Marlin_main.cpp 307 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 FILAMENT_SENSOR
  81. #include "fsensor.h"
  82. #endif //FILAMENT_SENSOR
  83. #ifdef TMC2130
  84. #include "tmc2130.h"
  85. #endif //TMC2130
  86. #ifdef W25X20CL
  87. #include "w25x20cl.h"
  88. #include "optiboot_w25x20cl.h"
  89. #endif //W25X20CL
  90. #ifdef BLINKM
  91. #include "BlinkM.h"
  92. #include "Wire.h"
  93. #endif
  94. #ifdef ULTRALCD
  95. #include "ultralcd.h"
  96. #endif
  97. #if NUM_SERVOS > 0
  98. #include "Servo.h"
  99. #endif
  100. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  101. #include <SPI.h>
  102. #endif
  103. #define VERSION_STRING "1.0.2"
  104. #include "ultralcd.h"
  105. #include "cmdqueue.h"
  106. // Macros for bit masks
  107. #define BIT(b) (1<<(b))
  108. #define TEST(n,b) (((n)&BIT(b))!=0)
  109. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  110. //Macro for print fan speed
  111. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  112. #define PRINTING_TYPE_SD 0
  113. #define PRINTING_TYPE_USB 1
  114. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  115. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  116. //Implemented Codes
  117. //-------------------
  118. // PRUSA CODES
  119. // P F - Returns FW versions
  120. // P R - Returns revision of printer
  121. // G0 -> G1
  122. // G1 - Coordinated Movement X Y Z E
  123. // G2 - CW ARC
  124. // G3 - CCW ARC
  125. // G4 - Dwell S<seconds> or P<milliseconds>
  126. // G10 - retract filament according to settings of M207
  127. // G11 - retract recover filament according to settings of M208
  128. // G28 - Home all Axis
  129. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  130. // G30 - Single Z Probe, probes bed at current XY location.
  131. // G31 - Dock sled (Z_PROBE_SLED only)
  132. // G32 - Undock sled (Z_PROBE_SLED only)
  133. // G80 - Automatic mesh bed leveling
  134. // G81 - Print bed profile
  135. // G90 - Use Absolute Coordinates
  136. // G91 - Use Relative Coordinates
  137. // G92 - Set current position to coordinates given
  138. // M Codes
  139. // M0 - Unconditional stop - Wait for user to press a button on the LCD
  140. // M1 - Same as M0
  141. // M17 - Enable/Power all stepper motors
  142. // M18 - Disable all stepper motors; same as M84
  143. // M20 - List SD card
  144. // M21 - Init SD card
  145. // M22 - Release SD card
  146. // M23 - Select SD file (M23 filename.g)
  147. // M24 - Start/resume SD print
  148. // M25 - Pause SD print
  149. // M26 - Set SD position in bytes (M26 S12345)
  150. // M27 - Report SD print status
  151. // M28 - Start SD write (M28 filename.g)
  152. // M29 - Stop SD write
  153. // M30 - Delete file from SD (M30 filename.g)
  154. // M31 - Output time since last M109 or SD card start to serial
  155. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  156. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  157. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  158. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  159. // 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.
  160. // M73 - Show percent done and print time remaining
  161. // M80 - Turn on Power Supply
  162. // M81 - Turn off Power Supply
  163. // M82 - Set E codes absolute (default)
  164. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  165. // M84 - Disable steppers until next move,
  166. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  167. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  168. // M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
  169. // M92 - Set axis_steps_per_unit - same syntax as G92
  170. // M104 - Set extruder target temp
  171. // M105 - Read current temp
  172. // M106 - Fan on
  173. // M107 - Fan off
  174. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  175. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  176. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  177. // M112 - Emergency stop
  178. // M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  179. // M114 - Output current position to serial port
  180. // M115 - Capabilities string
  181. // M117 - display message
  182. // M119 - Output Endstop status to serial port
  183. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  184. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  185. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  186. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  187. // M140 - Set bed target temp
  188. // 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.
  189. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  190. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  191. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  192. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  193. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  194. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  195. // 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
  196. // 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
  197. // M206 - set additional homing offset
  198. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  199. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  200. // 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.
  201. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  202. // M220 S<factor in percent>- set speed factor override percentage
  203. // M221 S<factor in percent>- set extrude factor override percentage
  204. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  205. // M240 - Trigger a camera to take a photograph
  206. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  207. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  208. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  209. // M301 - Set PID parameters P I and D
  210. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  211. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  212. // M304 - Set bed PID parameters P I and D
  213. // M400 - Finish all moves
  214. // M401 - Lower z-probe if present
  215. // M402 - Raise z-probe if present
  216. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  217. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  218. // M406 - Turn off Filament Sensor extrusion control
  219. // M407 - Displays measured filament diameter
  220. // M500 - stores parameters in EEPROM
  221. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  222. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  223. // M503 - print the current settings (from memory not from EEPROM)
  224. // M509 - force language selection on next restart
  225. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  226. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  227. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  228. // M860 - Wait for PINDA thermistor to reach target temperature.
  229. // M861 - Set / Read PINDA temperature compensation offsets
  230. // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  231. // M907 - Set digital trimpot motor current using axis codes.
  232. // M908 - Control digital trimpot directly.
  233. // M350 - Set microstepping mode.
  234. // M351 - Toggle MS1 MS2 pins directly.
  235. // M928 - Start SD logging (M928 filename.g) - ended by M29
  236. // M999 - Restart after being stopped by error
  237. //Stepper Movement Variables
  238. //===========================================================================
  239. //=============================imported variables============================
  240. //===========================================================================
  241. //===========================================================================
  242. //=============================public variables=============================
  243. //===========================================================================
  244. #ifdef SDSUPPORT
  245. CardReader card;
  246. #endif
  247. unsigned long PingTime = millis();
  248. unsigned long NcTime;
  249. union Data
  250. {
  251. byte b[2];
  252. int value;
  253. };
  254. float homing_feedrate[] = HOMING_FEEDRATE;
  255. // Currently only the extruder axis may be switched to a relative mode.
  256. // Other axes are always absolute or relative based on the common relative_mode flag.
  257. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  258. int feedmultiply=100; //100->1 200->2
  259. int saved_feedmultiply;
  260. int extrudemultiply=100; //100->1 200->2
  261. int extruder_multiply[EXTRUDERS] = {100
  262. #if EXTRUDERS > 1
  263. , 100
  264. #if EXTRUDERS > 2
  265. , 100
  266. #endif
  267. #endif
  268. };
  269. int bowden_length[4] = {385, 385, 385, 385};
  270. bool is_usb_printing = false;
  271. bool homing_flag = false;
  272. bool temp_cal_active = false;
  273. unsigned long kicktime = millis()+100000;
  274. unsigned int usb_printing_counter;
  275. int lcd_change_fil_state = 0;
  276. int feedmultiplyBckp = 100;
  277. float HotendTempBckp = 0;
  278. int fanSpeedBckp = 0;
  279. float pause_lastpos[4];
  280. unsigned long pause_time = 0;
  281. unsigned long start_pause_print = millis();
  282. unsigned long t_fan_rising_edge = millis();
  283. static LongTimer safetyTimer;
  284. static LongTimer crashDetTimer;
  285. //unsigned long load_filament_time;
  286. bool mesh_bed_leveling_flag = false;
  287. bool mesh_bed_run_from_menu = false;
  288. int8_t FarmMode = 0;
  289. bool prusa_sd_card_upload = false;
  290. unsigned int status_number = 0;
  291. unsigned long total_filament_used;
  292. unsigned int heating_status;
  293. unsigned int heating_status_counter;
  294. bool custom_message;
  295. bool loading_flag = false;
  296. unsigned int custom_message_type;
  297. unsigned int custom_message_state;
  298. char snmm_filaments_used = 0;
  299. bool fan_state[2];
  300. int fan_edge_counter[2];
  301. int fan_speed[2];
  302. char dir_names[3][9];
  303. bool sortAlpha = false;
  304. bool volumetric_enabled = false;
  305. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  306. #if EXTRUDERS > 1
  307. , DEFAULT_NOMINAL_FILAMENT_DIA
  308. #if EXTRUDERS > 2
  309. , DEFAULT_NOMINAL_FILAMENT_DIA
  310. #endif
  311. #endif
  312. };
  313. float extruder_multiplier[EXTRUDERS] = {1.0
  314. #if EXTRUDERS > 1
  315. , 1.0
  316. #if EXTRUDERS > 2
  317. , 1.0
  318. #endif
  319. #endif
  320. };
  321. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  322. //shortcuts for more readable code
  323. #define _x current_position[X_AXIS]
  324. #define _y current_position[Y_AXIS]
  325. #define _z current_position[Z_AXIS]
  326. #define _e current_position[E_AXIS]
  327. float add_homing[3]={0,0,0};
  328. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  329. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  330. bool axis_known_position[3] = {false, false, false};
  331. float zprobe_zoffset;
  332. // Extruder offset
  333. #if EXTRUDERS > 1
  334. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  335. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  336. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  337. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  338. #endif
  339. };
  340. #endif
  341. uint8_t active_extruder = 0;
  342. int fanSpeed=0;
  343. #ifdef FWRETRACT
  344. bool autoretract_enabled=false;
  345. bool retracted[EXTRUDERS]={false
  346. #if EXTRUDERS > 1
  347. , false
  348. #if EXTRUDERS > 2
  349. , false
  350. #endif
  351. #endif
  352. };
  353. bool retracted_swap[EXTRUDERS]={false
  354. #if EXTRUDERS > 1
  355. , false
  356. #if EXTRUDERS > 2
  357. , false
  358. #endif
  359. #endif
  360. };
  361. float retract_length = RETRACT_LENGTH;
  362. float retract_length_swap = RETRACT_LENGTH_SWAP;
  363. float retract_feedrate = RETRACT_FEEDRATE;
  364. float retract_zlift = RETRACT_ZLIFT;
  365. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  366. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  367. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  368. #endif
  369. #ifdef PS_DEFAULT_OFF
  370. bool powersupply = false;
  371. #else
  372. bool powersupply = true;
  373. #endif
  374. bool cancel_heatup = false ;
  375. #ifdef HOST_KEEPALIVE_FEATURE
  376. int busy_state = NOT_BUSY;
  377. static long prev_busy_signal_ms = -1;
  378. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  379. #else
  380. #define host_keepalive();
  381. #define KEEPALIVE_STATE(n);
  382. #endif
  383. const char errormagic[] PROGMEM = "Error:";
  384. const char echomagic[] PROGMEM = "echo:";
  385. bool no_response = false;
  386. uint8_t important_status;
  387. uint8_t saved_filament_type;
  388. // save/restore printing
  389. bool saved_printing = false;
  390. // storing estimated time to end of print counted by slicer
  391. uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  392. uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  393. uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  394. uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
  395. //===========================================================================
  396. //=============================Private Variables=============================
  397. //===========================================================================
  398. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  399. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  400. static float delta[3] = {0.0, 0.0, 0.0};
  401. // For tracing an arc
  402. static float offset[3] = {0.0, 0.0, 0.0};
  403. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  404. // Determines Absolute or Relative Coordinates.
  405. // Also there is bool axis_relative_modes[] per axis flag.
  406. static bool relative_mode = false;
  407. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  408. //static float tt = 0;
  409. //static float bt = 0;
  410. //Inactivity shutdown variables
  411. static unsigned long previous_millis_cmd = 0;
  412. unsigned long max_inactive_time = 0;
  413. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  414. static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
  415. unsigned long starttime=0;
  416. unsigned long stoptime=0;
  417. unsigned long _usb_timer = 0;
  418. static uint8_t tmp_extruder;
  419. bool extruder_under_pressure = true;
  420. bool Stopped=false;
  421. #if NUM_SERVOS > 0
  422. Servo servos[NUM_SERVOS];
  423. #endif
  424. bool CooldownNoWait = true;
  425. bool target_direction;
  426. //Insert variables if CHDK is defined
  427. #ifdef CHDK
  428. unsigned long chdkHigh = 0;
  429. boolean chdkActive = false;
  430. #endif
  431. // save/restore printing
  432. static uint32_t saved_sdpos = 0;
  433. static uint8_t saved_printing_type = PRINTING_TYPE_SD;
  434. static float saved_pos[4] = { 0, 0, 0, 0 };
  435. // Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  436. static float saved_feedrate2 = 0;
  437. static uint8_t saved_active_extruder = 0;
  438. static bool saved_extruder_under_pressure = false;
  439. static bool saved_extruder_relative_mode = false;
  440. //===========================================================================
  441. //=============================Routines======================================
  442. //===========================================================================
  443. static void get_arc_coordinates();
  444. static bool setTargetedHotend(int code);
  445. static void print_time_remaining_init();
  446. void serial_echopair_P(const char *s_P, float v)
  447. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  448. void serial_echopair_P(const char *s_P, double v)
  449. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  450. void serial_echopair_P(const char *s_P, unsigned long v)
  451. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  452. #ifdef SDSUPPORT
  453. #include "SdFatUtil.h"
  454. int freeMemory() { return SdFatUtil::FreeRam(); }
  455. #else
  456. extern "C" {
  457. extern unsigned int __bss_end;
  458. extern unsigned int __heap_start;
  459. extern void *__brkval;
  460. int freeMemory() {
  461. int free_memory;
  462. if ((int)__brkval == 0)
  463. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  464. else
  465. free_memory = ((int)&free_memory) - ((int)__brkval);
  466. return free_memory;
  467. }
  468. }
  469. #endif //!SDSUPPORT
  470. void setup_killpin()
  471. {
  472. #if defined(KILL_PIN) && KILL_PIN > -1
  473. SET_INPUT(KILL_PIN);
  474. WRITE(KILL_PIN,HIGH);
  475. #endif
  476. }
  477. // Set home pin
  478. void setup_homepin(void)
  479. {
  480. #if defined(HOME_PIN) && HOME_PIN > -1
  481. SET_INPUT(HOME_PIN);
  482. WRITE(HOME_PIN,HIGH);
  483. #endif
  484. }
  485. void setup_photpin()
  486. {
  487. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  488. SET_OUTPUT(PHOTOGRAPH_PIN);
  489. WRITE(PHOTOGRAPH_PIN, LOW);
  490. #endif
  491. }
  492. void setup_powerhold()
  493. {
  494. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  495. SET_OUTPUT(SUICIDE_PIN);
  496. WRITE(SUICIDE_PIN, HIGH);
  497. #endif
  498. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  499. SET_OUTPUT(PS_ON_PIN);
  500. #if defined(PS_DEFAULT_OFF)
  501. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  502. #else
  503. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  504. #endif
  505. #endif
  506. }
  507. void suicide()
  508. {
  509. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  510. SET_OUTPUT(SUICIDE_PIN);
  511. WRITE(SUICIDE_PIN, LOW);
  512. #endif
  513. }
  514. void servo_init()
  515. {
  516. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  517. servos[0].attach(SERVO0_PIN);
  518. #endif
  519. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  520. servos[1].attach(SERVO1_PIN);
  521. #endif
  522. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  523. servos[2].attach(SERVO2_PIN);
  524. #endif
  525. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  526. servos[3].attach(SERVO3_PIN);
  527. #endif
  528. #if (NUM_SERVOS >= 5)
  529. #error "TODO: enter initalisation code for more servos"
  530. #endif
  531. }
  532. void stop_and_save_print_to_ram(float z_move, float e_move);
  533. void restore_print_from_ram_and_continue(float e_move);
  534. bool fans_check_enabled = true;
  535. #ifdef TMC2130
  536. extern int8_t CrashDetectMenu;
  537. void crashdet_enable()
  538. {
  539. tmc2130_sg_stop_on_crash = true;
  540. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
  541. CrashDetectMenu = 1;
  542. }
  543. void crashdet_disable()
  544. {
  545. tmc2130_sg_stop_on_crash = false;
  546. tmc2130_sg_crash = 0;
  547. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
  548. CrashDetectMenu = 0;
  549. }
  550. void crashdet_stop_and_save_print()
  551. {
  552. stop_and_save_print_to_ram(10, -DEFAULT_RETRACTION); //XY - no change, Z 10mm up, E -1mm retract
  553. }
  554. void crashdet_restore_print_and_continue()
  555. {
  556. restore_print_from_ram_and_continue(DEFAULT_RETRACTION); //XYZ = orig, E +1mm unretract
  557. // babystep_apply();
  558. }
  559. void crashdet_stop_and_save_print2()
  560. {
  561. cli();
  562. planner_abort_hard(); //abort printing
  563. cmdqueue_reset(); //empty cmdqueue
  564. card.sdprinting = false;
  565. card.closefile();
  566. // Reset and re-enable the stepper timer just before the global interrupts are enabled.
  567. st_reset_timer();
  568. sei();
  569. }
  570. void crashdet_detected(uint8_t mask)
  571. {
  572. st_synchronize();
  573. static uint8_t crashDet_counter = 0;
  574. bool automatic_recovery_after_crash = true;
  575. if (crashDet_counter++ == 0) {
  576. crashDetTimer.start();
  577. }
  578. else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
  579. crashDetTimer.stop();
  580. crashDet_counter = 0;
  581. }
  582. else if(crashDet_counter == CRASHDET_COUNTER_MAX){
  583. automatic_recovery_after_crash = false;
  584. crashDetTimer.stop();
  585. crashDet_counter = 0;
  586. }
  587. else {
  588. crashDetTimer.start();
  589. }
  590. lcd_update_enable(true);
  591. lcd_clear();
  592. lcd_update(2);
  593. if (mask & X_AXIS_MASK)
  594. {
  595. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  596. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  597. }
  598. if (mask & Y_AXIS_MASK)
  599. {
  600. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  601. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  602. }
  603. lcd_update_enable(true);
  604. lcd_update(2);
  605. lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
  606. gcode_G28(true, true, false); //home X and Y
  607. st_synchronize();
  608. if (automatic_recovery_after_crash) {
  609. enquecommand_P(PSTR("CRASH_RECOVER"));
  610. }else{
  611. HotendTempBckp = degTargetHotend(active_extruder);
  612. setTargetHotend(0, active_extruder);
  613. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
  614. lcd_update_enable(true);
  615. if (yesno)
  616. {
  617. char cmd1[10];
  618. strcpy(cmd1, "M109 S");
  619. strcat(cmd1, ftostr3(HotendTempBckp));
  620. enquecommand(cmd1);
  621. enquecommand_P(PSTR("CRASH_RECOVER"));
  622. }
  623. else
  624. {
  625. enquecommand_P(PSTR("CRASH_CANCEL"));
  626. }
  627. }
  628. }
  629. void crashdet_recover()
  630. {
  631. crashdet_restore_print_and_continue();
  632. tmc2130_sg_stop_on_crash = true;
  633. }
  634. void crashdet_cancel()
  635. {
  636. tmc2130_sg_stop_on_crash = true;
  637. if (saved_printing_type == PRINTING_TYPE_SD) {
  638. lcd_print_stop();
  639. }else if(saved_printing_type == PRINTING_TYPE_USB){
  640. SERIAL_ECHOLNPGM("// action:cancel"); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
  641. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  642. }
  643. }
  644. #endif //TMC2130
  645. void failstats_reset_print()
  646. {
  647. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  648. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  649. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  650. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  651. }
  652. #ifdef MESH_BED_LEVELING
  653. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  654. #endif
  655. // Factory reset function
  656. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  657. // Level input parameter sets depth of reset
  658. // Quiet parameter masks all waitings for user interact.
  659. int er_progress = 0;
  660. void factory_reset(char level, bool quiet)
  661. {
  662. lcd_clear();
  663. int cursor_pos = 0;
  664. switch (level) {
  665. // Level 0: Language reset
  666. case 0:
  667. WRITE(BEEPER, HIGH);
  668. _delay_ms(100);
  669. WRITE(BEEPER, LOW);
  670. lang_reset();
  671. break;
  672. //Level 1: Reset statistics
  673. case 1:
  674. WRITE(BEEPER, HIGH);
  675. _delay_ms(100);
  676. WRITE(BEEPER, LOW);
  677. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  678. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  679. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  680. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  681. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  682. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  683. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  684. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  685. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  686. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  687. lcd_menu_statistics();
  688. break;
  689. // Level 2: Prepare for shipping
  690. case 2:
  691. //lcd_puts_P(PSTR("Factory RESET"));
  692. //lcd_puts_at_P(1,2,PSTR("Shipping prep"));
  693. // Force language selection at the next boot up.
  694. lang_reset();
  695. // Force the "Follow calibration flow" message at the next boot up.
  696. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  697. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  698. farm_no = 0;
  699. farm_mode = false;
  700. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  701. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  702. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  703. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  704. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  705. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  706. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  707. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  708. #ifdef FILAMENT_SENSOR
  709. fsensor_enable();
  710. fsensor_autoload_set(true);
  711. #endif //FILAMENT_SENSOR
  712. WRITE(BEEPER, HIGH);
  713. _delay_ms(100);
  714. WRITE(BEEPER, LOW);
  715. //_delay_ms(2000);
  716. break;
  717. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  718. case 3:
  719. lcd_puts_P(PSTR("Factory RESET"));
  720. lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
  721. WRITE(BEEPER, HIGH);
  722. _delay_ms(100);
  723. WRITE(BEEPER, LOW);
  724. er_progress = 0;
  725. lcd_puts_at_P(3, 3, PSTR(" "));
  726. lcd_set_cursor(3, 3);
  727. lcd_print(er_progress);
  728. // Erase EEPROM
  729. for (int i = 0; i < 4096; i++) {
  730. eeprom_write_byte((uint8_t*)i, 0xFF);
  731. if (i % 41 == 0) {
  732. er_progress++;
  733. lcd_puts_at_P(3, 3, PSTR(" "));
  734. lcd_set_cursor(3, 3);
  735. lcd_print(er_progress);
  736. lcd_puts_P(PSTR("%"));
  737. }
  738. }
  739. break;
  740. case 4:
  741. bowden_menu();
  742. break;
  743. default:
  744. break;
  745. }
  746. }
  747. FILE _uartout = {0};
  748. int uart_putchar(char c, FILE *stream)
  749. {
  750. MYSERIAL.write(c);
  751. return 0;
  752. }
  753. void lcd_splash()
  754. {
  755. // lcd_puts_at_P(0, 1, PSTR(" Original Prusa "));
  756. // lcd_puts_at_P(0, 2, PSTR(" 3D Printers "));
  757. // lcd_puts_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
  758. // fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
  759. lcd_puts_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"));
  760. // lcd_printf_P(_N(ESC_2J "x:%.3f\ny:%.3f\nz:%.3f\ne:%.3f"), _x, _y, _z, _e);
  761. }
  762. void factory_reset()
  763. {
  764. KEEPALIVE_STATE(PAUSED_FOR_USER);
  765. if (!READ(BTN_ENC))
  766. {
  767. _delay_ms(1000);
  768. if (!READ(BTN_ENC))
  769. {
  770. lcd_clear();
  771. lcd_puts_P(PSTR("Factory RESET"));
  772. SET_OUTPUT(BEEPER);
  773. WRITE(BEEPER, HIGH);
  774. while (!READ(BTN_ENC));
  775. WRITE(BEEPER, LOW);
  776. _delay_ms(2000);
  777. char level = reset_menu();
  778. factory_reset(level, false);
  779. switch (level) {
  780. case 0: _delay_ms(0); break;
  781. case 1: _delay_ms(0); break;
  782. case 2: _delay_ms(0); break;
  783. case 3: _delay_ms(0); break;
  784. }
  785. // _delay_ms(100);
  786. /*
  787. #ifdef MESH_BED_LEVELING
  788. _delay_ms(2000);
  789. if (!READ(BTN_ENC))
  790. {
  791. WRITE(BEEPER, HIGH);
  792. _delay_ms(100);
  793. WRITE(BEEPER, LOW);
  794. _delay_ms(200);
  795. WRITE(BEEPER, HIGH);
  796. _delay_ms(100);
  797. WRITE(BEEPER, LOW);
  798. int _z = 0;
  799. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  800. EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
  801. EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
  802. EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
  803. }
  804. else
  805. {
  806. WRITE(BEEPER, HIGH);
  807. _delay_ms(100);
  808. WRITE(BEEPER, LOW);
  809. }
  810. #endif // mesh */
  811. }
  812. }
  813. else
  814. {
  815. //_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
  816. }
  817. KEEPALIVE_STATE(IN_HANDLER);
  818. }
  819. void show_fw_version_warnings() {
  820. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  821. switch (FW_DEV_VERSION) {
  822. 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
  823. 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
  824. case(FW_VERSION_DEVEL):
  825. case(FW_VERSION_DEBUG):
  826. lcd_update_enable(false);
  827. lcd_clear();
  828. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  829. lcd_puts_at_P(0, 0, PSTR("Development build !!"));
  830. #else
  831. lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
  832. #endif
  833. lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
  834. lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
  835. lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
  836. lcd_wait_for_click();
  837. break;
  838. // 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
  839. }
  840. lcd_update_enable(true);
  841. }
  842. uint8_t check_printer_version()
  843. {
  844. uint8_t version_changed = 0;
  845. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  846. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  847. if (printer_type != PRINTER_TYPE) {
  848. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  849. else version_changed |= 0b10;
  850. }
  851. if (motherboard != MOTHERBOARD) {
  852. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  853. else version_changed |= 0b01;
  854. }
  855. return version_changed;
  856. }
  857. void erase_eeprom_section(uint16_t offset, uint16_t bytes)
  858. {
  859. for (int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
  860. }
  861. #ifdef BOOTAPP
  862. #include "bootapp.h" //bootloader support
  863. #endif //BOOTAPP
  864. #if (LANG_MODE != 0) //secondary language support
  865. #ifdef W25X20CL
  866. // language update from external flash
  867. #define LANGBOOT_BLOCKSIZE 0x1000
  868. #define LANGBOOT_RAMBUFFER 0x0800
  869. void update_sec_lang_from_external_flash()
  870. {
  871. if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
  872. {
  873. uint8_t lang = boot_reserved >> 4;
  874. uint8_t state = boot_reserved & 0xf;
  875. lang_table_header_t header;
  876. uint32_t src_addr;
  877. if (lang_get_header(lang, &header, &src_addr))
  878. {
  879. fputs_P(PSTR(ESC_H(1,3) "Language update."), lcdout);
  880. for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
  881. delay(100);
  882. boot_reserved = (state + 1) | (lang << 4);
  883. if ((state * LANGBOOT_BLOCKSIZE) < header.size)
  884. {
  885. cli();
  886. uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
  887. if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
  888. w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
  889. if (state == 0)
  890. {
  891. //TODO - check header integrity
  892. }
  893. bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
  894. }
  895. else
  896. {
  897. //TODO - check sec lang data integrity
  898. eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
  899. }
  900. }
  901. }
  902. boot_app_flags &= ~BOOT_APP_FLG_USER0;
  903. }
  904. #ifdef DEBUG_W25X20CL
  905. uint8_t lang_xflash_enum_codes(uint16_t* codes)
  906. {
  907. lang_table_header_t header;
  908. uint8_t count = 0;
  909. uint32_t addr = 0x00000;
  910. while (1)
  911. {
  912. printf_P(_n("LANGTABLE%d:"), count);
  913. w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
  914. if (header.magic != LANG_MAGIC)
  915. {
  916. printf_P(_n("NG!\n"));
  917. break;
  918. }
  919. printf_P(_n("OK\n"));
  920. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  921. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  922. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  923. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  924. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  925. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  926. addr += header.size;
  927. codes[count] = header.code;
  928. count ++;
  929. }
  930. return count;
  931. }
  932. void list_sec_lang_from_external_flash()
  933. {
  934. uint16_t codes[8];
  935. uint8_t count = lang_xflash_enum_codes(codes);
  936. printf_P(_n("XFlash lang count = %hhd\n"), count);
  937. }
  938. #endif //DEBUG_W25X20CL
  939. #endif //W25X20CL
  940. #endif //(LANG_MODE != 0)
  941. // "Setup" function is called by the Arduino framework on startup.
  942. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  943. // are initialized by the main() routine provided by the Arduino framework.
  944. void setup()
  945. {
  946. ultralcd_init();
  947. spi_init();
  948. lcd_splash();
  949. #ifdef W25X20CL
  950. if (!w25x20cl_init())
  951. kill(_i("External SPI flash W25X20CL not responding."));
  952. // Enter an STK500 compatible Optiboot boot loader waiting for flashing the languages to an external flash memory.
