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  7494. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  7495. }
  7496. }
  7497. EICRB ^= (1 << 6); //change edge
  7498. }
  7499. #endif
  7500. #ifdef UVLO_SUPPORT
  7501. void setup_uvlo_interrupt() {
  7502. DDRE &= ~(1 << 4); //input pin
  7503. PORTE &= ~(1 << 4); //no internal pull-up
  7504. //sensing falling edge
  7505. EICRB |= (1 << 0);
  7506. EICRB &= ~(1 << 1);
  7507. //enable INT4 interrupt
  7508. EIMSK |= (1 << 4);
  7509. }
  7510. ISR(INT4_vect) {
  7511. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  7512. SERIAL_ECHOLNPGM("INT4");
  7513. if (IS_SD_PRINTING) uvlo_();
  7514. }
  7515. void recover_print(uint8_t automatic) {
  7516. char cmd[30];
  7517. lcd_update_enable(true);
  7518. lcd_update(2);
  7519. lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
  7520. recover_machine_state_after_power_panic(); //recover position, temperatures and extrude_multipliers
  7521. // Lift the print head, so one may remove the excess priming material.
  7522. if (current_position[Z_AXIS] < 25)
  7523. enquecommand_P(PSTR("G1 Z25 F800"));
  7524. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  7525. enquecommand_P(PSTR("G28 X Y"));
  7526. // Set the target bed and nozzle temperatures and wait.
  7527. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  7528. enquecommand(cmd);
  7529. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  7530. enquecommand(cmd);
  7531. enquecommand_P(PSTR("M83")); //E axis relative mode
  7532. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7533. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  7534. if(automatic == 0){
  7535. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7536. }
  7537. enquecommand_P(PSTR("G1 E" STRINGIFY(-DEFAULT_RETRACTION)" F480"));
  7538. // Mark the power panic status as inactive.
  7539. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  7540. /*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
  7541. delay_keep_alive(1000);
  7542. }*/
  7543. 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]);
  7544. // Restart the print.
  7545. restore_print_from_eeprom();
  7546. printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
  7547. }
  7548. void recover_machine_state_after_power_panic()
  7549. {
  7550. char cmd[30];
  7551. // 1) Recover the logical cordinates at the time of the power panic.
  7552. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  7553. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  7554. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  7555. // Recover the logical coordinate of the Z axis at the time of the power panic.
  7556. // The current position after power panic is moved to the next closest 0th full step.
  7557. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  7558. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  7559. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
  7560. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7561. sprintf_P(cmd, PSTR("G92 E"));
  7562. dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
  7563. enquecommand(cmd);
  7564. }
  7565. memcpy(destination, current_position, sizeof(destination));
  7566. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7567. print_world_coordinates();
  7568. // 2) Initialize the logical to physical coordinate system transformation.
  7569. world2machine_initialize();
  7570. // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7571. mbl.active = false;
  7572. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7573. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7574. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7575. // Scale the z value to 10u resolution.
  7576. int16_t v;
  7577. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
  7578. if (v != 0)
  7579. mbl.active = true;
  7580. mbl.z_values[iy][ix] = float(v) * 0.001f;
  7581. }
  7582. if (mbl.active)
  7583. mbl.upsample_3x3();
  7584. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7585. // print_mesh_bed_leveling_table();
  7586. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  7587. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  7588. babystep_load();
  7589. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  7590. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  7591. // 6) Power up the motors, mark their positions as known.
  7592. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  7593. axis_known_position[X_AXIS] = true; enable_x();
  7594. axis_known_position[Y_AXIS] = true; enable_y();
  7595. axis_known_position[Z_AXIS] = true; enable_z();
  7596. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7597. print_physical_coordinates();
  7598. // 7) Recover the target temperatures.
  7599. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  7600. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  7601. // 8) Recover extruder multipilers
  7602. extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
  7603. #if EXTRUDERS > 1
  7604. extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
  7605. #if EXTRUDERS > 2
  7606. extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
  7607. #endif
  7608. #endif
  7609. extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
  7610. }
  7611. void restore_print_from_eeprom() {
  7612. float x_rec, y_rec, z_pos;
  7613. int feedrate_rec;
  7614. uint8_t fan_speed_rec;
  7615. char cmd[30];
  7616. char* c;
  7617. char filename[13];
  7618. uint8_t depth = 0;
  7619. char dir_name[9];
  7620. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  7621. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  7622. SERIAL_ECHOPGM("Feedrate:");
  7623. MYSERIAL.println(feedrate_rec);
  7624. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  7625. MYSERIAL.println(int(depth));
  7626. for (int i = 0; i < depth; i++) {
  7627. for (int j = 0; j < 8; j++) {
  7628. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  7629. }
  7630. dir_name[8] = '\0';
  7631. MYSERIAL.println(dir_name);
  7632. strcpy(dir_names[i], dir_name);
  7633. card.chdir(dir_name);
  7634. }
  7635. for (int i = 0; i < 8; i++) {
  7636. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  7637. }
  7638. filename[8] = '\0';
  7639. MYSERIAL.print(filename);
  7640. strcat_P(filename, PSTR(".gco"));
  7641. sprintf_P(cmd, PSTR("M23 %s"), filename);
  7642. enquecommand(cmd);
  7643. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  7644. SERIAL_ECHOPGM("Position read from eeprom:");
  7645. MYSERIAL.println(position);
  7646. // E axis relative mode.
