Marlin_main.cpp 286 KB

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  1. /* -*- c++ -*- */
  2. /*
  3. Reprap firmware based on Sprinter and grbl.
  4. Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  5. This program is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. This program is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with this program. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. /*
  17. This firmware is a mashup between Sprinter and grbl.
  18. (https://github.com/kliment/Sprinter)
  19. (https://github.com/simen/grbl/tree)
  20. It has preliminary support for Matthew Roberts advance algorithm
  21. http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  22. */
  23. #include "Marlin.h"
  24. #ifdef ENABLE_AUTO_BED_LEVELING
  25. #include "vector_3.h"
  26. #ifdef AUTO_BED_LEVELING_GRID
  27. #include "qr_solve.h"
  28. #endif
  29. #endif // ENABLE_AUTO_BED_LEVELING
  30. #ifdef MESH_BED_LEVELING
  31. #include "mesh_bed_leveling.h"
  32. #include "mesh_bed_calibration.h"
  33. #endif
  34. #include "printers.h"
  35. #include "ultralcd.h"
  36. #include "Configuration_prusa.h"
  37. #include "planner.h"
  38. #include "stepper.h"
  39. #include "temperature.h"
  40. #include "motion_control.h"
  41. #include "cardreader.h"
  42. #include "ConfigurationStore.h"
  43. #include "language.h"
  44. #include "pins_arduino.h"
  45. #include "math.h"
  46. #include "util.h"
  47. #include "Timer.h"
  48. #include <avr/wdt.h>
  49. #include <avr/pgmspace.h>
  50. #include "Dcodes.h"
  51. #ifdef SWSPI
  52. #include "swspi.h"
  53. #endif //SWSPI
  54. #ifdef NEW_SPI
  55. #include "spi.h"
  56. #endif //NEW_SPI
  57. #ifdef SWI2C
  58. #include "swi2c.h"
  59. #endif //SWI2C
  60. #ifdef PAT9125
  61. #include "pat9125.h"
  62. #include "fsensor.h"
  63. #endif //PAT9125
  64. #ifdef TMC2130
  65. #include "tmc2130.h"
  66. #endif //TMC2130
  67. #ifdef BLINKM
  68. #include "BlinkM.h"
  69. #include "Wire.h"
  70. #endif
  71. #ifdef ULTRALCD
  72. #include "ultralcd.h"
  73. #endif
  74. #if NUM_SERVOS > 0
  75. #include "Servo.h"
  76. #endif
  77. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  78. #include <SPI.h>
  79. #endif
  80. #define VERSION_STRING "1.0.2"
  81. #include "ultralcd.h"
  82. #include "cmdqueue.h"
  83. // Macros for bit masks
  84. #define BIT(b) (1<<(b))
  85. #define TEST(n,b) (((n)&BIT(b))!=0)
  86. #define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
  87. //Macro for print fan speed
  88. #define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
  89. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  90. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  91. //Implemented Codes
  92. //-------------------
  93. // PRUSA CODES
  94. // P F - Returns FW versions
  95. // P R - Returns revision of printer
  96. // G0 -> G1
  97. // G1 - Coordinated Movement X Y Z E
  98. // G2 - CW ARC
  99. // G3 - CCW ARC
  100. // G4 - Dwell S<seconds> or P<milliseconds>
  101. // G10 - retract filament according to settings of M207
  102. // G11 - retract recover filament according to settings of M208
  103. // G28 - Home all Axis
  104. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  105. // G30 - Single Z Probe, probes bed at current XY location.
  106. // G31 - Dock sled (Z_PROBE_SLED only)
  107. // G32 - Undock sled (Z_PROBE_SLED only)
  108. // G80 - Automatic mesh bed leveling
  109. // G81 - Print bed profile
  110. // G90 - Use Absolute Coordinates
  111. // G91 - Use Relative Coordinates
  112. // G92 - Set current position to coordinates given
  113. // M Codes
  114. // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  115. // M1 - Same as M0
  116. // M17 - Enable/Power all stepper motors
  117. // M18 - Disable all stepper motors; same as M84
  118. // M20 - List SD card
  119. // M21 - Init SD card
  120. // M22 - Release SD card
  121. // M23 - Select SD file (M23 filename.g)
  122. // M24 - Start/resume SD print
  123. // M25 - Pause SD print
  124. // M26 - Set SD position in bytes (M26 S12345)
  125. // M27 - Report SD print status
  126. // M28 - Start SD write (M28 filename.g)
  127. // M29 - Stop SD write
  128. // M30 - Delete file from SD (M30 filename.g)
  129. // M31 - Output time since last M109 or SD card start to serial
  130. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  131. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  132. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  133. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  134. // 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.
  135. // M80 - Turn on Power Supply
  136. // M81 - Turn off Power Supply
  137. // M82 - Set E codes absolute (default)
  138. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  139. // M84 - Disable steppers until next move,
  140. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  141. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  142. // M92 - Set axis_steps_per_unit - same syntax as G92
  143. // M104 - Set extruder target temp
  144. // M105 - Read current temp
  145. // M106 - Fan on
  146. // M107 - Fan off
  147. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  148. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  149. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  150. // M112 - Emergency stop
  151. // M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  152. // M114 - Output current position to serial port
  153. // M115 - Capabilities string
  154. // M117 - display message
  155. // M119 - Output Endstop status to serial port
  156. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  157. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  158. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  159. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  160. // M140 - Set bed target temp
  161. // 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.
  162. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  163. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  164. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  165. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  166. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  167. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  168. // 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
  169. // 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
  170. // M206 - set additional homing offset
  171. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  172. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  173. // 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.
  174. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  175. // M220 S<factor in percent>- set speed factor override percentage
  176. // M221 S<factor in percent>- set extrude factor override percentage
  177. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  178. // M240 - Trigger a camera to take a photograph
  179. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  180. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  181. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  182. // M301 - Set PID parameters P I and D
  183. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  184. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  185. // M304 - Set bed PID parameters P I and D
  186. // M400 - Finish all moves
  187. // M401 - Lower z-probe if present
  188. // M402 - Raise z-probe if present
  189. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  190. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  191. // M406 - Turn off Filament Sensor extrusion control
  192. // M407 - Displays measured filament diameter
  193. // M500 - stores parameters in EEPROM
  194. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  195. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  196. // M503 - print the current settings (from memory not from EEPROM)
  197. // M509 - force language selection on next restart
  198. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  199. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  200. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  201. // M860 - Wait for PINDA thermistor to reach target temperature.
  202. // M861 - Set / Read PINDA temperature compensation offsets
  203. // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
  204. // M907 - Set digital trimpot motor current using axis codes.
  205. // M908 - Control digital trimpot directly.
  206. // M350 - Set microstepping mode.
  207. // M351 - Toggle MS1 MS2 pins directly.
  208. // M928 - Start SD logging (M928 filename.g) - ended by M29
  209. // M999 - Restart after being stopped by error
  210. //Stepper Movement Variables
  211. //===========================================================================
  212. //=============================imported variables============================
  213. //===========================================================================
  214. //===========================================================================
  215. //=============================public variables=============================
  216. //===========================================================================
  217. #ifdef SDSUPPORT
  218. CardReader card;
  219. #endif
  220. unsigned long PingTime = millis();
  221. unsigned long NcTime;
  222. union Data
  223. {
  224. byte b[2];
  225. int value;
  226. };
  227. float homing_feedrate[] = HOMING_FEEDRATE;
  228. // Currently only the extruder axis may be switched to a relative mode.
  229. // Other axes are always absolute or relative based on the common relative_mode flag.
  230. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  231. int feedmultiply=100; //100->1 200->2
  232. int saved_feedmultiply;
  233. int extrudemultiply=100; //100->1 200->2
  234. int extruder_multiply[EXTRUDERS] = {100
  235. #if EXTRUDERS > 1
  236. , 100
  237. #if EXTRUDERS > 2
  238. , 100
  239. #endif
  240. #endif
  241. };
  242. int bowden_length[4] = {385, 385, 385, 385};
  243. bool is_usb_printing = false;
  244. bool homing_flag = false;
  245. bool temp_cal_active = false;
  246. unsigned long kicktime = millis()+100000;
  247. unsigned int usb_printing_counter;
  248. int lcd_change_fil_state = 0;
  249. int feedmultiplyBckp = 100;
  250. float HotendTempBckp = 0;
  251. int fanSpeedBckp = 0;
  252. float pause_lastpos[4];
  253. unsigned long pause_time = 0;
  254. unsigned long start_pause_print = millis();
  255. unsigned long t_fan_rising_edge = millis();
  256. //unsigned long load_filament_time;
  257. bool mesh_bed_leveling_flag = false;
  258. bool mesh_bed_run_from_menu = false;
  259. unsigned char lang_selected = 0;
  260. int8_t FarmMode = 0;
  261. bool prusa_sd_card_upload = false;
  262. unsigned int status_number = 0;
  263. unsigned long total_filament_used;
  264. unsigned int heating_status;
  265. unsigned int heating_status_counter;
  266. bool custom_message;
  267. bool loading_flag = false;
  268. unsigned int custom_message_type;
  269. unsigned int custom_message_state;
  270. char snmm_filaments_used = 0;
  271. bool fan_state[2];
  272. int fan_edge_counter[2];
  273. int fan_speed[2];
  274. char dir_names[3][9];
  275. bool sortAlpha = false;
  276. bool volumetric_enabled = false;
  277. float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
  278. #if EXTRUDERS > 1
  279. , DEFAULT_NOMINAL_FILAMENT_DIA
  280. #if EXTRUDERS > 2
  281. , DEFAULT_NOMINAL_FILAMENT_DIA
  282. #endif
  283. #endif
  284. };
  285. float extruder_multiplier[EXTRUDERS] = {1.0
  286. #if EXTRUDERS > 1
  287. , 1.0
  288. #if EXTRUDERS > 2
  289. , 1.0
  290. #endif
  291. #endif
  292. };
  293. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  294. float add_homing[3]={0,0,0};
  295. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  296. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  297. bool axis_known_position[3] = {false, false, false};
  298. float zprobe_zoffset;
  299. // Extruder offset
  300. #if EXTRUDERS > 1
  301. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  302. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  303. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  304. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  305. #endif
  306. };
  307. #endif
  308. uint8_t active_extruder = 0;
  309. int fanSpeed=0;
  310. #ifdef FWRETRACT
  311. bool autoretract_enabled=false;
  312. bool retracted[EXTRUDERS]={false
  313. #if EXTRUDERS > 1
  314. , false
  315. #if EXTRUDERS > 2
  316. , false
  317. #endif
  318. #endif
  319. };
  320. bool retracted_swap[EXTRUDERS]={false
  321. #if EXTRUDERS > 1
  322. , false
  323. #if EXTRUDERS > 2
  324. , false
  325. #endif
  326. #endif
  327. };
  328. float retract_length = RETRACT_LENGTH;
  329. float retract_length_swap = RETRACT_LENGTH_SWAP;
  330. float retract_feedrate = RETRACT_FEEDRATE;
  331. float retract_zlift = RETRACT_ZLIFT;
  332. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  333. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  334. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  335. #endif
  336. #ifdef ULTIPANEL
  337. #ifdef PS_DEFAULT_OFF
  338. bool powersupply = false;
  339. #else
  340. bool powersupply = true;
  341. #endif
  342. #endif
  343. bool cancel_heatup = false ;
  344. #ifdef HOST_KEEPALIVE_FEATURE
  345. int busy_state = NOT_BUSY;
  346. static long prev_busy_signal_ms = -1;
  347. uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
  348. #else
  349. #define host_keepalive();
  350. #define KEEPALIVE_STATE(n);
  351. #endif
  352. const char errormagic[] PROGMEM = "Error:";
  353. const char echomagic[] PROGMEM = "echo:";
  354. bool no_response = false;
  355. uint8_t important_status;
  356. uint8_t saved_filament_type;
  357. //===========================================================================
  358. //=============================Private Variables=============================
  359. //===========================================================================
  360. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  361. float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  362. static float delta[3] = {0.0, 0.0, 0.0};
  363. // For tracing an arc
  364. static float offset[3] = {0.0, 0.0, 0.0};
  365. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  366. // Determines Absolute or Relative Coordinates.
  367. // Also there is bool axis_relative_modes[] per axis flag.
  368. static bool relative_mode = false;
  369. #ifndef _DISABLE_M42_M226
  370. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  371. #endif //_DISABLE_M42_M226
  372. //static float tt = 0;
  373. //static float bt = 0;
  374. //Inactivity shutdown variables
  375. static unsigned long previous_millis_cmd = 0;
  376. unsigned long max_inactive_time = 0;
  377. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  378. unsigned long starttime=0;
  379. unsigned long stoptime=0;
  380. unsigned long _usb_timer = 0;
  381. static uint8_t tmp_extruder;
  382. bool extruder_under_pressure = true;
  383. bool Stopped=false;
  384. #if NUM_SERVOS > 0
  385. Servo servos[NUM_SERVOS];
  386. #endif
  387. bool CooldownNoWait = true;
  388. bool target_direction;
  389. //Insert variables if CHDK is defined
  390. #ifdef CHDK
  391. unsigned long chdkHigh = 0;
  392. boolean chdkActive = false;
  393. #endif
  394. //===========================================================================
  395. //=============================Routines======================================
  396. //===========================================================================
  397. void get_arc_coordinates();
  398. bool setTargetedHotend(int code);
  399. void serial_echopair_P(const char *s_P, float v)
  400. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  401. void serial_echopair_P(const char *s_P, double v)
  402. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  403. void serial_echopair_P(const char *s_P, unsigned long v)
  404. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  405. #ifdef SDSUPPORT
  406. #include "SdFatUtil.h"
  407. int freeMemory() { return SdFatUtil::FreeRam(); }
  408. #else
  409. extern "C" {
  410. extern unsigned int __bss_end;
  411. extern unsigned int __heap_start;
  412. extern void *__brkval;
  413. int freeMemory() {
  414. int free_memory;
  415. if ((int)__brkval == 0)
  416. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  417. else
  418. free_memory = ((int)&free_memory) - ((int)__brkval);
  419. return free_memory;
  420. }
  421. }
  422. #endif //!SDSUPPORT
  423. void setup_killpin()
  424. {
  425. #if defined(KILL_PIN) && KILL_PIN > -1
  426. SET_INPUT(KILL_PIN);
  427. WRITE(KILL_PIN,HIGH);
  428. #endif
  429. }
  430. // Set home pin
  431. void setup_homepin(void)
  432. {
  433. #if defined(HOME_PIN) && HOME_PIN > -1
  434. SET_INPUT(HOME_PIN);
  435. WRITE(HOME_PIN,HIGH);
  436. #endif
  437. }
  438. void setup_photpin()
  439. {
  440. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  441. SET_OUTPUT(PHOTOGRAPH_PIN);
  442. WRITE(PHOTOGRAPH_PIN, LOW);
  443. #endif
  444. }
  445. void setup_powerhold()
  446. {
  447. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  448. SET_OUTPUT(SUICIDE_PIN);
  449. WRITE(SUICIDE_PIN, HIGH);
  450. #endif
  451. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  452. SET_OUTPUT(PS_ON_PIN);
  453. #if defined(PS_DEFAULT_OFF)
  454. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  455. #else
  456. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  457. #endif
  458. #endif
  459. }
  460. void suicide()
  461. {
  462. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  463. SET_OUTPUT(SUICIDE_PIN);
  464. WRITE(SUICIDE_PIN, LOW);
  465. #endif
  466. }
  467. void servo_init()
  468. {
  469. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  470. servos[0].attach(SERVO0_PIN);
  471. #endif
  472. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  473. servos[1].attach(SERVO1_PIN);
  474. #endif
  475. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  476. servos[2].attach(SERVO2_PIN);
  477. #endif
  478. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  479. servos[3].attach(SERVO3_PIN);
  480. #endif
  481. #if (NUM_SERVOS >= 5)
  482. #error "TODO: enter initalisation code for more servos"
  483. #endif
  484. }
  485. static void lcd_language_menu();
  486. void stop_and_save_print_to_ram(float z_move, float e_move);
  487. void restore_print_from_ram_and_continue(float e_move);
  488. bool fans_check_enabled = true;
  489. bool filament_autoload_enabled = true;
  490. #ifdef TMC2130
  491. extern int8_t CrashDetectMenu;
  492. void crashdet_enable()
  493. {
  494. // MYSERIAL.println("crashdet_enable");
  495. tmc2130_sg_stop_on_crash = true;
  496. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
  497. CrashDetectMenu = 1;
  498. }
  499. void crashdet_disable()
  500. {
  501. // MYSERIAL.println("crashdet_disable");
  502. tmc2130_sg_stop_on_crash = false;
  503. tmc2130_sg_crash = 0;
  504. eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
  505. CrashDetectMenu = 0;
  506. }
  507. void crashdet_stop_and_save_print()
  508. {
  509. stop_and_save_print_to_ram(10, 0); //XY - no change, Z 10mm up, E - no change
  510. }
  511. void crashdet_restore_print_and_continue()
  512. {
  513. restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
  514. // babystep_apply();
  515. }
  516. void crashdet_stop_and_save_print2()
  517. {
  518. cli();
  519. planner_abort_hard(); //abort printing
  520. cmdqueue_reset(); //empty cmdqueue
  521. card.sdprinting = false;
  522. card.closefile();
  523. // Reset and re-enable the stepper timer just before the global interrupts are enabled.
  524. st_reset_timer();
  525. sei();
  526. }
  527. void crashdet_detected(uint8_t mask)
  528. {
  529. // printf("CRASH_DETECTED");
  530. /* while (!is_buffer_empty())
  531. {
  532. process_commands();
  533. cmdqueue_pop_front();
  534. }*/
  535. st_synchronize();
  536. lcd_update_enable(true);
  537. lcd_implementation_clear();
  538. lcd_update(2);
  539. if (mask & X_AXIS_MASK)
  540. {
  541. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
  542. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
  543. }
  544. if (mask & Y_AXIS_MASK)
  545. {
  546. eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
  547. eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
  548. }
  549. #ifdef AUTOMATIC_RECOVERY_AFTER_CRASH
  550. bool yesno = true;
  551. #else
  552. bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_CRASH_DETECTED, false);
  553. #endif
  554. lcd_update_enable(true);
  555. lcd_update(2);
  556. lcd_setstatuspgm(MSG_CRASH_DETECTED);
  557. if (yesno)
  558. {
  559. enquecommand_P(PSTR("G28 X Y"));
  560. enquecommand_P(PSTR("CRASH_RECOVER"));
  561. }
  562. else
  563. {
  564. enquecommand_P(PSTR("CRASH_CANCEL"));
  565. }
  566. }
  567. void crashdet_recover()
  568. {
  569. crashdet_restore_print_and_continue();
  570. tmc2130_sg_stop_on_crash = true;
  571. }
  572. void crashdet_cancel()
  573. {
  574. card.sdprinting = false;
  575. card.closefile();
  576. tmc2130_sg_stop_on_crash = true;
  577. }
  578. #endif //TMC2130
  579. void failstats_reset_print()
  580. {
  581. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  582. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  583. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  584. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  585. }
  586. #ifdef MESH_BED_LEVELING
  587. enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
  588. #endif
  589. // Factory reset function
  590. // This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
  591. // Level input parameter sets depth of reset
  592. // Quiet parameter masks all waitings for user interact.