  953. optiboot_w25x20cl_enter();
  954. #endif
  955. #if (LANG_MODE != 0) //secondary language support
  956. #ifdef W25X20CL
  957. if (w25x20cl_init())
  958. update_sec_lang_from_external_flash();
  959. #endif //W25X20CL
  960. #endif //(LANG_MODE != 0)
  961. setup_killpin();
  962. setup_powerhold();
  963. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  964. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  965. if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
  966. 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
  967. if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
  968. selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
  969. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  970. if (farm_mode)
  971. {
  972. no_response = true; //we need confirmation by recieving PRUSA thx
  973. important_status = 8;
  974. prusa_statistics(8);
  975. selectedSerialPort = 1;
  976. #ifdef TMC2130
  977. //increased extruder current (PFW363)
  978. tmc2130_current_h[E_AXIS] = 36;
  979. tmc2130_current_r[E_AXIS] = 36;
  980. #endif //TMC2130
  981. #ifdef FILAMENT_SENSOR
  982. //disabled filament autoload (PFW360)
  983. fsensor_autoload_set(false);
  984. #endif //FILAMENT_SENSOR
  985. }
  986. MYSERIAL.begin(BAUDRATE);
  987. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  988. stdout = uartout;
  989. SERIAL_PROTOCOLLNPGM("start");
  990. SERIAL_ECHO_START;
  991. printf_P(PSTR(" " FW_VERSION_FULL "\n"));
  992. uart2_init();
  993. #ifdef DEBUG_SEC_LANG
  994. lang_table_header_t header;
  995. uint32_t src_addr = 0x00000;
  996. if (lang_get_header(1, &header, &src_addr))
  997. {
  998. //this is comparsion of some printing-methods regarding to flash space usage and code size/readability
  999. #define LT_PRINT_TEST 2
  1000. // flash usage
  1001. // total p.test
  1002. //0 252718 t+c text code
  1003. //1 253142 424 170 254
  1004. //2 253040 322 164 158
  1005. //3 253248 530 135 395
  1006. #if (LT_PRINT_TEST==1) //not optimized printf
  1007. printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
  1008. printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
  1009. printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
  1010. printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
  1011. printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
  1012. printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
  1013. printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
  1014. #elif (LT_PRINT_TEST==2) //optimized printf
  1015. printf_P(
  1016. _n(
  1017. " _src_addr = 0x%08lx\n"
  1018. " _lt_magic = 0x%08lx %S\n"
  1019. " _lt_size = 0x%04x (%d)\n"
  1020. " _lt_count = 0x%04x (%d)\n"
  1021. " _lt_chsum = 0x%04x\n"
  1022. " _lt_code = 0x%04x (%c%c)\n"
  1023. " _lt_resv1 = 0x%08lx\n"
  1024. ),
  1025. src_addr,
  1026. header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
  1027. header.size, header.size,
  1028. header.count, header.count,
  1029. header.checksum,
  1030. header.code, header.code >> 8, header.code & 0xff,
  1031. header.signature
  1032. );
  1033. #elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
  1034. MYSERIAL.print(" _src_addr = 0x");
  1035. MYSERIAL.println(src_addr, 16);
  1036. MYSERIAL.print(" _lt_magic = 0x");
  1037. MYSERIAL.print(header.magic, 16);
  1038. MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
  1039. MYSERIAL.print(" _lt_size = 0x");
  1040. MYSERIAL.print(header.size, 16);
  1041. MYSERIAL.print(" (");
  1042. MYSERIAL.print(header.size, 10);
  1043. MYSERIAL.println(")");
  1044. MYSERIAL.print(" _lt_count = 0x");
  1045. MYSERIAL.print(header.count, 16);
  1046. MYSERIAL.print(" (");
  1047. MYSERIAL.print(header.count, 10);
  1048. MYSERIAL.println(")");
  1049. MYSERIAL.print(" _lt_chsum = 0x");
  1050. MYSERIAL.println(header.checksum, 16);
  1051. MYSERIAL.print(" _lt_code = 0x");
  1052. MYSERIAL.print(header.code, 16);
  1053. MYSERIAL.print(" (");
  1054. MYSERIAL.print((char)(header.code >> 8), 0);
  1055. MYSERIAL.print((char)(header.code & 0xff), 0);
  1056. MYSERIAL.println(")");
  1057. MYSERIAL.print(" _lt_resv1 = 0x");
  1058. MYSERIAL.println(header.signature, 16);
  1059. #endif //(LT_PRINT_TEST==)
  1060. #undef LT_PRINT_TEST
  1061. #if 0
  1062. w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
  1063. for (uint16_t i = 0; i < 1024; i++)
  1064. {
  1065. if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
  1066. printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
  1067. if ((i % 16) == 15) putchar('\n');
  1068. }
  1069. #endif
  1070. uint16_t sum = 0;
  1071. for (uint16_t i = 0; i < header.size; i++)
  1072. sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
  1073. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1074. sum -= header.checksum; //subtract checksum
  1075. printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
  1076. sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
  1077. if (sum == header.checksum)
  1078. printf_P(_n("Checksum OK\n"), sum);
  1079. else
  1080. printf_P(_n("Checksum NG\n"), sum);
  1081. }
  1082. else
  1083. printf_P(_n("lang_get_header failed!\n"));
  1084. #if 0
  1085. for (uint16_t i = 0; i < 1024*10; i++)
  1086. {
  1087. if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
  1088. printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
  1089. if ((i % 16) == 15) putchar('\n');
  1090. }
  1091. #endif
  1092. #if 0
  1093. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  1094. for (int i = 0; i < 4096; ++i) {
  1095. int b = eeprom_read_byte((unsigned char*)i);
  1096. if (b != 255) {
  1097. SERIAL_ECHO(i);
  1098. SERIAL_ECHO(":");
  1099. SERIAL_ECHO(b);
  1100. SERIAL_ECHOLN("");
  1101. }
  1102. }
  1103. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  1104. #endif
  1105. #endif //DEBUG_SEC_LANG
  1106. // Check startup - does nothing if bootloader sets MCUSR to 0
  1107. byte mcu = MCUSR;
  1108. /* if (mcu & 1) SERIAL_ECHOLNRPGM(_T(MSG_POWERUP));
  1109. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  1110. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  1111. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  1112. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  1113. if (mcu & 1) puts_P(_T(MSG_POWERUP));
  1114. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  1115. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  1116. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  1117. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  1118. MCUSR = 0;
  1119. //SERIAL_ECHORPGM(MSG_MARLIN);
  1120. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  1121. #ifdef STRING_VERSION_CONFIG_H
  1122. #ifdef STRING_CONFIG_H_AUTHOR
  1123. SERIAL_ECHO_START;
  1124. SERIAL_ECHORPGM(_i(" Last Updated: "));////MSG_CONFIGURATION_VER c=0 r=0
  1125. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  1126. SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR c=0 r=0
  1127. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  1128. SERIAL_ECHOPGM("Compiled: ");
  1129. SERIAL_ECHOLNPGM(__DATE__);
  1130. #endif
  1131. #endif
  1132. SERIAL_ECHO_START;
  1133. SERIAL_ECHORPGM(_i(" Free Memory: "));////MSG_FREE_MEMORY c=0 r=0
  1134. SERIAL_ECHO(freeMemory());
  1135. SERIAL_ECHORPGM(_i(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES c=0 r=0
  1136. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  1137. //lcd_update_enable(false); // why do we need this?? - andre
  1138. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  1139. bool previous_settings_retrieved = false;
  1140. uint8_t hw_changed = check_printer_version();
  1141. 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
  1142. previous_settings_retrieved = Config_RetrieveSettings(EEPROM_OFFSET);
  1143. }
  1144. else { //printer version was changed so use default settings
  1145. Config_ResetDefault();
  1146. }
  1147. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  1148. tp_init(); // Initialize temperature loop
  1149. lcd_splash(); // we need to do this again, because tp_init() kills lcd
  1150. plan_init(); // Initialize planner;
  1151. factory_reset();
  1152. #ifdef TMC2130
  1153. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1154. if (silentMode == 0xff) silentMode = 0;
  1155. tmc2130_mode = TMC2130_MODE_NORMAL;
  1156. uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
  1157. if (crashdet && !farm_mode)
  1158. {
  1159. crashdet_enable();
  1160. puts_P(_N("CrashDetect ENABLED!"));
  1161. }
  1162. else
  1163. {
  1164. crashdet_disable();
  1165. puts_P(_N("CrashDetect DISABLED"));
  1166. }
  1167. #ifdef TMC2130_LINEARITY_CORRECTION
  1168. #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
  1169. tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  1170. tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  1171. tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  1172. #endif //TMC2130_LINEARITY_CORRECTION_XYZ
  1173. tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
  1174. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  1175. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  1176. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  1177. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  1178. #endif //TMC2130_LINEARITY_CORRECTION
  1179. #ifdef TMC2130_VARIABLE_RESOLUTION
  1180. tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
  1181. tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
  1182. tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
  1183. tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
  1184. if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1185. if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1186. if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1187. if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1188. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
  1189. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
  1190. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
  1191. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
  1192. #else //TMC2130_VARIABLE_RESOLUTION
  1193. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1194. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  1195. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  1196. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  1197. #endif //TMC2130_VARIABLE_RESOLUTION
  1198. #endif //TMC2130
  1199. st_init(); // Initialize stepper, this enables interrupts!
  1200. #ifdef TMC2130
  1201. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  1202. update_mode_profile();
  1203. tmc2130_init();
  1204. #endif //TMC2130
  1205. setup_photpin();
  1206. servo_init();
  1207. // Reset the machine correction matrix.
  1208. // It does not make sense to load the correction matrix until the machine is homed.
  1209. world2machine_reset();
  1210. #ifdef FILAMENT_SENSOR
  1211. fsensor_init();
  1212. #endif //FILAMENT_SENSOR
  1213. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  1214. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  1215. #endif
  1216. setup_homepin();
  1217. #ifdef TMC2130
  1218. if (1) {
  1219. // try to run to zero phase before powering the Z motor.
  1220. // Move in negative direction
  1221. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  1222. // Round the current micro-micro steps to micro steps.
  1223. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
  1224. // Until the phase counter is reset to zero.
  1225. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  1226. delay(2);
  1227. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  1228. delay(2);
  1229. }
  1230. }
  1231. #endif //TMC2130
  1232. #if defined(Z_AXIS_ALWAYS_ON)
  1233. enable_z();
  1234. #endif
  1235. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  1236. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  1237. 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
  1238. if (farm_no == 0xFFFF) farm_no = 0;
  1239. if (farm_mode)
  1240. {
  1241. prusa_statistics(8);
  1242. }
  1243. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  1244. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  1245. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  1246. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
  1247. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  1248. // where all the EEPROM entries are set to 0x0ff.
  1249. // Once a firmware boots up, it forces at least a language selection, which changes
  1250. // EEPROM_LANG to number lower than 0x0ff.
  1251. // 1) Set a high power mode.
  1252. #ifdef TMC2130
  1253. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  1254. tmc2130_mode = TMC2130_MODE_NORMAL;
  1255. #endif //TMC2130
  1256. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  1257. }
  1258. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  1259. // but this times out if a blocking dialog is shown in setup().
  1260. card.initsd();
  1261. #ifdef DEBUG_SD_SPEED_TEST
  1262. if (card.cardOK)
  1263. {
  1264. uint8_t* buff = (uint8_t*)block_buffer;
  1265. uint32_t block = 0;
  1266. uint32_t sumr = 0;
  1267. uint32_t sumw = 0;
  1268. for (int i = 0; i < 1024; i++)
  1269. {
  1270. uint32_t u = micros();
  1271. bool res = card.card.readBlock(i, buff);
  1272. u = micros() - u;
  1273. if (res)
  1274. {
  1275. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1276. sumr += u;
  1277. u = micros();
  1278. res = card.card.writeBlock(i, buff);
  1279. u = micros() - u;
  1280. if (res)
  1281. {
  1282. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1283. sumw += u;
  1284. }
  1285. else
  1286. {
  1287. printf_P(PSTR("writeBlock %4d error\n"), i);
  1288. break;
  1289. }
  1290. }
  1291. else
  1292. {
  1293. printf_P(PSTR("readBlock %4d error\n"), i);
  1294. break;
  1295. }
  1296. }
  1297. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1298. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1299. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1300. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1301. }
  1302. else
  1303. printf_P(PSTR("Card NG!\n"));
  1304. #endif //DEBUG_SD_SPEED_TEST
  1305. if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
  1306. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
  1307. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
  1308. if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
  1309. if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
  1310. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
  1311. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
  1312. if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
  1313. #ifdef SNMM
  1314. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1315. int _z = BOWDEN_LENGTH;
  1316. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1317. }
  1318. #endif
  1319. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1320. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1321. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1322. #if (LANG_MODE != 0) //secondary language support
  1323. #ifdef DEBUG_W25X20CL
  1324. W25X20CL_SPI_ENTER();
  1325. uint8_t uid[8]; // 64bit unique id
  1326. w25x20cl_rd_uid(uid);
  1327. puts_P(_n("W25X20CL UID="));
  1328. for (uint8_t i = 0; i < 8; i ++)
  1329. printf_P(PSTR("%02hhx"), uid[i]);
  1330. putchar('\n');
  1331. list_sec_lang_from_external_flash();
  1332. #endif //DEBUG_W25X20CL
  1333. // lang_reset();
  1334. if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
  1335. lcd_language();
  1336. #ifdef DEBUG_SEC_LANG
  1337. uint16_t sec_lang_code = lang_get_code(1);
  1338. uint16_t ui = _SEC_LANG_TABLE; //table pointer
  1339. 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);
  1340. // lang_print_sec_lang(uartout);
  1341. #endif //DEBUG_SEC_LANG
  1342. #endif //(LANG_MODE != 0)
  1343. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1344. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1345. temp_cal_active = false;
  1346. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  1347. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1348. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1349. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1350. int16_t z_shift = 0;
  1351. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  1352. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1353. temp_cal_active = false;
  1354. }
  1355. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1356. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1357. }
  1358. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1359. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1360. }
  1361. check_babystep(); //checking if Z babystep is in allowed range
  1362. #ifdef UVLO_SUPPORT
  1363. setup_uvlo_interrupt();
  1364. #endif //UVLO_SUPPORT
  1365. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1366. setup_fan_interrupt();
  1367. #endif //DEBUG_DISABLE_FANCHECK
  1368. #ifdef FILAMENT_SENSOR
  1369. fsensor_setup_interrupt();
  1370. #endif //FILAMENT_SENSOR
  1371. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1372. #ifndef DEBUG_DISABLE_STARTMSGS
  1373. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1374. show_fw_version_warnings();
  1375. switch (hw_changed) {
  1376. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1377. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1378. case(0b01):
  1379. lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
  1380. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1381. break;
  1382. case(0b10):
  1383. lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
  1384. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1385. break;
  1386. case(0b11):
  1387. lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
  1388. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1389. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1390. break;
  1391. default: break; //no change, show no message
  1392. }
  1393. if (!previous_settings_retrieved) {
  1394. 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
  1395. erase_eeprom_section(EEPROM_OFFSET, 156); //erase M500 part of eeprom
  1396. }
  1397. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  1398. lcd_wizard(0);
  1399. }
  1400. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1401. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1402. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1403. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1404. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1405. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1406. // Show the message.
  1407. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1408. }
  1409. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1410. // Show the message.
  1411. lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  1412. lcd_update_enable(true);
  1413. }
  1414. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  1415. //lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
  1416. lcd_update_enable(true);
  1417. }
  1418. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1419. // Show the message.
  1420. lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
  1421. }
  1422. }
  1423. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1424. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1425. lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
  1426. update_current_firmware_version_to_eeprom();
  1427. lcd_selftest();
  1428. }
  1429. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1430. KEEPALIVE_STATE(IN_PROCESS);
  1431. #endif //DEBUG_DISABLE_STARTMSGS
  1432. lcd_update_enable(true);
  1433. lcd_clear();
  1434. lcd_update(2);
  1435. // Store the currently running firmware into an eeprom,
  1436. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1437. update_current_firmware_version_to_eeprom();
  1438. #ifdef TMC2130
  1439. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1440. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1441. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1442. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1443. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1444. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1445. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1446. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1447. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1448. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1449. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1450. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1451. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1452. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1453. #endif //TMC2130
  1454. #ifdef UVLO_SUPPORT
  1455. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
  1456. /*
  1457. if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
  1458. else {
  1459. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1460. lcd_update_enable(true);
  1461. lcd_update(2);
  1462. lcd_setstatuspgm(_T(WELCOME_MSG));
  1463. }
  1464. */
  1465. manage_heater(); // Update temperatures
  1466. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1467. 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))
  1468. #endif
  1469. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1470. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1471. puts_P(_N("Automatic recovery!"));
  1472. #endif
  1473. recover_print(1);
  1474. }
  1475. else{
  1476. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1477. puts_P(_N("Normal recovery!"));
  1478. #endif
  1479. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
  1480. else {
  1481. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1482. lcd_update_enable(true);
  1483. lcd_update(2);
  1484. lcd_setstatuspgm(_T(WELCOME_MSG));
  1485. }
  1486. }
  1487. }
  1488. #endif //UVLO_SUPPORT
  1489. KEEPALIVE_STATE(NOT_BUSY);
  1490. #ifdef WATCHDOG
  1491. wdt_enable(WDTO_4S);
  1492. #endif //WATCHDOG
  1493. }
  1494. void trace();
  1495. #define CHUNK_SIZE 64 // bytes
  1496. #define SAFETY_MARGIN 1
  1497. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1498. int chunkHead = 0;
  1499. int serial_read_stream() {
  1500. setTargetHotend(0, 0);
  1501. setTargetBed(0);
  1502. lcd_clear();
  1503. lcd_puts_P(PSTR(" Upload in progress"));
  1504. // first wait for how many bytes we will receive
  1505. uint32_t bytesToReceive;
  1506. // receive the four bytes
  1507. char bytesToReceiveBuffer[4];
  1508. for (int i=0; i<4; i++) {
  1509. int data;
  1510. while ((data = MYSERIAL.read()) == -1) {};
  1511. bytesToReceiveBuffer[i] = data;
  1512. }
  1513. // make it a uint32
  1514. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1515. // we're ready, notify the sender
  1516. MYSERIAL.write('+');
  1517. // lock in the routine
  1518. uint32_t receivedBytes = 0;
  1519. while (prusa_sd_card_upload) {
  1520. int i;
  1521. for (i=0; i<CHUNK_SIZE; i++) {
  1522. int data;
  1523. // check if we're not done
  1524. if (receivedBytes == bytesToReceive) {
  1525. break;
  1526. }
  1527. // read the next byte
  1528. while ((data = MYSERIAL.read()) == -1) {};
  1529. receivedBytes++;
  1530. // save it to the chunk
  1531. chunk[i] = data;
  1532. }
  1533. // write the chunk to SD
  1534. card.write_command_no_newline(&chunk[0]);
  1535. // notify the sender we're ready for more data
  1536. MYSERIAL.write('+');
  1537. // for safety
  1538. manage_heater();
  1539. // check if we're done
  1540. if(receivedBytes == bytesToReceive) {
  1541. trace(); // beep
  1542. card.closefile();
  1543. prusa_sd_card_upload = false;
  1544. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1545. return 0;
  1546. }
  1547. }
  1548. }
  1549. #ifdef HOST_KEEPALIVE_FEATURE
  1550. /**
  1551. * Output a "busy" message at regular intervals
  1552. * while the machine is not accepting commands.
  1553. */
  1554. void host_keepalive() {
  1555. if (farm_mode) return;
  1556. long ms = millis();
  1557. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1558. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1559. switch (busy_state) {
  1560. case IN_HANDLER:
  1561. case IN_PROCESS:
  1562. SERIAL_ECHO_START;
  1563. SERIAL_ECHOLNPGM("busy: processing");
  1564. break;
  1565. case PAUSED_FOR_USER:
  1566. SERIAL_ECHO_START;
  1567. SERIAL_ECHOLNPGM("busy: paused for user");
  1568. break;
  1569. case PAUSED_FOR_INPUT:
  1570. SERIAL_ECHO_START;
  1571. SERIAL_ECHOLNPGM("busy: paused for input");
  1572. break;
  1573. default:
  1574. break;
  1575. }
  1576. }
  1577. prev_busy_signal_ms = ms;
  1578. }
  1579. #endif
  1580. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1581. // Before loop(), the setup() function is called by the main() routine.
  1582. void loop()
  1583. {
  1584. KEEPALIVE_STATE(NOT_BUSY);
  1585. if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
  1586. {
  1587. is_usb_printing = true;
  1588. usb_printing_counter--;
  1589. _usb_timer = millis();
  1590. }
  1591. if (usb_printing_counter == 0)
  1592. {
  1593. is_usb_printing = false;
  1594. }
  1595. if (prusa_sd_card_upload)
  1596. {
  1597. //we read byte-by byte
  1598. serial_read_stream();
  1599. } else
  1600. {
  1601. get_command();
  1602. #ifdef SDSUPPORT
  1603. card.checkautostart(false);
  1604. #endif
  1605. if(buflen)
  1606. {
  1607. cmdbuffer_front_already_processed = false;
  1608. #ifdef SDSUPPORT
  1609. if(card.saving)
  1610. {
  1611. // Saving a G-code file onto an SD-card is in progress.
  1612. // Saving starts with M28, saving until M29 is seen.
  1613. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1614. card.write_command(CMDBUFFER_CURRENT_STRING);
  1615. if(card.logging)
  1616. process_commands();
  1617. else
  1618. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  1619. } else {
  1620. card.closefile();
  1621. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1622. }
  1623. } else {
  1624. process_commands();
  1625. }
  1626. #else
  1627. process_commands();
  1628. #endif //SDSUPPORT
  1629. if (! cmdbuffer_front_already_processed && buflen)
  1630. {
  1631. // ptr points to the start of the block currently being processed.
  1632. // The first character in the block is the block type.
  1633. char *ptr = cmdbuffer + bufindr;
  1634. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1635. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1636. union {
  1637. struct {
  1638. char lo;
  1639. char hi;
  1640. } lohi;
  1641. uint16_t value;
  1642. } sdlen;
  1643. sdlen.value = 0;
  1644. {
  1645. // This block locks the interrupts globally for 3.25 us,
  1646. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1647. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1648. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1649. cli();
  1650. // Reset the command to something, which will be ignored by the power panic routine,
  1651. // so this buffer length will not be counted twice.
  1652. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1653. // Extract the current buffer length.
  1654. sdlen.lohi.lo = *ptr ++;
  1655. sdlen.lohi.hi = *ptr;
  1656. // and pass it to the planner queue.
  1657. planner_add_sd_length(sdlen.value);
  1658. sei();
  1659. }
  1660. }
  1661. else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
  1662. cli();
  1663. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1664. // and one for each command to previous block in the planner queue.
  1665. planner_add_sd_length(1);
  1666. sei();
  1667. }
  1668. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1669. // this block's SD card length will not be counted twice as its command type has been replaced
  1670. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1671. cmdqueue_pop_front();
  1672. }
  1673. host_keepalive();
  1674. }
  1675. }
  1676. //check heater every n milliseconds
  1677. manage_heater();
  1678. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1679. checkHitEndstops();
  1680. lcd_update(0);
  1681. #ifdef FILAMENT_SENSOR
  1682. fsensor_update();
  1683. #endif //FILAMENT_SENSOR
  1684. #ifdef TMC2130
  1685. tmc2130_check_overtemp();
  1686. if (tmc2130_sg_crash)
  1687. {
  1688. uint8_t crash = tmc2130_sg_crash;
  1689. tmc2130_sg_crash = 0;
  1690. // crashdet_stop_and_save_print();
  1691. switch (crash)
  1692. {
  1693. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1694. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1695. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1696. }
  1697. }
  1698. #endif //TMC2130
  1699. }
  1700. #define DEFINE_PGM_READ_ANY(type, reader) \
  1701. static inline type pgm_read_any(const type *p) \
  1702. { return pgm_read_##reader##_near(p); }
  1703. DEFINE_PGM_READ_ANY(float, float);
  1704. DEFINE_PGM_READ_ANY(signed char, byte);
  1705. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1706. static const PROGMEM type array##_P[3] = \
  1707. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1708. static inline type array(int axis) \
  1709. { return pgm_read_any(&array##_P[axis]); } \
  1710. type array##_ext(int axis) \
  1711. { return pgm_read_any(&array##_P[axis]); }
  1712. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1713. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1714. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1715. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1716. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1717. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1718. static void axis_is_at_home(int axis) {
  1719. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1720. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1721. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1722. }
  1723. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1724. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1725. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1726. saved_feedrate = feedrate;
  1727. saved_feedmultiply = feedmultiply;
  1728. feedmultiply = 100;
  1729. previous_millis_cmd = millis();
  1730. enable_endstops(enable_endstops_now);
  1731. }
  1732. static void clean_up_after_endstop_move() {
  1733. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1734. enable_endstops(false);
  1735. #endif
  1736. feedrate = saved_feedrate;
  1737. feedmultiply = saved_feedmultiply;
  1738. previous_millis_cmd = millis();
  1739. }
  1740. #ifdef ENABLE_AUTO_BED_LEVELING
  1741. #ifdef AUTO_BED_LEVELING_GRID
  1742. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1743. {
  1744. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1745. planeNormal.debug("planeNormal");
  1746. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1747. //bedLevel.debug("bedLevel");
  1748. //plan_bed_level_matrix.debug("bed level before");
  1749. //vector_3 uncorrected_position = plan_get_position_mm();
  1750. //uncorrected_position.debug("position before");
  1751. vector_3 corrected_position = plan_get_position();
  1752. // corrected_position.debug("position after");
  1753. current_position[X_AXIS] = corrected_position.x;
  1754. current_position[Y_AXIS] = corrected_position.y;
  1755. current_position[Z_AXIS] = corrected_position.z;
  1756. // put the bed at 0 so we don't go below it.
  1757. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1758. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1759. }
  1760. #else // not AUTO_BED_LEVELING_GRID
  1761. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1762. plan_bed_level_matrix.set_to_identity();
  1763. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1764. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1765. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1766. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1767. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1768. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1769. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1770. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1771. vector_3 corrected_position = plan_get_position();
  1772. current_position[X_AXIS] = corrected_position.x;
  1773. current_position[Y_AXIS] = corrected_position.y;
  1774. current_position[Z_AXIS] = corrected_position.z;
  1775. // put the bed at 0 so we don't go below it.
  1776. current_position[Z_AXIS] = zprobe_zoffset;
  1777. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1778. }
  1779. #endif // AUTO_BED_LEVELING_GRID
  1780. static void run_z_probe() {
  1781. plan_bed_level_matrix.set_to_identity();
  1782. feedrate = homing_feedrate[Z_AXIS];
  1783. // move down until you find the bed
  1784. float zPosition = -10;
  1785. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1786. st_synchronize();
  1787. // we have to let the planner know where we are right now as it is not where we said to go.
  1788. zPosition = st_get_position_mm(Z_AXIS);
  1789. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1790. // move up the retract distance
  1791. zPosition += home_retract_mm(Z_AXIS);
  1792. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1793. st_synchronize();
  1794. // move back down slowly to find bed
  1795. feedrate = homing_feedrate[Z_AXIS]/4;
  1796. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1797. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1798. st_synchronize();
  1799. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1800. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1801. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1802. }
  1803. static void do_blocking_move_to(float x, float y, float z) {
  1804. float oldFeedRate = feedrate;
  1805. feedrate = homing_feedrate[Z_AXIS];
  1806. current_position[Z_AXIS] = z;
  1807. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1808. st_synchronize();
  1809. feedrate = XY_TRAVEL_SPEED;
  1810. current_position[X_AXIS] = x;
  1811. current_position[Y_AXIS] = y;
  1812. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1813. st_synchronize();
  1814. feedrate = oldFeedRate;
  1815. }
  1816. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1817. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1818. }
  1819. /// Probe bed height at position (x,y), returns the measured z value
  1820. static float probe_pt(float x, float y, float z_before) {
  1821. // move to right place
  1822. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1823. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1824. run_z_probe();
  1825. float measured_z = current_position[Z_AXIS];
  1826. SERIAL_PROTOCOLRPGM(_T(MSG_BED));
  1827. SERIAL_PROTOCOLPGM(" x: ");
  1828. SERIAL_PROTOCOL(x);
  1829. SERIAL_PROTOCOLPGM(" y: ");
  1830. SERIAL_PROTOCOL(y);
  1831. SERIAL_PROTOCOLPGM(" z: ");
  1832. SERIAL_PROTOCOL(measured_z);
  1833. SERIAL_PROTOCOLPGM("\n");
  1834. return measured_z;
  1835. }
  1836. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1837. #ifdef LIN_ADVANCE
  1838. /**
  1839. * M900: Set and/or Get advance K factor and WH/D ratio
  1840. *
  1841. * K<factor> Set advance K factor
  1842. * R<ratio> Set ratio directly (overrides WH/D)
  1843. * W<width> H<height> D<diam> Set ratio from WH/D
  1844. */
  1845. inline void gcode_M900() {
  1846. st_synchronize();
  1847. const float newK = code_seen('K') ? code_value_float() : -1;
  1848. if (newK >= 0) extruder_advance_k = newK;
  1849. float newR = code_seen('R') ? code_value_float() : -1;
  1850. if (newR < 0) {
  1851. const float newD = code_seen('D') ? code_value_float() : -1,
  1852. newW = code_seen('W') ? code_value_float() : -1,
  1853. newH = code_seen('H') ? code_value_float() : -1;
  1854. if (newD >= 0 && newW >= 0 && newH >= 0)
  1855. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1856. }
  1857. if (newR >= 0) advance_ed_ratio = newR;
  1858. SERIAL_ECHO_START;
  1859. SERIAL_ECHOPGM("Advance K=");
  1860. SERIAL_ECHOLN(extruder_advance_k);
  1861. SERIAL_ECHOPGM(" E/D=");
  1862. const float ratio = advance_ed_ratio;
  1863. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1864. }
  1865. #endif // LIN_ADVANCE
  1866. bool check_commands() {
  1867. bool end_command_found = false;
  1868. while (buflen)
  1869. {
  1870. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1871. if (!cmdbuffer_front_already_processed)
  1872. cmdqueue_pop_front();
  1873. cmdbuffer_front_already_processed = false;
  1874. }
  1875. return end_command_found;
  1876. }
  1877. #ifdef TMC2130
  1878. bool calibrate_z_auto()
  1879. {
  1880. //lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
  1881. lcd_clear();
  1882. lcd_puts_at_P(0,1, _T(MSG_CALIBRATE_Z_AUTO));
  1883. bool endstops_enabled = enable_endstops(true);
  1884. int axis_up_dir = -home_dir(Z_AXIS);
  1885. tmc2130_home_enter(Z_AXIS_MASK);
  1886. current_position[Z_AXIS] = 0;
  1887. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1888. set_destination_to_current();
  1889. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1890. feedrate = homing_feedrate[Z_AXIS];
  1891. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1892. st_synchronize();
  1893. // current_position[axis] = 0;
  1894. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1895. tmc2130_home_exit();
  1896. enable_endstops(false);
  1897. current_position[Z_AXIS] = 0;
  1898. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1899. set_destination_to_current();
  1900. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1901. feedrate = homing_feedrate[Z_AXIS] / 2;
  1902. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1903. st_synchronize();
  1904. enable_endstops(endstops_enabled);
  1905. current_position[Z_AXIS] = Z_MAX_POS+2.0;
  1906. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1907. return true;
  1908. }
  1909. #endif //TMC2130
  1910. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1911. {
  1912. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1913. #define HOMEAXIS_DO(LETTER) \
  1914. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1915. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1916. {
  1917. int axis_home_dir = home_dir(axis);
  1918. feedrate = homing_feedrate[axis];
  1919. #ifdef TMC2130
  1920. tmc2130_home_enter(X_AXIS_MASK << axis);
  1921. #endif //TMC2130
  1922. // Move right a bit, so that the print head does not touch the left end position,
  1923. // and the following left movement has a chance to achieve the required velocity
  1924. // for the stall guard to work.
  1925. current_position[axis] = 0;
  1926. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1927. set_destination_to_current();
  1928. // destination[axis] = 11.f;
  1929. destination[axis] = 3.f;
  1930. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1931. st_synchronize();
  1932. // Move left away from the possible collision with the collision detection disabled.
  1933. endstops_hit_on_purpose();
  1934. enable_endstops(false);
  1935. current_position[axis] = 0;
  1936. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1937. destination[axis] = - 1.;
  1938. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1939. st_synchronize();
  1940. // Now continue to move up to the left end stop with the collision detection enabled.
  1941. enable_endstops(true);
  1942. destination[axis] = - 1.1 * max_length(axis);
  1943. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1944. st_synchronize();
  1945. for (uint8_t i = 0; i < cnt; i++)
  1946. {
  1947. // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
  1948. endstops_hit_on_purpose();
  1949. enable_endstops(false);
  1950. current_position[axis] = 0;
  1951. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1952. destination[axis] = 10.f;
  1953. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1954. st_synchronize();
  1955. endstops_hit_on_purpose();
  1956. // Now move left up to the collision, this time with a repeatable velocity.