  7647. enquecommand_P(PSTR("M83"));
  7648. // Move to the XY print position in logical coordinates, where the print has been killed.
  7649. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  7650. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  7651. strcat_P(cmd, PSTR(" F2000"));
  7652. enquecommand(cmd);
  7653. // Move the Z axis down to the print, in logical coordinates.
  7654. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  7655. enquecommand(cmd);
  7656. // Unretract.
  7657. enquecommand_P(PSTR("G1 E" STRINGIFY(2*DEFAULT_RETRACTION)" F480"));
  7658. // Set the feedrate saved at the power panic.
  7659. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  7660. enquecommand(cmd);
  7661. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  7662. {
  7663. float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7664. enquecommand_P(PSTR("M82")); //E axis abslute mode
  7665. }
  7666. // Set the fan speed saved at the power panic.
  7667. strcpy_P(cmd, PSTR("M106 S"));
  7668. strcat(cmd, itostr3(int(fan_speed_rec)));
  7669. enquecommand(cmd);
  7670. // Set a position in the file.
  7671. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  7672. enquecommand(cmd);
  7673. // Start SD print.
  7674. enquecommand_P(PSTR("M24"));
  7675. }
  7676. #endif //UVLO_SUPPORT
  7677. ////////////////////////////////////////////////////////////////////////////////
  7678. // save/restore printing
  7679. void stop_and_save_print_to_ram(float z_move, float e_move)
  7680. {
  7681. if (saved_printing) return;
  7682. unsigned char nplanner_blocks;
  7683. unsigned char nlines;
  7684. uint16_t sdlen_planner;
  7685. uint16_t sdlen_cmdqueue;
  7686. cli();
  7687. if (card.sdprinting) {
  7688. nplanner_blocks = number_of_blocks();
  7689. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  7690. sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7691. saved_sdpos -= sdlen_planner;
  7692. sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7693. saved_sdpos -= sdlen_cmdqueue;
  7694. saved_printing_type = PRINTING_TYPE_SD;
  7695. }
  7696. else if (is_usb_printing) { //reuse saved_sdpos for storing line number
  7697. saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
  7698. //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
  7699. nlines = planner_calc_sd_length(); //number of lines of commands in planner
  7700. saved_sdpos -= nlines;
  7701. saved_sdpos -= buflen; //number of blocks in cmd buffer
  7702. saved_printing_type = PRINTING_TYPE_USB;
  7703. }
  7704. else {
  7705. //not sd printing nor usb printing
  7706. }
  7707. #if 0
  7708. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  7709. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  7710. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  7711. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  7712. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  7713. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  7714. //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  7715. {
  7716. card.setIndex(saved_sdpos);
  7717. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  7718. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  7719. MYSERIAL.print(char(card.get()));
  7720. SERIAL_ECHOLNPGM("Content of command buffer: ");
  7721. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  7722. MYSERIAL.print(char(card.get()));
  7723. SERIAL_ECHOLNPGM("End of command buffer");
  7724. }
  7725. {
  7726. // Print the content of the planner buffer, line by line:
  7727. card.setIndex(saved_sdpos);
  7728. int8_t iline = 0;
  7729. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  7730. SERIAL_ECHOPGM("Planner line (from file): ");
  7731. MYSERIAL.print(int(iline), DEC);
  7732. SERIAL_ECHOPGM(", length: ");
  7733. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  7734. SERIAL_ECHOPGM(", steps: (");
  7735. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  7736. SERIAL_ECHOPGM(",");
  7737. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  7738. SERIAL_ECHOPGM(",");
  7739. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  7740. SERIAL_ECHOPGM(",");
  7741. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  7742. SERIAL_ECHOPGM("), events: ");
  7743. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  7744. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  7745. MYSERIAL.print(char(card.get()));
  7746. }
  7747. }
  7748. {
  7749. // Print the content of the command buffer, line by line:
  7750. int8_t iline = 0;
  7751. union {
  7752. struct {
  7753. char lo;
  7754. char hi;
  7755. } lohi;
  7756. uint16_t value;
  7757. } sdlen_single;
  7758. int _bufindr = bufindr;
  7759. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  7760. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  7761. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  7762. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  7763. }
  7764. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  7765. MYSERIAL.print(int(iline), DEC);
  7766. SERIAL_ECHOPGM(", type: ");
  7767. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  7768. SERIAL_ECHOPGM(", len: ");
  7769. MYSERIAL.println(sdlen_single.value, DEC);
  7770. // Print the content of the buffer line.
  7771. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  7772. SERIAL_ECHOPGM("Buffer line (from file): ");
  7773. MYSERIAL.println(int(iline), DEC);
  7774. for (; sdlen_single.value > 0; -- sdlen_single.value)
  7775. MYSERIAL.print(char(card.get()));
  7776. if (-- _buflen == 0)
  7777. break;
  7778. // First skip the current command ID and iterate up to the end of the string.