  593. int er_progress = 0;
  594. void factory_reset(char level, bool quiet)
  595. {
  596. lcd_implementation_clear();
  597. int cursor_pos = 0;
  598. switch (level) {
  599. // Level 0: Language reset
  600. case 0:
  601. WRITE(BEEPER, HIGH);
  602. _delay_ms(100);
  603. WRITE(BEEPER, LOW);
  604. lcd_force_language_selection();
  605. break;
  606. //Level 1: Reset statistics
  607. case 1:
  608. WRITE(BEEPER, HIGH);
  609. _delay_ms(100);
  610. WRITE(BEEPER, LOW);
  611. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  612. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  613. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
  614. eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
  615. eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
  616. eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
  617. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
  618. eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
  619. eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
  620. eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
  621. lcd_menu_statistics();
  622. break;
  623. // Level 2: Prepare for shipping
  624. case 2:
  625. //lcd_printPGM(PSTR("Factory RESET"));
  626. //lcd_print_at_PGM(1,2,PSTR("Shipping prep"));
  627. // Force language selection at the next boot up.
  628. lcd_force_language_selection();
  629. // Force the "Follow calibration flow" message at the next boot up.
  630. calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
  631. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  632. farm_no = 0;
  633. //*** MaR::180501_01
  634. farm_mode = false;
  635. eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
  636. EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
  637. WRITE(BEEPER, HIGH);
  638. _delay_ms(100);
  639. WRITE(BEEPER, LOW);
  640. //_delay_ms(2000);
  641. break;
  642. // Level 3: erase everything, whole EEPROM will be set to 0xFF
  643. case 3:
  644. lcd_printPGM(PSTR("Factory RESET"));
  645. lcd_print_at_PGM(1, 2, PSTR("ERASING all data"));
  646. WRITE(BEEPER, HIGH);
  647. _delay_ms(100);
  648. WRITE(BEEPER, LOW);
  649. er_progress = 0;
  650. lcd_print_at_PGM(3, 3, PSTR(" "));
  651. lcd_implementation_print_at(3, 3, er_progress);
  652. // Erase EEPROM
  653. for (int i = 0; i < 4096; i++) {
  654. eeprom_write_byte((uint8_t*)i, 0xFF);
  655. if (i % 41 == 0) {
  656. er_progress++;
  657. lcd_print_at_PGM(3, 3, PSTR(" "));
  658. lcd_implementation_print_at(3, 3, er_progress);
  659. lcd_printPGM(PSTR("%"));
  660. }
  661. }
  662. break;
  663. case 4:
  664. bowden_menu();
  665. break;
  666. default:
  667. break;
  668. }
  669. }
  670. #include "LiquidCrystal_Prusa.h"
  671. extern LiquidCrystal_Prusa lcd;
  672. FILE _lcdout = {0};
  673. int lcd_putchar(char c, FILE *stream)
  674. {
  675. lcd.write(c);
  676. return 0;
  677. }
  678. FILE _uartout = {0};
  679. int uart_putchar(char c, FILE *stream)
  680. {
  681. MYSERIAL.write(c);
  682. return 0;
  683. }
  684. void lcd_splash()
  685. {
  686. // lcd_print_at_PGM(0, 1, PSTR(" Original Prusa "));
  687. // lcd_print_at_PGM(0, 2, PSTR(" 3D Printers "));
  688. // lcd.print_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
  689. fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
  690. }
  691. void factory_reset()
  692. {
  693. KEEPALIVE_STATE(PAUSED_FOR_USER);
  694. if (!READ(BTN_ENC))
  695. {
  696. _delay_ms(1000);
  697. if (!READ(BTN_ENC))
  698. {
  699. lcd_implementation_clear();
  700. lcd_printPGM(PSTR("Factory RESET"));
  701. SET_OUTPUT(BEEPER);
  702. WRITE(BEEPER, HIGH);
  703. while (!READ(BTN_ENC));
  704. WRITE(BEEPER, LOW);
  705. _delay_ms(2000);
  706. char level = reset_menu();
  707. factory_reset(level, false);
  708. switch (level) {
  709. case 0: _delay_ms(0); break;
  710. case 1: _delay_ms(0); break;
  711. case 2: _delay_ms(0); break;
  712. case 3: _delay_ms(0); break;
  713. }
  714. // _delay_ms(100);
  715. /*
  716. #ifdef MESH_BED_LEVELING
  717. _delay_ms(2000);
  718. if (!READ(BTN_ENC))
  719. {
  720. WRITE(BEEPER, HIGH);
  721. _delay_ms(100);
  722. WRITE(BEEPER, LOW);
  723. _delay_ms(200);
  724. WRITE(BEEPER, HIGH);
  725. _delay_ms(100);
  726. WRITE(BEEPER, LOW);
  727. int _z = 0;
  728. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  729. EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
  730. EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
  731. EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
  732. }
  733. else
  734. {
  735. WRITE(BEEPER, HIGH);
  736. _delay_ms(100);
  737. WRITE(BEEPER, LOW);
  738. }
  739. #endif // mesh */
  740. }
  741. }
  742. else
  743. {
  744. //_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
  745. }
  746. KEEPALIVE_STATE(IN_HANDLER);
  747. }
  748. void show_fw_version_warnings() {
  749. if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
  750. switch (FW_DEV_VERSION) {
  751. case(FW_VERSION_ALPHA): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_ALPHA); break;
  752. case(FW_VERSION_BETA): lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_BETA); break;
  753. case(FW_VERSION_DEVEL):
  754. case(FW_VERSION_DEBUG):
  755. lcd_update_enable(false);
  756. lcd_implementation_clear();
  757. #if FW_DEV_VERSION == FW_VERSION_DEVEL
  758. lcd_print_at_PGM(0, 0, PSTR("Development build !!"));
  759. #else
  760. lcd_print_at_PGM(0, 0, PSTR("Debbugging build !!!"));
  761. #endif
  762. lcd_print_at_PGM(0, 1, PSTR("May destroy printer!"));
  763. lcd_print_at_PGM(0, 2, PSTR("ver ")); lcd_printPGM(PSTR(FW_VERSION_FULL));
  764. lcd_print_at_PGM(0, 3, PSTR(FW_REPOSITORY));
  765. lcd_wait_for_click();
  766. break;
  767. default: lcd_show_fullscreen_message_and_wait_P(MSG_FW_VERSION_UNKNOWN); break;
  768. }
  769. lcd_update_enable(true);
  770. }
  771. uint8_t check_printer_version()
  772. {
  773. uint8_t version_changed = 0;
  774. uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
  775. uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
  776. if (printer_type != PRINTER_TYPE) {
  777. if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  778. else version_changed |= 0b10;
  779. }
  780. if (motherboard != MOTHERBOARD) {
  781. if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  782. else version_changed |= 0b01;
  783. }
  784. return version_changed;
  785. }
  786. void erase_eeprom_section(uint16_t offset, uint16_t bytes)
  787. {
  788. for (int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
  789. }
  790. // "Setup" function is called by the Arduino framework on startup.
  791. // Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
  792. // are initialized by the main() routine provided by the Arduino framework.
  793. void setup()
  794. {
  795. lcd_init();
  796. fdev_setup_stream(lcdout, lcd_putchar, NULL, _FDEV_SETUP_WRITE); //setup lcdout stream
  797. lcd_splash();
  798. setup_killpin();
  799. setup_powerhold();
  800. //*** MaR::180501_02b
  801. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  802. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  803. if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
  804. 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
  805. if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
  806. selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
  807. if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
  808. if (farm_mode)
  809. {
  810. no_response = true; //we need confirmation by recieving PRUSA thx
  811. important_status = 8;
  812. prusa_statistics(8);
  813. selectedSerialPort = 1;
  814. }
  815. MYSERIAL.begin(BAUDRATE);
  816. fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
  817. stdout = uartout;
  818. SERIAL_PROTOCOLLNPGM("start");
  819. SERIAL_ECHO_START;
  820. printf_P(PSTR(" "FW_VERSION_FULL"\n"));
  821. #if 0
  822. SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
  823. for (int i = 0; i < 4096; ++i) {
  824. int b = eeprom_read_byte((unsigned char*)i);
  825. if (b != 255) {
  826. SERIAL_ECHO(i);
  827. SERIAL_ECHO(":");
  828. SERIAL_ECHO(b);
  829. SERIAL_ECHOLN("");
  830. }
  831. }
  832. SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
  833. #endif
  834. // Check startup - does nothing if bootloader sets MCUSR to 0
  835. byte mcu = MCUSR;
  836. /* if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
  837. if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
  838. if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
  839. if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
  840. if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
  841. if (mcu & 1) puts_P(MSG_POWERUP);
  842. if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
  843. if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
  844. if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
  845. if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
  846. MCUSR = 0;
  847. //SERIAL_ECHORPGM(MSG_MARLIN);
  848. //SERIAL_ECHOLNRPGM(VERSION_STRING);
  849. #ifdef STRING_VERSION_CONFIG_H
  850. #ifdef STRING_CONFIG_H_AUTHOR
  851. SERIAL_ECHO_START;
  852. SERIAL_ECHORPGM(MSG_CONFIGURATION_VER);
  853. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  854. SERIAL_ECHORPGM(MSG_AUTHOR);
  855. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  856. SERIAL_ECHOPGM("Compiled: ");
  857. SERIAL_ECHOLNPGM(__DATE__);
  858. #endif
  859. #endif
  860. SERIAL_ECHO_START;
  861. SERIAL_ECHORPGM(MSG_FREE_MEMORY);
  862. SERIAL_ECHO(freeMemory());
  863. SERIAL_ECHORPGM(MSG_PLANNER_BUFFER_BYTES);
  864. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  865. //lcd_update_enable(false); // why do we need this?? - andre
  866. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  867. bool previous_settings_retrieved = false;
  868. uint8_t hw_changed = check_printer_version();
  869. 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
  870. previous_settings_retrieved = Config_RetrieveSettings(EEPROM_OFFSET);
  871. }
  872. else { //printer version was changed so use default settings
  873. Config_ResetDefault();
  874. }
  875. SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
  876. tp_init(); // Initialize temperature loop
  877. lcd_splash(); // we need to do this again, because tp_init() kills lcd
  878. plan_init(); // Initialize planner;
  879. factory_reset();
  880. #ifdef TMC2130
  881. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  882. if (silentMode == 0xff) silentMode = 0;
  883. // tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  884. tmc2130_mode = TMC2130_MODE_NORMAL;
  885. uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
  886. if (crashdet && !farm_mode)
  887. {
  888. crashdet_enable();
  889. MYSERIAL.println("CrashDetect ENABLED!");
  890. }
  891. else
  892. {
  893. crashdet_disable();
  894. MYSERIAL.println("CrashDetect DISABLED");
  895. }
  896. #ifdef TMC2130_LINEARITY_CORRECTION
  897. #ifdef EXPERIMENTAL_FEATURES
  898. tmc2130_wave_fac[X_AXIS] = eeprom_read_word((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
  899. tmc2130_wave_fac[Y_AXIS] = eeprom_read_word((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
  900. tmc2130_wave_fac[Z_AXIS] = eeprom_read_word((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
  901. #endif //EXPERIMENTAL_FEATURES
  902. tmc2130_wave_fac[E_AXIS] = eeprom_read_word((uint16_t*)EEPROM_TMC2130_WAVE_E_FAC);
  903. if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
  904. if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
  905. if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
  906. if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
  907. #endif //TMC2130_LINEARITY_CORRECTION
  908. #ifdef TMC2130_VARIABLE_RESOLUTION
  909. tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
  910. tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
  911. tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
  912. tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
  913. if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  914. if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  915. if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  916. if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  917. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
  918. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
  919. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
  920. eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
  921. #else //TMC2130_VARIABLE_RESOLUTION
  922. tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  923. tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
  924. tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
  925. tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
  926. #endif //TMC2130_VARIABLE_RESOLUTION
  927. #endif //TMC2130
  928. #ifdef NEW_SPI
  929. spi_init();
  930. #endif //NEW_SPI
  931. st_init(); // Initialize stepper, this enables interrupts!
  932. #ifdef TMC2130
  933. tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
  934. tmc2130_init();
  935. #endif //TMC2130
  936. setup_photpin();
  937. servo_init();
  938. // Reset the machine correction matrix.
  939. // It does not make sense to load the correction matrix until the machine is homed.
  940. world2machine_reset();
  941. #ifdef PAT9125
  942. fsensor_init();
  943. #endif //PAT9125
  944. #if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
  945. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  946. #endif
  947. setup_homepin();
  948. #ifdef TMC2130
  949. if (1) {
  950. /// SERIAL_ECHOPGM("initial zsteps on power up: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_AXIS));
  951. // try to run to zero phase before powering the Z motor.
  952. // Move in negative direction
  953. WRITE(Z_DIR_PIN,INVERT_Z_DIR);
  954. // Round the current micro-micro steps to micro steps.
  955. for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
  956. // Until the phase counter is reset to zero.
  957. WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
  958. delay(2);
  959. WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
  960. delay(2);
  961. }
  962. // SERIAL_ECHOPGM("initial zsteps after reset: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_AXIS));
  963. }
  964. #endif //TMC2130
  965. #if defined(Z_AXIS_ALWAYS_ON)
  966. enable_z();
  967. #endif
  968. //*** MaR::180501_02
  969. farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
  970. EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
  971. 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
  972. if (farm_no == 0xFFFF) farm_no = 0;
  973. if (farm_mode)
  974. {
  975. prusa_statistics(8);
  976. }
  977. // Enable Toshiba FlashAir SD card / WiFi enahanced card.
  978. card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
  979. if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
  980. eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
  981. // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
  982. // where all the EEPROM entries are set to 0x0ff.
  983. // Once a firmware boots up, it forces at least a language selection, which changes
  984. // EEPROM_LANG to number lower than 0x0ff.
  985. // 1) Set a high power mode.
  986. #ifdef TMC2130
  987. eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
  988. tmc2130_mode = TMC2130_MODE_NORMAL;
  989. #endif //TMC2130
  990. eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
  991. }
  992. // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
  993. // but this times out if a blocking dialog is shown in setup().
  994. card.initsd();
  995. #ifdef DEBUG_SD_SPEED_TEST
  996. if (card.cardOK)
  997. {
  998. uint8_t* buff = (uint8_t*)block_buffer;
  999. uint32_t block = 0;
  1000. uint32_t sumr = 0;
  1001. uint32_t sumw = 0;
  1002. for (int i = 0; i < 1024; i++)
  1003. {
  1004. uint32_t u = micros();
  1005. bool res = card.card.readBlock(i, buff);
  1006. u = micros() - u;
  1007. if (res)
  1008. {
  1009. printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
  1010. sumr += u;
  1011. u = micros();
  1012. res = card.card.writeBlock(i, buff);
  1013. u = micros() - u;
  1014. if (res)
  1015. {
  1016. printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
  1017. sumw += u;
  1018. }
  1019. else
  1020. {
  1021. printf_P(PSTR("writeBlock %4d error\n"), i);
  1022. break;
  1023. }
  1024. }
  1025. else
  1026. {
  1027. printf_P(PSTR("readBlock %4d error\n"), i);
  1028. break;
  1029. }
  1030. }
  1031. uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
  1032. uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
  1033. printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
  1034. printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
  1035. }
  1036. else
  1037. printf_P(PSTR("Card NG!\n"));
  1038. #endif DEBUG_SD_SPEED_TEST
  1039. if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
  1040. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
  1041. if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
  1042. if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
  1043. if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
  1044. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
  1045. if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
  1046. if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
  1047. #ifdef SNMM
  1048. if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
  1049. int _z = BOWDEN_LENGTH;
  1050. for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
  1051. }
  1052. #endif
  1053. // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
  1054. // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
  1055. // is being written into the EEPROM, so the update procedure will be triggered only once.
  1056. lang_selected = eeprom_read_byte((uint8_t*)EEPROM_LANG);
  1057. if (lang_selected >= LANG_NUM){
  1058. lcd_mylang();
  1059. }
  1060. if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
  1061. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1062. temp_cal_active = false;
  1063. } else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
  1064. if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
  1065. //eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
  1066. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  1067. int16_t z_shift = 0;
  1068. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  1069. eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
  1070. temp_cal_active = false;
  1071. }
  1072. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
  1073. eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
  1074. }
  1075. if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
  1076. eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
  1077. }
  1078. check_babystep(); //checking if Z babystep is in allowed range
  1079. #ifdef UVLO_SUPPORT
  1080. setup_uvlo_interrupt();
  1081. #endif //UVLO_SUPPORT
  1082. #if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
  1083. setup_fan_interrupt();
  1084. #endif //DEBUG_DISABLE_FANCHECK
  1085. #ifdef PAT9125
  1086. #ifndef DEBUG_DISABLE_FSENSORCHECK
  1087. fsensor_setup_interrupt();
  1088. #endif //DEBUG_DISABLE_FSENSORCHECK
  1089. #endif //PAT9125
  1090. for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
  1091. #ifndef DEBUG_DISABLE_STARTMSGS
  1092. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1093. show_fw_version_warnings();
  1094. switch (hw_changed) {
  1095. //if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
  1096. //if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
  1097. case(0b01):
  1098. lcd_show_fullscreen_message_and_wait_P(MSG_CHANGED_MOTHERBOARD);
  1099. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1100. break;
  1101. case(0b10):
  1102. lcd_show_fullscreen_message_and_wait_P(MSG_CHANGED_PRINTER);
  1103. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1104. break;
  1105. case(0b11):
  1106. lcd_show_fullscreen_message_and_wait_P(MSG_CHANGED_BOTH);
  1107. eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
  1108. eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
  1109. break;
  1110. default: break; //no change, show no message
  1111. }
  1112. if (!previous_settings_retrieved) {
  1113. lcd_show_fullscreen_message_and_wait_P(MSG_DEFAULT_SETTINGS_LOADED); //if EEPROM version or printer type was changed, inform user that default setting were loaded
  1114. erase_eeprom_section(EEPROM_OFFSET, 156); //erase M500 part of eeprom
  1115. }
  1116. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
  1117. lcd_wizard(0);
  1118. }
  1119. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
  1120. if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
  1121. calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
  1122. calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
  1123. // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
  1124. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  1125. // Show the message.