  1957. enable_endstops(true);
  1958. destination[axis] = - 11.f;
  1959. #ifdef TMC2130
  1960. feedrate = homing_feedrate[axis];
  1961. #else //TMC2130
  1962. feedrate = homing_feedrate[axis] / 2;
  1963. #endif //TMC2130
  1964. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1965. st_synchronize();
  1966. #ifdef TMC2130
  1967. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  1968. if (pstep) pstep[i] = mscnt >> 4;
  1969. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  1970. #endif //TMC2130
  1971. }
  1972. endstops_hit_on_purpose();
  1973. enable_endstops(false);
  1974. #ifdef TMC2130
  1975. uint8_t orig = tmc2130_home_origin[axis];
  1976. uint8_t back = tmc2130_home_bsteps[axis];
  1977. if (tmc2130_home_enabled && (orig <= 63))
  1978. {
  1979. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  1980. if (back > 0)
  1981. tmc2130_do_steps(axis, back, 1, 1000);
  1982. }
  1983. else
  1984. tmc2130_do_steps(axis, 8, 2, 1000);
  1985. tmc2130_home_exit();
  1986. #endif //TMC2130
  1987. axis_is_at_home(axis);
  1988. axis_known_position[axis] = true;
  1989. // Move from minimum
  1990. #ifdef TMC2130
  1991. float dist = 0.01f * tmc2130_home_fsteps[axis];
  1992. #else //TMC2130
  1993. float dist = 0.01f * 64;
  1994. #endif //TMC2130
  1995. current_position[axis] -= dist;
  1996. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1997. current_position[axis] += dist;
  1998. destination[axis] = current_position[axis];
  1999. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
  2000. st_synchronize();
  2001. feedrate = 0.0;
  2002. }
  2003. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  2004. {
  2005. #ifdef TMC2130
  2006. FORCE_HIGH_POWER_START;
  2007. #endif
  2008. int axis_home_dir = home_dir(axis);
  2009. current_position[axis] = 0;
  2010. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2011. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  2012. feedrate = homing_feedrate[axis];
  2013. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2014. st_synchronize();
  2015. #ifdef TMC2130
  2016. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  2017. FORCE_HIGH_POWER_END;
  2018. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2019. return;
  2020. }
  2021. #endif //TMC2130
  2022. current_position[axis] = 0;
  2023. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2024. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  2025. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2026. st_synchronize();
  2027. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  2028. feedrate = homing_feedrate[axis]/2 ;
  2029. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2030. st_synchronize();
  2031. #ifdef TMC2130
  2032. if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
  2033. FORCE_HIGH_POWER_END;
  2034. kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
  2035. return;
  2036. }
  2037. #endif //TMC2130
  2038. axis_is_at_home(axis);
  2039. destination[axis] = current_position[axis];
  2040. feedrate = 0.0;
  2041. endstops_hit_on_purpose();
  2042. axis_known_position[axis] = true;
  2043. #ifdef TMC2130
  2044. FORCE_HIGH_POWER_END;
  2045. #endif
  2046. }
  2047. enable_endstops(endstops_enabled);
  2048. }
  2049. /**/
  2050. void home_xy()
  2051. {
  2052. set_destination_to_current();
  2053. homeaxis(X_AXIS);
  2054. homeaxis(Y_AXIS);
  2055. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2056. endstops_hit_on_purpose();
  2057. }
  2058. void refresh_cmd_timeout(void)
  2059. {
  2060. previous_millis_cmd = millis();
  2061. }
  2062. #ifdef FWRETRACT
  2063. void retract(bool retracting, bool swapretract = false) {
  2064. if(retracting && !retracted[active_extruder]) {
  2065. destination[X_AXIS]=current_position[X_AXIS];
  2066. destination[Y_AXIS]=current_position[Y_AXIS];
  2067. destination[Z_AXIS]=current_position[Z_AXIS];
  2068. destination[E_AXIS]=current_position[E_AXIS];
  2069. current_position[E_AXIS]+=(swapretract?retract_length_swap:retract_length)*float(extrudemultiply)*0.01f;
  2070. plan_set_e_position(current_position[E_AXIS]);
  2071. float oldFeedrate = feedrate;
  2072. feedrate=retract_feedrate*60;
  2073. retracted[active_extruder]=true;
  2074. prepare_move();
  2075. current_position[Z_AXIS]-=retract_zlift;
  2076. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2077. prepare_move();
  2078. feedrate = oldFeedrate;
  2079. } else if(!retracting && retracted[active_extruder]) {
  2080. destination[X_AXIS]=current_position[X_AXIS];
  2081. destination[Y_AXIS]=current_position[Y_AXIS];
  2082. destination[Z_AXIS]=current_position[Z_AXIS];
  2083. destination[E_AXIS]=current_position[E_AXIS];
  2084. current_position[Z_AXIS]+=retract_zlift;
  2085. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2086. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(retract_length+retract_recover_length))*float(extrudemultiply)*0.01f;
  2087. plan_set_e_position(current_position[E_AXIS]);
  2088. float oldFeedrate = feedrate;
  2089. feedrate=retract_recover_feedrate*60;
  2090. retracted[active_extruder]=false;
  2091. prepare_move();
  2092. feedrate = oldFeedrate;
  2093. }
  2094. } //retract
  2095. #endif //FWRETRACT
  2096. void trace() {
  2097. tone(BEEPER, 440);
  2098. delay(25);
  2099. noTone(BEEPER);
  2100. delay(20);
  2101. }
  2102. /*
  2103. void ramming() {
  2104. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  2105. if (current_temperature[0] < 230) {
  2106. //PLA
  2107. max_feedrate[E_AXIS] = 50;
  2108. //current_position[E_AXIS] -= 8;
  2109. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2110. //current_position[E_AXIS] += 8;
  2111. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2112. current_position[E_AXIS] += 5.4;
  2113. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  2114. current_position[E_AXIS] += 3.2;
  2115. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2116. current_position[E_AXIS] += 3;
  2117. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  2118. st_synchronize();
  2119. max_feedrate[E_AXIS] = 80;
  2120. current_position[E_AXIS] -= 82;
  2121. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  2122. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2123. current_position[E_AXIS] -= 20;
  2124. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  2125. current_position[E_AXIS] += 5;
  2126. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  2127. current_position[E_AXIS] += 5;
  2128. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2129. current_position[E_AXIS] -= 10;
  2130. st_synchronize();
  2131. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2132. current_position[E_AXIS] += 10;
  2133. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2134. current_position[E_AXIS] -= 10;
  2135. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2136. current_position[E_AXIS] += 10;
  2137. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2138. current_position[E_AXIS] -= 10;
  2139. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2140. st_synchronize();
  2141. }
  2142. else {
  2143. //ABS
  2144. max_feedrate[E_AXIS] = 50;
  2145. //current_position[E_AXIS] -= 8;
  2146. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2147. //current_position[E_AXIS] += 8;
  2148. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  2149. current_position[E_AXIS] += 3.1;
  2150. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  2151. current_position[E_AXIS] += 3.1;
  2152. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  2153. current_position[E_AXIS] += 4;
  2154. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2155. st_synchronize();
  2156. //current_position[X_AXIS] += 23; //delay
  2157. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  2158. //current_position[X_AXIS] -= 23; //delay
  2159. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  2160. delay(4700);
  2161. max_feedrate[E_AXIS] = 80;
  2162. current_position[E_AXIS] -= 92;
  2163. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  2164. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  2165. current_position[E_AXIS] -= 5;
  2166. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  2167. current_position[E_AXIS] += 5;
  2168. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  2169. current_position[E_AXIS] -= 5;
  2170. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2171. st_synchronize();
  2172. current_position[E_AXIS] += 5;
  2173. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2174. current_position[E_AXIS] -= 5;
  2175. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2176. current_position[E_AXIS] += 5;
  2177. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2178. current_position[E_AXIS] -= 5;
  2179. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  2180. st_synchronize();
  2181. }
  2182. }
  2183. */
  2184. #ifdef TMC2130
  2185. void force_high_power_mode(bool start_high_power_section) {
  2186. uint8_t silent;
  2187. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  2188. if (silent == 1) {
  2189. //we are in silent mode, set to normal mode to enable crash detection
  2190. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  2191. st_synchronize();
  2192. cli();
  2193. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  2194. update_mode_profile();
  2195. tmc2130_init();
  2196. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  2197. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  2198. st_reset_timer();
  2199. sei();
  2200. }
  2201. }
  2202. #endif //TMC2130
  2203. void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis) {
  2204. gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
  2205. }
  2206. void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl) {
  2207. st_synchronize();
  2208. #if 0
  2209. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2210. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2211. #endif
  2212. // Flag for the display update routine and to disable the print cancelation during homing.
  2213. homing_flag = true;
  2214. // Which axes should be homed?
  2215. bool home_x = home_x_axis;
  2216. bool home_y = home_y_axis;
  2217. bool home_z = home_z_axis;
  2218. // Either all X,Y,Z codes are present, or none of them.
  2219. bool home_all_axes = home_x == home_y && home_x == home_z;
  2220. if (home_all_axes)
  2221. // No X/Y/Z code provided means to home all axes.
  2222. home_x = home_y = home_z = true;
  2223. //if we are homing all axes, first move z higher to protect heatbed/steel sheet
  2224. if (home_all_axes) {
  2225. current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
  2226. feedrate = homing_feedrate[Z_AXIS];
  2227. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  2228. st_synchronize();
  2229. }
  2230. #ifdef ENABLE_AUTO_BED_LEVELING
  2231. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2232. #endif //ENABLE_AUTO_BED_LEVELING
  2233. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2234. // the planner will not perform any adjustments in the XY plane.
  2235. // Wait for the motors to stop and update the current position with the absolute values.
  2236. world2machine_revert_to_uncorrected();
  2237. // For mesh bed leveling deactivate the matrix temporarily.
  2238. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2239. // in a single axis only.
  2240. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2241. #ifdef MESH_BED_LEVELING
  2242. uint8_t mbl_was_active = mbl.active;
  2243. mbl.active = 0;
  2244. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2245. #endif
  2246. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2247. // consumed during the first movements following this statement.
  2248. if (home_z)
  2249. babystep_undo();
  2250. saved_feedrate = feedrate;
  2251. saved_feedmultiply = feedmultiply;
  2252. feedmultiply = 100;
  2253. previous_millis_cmd = millis();
  2254. enable_endstops(true);
  2255. memcpy(destination, current_position, sizeof(destination));
  2256. feedrate = 0.0;
  2257. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2258. if(home_z)
  2259. homeaxis(Z_AXIS);
  2260. #endif
  2261. #ifdef QUICK_HOME
  2262. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2263. if(home_x && home_y) //first diagonal move
  2264. {
  2265. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2266. int x_axis_home_dir = home_dir(X_AXIS);
  2267. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2268. 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);
  2269. feedrate = homing_feedrate[X_AXIS];
  2270. if(homing_feedrate[Y_AXIS]<feedrate)
  2271. feedrate = homing_feedrate[Y_AXIS];
  2272. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2273. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2274. } else {
  2275. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2276. }
  2277. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2278. st_synchronize();
  2279. axis_is_at_home(X_AXIS);
  2280. axis_is_at_home(Y_AXIS);
  2281. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2282. destination[X_AXIS] = current_position[X_AXIS];
  2283. destination[Y_AXIS] = current_position[Y_AXIS];
  2284. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2285. feedrate = 0.0;
  2286. st_synchronize();
  2287. endstops_hit_on_purpose();
  2288. current_position[X_AXIS] = destination[X_AXIS];
  2289. current_position[Y_AXIS] = destination[Y_AXIS];
  2290. current_position[Z_AXIS] = destination[Z_AXIS];
  2291. }
  2292. #endif /* QUICK_HOME */
  2293. #ifdef TMC2130
  2294. if(home_x)
  2295. {
  2296. if (!calib)
  2297. homeaxis(X_AXIS);
  2298. else
  2299. tmc2130_home_calibrate(X_AXIS);
  2300. }
  2301. if(home_y)
  2302. {
  2303. if (!calib)
  2304. homeaxis(Y_AXIS);
  2305. else
  2306. tmc2130_home_calibrate(Y_AXIS);
  2307. }
  2308. #endif //TMC2130
  2309. if(home_x_axis && home_x_value != 0)
  2310. current_position[X_AXIS]=home_x_value+add_homing[X_AXIS];
  2311. if(home_y_axis && home_y_value != 0)
  2312. current_position[Y_AXIS]=home_y_value+add_homing[Y_AXIS];
  2313. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2314. #ifndef Z_SAFE_HOMING
  2315. if(home_z) {
  2316. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2317. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2318. feedrate = max_feedrate[Z_AXIS];
  2319. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2320. st_synchronize();
  2321. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2322. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
  2323. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2324. {
  2325. homeaxis(X_AXIS);
  2326. homeaxis(Y_AXIS);
  2327. }
  2328. // 1st mesh bed leveling measurement point, corrected.
  2329. world2machine_initialize();
  2330. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2331. world2machine_reset();
  2332. if (destination[Y_AXIS] < Y_MIN_POS)
  2333. destination[Y_AXIS] = Y_MIN_POS;
  2334. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2335. feedrate = homing_feedrate[Z_AXIS]/10;
  2336. current_position[Z_AXIS] = 0;
  2337. enable_endstops(false);
  2338. #ifdef DEBUG_BUILD
  2339. SERIAL_ECHOLNPGM("plan_set_position()");
  2340. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2341. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2342. #endif
  2343. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2344. #ifdef DEBUG_BUILD
  2345. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2346. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2347. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2348. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2349. #endif
  2350. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2351. st_synchronize();
  2352. current_position[X_AXIS] = destination[X_AXIS];
  2353. current_position[Y_AXIS] = destination[Y_AXIS];
  2354. enable_endstops(true);
  2355. endstops_hit_on_purpose();
  2356. homeaxis(Z_AXIS);
  2357. #else // MESH_BED_LEVELING
  2358. homeaxis(Z_AXIS);
  2359. #endif // MESH_BED_LEVELING
  2360. }
  2361. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2362. if(home_all_axes) {
  2363. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2364. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2365. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2366. feedrate = XY_TRAVEL_SPEED/60;
  2367. current_position[Z_AXIS] = 0;
  2368. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2369. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2370. st_synchronize();
  2371. current_position[X_AXIS] = destination[X_AXIS];
  2372. current_position[Y_AXIS] = destination[Y_AXIS];
  2373. homeaxis(Z_AXIS);
  2374. }
  2375. // Let's see if X and Y are homed and probe is inside bed area.
  2376. if(home_z) {
  2377. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2378. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2379. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2380. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2381. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2382. current_position[Z_AXIS] = 0;
  2383. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2384. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2385. feedrate = max_feedrate[Z_AXIS];
  2386. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2387. st_synchronize();
  2388. homeaxis(Z_AXIS);
  2389. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2390. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2391. SERIAL_ECHO_START;
  2392. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2393. } else {
  2394. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2395. SERIAL_ECHO_START;
  2396. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2397. }
  2398. }
  2399. #endif // Z_SAFE_HOMING
  2400. #endif // Z_HOME_DIR < 0
  2401. if(home_z_axis && home_z_value != 0)
  2402. current_position[Z_AXIS]=home_z_value+add_homing[Z_AXIS];
  2403. #ifdef ENABLE_AUTO_BED_LEVELING
  2404. if(home_z)
  2405. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2406. #endif
  2407. // Set the planner and stepper routine positions.
  2408. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2409. // contains the machine coordinates.
  2410. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2411. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2412. enable_endstops(false);
  2413. #endif
  2414. feedrate = saved_feedrate;
  2415. feedmultiply = saved_feedmultiply;
  2416. previous_millis_cmd = millis();
  2417. endstops_hit_on_purpose();
  2418. #ifndef MESH_BED_LEVELING
  2419. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2420. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2421. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2422. lcd_adjust_z();
  2423. #endif
  2424. // Load the machine correction matrix
  2425. world2machine_initialize();
  2426. // and correct the current_position XY axes to match the transformed coordinate system.
  2427. world2machine_update_current();
  2428. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2429. if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
  2430. {
  2431. if (! home_z && mbl_was_active) {
  2432. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2433. mbl.active = true;
  2434. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2435. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2436. }
  2437. }
  2438. else
  2439. {
  2440. st_synchronize();
  2441. homing_flag = false;
  2442. }
  2443. #endif
  2444. if (farm_mode) { prusa_statistics(20); };
  2445. homing_flag = false;
  2446. #if 0
  2447. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2448. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2449. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2450. #endif
  2451. }
  2452. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  2453. {
  2454. bool final_result = false;
  2455. #ifdef TMC2130
  2456. FORCE_HIGH_POWER_START;
  2457. #endif // TMC2130
  2458. // Only Z calibration?
  2459. if (!onlyZ)
  2460. {
  2461. setTargetBed(0);
  2462. setTargetHotend(0, 0);
  2463. setTargetHotend(0, 1);
  2464. setTargetHotend(0, 2);
  2465. adjust_bed_reset(); //reset bed level correction
  2466. }
  2467. // Disable the default update procedure of the display. We will do a modal dialog.
  2468. lcd_update_enable(false);
  2469. // Let the planner use the uncorrected coordinates.
  2470. mbl.reset();
  2471. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2472. // the planner will not perform any adjustments in the XY plane.
  2473. // Wait for the motors to stop and update the current position with the absolute values.
  2474. world2machine_revert_to_uncorrected();
  2475. // Reset the baby step value applied without moving the axes.
  2476. babystep_reset();
  2477. // Mark all axes as in a need for homing.
  2478. memset(axis_known_position, 0, sizeof(axis_known_position));
  2479. // Home in the XY plane.
  2480. //set_destination_to_current();
  2481. setup_for_endstop_move();
  2482. lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
  2483. home_xy();
  2484. enable_endstops(false);
  2485. current_position[X_AXIS] += 5;
  2486. current_position[Y_AXIS] += 5;
  2487. 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);
  2488. st_synchronize();
  2489. // Let the user move the Z axes up to the end stoppers.
  2490. #ifdef TMC2130
  2491. if (calibrate_z_auto())
  2492. {
  2493. #else //TMC2130
  2494. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  2495. {
  2496. #endif //TMC2130
  2497. refresh_cmd_timeout();
  2498. #ifndef STEEL_SHEET
  2499. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  2500. {
  2501. lcd_wait_for_cool_down();
  2502. }
  2503. #endif //STEEL_SHEET
  2504. if(!onlyZ)
  2505. {
  2506. KEEPALIVE_STATE(PAUSED_FOR_USER);
  2507. #ifdef STEEL_SHEET
  2508. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  2509. if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  2510. #endif //STEEL_SHEET
  2511. lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
  2512. lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
  2513. KEEPALIVE_STATE(IN_HANDLER);
  2514. lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
  2515. lcd_set_cursor(0, 2);
  2516. lcd_print(1);
  2517. lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
  2518. }
  2519. // Move the print head close to the bed.
  2520. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2521. bool endstops_enabled = enable_endstops(true);
  2522. #ifdef TMC2130
  2523. tmc2130_home_enter(Z_AXIS_MASK);
  2524. #endif //TMC2130
  2525. 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);
  2526. st_synchronize();
  2527. #ifdef TMC2130
  2528. tmc2130_home_exit();
  2529. #endif //TMC2130
  2530. enable_endstops(endstops_enabled);
  2531. if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
  2532. {
  2533. int8_t verbosity_level = 0;
  2534. if (code_seen('V'))
  2535. {
  2536. // Just 'V' without a number counts as V1.
  2537. char c = strchr_pointer[1];
  2538. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2539. }
  2540. if (onlyZ)
  2541. {
  2542. clean_up_after_endstop_move();
  2543. // Z only calibration.
  2544. // Load the machine correction matrix
  2545. world2machine_initialize();
  2546. // and correct the current_position to match the transformed coordinate system.
  2547. world2machine_update_current();
  2548. //FIXME
  2549. bool result = sample_mesh_and_store_reference();
  2550. if (result)
  2551. {
  2552. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  2553. // Shipped, the nozzle height has been set already. The user can start printing now.
  2554. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2555. final_result = true;
  2556. // babystep_apply();
  2557. }
  2558. }
  2559. else
  2560. {
  2561. // Reset the baby step value and the baby step applied flag.
  2562. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  2563. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  2564. // Complete XYZ calibration.
  2565. uint8_t point_too_far_mask = 0;
  2566. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  2567. clean_up_after_endstop_move();
  2568. // Print head up.
  2569. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2570. 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);
  2571. st_synchronize();
  2572. //#ifndef NEW_XYZCAL
  2573. if (result >= 0)
  2574. {
  2575. #ifdef HEATBED_V2
  2576. sample_z();
  2577. #else //HEATBED_V2
  2578. point_too_far_mask = 0;
  2579. // Second half: The fine adjustment.
  2580. // Let the planner use the uncorrected coordinates.
  2581. mbl.reset();
  2582. world2machine_reset();
  2583. // Home in the XY plane.
  2584. setup_for_endstop_move();
  2585. home_xy();
  2586. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  2587. clean_up_after_endstop_move();
  2588. // Print head up.
  2589. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2590. 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);
  2591. st_synchronize();
  2592. // if (result >= 0) babystep_apply();
  2593. #endif //HEATBED_V2
  2594. }
  2595. //#endif //NEW_XYZCAL
  2596. lcd_update_enable(true);
  2597. lcd_update(2);
  2598. lcd_bed_calibration_show_result(result, point_too_far_mask);
  2599. if (result >= 0)
  2600. {
  2601. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  2602. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2603. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
  2604. final_result = true;
  2605. }
  2606. }
  2607. #ifdef TMC2130
  2608. tmc2130_home_exit();
  2609. #endif
  2610. }
  2611. else
  2612. {
  2613. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  2614. final_result = false;
  2615. }
  2616. }
  2617. else
  2618. {
  2619. // Timeouted.
  2620. }
  2621. lcd_update_enable(true);
  2622. #ifdef TMC2130
  2623. FORCE_HIGH_POWER_END;
  2624. #endif // TMC2130
  2625. return final_result;
  2626. }
  2627. void gcode_M114()
  2628. {
  2629. SERIAL_PROTOCOLPGM("X:");
  2630. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2631. SERIAL_PROTOCOLPGM(" Y:");
  2632. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2633. SERIAL_PROTOCOLPGM(" Z:");
  2634. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2635. SERIAL_PROTOCOLPGM(" E:");
  2636. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2637. SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
  2638. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
  2639. SERIAL_PROTOCOLPGM(" Y:");
  2640. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
  2641. SERIAL_PROTOCOLPGM(" Z:");
  2642. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
  2643. SERIAL_PROTOCOLPGM(" E:");
  2644. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
  2645. SERIAL_PROTOCOLLN("");
  2646. }
  2647. void gcode_M701()
  2648. {
  2649. printf_P(PSTR("gcode_M701 begin\n"));
  2650. #if defined (SNMM) || defined (SNMM_V2)
  2651. extr_adj(snmm_extruder);//loads current extruder
  2652. #else //defined (SNMM) || defined (SNMM_V2)
  2653. enable_z();
  2654. custom_message = true;
  2655. custom_message_type = 2;
  2656. #ifdef FILAMENT_SENSOR
  2657. fsensor_oq_meassure_start(40);
  2658. #endif //FILAMENT_SENSOR
  2659. lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
  2660. current_position[E_AXIS] += 40;
  2661. 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
  2662. st_synchronize();
  2663. if (current_position[Z_AXIS] < 20) current_position[Z_AXIS] += 30;
  2664. current_position[E_AXIS] += 30;
  2665. 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
  2666. st_synchronize();
  2667. current_position[E_AXIS] += 25;
  2668. 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
  2669. st_synchronize();
  2670. tone(BEEPER, 500);
  2671. delay_keep_alive(50);
  2672. noTone(BEEPER);
  2673. if (!farm_mode && loading_flag) {
  2674. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
  2675. while (!clean) {
  2676. lcd_update_enable(true);
  2677. lcd_update(2);
  2678. current_position[E_AXIS] += 25;
  2679. 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
  2680. st_synchronize();
  2681. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
  2682. }
  2683. }
  2684. lcd_update_enable(true);
  2685. lcd_update(2);
  2686. lcd_setstatuspgm(_T(WELCOME_MSG));
  2687. disable_z();
  2688. loading_flag = false;
  2689. custom_message = false;
  2690. custom_message_type = 0;
  2691. #ifdef FILAMENT_SENSOR
  2692. fsensor_oq_meassure_stop();
  2693. if (!fsensor_oq_result())
  2694. {
  2695. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  2696. lcd_update_enable(true);
  2697. lcd_update(2);
  2698. if (disable)
  2699. fsensor_disable();
  2700. }
  2701. #endif //FILAMENT_SENSOR
  2702. #endif //defined (SNMM) || defined (SNMM_V2)
  2703. }
  2704. /**
  2705. * @brief Get serial number from 32U2 processor
  2706. *
  2707. * Typical format of S/N is:CZPX0917X003XC13518
  2708. *
  2709. * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
  2710. *
  2711. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  2712. * reply is transmitted to serial port 1 character by character.
  2713. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  2714. * it is interrupted, so less, or no characters are retransmitted, only newline character is send
  2715. * in any case.
  2716. */
  2717. static void gcode_PRUSA_SN()
  2718. {
  2719. if (farm_mode) {
  2720. selectedSerialPort = 0;
  2721. putchar(';');
  2722. putchar('S');
  2723. int numbersRead = 0;
  2724. ShortTimer timeout;
  2725. timeout.start();
  2726. while (numbersRead < 19) {
  2727. while (MSerial.available() > 0) {
  2728. uint8_t serial_char = MSerial.read();
  2729. selectedSerialPort = 1;
  2730. putchar(serial_char);
  2731. numbersRead++;
  2732. selectedSerialPort = 0;
  2733. }
  2734. if (timeout.expired(100u)) break;
  2735. }
  2736. selectedSerialPort = 1;
  2737. putchar('\n');
  2738. #if 0
  2739. for (int b = 0; b < 3; b++) {
  2740. tone(BEEPER, 110);
  2741. delay(50);
  2742. noTone(BEEPER);
  2743. delay(50);
  2744. }
  2745. #endif
  2746. } else {
  2747. puts_P(_N("Not in farm mode."));
  2748. }
  2749. }
  2750. #ifdef BACKLASH_X
  2751. extern uint8_t st_backlash_x;
  2752. #endif //BACKLASH_X
  2753. #ifdef BACKLASH_Y
  2754. extern uint8_t st_backlash_y;
  2755. #endif //BACKLASH_Y
  2756. uint16_t gcode_in_progress = 0;
  2757. uint16_t mcode_in_progress = 0;
  2758. void process_commands()
  2759. {
  2760. if (!buflen) return; //empty command
  2761. #ifdef FILAMENT_RUNOUT_SUPPORT
  2762. SET_INPUT(FR_SENS);
  2763. #endif
  2764. #ifdef CMDBUFFER_DEBUG
  2765. SERIAL_ECHOPGM("Processing a GCODE command: ");
  2766. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  2767. SERIAL_ECHOLNPGM("");
  2768. SERIAL_ECHOPGM("In cmdqueue: ");
  2769. SERIAL_ECHO(buflen);
  2770. SERIAL_ECHOLNPGM("");
  2771. #endif /* CMDBUFFER_DEBUG */
  2772. unsigned long codenum; //throw away variable
  2773. char *starpos = NULL;
  2774. #ifdef ENABLE_AUTO_BED_LEVELING
  2775. float x_tmp, y_tmp, z_tmp, real_z;
  2776. #endif
  2777. // PRUSA GCODES
  2778. KEEPALIVE_STATE(IN_HANDLER);
  2779. #ifdef SNMM
  2780. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  2781. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  2782. int8_t SilentMode;
  2783. #endif
  2784. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  2785. starpos = (strchr(strchr_pointer + 5, '*'));
  2786. if (starpos != NULL)
  2787. *(starpos) = '\0';
  2788. lcd_setstatus(strchr_pointer + 5);
  2789. }
  2790. #ifdef TMC2130
  2791. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  2792. {
  2793. if(code_seen("CRASH_DETECTED"))
  2794. {
  2795. uint8_t mask = 0;
  2796. if (code_seen("X")) mask |= X_AXIS_MASK;
  2797. if (code_seen("Y")) mask |= Y_AXIS_MASK;
  2798. crashdet_detected(mask);
  2799. }
  2800. else if(code_seen("CRASH_RECOVER"))
  2801. crashdet_recover();
  2802. else if(code_seen("CRASH_CANCEL"))
  2803. crashdet_cancel();
  2804. }
  2805. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  2806. {
  2807. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
  2808. {
  2809. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2810. axis = (axis == 'E')?3:(axis - 'X');
  2811. if (axis < 4)
  2812. {
  2813. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2814. tmc2130_set_wave(axis, 247, fac);
  2815. }
  2816. }
  2817. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
  2818. {
  2819. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2820. axis = (axis == 'E')?3:(axis - 'X');
  2821. if (axis < 4)
  2822. {
  2823. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2824. uint16_t res = tmc2130_get_res(axis);
  2825. tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
  2826. }
  2827. }
  2828. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
  2829. {
  2830. uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
  2831. axis = (axis == 'E')?3:(axis - 'X');
  2832. if (axis < 4)
  2833. {
  2834. uint8_t chop0 = tmc2130_chopper_config[axis].toff;
  2835. uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
  2836. uint8_t chop2 = tmc2130_chopper_config[axis].hend;
  2837. uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
  2838. char* str_end = 0;
  2839. if (CMDBUFFER_CURRENT_STRING[14])
  2840. {
  2841. chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
  2842. if (str_end && *str_end)
  2843. {
  2844. chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
  2845. if (str_end && *str_end)
  2846. {
  2847. chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
  2848. if (str_end && *str_end)
  2849. chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
  2850. }
  2851. }
  2852. }
  2853. tmc2130_chopper_config[axis].toff = chop0;
  2854. tmc2130_chopper_config[axis].hstr = chop1 & 7;
  2855. tmc2130_chopper_config[axis].hend = chop2 & 15;
  2856. tmc2130_chopper_config[axis].tbl = chop3 & 3;
  2857. tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
  2858. //printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
  2859. }
  2860. }
  2861. }
  2862. #ifdef BACKLASH_X
  2863. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
  2864. {
  2865. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  2866. st_backlash_x = bl;
  2867. printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
  2868. }
  2869. #endif //BACKLASH_X
  2870. #ifdef BACKLASH_Y
  2871. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
  2872. {
  2873. uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
  2874. st_backlash_y = bl;
  2875. printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
  2876. }
  2877. #endif //BACKLASH_Y
  2878. #endif //TMC2130
  2879. else if(code_seen("PRUSA")){
  2880. if (code_seen("Ping")) { //PRUSA Ping
  2881. if (farm_mode) {
  2882. PingTime = millis();
  2883. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  2884. }
  2885. }
  2886. else if (code_seen("PRN")) {
  2887. printf_P(_N("%d"), status_number);
  2888. }else if (code_seen("FAN")) {
  2889. printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
  2890. }else if (code_seen("fn")) {
  2891. if (farm_mode) {
  2892. printf_P(_N("%d"), farm_no);
  2893. }
  2894. else {
  2895. puts_P(_N("Not in farm mode."));
  2896. }
  2897. }
  2898. else if (code_seen("thx")) {
  2899. no_response = false;
  2900. }
  2901. else if (code_seen("MMURES")) {
  2902. fprintf_P(uart2io, PSTR("X0"));
  2903. }
  2904. else if (code_seen("RESET")) {
  2905. // careful!
  2906. if (farm_mode) {
  2907. #ifdef WATCHDOG
  2908. boot_app_magic = BOOT_APP_MAGIC;
  2909. boot_app_flags = BOOT_APP_FLG_RUN;
  2910. wdt_enable(WDTO_15MS);
  2911. cli();
  2912. while(1);
  2913. #else //WATCHDOG
  2914. asm volatile("jmp 0x3E000");
  2915. #endif //WATCHDOG
  2916. }
  2917. else {
  2918. MYSERIAL.println("Not in farm mode.");
  2919. }
  2920. }else if (code_seen("fv")) {
  2921. // get file version
  2922. #ifdef SDSUPPORT
  2923. card.openFile(strchr_pointer + 3,true);
  2924. while (true) {
  2925. uint16_t readByte = card.get();
  2926. MYSERIAL.write(readByte);
  2927. if (readByte=='\n') {
  2928. break;
  2929. }
  2930. }
  2931. card.closefile();
  2932. #endif // SDSUPPORT
  2933. } else if (code_seen("M28")) {
  2934. trace();
  2935. prusa_sd_card_upload = true;
  2936. card.openFile(strchr_pointer+4,false);
  2937. } else if (code_seen("SN")) {
  2938. gcode_PRUSA_SN();
  2939. } else if(code_seen("Fir")){
  2940. SERIAL_PROTOCOLLN(FW_VERSION);
  2941. } else if(code_seen("Rev")){
  2942. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  2943. } else if(code_seen("Lang")) {
  2944. lang_reset();
  2945. } else if(code_seen("Lz")) {
  2946. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  2947. } else if(code_seen("Beat")) {
  2948. // Kick farm link timer
  2949. kicktime = millis();
  2950. } else if(code_seen("FR")) {
  2951. // Factory full reset
  2952. factory_reset(0,true);
  2953. }
  2954. //else if (code_seen('Cal')) {
  2955. // lcd_calibration();
  2956. // }
  2957. }
  2958. else if (code_seen('^')) {
  2959. // nothing, this is a version line
  2960. } else if(code_seen('G'))
  2961. {
  2962. gcode_in_progress = (int)code_value();
  2963. // printf_P(_N("BEGIN G-CODE=%u\n"), gcode_in_progress);
  2964. switch (gcode_in_progress)
  2965. {
  2966. case 0: // G0 -> G1
  2967. case 1: // G1
  2968. if(Stopped == false) {
  2969. #ifdef FILAMENT_RUNOUT_SUPPORT
  2970. if(READ(FR_SENS)){
  2971. feedmultiplyBckp=feedmultiply;
  2972. float target[4];
  2973. float lastpos[4];
  2974. target[X_AXIS]=current_position[X_AXIS];
  2975. target[Y_AXIS]=current_position[Y_AXIS];
  2976. target[Z_AXIS]=current_position[Z_AXIS];
  2977. target[E_AXIS]=current_position[E_AXIS];
  2978. lastpos[X_AXIS]=current_position[X_AXIS];
  2979. lastpos[Y_AXIS]=current_position[Y_AXIS];
  2980. lastpos[Z_AXIS]=current_position[Z_AXIS];
  2981. lastpos[E_AXIS]=current_position[E_AXIS];
  2982. //retract by E
  2983. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  2984. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2985. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  2986. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  2987. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  2988. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  2989. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  2990. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  2991. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2992. //finish moves
  2993. st_synchronize();
  2994. //disable extruder steppers so filament can be removed
  2995. disable_e0();
  2996. disable_e1();
  2997. disable_e2();
  2998. delay(100);
  2999. //LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
  3000. uint8_t cnt=0;
  3001. int counterBeep = 0;
  3002. lcd_wait_interact();
  3003. while(!lcd_clicked()){
  3004. cnt++;
  3005. manage_heater();
  3006. manage_inactivity(true);
  3007. //lcd_update(0);
  3008. if(cnt==0)
  3009. {
  3010. #if BEEPER > 0
  3011. if (counterBeep== 500){
  3012. counterBeep = 0;
  3013. }
  3014. SET_OUTPUT(BEEPER);
  3015. if (counterBeep== 0){
  3016. WRITE(BEEPER,HIGH);
  3017. }
  3018. if (counterBeep== 20){
  3019. WRITE(BEEPER,LOW);
  3020. }
  3021. counterBeep++;
  3022. #else
  3023. #endif
  3024. }
  3025. }
  3026. WRITE(BEEPER,LOW);
  3027. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3028. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3029. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3030. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3031. lcd_change_fil_state = 0;
  3032. lcd_loading_filament();
  3033. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  3034. lcd_change_fil_state = 0;
  3035. lcd_alright();
  3036. switch(lcd_change_fil_state){
  3037. case 2:
  3038. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  3039. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  3040. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3041. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3042. lcd_loading_filament();
  3043. break;
  3044. case 3:
  3045. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  3046. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3047. lcd_loading_color();
  3048. break;
  3049. default:
  3050. lcd_change_success();
  3051. break;
  3052. }
  3053. }
  3054. target[E_AXIS]+= 5;
  3055. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  3056. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  3057. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  3058. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3059. //plan_set_e_position(current_position[E_AXIS]);
  3060. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  3061. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  3062. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  3063. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  3064. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  3065. plan_set_e_position(lastpos[E_AXIS]);
  3066. feedmultiply=feedmultiplyBckp;
  3067. char cmd[9];
  3068. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  3069. enquecommand(cmd);
  3070. }
  3071. #endif
  3072. get_coordinates(); // For X Y Z E F
  3073. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  3074. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  3075. }
  3076. #ifdef FWRETRACT
  3077. if(autoretract_enabled)
  3078. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  3079. float echange=destination[E_AXIS]-current_position[E_AXIS];
  3080. if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
  3081. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  3082. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  3083. retract(!retracted[active_extruder]);
  3084. return;
  3085. }
  3086. }
  3087. #endif //FWRETRACT
  3088. prepare_move();
  3089. //ClearToSend();
  3090. }
  3091. break;
  3092. case 2: // G2 - CW ARC
  3093. if(Stopped == false) {
  3094. get_arc_coordinates();
  3095. prepare_arc_move(true);
  3096. }
  3097. break;
  3098. case 3: // G3 - CCW ARC
  3099. if(Stopped == false) {
  3100. get_arc_coordinates();
  3101. prepare_arc_move(false);
  3102. }
  3103. break;
  3104. case 4: // G4 dwell
  3105. codenum = 0;
  3106. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  3107. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  3108. if(codenum != 0) LCD_MESSAGERPGM(_i("Sleep..."));////MSG_DWELL c=0 r=0
  3109. st_synchronize();
  3110. codenum += millis(); // keep track of when we started waiting
  3111. previous_millis_cmd = millis();
  3112. while(millis() < codenum) {
  3113. manage_heater();
  3114. manage_inactivity();
  3115. lcd_update(0);
  3116. }
  3117. break;
  3118. #ifdef FWRETRACT
  3119. case 10: // G10 retract
  3120. #if EXTRUDERS > 1
  3121. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  3122. retract(true,retracted_swap[active_extruder]);
  3123. #else
  3124. retract(true);
  3125. #endif
  3126. break;
  3127. case 11: // G11 retract_recover
  3128. #if EXTRUDERS > 1
  3129. retract(false,retracted_swap[active_extruder]);
  3130. #else
  3131. retract(false);
  3132. #endif
  3133. break;
  3134. #endif //FWRETRACT
  3135. case 28: //G28 Home all Axis one at a time
  3136. {
  3137. long home_x_value = 0;
  3138. long home_y_value = 0;
  3139. long home_z_value = 0;
  3140. // Which axes should be homed?