  7779. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  7780. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  7781. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7782. // If the end of the buffer was empty,
  7783. if (_bufindr == sizeof(cmdbuffer)) {
  7784. // skip to the start and find the nonzero command.
  7785. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7786. }
  7787. }
  7788. }
  7789. #endif
  7790. #if 0
  7791. saved_feedrate2 = feedrate; //save feedrate
  7792. #else
  7793. // Try to deduce the feedrate from the first block of the planner.
  7794. // Speed is in mm/min.
  7795. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7796. #endif
  7797. planner_abort_hard(); //abort printing
  7798. memcpy(saved_pos, current_position, sizeof(saved_pos));
  7799. saved_active_extruder = active_extruder; //save active_extruder
  7800. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  7801. saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
  7802. cmdqueue_reset(); //empty cmdqueue
  7803. card.sdprinting = false;
  7804. // card.closefile();
  7805. saved_printing = true;
  7806. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  7807. st_reset_timer();
  7808. sei();
  7809. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  7810. #if 1
  7811. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  7812. char buf[48];
  7813. // First unretract (relative extrusion)
  7814. if(!saved_extruder_relative_mode){
  7815. strcpy_P(buf, PSTR("M83"));
  7816. enquecommand(buf, false);
  7817. }
  7818. //retract 45mm/s
  7819. strcpy_P(buf, PSTR("G1 E"));
  7820. dtostrf(e_move, 6, 3, buf + strlen(buf));
  7821. strcat_P(buf, PSTR(" F"));
  7822. dtostrf(2700, 8, 3, buf + strlen(buf));
  7823. enquecommand(buf, false);
  7824. // Then lift Z axis
  7825. strcpy_P(buf, PSTR("G1 Z"));
  7826. dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
  7827. strcat_P(buf, PSTR(" F"));
  7828. dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
  7829. // At this point the command queue is empty.
  7830. enquecommand(buf, false);
  7831. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  7832. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  7833. repeatcommand_front();
  7834. #else
  7835. 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);
  7836. st_synchronize(); //wait moving
  7837. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7838. memcpy(destination, current_position, sizeof(destination));
  7839. #endif
  7840. }
  7841. }
  7842. void restore_print_from_ram_and_continue(float e_move)
  7843. {
  7844. if (!saved_printing) return;
  7845. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  7846. // current_position[axis] = st_get_position_mm(axis);
  7847. active_extruder = saved_active_extruder; //restore active_extruder
  7848. feedrate = saved_feedrate2; //restore feedrate
  7849. axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
  7850. float e = saved_pos[E_AXIS] - e_move;
  7851. plan_set_e_position(e);
  7852. //first move print head in XY to the saved position:
  7853. 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);
  7854. st_synchronize();
  7855. //then move Z
  7856. 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);
  7857. st_synchronize();
  7858. //and finaly unretract (35mm/s)
  7859. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], 35, active_extruder);
  7860. st_synchronize();
  7861. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7862. memcpy(destination, current_position, sizeof(destination));
  7863. if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
  7864. card.setIndex(saved_sdpos);
  7865. sdpos_atomic = saved_sdpos;
  7866. card.sdprinting = true;
  7867. printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
  7868. }
  7869. else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
  7870. gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
  7871. serial_count = 0;
  7872. FlushSerialRequestResend();
  7873. }
  7874. else {
  7875. //not sd printing nor usb printing
  7876. }
  7877. lcd_setstatuspgm(_T(WELCOME_MSG));
  7878. saved_printing = false;
  7879. }
  7880. void print_world_coordinates()
  7881. {
  7882. printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  7883. }
  7884. void print_physical_coordinates()
  7885. {
  7886. 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]);
  7887. }
  7888. void print_mesh_bed_leveling_table()
  7889. {
  7890. SERIAL_ECHOPGM("mesh bed leveling: ");
  7891. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  7892. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  7893. MYSERIAL.print(mbl.z_values[y][x], 3);
  7894. SERIAL_ECHOPGM(" ");
  7895. }
  7896. SERIAL_ECHOLNPGM("");
  7897. }
  7898. uint16_t print_time_remaining() {
  7899. uint16_t print_t = PRINT_TIME_REMAINING_INIT;
  7900. if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
  7901. else print_t = print_time_remaining_silent;
  7902. if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100 * print_t / feedmultiply;
  7903. return print_t;
  7904. }
  7905. uint8_t print_percent_done() {
  7906. //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
  7907. uint8_t percent_done = 0;
  7908. if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
  7909. percent_done = print_percent_done_normal;
  7910. }
  7911. else if (print_percent_done_silent <= 100) {
  7912. percent_done = print_percent_done_silent;
  7913. }
  7914. else {
  7915. percent_done = card.percentDone();
  7916. }
  7917. return percent_done;
  7918. }
  7919. static void print_time_remaining_init() {
  7920. print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
  7921. print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
  7922. print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  7923. print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  7924. }
  7925. #define FIL_LOAD_LENGTH 60