  1126. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  1127. }
  1128. else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
  1129. // Show the message.
  1130. lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  1131. lcd_update_enable(true);
  1132. }
  1133. else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
  1134. //lcd_show_fullscreen_message_and_wait_P(MSG_PINDA_NOT_CALIBRATED);
  1135. lcd_update_enable(true);
  1136. }
  1137. else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
  1138. // Show the message.
  1139. lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
  1140. }
  1141. }
  1142. #if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
  1143. if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
  1144. lcd_show_fullscreen_message_and_wait_P(MSG_FORCE_SELFTEST);
  1145. update_current_firmware_version_to_eeprom();
  1146. lcd_selftest();
  1147. }
  1148. #endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
  1149. KEEPALIVE_STATE(IN_PROCESS);
  1150. #endif //DEBUG_DISABLE_STARTMSGS
  1151. lcd_update_enable(true);
  1152. lcd_implementation_clear();
  1153. lcd_update(2);
  1154. // Store the currently running firmware into an eeprom,
  1155. // so the next time the firmware gets updated, it will know from which version it has been updated.
  1156. update_current_firmware_version_to_eeprom();
  1157. #ifdef TMC2130
  1158. tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
  1159. tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
  1160. tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
  1161. if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
  1162. if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
  1163. if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
  1164. tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
  1165. tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
  1166. tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
  1167. if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
  1168. if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
  1169. if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
  1170. tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
  1171. if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
  1172. #endif //TMC2130
  1173. #ifdef UVLO_SUPPORT
  1174. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
  1175. /*
  1176. if (lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false)) recover_print();
  1177. else {
  1178. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1179. lcd_update_enable(true);
  1180. lcd_update(2);
  1181. lcd_setstatuspgm(WELCOME_MSG);
  1182. }
  1183. */
  1184. manage_heater(); // Update temperatures
  1185. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1186. MYSERIAL.println("Power panic detected!");
  1187. MYSERIAL.print("Current bed temp:");
  1188. MYSERIAL.println(degBed());
  1189. MYSERIAL.print("Saved bed temp:");
  1190. MYSERIAL.println((float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED));
  1191. #endif
  1192. if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
  1193. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1194. MYSERIAL.println("Automatic recovery!");
  1195. #endif
  1196. recover_print(1);
  1197. }
  1198. else{
  1199. #ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
  1200. MYSERIAL.println("Normal recovery!");
  1201. #endif
  1202. if ( lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_RECOVER_PRINT, false) ) recover_print(0);
  1203. else {
  1204. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  1205. lcd_update_enable(true);
  1206. lcd_update(2);
  1207. lcd_setstatuspgm(WELCOME_MSG);
  1208. }
  1209. }
  1210. }
  1211. #endif //UVLO_SUPPORT
  1212. KEEPALIVE_STATE(NOT_BUSY);
  1213. #ifdef WATCHDOG
  1214. wdt_enable(WDTO_4S);
  1215. #endif //WATCHDOG
  1216. }
  1217. #ifdef PAT9125
  1218. void fsensor_init() {
  1219. int pat9125 = pat9125_init();
  1220. printf_P(PSTR("PAT9125_init:%d\n"), pat9125);
  1221. uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
  1222. if (!pat9125)
  1223. {
  1224. fsensor = 0; //disable sensor
  1225. fsensor_not_responding = true;
  1226. }
  1227. else {
  1228. fsensor_not_responding = false;
  1229. }
  1230. puts_P(PSTR("FSensor "));
  1231. if (fsensor)
  1232. {
  1233. puts_P(PSTR("ENABLED\n"));
  1234. fsensor_enable();
  1235. }
  1236. else
  1237. {
  1238. puts_P(PSTR("DISABLED\n"));
  1239. fsensor_disable();
  1240. }
  1241. #ifdef DEBUG_DISABLE_FSENSORCHECK
  1242. filament_autoload_enabled = false;
  1243. fsensor_disable();
  1244. #endif //DEBUG_DISABLE_FSENSORCHECK
  1245. }
  1246. #endif //PAT9125
  1247. void trace();
  1248. #define CHUNK_SIZE 64 // bytes
  1249. #define SAFETY_MARGIN 1
  1250. char chunk[CHUNK_SIZE+SAFETY_MARGIN];
  1251. int chunkHead = 0;
  1252. int serial_read_stream() {
  1253. setTargetHotend(0, 0);
  1254. setTargetBed(0);
  1255. lcd_implementation_clear();
  1256. lcd_printPGM(PSTR(" Upload in progress"));
  1257. // first wait for how many bytes we will receive
  1258. uint32_t bytesToReceive;
  1259. // receive the four bytes
  1260. char bytesToReceiveBuffer[4];
  1261. for (int i=0; i<4; i++) {
  1262. int data;
  1263. while ((data = MYSERIAL.read()) == -1) {};
  1264. bytesToReceiveBuffer[i] = data;
  1265. }
  1266. // make it a uint32
  1267. memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
  1268. // we're ready, notify the sender
  1269. MYSERIAL.write('+');
  1270. // lock in the routine
  1271. uint32_t receivedBytes = 0;
  1272. while (prusa_sd_card_upload) {
  1273. int i;
  1274. for (i=0; i<CHUNK_SIZE; i++) {
  1275. int data;
  1276. // check if we're not done
  1277. if (receivedBytes == bytesToReceive) {
  1278. break;
  1279. }
  1280. // read the next byte
  1281. while ((data = MYSERIAL.read()) == -1) {};
  1282. receivedBytes++;
  1283. // save it to the chunk
  1284. chunk[i] = data;
  1285. }
  1286. // write the chunk to SD
  1287. card.write_command_no_newline(&chunk[0]);
  1288. // notify the sender we're ready for more data
  1289. MYSERIAL.write('+');
  1290. // for safety
  1291. manage_heater();
  1292. // check if we're done
  1293. if(receivedBytes == bytesToReceive) {
  1294. trace(); // beep
  1295. card.closefile();
  1296. prusa_sd_card_upload = false;
  1297. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1298. return 0;
  1299. }
  1300. }
  1301. }
  1302. #ifdef HOST_KEEPALIVE_FEATURE
  1303. /**
  1304. * Output a "busy" message at regular intervals
  1305. * while the machine is not accepting commands.
  1306. */
  1307. void host_keepalive() {
  1308. if (farm_mode) return;
  1309. long ms = millis();
  1310. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  1311. if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
  1312. switch (busy_state) {
  1313. case IN_HANDLER:
  1314. case IN_PROCESS:
  1315. SERIAL_ECHO_START;
  1316. SERIAL_ECHOLNPGM("busy: processing");
  1317. break;
  1318. case PAUSED_FOR_USER:
  1319. SERIAL_ECHO_START;
  1320. SERIAL_ECHOLNPGM("busy: paused for user");
  1321. break;
  1322. case PAUSED_FOR_INPUT:
  1323. SERIAL_ECHO_START;
  1324. SERIAL_ECHOLNPGM("busy: paused for input");
  1325. break;
  1326. default:
  1327. break;
  1328. }
  1329. }
  1330. prev_busy_signal_ms = ms;
  1331. }
  1332. #endif
  1333. // The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
  1334. // Before loop(), the setup() function is called by the main() routine.
  1335. void loop()
  1336. {
  1337. KEEPALIVE_STATE(NOT_BUSY);
  1338. bool stack_integrity = true;
  1339. if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
  1340. {
  1341. is_usb_printing = true;
  1342. usb_printing_counter--;
  1343. _usb_timer = millis();
  1344. }
  1345. if (usb_printing_counter == 0)
  1346. {
  1347. is_usb_printing = false;
  1348. }
  1349. if (prusa_sd_card_upload)
  1350. {
  1351. //we read byte-by byte
  1352. serial_read_stream();
  1353. } else
  1354. {
  1355. get_command();
  1356. #ifdef SDSUPPORT
  1357. card.checkautostart(false);
  1358. #endif
  1359. if(buflen)
  1360. {
  1361. cmdbuffer_front_already_processed = false;
  1362. #ifdef SDSUPPORT
  1363. if(card.saving)
  1364. {
  1365. // Saving a G-code file onto an SD-card is in progress.
  1366. // Saving starts with M28, saving until M29 is seen.
  1367. if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
  1368. card.write_command(CMDBUFFER_CURRENT_STRING);
  1369. if(card.logging)
  1370. process_commands();
  1371. else
  1372. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  1373. } else {
  1374. card.closefile();
  1375. SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
  1376. }
  1377. } else {
  1378. process_commands();
  1379. }
  1380. #else
  1381. process_commands();
  1382. #endif //SDSUPPORT
  1383. if (! cmdbuffer_front_already_processed && buflen)
  1384. {
  1385. // ptr points to the start of the block currently being processed.
  1386. // The first character in the block is the block type.
  1387. char *ptr = cmdbuffer + bufindr;
  1388. if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  1389. // To support power panic, move the lenght of the command on the SD card to a planner buffer.
  1390. union {
  1391. struct {
  1392. char lo;
  1393. char hi;
  1394. } lohi;
  1395. uint16_t value;
  1396. } sdlen;
  1397. sdlen.value = 0;
  1398. {
  1399. // This block locks the interrupts globally for 3.25 us,
  1400. // which corresponds to a maximum repeat frequency of 307.69 kHz.
  1401. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  1402. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  1403. cli();
  1404. // Reset the command to something, which will be ignored by the power panic routine,
  1405. // so this buffer length will not be counted twice.
  1406. *ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
  1407. // Extract the current buffer length.
  1408. sdlen.lohi.lo = *ptr ++;
  1409. sdlen.lohi.hi = *ptr;
  1410. // and pass it to the planner queue.
  1411. planner_add_sd_length(sdlen.value);
  1412. sei();
  1413. }
  1414. }
  1415. // Now it is safe to release the already processed command block. If interrupted by the power panic now,
  1416. // this block's SD card length will not be counted twice as its command type has been replaced
  1417. // by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
  1418. cmdqueue_pop_front();
  1419. }
  1420. host_keepalive();
  1421. }
  1422. }
  1423. //check heater every n milliseconds
  1424. manage_heater();
  1425. isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
  1426. checkHitEndstops();
  1427. lcd_update();
  1428. #ifdef PAT9125
  1429. fsensor_update();
  1430. #endif //PAT9125
  1431. #ifdef TMC2130
  1432. tmc2130_check_overtemp();
  1433. if (tmc2130_sg_crash)
  1434. {
  1435. uint8_t crash = tmc2130_sg_crash;
  1436. tmc2130_sg_crash = 0;
  1437. // crashdet_stop_and_save_print();
  1438. switch (crash)
  1439. {
  1440. case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
  1441. case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
  1442. case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
  1443. }
  1444. }
  1445. #endif //TMC2130
  1446. }
  1447. #define DEFINE_PGM_READ_ANY(type, reader) \
  1448. static inline type pgm_read_any(const type *p) \
  1449. { return pgm_read_##reader##_near(p); }
  1450. DEFINE_PGM_READ_ANY(float, float);
  1451. DEFINE_PGM_READ_ANY(signed char, byte);
  1452. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1453. static const PROGMEM type array##_P[3] = \
  1454. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1455. static inline type array(int axis) \
  1456. { return pgm_read_any(&array##_P[axis]); } \
  1457. type array##_ext(int axis) \
  1458. { return pgm_read_any(&array##_P[axis]); }
  1459. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1460. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1461. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1462. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1463. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  1464. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1465. static void axis_is_at_home(int axis) {
  1466. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  1467. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  1468. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  1469. }
  1470. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1471. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1472. static void setup_for_endstop_move(bool enable_endstops_now = true) {
  1473. saved_feedrate = feedrate;
  1474. saved_feedmultiply = feedmultiply;
  1475. feedmultiply = 100;
  1476. previous_millis_cmd = millis();
  1477. enable_endstops(enable_endstops_now);
  1478. }
  1479. static void clean_up_after_endstop_move() {
  1480. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1481. enable_endstops(false);
  1482. #endif
  1483. feedrate = saved_feedrate;
  1484. feedmultiply = saved_feedmultiply;
  1485. previous_millis_cmd = millis();
  1486. }
  1487. #ifdef ENABLE_AUTO_BED_LEVELING
  1488. #ifdef AUTO_BED_LEVELING_GRID
  1489. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  1490. {
  1491. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1492. planeNormal.debug("planeNormal");
  1493. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1494. //bedLevel.debug("bedLevel");
  1495. //plan_bed_level_matrix.debug("bed level before");
  1496. //vector_3 uncorrected_position = plan_get_position_mm();
  1497. //uncorrected_position.debug("position before");
  1498. vector_3 corrected_position = plan_get_position();
  1499. // corrected_position.debug("position after");
  1500. current_position[X_AXIS] = corrected_position.x;
  1501. current_position[Y_AXIS] = corrected_position.y;
  1502. current_position[Z_AXIS] = corrected_position.z;
  1503. // put the bed at 0 so we don't go below it.
  1504. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  1505. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1506. }
  1507. #else // not AUTO_BED_LEVELING_GRID
  1508. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1509. plan_bed_level_matrix.set_to_identity();
  1510. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1511. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1512. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1513. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  1514. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  1515. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  1516. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  1517. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1518. vector_3 corrected_position = plan_get_position();
  1519. current_position[X_AXIS] = corrected_position.x;
  1520. current_position[Y_AXIS] = corrected_position.y;
  1521. current_position[Z_AXIS] = corrected_position.z;
  1522. // put the bed at 0 so we don't go below it.
  1523. current_position[Z_AXIS] = zprobe_zoffset;
  1524. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1525. }
  1526. #endif // AUTO_BED_LEVELING_GRID
  1527. static void run_z_probe() {
  1528. plan_bed_level_matrix.set_to_identity();
  1529. feedrate = homing_feedrate[Z_AXIS];
  1530. // move down until you find the bed
  1531. float zPosition = -10;
  1532. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1533. st_synchronize();
  1534. // we have to let the planner know where we are right now as it is not where we said to go.
  1535. zPosition = st_get_position_mm(Z_AXIS);
  1536. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  1537. // move up the retract distance
  1538. zPosition += home_retract_mm(Z_AXIS);
  1539. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1540. st_synchronize();
  1541. // move back down slowly to find bed
  1542. feedrate = homing_feedrate[Z_AXIS]/4;
  1543. zPosition -= home_retract_mm(Z_AXIS) * 2;
  1544. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  1545. st_synchronize();
  1546. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  1547. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  1548. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1549. }
  1550. static void do_blocking_move_to(float x, float y, float z) {
  1551. float oldFeedRate = feedrate;
  1552. feedrate = homing_feedrate[Z_AXIS];
  1553. current_position[Z_AXIS] = z;
  1554. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1555. st_synchronize();
  1556. feedrate = XY_TRAVEL_SPEED;
  1557. current_position[X_AXIS] = x;
  1558. current_position[Y_AXIS] = y;
  1559. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  1560. st_synchronize();
  1561. feedrate = oldFeedRate;
  1562. }
  1563. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  1564. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  1565. }
  1566. /// Probe bed height at position (x,y), returns the measured z value
  1567. static float probe_pt(float x, float y, float z_before) {
  1568. // move to right place
  1569. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  1570. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  1571. run_z_probe();
  1572. float measured_z = current_position[Z_AXIS];
  1573. SERIAL_PROTOCOLRPGM(MSG_BED);
  1574. SERIAL_PROTOCOLPGM(" x: ");
  1575. SERIAL_PROTOCOL(x);
  1576. SERIAL_PROTOCOLPGM(" y: ");
  1577. SERIAL_PROTOCOL(y);
  1578. SERIAL_PROTOCOLPGM(" z: ");
  1579. SERIAL_PROTOCOL(measured_z);
  1580. SERIAL_PROTOCOLPGM("\n");
  1581. return measured_z;
  1582. }
  1583. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1584. #ifdef LIN_ADVANCE
  1585. /**
  1586. * M900: Set and/or Get advance K factor and WH/D ratio
  1587. *
  1588. * K<factor> Set advance K factor
  1589. * R<ratio> Set ratio directly (overrides WH/D)
  1590. * W<width> H<height> D<diam> Set ratio from WH/D
  1591. */
  1592. inline void gcode_M900() {
  1593. st_synchronize();
  1594. const float newK = code_seen('K') ? code_value_float() : -1;
  1595. if (newK >= 0) extruder_advance_k = newK;
  1596. float newR = code_seen('R') ? code_value_float() : -1;
  1597. if (newR < 0) {
  1598. const float newD = code_seen('D') ? code_value_float() : -1,
  1599. newW = code_seen('W') ? code_value_float() : -1,
  1600. newH = code_seen('H') ? code_value_float() : -1;
  1601. if (newD >= 0 && newW >= 0 && newH >= 0)
  1602. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  1603. }
  1604. if (newR >= 0) advance_ed_ratio = newR;
  1605. SERIAL_ECHO_START;
  1606. SERIAL_ECHOPGM("Advance K=");
  1607. SERIAL_ECHOLN(extruder_advance_k);
  1608. SERIAL_ECHOPGM(" E/D=");
  1609. const float ratio = advance_ed_ratio;
  1610. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
  1611. }
  1612. #endif // LIN_ADVANCE
  1613. bool check_commands() {
  1614. bool end_command_found = false;
  1615. while (buflen)
  1616. {
  1617. if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
  1618. if (!cmdbuffer_front_already_processed)
  1619. cmdqueue_pop_front();
  1620. cmdbuffer_front_already_processed = false;
  1621. }
  1622. return end_command_found;
  1623. }
  1624. #ifdef TMC2130
  1625. bool calibrate_z_auto()
  1626. {
  1627. //lcd_display_message_fullscreen_P(MSG_CALIBRATE_Z_AUTO);
  1628. lcd_implementation_clear();
  1629. lcd_print_at_PGM(0,1, MSG_CALIBRATE_Z_AUTO);
  1630. bool endstops_enabled = enable_endstops(true);
  1631. int axis_up_dir = -home_dir(Z_AXIS);
  1632. tmc2130_home_enter(Z_AXIS_MASK);
  1633. current_position[Z_AXIS] = 0;
  1634. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1635. set_destination_to_current();
  1636. destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
  1637. feedrate = homing_feedrate[Z_AXIS];
  1638. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1639. st_synchronize();
  1640. // current_position[axis] = 0;
  1641. // plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1642. tmc2130_home_exit();
  1643. enable_endstops(false);
  1644. current_position[Z_AXIS] = 0;
  1645. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1646. set_destination_to_current();
  1647. destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
  1648. feedrate = homing_feedrate[Z_AXIS] / 2;
  1649. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1650. st_synchronize();
  1651. enable_endstops(endstops_enabled);
  1652. current_position[Z_AXIS] = Z_MAX_POS+2.0;
  1653. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1654. return true;
  1655. }
  1656. #endif //TMC2130
  1657. void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
  1658. {
  1659. bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
  1660. #define HOMEAXIS_DO(LETTER) \
  1661. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1662. if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
  1663. {
  1664. int axis_home_dir = home_dir(axis);
  1665. feedrate = homing_feedrate[axis];
  1666. #ifdef TMC2130
  1667. tmc2130_home_enter(X_AXIS_MASK << axis);
  1668. #endif //TMC2130
  1669. // Move right a bit, so that the print head does not touch the left end position,
  1670. // and the following left movement has a chance to achieve the required velocity
  1671. // for the stall guard to work.