  3141. bool home_x = code_seen(axis_codes[X_AXIS]);
  3142. home_x_value = code_value_long();
  3143. bool home_y = code_seen(axis_codes[Y_AXIS]);
  3144. home_y_value = code_value_long();
  3145. bool home_z = code_seen(axis_codes[Z_AXIS]);
  3146. home_z_value = code_value_long();
  3147. bool without_mbl = code_seen('W');
  3148. // calibrate?
  3149. bool calib = code_seen('C');
  3150. gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
  3151. if ((home_x || home_y || without_mbl || home_z) == false) {
  3152. // Push the commands to the front of the message queue in the reverse order!
  3153. // There shall be always enough space reserved for these commands.
  3154. goto case_G80;
  3155. }
  3156. break;
  3157. }
  3158. #ifdef ENABLE_AUTO_BED_LEVELING
  3159. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  3160. {
  3161. #if Z_MIN_PIN == -1
  3162. #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."
  3163. #endif
  3164. // Prevent user from running a G29 without first homing in X and Y
  3165. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  3166. {
  3167. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  3168. SERIAL_ECHO_START;
  3169. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  3170. break; // abort G29, since we don't know where we are
  3171. }
  3172. st_synchronize();
  3173. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  3174. //vector_3 corrected_position = plan_get_position_mm();
  3175. //corrected_position.debug("position before G29");
  3176. plan_bed_level_matrix.set_to_identity();
  3177. vector_3 uncorrected_position = plan_get_position();
  3178. //uncorrected_position.debug("position durring G29");
  3179. current_position[X_AXIS] = uncorrected_position.x;
  3180. current_position[Y_AXIS] = uncorrected_position.y;
  3181. current_position[Z_AXIS] = uncorrected_position.z;
  3182. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3183. setup_for_endstop_move();
  3184. feedrate = homing_feedrate[Z_AXIS];
  3185. #ifdef AUTO_BED_LEVELING_GRID
  3186. // probe at the points of a lattice grid
  3187. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3188. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  3189. // solve the plane equation ax + by + d = z
  3190. // A is the matrix with rows [x y 1] for all the probed points
  3191. // B is the vector of the Z positions
  3192. // 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
  3193. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3194. // "A" matrix of the linear system of equations
  3195. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  3196. // "B" vector of Z points
  3197. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  3198. int probePointCounter = 0;
  3199. bool zig = true;
  3200. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  3201. {
  3202. int xProbe, xInc;
  3203. if (zig)
  3204. {
  3205. xProbe = LEFT_PROBE_BED_POSITION;
  3206. //xEnd = RIGHT_PROBE_BED_POSITION;
  3207. xInc = xGridSpacing;
  3208. zig = false;
  3209. } else // zag
  3210. {
  3211. xProbe = RIGHT_PROBE_BED_POSITION;
  3212. //xEnd = LEFT_PROBE_BED_POSITION;
  3213. xInc = -xGridSpacing;
  3214. zig = true;
  3215. }
  3216. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  3217. {
  3218. float z_before;
  3219. if (probePointCounter == 0)
  3220. {
  3221. // raise before probing
  3222. z_before = Z_RAISE_BEFORE_PROBING;
  3223. } else
  3224. {
  3225. // raise extruder
  3226. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  3227. }
  3228. float measured_z = probe_pt(xProbe, yProbe, z_before);
  3229. eqnBVector[probePointCounter] = measured_z;
  3230. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  3231. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  3232. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  3233. probePointCounter++;
  3234. xProbe += xInc;
  3235. }
  3236. }
  3237. clean_up_after_endstop_move();
  3238. // solve lsq problem
  3239. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  3240. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3241. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  3242. SERIAL_PROTOCOLPGM(" b: ");
  3243. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  3244. SERIAL_PROTOCOLPGM(" d: ");
  3245. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  3246. set_bed_level_equation_lsq(plane_equation_coefficients);
  3247. free(plane_equation_coefficients);
  3248. #else // AUTO_BED_LEVELING_GRID not defined
  3249. // Probe at 3 arbitrary points
  3250. // probe 1
  3251. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  3252. // probe 2
  3253. 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);
  3254. // probe 3
  3255. 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);
  3256. clean_up_after_endstop_move();
  3257. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  3258. #endif // AUTO_BED_LEVELING_GRID
  3259. st_synchronize();
  3260. // The following code correct the Z height difference from z-probe position and hotend tip position.
  3261. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  3262. // When the bed is uneven, this height must be corrected.
  3263. 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)
  3264. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  3265. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3266. z_tmp = current_position[Z_AXIS];
  3267. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  3268. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  3269. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3270. }
  3271. break;
  3272. #ifndef Z_PROBE_SLED
  3273. case 30: // G30 Single Z Probe
  3274. {
  3275. st_synchronize();
  3276. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3277. setup_for_endstop_move();
  3278. feedrate = homing_feedrate[Z_AXIS];
  3279. run_z_probe();
  3280. SERIAL_PROTOCOLPGM(_T(MSG_BED));
  3281. SERIAL_PROTOCOLPGM(" X: ");
  3282. SERIAL_PROTOCOL(current_position[X_AXIS]);
  3283. SERIAL_PROTOCOLPGM(" Y: ");
  3284. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  3285. SERIAL_PROTOCOLPGM(" Z: ");
  3286. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  3287. SERIAL_PROTOCOLPGM("\n");
  3288. clean_up_after_endstop_move();
  3289. }
  3290. break;
  3291. #else
  3292. case 31: // dock the sled
  3293. dock_sled(true);
  3294. break;
  3295. case 32: // undock the sled
  3296. dock_sled(false);
  3297. break;
  3298. #endif // Z_PROBE_SLED
  3299. #endif // ENABLE_AUTO_BED_LEVELING
  3300. #ifdef MESH_BED_LEVELING
  3301. case 30: // G30 Single Z Probe
  3302. {
  3303. st_synchronize();
  3304. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  3305. setup_for_endstop_move();
  3306. feedrate = homing_feedrate[Z_AXIS];
  3307. find_bed_induction_sensor_point_z(-10.f, 3);
  3308. printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
  3309. clean_up_after_endstop_move();
  3310. }
  3311. break;
  3312. case 75:
  3313. {
  3314. for (int i = 40; i <= 110; i++)
  3315. printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
  3316. }
  3317. break;
  3318. case 76: //PINDA probe temperature calibration
  3319. {
  3320. #ifdef PINDA_THERMISTOR
  3321. if (true)
  3322. {
  3323. if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
  3324. //we need to know accurate position of first calibration point
  3325. //if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
  3326. lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
  3327. break;
  3328. }
  3329. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  3330. {
  3331. // We don't know where we are! HOME!
  3332. // Push the commands to the front of the message queue in the reverse order!
  3333. // There shall be always enough space reserved for these commands.
  3334. repeatcommand_front(); // repeat G76 with all its parameters
  3335. enquecommand_front_P((PSTR("G28 W0")));
  3336. break;
  3337. }
  3338. 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
  3339. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
  3340. if (result)
  3341. {
  3342. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3343. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3344. current_position[Z_AXIS] = 50;
  3345. current_position[Y_AXIS] = 180;
  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. lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
  3349. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3350. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3351. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3352. st_synchronize();
  3353. gcode_G28(false, false, true);
  3354. }
  3355. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  3356. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  3357. current_position[Z_AXIS] = 100;
  3358. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3359. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  3360. lcd_temp_cal_show_result(false);
  3361. break;
  3362. }
  3363. }
  3364. lcd_update_enable(true);
  3365. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  3366. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  3367. float zero_z;
  3368. int z_shift = 0; //unit: steps
  3369. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  3370. if (start_temp < 35) start_temp = 35;
  3371. if (start_temp < current_temperature_pinda) start_temp += 5;
  3372. printf_P(_N("start temperature: %.1f\n"), start_temp);
  3373. // setTargetHotend(200, 0);
  3374. setTargetBed(70 + (start_temp - 30));
  3375. custom_message = true;
  3376. custom_message_type = 4;
  3377. custom_message_state = 1;
  3378. custom_message = _T(MSG_TEMP_CALIBRATION);
  3379. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  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. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3382. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3383. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3384. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3385. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3386. st_synchronize();
  3387. while (current_temperature_pinda < start_temp)
  3388. {
  3389. delay_keep_alive(1000);
  3390. serialecho_temperatures();
  3391. }
  3392. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3393. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3394. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3395. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3396. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3397. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3398. st_synchronize();
  3399. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3400. if (find_z_result == false) {
  3401. lcd_temp_cal_show_result(find_z_result);
  3402. break;
  3403. }
  3404. zero_z = current_position[Z_AXIS];
  3405. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3406. int i = -1; for (; i < 5; i++)
  3407. {
  3408. float temp = (40 + i * 5);
  3409. printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
  3410. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3411. if (start_temp <= temp) break;
  3412. }
  3413. for (i++; i < 5; i++)
  3414. {
  3415. float temp = (40 + i * 5);
  3416. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3417. custom_message_state = i + 2;
  3418. setTargetBed(50 + 10 * (temp - 30) / 5);
  3419. // setTargetHotend(255, 0);
  3420. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  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. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3423. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3424. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3425. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3426. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3427. st_synchronize();
  3428. while (current_temperature_pinda < temp)
  3429. {
  3430. delay_keep_alive(1000);
  3431. serialecho_temperatures();
  3432. }
  3433. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3434. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3435. current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
  3436. current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
  3437. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3438. st_synchronize();
  3439. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3440. if (find_z_result == false) {
  3441. lcd_temp_cal_show_result(find_z_result);
  3442. break;
  3443. }
  3444. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3445. printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
  3446. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3447. }
  3448. lcd_temp_cal_show_result(true);
  3449. break;
  3450. }
  3451. #endif //PINDA_THERMISTOR
  3452. setTargetBed(PINDA_MIN_T);
  3453. float zero_z;
  3454. int z_shift = 0; //unit: steps
  3455. int t_c; // temperature
  3456. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3457. // We don't know where we are! HOME!
  3458. // Push the commands to the front of the message queue in the reverse order!
  3459. // There shall be always enough space reserved for these commands.
  3460. repeatcommand_front(); // repeat G76 with all its parameters
  3461. enquecommand_front_P((PSTR("G28 W0")));
  3462. break;
  3463. }
  3464. puts_P(_N("PINDA probe calibration start"));
  3465. custom_message = true;
  3466. custom_message_type = 4;
  3467. custom_message_state = 1;
  3468. custom_message = _T(MSG_TEMP_CALIBRATION);
  3469. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3470. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3471. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3472. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3473. st_synchronize();
  3474. while (abs(degBed() - PINDA_MIN_T) > 1) {
  3475. delay_keep_alive(1000);
  3476. serialecho_temperatures();
  3477. }
  3478. //enquecommand_P(PSTR("M190 S50"));
  3479. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3480. delay_keep_alive(1000);
  3481. serialecho_temperatures();
  3482. }
  3483. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3484. current_position[Z_AXIS] = 5;
  3485. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3486. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3487. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3488. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3489. st_synchronize();
  3490. find_bed_induction_sensor_point_z(-1.f);
  3491. zero_z = current_position[Z_AXIS];
  3492. printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
  3493. for (int i = 0; i<5; i++) {
  3494. printf_P(_N("\nStep: %d/6\n"), i + 2);
  3495. custom_message_state = i + 2;
  3496. t_c = 60 + i * 10;
  3497. setTargetBed(t_c);
  3498. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3499. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3500. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3501. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3502. st_synchronize();
  3503. while (degBed() < t_c) {
  3504. delay_keep_alive(1000);
  3505. serialecho_temperatures();
  3506. }
  3507. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3508. delay_keep_alive(1000);
  3509. serialecho_temperatures();
  3510. }
  3511. current_position[Z_AXIS] = 5;
  3512. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3513. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3514. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3515. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3516. st_synchronize();
  3517. find_bed_induction_sensor_point_z(-1.f);
  3518. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3519. printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
  3520. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  3521. }
  3522. custom_message_type = 0;
  3523. custom_message = false;
  3524. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  3525. puts_P(_N("Temperature calibration done."));
  3526. disable_x();
  3527. disable_y();
  3528. disable_z();
  3529. disable_e0();
  3530. disable_e1();
  3531. disable_e2();
  3532. setTargetBed(0); //set bed target temperature back to 0
  3533. lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
  3534. temp_cal_active = true;
  3535. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  3536. lcd_update_enable(true);
  3537. lcd_update(2);
  3538. }
  3539. break;
  3540. #ifdef DIS
  3541. case 77:
  3542. {
  3543. //G77 X200 Y150 XP100 YP15 XO10 Y015
  3544. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  3545. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  3546. float dimension_x = 40;
  3547. float dimension_y = 40;
  3548. int points_x = 40;
  3549. int points_y = 40;
  3550. float offset_x = 74;
  3551. float offset_y = 33;
  3552. if (code_seen('X')) dimension_x = code_value();
  3553. if (code_seen('Y')) dimension_y = code_value();
  3554. if (code_seen('XP')) points_x = code_value();
  3555. if (code_seen('YP')) points_y = code_value();
  3556. if (code_seen('XO')) offset_x = code_value();
  3557. if (code_seen('YO')) offset_y = code_value();
  3558. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  3559. } break;
  3560. #endif
  3561. case 79: {
  3562. for (int i = 255; i > 0; i = i - 5) {
  3563. fanSpeed = i;
  3564. //delay_keep_alive(2000);
  3565. for (int j = 0; j < 100; j++) {
  3566. delay_keep_alive(100);
  3567. }
  3568. fan_speed[1];
  3569. printf_P(_N("%d: %d\n"), i, fan_speed[1]);
  3570. }
  3571. }break;
  3572. /**
  3573. * G80: Mesh-based Z probe, probes a grid and produces a
  3574. * mesh to compensate for variable bed height
  3575. *
  3576. * The S0 report the points as below
  3577. *
  3578. * +----> X-axis
  3579. * |
  3580. * |
  3581. * v Y-axis
  3582. *
  3583. */
  3584. case 80:
  3585. #ifdef MK1BP
  3586. break;
  3587. #endif //MK1BP
  3588. case_G80:
  3589. {
  3590. mesh_bed_leveling_flag = true;
  3591. int8_t verbosity_level = 0;
  3592. static bool run = false;
  3593. if (code_seen('V')) {
  3594. // Just 'V' without a number counts as V1.
  3595. char c = strchr_pointer[1];
  3596. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3597. }
  3598. // Firstly check if we know where we are
  3599. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3600. // We don't know where we are! HOME!
  3601. // Push the commands to the front of the message queue in the reverse order!
  3602. // There shall be always enough space reserved for these commands.
  3603. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3604. repeatcommand_front(); // repeat G80 with all its parameters
  3605. enquecommand_front_P((PSTR("G28 W0")));
  3606. }
  3607. else {
  3608. mesh_bed_leveling_flag = false;
  3609. }
  3610. break;
  3611. }
  3612. bool temp_comp_start = true;
  3613. #ifdef PINDA_THERMISTOR
  3614. temp_comp_start = false;
  3615. #endif //PINDA_THERMISTOR
  3616. if (temp_comp_start)
  3617. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3618. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3619. temp_compensation_start();
  3620. run = true;
  3621. repeatcommand_front(); // repeat G80 with all its parameters
  3622. enquecommand_front_P((PSTR("G28 W0")));
  3623. }
  3624. else {
  3625. mesh_bed_leveling_flag = false;
  3626. }
  3627. break;
  3628. }
  3629. run = false;
  3630. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  3631. mesh_bed_leveling_flag = false;
  3632. break;
  3633. }
  3634. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  3635. bool custom_message_old = custom_message;
  3636. unsigned int custom_message_type_old = custom_message_type;
  3637. unsigned int custom_message_state_old = custom_message_state;
  3638. custom_message = true;
  3639. custom_message_type = 1;
  3640. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  3641. lcd_update(1);
  3642. mbl.reset(); //reset mesh bed leveling
  3643. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  3644. // consumed during the first movements following this statement.
  3645. babystep_undo();
  3646. // Cycle through all points and probe them
  3647. // First move up. During this first movement, the babystepping will be reverted.
  3648. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3649. 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);
  3650. // The move to the first calibration point.
  3651. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3652. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3653. #ifdef SUPPORT_VERBOSITY
  3654. if (verbosity_level >= 1)
  3655. {
  3656. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3657. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  3658. }
  3659. #endif //SUPPORT_VERBOSITY
  3660. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  3661. 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);
  3662. // Wait until the move is finished.
  3663. st_synchronize();
  3664. int mesh_point = 0; //index number of calibration point
  3665. int ix = 0;
  3666. int iy = 0;
  3667. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  3668. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  3669. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  3670. 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)
  3671. #ifdef SUPPORT_VERBOSITY
  3672. if (verbosity_level >= 1) {
  3673. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  3674. }
  3675. #endif // SUPPORT_VERBOSITY
  3676. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  3677. const char *kill_message = NULL;
  3678. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3679. // Get coords of a measuring point.
  3680. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  3681. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  3682. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  3683. float z0 = 0.f;
  3684. if (has_z && mesh_point > 0) {
  3685. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  3686. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  3687. //#if 0
  3688. #ifdef SUPPORT_VERBOSITY
  3689. if (verbosity_level >= 1) {
  3690. SERIAL_ECHOLNPGM("");
  3691. SERIAL_ECHOPGM("Bed leveling, point: ");
  3692. MYSERIAL.print(mesh_point);
  3693. SERIAL_ECHOPGM(", calibration z: ");
  3694. MYSERIAL.print(z0, 5);
  3695. SERIAL_ECHOLNPGM("");
  3696. }
  3697. #endif // SUPPORT_VERBOSITY
  3698. //#endif
  3699. }
  3700. // Move Z up to MESH_HOME_Z_SEARCH.
  3701. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3702. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3703. st_synchronize();
  3704. // Move to XY position of the sensor point.
  3705. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  3706. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  3707. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3708. #ifdef SUPPORT_VERBOSITY
  3709. if (verbosity_level >= 1) {
  3710. SERIAL_PROTOCOL(mesh_point);
  3711. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  3712. }
  3713. #endif // SUPPORT_VERBOSITY
  3714. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  3715. st_synchronize();
  3716. // Go down until endstop is hit
  3717. const float Z_CALIBRATION_THRESHOLD = 1.f;
  3718. 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
  3719. kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW);
  3720. break;
  3721. }
  3722. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  3723. kill_message = _i("Bed leveling failed. Sensor disconnected or cable broken. Waiting for reset.");////MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED c=20 r=4
  3724. break;
  3725. }
  3726. 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
  3727. kill_message = _i("Bed leveling failed. Sensor triggered too high. Waiting for reset.");////MSG_BED_LEVELING_FAILED_POINT_HIGH c=20 r=4
  3728. break;
  3729. }
  3730. #ifdef SUPPORT_VERBOSITY
  3731. if (verbosity_level >= 10) {
  3732. SERIAL_ECHOPGM("X: ");
  3733. MYSERIAL.print(current_position[X_AXIS], 5);
  3734. SERIAL_ECHOLNPGM("");
  3735. SERIAL_ECHOPGM("Y: ");
  3736. MYSERIAL.print(current_position[Y_AXIS], 5);
  3737. SERIAL_PROTOCOLPGM("\n");
  3738. }
  3739. #endif // SUPPORT_VERBOSITY
  3740. float offset_z = 0;
  3741. #ifdef PINDA_THERMISTOR
  3742. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  3743. #endif //PINDA_THERMISTOR
  3744. // #ifdef SUPPORT_VERBOSITY
  3745. /* if (verbosity_level >= 1)
  3746. {
  3747. SERIAL_ECHOPGM("mesh bed leveling: ");
  3748. MYSERIAL.print(current_position[Z_AXIS], 5);
  3749. SERIAL_ECHOPGM(" offset: ");
  3750. MYSERIAL.print(offset_z, 5);
  3751. SERIAL_ECHOLNPGM("");
  3752. }*/
  3753. // #endif // SUPPORT_VERBOSITY
  3754. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  3755. custom_message_state--;
  3756. mesh_point++;
  3757. lcd_update(1);
  3758. }
  3759. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3760. #ifdef SUPPORT_VERBOSITY
  3761. if (verbosity_level >= 20) {
  3762. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  3763. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  3764. MYSERIAL.print(current_position[Z_AXIS], 5);
  3765. }
  3766. #endif // SUPPORT_VERBOSITY
  3767. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3768. st_synchronize();
  3769. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3770. kill(kill_message);
  3771. SERIAL_ECHOLNPGM("killed");
  3772. }
  3773. clean_up_after_endstop_move();
  3774. // SERIAL_ECHOLNPGM("clean up finished ");
  3775. bool apply_temp_comp = true;
  3776. #ifdef PINDA_THERMISTOR
  3777. apply_temp_comp = false;
  3778. #endif
  3779. if (apply_temp_comp)
  3780. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  3781. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  3782. // SERIAL_ECHOLNPGM("babystep applied");
  3783. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  3784. #ifdef SUPPORT_VERBOSITY
  3785. if (verbosity_level >= 1) {
  3786. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  3787. }
  3788. #endif // SUPPORT_VERBOSITY
  3789. for (uint8_t i = 0; i < 4; ++i) {
  3790. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  3791. long correction = 0;
  3792. if (code_seen(codes[i]))
  3793. correction = code_value_long();
  3794. else if (eeprom_bed_correction_valid) {
  3795. unsigned char *addr = (i < 2) ?
  3796. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  3797. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  3798. correction = eeprom_read_int8(addr);
  3799. }
  3800. if (correction == 0)
  3801. continue;
  3802. float offset = float(correction) * 0.001f;
  3803. if (fabs(offset) > 0.101f) {
  3804. SERIAL_ERROR_START;
  3805. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  3806. SERIAL_ECHO(offset);
  3807. SERIAL_ECHOLNPGM(" microns");
  3808. }
  3809. else {
  3810. switch (i) {
  3811. case 0:
  3812. for (uint8_t row = 0; row < 3; ++row) {
  3813. mbl.z_values[row][1] += 0.5f * offset;
  3814. mbl.z_values[row][0] += offset;
  3815. }
  3816. break;
  3817. case 1:
  3818. for (uint8_t row = 0; row < 3; ++row) {
  3819. mbl.z_values[row][1] += 0.5f * offset;
  3820. mbl.z_values[row][2] += offset;
  3821. }
  3822. break;
  3823. case 2:
  3824. for (uint8_t col = 0; col < 3; ++col) {
  3825. mbl.z_values[1][col] += 0.5f * offset;
  3826. mbl.z_values[0][col] += offset;
  3827. }
  3828. break;
  3829. case 3:
  3830. for (uint8_t col = 0; col < 3; ++col) {
  3831. mbl.z_values[1][col] += 0.5f * offset;
  3832. mbl.z_values[2][col] += offset;
  3833. }
  3834. break;
  3835. }
  3836. }
  3837. }
  3838. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  3839. 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)
  3840. // SERIAL_ECHOLNPGM("Upsample finished");
  3841. mbl.active = 1; //activate mesh bed leveling
  3842. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  3843. go_home_with_z_lift();
  3844. // SERIAL_ECHOLNPGM("Go home finished");
  3845. //unretract (after PINDA preheat retraction)
  3846. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3847. current_position[E_AXIS] += DEFAULT_RETRACTION;
  3848. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  3849. }
  3850. KEEPALIVE_STATE(NOT_BUSY);
  3851. // Restore custom message state
  3852. lcd_setstatuspgm(_T(WELCOME_MSG));
  3853. custom_message = custom_message_old;
  3854. custom_message_type = custom_message_type_old;
  3855. custom_message_state = custom_message_state_old;
  3856. mesh_bed_leveling_flag = false;
  3857. mesh_bed_run_from_menu = false;
  3858. lcd_update(2);
  3859. }
  3860. break;
  3861. /**
  3862. * G81: Print mesh bed leveling status and bed profile if activated
  3863. */
  3864. case 81:
  3865. if (mbl.active) {
  3866. SERIAL_PROTOCOLPGM("Num X,Y: ");
  3867. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  3868. SERIAL_PROTOCOLPGM(",");
  3869. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  3870. SERIAL_PROTOCOLPGM("\nZ search height: ");
  3871. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  3872. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3873. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  3874. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  3875. SERIAL_PROTOCOLPGM(" ");
  3876. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  3877. }
  3878. SERIAL_PROTOCOLPGM("\n");
  3879. }
  3880. }
  3881. else
  3882. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3883. break;
  3884. #if 0
  3885. /**
  3886. * G82: Single Z probe at current location
  3887. *
  3888. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  3889. *
  3890. */
  3891. case 82:
  3892. SERIAL_PROTOCOLLNPGM("Finding bed ");
  3893. setup_for_endstop_move();
  3894. find_bed_induction_sensor_point_z();
  3895. clean_up_after_endstop_move();
  3896. SERIAL_PROTOCOLPGM("Bed found at: ");
  3897. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  3898. SERIAL_PROTOCOLPGM("\n");
  3899. break;
  3900. /**
  3901. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  3902. */
  3903. case 83:
  3904. {
  3905. int babystepz = code_seen('S') ? code_value() : 0;
  3906. int BabyPosition = code_seen('P') ? code_value() : 0;
  3907. if (babystepz != 0) {
  3908. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  3909. // Is the axis indexed starting with zero or one?
  3910. if (BabyPosition > 4) {
  3911. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  3912. }else{
  3913. // Save it to the eeprom
  3914. babystepLoadZ = babystepz;
  3915. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  3916. // adjust the Z
  3917. babystepsTodoZadd(babystepLoadZ);
  3918. }
  3919. }
  3920. }
  3921. break;
  3922. /**
  3923. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  3924. */
  3925. case 84:
  3926. babystepsTodoZsubtract(babystepLoadZ);
  3927. // babystepLoadZ = 0;
  3928. break;
  3929. /**
  3930. * G85: Prusa3D specific: Pick best babystep
  3931. */
  3932. case 85:
  3933. lcd_pick_babystep();
  3934. break;
  3935. #endif
  3936. /**
  3937. * G86: Prusa3D specific: Disable babystep correction after home.
  3938. * This G-code will be performed at the start of a calibration script.
  3939. */
  3940. case 86:
  3941. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3942. break;
  3943. /**
  3944. * G87: Prusa3D specific: Enable babystep correction after home
  3945. * This G-code will be performed at the end of a calibration script.
  3946. */
  3947. case 87:
  3948. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3949. break;
  3950. /**
  3951. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  3952. */
  3953. case 88:
  3954. break;
  3955. #endif // ENABLE_MESH_BED_LEVELING
  3956. case 90: // G90
  3957. relative_mode = false;
  3958. break;
  3959. case 91: // G91
  3960. relative_mode = true;
  3961. break;
  3962. case 92: // G92
  3963. if(!code_seen(axis_codes[E_AXIS]))
  3964. st_synchronize();
  3965. for(int8_t i=0; i < NUM_AXIS; i++) {
  3966. if(code_seen(axis_codes[i])) {
  3967. if(i == E_AXIS) {
  3968. current_position[i] = code_value();
  3969. plan_set_e_position(current_position[E_AXIS]);
  3970. }
  3971. else {
  3972. current_position[i] = code_value()+add_homing[i];
  3973. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3974. }
  3975. }
  3976. }
  3977. break;
  3978. case 98: // G98 (activate farm mode)
  3979. farm_mode = 1;
  3980. PingTime = millis();
  3981. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3982. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  3983. SilentModeMenu = SILENT_MODE_OFF;
  3984. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  3985. break;
  3986. case 99: // G99 (deactivate farm mode)
  3987. farm_mode = 0;
  3988. lcd_printer_connected();
  3989. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3990. lcd_update(2);
  3991. break;
  3992. default:
  3993. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  3994. }
  3995. // printf_P(_N("END G-CODE=%u\n"), gcode_in_progress);
  3996. gcode_in_progress = 0;
  3997. } // end if(code_seen('G'))
  3998. else if(code_seen('M'))
  3999. {
  4000. int index;
  4001. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  4002. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  4003. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  4004. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  4005. } else
  4006. {
  4007. mcode_in_progress = (int)code_value();
  4008. // printf_P(_N("BEGIN M-CODE=%u\n"), mcode_in_progress);
  4009. switch(mcode_in_progress)
  4010. {
  4011. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  4012. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  4013. {
  4014. char *src = strchr_pointer + 2;
  4015. codenum = 0;
  4016. bool hasP = false, hasS = false;
  4017. if (code_seen('P')) {
  4018. codenum = code_value(); // milliseconds to wait
  4019. hasP = codenum > 0;
  4020. }
  4021. if (code_seen('S')) {
  4022. codenum = code_value() * 1000; // seconds to wait
  4023. hasS = codenum > 0;
  4024. }
  4025. starpos = strchr(src, '*');
  4026. if (starpos != NULL) *(starpos) = '\0';
  4027. while (*src == ' ') ++src;
  4028. if (!hasP && !hasS && *src != '\0') {
  4029. lcd_setstatus(src);
  4030. } else {
  4031. LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT c=0 r=0
  4032. }
  4033. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  4034. st_synchronize();
  4035. previous_millis_cmd = millis();
  4036. if (codenum > 0){
  4037. codenum += millis(); // keep track of when we started waiting
  4038. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4039. while(millis() < codenum && !lcd_clicked()){
  4040. manage_heater();
  4041. manage_inactivity(true);
  4042. lcd_update(0);
  4043. }
  4044. KEEPALIVE_STATE(IN_HANDLER);
  4045. lcd_ignore_click(false);
  4046. }else{
  4047. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4048. while(!lcd_clicked()){
  4049. manage_heater();
  4050. manage_inactivity(true);
  4051. lcd_update(0);
  4052. }
  4053. KEEPALIVE_STATE(IN_HANDLER);
  4054. }
  4055. if (IS_SD_PRINTING)
  4056. LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
  4057. else
  4058. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4059. }
  4060. break;
  4061. case 17:
  4062. LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE c=0 r=0
  4063. enable_x();
  4064. enable_y();
  4065. enable_z();
  4066. enable_e0();
  4067. enable_e1();
  4068. enable_e2();
  4069. break;
  4070. #ifdef SDSUPPORT
  4071. case 20: // M20 - list SD card
  4072. SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST c=0 r=0
  4073. card.ls();
  4074. SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST c=0 r=0
  4075. break;
  4076. case 21: // M21 - init SD card
  4077. card.initsd();
  4078. break;
  4079. case 22: //M22 - release SD card
  4080. card.release();
  4081. break;
  4082. case 23: //M23 - Select file
  4083. starpos = (strchr(strchr_pointer + 4,'*'));
  4084. if(starpos!=NULL)
  4085. *(starpos)='\0';
  4086. card.openFile(strchr_pointer + 4,true);
  4087. break;
  4088. case 24: //M24 - Start SD print
  4089. if (!card.paused)
  4090. failstats_reset_print();
  4091. card.startFileprint();
  4092. starttime=millis();
  4093. break;
  4094. case 25: //M25 - Pause SD print
  4095. card.pauseSDPrint();
  4096. break;
  4097. case 26: //M26 - Set SD index
  4098. if(card.cardOK && code_seen('S')) {
  4099. card.setIndex(code_value_long());
  4100. }
  4101. break;
  4102. case 27: //M27 - Get SD status
  4103. card.getStatus();
  4104. break;
  4105. case 28: //M28 - Start SD write
  4106. starpos = (strchr(strchr_pointer + 4,'*'));
  4107. if(starpos != NULL){
  4108. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4109. strchr_pointer = strchr(npos,' ') + 1;
  4110. *(starpos) = '\0';
  4111. }
  4112. card.openFile(strchr_pointer+4,false);
  4113. break;
  4114. case 29: //M29 - Stop SD write
  4115. //processed in write to file routine above
  4116. //card,saving = false;
  4117. break;
  4118. case 30: //M30 <filename> Delete File
  4119. if (card.cardOK){
  4120. card.closefile();
  4121. starpos = (strchr(strchr_pointer + 4,'*'));
  4122. if(starpos != NULL){
  4123. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4124. strchr_pointer = strchr(npos,' ') + 1;
  4125. *(starpos) = '\0';
  4126. }
  4127. card.removeFile(strchr_pointer + 4);
  4128. }
  4129. break;
  4130. case 32: //M32 - Select file and start SD print
  4131. {
  4132. if(card.sdprinting) {
  4133. st_synchronize();
  4134. }
  4135. starpos = (strchr(strchr_pointer + 4,'*'));
  4136. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  4137. if(namestartpos==NULL)
  4138. {
  4139. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  4140. }
  4141. else
  4142. namestartpos++; //to skip the '!'