  1672. current_position[axis] = 0;
  1673. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1674. set_destination_to_current();
  1675. // destination[axis] = 11.f;
  1676. destination[axis] = 3.f;
  1677. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1678. st_synchronize();
  1679. // Move left away from the possible collision with the collision detection disabled.
  1680. endstops_hit_on_purpose();
  1681. enable_endstops(false);
  1682. current_position[axis] = 0;
  1683. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1684. destination[axis] = - 1.;
  1685. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1686. st_synchronize();
  1687. // Now continue to move up to the left end stop with the collision detection enabled.
  1688. enable_endstops(true);
  1689. destination[axis] = - 1.1 * max_length(axis);
  1690. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1691. st_synchronize();
  1692. for (uint8_t i = 0; i < cnt; i++)
  1693. {
  1694. // Move right from the collision to a known distance from the left end stop with the collision detection disabled.
  1695. endstops_hit_on_purpose();
  1696. enable_endstops(false);
  1697. current_position[axis] = 0;
  1698. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1699. destination[axis] = 10.f;
  1700. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1701. st_synchronize();
  1702. endstops_hit_on_purpose();
  1703. // Now move left up to the collision, this time with a repeatable velocity.
  1704. enable_endstops(true);
  1705. destination[axis] = - 11.f;
  1706. #ifdef TMC2130
  1707. feedrate = homing_feedrate[axis];
  1708. #else //TMC2130
  1709. feedrate = homing_feedrate[axis] / 2;
  1710. #endif //TMC2130
  1711. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1712. st_synchronize();
  1713. #ifdef TMC2130
  1714. uint16_t mscnt = tmc2130_rd_MSCNT(axis);
  1715. if (pstep) pstep[i] = mscnt >> 4;
  1716. printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
  1717. #endif //TMC2130
  1718. }
  1719. endstops_hit_on_purpose();
  1720. enable_endstops(false);
  1721. #ifdef TMC2130
  1722. uint8_t orig = tmc2130_home_origin[axis];
  1723. uint8_t back = tmc2130_home_bsteps[axis];
  1724. if (tmc2130_home_enabled && (orig <= 63))
  1725. {
  1726. tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
  1727. if (back > 0)
  1728. tmc2130_do_steps(axis, back, 1, 1000);
  1729. }
  1730. else
  1731. tmc2130_do_steps(axis, 8, 2, 1000);
  1732. tmc2130_home_exit();
  1733. #endif //TMC2130
  1734. axis_is_at_home(axis);
  1735. axis_known_position[axis] = true;
  1736. // Move from minimum
  1737. #ifdef TMC2130
  1738. float dist = 0.01f * tmc2130_home_fsteps[axis];
  1739. #else //TMC2130
  1740. float dist = 0.01f * 64;
  1741. #endif //TMC2130
  1742. current_position[axis] -= dist;
  1743. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1744. current_position[axis] += dist;
  1745. destination[axis] = current_position[axis];
  1746. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
  1747. st_synchronize();
  1748. feedrate = 0.0;
  1749. }
  1750. else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
  1751. {
  1752. int axis_home_dir = home_dir(axis);
  1753. current_position[axis] = 0;
  1754. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1755. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1756. feedrate = homing_feedrate[axis];
  1757. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1758. st_synchronize();
  1759. #ifdef TMC2130
  1760. if ((tmc2130_mode == TMC2130_MODE_NORMAL) && (READ(Z_TMC2130_DIAG) != 0)) return; //Z crash
  1761. #endif //TMC2130
  1762. current_position[axis] = 0;
  1763. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1764. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1765. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1766. st_synchronize();
  1767. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1768. feedrate = homing_feedrate[axis]/2 ;
  1769. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1770. st_synchronize();
  1771. #ifdef TMC2130
  1772. if ((tmc2130_mode == TMC2130_MODE_NORMAL) && (READ(Z_TMC2130_DIAG) != 0)) return; //Z crash
  1773. #endif //TMC2130
  1774. axis_is_at_home(axis);
  1775. destination[axis] = current_position[axis];
  1776. feedrate = 0.0;
  1777. endstops_hit_on_purpose();
  1778. axis_known_position[axis] = true;
  1779. }
  1780. enable_endstops(endstops_enabled);
  1781. }
  1782. /**/
  1783. void home_xy()
  1784. {
  1785. set_destination_to_current();
  1786. homeaxis(X_AXIS);
  1787. homeaxis(Y_AXIS);
  1788. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1789. endstops_hit_on_purpose();
  1790. }
  1791. void refresh_cmd_timeout(void)
  1792. {
  1793. previous_millis_cmd = millis();
  1794. }
  1795. #ifdef FWRETRACT
  1796. void retract(bool retracting, bool swapretract = false) {
  1797. if(retracting && !retracted[active_extruder]) {
  1798. destination[X_AXIS]=current_position[X_AXIS];
  1799. destination[Y_AXIS]=current_position[Y_AXIS];
  1800. destination[Z_AXIS]=current_position[Z_AXIS];
  1801. destination[E_AXIS]=current_position[E_AXIS];
  1802. current_position[E_AXIS]+=(swapretract?retract_length_swap:retract_length)*float(extrudemultiply)*0.01f;
  1803. plan_set_e_position(current_position[E_AXIS]);
  1804. float oldFeedrate = feedrate;
  1805. feedrate=retract_feedrate*60;
  1806. retracted[active_extruder]=true;
  1807. prepare_move();
  1808. current_position[Z_AXIS]-=retract_zlift;
  1809. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1810. prepare_move();
  1811. feedrate = oldFeedrate;
  1812. } else if(!retracting && retracted[active_extruder]) {
  1813. destination[X_AXIS]=current_position[X_AXIS];
  1814. destination[Y_AXIS]=current_position[Y_AXIS];
  1815. destination[Z_AXIS]=current_position[Z_AXIS];
  1816. destination[E_AXIS]=current_position[E_AXIS];
  1817. current_position[Z_AXIS]+=retract_zlift;
  1818. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1819. current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(retract_length+retract_recover_length))*float(extrudemultiply)*0.01f;
  1820. plan_set_e_position(current_position[E_AXIS]);
  1821. float oldFeedrate = feedrate;
  1822. feedrate=retract_recover_feedrate*60;
  1823. retracted[active_extruder]=false;
  1824. prepare_move();
  1825. feedrate = oldFeedrate;
  1826. }
  1827. } //retract
  1828. #endif //FWRETRACT
  1829. void trace() {
  1830. tone(BEEPER, 440);
  1831. delay(25);
  1832. noTone(BEEPER);
  1833. delay(20);
  1834. }
  1835. /*
  1836. void ramming() {
  1837. // float tmp[4] = DEFAULT_MAX_FEEDRATE;
  1838. if (current_temperature[0] < 230) {
  1839. //PLA
  1840. max_feedrate[E_AXIS] = 50;
  1841. //current_position[E_AXIS] -= 8;
  1842. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1843. //current_position[E_AXIS] += 8;
  1844. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1845. current_position[E_AXIS] += 5.4;
  1846. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
  1847. current_position[E_AXIS] += 3.2;
  1848. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1849. current_position[E_AXIS] += 3;
  1850. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
  1851. st_synchronize();
  1852. max_feedrate[E_AXIS] = 80;
  1853. current_position[E_AXIS] -= 82;
  1854. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
  1855. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1856. current_position[E_AXIS] -= 20;
  1857. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
  1858. current_position[E_AXIS] += 5;
  1859. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1860. current_position[E_AXIS] += 5;
  1861. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1862. current_position[E_AXIS] -= 10;
  1863. st_synchronize();
  1864. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1865. current_position[E_AXIS] += 10;
  1866. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1867. current_position[E_AXIS] -= 10;
  1868. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1869. current_position[E_AXIS] += 10;
  1870. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1871. current_position[E_AXIS] -= 10;
  1872. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1873. st_synchronize();
  1874. }
  1875. else {
  1876. //ABS
  1877. max_feedrate[E_AXIS] = 50;
  1878. //current_position[E_AXIS] -= 8;
  1879. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1880. //current_position[E_AXIS] += 8;
  1881. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
  1882. current_position[E_AXIS] += 3.1;
  1883. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
  1884. current_position[E_AXIS] += 3.1;
  1885. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
  1886. current_position[E_AXIS] += 4;
  1887. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  1888. st_synchronize();
  1889. //current_position[X_AXIS] += 23; //delay
  1890. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1891. //current_position[X_AXIS] -= 23; //delay
  1892. //plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
  1893. delay(4700);
  1894. max_feedrate[E_AXIS] = 80;
  1895. current_position[E_AXIS] -= 92;
  1896. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
  1897. max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
  1898. current_position[E_AXIS] -= 5;
  1899. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
  1900. current_position[E_AXIS] += 5;
  1901. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
  1902. current_position[E_AXIS] -= 5;
  1903. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1904. st_synchronize();
  1905. current_position[E_AXIS] += 5;
  1906. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1907. current_position[E_AXIS] -= 5;
  1908. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1909. current_position[E_AXIS] += 5;
  1910. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1911. current_position[E_AXIS] -= 5;
  1912. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
  1913. st_synchronize();
  1914. }
  1915. }
  1916. */
  1917. #ifdef TMC2130
  1918. void force_high_power_mode(bool start_high_power_section) {
  1919. uint8_t silent;
  1920. silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  1921. if (silent == 1) {
  1922. //we are in silent mode, set to normal mode to enable crash detection
  1923. // Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
  1924. st_synchronize();
  1925. cli();
  1926. tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
  1927. tmc2130_init();
  1928. // We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
  1929. // Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  1930. st_reset_timer();
  1931. sei();
  1932. }
  1933. }
  1934. #endif //TMC2130
  1935. bool gcode_M45(bool onlyZ, int8_t verbosity_level)
  1936. {
  1937. bool final_result = false;
  1938. #ifdef TMC2130
  1939. FORCE_HIGH_POWER_START;
  1940. #endif // TMC2130
  1941. // Only Z calibration?
  1942. if (!onlyZ)
  1943. {
  1944. setTargetBed(0);
  1945. setTargetHotend(0, 0);
  1946. setTargetHotend(0, 1);
  1947. setTargetHotend(0, 2);
  1948. adjust_bed_reset(); //reset bed level correction
  1949. }
  1950. // Disable the default update procedure of the display. We will do a modal dialog.
  1951. lcd_update_enable(false);
  1952. // Let the planner use the uncorrected coordinates.
  1953. mbl.reset();
  1954. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  1955. // the planner will not perform any adjustments in the XY plane.
  1956. // Wait for the motors to stop and update the current position with the absolute values.
  1957. world2machine_revert_to_uncorrected();
  1958. // Reset the baby step value applied without moving the axes.
  1959. babystep_reset();
  1960. // Mark all axes as in a need for homing.
  1961. memset(axis_known_position, 0, sizeof(axis_known_position));
  1962. // Home in the XY plane.
  1963. //set_destination_to_current();
  1964. setup_for_endstop_move();
  1965. lcd_display_message_fullscreen_P(MSG_AUTO_HOME);
  1966. home_xy();
  1967. enable_endstops(false);
  1968. current_position[X_AXIS] += 5;
  1969. current_position[Y_AXIS] += 5;
  1970. 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);
  1971. st_synchronize();
  1972. // Let the user move the Z axes up to the end stoppers.
  1973. #ifdef TMC2130
  1974. if (calibrate_z_auto())
  1975. {
  1976. #else //TMC2130
  1977. if (lcd_calibrate_z_end_stop_manual(onlyZ))
  1978. {
  1979. #endif //TMC2130
  1980. refresh_cmd_timeout();
  1981. #ifndef STEEL_SHEET
  1982. if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
  1983. {
  1984. lcd_wait_for_cool_down();
  1985. }
  1986. #endif //STEEL_SHEET
  1987. if(!onlyZ)
  1988. {
  1989. KEEPALIVE_STATE(PAUSED_FOR_USER);
  1990. #ifdef STEEL_SHEET
  1991. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_STEEL_SHEET_CHECK, false, false);
  1992. if(result) lcd_show_fullscreen_message_and_wait_P(MSG_REMOVE_STEEL_SHEET);
  1993. #endif //STEEL_SHEET
  1994. lcd_show_fullscreen_message_and_wait_P(MSG_CONFIRM_NOZZLE_CLEAN);
  1995. lcd_show_fullscreen_message_and_wait_P(MSG_PAPER);
  1996. KEEPALIVE_STATE(IN_HANDLER);
  1997. lcd_display_message_fullscreen_P(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1);
  1998. lcd_implementation_print_at(0, 2, 1);
  1999. lcd_printPGM(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2);
  2000. }
  2001. // Move the print head close to the bed.
  2002. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2003. bool endstops_enabled = enable_endstops(true);
  2004. #ifdef TMC2130
  2005. tmc2130_home_enter(Z_AXIS_MASK);
  2006. #endif //TMC2130
  2007. 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);
  2008. st_synchronize();
  2009. #ifdef TMC2130
  2010. tmc2130_home_exit();
  2011. #endif //TMC2130
  2012. enable_endstops(endstops_enabled);
  2013. if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
  2014. {
  2015. int8_t verbosity_level = 0;
  2016. if (code_seen('V'))
  2017. {
  2018. // Just 'V' without a number counts as V1.
  2019. char c = strchr_pointer[1];
  2020. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  2021. }
  2022. if (onlyZ)
  2023. {
  2024. clean_up_after_endstop_move();
  2025. // Z only calibration.
  2026. // Load the machine correction matrix
  2027. world2machine_initialize();
  2028. // and correct the current_position to match the transformed coordinate system.
  2029. world2machine_update_current();
  2030. //FIXME
  2031. bool result = sample_mesh_and_store_reference();
  2032. if (result)
  2033. {
  2034. if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
  2035. // Shipped, the nozzle height has been set already. The user can start printing now.
  2036. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  2037. final_result = true;
  2038. // babystep_apply();
  2039. }
  2040. }
  2041. else
  2042. {
  2043. // Reset the baby step value and the baby step applied flag.
  2044. calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
  2045. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  2046. // Complete XYZ calibration.
  2047. uint8_t point_too_far_mask = 0;
  2048. BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
  2049. clean_up_after_endstop_move();
  2050. // Print head up.
  2051. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2052. 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);
  2053. st_synchronize();
  2054. //#ifndef NEW_XYZCAL
  2055. if (result >= 0)
  2056. {
  2057. #ifdef HEATBED_V2
  2058. sample_z();
  2059. #else //HEATBED_V2
  2060. point_too_far_mask = 0;
  2061. // Second half: The fine adjustment.
  2062. // Let the planner use the uncorrected coordinates.
  2063. mbl.reset();
  2064. world2machine_reset();
  2065. // Home in the XY plane.
  2066. setup_for_endstop_move();
  2067. home_xy();
  2068. result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
  2069. clean_up_after_endstop_move();
  2070. // Print head up.
  2071. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  2072. 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);
  2073. st_synchronize();
  2074. // if (result >= 0) babystep_apply();
  2075. #endif //HEATBED_V2
  2076. }
  2077. //#endif //NEW_XYZCAL
  2078. lcd_update_enable(true);
  2079. lcd_update(2);
  2080. lcd_bed_calibration_show_result(result, point_too_far_mask);
  2081. if (result >= 0)
  2082. {
  2083. // Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
  2084. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  2085. if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(MSG_BABYSTEP_Z_NOT_SET);
  2086. final_result = true;
  2087. }
  2088. }
  2089. #ifdef TMC2130
  2090. tmc2130_home_exit();
  2091. #endif
  2092. }
  2093. else
  2094. {
  2095. lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
  2096. final_result = false;
  2097. }
  2098. }
  2099. else
  2100. {
  2101. // Timeouted.
  2102. }
  2103. lcd_update_enable(true);
  2104. #ifdef TMC2130
  2105. FORCE_HIGH_POWER_END;
  2106. #endif // TMC2130
  2107. return final_result;
  2108. }
  2109. void gcode_M114()
  2110. {
  2111. SERIAL_PROTOCOLPGM("X:");
  2112. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2113. SERIAL_PROTOCOLPGM(" Y:");
  2114. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2115. SERIAL_PROTOCOLPGM(" Z:");
  2116. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2117. SERIAL_PROTOCOLPGM(" E:");
  2118. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2119. SERIAL_PROTOCOLRPGM(MSG_COUNT_X);
  2120. SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
  2121. SERIAL_PROTOCOLPGM(" Y:");
  2122. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS)) / axis_steps_per_unit[Y_AXIS]);
  2123. SERIAL_PROTOCOLPGM(" Z:");
  2124. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]);
  2125. SERIAL_PROTOCOLPGM(" E:");
  2126. SERIAL_PROTOCOL(float(st_get_position(E_AXIS)) / axis_steps_per_unit[E_AXIS]);
  2127. SERIAL_PROTOCOLLN("");
  2128. }
  2129. void gcode_M701()
  2130. {
  2131. #ifdef SNMM
  2132. extr_adj(snmm_extruder);//loads current extruder
  2133. #else
  2134. enable_z();
  2135. custom_message = true;
  2136. custom_message_type = 2;
  2137. lcd_setstatuspgm(MSG_LOADING_FILAMENT);
  2138. current_position[E_AXIS] += 70;
  2139. 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
  2140. current_position[E_AXIS] += 25;
  2141. 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
  2142. st_synchronize();
  2143. tone(BEEPER, 500);
  2144. delay_keep_alive(50);
  2145. noTone(BEEPER);
  2146. if (!farm_mode && loading_flag) {
  2147. bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  2148. while (!clean) {
  2149. lcd_update_enable(true);
  2150. lcd_update(2);
  2151. current_position[E_AXIS] += 25;
  2152. 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
  2153. st_synchronize();
  2154. clean = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FILAMENT_CLEAN, false, true);
  2155. }
  2156. }
  2157. lcd_update_enable(true);
  2158. lcd_update(2);
  2159. lcd_setstatuspgm(WELCOME_MSG);
  2160. disable_z();
  2161. loading_flag = false;
  2162. custom_message = false;
  2163. custom_message_type = 0;
  2164. #endif
  2165. }
  2166. /**
  2167. * @brief Get serial number from 32U2 processor
  2168. *
  2169. * Typical format of S/N is:CZPX0917X003XC13518
  2170. *
  2171. * Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
  2172. *
  2173. * Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
  2174. * reply is transmitted to serial port 1 character by character.
  2175. * Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
  2176. * it is interrupted, so less, or no characters are retransmitted, only newline character is send
  2177. * in any case.
  2178. */
  2179. static void gcode_PRUSA_SN()
  2180. {
  2181. if (farm_mode) {
  2182. selectedSerialPort = 0;
  2183. MSerial.write(";S");
  2184. int numbersRead = 0;
  2185. Timer timeout;
  2186. timeout.start();
  2187. while (numbersRead < 19) {
  2188. while (MSerial.available() > 0) {
  2189. uint8_t serial_char = MSerial.read();
  2190. selectedSerialPort = 1;
  2191. MSerial.write(serial_char);
  2192. numbersRead++;
  2193. selectedSerialPort = 0;
  2194. }
  2195. if (timeout.expired(100)) break;
  2196. }
  2197. selectedSerialPort = 1;
  2198. MSerial.write('\n');
  2199. #if 0
  2200. for (int b = 0; b < 3; b++) {
  2201. tone(BEEPER, 110);
  2202. delay(50);
  2203. noTone(BEEPER);
  2204. delay(50);
  2205. }
  2206. #endif
  2207. } else {
  2208. MYSERIAL.println("Not in farm mode.");
  2209. }
  2210. }
  2211. void process_commands()
  2212. {
  2213. if (!buflen) return; //empty command
  2214. #ifdef FILAMENT_RUNOUT_SUPPORT
  2215. SET_INPUT(FR_SENS);
  2216. #endif
  2217. #ifdef CMDBUFFER_DEBUG
  2218. SERIAL_ECHOPGM("Processing a GCODE command: ");
  2219. SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
  2220. SERIAL_ECHOLNPGM("");
  2221. SERIAL_ECHOPGM("In cmdqueue: ");
  2222. SERIAL_ECHO(buflen);
  2223. SERIAL_ECHOLNPGM("");
  2224. #endif /* CMDBUFFER_DEBUG */
  2225. unsigned long codenum; //throw away variable
  2226. char *starpos = NULL;
  2227. #ifdef ENABLE_AUTO_BED_LEVELING
  2228. float x_tmp, y_tmp, z_tmp, real_z;
  2229. #endif
  2230. // PRUSA GCODES
  2231. KEEPALIVE_STATE(IN_HANDLER);
  2232. #ifdef SNMM
  2233. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  2234. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  2235. int8_t SilentMode;
  2236. #endif
  2237. if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
  2238. starpos = (strchr(strchr_pointer + 5, '*'));
  2239. if (starpos != NULL)
  2240. *(starpos) = '\0';
  2241. lcd_setstatus(strchr_pointer + 5);
  2242. }
  2243. #ifdef TMC2130
  2244. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
  2245. {
  2246. if(code_seen("CRASH_DETECTED"))
  2247. {
  2248. uint8_t mask = 0;
  2249. if (code_seen("X")) mask |= X_AXIS_MASK;
  2250. if (code_seen("Y")) mask |= Y_AXIS_MASK;
  2251. crashdet_detected(mask);
  2252. }
  2253. else if(code_seen("CRASH_RECOVER"))
  2254. crashdet_recover();
  2255. else if(code_seen("CRASH_CANCEL"))
  2256. crashdet_cancel();
  2257. }
  2258. else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
  2259. {
  2260. if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_E"), 10) == 0)
  2261. {
  2262. uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2263. tmc2130_set_wave(E_AXIS, 247, fac);
  2264. }
  2265. else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_E"), 10) == 0)
  2266. {
  2267. uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
  2268. uint16_t res = tmc2130_get_res(E_AXIS);
  2269. tmc2130_goto_step(E_AXIS, step & (4*res - 1), 2, 1000, res);
  2270. }
  2271. }
  2272. #endif //TMC2130
  2273. else if(code_seen("PRUSA")){
  2274. if (code_seen("Ping")) { //PRUSA Ping
  2275. if (farm_mode) {
  2276. PingTime = millis();
  2277. //MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
  2278. }
  2279. }
  2280. else if (code_seen("PRN")) {
  2281. MYSERIAL.println(status_number);
  2282. }else if (code_seen("FAN")) {
  2283. MYSERIAL.print("E0:");
  2284. MYSERIAL.print(60*fan_speed[0]);
  2285. MYSERIAL.println(" RPM");
  2286. MYSERIAL.print("PRN0:");
  2287. MYSERIAL.print(60*fan_speed[1]);
  2288. MYSERIAL.println(" RPM");
  2289. }else if (code_seen("fn")) {
  2290. if (farm_mode) {
  2291. MYSERIAL.println(farm_no);
  2292. }
  2293. else {
  2294. MYSERIAL.println("Not in farm mode.");
  2295. }
  2296. }
  2297. else if (code_seen("thx")) {
  2298. no_response = false;
  2299. }else if (code_seen("fv")) {
  2300. // get file version
  2301. #ifdef SDSUPPORT
  2302. card.openFile(strchr_pointer + 3,true);
  2303. while (true) {
  2304. uint16_t readByte = card.get();
  2305. MYSERIAL.write(readByte);
  2306. if (readByte=='\n') {
  2307. break;
  2308. }
  2309. }
  2310. card.closefile();
  2311. #endif // SDSUPPORT
  2312. } else if (code_seen("M28")) {
  2313. trace();
  2314. prusa_sd_card_upload = true;
  2315. card.openFile(strchr_pointer+4,false);
  2316. } else if (code_seen("SN")) {
  2317. gcode_PRUSA_SN();
  2318. } else if(code_seen("Fir")){
  2319. SERIAL_PROTOCOLLN(FW_VERSION);
  2320. } else if(code_seen("Rev")){
  2321. SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
  2322. } else if(code_seen("Lang")) {
  2323. lcd_force_language_selection();
  2324. } else if(code_seen("Lz")) {
  2325. EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
  2326. } else if (code_seen("SERIAL LOW")) {
  2327. MYSERIAL.println("SERIAL LOW");
  2328. MYSERIAL.begin(BAUDRATE);
  2329. return;
  2330. } else if (code_seen("SERIAL HIGH")) {
  2331. MYSERIAL.println("SERIAL HIGH");
  2332. MYSERIAL.begin(1152000);
  2333. return;
  2334. } else if(code_seen("Beat")) {
  2335. // Kick farm link timer
  2336. kicktime = millis();
  2337. } else if(code_seen("FR")) {
  2338. // Factory full reset
  2339. factory_reset(0,true);
  2340. }
  2341. //else if (code_seen('Cal')) {
  2342. // lcd_calibration();
  2343. // }
  2344. }
  2345. else if (code_seen('^')) {
  2346. // nothing, this is a version line
  2347. } else if(code_seen('G'))
  2348. {
  2349. switch((int)code_value())
  2350. {
  2351. case 0: // G0 -> G1
  2352. case 1: // G1
  2353. if(Stopped == false) {
  2354. #ifdef FILAMENT_RUNOUT_SUPPORT
  2355. if(READ(FR_SENS)){
  2356. feedmultiplyBckp=feedmultiply;
  2357. float target[4];
  2358. float lastpos[4];
  2359. target[X_AXIS]=current_position[X_AXIS];
  2360. target[Y_AXIS]=current_position[Y_AXIS];
  2361. target[Z_AXIS]=current_position[Z_AXIS];
  2362. target[E_AXIS]=current_position[E_AXIS];
  2363. lastpos[X_AXIS]=current_position[X_AXIS];
  2364. lastpos[Y_AXIS]=current_position[Y_AXIS];
  2365. lastpos[Z_AXIS]=current_position[Z_AXIS];
  2366. lastpos[E_AXIS]=current_position[E_AXIS];
  2367. //retract by E
  2368. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  2369. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2370. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  2371. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
  2372. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  2373. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  2374. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
  2375. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  2376. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2377. //finish moves
  2378. st_synchronize();
  2379. //disable extruder steppers so filament can be removed
  2380. disable_e0();
  2381. disable_e1();
  2382. disable_e2();
  2383. delay(100);
  2384. //LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
  2385. uint8_t cnt=0;
  2386. int counterBeep = 0;
  2387. lcd_wait_interact();
  2388. while(!lcd_clicked()){
  2389. cnt++;
  2390. manage_heater();
  2391. manage_inactivity(true);
  2392. //lcd_update();
  2393. if(cnt==0)
  2394. {
  2395. #if BEEPER > 0
  2396. if (counterBeep== 500){
  2397. counterBeep = 0;
  2398. }
  2399. SET_OUTPUT(BEEPER);
  2400. if (counterBeep== 0){
  2401. WRITE(BEEPER,HIGH);
  2402. }
  2403. if (counterBeep== 20){
  2404. WRITE(BEEPER,LOW);
  2405. }
  2406. counterBeep++;
  2407. #else
  2408. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  2409. lcd_buzz(1000/6,100);
  2410. #else
  2411. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
  2412. #endif
  2413. #endif
  2414. }
  2415. }
  2416. WRITE(BEEPER,LOW);
  2417. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  2418. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2419. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2420. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2421. lcd_change_fil_state = 0;
  2422. lcd_loading_filament();
  2423. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  2424. lcd_change_fil_state = 0;
  2425. lcd_alright();
  2426. switch(lcd_change_fil_state){
  2427. case 2:
  2428. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  2429. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
  2430. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2431. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2432. lcd_loading_filament();
  2433. break;
  2434. case 3:
  2435. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  2436. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2437. lcd_loading_color();
  2438. break;
  2439. default:
  2440. lcd_change_success();
  2441. break;
  2442. }
  2443. }
  2444. target[E_AXIS]+= 5;
  2445. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  2446. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  2447. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  2448. //current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  2449. //plan_set_e_position(current_position[E_AXIS]);
  2450. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  2451. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
  2452. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
  2453. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  2454. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
  2455. plan_set_e_position(lastpos[E_AXIS]);
  2456. feedmultiply=feedmultiplyBckp;
  2457. char cmd[9];
  2458. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  2459. enquecommand(cmd);
  2460. }
  2461. #endif
  2462. get_coordinates(); // For X Y Z E F
  2463. if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
  2464. total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
  2465. }
  2466. #ifdef FWRETRACT
  2467. if(autoretract_enabled)
  2468. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2469. float echange=destination[E_AXIS]-current_position[E_AXIS];
  2470. if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
  2471. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  2472. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  2473. retract(!retracted);
  2474. return;
  2475. }
  2476. }
  2477. #endif //FWRETRACT
  2478. prepare_move();
  2479. //ClearToSend();
  2480. }
  2481. break;
  2482. case 2: // G2 - CW ARC
  2483. if(Stopped == false) {
  2484. get_arc_coordinates();
  2485. prepare_arc_move(true);
  2486. }
  2487. break;
  2488. case 3: // G3 - CCW ARC
  2489. if(Stopped == false) {
  2490. get_arc_coordinates();
  2491. prepare_arc_move(false);
  2492. }
  2493. break;
  2494. case 4: // G4 dwell
  2495. codenum = 0;
  2496. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  2497. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  2498. if(codenum != 0) LCD_MESSAGERPGM(MSG_DWELL);
  2499. st_synchronize();
  2500. codenum += millis(); // keep track of when we started waiting
  2501. previous_millis_cmd = millis();
  2502. while(millis() < codenum) {
  2503. manage_heater();
  2504. manage_inactivity();
  2505. lcd_update();
  2506. }
  2507. break;
  2508. #ifdef FWRETRACT
  2509. case 10: // G10 retract
  2510. #if EXTRUDERS > 1
  2511. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  2512. retract(true,retracted_swap[active_extruder]);
  2513. #else
  2514. retract(true);
  2515. #endif
  2516. break;
  2517. case 11: // G11 retract_recover
  2518. #if EXTRUDERS > 1
  2519. retract(false,retracted_swap[active_extruder]);
  2520. #else
  2521. retract(false);
  2522. #endif
  2523. break;
  2524. #endif //FWRETRACT
  2525. case 28: //G28 Home all Axis one at a time
  2526. {
  2527. st_synchronize();
  2528. #if 0
  2529. SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
  2530. SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
  2531. #endif
  2532. // Flag for the display update routine and to disable the print cancelation during homing.
  2533. homing_flag = true;
  2534. // Which axes should be homed?
  2535. bool home_x = code_seen(axis_codes[X_AXIS]);
  2536. bool home_y = code_seen(axis_codes[Y_AXIS]);
  2537. bool home_z = code_seen(axis_codes[Z_AXIS]);
  2538. // calibrate?
  2539. bool calib = code_seen('C');
  2540. // Either all X,Y,Z codes are present, or none of them.
  2541. bool home_all_axes = home_x == home_y && home_x == home_z;
  2542. if (home_all_axes)
  2543. // No X/Y/Z code provided means to home all axes.
  2544. home_x = home_y = home_z = true;
  2545. #ifdef ENABLE_AUTO_BED_LEVELING
  2546. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  2547. #endif //ENABLE_AUTO_BED_LEVELING
  2548. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  2549. // the planner will not perform any adjustments in the XY plane.
  2550. // Wait for the motors to stop and update the current position with the absolute values.
  2551. world2machine_revert_to_uncorrected();
  2552. // For mesh bed leveling deactivate the matrix temporarily.
  2553. // It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
  2554. // in a single axis only.
  2555. // In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
  2556. #ifdef MESH_BED_LEVELING
  2557. uint8_t mbl_was_active = mbl.active;
  2558. mbl.active = 0;
  2559. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  2560. #endif
  2561. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  2562. // consumed during the first movements following this statement.
  2563. if (home_z)
  2564. babystep_undo();
  2565. saved_feedrate = feedrate;
  2566. saved_feedmultiply = feedmultiply;
  2567. feedmultiply = 100;
  2568. previous_millis_cmd = millis();
  2569. enable_endstops(true);
  2570. memcpy(destination, current_position, sizeof(destination));
  2571. feedrate = 0.0;
  2572. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2573. if(home_z)
  2574. homeaxis(Z_AXIS);
  2575. #endif
  2576. #ifdef QUICK_HOME
  2577. // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
  2578. if(home_x && home_y) //first diagonal move
  2579. {
  2580. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  2581. int x_axis_home_dir = home_dir(X_AXIS);
  2582. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2583. 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);
  2584. feedrate = homing_feedrate[X_AXIS];
  2585. if(homing_feedrate[Y_AXIS]<feedrate)
  2586. feedrate = homing_feedrate[Y_AXIS];
  2587. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  2588. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  2589. } else {
  2590. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  2591. }
  2592. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2593. st_synchronize();
  2594. axis_is_at_home(X_AXIS);
  2595. axis_is_at_home(Y_AXIS);
  2596. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2597. destination[X_AXIS] = current_position[X_AXIS];
  2598. destination[Y_AXIS] = current_position[Y_AXIS];
  2599. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  2600. feedrate = 0.0;
  2601. st_synchronize();
  2602. endstops_hit_on_purpose();
  2603. current_position[X_AXIS] = destination[X_AXIS];
  2604. current_position[Y_AXIS] = destination[Y_AXIS];
  2605. current_position[Z_AXIS] = destination[Z_AXIS];
  2606. }
  2607. #endif /* QUICK_HOME */
  2608. #ifdef TMC2130
  2609. if(home_x)
  2610. {
  2611. if (!calib)
  2612. homeaxis(X_AXIS);
  2613. else
  2614. tmc2130_home_calibrate(X_AXIS);
  2615. }
  2616. if(home_y)
  2617. {
  2618. if (!calib)
  2619. homeaxis(Y_AXIS);
  2620. else
  2621. tmc2130_home_calibrate(Y_AXIS);
  2622. }
  2623. #endif //TMC2130
  2624. if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
  2625. current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
  2626. if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
  2627. current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
  2628. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  2629. #ifndef Z_SAFE_HOMING
  2630. if(home_z) {
  2631. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2632. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2633. feedrate = max_feedrate[Z_AXIS];
  2634. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2635. st_synchronize();
  2636. #endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  2637. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
  2638. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
  2639. {
  2640. homeaxis(X_AXIS);
  2641. homeaxis(Y_AXIS);
  2642. }
  2643. // 1st mesh bed leveling measurement point, corrected.
  2644. world2machine_initialize();
  2645. world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
  2646. world2machine_reset();
  2647. if (destination[Y_AXIS] < Y_MIN_POS)
  2648. destination[Y_AXIS] = Y_MIN_POS;
  2649. destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
  2650. feedrate = homing_feedrate[Z_AXIS]/10;
  2651. current_position[Z_AXIS] = 0;
  2652. enable_endstops(false);
  2653. #ifdef DEBUG_BUILD
  2654. SERIAL_ECHOLNPGM("plan_set_position()");
  2655. MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
  2656. MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
  2657. #endif
  2658. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2659. #ifdef DEBUG_BUILD
  2660. SERIAL_ECHOLNPGM("plan_buffer_line()");
  2661. MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
  2662. MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
  2663. MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
  2664. #endif
  2665. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2666. st_synchronize();
  2667. current_position[X_AXIS] = destination[X_AXIS];
  2668. current_position[Y_AXIS] = destination[Y_AXIS];
  2669. enable_endstops(true);
  2670. endstops_hit_on_purpose();
  2671. homeaxis(Z_AXIS);
  2672. #else // MESH_BED_LEVELING
  2673. homeaxis(Z_AXIS);
  2674. #endif // MESH_BED_LEVELING
  2675. }
  2676. #else // defined(Z_SAFE_HOMING): Z Safe mode activated.
  2677. if(home_all_axes) {
  2678. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  2679. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  2680. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2681. feedrate = XY_TRAVEL_SPEED/60;
  2682. current_position[Z_AXIS] = 0;
  2683. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2684. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2685. st_synchronize();
  2686. current_position[X_AXIS] = destination[X_AXIS];
  2687. current_position[Y_AXIS] = destination[Y_AXIS];
  2688. homeaxis(Z_AXIS);
  2689. }
  2690. // Let's see if X and Y are homed and probe is inside bed area.
  2691. if(home_z) {
  2692. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  2693. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  2694. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  2695. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  2696. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  2697. current_position[Z_AXIS] = 0;
  2698. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2699. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  2700. feedrate = max_feedrate[Z_AXIS];
  2701. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  2702. st_synchronize();
  2703. homeaxis(Z_AXIS);
  2704. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  2705. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2706. SERIAL_ECHO_START;
  2707. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2708. } else {
  2709. LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
  2710. SERIAL_ECHO_START;
  2711. SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
  2712. }
  2713. }
  2714. #endif // Z_SAFE_HOMING
  2715. #endif // Z_HOME_DIR < 0
  2716. if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
  2717. current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
  2718. #ifdef ENABLE_AUTO_BED_LEVELING
  2719. if(home_z)
  2720. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  2721. #endif
  2722. // Set the planner and stepper routine positions.