  4143. if(starpos!=NULL)
  4144. *(starpos)='\0';
  4145. bool call_procedure=(code_seen('P'));
  4146. if(strchr_pointer>namestartpos)
  4147. call_procedure=false; //false alert, 'P' found within filename
  4148. if( card.cardOK )
  4149. {
  4150. card.openFile(namestartpos,true,!call_procedure);
  4151. if(code_seen('S'))
  4152. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  4153. card.setIndex(code_value_long());
  4154. card.startFileprint();
  4155. if(!call_procedure)
  4156. starttime=millis(); //procedure calls count as normal print time.
  4157. }
  4158. } break;
  4159. case 928: //M928 - Start SD write
  4160. starpos = (strchr(strchr_pointer + 5,'*'));
  4161. if(starpos != NULL){
  4162. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  4163. strchr_pointer = strchr(npos,' ') + 1;
  4164. *(starpos) = '\0';
  4165. }
  4166. card.openLogFile(strchr_pointer+5);
  4167. break;
  4168. #endif //SDSUPPORT
  4169. case 31: //M31 take time since the start of the SD print or an M109 command
  4170. {
  4171. stoptime=millis();
  4172. char time[30];
  4173. unsigned long t=(stoptime-starttime)/1000;
  4174. int sec,min;
  4175. min=t/60;
  4176. sec=t%60;
  4177. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  4178. SERIAL_ECHO_START;
  4179. SERIAL_ECHOLN(time);
  4180. lcd_setstatus(time);
  4181. autotempShutdown();
  4182. }
  4183. break;
  4184. case 42: //M42 -Change pin status via gcode
  4185. if (code_seen('S'))
  4186. {
  4187. int pin_status = code_value();
  4188. int pin_number = LED_PIN;
  4189. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  4190. pin_number = code_value();
  4191. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4192. {
  4193. if (sensitive_pins[i] == pin_number)
  4194. {
  4195. pin_number = -1;
  4196. break;
  4197. }
  4198. }
  4199. #if defined(FAN_PIN) && FAN_PIN > -1
  4200. if (pin_number == FAN_PIN)
  4201. fanSpeed = pin_status;
  4202. #endif
  4203. if (pin_number > -1)
  4204. {
  4205. pinMode(pin_number, OUTPUT);
  4206. digitalWrite(pin_number, pin_status);
  4207. analogWrite(pin_number, pin_status);
  4208. }
  4209. }
  4210. break;
  4211. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  4212. // Reset the baby step value and the baby step applied flag.
  4213. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  4214. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  4215. // Reset the skew and offset in both RAM and EEPROM.
  4216. reset_bed_offset_and_skew();
  4217. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4218. // the planner will not perform any adjustments in the XY plane.
  4219. // Wait for the motors to stop and update the current position with the absolute values.
  4220. world2machine_revert_to_uncorrected();
  4221. break;
  4222. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  4223. {
  4224. int8_t verbosity_level = 0;
  4225. bool only_Z = code_seen('Z');
  4226. #ifdef SUPPORT_VERBOSITY
  4227. if (code_seen('V'))
  4228. {
  4229. // Just 'V' without a number counts as V1.
  4230. char c = strchr_pointer[1];
  4231. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4232. }
  4233. #endif //SUPPORT_VERBOSITY
  4234. gcode_M45(only_Z, verbosity_level);
  4235. }
  4236. break;
  4237. /*
  4238. case 46:
  4239. {
  4240. // M46: Prusa3D: Show the assigned IP address.
  4241. uint8_t ip[4];
  4242. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  4243. if (hasIP) {
  4244. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  4245. SERIAL_ECHO(int(ip[0]));
  4246. SERIAL_ECHOPGM(".");
  4247. SERIAL_ECHO(int(ip[1]));
  4248. SERIAL_ECHOPGM(".");
  4249. SERIAL_ECHO(int(ip[2]));
  4250. SERIAL_ECHOPGM(".");
  4251. SERIAL_ECHO(int(ip[3]));
  4252. SERIAL_ECHOLNPGM("");
  4253. } else {
  4254. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  4255. }
  4256. break;
  4257. }
  4258. */
  4259. case 47:
  4260. // M47: Prusa3D: Show end stops dialog on the display.
  4261. KEEPALIVE_STATE(PAUSED_FOR_USER);
  4262. lcd_diag_show_end_stops();
  4263. KEEPALIVE_STATE(IN_HANDLER);
  4264. break;
  4265. #if 0
  4266. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  4267. {
  4268. // Disable the default update procedure of the display. We will do a modal dialog.
  4269. lcd_update_enable(false);
  4270. // Let the planner use the uncorrected coordinates.
  4271. mbl.reset();
  4272. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  4273. // the planner will not perform any adjustments in the XY plane.
  4274. // Wait for the motors to stop and update the current position with the absolute values.
  4275. world2machine_revert_to_uncorrected();
  4276. // Move the print head close to the bed.
  4277. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4278. 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);
  4279. st_synchronize();
  4280. // Home in the XY plane.
  4281. set_destination_to_current();
  4282. setup_for_endstop_move();
  4283. home_xy();
  4284. int8_t verbosity_level = 0;
  4285. if (code_seen('V')) {
  4286. // Just 'V' without a number counts as V1.
  4287. char c = strchr_pointer[1];
  4288. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  4289. }
  4290. bool success = scan_bed_induction_points(verbosity_level);
  4291. clean_up_after_endstop_move();
  4292. // Print head up.
  4293. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  4294. 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);
  4295. st_synchronize();
  4296. lcd_update_enable(true);
  4297. break;
  4298. }
  4299. #endif
  4300. // M48 Z-Probe repeatability measurement function.
  4301. //
  4302. // 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>
  4303. //
  4304. // This function assumes the bed has been homed. Specificaly, that a G28 command
  4305. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  4306. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  4307. // regenerated.
  4308. //
  4309. // The number of samples will default to 10 if not specified. You can use upper or lower case
  4310. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  4311. // N for its communication protocol and will get horribly confused if you send it a capital N.
  4312. //
  4313. #ifdef ENABLE_AUTO_BED_LEVELING
  4314. #ifdef Z_PROBE_REPEATABILITY_TEST
  4315. case 48: // M48 Z-Probe repeatability
  4316. {
  4317. #if Z_MIN_PIN == -1
  4318. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  4319. #endif
  4320. double sum=0.0;
  4321. double mean=0.0;
  4322. double sigma=0.0;
  4323. double sample_set[50];
  4324. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  4325. double X_current, Y_current, Z_current;
  4326. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  4327. if (code_seen('V') || code_seen('v')) {
  4328. verbose_level = code_value();
  4329. if (verbose_level<0 || verbose_level>4 ) {
  4330. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  4331. goto Sigma_Exit;
  4332. }
  4333. }
  4334. if (verbose_level > 0) {
  4335. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  4336. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  4337. }
  4338. if (code_seen('n')) {
  4339. n_samples = code_value();
  4340. if (n_samples<4 || n_samples>50 ) {
  4341. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  4342. goto Sigma_Exit;
  4343. }
  4344. }
  4345. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  4346. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  4347. Z_current = st_get_position_mm(Z_AXIS);
  4348. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4349. ext_position = st_get_position_mm(E_AXIS);
  4350. if (code_seen('X') || code_seen('x') ) {
  4351. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  4352. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  4353. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  4354. goto Sigma_Exit;
  4355. }
  4356. }
  4357. if (code_seen('Y') || code_seen('y') ) {
  4358. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  4359. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  4360. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  4361. goto Sigma_Exit;
  4362. }
  4363. }
  4364. if (code_seen('L') || code_seen('l') ) {
  4365. n_legs = code_value();
  4366. if ( n_legs==1 )
  4367. n_legs = 2;
  4368. if ( n_legs<0 || n_legs>15 ) {
  4369. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  4370. goto Sigma_Exit;
  4371. }
  4372. }
  4373. //
  4374. // Do all the preliminary setup work. First raise the probe.
  4375. //
  4376. st_synchronize();
  4377. plan_bed_level_matrix.set_to_identity();
  4378. plan_buffer_line( X_current, Y_current, Z_start_location,
  4379. ext_position,
  4380. homing_feedrate[Z_AXIS]/60,
  4381. active_extruder);
  4382. st_synchronize();
  4383. //
  4384. // Now get everything to the specified probe point So we can safely do a probe to
  4385. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  4386. // use that as a starting point for each probe.
  4387. //
  4388. if (verbose_level > 2)
  4389. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  4390. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4391. ext_position,
  4392. homing_feedrate[X_AXIS]/60,
  4393. active_extruder);
  4394. st_synchronize();
  4395. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  4396. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  4397. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4398. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  4399. //
  4400. // OK, do the inital probe to get us close to the bed.
  4401. // Then retrace the right amount and use that in subsequent probes
  4402. //
  4403. setup_for_endstop_move();
  4404. run_z_probe();
  4405. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4406. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4407. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4408. ext_position,
  4409. homing_feedrate[X_AXIS]/60,
  4410. active_extruder);
  4411. st_synchronize();
  4412. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4413. for( n=0; n<n_samples; n++) {
  4414. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  4415. if ( n_legs) {
  4416. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  4417. int rotational_direction, l;
  4418. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  4419. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  4420. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  4421. //SERIAL_ECHOPAIR("starting radius: ",radius);
  4422. //SERIAL_ECHOPAIR(" theta: ",theta);
  4423. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  4424. //SERIAL_PROTOCOLLNPGM("");
  4425. for( l=0; l<n_legs-1; l++) {
  4426. if (rotational_direction==1)
  4427. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4428. else
  4429. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4430. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  4431. if ( radius<0.0 )
  4432. radius = -radius;
  4433. X_current = X_probe_location + cos(theta) * radius;
  4434. Y_current = Y_probe_location + sin(theta) * radius;
  4435. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  4436. X_current = X_MIN_POS;
  4437. if ( X_current>X_MAX_POS)
  4438. X_current = X_MAX_POS;
  4439. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  4440. Y_current = Y_MIN_POS;
  4441. if ( Y_current>Y_MAX_POS)
  4442. Y_current = Y_MAX_POS;
  4443. if (verbose_level>3 ) {
  4444. SERIAL_ECHOPAIR("x: ", X_current);
  4445. SERIAL_ECHOPAIR("y: ", Y_current);
  4446. SERIAL_PROTOCOLLNPGM("");
  4447. }
  4448. do_blocking_move_to( X_current, Y_current, Z_current );
  4449. }
  4450. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  4451. }
  4452. setup_for_endstop_move();
  4453. run_z_probe();
  4454. sample_set[n] = current_position[Z_AXIS];
  4455. //
  4456. // Get the current mean for the data points we have so far
  4457. //
  4458. sum=0.0;
  4459. for( j=0; j<=n; j++) {
  4460. sum = sum + sample_set[j];
  4461. }
  4462. mean = sum / (double (n+1));
  4463. //
  4464. // Now, use that mean to calculate the standard deviation for the
  4465. // data points we have so far
  4466. //
  4467. sum=0.0;
  4468. for( j=0; j<=n; j++) {
  4469. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  4470. }
  4471. sigma = sqrt( sum / (double (n+1)) );
  4472. if (verbose_level > 1) {
  4473. SERIAL_PROTOCOL(n+1);
  4474. SERIAL_PROTOCOL(" of ");
  4475. SERIAL_PROTOCOL(n_samples);
  4476. SERIAL_PROTOCOLPGM(" z: ");
  4477. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  4478. }
  4479. if (verbose_level > 2) {
  4480. SERIAL_PROTOCOL(" mean: ");
  4481. SERIAL_PROTOCOL_F(mean,6);
  4482. SERIAL_PROTOCOL(" sigma: ");
  4483. SERIAL_PROTOCOL_F(sigma,6);
  4484. }
  4485. if (verbose_level > 0)
  4486. SERIAL_PROTOCOLPGM("\n");
  4487. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4488. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  4489. st_synchronize();
  4490. }
  4491. delay(1000);
  4492. clean_up_after_endstop_move();
  4493. // enable_endstops(true);
  4494. if (verbose_level > 0) {
  4495. SERIAL_PROTOCOLPGM("Mean: ");
  4496. SERIAL_PROTOCOL_F(mean, 6);
  4497. SERIAL_PROTOCOLPGM("\n");
  4498. }
  4499. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  4500. SERIAL_PROTOCOL_F(sigma, 6);
  4501. SERIAL_PROTOCOLPGM("\n\n");
  4502. Sigma_Exit:
  4503. break;
  4504. }
  4505. #endif // Z_PROBE_REPEATABILITY_TEST
  4506. #endif // ENABLE_AUTO_BED_LEVELING
  4507. case 73: //M73 show percent done and time remaining
  4508. if(code_seen('P')) print_percent_done_normal = code_value();
  4509. if(code_seen('R')) print_time_remaining_normal = code_value();
  4510. if(code_seen('Q')) print_percent_done_silent = code_value();
  4511. if(code_seen('S')) print_time_remaining_silent = code_value();
  4512. {
  4513. const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
  4514. printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
  4515. printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
  4516. }
  4517. break;
  4518. case 104: // M104
  4519. if(setTargetedHotend(104)){
  4520. break;
  4521. }
  4522. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  4523. setWatch();
  4524. break;
  4525. case 112: // M112 -Emergency Stop
  4526. kill(_n(""), 3);
  4527. break;
  4528. case 140: // M140 set bed temp
  4529. if (code_seen('S')) setTargetBed(code_value());
  4530. break;
  4531. case 105 : // M105
  4532. if(setTargetedHotend(105)){
  4533. break;
  4534. }
  4535. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  4536. SERIAL_PROTOCOLPGM("ok T:");
  4537. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  4538. SERIAL_PROTOCOLPGM(" /");
  4539. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  4540. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4541. SERIAL_PROTOCOLPGM(" B:");
  4542. SERIAL_PROTOCOL_F(degBed(),1);
  4543. SERIAL_PROTOCOLPGM(" /");
  4544. SERIAL_PROTOCOL_F(degTargetBed(),1);
  4545. #endif //TEMP_BED_PIN
  4546. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4547. SERIAL_PROTOCOLPGM(" T");
  4548. SERIAL_PROTOCOL(cur_extruder);
  4549. SERIAL_PROTOCOLPGM(":");
  4550. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4551. SERIAL_PROTOCOLPGM(" /");
  4552. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  4553. }
  4554. #else
  4555. SERIAL_ERROR_START;
  4556. SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS c=0 r=0
  4557. #endif
  4558. SERIAL_PROTOCOLPGM(" @:");
  4559. #ifdef EXTRUDER_WATTS
  4560. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  4561. SERIAL_PROTOCOLPGM("W");
  4562. #else
  4563. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  4564. #endif
  4565. SERIAL_PROTOCOLPGM(" B@:");
  4566. #ifdef BED_WATTS
  4567. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  4568. SERIAL_PROTOCOLPGM("W");
  4569. #else
  4570. SERIAL_PROTOCOL(getHeaterPower(-1));
  4571. #endif
  4572. #ifdef PINDA_THERMISTOR
  4573. SERIAL_PROTOCOLPGM(" P:");
  4574. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  4575. #endif //PINDA_THERMISTOR
  4576. #ifdef AMBIENT_THERMISTOR
  4577. SERIAL_PROTOCOLPGM(" A:");
  4578. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  4579. #endif //AMBIENT_THERMISTOR
  4580. #ifdef SHOW_TEMP_ADC_VALUES
  4581. {float raw = 0.0;
  4582. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4583. SERIAL_PROTOCOLPGM(" ADC B:");
  4584. SERIAL_PROTOCOL_F(degBed(),1);
  4585. SERIAL_PROTOCOLPGM("C->");
  4586. raw = rawBedTemp();
  4587. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4588. SERIAL_PROTOCOLPGM(" Rb->");
  4589. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4590. SERIAL_PROTOCOLPGM(" Rxb->");
  4591. SERIAL_PROTOCOL_F(raw, 5);
  4592. #endif
  4593. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4594. SERIAL_PROTOCOLPGM(" T");
  4595. SERIAL_PROTOCOL(cur_extruder);
  4596. SERIAL_PROTOCOLPGM(":");
  4597. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4598. SERIAL_PROTOCOLPGM("C->");
  4599. raw = rawHotendTemp(cur_extruder);
  4600. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4601. SERIAL_PROTOCOLPGM(" Rt");
  4602. SERIAL_PROTOCOL(cur_extruder);
  4603. SERIAL_PROTOCOLPGM("->");
  4604. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4605. SERIAL_PROTOCOLPGM(" Rx");
  4606. SERIAL_PROTOCOL(cur_extruder);
  4607. SERIAL_PROTOCOLPGM("->");
  4608. SERIAL_PROTOCOL_F(raw, 5);
  4609. }}
  4610. #endif
  4611. SERIAL_PROTOCOLLN("");
  4612. KEEPALIVE_STATE(NOT_BUSY);
  4613. return;
  4614. break;
  4615. case 109:
  4616. {// M109 - Wait for extruder heater to reach target.
  4617. if(setTargetedHotend(109)){
  4618. break;
  4619. }
  4620. LCD_MESSAGERPGM(_T(MSG_HEATING));
  4621. heating_status = 1;
  4622. if (farm_mode) { prusa_statistics(1); };
  4623. #ifdef AUTOTEMP
  4624. autotemp_enabled=false;
  4625. #endif
  4626. if (code_seen('S')) {
  4627. setTargetHotend(code_value(), tmp_extruder);
  4628. CooldownNoWait = true;
  4629. } else if (code_seen('R')) {
  4630. setTargetHotend(code_value(), tmp_extruder);
  4631. CooldownNoWait = false;
  4632. }
  4633. #ifdef AUTOTEMP
  4634. if (code_seen('S')) autotemp_min=code_value();
  4635. if (code_seen('B')) autotemp_max=code_value();
  4636. if (code_seen('F'))
  4637. {
  4638. autotemp_factor=code_value();
  4639. autotemp_enabled=true;
  4640. }
  4641. #endif
  4642. setWatch();
  4643. codenum = millis();
  4644. /* See if we are heating up or cooling down */
  4645. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  4646. KEEPALIVE_STATE(NOT_BUSY);
  4647. cancel_heatup = false;
  4648. wait_for_heater(codenum); //loops until target temperature is reached
  4649. LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
  4650. KEEPALIVE_STATE(IN_HANDLER);
  4651. heating_status = 2;
  4652. if (farm_mode) { prusa_statistics(2); };
  4653. //starttime=millis();
  4654. previous_millis_cmd = millis();
  4655. }
  4656. break;
  4657. case 190: // M190 - Wait for bed heater to reach target.
  4658. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4659. LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
  4660. heating_status = 3;
  4661. if (farm_mode) { prusa_statistics(1); };
  4662. if (code_seen('S'))
  4663. {
  4664. setTargetBed(code_value());
  4665. CooldownNoWait = true;
  4666. }
  4667. else if (code_seen('R'))
  4668. {
  4669. setTargetBed(code_value());
  4670. CooldownNoWait = false;
  4671. }
  4672. codenum = millis();
  4673. cancel_heatup = false;
  4674. target_direction = isHeatingBed(); // true if heating, false if cooling
  4675. KEEPALIVE_STATE(NOT_BUSY);
  4676. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  4677. {
  4678. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  4679. {
  4680. if (!farm_mode) {
  4681. float tt = degHotend(active_extruder);
  4682. SERIAL_PROTOCOLPGM("T:");
  4683. SERIAL_PROTOCOL(tt);
  4684. SERIAL_PROTOCOLPGM(" E:");
  4685. SERIAL_PROTOCOL((int)active_extruder);
  4686. SERIAL_PROTOCOLPGM(" B:");
  4687. SERIAL_PROTOCOL_F(degBed(), 1);
  4688. SERIAL_PROTOCOLLN("");
  4689. }
  4690. codenum = millis();
  4691. }
  4692. manage_heater();
  4693. manage_inactivity();
  4694. lcd_update(0);
  4695. }
  4696. LCD_MESSAGERPGM(_T(MSG_BED_DONE));
  4697. KEEPALIVE_STATE(IN_HANDLER);
  4698. heating_status = 4;
  4699. previous_millis_cmd = millis();
  4700. #endif
  4701. break;
  4702. #if defined(FAN_PIN) && FAN_PIN > -1
  4703. case 106: //M106 Fan On
  4704. if (code_seen('S')){
  4705. fanSpeed=constrain(code_value(),0,255);
  4706. }
  4707. else {
  4708. fanSpeed=255;
  4709. }
  4710. break;
  4711. case 107: //M107 Fan Off
  4712. fanSpeed = 0;
  4713. break;
  4714. #endif //FAN_PIN
  4715. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  4716. case 80: // M80 - Turn on Power Supply
  4717. SET_OUTPUT(PS_ON_PIN); //GND
  4718. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  4719. // If you have a switch on suicide pin, this is useful
  4720. // if you want to start another print with suicide feature after
  4721. // a print without suicide...
  4722. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  4723. SET_OUTPUT(SUICIDE_PIN);
  4724. WRITE(SUICIDE_PIN, HIGH);
  4725. #endif
  4726. powersupply = true;
  4727. LCD_MESSAGERPGM(_T(WELCOME_MSG));
  4728. lcd_update(0);
  4729. break;
  4730. #endif
  4731. case 81: // M81 - Turn off Power Supply
  4732. disable_heater();
  4733. st_synchronize();
  4734. disable_e0();
  4735. disable_e1();
  4736. disable_e2();
  4737. finishAndDisableSteppers();
  4738. fanSpeed = 0;
  4739. delay(1000); // Wait a little before to switch off
  4740. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  4741. st_synchronize();
  4742. suicide();
  4743. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  4744. SET_OUTPUT(PS_ON_PIN);
  4745. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4746. #endif
  4747. powersupply = false;
  4748. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
  4749. lcd_update(0);
  4750. break;
  4751. case 82:
  4752. axis_relative_modes[3] = false;
  4753. break;
  4754. case 83:
  4755. axis_relative_modes[3] = true;
  4756. break;
  4757. case 18: //compatibility
  4758. case 84: // M84
  4759. if(code_seen('S')){
  4760. stepper_inactive_time = code_value() * 1000;
  4761. }
  4762. else
  4763. {
  4764. 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])));
  4765. if(all_axis)
  4766. {
  4767. st_synchronize();
  4768. disable_e0();
  4769. disable_e1();
  4770. disable_e2();
  4771. finishAndDisableSteppers();
  4772. }
  4773. else
  4774. {
  4775. st_synchronize();
  4776. if (code_seen('X')) disable_x();
  4777. if (code_seen('Y')) disable_y();
  4778. if (code_seen('Z')) disable_z();
  4779. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4780. if (code_seen('E')) {
  4781. disable_e0();
  4782. disable_e1();
  4783. disable_e2();
  4784. }
  4785. #endif
  4786. }
  4787. }
  4788. //in the end of print set estimated time to end of print and extruders used during print to default values for next print
  4789. print_time_remaining_init();
  4790. snmm_filaments_used = 0;
  4791. break;
  4792. case 85: // M85
  4793. if(code_seen('S')) {
  4794. max_inactive_time = code_value() * 1000;
  4795. }
  4796. break;
  4797. #ifdef SAFETYTIMER
  4798. case 86: // M86 - set safety timer expiration time in seconds; M86 S0 will disable safety timer
  4799. //when safety timer expires heatbed and nozzle target temperatures are set to zero
  4800. if (code_seen('S')) {
  4801. safetytimer_inactive_time = code_value() * 1000;
  4802. safetyTimer.start();
  4803. }
  4804. break;
  4805. #endif
  4806. case 92: // M92
  4807. for(int8_t i=0; i < NUM_AXIS; i++)
  4808. {
  4809. if(code_seen(axis_codes[i]))
  4810. {
  4811. if(i == 3) { // E
  4812. float value = code_value();
  4813. if(value < 20.0) {
  4814. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  4815. max_jerk[E_AXIS] *= factor;
  4816. max_feedrate[i] *= factor;
  4817. axis_steps_per_sqr_second[i] *= factor;
  4818. }
  4819. axis_steps_per_unit[i] = value;
  4820. }
  4821. else {
  4822. axis_steps_per_unit[i] = code_value();
  4823. }
  4824. }
  4825. }
  4826. break;
  4827. case 110: // M110 - reset line pos
  4828. if (code_seen('N'))
  4829. gcode_LastN = code_value_long();
  4830. break;
  4831. #ifdef HOST_KEEPALIVE_FEATURE
  4832. case 113: // M113 - Get or set Host Keepalive interval
  4833. if (code_seen('S')) {
  4834. host_keepalive_interval = (uint8_t)code_value_short();
  4835. // NOMORE(host_keepalive_interval, 60);
  4836. }
  4837. else {
  4838. SERIAL_ECHO_START;
  4839. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4840. SERIAL_PROTOCOLLN("");
  4841. }
  4842. break;
  4843. #endif
  4844. case 115: // M115
  4845. if (code_seen('V')) {
  4846. // Report the Prusa version number.
  4847. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  4848. } else if (code_seen('U')) {
  4849. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  4850. // pause the print and ask the user to upgrade the firmware.
  4851. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  4852. } else {
  4853. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  4854. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  4855. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  4856. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  4857. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  4858. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  4859. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  4860. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  4861. SERIAL_ECHOPGM(" UUID:");
  4862. SERIAL_ECHOLNPGM(MACHINE_UUID);
  4863. }
  4864. break;
  4865. /* case 117: // M117 display message
  4866. starpos = (strchr(strchr_pointer + 5,'*'));
  4867. if(starpos!=NULL)
  4868. *(starpos)='\0';
  4869. lcd_setstatus(strchr_pointer + 5);
  4870. break;*/
  4871. case 114: // M114
  4872. gcode_M114();
  4873. break;
  4874. case 120: // M120
  4875. enable_endstops(false) ;
  4876. break;
  4877. case 121: // M121
  4878. enable_endstops(true) ;
  4879. break;
  4880. case 119: // M119
  4881. SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT c=0 r=0
  4882. SERIAL_PROTOCOLLN("");
  4883. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  4884. SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN c=0 r=0
  4885. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  4886. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4887. }else{
  4888. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4889. }
  4890. SERIAL_PROTOCOLLN("");
  4891. #endif
  4892. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  4893. SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX c=0 r=0
  4894. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  4895. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4896. }else{
  4897. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4898. }
  4899. SERIAL_PROTOCOLLN("");
  4900. #endif
  4901. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  4902. SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN c=0 r=0
  4903. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  4904. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4905. }else{
  4906. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4907. }
  4908. SERIAL_PROTOCOLLN("");
  4909. #endif
  4910. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  4911. SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX c=0 r=0
  4912. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  4913. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4914. }else{
  4915. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4916. }
  4917. SERIAL_PROTOCOLLN("");
  4918. #endif
  4919. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  4920. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  4921. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  4922. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4923. }else{
  4924. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4925. }
  4926. SERIAL_PROTOCOLLN("");
  4927. #endif
  4928. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  4929. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  4930. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  4931. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
  4932. }else{
  4933. SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
  4934. }
  4935. SERIAL_PROTOCOLLN("");
  4936. #endif
  4937. break;
  4938. //TODO: update for all axis, use for loop
  4939. #ifdef BLINKM
  4940. case 150: // M150
  4941. {
  4942. byte red;
  4943. byte grn;
  4944. byte blu;
  4945. if(code_seen('R')) red = code_value();
  4946. if(code_seen('U')) grn = code_value();
  4947. if(code_seen('B')) blu = code_value();
  4948. SendColors(red,grn,blu);
  4949. }
  4950. break;
  4951. #endif //BLINKM
  4952. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  4953. {
  4954. tmp_extruder = active_extruder;
  4955. if(code_seen('T')) {
  4956. tmp_extruder = code_value();
  4957. if(tmp_extruder >= EXTRUDERS) {
  4958. SERIAL_ECHO_START;
  4959. SERIAL_ECHO(_i("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER c=0 r=0
  4960. break;
  4961. }
  4962. }
  4963. float area = .0;
  4964. if(code_seen('D')) {
  4965. float diameter = (float)code_value();
  4966. if (diameter == 0.0) {
  4967. // setting any extruder filament size disables volumetric on the assumption that
  4968. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4969. // for all extruders
  4970. volumetric_enabled = false;
  4971. } else {
  4972. filament_size[tmp_extruder] = (float)code_value();
  4973. // make sure all extruders have some sane value for the filament size
  4974. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  4975. #if EXTRUDERS > 1
  4976. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  4977. #if EXTRUDERS > 2
  4978. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  4979. #endif
  4980. #endif
  4981. volumetric_enabled = true;
  4982. }
  4983. } else {
  4984. //reserved for setting filament diameter via UFID or filament measuring device
  4985. break;
  4986. }
  4987. calculate_extruder_multipliers();
  4988. }
  4989. break;
  4990. case 201: // M201
  4991. for (int8_t i = 0; i < NUM_AXIS; i++)
  4992. {
  4993. if (code_seen(axis_codes[i]))
  4994. {
  4995. int val = code_value();
  4996. #ifdef TMC2130
  4997. int val_silent = val;
  4998. if ((i == X_AXIS) || (i == Y_AXIS))
  4999. {
  5000. if (val > NORMAL_MAX_ACCEL_XY)
  5001. val = NORMAL_MAX_ACCEL_XY;
  5002. if (val_silent > SILENT_MAX_ACCEL_XY)
  5003. val_silent = SILENT_MAX_ACCEL_XY;
  5004. }
  5005. max_acceleration_units_per_sq_second_normal[i] = val;
  5006. max_acceleration_units_per_sq_second_silent[i] = val_silent;
  5007. #else //TMC2130
  5008. max_acceleration_units_per_sq_second[i] = val;
  5009. #endif //TMC2130
  5010. }
  5011. }
  5012. // 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)
  5013. reset_acceleration_rates();
  5014. break;
  5015. #if 0 // Not used for Sprinter/grbl gen6
  5016. case 202: // M202
  5017. for(int8_t i=0; i < NUM_AXIS; i++) {
  5018. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  5019. }
  5020. break;
  5021. #endif
  5022. case 203: // M203 max feedrate mm/sec
  5023. for (int8_t i = 0; i < NUM_AXIS; i++)
  5024. {
  5025. if (code_seen(axis_codes[i]))
  5026. {
  5027. float val = code_value();
  5028. #ifdef TMC2130
  5029. float val_silent = val;
  5030. if ((i == X_AXIS) || (i == Y_AXIS))
  5031. {
  5032. if (val > NORMAL_MAX_FEEDRATE_XY)
  5033. val = NORMAL_MAX_FEEDRATE_XY;
  5034. if (val_silent > SILENT_MAX_FEEDRATE_XY)
  5035. val_silent = SILENT_MAX_FEEDRATE_XY;
  5036. }
  5037. max_feedrate_normal[i] = val;
  5038. max_feedrate_silent[i] = val_silent;
  5039. #else //TMC2130
  5040. max_feedrate[i] = val;
  5041. #endif //TMC2130
  5042. }
  5043. }
  5044. break;
  5045. case 204: // M204 acclereration S normal moves T filmanent only moves
  5046. {
  5047. if(code_seen('S')) acceleration = code_value() ;
  5048. if(code_seen('T')) retract_acceleration = code_value() ;
  5049. }
  5050. break;
  5051. 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
  5052. {
  5053. if(code_seen('S')) minimumfeedrate = code_value();
  5054. if(code_seen('T')) mintravelfeedrate = code_value();
  5055. if(code_seen('B')) minsegmenttime = code_value() ;
  5056. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  5057. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  5058. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  5059. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  5060. if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
  5061. if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
  5062. }
  5063. break;
  5064. case 206: // M206 additional homing offset
  5065. for(int8_t i=0; i < 3; i++)
  5066. {
  5067. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  5068. }
  5069. break;
  5070. #ifdef FWRETRACT
  5071. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  5072. {
  5073. if(code_seen('S'))
  5074. {
  5075. retract_length = code_value() ;
  5076. }
  5077. if(code_seen('F'))
  5078. {
  5079. retract_feedrate = code_value()/60 ;
  5080. }
  5081. if(code_seen('Z'))
  5082. {
  5083. retract_zlift = code_value() ;
  5084. }
  5085. }break;
  5086. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  5087. {
  5088. if(code_seen('S'))
  5089. {
  5090. retract_recover_length = code_value() ;
  5091. }
  5092. if(code_seen('F'))
  5093. {
  5094. retract_recover_feedrate = code_value()/60 ;
  5095. }
  5096. }break;
  5097. 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.