  2723. // At this point the mesh bed leveling and world2machine corrections are disabled and current_position
  2724. // contains the machine coordinates.
  2725. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2726. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  2727. enable_endstops(false);
  2728. #endif
  2729. feedrate = saved_feedrate;
  2730. feedmultiply = saved_feedmultiply;
  2731. previous_millis_cmd = millis();
  2732. endstops_hit_on_purpose();
  2733. #ifndef MESH_BED_LEVELING
  2734. // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
  2735. // Offer the user to load the baby step value, which has been adjusted at the previous print session.
  2736. if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
  2737. lcd_adjust_z();
  2738. #endif
  2739. // Load the machine correction matrix
  2740. world2machine_initialize();
  2741. // and correct the current_position XY axes to match the transformed coordinate system.
  2742. world2machine_update_current();
  2743. #if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
  2744. if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
  2745. {
  2746. if (! home_z && mbl_was_active) {
  2747. // Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
  2748. mbl.active = true;
  2749. // and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
  2750. current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
  2751. }
  2752. }
  2753. else
  2754. {
  2755. st_synchronize();
  2756. homing_flag = false;
  2757. // Push the commands to the front of the message queue in the reverse order!
  2758. // There shall be always enough space reserved for these commands.
  2759. // enquecommand_front_P((PSTR("G80")));
  2760. goto case_G80;
  2761. }
  2762. #endif
  2763. if (farm_mode) { prusa_statistics(20); };
  2764. homing_flag = false;
  2765. #if 0
  2766. SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
  2767. SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
  2768. SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
  2769. #endif
  2770. break;
  2771. }
  2772. #ifdef ENABLE_AUTO_BED_LEVELING
  2773. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  2774. {
  2775. #if Z_MIN_PIN == -1
  2776. #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."
  2777. #endif
  2778. // Prevent user from running a G29 without first homing in X and Y
  2779. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  2780. {
  2781. LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
  2782. SERIAL_ECHO_START;
  2783. SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
  2784. break; // abort G29, since we don't know where we are
  2785. }
  2786. st_synchronize();
  2787. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  2788. //vector_3 corrected_position = plan_get_position_mm();
  2789. //corrected_position.debug("position before G29");
  2790. plan_bed_level_matrix.set_to_identity();
  2791. vector_3 uncorrected_position = plan_get_position();
  2792. //uncorrected_position.debug("position durring G29");
  2793. current_position[X_AXIS] = uncorrected_position.x;
  2794. current_position[Y_AXIS] = uncorrected_position.y;
  2795. current_position[Z_AXIS] = uncorrected_position.z;
  2796. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2797. setup_for_endstop_move();
  2798. feedrate = homing_feedrate[Z_AXIS];
  2799. #ifdef AUTO_BED_LEVELING_GRID
  2800. // probe at the points of a lattice grid
  2801. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2802. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  2803. // solve the plane equation ax + by + d = z
  2804. // A is the matrix with rows [x y 1] for all the probed points
  2805. // B is the vector of the Z positions
  2806. // 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
  2807. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  2808. // "A" matrix of the linear system of equations
  2809. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  2810. // "B" vector of Z points
  2811. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  2812. int probePointCounter = 0;
  2813. bool zig = true;
  2814. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  2815. {
  2816. int xProbe, xInc;
  2817. if (zig)
  2818. {
  2819. xProbe = LEFT_PROBE_BED_POSITION;
  2820. //xEnd = RIGHT_PROBE_BED_POSITION;
  2821. xInc = xGridSpacing;
  2822. zig = false;
  2823. } else // zag
  2824. {
  2825. xProbe = RIGHT_PROBE_BED_POSITION;
  2826. //xEnd = LEFT_PROBE_BED_POSITION;
  2827. xInc = -xGridSpacing;
  2828. zig = true;
  2829. }
  2830. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  2831. {
  2832. float z_before;
  2833. if (probePointCounter == 0)
  2834. {
  2835. // raise before probing
  2836. z_before = Z_RAISE_BEFORE_PROBING;
  2837. } else
  2838. {
  2839. // raise extruder
  2840. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  2841. }
  2842. float measured_z = probe_pt(xProbe, yProbe, z_before);
  2843. eqnBVector[probePointCounter] = measured_z;
  2844. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  2845. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  2846. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  2847. probePointCounter++;
  2848. xProbe += xInc;
  2849. }
  2850. }
  2851. clean_up_after_endstop_move();
  2852. // solve lsq problem
  2853. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  2854. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  2855. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  2856. SERIAL_PROTOCOLPGM(" b: ");
  2857. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  2858. SERIAL_PROTOCOLPGM(" d: ");
  2859. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  2860. set_bed_level_equation_lsq(plane_equation_coefficients);
  2861. free(plane_equation_coefficients);
  2862. #else // AUTO_BED_LEVELING_GRID not defined
  2863. // Probe at 3 arbitrary points
  2864. // probe 1
  2865. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  2866. // probe 2
  2867. 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);
  2868. // probe 3
  2869. 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);
  2870. clean_up_after_endstop_move();
  2871. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  2872. #endif // AUTO_BED_LEVELING_GRID
  2873. st_synchronize();
  2874. // The following code correct the Z height difference from z-probe position and hotend tip position.
  2875. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  2876. // When the bed is uneven, this height must be corrected.
  2877. 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)
  2878. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  2879. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  2880. z_tmp = current_position[Z_AXIS];
  2881. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  2882. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  2883. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2884. }
  2885. break;
  2886. #ifndef Z_PROBE_SLED
  2887. case 30: // G30 Single Z Probe
  2888. {
  2889. st_synchronize();
  2890. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2891. setup_for_endstop_move();
  2892. feedrate = homing_feedrate[Z_AXIS];
  2893. run_z_probe();
  2894. SERIAL_PROTOCOLPGM(MSG_BED);
  2895. SERIAL_PROTOCOLPGM(" X: ");
  2896. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2897. SERIAL_PROTOCOLPGM(" Y: ");
  2898. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2899. SERIAL_PROTOCOLPGM(" Z: ");
  2900. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2901. SERIAL_PROTOCOLPGM("\n");
  2902. clean_up_after_endstop_move();
  2903. }
  2904. break;
  2905. #else
  2906. case 31: // dock the sled
  2907. dock_sled(true);
  2908. break;
  2909. case 32: // undock the sled
  2910. dock_sled(false);
  2911. break;
  2912. #endif // Z_PROBE_SLED
  2913. #endif // ENABLE_AUTO_BED_LEVELING
  2914. #ifdef MESH_BED_LEVELING
  2915. case 30: // G30 Single Z Probe
  2916. {
  2917. st_synchronize();
  2918. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  2919. setup_for_endstop_move();
  2920. feedrate = homing_feedrate[Z_AXIS];
  2921. find_bed_induction_sensor_point_z(-10.f, 3);
  2922. SERIAL_PROTOCOLRPGM(MSG_BED);
  2923. SERIAL_PROTOCOLPGM(" X: ");
  2924. MYSERIAL.print(current_position[X_AXIS], 5);
  2925. SERIAL_PROTOCOLPGM(" Y: ");
  2926. MYSERIAL.print(current_position[Y_AXIS], 5);
  2927. SERIAL_PROTOCOLPGM(" Z: ");
  2928. MYSERIAL.print(current_position[Z_AXIS], 5);
  2929. SERIAL_PROTOCOLPGM("\n");
  2930. clean_up_after_endstop_move();
  2931. }
  2932. break;
  2933. case 75:
  2934. {
  2935. for (int i = 40; i <= 110; i++) {
  2936. MYSERIAL.print(i);
  2937. MYSERIAL.print(" ");
  2938. MYSERIAL.println(temp_comp_interpolation(i));// / axis_steps_per_unit[Z_AXIS]);
  2939. }
  2940. }
  2941. break;
  2942. case 76: //PINDA probe temperature calibration
  2943. {
  2944. #ifdef PINDA_THERMISTOR
  2945. if (true)
  2946. {
  2947. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
  2948. {
  2949. // We don't know where we are! HOME!
  2950. // Push the commands to the front of the message queue in the reverse order!
  2951. // There shall be always enough space reserved for these commands.
  2952. repeatcommand_front(); // repeat G76 with all its parameters
  2953. enquecommand_front_P((PSTR("G28 W0")));
  2954. break;
  2955. }
  2956. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CAL_WARNING);
  2957. bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_STEEL_SHEET_CHECK, false, false);
  2958. if (result)
  2959. {
  2960. current_position[Z_AXIS] = 50;
  2961. current_position[Y_AXIS] += 180;
  2962. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2963. st_synchronize();
  2964. lcd_show_fullscreen_message_and_wait_P(MSG_REMOVE_STEEL_SHEET);
  2965. current_position[Y_AXIS] -= 180;
  2966. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2967. st_synchronize();
  2968. feedrate = homing_feedrate[Z_AXIS] / 10;
  2969. enable_endstops(true);
  2970. endstops_hit_on_purpose();
  2971. homeaxis(Z_AXIS);
  2972. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  2973. enable_endstops(false);
  2974. }
  2975. if ((current_temperature_pinda > 35) && (farm_mode == false)) {
  2976. //waiting for PIDNA probe to cool down in case that we are not in farm mode
  2977. current_position[Z_AXIS] = 100;
  2978. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  2979. if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
  2980. lcd_temp_cal_show_result(false);
  2981. break;
  2982. }
  2983. }
  2984. lcd_update_enable(true);
  2985. KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
  2986. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  2987. float zero_z;
  2988. int z_shift = 0; //unit: steps
  2989. float start_temp = 5 * (int)(current_temperature_pinda / 5);
  2990. if (start_temp < 35) start_temp = 35;
  2991. if (start_temp < current_temperature_pinda) start_temp += 5;
  2992. SERIAL_ECHOPGM("start temperature: ");
  2993. MYSERIAL.println(start_temp);
  2994. // setTargetHotend(200, 0);
  2995. setTargetBed(70 + (start_temp - 30));
  2996. custom_message = true;
  2997. custom_message_type = 4;
  2998. custom_message_state = 1;
  2999. custom_message = MSG_TEMP_CALIBRATION;
  3000. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3001. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3002. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3003. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3004. st_synchronize();
  3005. while (current_temperature_pinda < start_temp)
  3006. {
  3007. delay_keep_alive(1000);
  3008. serialecho_temperatures();
  3009. }
  3010. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3011. current_position[Z_AXIS] = 5;
  3012. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3013. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3014. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3015. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3016. st_synchronize();
  3017. bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3018. if (find_z_result == false) {
  3019. lcd_temp_cal_show_result(find_z_result);
  3020. break;
  3021. }
  3022. zero_z = current_position[Z_AXIS];
  3023. //current_position[Z_AXIS]
  3024. SERIAL_ECHOLNPGM("");
  3025. SERIAL_ECHOPGM("ZERO: ");
  3026. MYSERIAL.print(current_position[Z_AXIS]);
  3027. SERIAL_ECHOLNPGM("");
  3028. int i = -1; for (; i < 5; i++)
  3029. {
  3030. float temp = (40 + i * 5);
  3031. SERIAL_ECHOPGM("Step: ");
  3032. MYSERIAL.print(i + 2);
  3033. SERIAL_ECHOLNPGM("/6 (skipped)");
  3034. SERIAL_ECHOPGM("PINDA temperature: ");
  3035. MYSERIAL.print((40 + i*5));
  3036. SERIAL_ECHOPGM(" Z shift (mm):");
  3037. MYSERIAL.print(0);
  3038. SERIAL_ECHOLNPGM("");
  3039. if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3040. if (start_temp <= temp) break;
  3041. }
  3042. for (i++; i < 5; i++)
  3043. {
  3044. float temp = (40 + i * 5);
  3045. SERIAL_ECHOPGM("Step: ");
  3046. MYSERIAL.print(i + 2);
  3047. SERIAL_ECHOLNPGM("/6");
  3048. custom_message_state = i + 2;
  3049. setTargetBed(50 + 10 * (temp - 30) / 5);
  3050. // setTargetHotend(255, 0);
  3051. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3052. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3053. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3054. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3055. st_synchronize();
  3056. while (current_temperature_pinda < temp)
  3057. {
  3058. delay_keep_alive(1000);
  3059. serialecho_temperatures();
  3060. }
  3061. current_position[Z_AXIS] = 5;
  3062. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3063. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3064. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3065. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3066. st_synchronize();
  3067. find_z_result = find_bed_induction_sensor_point_z(-1.f);
  3068. if (find_z_result == false) {
  3069. lcd_temp_cal_show_result(find_z_result);
  3070. break;
  3071. }
  3072. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3073. SERIAL_ECHOLNPGM("");
  3074. SERIAL_ECHOPGM("PINDA temperature: ");
  3075. MYSERIAL.print(current_temperature_pinda);
  3076. SERIAL_ECHOPGM(" Z shift (mm):");
  3077. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  3078. SERIAL_ECHOLNPGM("");
  3079. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  3080. }
  3081. lcd_temp_cal_show_result(true);
  3082. break;
  3083. }
  3084. #endif //PINDA_THERMISTOR
  3085. setTargetBed(PINDA_MIN_T);
  3086. float zero_z;
  3087. int z_shift = 0; //unit: steps
  3088. int t_c; // temperature
  3089. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3090. // We don't know where we are! HOME!
  3091. // Push the commands to the front of the message queue in the reverse order!
  3092. // There shall be always enough space reserved for these commands.
  3093. repeatcommand_front(); // repeat G76 with all its parameters
  3094. enquecommand_front_P((PSTR("G28 W0")));
  3095. break;
  3096. }
  3097. SERIAL_ECHOLNPGM("PINDA probe calibration start");
  3098. custom_message = true;
  3099. custom_message_type = 4;
  3100. custom_message_state = 1;
  3101. custom_message = MSG_TEMP_CALIBRATION;
  3102. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3103. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3104. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3105. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3106. st_synchronize();
  3107. while (abs(degBed() - PINDA_MIN_T) > 1) {
  3108. delay_keep_alive(1000);
  3109. serialecho_temperatures();
  3110. }
  3111. //enquecommand_P(PSTR("M190 S50"));
  3112. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3113. delay_keep_alive(1000);
  3114. serialecho_temperatures();
  3115. }
  3116. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
  3117. current_position[Z_AXIS] = 5;
  3118. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3119. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3120. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3121. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3122. st_synchronize();
  3123. find_bed_induction_sensor_point_z(-1.f);
  3124. zero_z = current_position[Z_AXIS];
  3125. //current_position[Z_AXIS]
  3126. SERIAL_ECHOLNPGM("");
  3127. SERIAL_ECHOPGM("ZERO: ");
  3128. MYSERIAL.print(current_position[Z_AXIS]);
  3129. SERIAL_ECHOLNPGM("");
  3130. for (int i = 0; i<5; i++) {
  3131. SERIAL_ECHOPGM("Step: ");
  3132. MYSERIAL.print(i+2);
  3133. SERIAL_ECHOLNPGM("/6");
  3134. custom_message_state = i + 2;
  3135. t_c = 60 + i * 10;
  3136. setTargetBed(t_c);
  3137. current_position[X_AXIS] = PINDA_PREHEAT_X;
  3138. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  3139. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  3140. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3141. st_synchronize();
  3142. while (degBed() < t_c) {
  3143. delay_keep_alive(1000);
  3144. serialecho_temperatures();
  3145. }
  3146. for (int i = 0; i < PINDA_HEAT_T; i++) {
  3147. delay_keep_alive(1000);
  3148. serialecho_temperatures();
  3149. }
  3150. current_position[Z_AXIS] = 5;
  3151. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3152. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3153. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3154. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  3155. st_synchronize();
  3156. find_bed_induction_sensor_point_z(-1.f);
  3157. z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
  3158. SERIAL_ECHOLNPGM("");
  3159. SERIAL_ECHOPGM("Temperature: ");
  3160. MYSERIAL.print(t_c);
  3161. SERIAL_ECHOPGM(" Z shift (mm):");
  3162. MYSERIAL.print(current_position[Z_AXIS] - zero_z);
  3163. SERIAL_ECHOLNPGM("");
  3164. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
  3165. }
  3166. custom_message_type = 0;
  3167. custom_message = false;
  3168. eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  3169. SERIAL_ECHOLNPGM("Temperature calibration done. Continue with pressing the knob.");
  3170. disable_x();
  3171. disable_y();
  3172. disable_z();
  3173. disable_e0();
  3174. disable_e1();
  3175. disable_e2();
  3176. setTargetBed(0); //set bed target temperature back to 0
  3177. lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CALIBRATION_DONE);
  3178. temp_cal_active = true;
  3179. eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
  3180. lcd_update_enable(true);
  3181. lcd_update(2);
  3182. }
  3183. break;
  3184. #ifdef DIS
  3185. case 77:
  3186. {
  3187. //G77 X200 Y150 XP100 YP15 XO10 Y015
  3188. //for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
  3189. //G77 X232 Y218 XP116 YP109 XO-11 YO0
  3190. float dimension_x = 40;
  3191. float dimension_y = 40;
  3192. int points_x = 40;
  3193. int points_y = 40;
  3194. float offset_x = 74;
  3195. float offset_y = 33;
  3196. if (code_seen('X')) dimension_x = code_value();
  3197. if (code_seen('Y')) dimension_y = code_value();
  3198. if (code_seen('XP')) points_x = code_value();
  3199. if (code_seen('YP')) points_y = code_value();
  3200. if (code_seen('XO')) offset_x = code_value();
  3201. if (code_seen('YO')) offset_y = code_value();
  3202. bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
  3203. } break;
  3204. #endif
  3205. case 79: {
  3206. for (int i = 255; i > 0; i = i - 5) {
  3207. fanSpeed = i;
  3208. //delay_keep_alive(2000);
  3209. for (int j = 0; j < 100; j++) {
  3210. delay_keep_alive(100);
  3211. }
  3212. fan_speed[1];
  3213. MYSERIAL.print(i); SERIAL_ECHOPGM(": "); MYSERIAL.println(fan_speed[1]);
  3214. }
  3215. }break;
  3216. /**
  3217. * G80: Mesh-based Z probe, probes a grid and produces a
  3218. * mesh to compensate for variable bed height
  3219. *
  3220. * The S0 report the points as below
  3221. *
  3222. * +----> X-axis
  3223. * |
  3224. * |
  3225. * v Y-axis
  3226. *
  3227. */
  3228. case 80:
  3229. #ifdef MK1BP
  3230. break;
  3231. #endif //MK1BP
  3232. case_G80:
  3233. {
  3234. #ifdef TMC2130
  3235. //previously enqueued "G28 W0" failed (crash Z)
  3236. if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && !axis_known_position[Z_AXIS] && (READ(Z_TMC2130_DIAG) != 0))
  3237. {
  3238. kill(MSG_BED_LEVELING_FAILED_POINT_LOW);
  3239. break;
  3240. }
  3241. #endif //TMC2130
  3242. mesh_bed_leveling_flag = true;
  3243. int8_t verbosity_level = 0;
  3244. static bool run = false;
  3245. if (code_seen('V')) {
  3246. // Just 'V' without a number counts as V1.