  5098. {
  5099. if(code_seen('S'))
  5100. {
  5101. int t= code_value() ;
  5102. switch(t)
  5103. {
  5104. case 0:
  5105. {
  5106. autoretract_enabled=false;
  5107. retracted[0]=false;
  5108. #if EXTRUDERS > 1
  5109. retracted[1]=false;
  5110. #endif
  5111. #if EXTRUDERS > 2
  5112. retracted[2]=false;
  5113. #endif
  5114. }break;
  5115. case 1:
  5116. {
  5117. autoretract_enabled=true;
  5118. retracted[0]=false;
  5119. #if EXTRUDERS > 1
  5120. retracted[1]=false;
  5121. #endif
  5122. #if EXTRUDERS > 2
  5123. retracted[2]=false;
  5124. #endif
  5125. }break;
  5126. default:
  5127. SERIAL_ECHO_START;
  5128. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5129. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5130. SERIAL_ECHOLNPGM("\"(1)");
  5131. }
  5132. }
  5133. }break;
  5134. #endif // FWRETRACT
  5135. #if EXTRUDERS > 1
  5136. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  5137. {
  5138. if(setTargetedHotend(218)){
  5139. break;
  5140. }
  5141. if(code_seen('X'))
  5142. {
  5143. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  5144. }
  5145. if(code_seen('Y'))
  5146. {
  5147. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  5148. }
  5149. SERIAL_ECHO_START;
  5150. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  5151. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  5152. {
  5153. SERIAL_ECHO(" ");
  5154. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  5155. SERIAL_ECHO(",");
  5156. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  5157. }
  5158. SERIAL_ECHOLN("");
  5159. }break;
  5160. #endif
  5161. case 220: // M220 S<factor in percent>- set speed factor override percentage
  5162. {
  5163. if(code_seen('S'))
  5164. {
  5165. feedmultiply = code_value() ;
  5166. }
  5167. }
  5168. break;
  5169. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  5170. {
  5171. if(code_seen('S'))
  5172. {
  5173. int tmp_code = code_value();
  5174. if (code_seen('T'))
  5175. {
  5176. if(setTargetedHotend(221)){
  5177. break;
  5178. }
  5179. extruder_multiply[tmp_extruder] = tmp_code;
  5180. }
  5181. else
  5182. {
  5183. extrudemultiply = tmp_code ;
  5184. }
  5185. }
  5186. calculate_extruder_multipliers();
  5187. }
  5188. break;
  5189. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  5190. {
  5191. if(code_seen('P')){
  5192. int pin_number = code_value(); // pin number
  5193. int pin_state = -1; // required pin state - default is inverted
  5194. if(code_seen('S')) pin_state = code_value(); // required pin state
  5195. if(pin_state >= -1 && pin_state <= 1){
  5196. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  5197. {
  5198. if (sensitive_pins[i] == pin_number)
  5199. {
  5200. pin_number = -1;
  5201. break;
  5202. }
  5203. }
  5204. if (pin_number > -1)
  5205. {
  5206. int target = LOW;
  5207. st_synchronize();
  5208. pinMode(pin_number, INPUT);
  5209. switch(pin_state){
  5210. case 1:
  5211. target = HIGH;
  5212. break;
  5213. case 0:
  5214. target = LOW;
  5215. break;
  5216. case -1:
  5217. target = !digitalRead(pin_number);
  5218. break;
  5219. }
  5220. while(digitalRead(pin_number) != target){
  5221. manage_heater();
  5222. manage_inactivity();
  5223. lcd_update(0);
  5224. }
  5225. }
  5226. }
  5227. }
  5228. }
  5229. break;
  5230. #if NUM_SERVOS > 0
  5231. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  5232. {
  5233. int servo_index = -1;
  5234. int servo_position = 0;
  5235. if (code_seen('P'))
  5236. servo_index = code_value();
  5237. if (code_seen('S')) {
  5238. servo_position = code_value();
  5239. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  5240. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5241. servos[servo_index].attach(0);
  5242. #endif
  5243. servos[servo_index].write(servo_position);
  5244. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  5245. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  5246. servos[servo_index].detach();
  5247. #endif
  5248. }
  5249. else {
  5250. SERIAL_ECHO_START;
  5251. SERIAL_ECHO("Servo ");
  5252. SERIAL_ECHO(servo_index);
  5253. SERIAL_ECHOLN(" out of range");
  5254. }
  5255. }
  5256. else if (servo_index >= 0) {
  5257. SERIAL_PROTOCOL(_T(MSG_OK));
  5258. SERIAL_PROTOCOL(" Servo ");
  5259. SERIAL_PROTOCOL(servo_index);
  5260. SERIAL_PROTOCOL(": ");
  5261. SERIAL_PROTOCOL(servos[servo_index].read());
  5262. SERIAL_PROTOCOLLN("");
  5263. }
  5264. }
  5265. break;
  5266. #endif // NUM_SERVOS > 0
  5267. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  5268. case 300: // M300
  5269. {
  5270. int beepS = code_seen('S') ? code_value() : 110;
  5271. int beepP = code_seen('P') ? code_value() : 1000;
  5272. if (beepS > 0)
  5273. {
  5274. #if BEEPER > 0
  5275. tone(BEEPER, beepS);
  5276. delay(beepP);
  5277. noTone(BEEPER);
  5278. #endif
  5279. }
  5280. else
  5281. {
  5282. delay(beepP);
  5283. }
  5284. }
  5285. break;
  5286. #endif // M300
  5287. #ifdef PIDTEMP
  5288. case 301: // M301
  5289. {
  5290. if(code_seen('P')) Kp = code_value();
  5291. if(code_seen('I')) Ki = scalePID_i(code_value());
  5292. if(code_seen('D')) Kd = scalePID_d(code_value());
  5293. #ifdef PID_ADD_EXTRUSION_RATE
  5294. if(code_seen('C')) Kc = code_value();
  5295. #endif
  5296. updatePID();
  5297. SERIAL_PROTOCOLRPGM(_T(MSG_OK));
  5298. SERIAL_PROTOCOL(" p:");
  5299. SERIAL_PROTOCOL(Kp);
  5300. SERIAL_PROTOCOL(" i:");
  5301. SERIAL_PROTOCOL(unscalePID_i(Ki));
  5302. SERIAL_PROTOCOL(" d:");
  5303. SERIAL_PROTOCOL(unscalePID_d(Kd));
  5304. #ifdef PID_ADD_EXTRUSION_RATE
  5305. SERIAL_PROTOCOL(" c:");
  5306. //Kc does not have scaling applied above, or in resetting defaults
  5307. SERIAL_PROTOCOL(Kc);
  5308. #endif
  5309. SERIAL_PROTOCOLLN("");
  5310. }
  5311. break;
  5312. #endif //PIDTEMP
  5313. #ifdef PIDTEMPBED
  5314. case 304: // M304
  5315. {
  5316. if(code_seen('P')) bedKp = code_value();
  5317. if(code_seen('I')) bedKi = scalePID_i(code_value());
  5318. if(code_seen('D')) bedKd = scalePID_d(code_value());
  5319. updatePID();
  5320. SERIAL_PROTOCOLRPGM(_T(MSG_OK));
  5321. SERIAL_PROTOCOL(" p:");
  5322. SERIAL_PROTOCOL(bedKp);
  5323. SERIAL_PROTOCOL(" i:");
  5324. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  5325. SERIAL_PROTOCOL(" d:");
  5326. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  5327. SERIAL_PROTOCOLLN("");
  5328. }
  5329. break;
  5330. #endif //PIDTEMP
  5331. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  5332. {
  5333. #ifdef CHDK
  5334. SET_OUTPUT(CHDK);
  5335. WRITE(CHDK, HIGH);
  5336. chdkHigh = millis();
  5337. chdkActive = true;
  5338. #else
  5339. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  5340. const uint8_t NUM_PULSES=16;
  5341. const float PULSE_LENGTH=0.01524;
  5342. for(int i=0; i < NUM_PULSES; i++) {
  5343. WRITE(PHOTOGRAPH_PIN, HIGH);
  5344. _delay_ms(PULSE_LENGTH);
  5345. WRITE(PHOTOGRAPH_PIN, LOW);
  5346. _delay_ms(PULSE_LENGTH);
  5347. }
  5348. delay(7.33);
  5349. for(int i=0; i < NUM_PULSES; i++) {
  5350. WRITE(PHOTOGRAPH_PIN, HIGH);
  5351. _delay_ms(PULSE_LENGTH);
  5352. WRITE(PHOTOGRAPH_PIN, LOW);
  5353. _delay_ms(PULSE_LENGTH);
  5354. }
  5355. #endif
  5356. #endif //chdk end if
  5357. }
  5358. break;
  5359. #ifdef PREVENT_DANGEROUS_EXTRUDE
  5360. case 302: // allow cold extrudes, or set the minimum extrude temperature
  5361. {
  5362. float temp = .0;
  5363. if (code_seen('S')) temp=code_value();
  5364. set_extrude_min_temp(temp);
  5365. }
  5366. break;
  5367. #endif
  5368. case 303: // M303 PID autotune
  5369. {
  5370. float temp = 150.0;
  5371. int e=0;
  5372. int c=5;
  5373. if (code_seen('E')) e=code_value();
  5374. if (e<0)
  5375. temp=70;
  5376. if (code_seen('S')) temp=code_value();
  5377. if (code_seen('C')) c=code_value();
  5378. PID_autotune(temp, e, c);
  5379. }
  5380. break;
  5381. case 400: // M400 finish all moves
  5382. {
  5383. st_synchronize();
  5384. }
  5385. break;
  5386. case 500: // M500 Store settings in EEPROM
  5387. {
  5388. Config_StoreSettings(EEPROM_OFFSET);
  5389. }
  5390. break;
  5391. case 501: // M501 Read settings from EEPROM
  5392. {
  5393. Config_RetrieveSettings(EEPROM_OFFSET);
  5394. }
  5395. break;
  5396. case 502: // M502 Revert to default settings
  5397. {
  5398. Config_ResetDefault();
  5399. }
  5400. break;
  5401. case 503: // M503 print settings currently in memory
  5402. {
  5403. Config_PrintSettings();
  5404. }
  5405. break;
  5406. case 509: //M509 Force language selection
  5407. {
  5408. lang_reset();
  5409. SERIAL_ECHO_START;
  5410. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  5411. }
  5412. break;
  5413. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5414. case 540:
  5415. {
  5416. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  5417. }
  5418. break;
  5419. #endif
  5420. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5421. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  5422. {
  5423. float value;
  5424. if (code_seen('Z'))
  5425. {
  5426. value = code_value();
  5427. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  5428. {
  5429. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  5430. SERIAL_ECHO_START;
  5431. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", _T(MSG_OK),PSTR("")));
  5432. SERIAL_PROTOCOLLN("");
  5433. }
  5434. else
  5435. {
  5436. SERIAL_ECHO_START;
  5437. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  5438. SERIAL_ECHORPGM(MSG_Z_MIN);
  5439. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  5440. SERIAL_ECHORPGM(MSG_Z_MAX);
  5441. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  5442. SERIAL_PROTOCOLLN("");
  5443. }
  5444. }
  5445. else
  5446. {
  5447. SERIAL_ECHO_START;
  5448. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  5449. SERIAL_ECHO(-zprobe_zoffset);
  5450. SERIAL_PROTOCOLLN("");
  5451. }
  5452. break;
  5453. }
  5454. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5455. #ifdef FILAMENTCHANGEENABLE
  5456. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  5457. {
  5458. st_synchronize();
  5459. float lastpos[4];
  5460. if (farm_mode)
  5461. {
  5462. prusa_statistics(22);
  5463. }
  5464. feedmultiplyBckp=feedmultiply;
  5465. int8_t TooLowZ = 0;
  5466. float HotendTempBckp = degTargetHotend(active_extruder);
  5467. int fanSpeedBckp = fanSpeed;
  5468. lastpos[X_AXIS]=current_position[X_AXIS];
  5469. lastpos[Y_AXIS]=current_position[Y_AXIS];
  5470. lastpos[Z_AXIS]=current_position[Z_AXIS];
  5471. lastpos[E_AXIS]=current_position[E_AXIS];
  5472. //Restract extruder
  5473. if(code_seen('E'))
  5474. {
  5475. current_position[E_AXIS]+= code_value();
  5476. }
  5477. else
  5478. {
  5479. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  5480. current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  5481. #endif
  5482. }
  5483. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5484. //Lift Z
  5485. if(code_seen('Z'))
  5486. {
  5487. current_position[Z_AXIS]+= code_value();
  5488. }
  5489. else
  5490. {
  5491. #ifdef FILAMENTCHANGE_ZADD
  5492. current_position[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  5493. if(current_position[Z_AXIS] < 10){
  5494. current_position[Z_AXIS]+= 10 ;
  5495. TooLowZ = 1;
  5496. }else{
  5497. TooLowZ = 0;
  5498. }
  5499. #endif
  5500. }
  5501. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5502. //Move XY to side
  5503. if(code_seen('X'))
  5504. {
  5505. current_position[X_AXIS]+= code_value();
  5506. }
  5507. else
  5508. {
  5509. #ifdef FILAMENTCHANGE_XPOS
  5510. current_position[X_AXIS]= FILAMENTCHANGE_XPOS ;
  5511. #endif
  5512. }
  5513. if(code_seen('Y'))
  5514. {
  5515. current_position[Y_AXIS]= code_value();
  5516. }
  5517. else
  5518. {
  5519. #ifdef FILAMENTCHANGE_YPOS
  5520. current_position[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  5521. #endif
  5522. }
  5523. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5524. st_synchronize();
  5525. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5526. uint8_t cnt = 0;
  5527. int counterBeep = 0;
  5528. fanSpeed = 0;
  5529. unsigned long waiting_start_time = millis();
  5530. uint8_t wait_for_user_state = 0;
  5531. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  5532. while (!(wait_for_user_state == 0 && lcd_clicked())){
  5533. //cnt++;
  5534. manage_heater();
  5535. manage_inactivity(true);
  5536. #if BEEPER > 0
  5537. if (counterBeep == 500) {
  5538. counterBeep = 0;
  5539. }
  5540. SET_OUTPUT(BEEPER);
  5541. if (counterBeep == 0) {
  5542. WRITE(BEEPER, HIGH);
  5543. }
  5544. if (counterBeep == 20) {
  5545. WRITE(BEEPER, LOW);
  5546. }
  5547. counterBeep++;
  5548. #endif
  5549. switch (wait_for_user_state) {
  5550. case 0:
  5551. delay_keep_alive(4);
  5552. if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  5553. lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
  5554. wait_for_user_state = 1;
  5555. setTargetHotend(0, 0);
  5556. setTargetHotend(0, 1);
  5557. setTargetHotend(0, 2);
  5558. st_synchronize();
  5559. disable_e0();
  5560. disable_e1();
  5561. disable_e2();
  5562. }
  5563. break;
  5564. case 1:
  5565. delay_keep_alive(4);
  5566. if (lcd_clicked()) {
  5567. setTargetHotend(HotendTempBckp, active_extruder);
  5568. lcd_wait_for_heater();
  5569. wait_for_user_state = 2;
  5570. }
  5571. break;
  5572. case 2:
  5573. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  5574. lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
  5575. waiting_start_time = millis();
  5576. wait_for_user_state = 0;
  5577. }
  5578. else {
  5579. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  5580. lcd_set_cursor(1, 4);
  5581. lcd_print(ftostr3(degHotend(active_extruder)));
  5582. }
  5583. break;
  5584. }
  5585. }
  5586. WRITE(BEEPER, LOW);
  5587. lcd_change_fil_state = 0;
  5588. // Unload filament
  5589. lcd_display_message_fullscreen_P(_T(MSG_UNLOADING_FILAMENT));
  5590. KEEPALIVE_STATE(IN_HANDLER);
  5591. custom_message = true;
  5592. lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
  5593. if (code_seen('L'))
  5594. {
  5595. current_position[E_AXIS] += code_value();
  5596. }
  5597. else
  5598. {
  5599. #ifdef SNMM
  5600. #else
  5601. #ifdef FILAMENTCHANGE_FINALRETRACT
  5602. current_position[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  5603. #endif
  5604. #endif // SNMM
  5605. }
  5606. #ifdef SNMM
  5607. current_position[E_AXIS] += 12;
  5608. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3500, active_extruder);
  5609. current_position[E_AXIS] += 6;
  5610. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5000, active_extruder);
  5611. current_position[E_AXIS] += (FIL_LOAD_LENGTH * -1);
  5612. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5000, active_extruder);
  5613. st_synchronize();
  5614. current_position[E_AXIS] += (FIL_COOLING);
  5615. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  5616. current_position[E_AXIS] += (FIL_COOLING*-1);
  5617. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  5618. current_position[E_AXIS] += (bowden_length[snmm_extruder] * -1);
  5619. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000, active_extruder);
  5620. st_synchronize();
  5621. #else
  5622. // plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5623. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3500 / 60, active_extruder);
  5624. current_position[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
  5625. st_synchronize();
  5626. #ifdef TMC2130
  5627. uint8_t tmc2130_current_r_bckp = tmc2130_current_r[E_AXIS];
  5628. tmc2130_set_current_r(E_AXIS, TMC2130_UNLOAD_CURRENT_R);
  5629. #else
  5630. st_current_set(2, 200); //set lower E motor current for unload to protect filament sensor and ptfe tube
  5631. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  5632. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  5633. #endif //TMC2130
  5634. current_position[E_AXIS] -= 45;
  5635. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
  5636. st_synchronize();
  5637. current_position[E_AXIS] -= 15;
  5638. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  5639. st_synchronize();
  5640. current_position[E_AXIS] -= 20;
  5641. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  5642. st_synchronize();
  5643. #ifdef TMC2130
  5644. tmc2130_set_current_r(E_AXIS, tmc2130_current_r_bckp);
  5645. #else
  5646. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  5647. if(silentMode != SILENT_MODE_POWER) st_current_set(2, tmp_motor[2]); //set E back to normal operation currents
  5648. else st_current_set(2, tmp_motor_loud[2]);
  5649. #endif //TMC2130
  5650. #endif // SNMM
  5651. //finish moves
  5652. st_synchronize();
  5653. //disable extruder steppers so filament can be removed
  5654. disable_e0();
  5655. disable_e1();
  5656. disable_e2();
  5657. delay(100);
  5658. #ifdef SNMM_V2
  5659. fprintf_P(uart2io, PSTR("U0\n"));
  5660. // get response
  5661. bool response = mmu_get_reponse(false);
  5662. if (!response) mmu_not_responding();
  5663. #else
  5664. lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
  5665. WRITE(BEEPER, HIGH);
  5666. counterBeep = 0;
  5667. while(!lcd_clicked() && (counterBeep < 50)) {
  5668. if(counterBeep > 5) WRITE(BEEPER, LOW);
  5669. delay_keep_alive(100);
  5670. counterBeep++;
  5671. }
  5672. WRITE(BEEPER, LOW);
  5673. #endif
  5674. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5675. 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
  5676. 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
  5677. //lcd_return_to_status();
  5678. lcd_update_enable(true);
  5679. #ifdef SNMM_V2
  5680. mmu_M600_load_filament();
  5681. #else
  5682. M600_load_filament();
  5683. #endif
  5684. //Wait for user to check the state
  5685. lcd_change_fil_state = 0;
  5686. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  5687. lcd_change_fil_state = 0;
  5688. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5689. lcd_alright();
  5690. KEEPALIVE_STATE(IN_HANDLER);
  5691. switch(lcd_change_fil_state){
  5692. // Filament failed to load so load it again
  5693. case 2:
  5694. #ifdef SNMM_V2
  5695. mmu_M600_load_filament(); //change to "wrong filament loaded" option?
  5696. #else
  5697. M600_load_filament_movements();
  5698. #endif
  5699. break;
  5700. // Filament loaded properly but color is not clear
  5701. case 3:
  5702. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5703. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2, active_extruder);
  5704. lcd_loading_color();
  5705. break;
  5706. // Everything good
  5707. default:
  5708. lcd_change_success();
  5709. lcd_update_enable(true);
  5710. break;
  5711. }
  5712. }
  5713. //Not let's go back to print
  5714. fanSpeed = fanSpeedBckp;
  5715. //Feed a little of filament to stabilize pressure
  5716. current_position[E_AXIS]+= FILAMENTCHANGE_RECFEED;
  5717. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5718. //Retract
  5719. current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  5720. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5721. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 70, active_extruder); //should do nothing
  5722. //Move XY back
  5723. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5724. //Move Z back
  5725. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5726. current_position[E_AXIS]= current_position[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  5727. //Unretract
  5728. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5729. //Set E position to original
  5730. plan_set_e_position(lastpos[E_AXIS]);
  5731. memcpy(current_position, lastpos, sizeof(lastpos));
  5732. memcpy(destination, current_position, sizeof(current_position));
  5733. //Recover feed rate
  5734. feedmultiply=feedmultiplyBckp;
  5735. char cmd[9];
  5736. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  5737. enquecommand(cmd);
  5738. lcd_setstatuspgm(_T(WELCOME_MSG));
  5739. custom_message = false;
  5740. custom_message_type = 0;
  5741. }
  5742. break;
  5743. #endif //FILAMENTCHANGEENABLE
  5744. case 601: {
  5745. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  5746. }
  5747. break;
  5748. case 602: {
  5749. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  5750. }
  5751. break;
  5752. #ifdef PINDA_THERMISTOR
  5753. case 860: // M860 - Wait for PINDA thermistor to reach target temperature.
  5754. {
  5755. int set_target_pinda = 0;
  5756. if (code_seen('S')) {
  5757. set_target_pinda = code_value();
  5758. }
  5759. else {
  5760. break;
  5761. }
  5762. LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
  5763. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  5764. SERIAL_PROTOCOL(set_target_pinda);
  5765. SERIAL_PROTOCOLLN("");
  5766. codenum = millis();
  5767. cancel_heatup = false;
  5768. bool is_pinda_cooling = false;
  5769. if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
  5770. is_pinda_cooling = true;
  5771. }
  5772. while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
  5773. if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  5774. {
  5775. SERIAL_PROTOCOLPGM("P:");
  5776. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  5777. SERIAL_PROTOCOLPGM("/");
  5778. SERIAL_PROTOCOL(set_target_pinda);
  5779. SERIAL_PROTOCOLLN("");
  5780. codenum = millis();
  5781. }
  5782. manage_heater();
  5783. manage_inactivity();
  5784. lcd_update(0);
  5785. }
  5786. LCD_MESSAGERPGM(_T(MSG_OK));
  5787. break;
  5788. }
  5789. case 861: // M861 - Set/Read PINDA temperature compensation offsets
  5790. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  5791. uint8_t cal_status = calibration_status_pinda();
  5792. int16_t usteps = 0;
  5793. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  5794. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5795. for (uint8_t i = 0; i < 6; i++)
  5796. {
  5797. if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
  5798. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5799. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5800. SERIAL_PROTOCOLPGM(", ");
  5801. SERIAL_PROTOCOL(35 + (i * 5));
  5802. SERIAL_PROTOCOLPGM(", ");
  5803. SERIAL_PROTOCOL(usteps);
  5804. SERIAL_PROTOCOLPGM(", ");
  5805. SERIAL_PROTOCOL(mm * 1000);
  5806. SERIAL_PROTOCOLLN("");
  5807. }
  5808. }
  5809. else if (code_seen('!')) { // ! - Set factory default values
  5810. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5811. int16_t z_shift = 8; //40C - 20um - 8usteps
  5812. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
  5813. z_shift = 24; //45C - 60um - 24usteps
  5814. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
  5815. z_shift = 48; //50C - 120um - 48usteps
  5816. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
  5817. z_shift = 80; //55C - 200um - 80usteps
  5818. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
  5819. z_shift = 120; //60C - 300um - 120usteps
  5820. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
  5821. SERIAL_PROTOCOLLN("factory restored");
  5822. }
  5823. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  5824. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5825. int16_t z_shift = 0;
  5826. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  5827. SERIAL_PROTOCOLLN("zerorized");
  5828. }
  5829. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  5830. int16_t usteps = code_value();
  5831. if (code_seen('I')) {
  5832. byte index = code_value();
  5833. if ((index >= 0) && (index < 5)) {
  5834. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
  5835. SERIAL_PROTOCOLLN("OK");
  5836. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5837. for (uint8_t i = 0; i < 6; i++)
  5838. {
  5839. usteps = 0;
  5840. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
  5841. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5842. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5843. SERIAL_PROTOCOLPGM(", ");
  5844. SERIAL_PROTOCOL(35 + (i * 5));
  5845. SERIAL_PROTOCOLPGM(", ");
  5846. SERIAL_PROTOCOL(usteps);
  5847. SERIAL_PROTOCOLPGM(", ");
  5848. SERIAL_PROTOCOL(mm * 1000);
  5849. SERIAL_PROTOCOLLN("");
  5850. }
  5851. }
  5852. }
  5853. }
  5854. else {
  5855. SERIAL_PROTOCOLPGM("no valid command");
  5856. }
  5857. break;
  5858. #endif //PINDA_THERMISTOR
  5859. #ifdef LIN_ADVANCE
  5860. case 900: // M900: Set LIN_ADVANCE options.
  5861. gcode_M900();
  5862. break;
  5863. #endif
  5864. case 907: // M907 Set digital trimpot motor current using axis codes.
  5865. {
  5866. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5867. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  5868. if(code_seen('B')) st_current_set(4,code_value());
  5869. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  5870. #endif
  5871. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  5872. if(code_seen('X')) st_current_set(0, code_value());
  5873. #endif
  5874. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  5875. if(code_seen('Z')) st_current_set(1, code_value());
  5876. #endif
  5877. #ifdef MOTOR_CURRENT_PWM_E_PIN
  5878. if(code_seen('E')) st_current_set(2, code_value());
  5879. #endif
  5880. }
  5881. break;
  5882. case 908: // M908 Control digital trimpot directly.
  5883. {
  5884. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5885. uint8_t channel,current;
  5886. if(code_seen('P')) channel=code_value();
  5887. if(code_seen('S')) current=code_value();
  5888. digitalPotWrite(channel, current);
  5889. #endif
  5890. }
  5891. break;
  5892. #ifdef TMC2130
  5893. case 910: // M910 TMC2130 init
  5894. {
  5895. tmc2130_init();
  5896. }
  5897. break;
  5898. case 911: // M911 Set TMC2130 holding currents
  5899. {
  5900. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  5901. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  5902. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  5903. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  5904. }
  5905. break;
  5906. case 912: // M912 Set TMC2130 running currents
  5907. {
  5908. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  5909. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  5910. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  5911. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  5912. }
  5913. break;
  5914. case 913: // M913 Print TMC2130 currents
  5915. {
  5916. tmc2130_print_currents();
  5917. }
  5918. break;
  5919. case 914: // M914 Set normal mode
  5920. {
  5921. tmc2130_mode = TMC2130_MODE_NORMAL;
  5922. update_mode_profile();
  5923. tmc2130_init();
  5924. }
  5925. break;
  5926. case 915: // M915 Set silent mode
  5927. {
  5928. tmc2130_mode = TMC2130_MODE_SILENT;
  5929. update_mode_profile();
  5930. tmc2130_init();
  5931. }
  5932. break;
  5933. case 916: // M916 Set sg_thrs
  5934. {
  5935. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  5936. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  5937. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  5938. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  5939. for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
  5940. printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
  5941. }
  5942. break;
  5943. case 917: // M917 Set TMC2130 pwm_ampl
  5944. {
  5945. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  5946. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  5947. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  5948. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  5949. }
  5950. break;
  5951. case 918: // M918 Set TMC2130 pwm_grad
  5952. {
  5953. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  5954. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  5955. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  5956. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  5957. }
  5958. break;
  5959. #endif //TMC2130
  5960. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5961. {
  5962. #ifdef TMC2130
  5963. if(code_seen('E'))
  5964. {
  5965. uint16_t res_new = code_value();
  5966. if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
  5967. {
  5968. st_synchronize();
  5969. uint8_t axis = E_AXIS;
  5970. uint16_t res = tmc2130_get_res(axis);
  5971. tmc2130_set_res(axis, res_new);
  5972. if (res_new > res)
  5973. {
  5974. uint16_t fac = (res_new / res);
  5975. axis_steps_per_unit[axis] *= fac;
  5976. position[E_AXIS] *= fac;
  5977. }
  5978. else
  5979. {
  5980. uint16_t fac = (res / res_new);
  5981. axis_steps_per_unit[axis] /= fac;
  5982. position[E_AXIS] /= fac;
  5983. }
  5984. }
  5985. }
  5986. #else //TMC2130
  5987. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5988. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  5989. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  5990. if(code_seen('B')) microstep_mode(4,code_value());
  5991. microstep_readings();
  5992. #endif
  5993. #endif //TMC2130
  5994. }
  5995. break;
  5996. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  5997. {
  5998. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5999. if(code_seen('S')) switch((int)code_value())
  6000. {
  6001. case 1:
  6002. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  6003. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  6004. break;
  6005. case 2:
  6006. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  6007. if(code_seen('B')) microstep_ms(4,-1,code_value());
  6008. break;
  6009. }
  6010. microstep_readings();
  6011. #endif
  6012. }
  6013. break;
  6014. case 701: //M701: load filament
  6015. {
  6016. #ifdef SNMM_V2
  6017. if (code_seen('E'))
  6018. {
  6019. snmm_extruder = code_value();
  6020. }
  6021. #endif
  6022. gcode_M701();
  6023. }
  6024. break;
  6025. case 702:
  6026. {
  6027. #if defined (SNMM) || defined (SNMM_V2)
  6028. if (code_seen('U')) {
  6029. extr_unload_used(); //unload all filaments which were used in current print
  6030. }
  6031. else if (code_seen('C')) {
  6032. extr_unload(); //unload just current filament
  6033. }
  6034. else {
  6035. extr_unload_all(); //unload all filaments
  6036. }
  6037. #else
  6038. custom_message = true;
  6039. custom_message_type = 2;
  6040. lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
  6041. // extr_unload2();
  6042. current_position[E_AXIS] -= 45;
  6043. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
  6044. st_synchronize();
  6045. current_position[E_AXIS] -= 15;
  6046. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  6047. st_synchronize();
  6048. current_position[E_AXIS] -= 20;
  6049. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  6050. st_synchronize();
  6051. lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
  6052. //disable extruder steppers so filament can be removed
  6053. disable_e0();
  6054. disable_e1();
  6055. disable_e2();
  6056. delay(100);
  6057. WRITE(BEEPER, HIGH);
  6058. uint8_t counterBeep = 0;
  6059. while (!lcd_clicked() && (counterBeep < 50)) {
  6060. if (counterBeep > 5) WRITE(BEEPER, LOW);
  6061. delay_keep_alive(100);
  6062. counterBeep++;
  6063. }
  6064. WRITE(BEEPER, LOW);
  6065. st_synchronize();
  6066. while (lcd_clicked()) delay_keep_alive(100);
  6067. lcd_update_enable(true);
  6068. lcd_setstatuspgm(_T(WELCOME_MSG));
  6069. custom_message = false;
  6070. custom_message_type = 0;
  6071. #endif
  6072. }
  6073. break;
  6074. case 999: // M999: Restart after being stopped
  6075. Stopped = false;
  6076. lcd_reset_alert_level();
  6077. gcode_LastN = Stopped_gcode_LastN;
  6078. FlushSerialRequestResend();
  6079. break;
  6080. default:
  6081. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  6082. }
  6083. // printf_P(_N("END M-CODE=%u\n"), mcode_in_progress);
  6084. mcode_in_progress = 0;
  6085. }
  6086. } // end if(code_seen('M')) (end of M codes)
  6087. else if(code_seen('T'))
  6088. {
  6089. int index;
  6090. st_synchronize();
  6091. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  6092. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
  6093. SERIAL_ECHOLNPGM("Invalid T code.");
  6094. }
  6095. else {
  6096. if (*(strchr_pointer + index) == '?') {
  6097. tmp_extruder = choose_extruder_menu();
  6098. }
  6099. else {
  6100. tmp_extruder = code_value();
  6101. }
  6102. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  6103. #ifdef SNMM_V2
  6104. printf_P(PSTR("T code: %d \n"), tmp_extruder);
  6105. fprintf_P(uart2io, PSTR("T%d\n"), tmp_extruder);
  6106. bool response = mmu_get_reponse(false);
  6107. if (!response) mmu_not_responding();
  6108. snmm_extruder = tmp_extruder; //filament change is finished
  6109. if (*(strchr_pointer + index) == '?') { // for single material usage with mmu
  6110. mmu_load_to_nozzle();
  6111. }
  6112. #endif
  6113. #ifdef SNMM
  6114. #ifdef LIN_ADVANCE
  6115. if (snmm_extruder != tmp_extruder)
  6116. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  6117. #endif
  6118. snmm_extruder = tmp_extruder;
  6119. delay(100);
  6120. disable_e0();
  6121. disable_e1();
  6122. disable_e2();
  6123. pinMode(E_MUX0_PIN, OUTPUT);
  6124. pinMode(E_MUX1_PIN, OUTPUT);
  6125. delay(100);
  6126. SERIAL_ECHO_START;
  6127. SERIAL_ECHO("T:");
  6128. SERIAL_ECHOLN((int)tmp_extruder);
  6129. switch (tmp_extruder) {
  6130. case 1:
  6131. WRITE(E_MUX0_PIN, HIGH);
  6132. WRITE(E_MUX1_PIN, LOW);
  6133. break;
  6134. case 2:
  6135. WRITE(E_MUX0_PIN, LOW);
  6136. WRITE(E_MUX1_PIN, HIGH);
  6137. break;
  6138. case 3:
  6139. WRITE(E_MUX0_PIN, HIGH);
  6140. WRITE(E_MUX1_PIN, HIGH);
  6141. break;
  6142. default:
  6143. WRITE(E_MUX0_PIN, LOW);
  6144. WRITE(E_MUX1_PIN, LOW);
  6145. break;
  6146. }
  6147. delay(100);
  6148. #else
  6149. if (tmp_extruder >= EXTRUDERS) {
  6150. SERIAL_ECHO_START;
  6151. SERIAL_ECHOPGM("T");
  6152. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6153. SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER c=0 r=0
  6154. }
  6155. else {
  6156. boolean make_move = false;
  6157. if (code_seen('F')) {
  6158. make_move = true;
  6159. next_feedrate = code_value();
  6160. if (next_feedrate > 0.0) {
  6161. feedrate = next_feedrate;
  6162. }
  6163. }
  6164. #if EXTRUDERS > 1
  6165. if (tmp_extruder != active_extruder) {
  6166. // Save current position to return to after applying extruder offset
  6167. memcpy(destination, current_position, sizeof(destination));
  6168. // Offset extruder (only by XY)
  6169. int i;
  6170. for (i = 0; i < 2; i++) {
  6171. current_position[i] = current_position[i] -
  6172. extruder_offset[i][active_extruder] +
  6173. extruder_offset[i][tmp_extruder];
  6174. }
  6175. // Set the new active extruder and position
  6176. active_extruder = tmp_extruder;
  6177. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6178. // Move to the old position if 'F' was in the parameters
  6179. if (make_move && Stopped == false) {
  6180. prepare_move();
  6181. }
  6182. }
  6183. #endif
  6184. SERIAL_ECHO_START;
  6185. SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER c=0 r=0
  6186. SERIAL_PROTOCOLLN((int)active_extruder);
  6187. }
  6188. #endif
  6189. }
  6190. } // end if(code_seen('T')) (end of T codes)
  6191. #ifdef DEBUG_DCODES
  6192. else if (code_seen('D')) // D codes (debug)
  6193. {
  6194. switch((int)code_value())
  6195. {
  6196. case -1: // D-1 - Endless loop
  6197. dcode__1(); break;
  6198. case 0: // D0 - Reset
  6199. dcode_0(); break;
  6200. case 1: // D1 - Clear EEPROM
  6201. dcode_1(); break;
  6202. case 2: // D2 - Read/Write RAM
  6203. dcode_2(); break;
  6204. case 3: // D3 - Read/Write EEPROM
  6205. dcode_3(); break;
  6206. case 4: // D4 - Read/Write PIN
  6207. dcode_4(); break;
  6208. case 5: // D5 - Read/Write FLASH
  6209. // dcode_5(); break;
  6210. break;
  6211. case 6: // D6 - Read/Write external FLASH
  6212. dcode_6(); break;
  6213. case 7: // D7 - Read/Write Bootloader
  6214. dcode_7(); break;
  6215. case 8: // D8 - Read/Write PINDA
  6216. dcode_8(); break;
  6217. case 9: // D9 - Read/Write ADC
  6218. dcode_9(); break;
  6219. case 10: // D10 - XYZ calibration = OK
  6220. dcode_10(); break;
  6221. #ifdef TMC2130
  6222. case 2130: // D9125 - TMC2130
  6223. dcode_2130(); break;
  6224. #endif //TMC2130
  6225. #ifdef FILAMENT_SENSOR
  6226. case 9125: // D9125 - FILAMENT_SENSOR
  6227. dcode_9125(); break;
  6228. #endif //FILAMENT_SENSOR
  6229. }
  6230. }
  6231. #endif //DEBUG_DCODES
  6232. else
  6233. {
  6234. SERIAL_ECHO_START;
  6235. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  6236. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  6237. SERIAL_ECHOLNPGM("\"(2)");
  6238. }
  6239. KEEPALIVE_STATE(NOT_BUSY);
  6240. ClearToSend();
  6241. }
  6242. void FlushSerialRequestResend()
  6243. {
  6244. //char cmdbuffer[bufindr][100]="Resend:";
  6245. MYSERIAL.flush();
  6246. printf_P(_N("%S: %ld\n%S\n"), _i("Resend"), gcode_LastN + 1, _T(MSG_OK));
  6247. }
  6248. // Confirm the execution of a command, if sent from a serial line.
  6249. // Execution of a command from a SD card will not be confirmed.
  6250. void ClearToSend()
  6251. {
  6252. previous_millis_cmd = millis();
  6253. if ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR))
  6254. SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
  6255. }
  6256. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6257. void update_currents() {
  6258. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  6259. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  6260. float tmp_motor[3];
  6261. //SERIAL_ECHOLNPGM("Currents updated: ");
  6262. if (destination[Z_AXIS] < Z_SILENT) {
  6263. //SERIAL_ECHOLNPGM("LOW");
  6264. for (uint8_t i = 0; i < 3; i++) {
  6265. st_current_set(i, current_low[i]);
  6266. /*MYSERIAL.print(int(i));
  6267. SERIAL_ECHOPGM(": ");
  6268. MYSERIAL.println(current_low[i]);*/
  6269. }
  6270. }
  6271. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  6272. //SERIAL_ECHOLNPGM("HIGH");
  6273. for (uint8_t i = 0; i < 3; i++) {
  6274. st_current_set(i, current_high[i]);
  6275. /*MYSERIAL.print(int(i));
  6276. SERIAL_ECHOPGM(": ");
  6277. MYSERIAL.println(current_high[i]);*/
  6278. }
  6279. }
  6280. else {
  6281. for (uint8_t i = 0; i < 3; i++) {
  6282. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  6283. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  6284. st_current_set(i, tmp_motor[i]);
  6285. /*MYSERIAL.print(int(i));
  6286. SERIAL_ECHOPGM(": ");
  6287. MYSERIAL.println(tmp_motor[i]);*/
  6288. }
  6289. }
  6290. }
  6291. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6292. void get_coordinates()
  6293. {
  6294. bool seen[4]={false,false,false,false};
  6295. for(int8_t i=0; i < NUM_AXIS; i++) {
  6296. if(code_seen(axis_codes[i]))
  6297. {
  6298. bool relative = axis_relative_modes[i] || relative_mode;
  6299. destination[i] = (float)code_value();
  6300. if (i == E_AXIS) {
  6301. float emult = extruder_multiplier[active_extruder];
  6302. if (emult != 1.) {
  6303. if (! relative) {
  6304. destination[i] -= current_position[i];
  6305. relative = true;
  6306. }
  6307. destination[i] *= emult;
  6308. }
  6309. }
  6310. if (relative)
  6311. destination[i] += current_position[i];
  6312. seen[i]=true;
  6313. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6314. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  6315. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6316. }
  6317. else destination[i] = current_position[i]; //Are these else lines really needed?
  6318. }
  6319. if(code_seen('F')) {
  6320. next_feedrate = code_value();
  6321. #ifdef MAX_SILENT_FEEDRATE
  6322. if (tmc2130_mode == TMC2130_MODE_SILENT)
  6323. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  6324. #endif //MAX_SILENT_FEEDRATE
  6325. if(next_feedrate > 0.0) feedrate = next_feedrate;
  6326. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  6327. {
  6328. // float e_max_speed =
  6329. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  6330. }
  6331. }
  6332. }
  6333. void get_arc_coordinates()
  6334. {
  6335. #ifdef SF_ARC_FIX
  6336. bool relative_mode_backup = relative_mode;
  6337. relative_mode = true;
  6338. #endif
  6339. get_coordinates();
  6340. #ifdef SF_ARC_FIX
  6341. relative_mode=relative_mode_backup;
  6342. #endif
  6343. if(code_seen('I')) {
  6344. offset[0] = code_value();
  6345. }
  6346. else {
  6347. offset[0] = 0.0;
  6348. }
  6349. if(code_seen('J')) {
  6350. offset[1] = code_value();
  6351. }
  6352. else {
  6353. offset[1] = 0.0;
  6354. }
  6355. }
  6356. void clamp_to_software_endstops(float target[3])
  6357. {
  6358. #ifdef DEBUG_DISABLE_SWLIMITS
  6359. return;
  6360. #endif //DEBUG_DISABLE_SWLIMITS
  6361. world2machine_clamp(target[0], target[1]);
  6362. // Clamp the Z coordinate.
  6363. if (min_software_endstops) {
  6364. float negative_z_offset = 0;
  6365. #ifdef ENABLE_AUTO_BED_LEVELING
  6366. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  6367. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  6368. #endif
  6369. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  6370. }
  6371. if (max_software_endstops) {
  6372. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  6373. }
  6374. }
  6375. #ifdef MESH_BED_LEVELING
  6376. 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) {
  6377. float dx = x - current_position[X_AXIS];
  6378. float dy = y - current_position[Y_AXIS];
  6379. float dz = z - current_position[Z_AXIS];
  6380. int n_segments = 0;
  6381. if (mbl.active) {
  6382. float len = abs(dx) + abs(dy);
  6383. if (len > 0)
  6384. // Split to 3cm segments or shorter.
  6385. n_segments = int(ceil(len / 30.f));
  6386. }
  6387. if (n_segments > 1) {
  6388. float de = e - current_position[E_AXIS];
  6389. for (int i = 1; i < n_segments; ++ i) {
  6390. float t = float(i) / float(n_segments);
  6391. if (saved_printing || (mbl.active == false)) return;
  6392. plan_buffer_line(
  6393. current_position[X_AXIS] + t * dx,
  6394. current_position[Y_AXIS] + t * dy,
  6395. current_position[Z_AXIS] + t * dz,
  6396. current_position[E_AXIS] + t * de,
  6397. feed_rate, extruder);
  6398. }
  6399. }
  6400. // The rest of the path.
  6401. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  6402. current_position[X_AXIS] = x;
  6403. current_position[Y_AXIS] = y;
  6404. current_position[Z_AXIS] = z;
  6405. current_position[E_AXIS] = e;
  6406. }
  6407. #endif // MESH_BED_LEVELING
  6408. void prepare_move()
  6409. {
  6410. clamp_to_software_endstops(destination);
  6411. previous_millis_cmd = millis();
  6412. // Do not use feedmultiply for E or Z only moves
  6413. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  6414. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  6415. }
  6416. else {
  6417. #ifdef MESH_BED_LEVELING
  6418. 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);
  6419. #else
  6420. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  6421. #endif
  6422. }
  6423. for(int8_t i=0; i < NUM_AXIS; i++) {
  6424. current_position[i] = destination[i];
  6425. }
  6426. }
  6427. void prepare_arc_move(char isclockwise) {
  6428. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  6429. // Trace the arc
  6430. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  6431. // As far as the parser is concerned, the position is now == target. In reality the
  6432. // motion control system might still be processing the action and the real tool position
  6433. // in any intermediate location.
  6434. for(int8_t i=0; i < NUM_AXIS; i++) {
  6435. current_position[i] = destination[i];
  6436. }
  6437. previous_millis_cmd = millis();
  6438. }
  6439. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6440. #if defined(FAN_PIN)
  6441. #if CONTROLLERFAN_PIN == FAN_PIN
  6442. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  6443. #endif
  6444. #endif
  6445. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  6446. unsigned long lastMotorCheck = 0;
  6447. void controllerFan()
  6448. {
  6449. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  6450. {
  6451. lastMotorCheck = millis();
  6452. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  6453. #if EXTRUDERS > 2
  6454. || !READ(E2_ENABLE_PIN)
  6455. #endif
  6456. #if EXTRUDER > 1
  6457. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  6458. || !READ(X2_ENABLE_PIN)
  6459. #endif
  6460. || !READ(E1_ENABLE_PIN)
  6461. #endif
  6462. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  6463. {
  6464. lastMotor = millis(); //... set time to NOW so the fan will turn on
  6465. }
  6466. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  6467. {
  6468. digitalWrite(CONTROLLERFAN_PIN, 0);
  6469. analogWrite(CONTROLLERFAN_PIN, 0);
  6470. }
  6471. else
  6472. {
  6473. // allows digital or PWM fan output to be used (see M42 handling)
  6474. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6475. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6476. }
  6477. }
  6478. }
  6479. #endif
  6480. #ifdef TEMP_STAT_LEDS
  6481. static bool blue_led = false;
  6482. static bool red_led = false;
  6483. static uint32_t stat_update = 0;
  6484. void handle_status_leds(void) {
  6485. float max_temp = 0.0;
  6486. if(millis() > stat_update) {
  6487. stat_update += 500; // Update every 0.5s
  6488. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  6489. max_temp = max(max_temp, degHotend(cur_extruder));
  6490. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  6491. }
  6492. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  6493. max_temp = max(max_temp, degTargetBed());
  6494. max_temp = max(max_temp, degBed());
  6495. #endif
  6496. if((max_temp > 55.0) && (red_led == false)) {
  6497. digitalWrite(STAT_LED_RED, 1);
  6498. digitalWrite(STAT_LED_BLUE, 0);
  6499. red_led = true;
  6500. blue_led = false;
  6501. }
  6502. if((max_temp < 54.0) && (blue_led == false)) {
  6503. digitalWrite(STAT_LED_RED, 0);
  6504. digitalWrite(STAT_LED_BLUE, 1);
  6505. red_led = false;
  6506. blue_led = true;
  6507. }
  6508. }
  6509. }
  6510. #endif
  6511. #ifdef SAFETYTIMER
  6512. /**
  6513. * @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
  6514. *
  6515. * Full screen blocking notification message is shown after heater turning off.
  6516. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  6517. * damage print.
  6518. *
  6519. * If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
  6520. */
  6521. static void handleSafetyTimer()
  6522. {
  6523. #if (EXTRUDERS > 1)
  6524. #error Implemented only for one extruder.
  6525. #endif //(EXTRUDERS > 1)
  6526. if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
  6527. {
  6528. safetyTimer.stop();
  6529. }
  6530. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  6531. {
  6532. safetyTimer.start();
  6533. }
  6534. else if (safetyTimer.expired(safetytimer_inactive_time))
  6535. {
  6536. setTargetBed(0);
  6537. setTargetHotend(0, 0);
  6538. lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
  6539. }
  6540. }
  6541. #endif //SAFETYTIMER
  6542. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  6543. {
  6544. #ifdef FILAMENT_SENSOR
  6545. if (mcode_in_progress != 600) //M600 not in progress
  6546. {
  6547. if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
  6548. {
  6549. if (fsensor_check_autoload())
  6550. {
  6551. fsensor_autoload_check_stop();
  6552. if (degHotend0() > EXTRUDE_MINTEMP)
  6553. {
  6554. tone(BEEPER, 1000);
  6555. delay_keep_alive(50);
  6556. noTone(BEEPER);
  6557. loading_flag = true;
  6558. enquecommand_front_P((PSTR("M701")));
  6559. }
  6560. else
  6561. {
  6562. lcd_update_enable(false);
  6563. lcd_clear();
  6564. lcd_set_cursor(0, 0);
  6565. lcd_puts_P(_T(MSG_ERROR));
  6566. lcd_set_cursor(0, 2);
  6567. lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
  6568. delay(2000);
  6569. lcd_clear();
  6570. lcd_update_enable(true);
  6571. }
  6572. }
  6573. }
  6574. else
  6575. fsensor_autoload_check_stop();
  6576. }
  6577. #endif //FILAMENT_SENSOR
  6578. #ifdef SAFETYTIMER
  6579. handleSafetyTimer();
  6580. #endif //SAFETYTIMER
  6581. #if defined(KILL_PIN) && KILL_PIN > -1
  6582. static int killCount = 0; // make the inactivity button a bit less responsive
  6583. const int KILL_DELAY = 10000;
  6584. #endif
  6585. if(buflen < (BUFSIZE-1)){
  6586. get_command();
  6587. }
  6588. if( (millis() - previous_millis_cmd) > max_inactive_time )
  6589. if(max_inactive_time)
  6590. kill(_n(""), 4);
  6591. if(stepper_inactive_time) {
  6592. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  6593. {
  6594. if(blocks_queued() == false && ignore_stepper_queue == false) {
  6595. disable_x();
  6596. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  6597. disable_y();
  6598. disable_z();
  6599. disable_e0();
  6600. disable_e1();
  6601. disable_e2();
  6602. }
  6603. }
  6604. }
  6605. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  6606. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  6607. {
  6608. chdkActive = false;
  6609. WRITE(CHDK, LOW);
  6610. }
  6611. #endif
  6612. #if defined(KILL_PIN) && KILL_PIN > -1
  6613. // Check if the kill button was pressed and wait just in case it was an accidental
  6614. // key kill key press
  6615. // -------------------------------------------------------------------------------
  6616. if( 0 == READ(KILL_PIN) )
  6617. {
  6618. killCount++;
  6619. }
  6620. else if (killCount > 0)
  6621. {
  6622. killCount--;
  6623. }
  6624. // Exceeded threshold and we can confirm that it was not accidental
  6625. // KILL the machine
  6626. // ----------------------------------------------------------------
  6627. if ( killCount >= KILL_DELAY)
  6628. {
  6629. kill("", 5);
  6630. }
  6631. #endif
  6632. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6633. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  6634. #endif
  6635. #ifdef EXTRUDER_RUNOUT_PREVENT
  6636. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  6637. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  6638. {
  6639. bool oldstatus=READ(E0_ENABLE_PIN);
  6640. enable_e0();
  6641. float oldepos=current_position[E_AXIS];
  6642. float oldedes=destination[E_AXIS];
  6643. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  6644. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  6645. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  6646. current_position[E_AXIS]=oldepos;
  6647. destination[E_AXIS]=oldedes;
  6648. plan_set_e_position(oldepos);
  6649. previous_millis_cmd=millis();
  6650. st_synchronize();
  6651. WRITE(E0_ENABLE_PIN,oldstatus);
  6652. }
  6653. #endif
  6654. #ifdef TEMP_STAT_LEDS
  6655. handle_status_leds();
  6656. #endif
  6657. check_axes_activity();
  6658. }
  6659. void kill(const char *full_screen_message, unsigned char id)
  6660. {
  6661. printf_P(_N("KILL: %d\n"), id);
  6662. //return;
  6663. cli(); // Stop interrupts
  6664. disable_heater();
  6665. disable_x();
  6666. // SERIAL_ECHOLNPGM("kill - disable Y");
  6667. disable_y();
  6668. disable_z();
  6669. disable_e0();
  6670. disable_e1();
  6671. disable_e2();
  6672. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  6673. pinMode(PS_ON_PIN,INPUT);
  6674. #endif
  6675. SERIAL_ERROR_START;
  6676. SERIAL_ERRORLNRPGM(_i("Printer halted. kill() called!"));////MSG_ERR_KILLED c=0 r=0
  6677. if (full_screen_message != NULL) {
  6678. SERIAL_ERRORLNRPGM(full_screen_message);
  6679. lcd_display_message_fullscreen_P(full_screen_message);
  6680. } else {
  6681. LCD_ALERTMESSAGERPGM(_i("KILLED. "));////MSG_KILLED c=0 r=0
  6682. }
  6683. // FMC small patch to update the LCD before ending
  6684. sei(); // enable interrupts
  6685. for ( int i=5; i--; lcd_update(0))
  6686. {
  6687. delay(200);
  6688. }
  6689. cli(); // disable interrupts
  6690. suicide();
  6691. while(1)
  6692. {
  6693. #ifdef WATCHDOG
  6694. wdt_reset();
  6695. #endif //WATCHDOG
  6696. /* Intentionally left empty */
  6697. } // Wait for reset
  6698. }
  6699. void Stop()
  6700. {
  6701. disable_heater();
  6702. if(Stopped == false) {
  6703. Stopped = true;
  6704. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  6705. SERIAL_ERROR_START;
  6706. SERIAL_ERRORLNRPGM(_T(MSG_ERR_STOPPED));
  6707. LCD_MESSAGERPGM(_T(MSG_STOPPED));
  6708. }
  6709. }
  6710. bool IsStopped() { return Stopped; };
  6711. #ifdef FAST_PWM_FAN
  6712. void setPwmFrequency(uint8_t pin, int val)
  6713. {
  6714. val &= 0x07;
  6715. switch(digitalPinToTimer(pin))
  6716. {
  6717. #if defined(TCCR0A)
  6718. case TIMER0A:
  6719. case TIMER0B:
  6720. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  6721. // TCCR0B |= val;
  6722. break;
  6723. #endif
  6724. #if defined(TCCR1A)
  6725. case TIMER1A:
  6726. case TIMER1B:
  6727. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6728. // TCCR1B |= val;
  6729. break;
  6730. #endif
  6731. #if defined(TCCR2)
  6732. case TIMER2:
  6733. case TIMER2:
  6734. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6735. TCCR2 |= val;
  6736. break;
  6737. #endif
  6738. #if defined(TCCR2A)
  6739. case TIMER2A:
  6740. case TIMER2B:
  6741. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  6742. TCCR2B |= val;
  6743. break;
  6744. #endif
  6745. #if defined(TCCR3A)
  6746. case TIMER3A:
  6747. case TIMER3B:
  6748. case TIMER3C:
  6749. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  6750. TCCR3B |= val;
  6751. break;
  6752. #endif
  6753. #if defined(TCCR4A)
  6754. case TIMER4A:
  6755. case TIMER4B:
  6756. case TIMER4C:
  6757. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  6758. TCCR4B |= val;
  6759. break;
  6760. #endif
  6761. #if defined(TCCR5A)
  6762. case TIMER5A:
  6763. case TIMER5B:
  6764. case TIMER5C:
  6765. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  6766. TCCR5B |= val;
  6767. break;
  6768. #endif
  6769. }
  6770. }
  6771. #endif //FAST_PWM_FAN
  6772. bool setTargetedHotend(int code){
  6773. tmp_extruder = active_extruder;
  6774. if(code_seen('T')) {
  6775. tmp_extruder = code_value();
  6776. if(tmp_extruder >= EXTRUDERS) {
  6777. SERIAL_ECHO_START;
  6778. switch(code){
  6779. case 104:
  6780. SERIAL_ECHORPGM(_i("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER c=0 r=0
  6781. break;
  6782. case 105:
  6783. SERIAL_ECHO(_i("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER c=0 r=0
  6784. break;
  6785. case 109:
  6786. SERIAL_ECHO(_i("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER c=0 r=0
  6787. break;
  6788. case 218:
  6789. SERIAL_ECHO(_i("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER c=0 r=0
  6790. break;
  6791. case 221:
  6792. SERIAL_ECHO(_i("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER c=0 r=0
  6793. break;
  6794. }
  6795. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6796. return true;
  6797. }
  6798. }
  6799. return false;
  6800. }
  6801. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  6802. {
  6803. 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)
  6804. {
  6805. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  6806. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  6807. }
  6808. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  6809. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  6810. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  6811. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  6812. total_filament_used = 0;
  6813. }
  6814. float calculate_extruder_multiplier(float diameter) {
  6815. float out = 1.f;
  6816. if (volumetric_enabled && diameter > 0.f) {
  6817. float area = M_PI * diameter * diameter * 0.25;
  6818. out = 1.f / area;
  6819. }
  6820. if (extrudemultiply != 100)
  6821. out *= float(extrudemultiply) * 0.01f;
  6822. return out;
  6823. }
  6824. void calculate_extruder_multipliers() {
  6825. extruder_multiplier[0] = calculate_extruder_multiplier(filament_size[0]);
  6826. #if EXTRUDERS > 1
  6827. extruder_multiplier[1] = calculate_extruder_multiplier(filament_size[1]);
  6828. #if EXTRUDERS > 2
  6829. extruder_multiplier[2] = calculate_extruder_multiplier(filament_size[2]);
  6830. #endif
  6831. #endif
  6832. }
  6833. void delay_keep_alive(unsigned int ms)
  6834. {
  6835. for (;;) {
  6836. manage_heater();
  6837. // Manage inactivity, but don't disable steppers on timeout.
  6838. manage_inactivity(true);
  6839. lcd_update(0);
  6840. if (ms == 0)
  6841. break;
  6842. else if (ms >= 50) {
  6843. delay(50);
  6844. ms -= 50;
  6845. } else {
  6846. delay(ms);
  6847. ms = 0;
  6848. }
  6849. }
  6850. }
  6851. void wait_for_heater(long codenum) {
  6852. #ifdef TEMP_RESIDENCY_TIME
  6853. long residencyStart;
  6854. residencyStart = -1;
  6855. /* continue to loop until we have reached the target temp
  6856. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  6857. while ((!cancel_heatup) && ((residencyStart == -1) ||
  6858. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  6859. #else
  6860. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  6861. #endif //TEMP_RESIDENCY_TIME
  6862. if ((millis() - codenum) > 1000UL)
  6863. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  6864. if (!farm_mode) {
  6865. SERIAL_PROTOCOLPGM("T:");
  6866. SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
  6867. SERIAL_PROTOCOLPGM(" E:");
  6868. SERIAL_PROTOCOL((int)tmp_extruder);
  6869. #ifdef TEMP_RESIDENCY_TIME
  6870. SERIAL_PROTOCOLPGM(" W:");
  6871. if (residencyStart > -1)
  6872. {
  6873. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  6874. SERIAL_PROTOCOLLN(codenum);
  6875. }
  6876. else
  6877. {
  6878. SERIAL_PROTOCOLLN("?");
  6879. }
  6880. }
  6881. #else
  6882. SERIAL_PROTOCOLLN("");
  6883. #endif
  6884. codenum = millis();
  6885. }
  6886. manage_heater();
  6887. manage_inactivity();
  6888. lcd_update(0);
  6889. #ifdef TEMP_RESIDENCY_TIME
  6890. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  6891. or when current temp falls outside the hysteresis after target temp was reached */
  6892. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
  6893. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
  6894. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
  6895. {
  6896. residencyStart = millis();
  6897. }
  6898. #endif //TEMP_RESIDENCY_TIME
  6899. }
  6900. }
  6901. void check_babystep() {
  6902. int babystep_z;
  6903. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6904. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  6905. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  6906. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  6907. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6908. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  6909. lcd_update_enable(true);
  6910. }
  6911. }
  6912. #ifdef DIS
  6913. void d_setup()
  6914. {
  6915. pinMode(D_DATACLOCK, INPUT_PULLUP);
  6916. pinMode(D_DATA, INPUT_PULLUP);
  6917. pinMode(D_REQUIRE, OUTPUT);
  6918. digitalWrite(D_REQUIRE, HIGH);
  6919. }
  6920. float d_ReadData()
  6921. {
  6922. int digit[13];
  6923. String mergeOutput;
  6924. float output;
  6925. digitalWrite(D_REQUIRE, HIGH);
  6926. for (int i = 0; i<13; i++)
  6927. {
  6928. for (int j = 0; j < 4; j++)
  6929. {
  6930. while (digitalRead(D_DATACLOCK) == LOW) {}
  6931. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6932. bitWrite(digit[i], j, digitalRead(D_DATA));
  6933. }
  6934. }
  6935. digitalWrite(D_REQUIRE, LOW);
  6936. mergeOutput = "";
  6937. output = 0;
  6938. for (int r = 5; r <= 10; r++) //Merge digits
  6939. {
  6940. mergeOutput += digit[r];
  6941. }
  6942. output = mergeOutput.toFloat();
  6943. if (digit[4] == 8) //Handle sign
  6944. {
  6945. output *= -1;
  6946. }
  6947. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6948. {
  6949. output /= 10;
  6950. }
  6951. return output;
  6952. }
  6953. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  6954. int t1 = 0;
  6955. int t_delay = 0;
  6956. int digit[13];
  6957. int m;
  6958. char str[3];
  6959. //String mergeOutput;
  6960. char mergeOutput[15];
  6961. float output;
  6962. int mesh_point = 0; //index number of calibration point
  6963. 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
  6964. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  6965. float mesh_home_z_search = 4;
  6966. float row[x_points_num];
  6967. int ix = 0;
  6968. int iy = 0;
  6969. char* filename_wldsd = "wldsd.txt";
  6970. char data_wldsd[70];
  6971. char numb_wldsd[10];
  6972. d_setup();
  6973. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  6974. // We don't know where we are! HOME!
  6975. // Push the commands to the front of the message queue in the reverse order!
  6976. // There shall be always enough space reserved for these commands.