  3247. char c = strchr_pointer[1];
  3248. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3249. }
  3250. // Firstly check if we know where we are
  3251. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  3252. // We don't know where we are! HOME!
  3253. // Push the commands to the front of the message queue in the reverse order!
  3254. // There shall be always enough space reserved for these commands.
  3255. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3256. repeatcommand_front(); // repeat G80 with all its parameters
  3257. enquecommand_front_P((PSTR("G28 W0")));
  3258. }
  3259. else {
  3260. mesh_bed_leveling_flag = false;
  3261. }
  3262. break;
  3263. }
  3264. bool temp_comp_start = true;
  3265. #ifdef PINDA_THERMISTOR
  3266. temp_comp_start = false;
  3267. #endif //PINDA_THERMISTOR
  3268. if (temp_comp_start)
  3269. if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3270. if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
  3271. temp_compensation_start();
  3272. run = true;
  3273. repeatcommand_front(); // repeat G80 with all its parameters
  3274. enquecommand_front_P((PSTR("G28 W0")));
  3275. }
  3276. else {
  3277. mesh_bed_leveling_flag = false;
  3278. }
  3279. break;
  3280. }
  3281. run = false;
  3282. if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
  3283. mesh_bed_leveling_flag = false;
  3284. break;
  3285. }
  3286. // Save custom message state, set a new custom message state to display: Calibrating point 9.
  3287. bool custom_message_old = custom_message;
  3288. unsigned int custom_message_type_old = custom_message_type;
  3289. unsigned int custom_message_state_old = custom_message_state;
  3290. custom_message = true;
  3291. custom_message_type = 1;
  3292. custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
  3293. lcd_update(1);
  3294. mbl.reset(); //reset mesh bed leveling
  3295. // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
  3296. // consumed during the first movements following this statement.
  3297. babystep_undo();
  3298. // Cycle through all points and probe them
  3299. // First move up. During this first movement, the babystepping will be reverted.
  3300. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3301. 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);
  3302. // The move to the first calibration point.
  3303. current_position[X_AXIS] = pgm_read_float(bed_ref_points);
  3304. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
  3305. bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3306. #ifdef SUPPORT_VERBOSITY
  3307. if (verbosity_level >= 1) {
  3308. clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
  3309. }
  3310. #endif //SUPPORT_VERBOSITY
  3311. // mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
  3312. 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);
  3313. // Wait until the move is finished.
  3314. st_synchronize();
  3315. int mesh_point = 0; //index number of calibration point
  3316. int ix = 0;
  3317. int iy = 0;
  3318. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  3319. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  3320. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  3321. 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)
  3322. #ifdef SUPPORT_VERBOSITY
  3323. if (verbosity_level >= 1) {
  3324. has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
  3325. }
  3326. #endif // SUPPORT_VERBOSITY
  3327. setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
  3328. const char *kill_message = NULL;
  3329. while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3330. // Get coords of a measuring point.
  3331. ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  3332. iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  3333. if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
  3334. float z0 = 0.f;
  3335. if (has_z && mesh_point > 0) {
  3336. uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
  3337. z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
  3338. //#if 0
  3339. #ifdef SUPPORT_VERBOSITY
  3340. if (verbosity_level >= 1) {
  3341. SERIAL_ECHOLNPGM("");
  3342. SERIAL_ECHOPGM("Bed leveling, point: ");
  3343. MYSERIAL.print(mesh_point);
  3344. SERIAL_ECHOPGM(", calibration z: ");
  3345. MYSERIAL.print(z0, 5);
  3346. SERIAL_ECHOLNPGM("");
  3347. }
  3348. #endif // SUPPORT_VERBOSITY
  3349. //#endif
  3350. }
  3351. // Move Z up to MESH_HOME_Z_SEARCH.
  3352. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3353. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3354. st_synchronize();
  3355. // Move to XY position of the sensor point.
  3356. current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
  3357. current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
  3358. world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
  3359. #ifdef SUPPORT_VERBOSITY
  3360. if (verbosity_level >= 1) {
  3361. SERIAL_PROTOCOL(mesh_point);
  3362. clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
  3363. }
  3364. #endif // SUPPORT_VERBOSITY
  3365. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  3366. st_synchronize();
  3367. // Go down until endstop is hit
  3368. const float Z_CALIBRATION_THRESHOLD = 1.f;
  3369. 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
  3370. kill_message = MSG_BED_LEVELING_FAILED_POINT_LOW;
  3371. break;
  3372. }
  3373. if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
  3374. kill_message = MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED;
  3375. break;
  3376. }
  3377. 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
  3378. kill_message = MSG_BED_LEVELING_FAILED_POINT_HIGH;
  3379. break;
  3380. }
  3381. #ifdef SUPPORT_VERBOSITY
  3382. if (verbosity_level >= 10) {
  3383. SERIAL_ECHOPGM("X: ");
  3384. MYSERIAL.print(current_position[X_AXIS], 5);
  3385. SERIAL_ECHOLNPGM("");
  3386. SERIAL_ECHOPGM("Y: ");
  3387. MYSERIAL.print(current_position[Y_AXIS], 5);
  3388. SERIAL_PROTOCOLPGM("\n");
  3389. }
  3390. #endif // SUPPORT_VERBOSITY
  3391. float offset_z = 0;
  3392. #ifdef PINDA_THERMISTOR
  3393. offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
  3394. #endif //PINDA_THERMISTOR
  3395. // #ifdef SUPPORT_VERBOSITY
  3396. /* if (verbosity_level >= 1)
  3397. {
  3398. SERIAL_ECHOPGM("mesh bed leveling: ");
  3399. MYSERIAL.print(current_position[Z_AXIS], 5);
  3400. SERIAL_ECHOPGM(" offset: ");
  3401. MYSERIAL.print(offset_z, 5);
  3402. SERIAL_ECHOLNPGM("");
  3403. }*/
  3404. // #endif // SUPPORT_VERBOSITY
  3405. mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
  3406. custom_message_state--;
  3407. mesh_point++;
  3408. lcd_update(1);
  3409. }
  3410. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3411. #ifdef SUPPORT_VERBOSITY
  3412. if (verbosity_level >= 20) {
  3413. SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
  3414. SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
  3415. MYSERIAL.print(current_position[Z_AXIS], 5);
  3416. }
  3417. #endif // SUPPORT_VERBOSITY
  3418. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  3419. st_synchronize();
  3420. if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
  3421. kill(kill_message);
  3422. SERIAL_ECHOLNPGM("killed");
  3423. }
  3424. clean_up_after_endstop_move();
  3425. // SERIAL_ECHOLNPGM("clean up finished ");
  3426. bool apply_temp_comp = true;
  3427. #ifdef PINDA_THERMISTOR
  3428. apply_temp_comp = false;
  3429. #endif
  3430. if (apply_temp_comp)
  3431. if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
  3432. babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
  3433. // SERIAL_ECHOLNPGM("babystep applied");
  3434. bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
  3435. #ifdef SUPPORT_VERBOSITY
  3436. if (verbosity_level >= 1) {
  3437. eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
  3438. }
  3439. #endif // SUPPORT_VERBOSITY
  3440. for (uint8_t i = 0; i < 4; ++i) {
  3441. unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
  3442. long correction = 0;
  3443. if (code_seen(codes[i]))
  3444. correction = code_value_long();
  3445. else if (eeprom_bed_correction_valid) {
  3446. unsigned char *addr = (i < 2) ?
  3447. ((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
  3448. ((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
  3449. correction = eeprom_read_int8(addr);
  3450. }
  3451. if (correction == 0)
  3452. continue;
  3453. float offset = float(correction) * 0.001f;
  3454. if (fabs(offset) > 0.101f) {
  3455. SERIAL_ERROR_START;
  3456. SERIAL_ECHOPGM("Excessive bed leveling correction: ");
  3457. SERIAL_ECHO(offset);
  3458. SERIAL_ECHOLNPGM(" microns");
  3459. }
  3460. else {
  3461. switch (i) {
  3462. case 0:
  3463. for (uint8_t row = 0; row < 3; ++row) {
  3464. mbl.z_values[row][1] += 0.5f * offset;
  3465. mbl.z_values[row][0] += offset;
  3466. }
  3467. break;
  3468. case 1:
  3469. for (uint8_t row = 0; row < 3; ++row) {
  3470. mbl.z_values[row][1] += 0.5f * offset;
  3471. mbl.z_values[row][2] += offset;
  3472. }
  3473. break;
  3474. case 2:
  3475. for (uint8_t col = 0; col < 3; ++col) {
  3476. mbl.z_values[1][col] += 0.5f * offset;
  3477. mbl.z_values[0][col] += offset;
  3478. }
  3479. break;
  3480. case 3:
  3481. for (uint8_t col = 0; col < 3; ++col) {
  3482. mbl.z_values[1][col] += 0.5f * offset;
  3483. mbl.z_values[2][col] += offset;
  3484. }
  3485. break;
  3486. }
  3487. }
  3488. }
  3489. // SERIAL_ECHOLNPGM("Bed leveling correction finished");
  3490. 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)
  3491. // SERIAL_ECHOLNPGM("Upsample finished");
  3492. mbl.active = 1; //activate mesh bed leveling
  3493. // SERIAL_ECHOLNPGM("Mesh bed leveling activated");
  3494. go_home_with_z_lift();
  3495. // SERIAL_ECHOLNPGM("Go home finished");
  3496. //unretract (after PINDA preheat retraction)
  3497. if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
  3498. current_position[E_AXIS] += DEFAULT_RETRACTION;
  3499. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  3500. }
  3501. KEEPALIVE_STATE(NOT_BUSY);
  3502. // Restore custom message state
  3503. custom_message = custom_message_old;
  3504. custom_message_type = custom_message_type_old;
  3505. custom_message_state = custom_message_state_old;
  3506. mesh_bed_leveling_flag = false;
  3507. mesh_bed_run_from_menu = false;
  3508. lcd_update(2);
  3509. }
  3510. break;
  3511. /**
  3512. * G81: Print mesh bed leveling status and bed profile if activated
  3513. */
  3514. case 81:
  3515. if (mbl.active) {
  3516. SERIAL_PROTOCOLPGM("Num X,Y: ");
  3517. SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
  3518. SERIAL_PROTOCOLPGM(",");
  3519. SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  3520. SERIAL_PROTOCOLPGM("\nZ search height: ");
  3521. SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
  3522. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3523. for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
  3524. for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
  3525. SERIAL_PROTOCOLPGM(" ");
  3526. SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
  3527. }
  3528. SERIAL_PROTOCOLPGM("\n");
  3529. }
  3530. }
  3531. else
  3532. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  3533. break;
  3534. #if 0
  3535. /**
  3536. * G82: Single Z probe at current location
  3537. *
  3538. * WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
  3539. *
  3540. */
  3541. case 82:
  3542. SERIAL_PROTOCOLLNPGM("Finding bed ");
  3543. setup_for_endstop_move();
  3544. find_bed_induction_sensor_point_z();
  3545. clean_up_after_endstop_move();
  3546. SERIAL_PROTOCOLPGM("Bed found at: ");
  3547. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
  3548. SERIAL_PROTOCOLPGM("\n");
  3549. break;
  3550. /**
  3551. * G83: Prusa3D specific: Babystep in Z and store to EEPROM
  3552. */
  3553. case 83:
  3554. {
  3555. int babystepz = code_seen('S') ? code_value() : 0;
  3556. int BabyPosition = code_seen('P') ? code_value() : 0;
  3557. if (babystepz != 0) {
  3558. //FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
  3559. // Is the axis indexed starting with zero or one?
  3560. if (BabyPosition > 4) {
  3561. SERIAL_PROTOCOLLNPGM("Index out of bounds");
  3562. }else{
  3563. // Save it to the eeprom
  3564. babystepLoadZ = babystepz;
  3565. EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
  3566. // adjust the Z
  3567. babystepsTodoZadd(babystepLoadZ);
  3568. }
  3569. }
  3570. }
  3571. break;
  3572. /**
  3573. * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
  3574. */
  3575. case 84:
  3576. babystepsTodoZsubtract(babystepLoadZ);
  3577. // babystepLoadZ = 0;
  3578. break;
  3579. /**
  3580. * G85: Prusa3D specific: Pick best babystep
  3581. */
  3582. case 85:
  3583. lcd_pick_babystep();
  3584. break;
  3585. #endif
  3586. /**
  3587. * G86: Prusa3D specific: Disable babystep correction after home.
  3588. * This G-code will be performed at the start of a calibration script.
  3589. */
  3590. case 86:
  3591. calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
  3592. break;
  3593. /**
  3594. * G87: Prusa3D specific: Enable babystep correction after home
  3595. * This G-code will be performed at the end of a calibration script.
  3596. */
  3597. case 87:
  3598. calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
  3599. break;
  3600. /**
  3601. * G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
  3602. */
  3603. case 88:
  3604. break;
  3605. #endif // ENABLE_MESH_BED_LEVELING
  3606. case 90: // G90
  3607. relative_mode = false;
  3608. break;
  3609. case 91: // G91
  3610. relative_mode = true;
  3611. break;
  3612. case 92: // G92
  3613. if(!code_seen(axis_codes[E_AXIS]))
  3614. st_synchronize();
  3615. for(int8_t i=0; i < NUM_AXIS; i++) {
  3616. if(code_seen(axis_codes[i])) {
  3617. if(i == E_AXIS) {
  3618. current_position[i] = code_value();
  3619. plan_set_e_position(current_position[E_AXIS]);
  3620. }
  3621. else {
  3622. current_position[i] = code_value()+add_homing[i];
  3623. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3624. }
  3625. }
  3626. }
  3627. break;
  3628. case 98: // G98 (activate farm mode)
  3629. farm_mode = 1;
  3630. PingTime = millis();
  3631. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3632. SilentModeMenu = SILENT_MODE_OFF;
  3633. eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
  3634. break;
  3635. case 99: // G99 (deactivate farm mode)
  3636. farm_mode = 0;
  3637. lcd_printer_connected();
  3638. eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
  3639. lcd_update(2);
  3640. break;
  3641. default:
  3642. printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  3643. }
  3644. } // end if(code_seen('G'))
  3645. else if(code_seen('M'))
  3646. {
  3647. int index;
  3648. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  3649. /*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
  3650. if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
  3651. printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  3652. } else
  3653. switch((int)code_value())
  3654. {
  3655. #ifdef ULTIPANEL
  3656. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  3657. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  3658. {
  3659. char *src = strchr_pointer + 2;
  3660. codenum = 0;
  3661. bool hasP = false, hasS = false;
  3662. if (code_seen('P')) {
  3663. codenum = code_value(); // milliseconds to wait
  3664. hasP = codenum > 0;
  3665. }
  3666. if (code_seen('S')) {
  3667. codenum = code_value() * 1000; // seconds to wait
  3668. hasS = codenum > 0;
  3669. }
  3670. starpos = strchr(src, '*');
  3671. if (starpos != NULL) *(starpos) = '\0';
  3672. while (*src == ' ') ++src;
  3673. if (!hasP && !hasS && *src != '\0') {
  3674. lcd_setstatus(src);
  3675. } else {
  3676. LCD_MESSAGERPGM(MSG_USERWAIT);
  3677. }
  3678. lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
  3679. st_synchronize();
  3680. previous_millis_cmd = millis();
  3681. if (codenum > 0){
  3682. codenum += millis(); // keep track of when we started waiting
  3683. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3684. while(millis() < codenum && !lcd_clicked()){
  3685. manage_heater();
  3686. manage_inactivity(true);
  3687. lcd_update();
  3688. }
  3689. KEEPALIVE_STATE(IN_HANDLER);
  3690. lcd_ignore_click(false);
  3691. }else{
  3692. if (!lcd_detected())
  3693. break;
  3694. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3695. while(!lcd_clicked()){
  3696. manage_heater();
  3697. manage_inactivity(true);
  3698. lcd_update();
  3699. }
  3700. KEEPALIVE_STATE(IN_HANDLER);
  3701. }
  3702. if (IS_SD_PRINTING)
  3703. LCD_MESSAGERPGM(MSG_RESUMING);
  3704. else
  3705. LCD_MESSAGERPGM(WELCOME_MSG);
  3706. }
  3707. break;
  3708. #endif
  3709. case 17:
  3710. LCD_MESSAGERPGM(MSG_NO_MOVE);
  3711. enable_x();
  3712. enable_y();
  3713. enable_z();
  3714. enable_e0();
  3715. enable_e1();
  3716. enable_e2();
  3717. break;
  3718. #ifdef SDSUPPORT
  3719. case 20: // M20 - list SD card
  3720. SERIAL_PROTOCOLLNRPGM(MSG_BEGIN_FILE_LIST);
  3721. card.ls();
  3722. SERIAL_PROTOCOLLNRPGM(MSG_END_FILE_LIST);
  3723. break;
  3724. case 21: // M21 - init SD card
  3725. card.initsd();
  3726. break;
  3727. case 22: //M22 - release SD card
  3728. card.release();
  3729. break;
  3730. case 23: //M23 - Select file
  3731. starpos = (strchr(strchr_pointer + 4,'*'));
  3732. if(starpos!=NULL)
  3733. *(starpos)='\0';
  3734. card.openFile(strchr_pointer + 4,true);
  3735. break;
  3736. case 24: //M24 - Start SD print
  3737. if (!card.paused)
  3738. failstats_reset_print();
  3739. card.startFileprint();
  3740. starttime=millis();
  3741. break;
  3742. case 25: //M25 - Pause SD print
  3743. card.pauseSDPrint();
  3744. break;
  3745. case 26: //M26 - Set SD index
  3746. if(card.cardOK && code_seen('S')) {
  3747. card.setIndex(code_value_long());
  3748. }
  3749. break;
  3750. case 27: //M27 - Get SD status
  3751. card.getStatus();
  3752. break;
  3753. case 28: //M28 - Start SD write
  3754. starpos = (strchr(strchr_pointer + 4,'*'));
  3755. if(starpos != NULL){
  3756. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3757. strchr_pointer = strchr(npos,' ') + 1;
  3758. *(starpos) = '\0';
  3759. }
  3760. card.openFile(strchr_pointer+4,false);
  3761. break;
  3762. case 29: //M29 - Stop SD write
  3763. //processed in write to file routine above
  3764. //card,saving = false;
  3765. break;
  3766. case 30: //M30 <filename> Delete File
  3767. if (card.cardOK){
  3768. card.closefile();
  3769. starpos = (strchr(strchr_pointer + 4,'*'));
  3770. if(starpos != NULL){
  3771. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3772. strchr_pointer = strchr(npos,' ') + 1;
  3773. *(starpos) = '\0';
  3774. }
  3775. card.removeFile(strchr_pointer + 4);
  3776. }
  3777. break;
  3778. case 32: //M32 - Select file and start SD print
  3779. {
  3780. if(card.sdprinting) {
  3781. st_synchronize();
  3782. }
  3783. starpos = (strchr(strchr_pointer + 4,'*'));
  3784. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  3785. if(namestartpos==NULL)
  3786. {
  3787. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  3788. }
  3789. else
  3790. namestartpos++; //to skip the '!'