  6977. repeatcommand_front(); // repeat G80 with all its parameters
  6978. enquecommand_front_P((PSTR("G28 W0")));
  6979. enquecommand_front_P((PSTR("G1 Z5")));
  6980. return;
  6981. }
  6982. bool custom_message_old = custom_message;
  6983. unsigned int custom_message_type_old = custom_message_type;
  6984. unsigned int custom_message_state_old = custom_message_state;
  6985. custom_message = true;
  6986. custom_message_type = 1;
  6987. custom_message_state = (x_points_num * y_points_num) + 10;
  6988. lcd_update(1);
  6989. mbl.reset();
  6990. babystep_undo();
  6991. card.openFile(filename_wldsd, false);
  6992. current_position[Z_AXIS] = mesh_home_z_search;
  6993. 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);
  6994. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  6995. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  6996. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  6997. setup_for_endstop_move(false);
  6998. SERIAL_PROTOCOLPGM("Num X,Y: ");
  6999. SERIAL_PROTOCOL(x_points_num);
  7000. SERIAL_PROTOCOLPGM(",");
  7001. SERIAL_PROTOCOL(y_points_num);
  7002. SERIAL_PROTOCOLPGM("\nZ search height: ");
  7003. SERIAL_PROTOCOL(mesh_home_z_search);
  7004. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  7005. SERIAL_PROTOCOL(x_dimension);
  7006. SERIAL_PROTOCOLPGM(",");
  7007. SERIAL_PROTOCOL(y_dimension);
  7008. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  7009. while (mesh_point != x_points_num * y_points_num) {
  7010. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  7011. iy = mesh_point / x_points_num;
  7012. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  7013. float z0 = 0.f;
  7014. current_position[Z_AXIS] = mesh_home_z_search;
  7015. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  7016. st_synchronize();
  7017. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  7018. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  7019. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  7020. st_synchronize();
  7021. 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
  7022. break;
  7023. card.closefile();
  7024. }
  7025. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7026. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  7027. //strcat(data_wldsd, numb_wldsd);
  7028. //MYSERIAL.println(data_wldsd);
  7029. //delay(1000);
  7030. //delay(3000);
  7031. //t1 = millis();
  7032. //while (digitalRead(D_DATACLOCK) == LOW) {}
  7033. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  7034. memset(digit, 0, sizeof(digit));
  7035. //cli();
  7036. digitalWrite(D_REQUIRE, LOW);
  7037. for (int i = 0; i<13; i++)
  7038. {
  7039. //t1 = millis();
  7040. for (int j = 0; j < 4; j++)
  7041. {
  7042. while (digitalRead(D_DATACLOCK) == LOW) {}
  7043. while (digitalRead(D_DATACLOCK) == HIGH) {}
  7044. bitWrite(digit[i], j, digitalRead(D_DATA));
  7045. }
  7046. //t_delay = (millis() - t1);
  7047. //SERIAL_PROTOCOLPGM(" ");
  7048. //SERIAL_PROTOCOL_F(t_delay, 5);
  7049. //SERIAL_PROTOCOLPGM(" ");
  7050. }
  7051. //sei();
  7052. digitalWrite(D_REQUIRE, HIGH);
  7053. mergeOutput[0] = '\0';
  7054. output = 0;
  7055. for (int r = 5; r <= 10; r++) //Merge digits
  7056. {
  7057. sprintf(str, "%d", digit[r]);
  7058. strcat(mergeOutput, str);
  7059. }
  7060. output = atof(mergeOutput);
  7061. if (digit[4] == 8) //Handle sign
  7062. {
  7063. output *= -1;
  7064. }
  7065. for (int i = digit[11]; i > 0; i--) //Handle floating point
  7066. {
  7067. output *= 0.1;
  7068. }
  7069. //output = d_ReadData();
  7070. //row[ix] = current_position[Z_AXIS];
  7071. memset(data_wldsd, 0, sizeof(data_wldsd));
  7072. for (int i = 0; i <3; i++) {
  7073. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7074. dtostrf(current_position[i], 8, 5, numb_wldsd);
  7075. strcat(data_wldsd, numb_wldsd);
  7076. strcat(data_wldsd, ";");
  7077. }
  7078. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  7079. dtostrf(output, 8, 5, numb_wldsd);
  7080. strcat(data_wldsd, numb_wldsd);
  7081. //strcat(data_wldsd, ";");
  7082. card.write_command(data_wldsd);
  7083. //row[ix] = d_ReadData();
  7084. row[ix] = output; // current_position[Z_AXIS];
  7085. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  7086. for (int i = 0; i < x_points_num; i++) {
  7087. SERIAL_PROTOCOLPGM(" ");
  7088. SERIAL_PROTOCOL_F(row[i], 5);
  7089. }
  7090. SERIAL_PROTOCOLPGM("\n");
  7091. }
  7092. custom_message_state--;
  7093. mesh_point++;
  7094. lcd_update(1);
  7095. }
  7096. card.closefile();
  7097. }
  7098. #endif
  7099. void temp_compensation_start() {
  7100. custom_message = true;
  7101. custom_message_type = 5;
  7102. custom_message_state = PINDA_HEAT_T + 1;
  7103. lcd_update(2);
  7104. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  7105. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  7106. }
  7107. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7108. current_position[X_AXIS] = PINDA_PREHEAT_X;
  7109. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  7110. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  7111. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  7112. st_synchronize();
  7113. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  7114. for (int i = 0; i < PINDA_HEAT_T; i++) {
  7115. delay_keep_alive(1000);
  7116. custom_message_state = PINDA_HEAT_T - i;
  7117. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  7118. else lcd_update(1);
  7119. }
  7120. custom_message_type = 0;
  7121. custom_message_state = 0;
  7122. custom_message = false;
  7123. }
  7124. void temp_compensation_apply() {
  7125. int i_add;
  7126. int compensation_value;
  7127. int z_shift = 0;
  7128. float z_shift_mm;
  7129. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  7130. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  7131. i_add = (target_temperature_bed - 60) / 10;
  7132. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  7133. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  7134. }else {
  7135. //interpolation
  7136. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  7137. }
  7138. printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
  7139. 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);
  7140. st_synchronize();
  7141. plan_set_z_position(current_position[Z_AXIS]);
  7142. }
  7143. else {
  7144. //we have no temp compensation data
  7145. }
  7146. }
  7147. float temp_comp_interpolation(float inp_temperature) {
  7148. //cubic spline interpolation
  7149. int n, i, j, k;
  7150. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  7151. int shift[10];
  7152. int temp_C[10];
  7153. n = 6; //number of measured points
  7154. shift[0] = 0;
  7155. for (i = 0; i < n; i++) {
  7156. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  7157. temp_C[i] = 50 + i * 10; //temperature in C
  7158. #ifdef PINDA_THERMISTOR
  7159. temp_C[i] = 35 + i * 5; //temperature in C
  7160. #else
  7161. temp_C[i] = 50 + i * 10; //temperature in C
  7162. #endif
  7163. x[i] = (float)temp_C[i];
  7164. f[i] = (float)shift[i];
  7165. }
  7166. if (inp_temperature < x[0]) return 0;
  7167. for (i = n - 1; i>0; i--) {
  7168. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  7169. h[i - 1] = x[i] - x[i - 1];
  7170. }
  7171. //*********** formation of h, s , f matrix **************
  7172. for (i = 1; i<n - 1; i++) {
  7173. m[i][i] = 2 * (h[i - 1] + h[i]);
  7174. if (i != 1) {
  7175. m[i][i - 1] = h[i - 1];
  7176. m[i - 1][i] = h[i - 1];
  7177. }
  7178. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  7179. }
  7180. //*********** forward elimination **************
  7181. for (i = 1; i<n - 2; i++) {
  7182. temp = (m[i + 1][i] / m[i][i]);
  7183. for (j = 1; j <= n - 1; j++)
  7184. m[i + 1][j] -= temp*m[i][j];
  7185. }
  7186. //*********** backward substitution *********
  7187. for (i = n - 2; i>0; i--) {
  7188. sum = 0;
  7189. for (j = i; j <= n - 2; j++)
  7190. sum += m[i][j] * s[j];
  7191. s[i] = (m[i][n - 1] - sum) / m[i][i];
  7192. }
  7193. for (i = 0; i<n - 1; i++)
  7194. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  7195. a = (s[i + 1] - s[i]) / (6 * h[i]);
  7196. b = s[i] / 2;
  7197. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  7198. d = f[i];
  7199. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  7200. }
  7201. return sum;
  7202. }
  7203. #ifdef PINDA_THERMISTOR
  7204. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  7205. {
  7206. if (!temp_cal_active) return 0;
  7207. if (!calibration_status_pinda()) return 0;
  7208. return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
  7209. }
  7210. #endif //PINDA_THERMISTOR
  7211. void long_pause() //long pause print
  7212. {
  7213. st_synchronize();
  7214. //save currently set parameters to global variables
  7215. saved_feedmultiply = feedmultiply;
  7216. HotendTempBckp = degTargetHotend(active_extruder);
  7217. fanSpeedBckp = fanSpeed;
  7218. start_pause_print = millis();
  7219. //save position
  7220. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  7221. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  7222. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  7223. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  7224. //retract
  7225. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  7226. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7227. //lift z
  7228. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  7229. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  7230. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  7231. //set nozzle target temperature to 0
  7232. setTargetHotend(0, 0);
  7233. setTargetHotend(0, 1);
  7234. setTargetHotend(0, 2);
  7235. //Move XY to side
  7236. current_position[X_AXIS] = X_PAUSE_POS;
  7237. current_position[Y_AXIS] = Y_PAUSE_POS;
  7238. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  7239. // Turn off the print fan
  7240. fanSpeed = 0;
  7241. st_synchronize();
  7242. }
  7243. void serialecho_temperatures() {
  7244. float tt = degHotend(active_extruder);
  7245. SERIAL_PROTOCOLPGM("T:");
  7246. SERIAL_PROTOCOL(tt);
  7247. SERIAL_PROTOCOLPGM(" E:");
  7248. SERIAL_PROTOCOL((int)active_extruder);
  7249. SERIAL_PROTOCOLPGM(" B:");
  7250. SERIAL_PROTOCOL_F(degBed(), 1);
  7251. SERIAL_PROTOCOLLN("");
  7252. }
  7253. extern uint32_t sdpos_atomic;
  7254. #ifdef UVLO_SUPPORT
  7255. void uvlo_()
  7256. {
  7257. unsigned long time_start = millis();
  7258. bool sd_print = card.sdprinting;
  7259. // Conserve power as soon as possible.
  7260. disable_x();
  7261. disable_y();
  7262. #ifdef TMC2130
  7263. tmc2130_set_current_h(Z_AXIS, 20);
  7264. tmc2130_set_current_r(Z_AXIS, 20);
  7265. tmc2130_set_current_h(E_AXIS, 20);
  7266. tmc2130_set_current_r(E_AXIS, 20);
  7267. #endif //TMC2130
  7268. // Indicate that the interrupt has been triggered.
  7269. // SERIAL_ECHOLNPGM("UVLO");
  7270. // Read out the current Z motor microstep counter. This will be later used
  7271. // for reaching the zero full step before powering off.
  7272. uint16_t z_microsteps = 0;
  7273. #ifdef TMC2130
  7274. z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  7275. #endif //TMC2130
  7276. // Calculate the file position, from which to resume this print.
  7277. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  7278. {
  7279. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7280. sd_position -= sdlen_planner;
  7281. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7282. sd_position -= sdlen_cmdqueue;
  7283. if (sd_position < 0) sd_position = 0;
  7284. }
  7285. // Backup the feedrate in mm/min.
  7286. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7287. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  7288. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  7289. // are in action.
  7290. planner_abort_hard();
  7291. // Store the current extruder position.
  7292. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  7293. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  7294. // Clean the input command queue.
  7295. cmdqueue_reset();
  7296. card.sdprinting = false;
  7297. // card.closefile();
  7298. // Enable stepper driver interrupt to move Z axis.
  7299. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  7300. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  7301. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  7302. sei();
  7303. plan_buffer_line(
  7304. current_position[X_AXIS],
  7305. current_position[Y_AXIS],
  7306. current_position[Z_AXIS],
  7307. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7308. 95, active_extruder);
  7309. st_synchronize();
  7310. disable_e0();
  7311. plan_buffer_line(
  7312. current_position[X_AXIS],
  7313. current_position[Y_AXIS],
  7314. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7315. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7316. 40, active_extruder);
  7317. st_synchronize();
  7318. disable_e0();
  7319. plan_buffer_line(
  7320. current_position[X_AXIS],
  7321. current_position[Y_AXIS],
  7322. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7323. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7324. 40, active_extruder);
  7325. st_synchronize();
  7326. disable_e0();
  7327. disable_z();
  7328. // Move Z up to the next 0th full step.
  7329. // Write the file position.
  7330. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  7331. // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7332. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7333. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7334. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7335. // Scale the z value to 1u resolution.
  7336. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
  7337. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  7338. }
  7339. // Read out the current Z motor microstep counter. This will be later used
  7340. // for reaching the zero full step before powering off.
  7341. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  7342. // Store the current position.
  7343. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  7344. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  7345. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  7346. // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
  7347. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  7348. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  7349. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  7350. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  7351. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
  7352. #if EXTRUDERS > 1
  7353. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
  7354. #if EXTRUDERS > 2
  7355. eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
  7356. #endif
  7357. #endif
  7358. eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
  7359. // Finaly store the "power outage" flag.
  7360. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  7361. st_synchronize();
  7362. printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
  7363. disable_z();
  7364. // Increment power failure counter
  7365. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  7366. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  7367. printf_P(_N("UVLO - end %d\n"), millis() - time_start);
  7368. #if 0
  7369. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  7370. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  7371. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  7372. st_synchronize();
  7373. #endif
  7374. cli();
  7375. volatile unsigned int ppcount = 0;
  7376. SET_OUTPUT(BEEPER);
  7377. WRITE(BEEPER, HIGH);
  7378. for(ppcount = 0; ppcount < 2000; ppcount ++){
  7379. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  7380. }
  7381. WRITE(BEEPER, LOW);
  7382. while(1){
  7383. #if 1
  7384. WRITE(BEEPER, LOW);
  7385. for(ppcount = 0; ppcount < 8000; ppcount ++){
  7386. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  7387. }
  7388. #endif
  7389. };
  7390. }
  7391. #endif //UVLO_SUPPORT
  7392. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  7393. void setup_fan_interrupt() {
  7394. //INT7
  7395. DDRE &= ~(1 << 7); //input pin
  7396. PORTE &= ~(1 << 7); //no internal pull-up
  7397. //start with sensing rising edge
  7398. EICRB &= ~(1 << 6);
  7399. EICRB |= (1 << 7);
  7400. //enable INT7 interrupt
  7401. EIMSK |= (1 << 7);
  7402. }
  7403. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  7404. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  7405. ISR(INT7_vect) {
  7406. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  7407. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  7408. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  7409. t_fan_rising_edge = millis_nc();
  7410. }
  7411. else { //interrupt was triggered by falling edge
  7412. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  7413. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  7414. }
  7415. }
  7416. EICRB ^= (1 << 6); //change edge
  7417. }
  7418. #endif
  7419. #ifdef UVLO_SUPPORT
  7420. void setup_uvlo_interrupt() {
  7421. DDRE &= ~(1 << 4); //input pin
  7422. PORTE &= ~(1 << 4); //no internal pull-up
  7423. //sensing falling edge
  7424. EICRB |= (1 << 0);
  7425. EICRB &= ~(1 << 1);
  7426. //enable INT4 interrupt
  7427. EIMSK |= (1 << 4);
  7428. }
  7429. ISR(INT4_vect) {
  7430. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  7431. SERIAL_ECHOLNPGM("INT4");
  7432. if (IS_SD_PRINTING) uvlo_();
  7433. }
  7434. void recover_print(uint8_t automatic) {
  7435. char cmd[30];
  7436. lcd_update_enable(true);
  7437. lcd_update(2);
  7438. lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
  7439. recover_machine_state_after_power_panic(); //recover position, temperatures and extrude_multipliers
  7440. // Lift the print head, so one may remove the excess priming material.
  7441. if (current_position[Z_AXIS] < 25)
  7442. enquecommand_P(PSTR("G1 Z25 F800"));
  7443. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  7444. enquecommand_P(PSTR("G28 X Y"));
  7445. // Set the target bed and nozzle temperatures and wait.
  7446. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  7447. enquecommand(cmd);
  7448. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  7449. enquecommand(cmd);
  7450. enquecommand_P(PSTR("M83")); //E axis relative mode
  7451. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7452. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  7453. if(automatic == 0){
  7454. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7455. }
  7456. enquecommand_P(PSTR("G1 E" STRINGIFY(-DEFAULT_RETRACTION)" F480"));
  7457. // Mark the power panic status as inactive.
  7458. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  7459. /*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
  7460. delay_keep_alive(1000);
  7461. }*/
  7462. 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]);
  7463. // Restart the print.
  7464. restore_print_from_eeprom();
  7465. printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
  7466. }
  7467. void recover_machine_state_after_power_panic()
  7468. {
  7469. char cmd[30];
  7470. // 1) Recover the logical cordinates at the time of the power panic.
  7471. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  7472. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  7473. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  7474. // Recover the logical coordinate of the Z axis at the time of the power panic.
  7475. // The current position after power panic is moved to the next closest 0th full step.
  7476. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  7477. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  7478. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
  7479. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7480. sprintf_P(cmd, PSTR("G92 E"));
  7481. dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
  7482. enquecommand(cmd);
  7483. }
  7484. memcpy(destination, current_position, sizeof(destination));
  7485. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7486. print_world_coordinates();
  7487. // 2) Initialize the logical to physical coordinate system transformation.
  7488. world2machine_initialize();
  7489. // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7490. mbl.active = false;
  7491. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7492. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7493. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7494. // Scale the z value to 10u resolution.
  7495. int16_t v;
  7496. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
  7497. if (v != 0)
  7498. mbl.active = true;
  7499. mbl.z_values[iy][ix] = float(v) * 0.001f;
  7500. }
  7501. if (mbl.active)
  7502. mbl.upsample_3x3();
  7503. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7504. // print_mesh_bed_leveling_table();
  7505. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  7506. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  7507. babystep_load();
  7508. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  7509. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  7510. // 6) Power up the motors, mark their positions as known.
  7511. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  7512. axis_known_position[X_AXIS] = true; enable_x();
  7513. axis_known_position[Y_AXIS] = true; enable_y();
  7514. axis_known_position[Z_AXIS] = true; enable_z();
  7515. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7516. print_physical_coordinates();
  7517. // 7) Recover the target temperatures.
  7518. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  7519. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  7520. // 8) Recover extruder multipilers
  7521. extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
  7522. #if EXTRUDERS > 1
  7523. extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
  7524. #if EXTRUDERS > 2
  7525. extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
  7526. #endif
  7527. #endif
  7528. extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
  7529. }
  7530. void restore_print_from_eeprom() {
  7531. float x_rec, y_rec, z_pos;
  7532. int feedrate_rec;
  7533. uint8_t fan_speed_rec;
  7534. char cmd[30];
  7535. char* c;
  7536. char filename[13];
  7537. uint8_t depth = 0;
  7538. char dir_name[9];
  7539. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  7540. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  7541. SERIAL_ECHOPGM("Feedrate:");
  7542. MYSERIAL.println(feedrate_rec);
  7543. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  7544. MYSERIAL.println(int(depth));
  7545. for (int i = 0; i < depth; i++) {
  7546. for (int j = 0; j < 8; j++) {
  7547. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  7548. }
  7549. dir_name[8] = '\0';
  7550. MYSERIAL.println(dir_name);
  7551. strcpy(dir_names[i], dir_name);
  7552. card.chdir(dir_name);
  7553. }
  7554. for (int i = 0; i < 8; i++) {
  7555. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  7556. }
  7557. filename[8] = '\0';
  7558. MYSERIAL.print(filename);
  7559. strcat_P(filename, PSTR(".gco"));
  7560. sprintf_P(cmd, PSTR("M23 %s"), filename);
  7561. enquecommand(cmd);
  7562. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  7563. SERIAL_ECHOPGM("Position read from eeprom:");
  7564. MYSERIAL.println(position);
  7565. // E axis relative mode.
  7566. enquecommand_P(PSTR("M83"));
  7567. // Move to the XY print position in logical coordinates, where the print has been killed.
  7568. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  7569. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  7570. strcat_P(cmd, PSTR(" F2000"));
  7571. enquecommand(cmd);
  7572. // Move the Z axis down to the print, in logical coordinates.
  7573. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  7574. enquecommand(cmd);
  7575. // Unretract.
  7576. enquecommand_P(PSTR("G1 E" STRINGIFY(2*DEFAULT_RETRACTION)" F480"));
  7577. // Set the feedrate saved at the power panic.
  7578. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  7579. enquecommand(cmd);
  7580. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  7581. {
  7582. float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7583. enquecommand_P(PSTR("M82")); //E axis abslute mode
  7584. }
  7585. // Set the fan speed saved at the power panic.
  7586. strcpy_P(cmd, PSTR("M106 S"));
  7587. strcat(cmd, itostr3(int(fan_speed_rec)));
  7588. enquecommand(cmd);
  7589. // Set a position in the file.
  7590. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  7591. enquecommand(cmd);
  7592. // Start SD print.
  7593. enquecommand_P(PSTR("M24"));
  7594. }
  7595. #endif //UVLO_SUPPORT
  7596. ////////////////////////////////////////////////////////////////////////////////
  7597. // save/restore printing
  7598. void stop_and_save_print_to_ram(float z_move, float e_move)
  7599. {
  7600. if (saved_printing) return;
  7601. unsigned char nplanner_blocks;
  7602. unsigned char nlines;
  7603. uint16_t sdlen_planner;
  7604. uint16_t sdlen_cmdqueue;
  7605. cli();
  7606. if (card.sdprinting) {
  7607. nplanner_blocks = number_of_blocks();
  7608. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  7609. sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7610. saved_sdpos -= sdlen_planner;
  7611. sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7612. saved_sdpos -= sdlen_cmdqueue;
  7613. saved_printing_type = PRINTING_TYPE_SD;
  7614. }
  7615. else if (is_usb_printing) { //reuse saved_sdpos for storing line number
  7616. saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
  7617. //reuse planner_calc_sd_length function for getting number of lines of commands in planner:
  7618. nlines = planner_calc_sd_length(); //number of lines of commands in planner
  7619. saved_sdpos -= nlines;
  7620. saved_sdpos -= buflen; //number of blocks in cmd buffer
  7621. saved_printing_type = PRINTING_TYPE_USB;
  7622. }
  7623. else {
  7624. //not sd printing nor usb printing
  7625. }
  7626. #if 0
  7627. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  7628. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  7629. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  7630. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  7631. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  7632. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  7633. //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  7634. {
  7635. card.setIndex(saved_sdpos);
  7636. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  7637. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  7638. MYSERIAL.print(char(card.get()));
  7639. SERIAL_ECHOLNPGM("Content of command buffer: ");
  7640. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  7641. MYSERIAL.print(char(card.get()));
  7642. SERIAL_ECHOLNPGM("End of command buffer");
  7643. }
  7644. {
  7645. // Print the content of the planner buffer, line by line:
  7646. card.setIndex(saved_sdpos);
  7647. int8_t iline = 0;
  7648. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  7649. SERIAL_ECHOPGM("Planner line (from file): ");
  7650. MYSERIAL.print(int(iline), DEC);
  7651. SERIAL_ECHOPGM(", length: ");
  7652. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  7653. SERIAL_ECHOPGM(", steps: (");
  7654. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  7655. SERIAL_ECHOPGM(",");
  7656. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  7657. SERIAL_ECHOPGM(",");
  7658. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  7659. SERIAL_ECHOPGM(",");
  7660. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  7661. SERIAL_ECHOPGM("), events: ");
  7662. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  7663. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  7664. MYSERIAL.print(char(card.get()));
  7665. }
  7666. }
  7667. {
  7668. // Print the content of the command buffer, line by line:
  7669. int8_t iline = 0;
  7670. union {
  7671. struct {
  7672. char lo;
  7673. char hi;
  7674. } lohi;
  7675. uint16_t value;
  7676. } sdlen_single;
  7677. int _bufindr = bufindr;
  7678. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  7679. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  7680. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  7681. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  7682. }
  7683. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  7684. MYSERIAL.print(int(iline), DEC);
  7685. SERIAL_ECHOPGM(", type: ");
  7686. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  7687. SERIAL_ECHOPGM(", len: ");
  7688. MYSERIAL.println(sdlen_single.value, DEC);
  7689. // Print the content of the buffer line.
  7690. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  7691. SERIAL_ECHOPGM("Buffer line (from file): ");
  7692. MYSERIAL.println(int(iline), DEC);
  7693. for (; sdlen_single.value > 0; -- sdlen_single.value)
  7694. MYSERIAL.print(char(card.get()));
  7695. if (-- _buflen == 0)
  7696. break;
  7697. // First skip the current command ID and iterate up to the end of the string.
  7698. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  7699. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  7700. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7701. // If the end of the buffer was empty,
  7702. if (_bufindr == sizeof(cmdbuffer)) {
  7703. // skip to the start and find the nonzero command.
  7704. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7705. }
  7706. }
  7707. }
  7708. #endif
  7709. #if 0
  7710. saved_feedrate2 = feedrate; //save feedrate
  7711. #else
  7712. // Try to deduce the feedrate from the first block of the planner.
  7713. // Speed is in mm/min.
  7714. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7715. #endif
  7716. planner_abort_hard(); //abort printing
  7717. memcpy(saved_pos, current_position, sizeof(saved_pos));
  7718. saved_active_extruder = active_extruder; //save active_extruder
  7719. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  7720. saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
  7721. cmdqueue_reset(); //empty cmdqueue
  7722. card.sdprinting = false;
  7723. // card.closefile();
  7724. saved_printing = true;
  7725. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  7726. st_reset_timer();
  7727. sei();
  7728. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  7729. #if 1
  7730. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  7731. char buf[48];
  7732. // First unretract (relative extrusion)
  7733. if(!saved_extruder_relative_mode){
  7734. strcpy_P(buf, PSTR("M83"));
  7735. enquecommand(buf, false);
  7736. }
  7737. //retract 45mm/s
  7738. strcpy_P(buf, PSTR("G1 E"));
  7739. dtostrf(e_move, 6, 3, buf + strlen(buf));
  7740. strcat_P(buf, PSTR(" F"));
  7741. dtostrf(2700, 8, 3, buf + strlen(buf));
  7742. enquecommand(buf, false);
  7743. // Then lift Z axis
  7744. strcpy_P(buf, PSTR("G1 Z"));
  7745. dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
  7746. strcat_P(buf, PSTR(" F"));
  7747. dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
  7748. // At this point the command queue is empty.
  7749. enquecommand(buf, false);
  7750. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  7751. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  7752. repeatcommand_front();
  7753. #else
  7754. 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);
  7755. st_synchronize(); //wait moving
  7756. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7757. memcpy(destination, current_position, sizeof(destination));
  7758. #endif
  7759. }
  7760. }
  7761. void restore_print_from_ram_and_continue(float e_move)
  7762. {
  7763. if (!saved_printing) return;
  7764. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  7765. // current_position[axis] = st_get_position_mm(axis);
  7766. active_extruder = saved_active_extruder; //restore active_extruder
  7767. feedrate = saved_feedrate2; //restore feedrate
  7768. axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
  7769. float e = saved_pos[E_AXIS] - e_move;
  7770. plan_set_e_position(e);
  7771. //first move print head in XY to the saved position:
  7772. 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);
  7773. st_synchronize();
  7774. //then move Z
  7775. 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);
  7776. st_synchronize();
  7777. //and finaly unretract (35mm/s)
  7778. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], 35, active_extruder);
  7779. st_synchronize();
  7780. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7781. memcpy(destination, current_position, sizeof(destination));
  7782. if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
  7783. card.setIndex(saved_sdpos);
  7784. sdpos_atomic = saved_sdpos;
  7785. card.sdprinting = true;
  7786. printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
  7787. }
  7788. else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
  7789. gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
  7790. serial_count = 0;
  7791. FlushSerialRequestResend();
  7792. }
  7793. else {
  7794. //not sd printing nor usb printing
  7795. }
  7796. lcd_setstatuspgm(_T(WELCOME_MSG));
  7797. saved_printing = false;
  7798. }
  7799. void print_world_coordinates()
  7800. {
  7801. printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  7802. }
  7803. void print_physical_coordinates()
  7804. {
  7805. 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));
  7806. }
  7807. void print_mesh_bed_leveling_table()
  7808. {
  7809. SERIAL_ECHOPGM("mesh bed leveling: ");
  7810. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  7811. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  7812. MYSERIAL.print(mbl.z_values[y][x], 3);
  7813. SERIAL_ECHOPGM(" ");
  7814. }
  7815. SERIAL_ECHOLNPGM("");
  7816. }
  7817. uint16_t print_time_remaining() {
  7818. uint16_t print_t = PRINT_TIME_REMAINING_INIT;
  7819. if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
  7820. else print_t = print_time_remaining_silent;
  7821. if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100 * print_t / feedmultiply;
  7822. return print_t;
  7823. }
  7824. uint8_t print_percent_done() {
  7825. //in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
  7826. uint8_t percent_done = 0;
  7827. if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
  7828. percent_done = print_percent_done_normal;
  7829. }
  7830. else if (print_percent_done_silent <= 100) {
  7831. percent_done = print_percent_done_silent;
  7832. }
  7833. else {
  7834. percent_done = card.percentDone();
  7835. }
  7836. return percent_done;
  7837. }
  7838. static void print_time_remaining_init() {
  7839. print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
  7840. print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
  7841. print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
  7842. print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
  7843. }
  7844. bool mmu_get_reponse(bool timeout) {
  7845. bool response = true;
  7846. LongTimer mmu_get_reponse_timeout;
  7847. uart2_rx_clr();
  7848. mmu_get_reponse_timeout.start();
  7849. while (!uart2_rx_ok())
  7850. {
  7851. delay_keep_alive(100);
  7852. if (timeout && mmu_get_reponse_timeout.expired(180 * 1000ul)) { //3 minutes timeout
  7853. response = false;
  7854. break;
  7855. }
  7856. }
  7857. return response;
  7858. }
  7859. void mmu_not_responding() {
  7860. printf_P(PSTR("MMU not responding"));
  7861. }
  7862. void mmu_load_to_nozzle() {
  7863. /*bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
  7864. if (!saved_e_relative_mode) {
  7865. enquecommand_front_P(PSTR("M82")); // set extruder to relative mode
  7866. }
  7867. enquecommand_front_P((PSTR("G1 E7.2000 F562")));
  7868. enquecommand_front_P((PSTR("G1 E14.4000 F871")));
  7869. enquecommand_front_P((PSTR("G1 E36.0000 F1393")));
  7870. enquecommand_front_P((PSTR("G1 E14.4000 F871")));
  7871. if (!saved_e_relative_mode) {
  7872. enquecommand_front_P(PSTR("M83")); // set extruder to relative mode
  7873. }*/
  7874. st_synchronize();
  7875. bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
  7876. if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = true;
  7877. current_position[E_AXIS] += 7.2f;
  7878. float feedrate = 562;
  7879. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  7880. st_synchronize();
  7881. current_position[E_AXIS] += 14.4f;
  7882. feedrate = 871;
  7883. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  7884. st_synchronize();
  7885. current_position[E_AXIS] += 36.0f;
  7886. feedrate = 1393;
  7887. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  7888. st_synchronize();
  7889. current_position[E_AXIS] += 14.4f;
  7890. feedrate = 871;
  7891. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
  7892. st_synchronize();
  7893. if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = false;
  7894. }
  7895. void mmu_switch_extruder(uint8_t extruder) {
  7896. }
  7897. void mmu_M600_load_filament() {
  7898. #ifdef SNMM_V2
  7899. bool response = false;
  7900. tmp_extruder = choose_extruder_menu();
  7901. lcd_update_enable(false);
  7902. lcd_clear();
  7903. lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
  7904. lcd_print(" ");
  7905. lcd_print(snmm_extruder + 1);
  7906. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  7907. printf_P(PSTR("T code: %d \n"), tmp_extruder);
  7908. fprintf_P(uart2io, PSTR("T%d\n"), tmp_extruder);
  7909. response = mmu_get_reponse(false);
  7910. if (!response) mmu_not_responding();
  7911. snmm_extruder = tmp_extruder; //filament change is finished
  7912. mmu_load_to_nozzle();
  7913. #endif
  7914. }
  7915. void M600_load_filament_movements() {
  7916. #ifdef SNMM
  7917. display_loading();
  7918. do {
  7919. current_position[E_AXIS] += 0.002;
  7920. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  7921. delay_keep_alive(2);
  7922. } while (!lcd_clicked());
  7923. st_synchronize();
  7924. current_position[E_AXIS] += bowden_length[snmm_extruder];
  7925. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000, active_extruder);
  7926. current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
  7927. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1400, active_extruder);
  7928. current_position[E_AXIS] += 40;
  7929. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  7930. current_position[E_AXIS] += 10;
  7931. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  7932. #else
  7933. current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  7934. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  7935. #endif
  7936. current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  7937. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  7938. lcd_loading_filament();
  7939. }
  7940. void M600_load_filament()
  7941. {
  7942. lcd_wait_interact();
  7943. //load_filament_time = millis();
  7944. KEEPALIVE_STATE(PAUSED_FOR_USER);
  7945. #ifdef FILAMENT_SENSOR
  7946. fsensor_autoload_check_start();
  7947. #endif //FILAMENT_SENSOR
  7948. while(!lcd_clicked())
  7949. {
  7950. manage_heater();
  7951. manage_inactivity(true);
  7952. #ifdef FILAMENT_SENSOR
  7953. if (fsensor_check_autoload())
  7954. {
  7955. tone(BEEPER, 1000);
  7956. delay_keep_alive(50);
  7957. noTone(BEEPER);
  7958. break;
  7959. }
  7960. #endif //FILAMENT_SENSOR
  7961. }
  7962. #ifdef FILAMENT_SENSOR
  7963. fsensor_autoload_check_stop();
  7964. #endif //FILAMENT_SENSOR
  7965. KEEPALIVE_STATE(IN_HANDLER);
  7966. #ifdef FILAMENT_SENSOR
  7967. fsensor_oq_meassure_start(70);
  7968. #endif //FILAMENT_SENSOR
  7969. M600_load_filament_movements();
  7970. tone(BEEPER, 500);
  7971. delay_keep_alive(50);
  7972. noTone(BEEPER);
  7973. #ifdef FILAMENT_SENSOR
  7974. fsensor_oq_meassure_stop();
  7975. if (!fsensor_oq_result())
  7976. {
  7977. bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
  7978. lcd_update_enable(true);
  7979. lcd_update(2);
  7980. if (disable)
  7981. fsensor_disable();
  7982. }
  7983. #endif //FILAMENT_SENSOR
  7984. }
  7985. #define FIL_LOAD_LENGTH 60