  3791. if(starpos!=NULL)
  3792. *(starpos)='\0';
  3793. bool call_procedure=(code_seen('P'));
  3794. if(strchr_pointer>namestartpos)
  3795. call_procedure=false; //false alert, 'P' found within filename
  3796. if( card.cardOK )
  3797. {
  3798. card.openFile(namestartpos,true,!call_procedure);
  3799. if(code_seen('S'))
  3800. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  3801. card.setIndex(code_value_long());
  3802. card.startFileprint();
  3803. if(!call_procedure)
  3804. starttime=millis(); //procedure calls count as normal print time.
  3805. }
  3806. } break;
  3807. case 928: //M928 - Start SD write
  3808. starpos = (strchr(strchr_pointer + 5,'*'));
  3809. if(starpos != NULL){
  3810. char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
  3811. strchr_pointer = strchr(npos,' ') + 1;
  3812. *(starpos) = '\0';
  3813. }
  3814. card.openLogFile(strchr_pointer+5);
  3815. break;
  3816. #endif //SDSUPPORT
  3817. case 31: //M31 take time since the start of the SD print or an M109 command
  3818. {
  3819. stoptime=millis();
  3820. char time[30];
  3821. unsigned long t=(stoptime-starttime)/1000;
  3822. int sec,min;
  3823. min=t/60;
  3824. sec=t%60;
  3825. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  3826. SERIAL_ECHO_START;
  3827. SERIAL_ECHOLN(time);
  3828. lcd_setstatus(time);
  3829. autotempShutdown();
  3830. }
  3831. break;
  3832. #ifndef _DISABLE_M42_M226
  3833. case 42: //M42 -Change pin status via gcode
  3834. if (code_seen('S'))
  3835. {
  3836. int pin_status = code_value();
  3837. int pin_number = LED_PIN;
  3838. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  3839. pin_number = code_value();
  3840. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  3841. {
  3842. if (sensitive_pins[i] == pin_number)
  3843. {
  3844. pin_number = -1;
  3845. break;
  3846. }
  3847. }
  3848. #if defined(FAN_PIN) && FAN_PIN > -1
  3849. if (pin_number == FAN_PIN)
  3850. fanSpeed = pin_status;
  3851. #endif
  3852. if (pin_number > -1)
  3853. {
  3854. pinMode(pin_number, OUTPUT);
  3855. digitalWrite(pin_number, pin_status);
  3856. analogWrite(pin_number, pin_status);
  3857. }
  3858. }
  3859. break;
  3860. #endif //_DISABLE_M42_M226
  3861. case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
  3862. // Reset the baby step value and the baby step applied flag.
  3863. calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
  3864. eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
  3865. // Reset the skew and offset in both RAM and EEPROM.
  3866. reset_bed_offset_and_skew();
  3867. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3868. // the planner will not perform any adjustments in the XY plane.
  3869. // Wait for the motors to stop and update the current position with the absolute values.
  3870. world2machine_revert_to_uncorrected();
  3871. break;
  3872. case 45: // M45: Prusa3D: bed skew and offset with manual Z up
  3873. {
  3874. int8_t verbosity_level = 0;
  3875. bool only_Z = code_seen('Z');
  3876. #ifdef SUPPORT_VERBOSITY
  3877. if (code_seen('V'))
  3878. {
  3879. // Just 'V' without a number counts as V1.
  3880. char c = strchr_pointer[1];
  3881. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3882. }
  3883. #endif //SUPPORT_VERBOSITY
  3884. gcode_M45(only_Z, verbosity_level);
  3885. }
  3886. break;
  3887. /*
  3888. case 46:
  3889. {
  3890. // M46: Prusa3D: Show the assigned IP address.
  3891. uint8_t ip[4];
  3892. bool hasIP = card.ToshibaFlashAir_GetIP(ip);
  3893. if (hasIP) {
  3894. SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
  3895. SERIAL_ECHO(int(ip[0]));
  3896. SERIAL_ECHOPGM(".");
  3897. SERIAL_ECHO(int(ip[1]));
  3898. SERIAL_ECHOPGM(".");
  3899. SERIAL_ECHO(int(ip[2]));
  3900. SERIAL_ECHOPGM(".");
  3901. SERIAL_ECHO(int(ip[3]));
  3902. SERIAL_ECHOLNPGM("");
  3903. } else {
  3904. SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
  3905. }
  3906. break;
  3907. }
  3908. */
  3909. case 47:
  3910. // M47: Prusa3D: Show end stops dialog on the display.
  3911. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3912. lcd_diag_show_end_stops();
  3913. KEEPALIVE_STATE(IN_HANDLER);
  3914. break;
  3915. #if 0
  3916. case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
  3917. {
  3918. // Disable the default update procedure of the display. We will do a modal dialog.
  3919. lcd_update_enable(false);
  3920. // Let the planner use the uncorrected coordinates.
  3921. mbl.reset();
  3922. // Reset world2machine_rotation_and_skew and world2machine_shift, therefore
  3923. // the planner will not perform any adjustments in the XY plane.
  3924. // Wait for the motors to stop and update the current position with the absolute values.
  3925. world2machine_revert_to_uncorrected();
  3926. // Move the print head close to the bed.
  3927. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3928. 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);
  3929. st_synchronize();
  3930. // Home in the XY plane.
  3931. set_destination_to_current();
  3932. setup_for_endstop_move();
  3933. home_xy();
  3934. int8_t verbosity_level = 0;
  3935. if (code_seen('V')) {
  3936. // Just 'V' without a number counts as V1.
  3937. char c = strchr_pointer[1];
  3938. verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
  3939. }
  3940. bool success = scan_bed_induction_points(verbosity_level);
  3941. clean_up_after_endstop_move();
  3942. // Print head up.
  3943. current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
  3944. 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);
  3945. st_synchronize();
  3946. lcd_update_enable(true);
  3947. break;
  3948. }
  3949. #endif
  3950. // M48 Z-Probe repeatability measurement function.
  3951. //
  3952. // 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>
  3953. //
  3954. // This function assumes the bed has been homed. Specificaly, that a G28 command
  3955. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  3956. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3957. // regenerated.
  3958. //
  3959. // The number of samples will default to 10 if not specified. You can use upper or lower case
  3960. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  3961. // N for its communication protocol and will get horribly confused if you send it a capital N.
  3962. //
  3963. #ifdef ENABLE_AUTO_BED_LEVELING
  3964. #ifdef Z_PROBE_REPEATABILITY_TEST
  3965. case 48: // M48 Z-Probe repeatability
  3966. {
  3967. #if Z_MIN_PIN == -1
  3968. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  3969. #endif
  3970. double sum=0.0;
  3971. double mean=0.0;
  3972. double sigma=0.0;
  3973. double sample_set[50];
  3974. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
  3975. double X_current, Y_current, Z_current;
  3976. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  3977. if (code_seen('V') || code_seen('v')) {
  3978. verbose_level = code_value();
  3979. if (verbose_level<0 || verbose_level>4 ) {
  3980. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  3981. goto Sigma_Exit;
  3982. }
  3983. }
  3984. if (verbose_level > 0) {
  3985. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  3986. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  3987. }
  3988. if (code_seen('n')) {
  3989. n_samples = code_value();
  3990. if (n_samples<4 || n_samples>50 ) {
  3991. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  3992. goto Sigma_Exit;
  3993. }
  3994. }
  3995. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  3996. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  3997. Z_current = st_get_position_mm(Z_AXIS);
  3998. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  3999. ext_position = st_get_position_mm(E_AXIS);
  4000. if (code_seen('X') || code_seen('x') ) {
  4001. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  4002. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  4003. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  4004. goto Sigma_Exit;
  4005. }
  4006. }
  4007. if (code_seen('Y') || code_seen('y') ) {
  4008. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  4009. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  4010. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  4011. goto Sigma_Exit;
  4012. }
  4013. }
  4014. if (code_seen('L') || code_seen('l') ) {
  4015. n_legs = code_value();
  4016. if ( n_legs==1 )
  4017. n_legs = 2;
  4018. if ( n_legs<0 || n_legs>15 ) {
  4019. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  4020. goto Sigma_Exit;
  4021. }
  4022. }
  4023. //
  4024. // Do all the preliminary setup work. First raise the probe.
  4025. //
  4026. st_synchronize();
  4027. plan_bed_level_matrix.set_to_identity();
  4028. plan_buffer_line( X_current, Y_current, Z_start_location,
  4029. ext_position,
  4030. homing_feedrate[Z_AXIS]/60,
  4031. active_extruder);
  4032. st_synchronize();
  4033. //
  4034. // Now get everything to the specified probe point So we can safely do a probe to
  4035. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  4036. // use that as a starting point for each probe.
  4037. //
  4038. if (verbose_level > 2)
  4039. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  4040. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4041. ext_position,
  4042. homing_feedrate[X_AXIS]/60,
  4043. active_extruder);
  4044. st_synchronize();
  4045. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  4046. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  4047. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4048. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  4049. //
  4050. // OK, do the inital probe to get us close to the bed.
  4051. // Then retrace the right amount and use that in subsequent probes
  4052. //
  4053. setup_for_endstop_move();
  4054. run_z_probe();
  4055. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4056. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  4057. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4058. ext_position,
  4059. homing_feedrate[X_AXIS]/60,
  4060. active_extruder);
  4061. st_synchronize();
  4062. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  4063. for( n=0; n<n_samples; n++) {
  4064. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  4065. if ( n_legs) {
  4066. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  4067. int rotational_direction, l;
  4068. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  4069. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  4070. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  4071. //SERIAL_ECHOPAIR("starting radius: ",radius);
  4072. //SERIAL_ECHOPAIR(" theta: ",theta);
  4073. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  4074. //SERIAL_PROTOCOLLNPGM("");
  4075. for( l=0; l<n_legs-1; l++) {
  4076. if (rotational_direction==1)
  4077. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4078. else
  4079. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  4080. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  4081. if ( radius<0.0 )
  4082. radius = -radius;
  4083. X_current = X_probe_location + cos(theta) * radius;
  4084. Y_current = Y_probe_location + sin(theta) * radius;
  4085. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  4086. X_current = X_MIN_POS;
  4087. if ( X_current>X_MAX_POS)
  4088. X_current = X_MAX_POS;
  4089. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  4090. Y_current = Y_MIN_POS;
  4091. if ( Y_current>Y_MAX_POS)
  4092. Y_current = Y_MAX_POS;
  4093. if (verbose_level>3 ) {
  4094. SERIAL_ECHOPAIR("x: ", X_current);
  4095. SERIAL_ECHOPAIR("y: ", Y_current);
  4096. SERIAL_PROTOCOLLNPGM("");
  4097. }
  4098. do_blocking_move_to( X_current, Y_current, Z_current );
  4099. }
  4100. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  4101. }
  4102. setup_for_endstop_move();
  4103. run_z_probe();
  4104. sample_set[n] = current_position[Z_AXIS];
  4105. //
  4106. // Get the current mean for the data points we have so far
  4107. //
  4108. sum=0.0;
  4109. for( j=0; j<=n; j++) {
  4110. sum = sum + sample_set[j];
  4111. }
  4112. mean = sum / (double (n+1));
  4113. //
  4114. // Now, use that mean to calculate the standard deviation for the
  4115. // data points we have so far
  4116. //
  4117. sum=0.0;
  4118. for( j=0; j<=n; j++) {
  4119. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  4120. }
  4121. sigma = sqrt( sum / (double (n+1)) );
  4122. if (verbose_level > 1) {
  4123. SERIAL_PROTOCOL(n+1);
  4124. SERIAL_PROTOCOL(" of ");
  4125. SERIAL_PROTOCOL(n_samples);
  4126. SERIAL_PROTOCOLPGM(" z: ");
  4127. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  4128. }
  4129. if (verbose_level > 2) {
  4130. SERIAL_PROTOCOL(" mean: ");
  4131. SERIAL_PROTOCOL_F(mean,6);
  4132. SERIAL_PROTOCOL(" sigma: ");
  4133. SERIAL_PROTOCOL_F(sigma,6);
  4134. }
  4135. if (verbose_level > 0)
  4136. SERIAL_PROTOCOLPGM("\n");
  4137. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  4138. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  4139. st_synchronize();
  4140. }
  4141. delay(1000);
  4142. clean_up_after_endstop_move();
  4143. // enable_endstops(true);
  4144. if (verbose_level > 0) {
  4145. SERIAL_PROTOCOLPGM("Mean: ");
  4146. SERIAL_PROTOCOL_F(mean, 6);
  4147. SERIAL_PROTOCOLPGM("\n");
  4148. }
  4149. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  4150. SERIAL_PROTOCOL_F(sigma, 6);
  4151. SERIAL_PROTOCOLPGM("\n\n");
  4152. Sigma_Exit:
  4153. break;
  4154. }
  4155. #endif // Z_PROBE_REPEATABILITY_TEST
  4156. #endif // ENABLE_AUTO_BED_LEVELING
  4157. case 104: // M104
  4158. if(setTargetedHotend(104)){
  4159. break;
  4160. }
  4161. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  4162. setWatch();
  4163. break;
  4164. case 112: // M112 -Emergency Stop
  4165. kill("", 3);
  4166. break;
  4167. case 140: // M140 set bed temp
  4168. if (code_seen('S')) setTargetBed(code_value());
  4169. break;
  4170. case 105 : // M105
  4171. if(setTargetedHotend(105)){
  4172. break;
  4173. }
  4174. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  4175. SERIAL_PROTOCOLPGM("ok T:");
  4176. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  4177. SERIAL_PROTOCOLPGM(" /");
  4178. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  4179. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4180. SERIAL_PROTOCOLPGM(" B:");
  4181. SERIAL_PROTOCOL_F(degBed(),1);
  4182. SERIAL_PROTOCOLPGM(" /");
  4183. SERIAL_PROTOCOL_F(degTargetBed(),1);
  4184. #endif //TEMP_BED_PIN
  4185. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4186. SERIAL_PROTOCOLPGM(" T");
  4187. SERIAL_PROTOCOL(cur_extruder);
  4188. SERIAL_PROTOCOLPGM(":");
  4189. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4190. SERIAL_PROTOCOLPGM(" /");
  4191. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  4192. }
  4193. #else
  4194. SERIAL_ERROR_START;
  4195. SERIAL_ERRORLNRPGM(MSG_ERR_NO_THERMISTORS);
  4196. #endif
  4197. SERIAL_PROTOCOLPGM(" @:");
  4198. #ifdef EXTRUDER_WATTS
  4199. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  4200. SERIAL_PROTOCOLPGM("W");
  4201. #else
  4202. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  4203. #endif
  4204. SERIAL_PROTOCOLPGM(" B@:");
  4205. #ifdef BED_WATTS
  4206. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  4207. SERIAL_PROTOCOLPGM("W");
  4208. #else
  4209. SERIAL_PROTOCOL(getHeaterPower(-1));
  4210. #endif
  4211. #ifdef PINDA_THERMISTOR
  4212. SERIAL_PROTOCOLPGM(" P:");
  4213. SERIAL_PROTOCOL_F(current_temperature_pinda,1);
  4214. #endif //PINDA_THERMISTOR
  4215. #ifdef AMBIENT_THERMISTOR
  4216. SERIAL_PROTOCOLPGM(" A:");
  4217. SERIAL_PROTOCOL_F(current_temperature_ambient,1);
  4218. #endif //AMBIENT_THERMISTOR
  4219. #ifdef SHOW_TEMP_ADC_VALUES
  4220. {float raw = 0.0;
  4221. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4222. SERIAL_PROTOCOLPGM(" ADC B:");
  4223. SERIAL_PROTOCOL_F(degBed(),1);
  4224. SERIAL_PROTOCOLPGM("C->");
  4225. raw = rawBedTemp();
  4226. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4227. SERIAL_PROTOCOLPGM(" Rb->");
  4228. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4229. SERIAL_PROTOCOLPGM(" Rxb->");
  4230. SERIAL_PROTOCOL_F(raw, 5);
  4231. #endif
  4232. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  4233. SERIAL_PROTOCOLPGM(" T");
  4234. SERIAL_PROTOCOL(cur_extruder);
  4235. SERIAL_PROTOCOLPGM(":");
  4236. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  4237. SERIAL_PROTOCOLPGM("C->");
  4238. raw = rawHotendTemp(cur_extruder);
  4239. SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
  4240. SERIAL_PROTOCOLPGM(" Rt");
  4241. SERIAL_PROTOCOL(cur_extruder);
  4242. SERIAL_PROTOCOLPGM("->");
  4243. SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
  4244. SERIAL_PROTOCOLPGM(" Rx");
  4245. SERIAL_PROTOCOL(cur_extruder);
  4246. SERIAL_PROTOCOLPGM("->");
  4247. SERIAL_PROTOCOL_F(raw, 5);
  4248. }}
  4249. #endif
  4250. SERIAL_PROTOCOLLN("");
  4251. KEEPALIVE_STATE(NOT_BUSY);
  4252. return;
  4253. break;
  4254. case 109:
  4255. {// M109 - Wait for extruder heater to reach target.
  4256. if(setTargetedHotend(109)){
  4257. break;
  4258. }
  4259. LCD_MESSAGERPGM(MSG_HEATING);
  4260. heating_status = 1;
  4261. if (farm_mode) { prusa_statistics(1); };
  4262. #ifdef AUTOTEMP
  4263. autotemp_enabled=false;
  4264. #endif
  4265. if (code_seen('S')) {
  4266. setTargetHotend(code_value(), tmp_extruder);
  4267. CooldownNoWait = true;
  4268. } else if (code_seen('R')) {
  4269. setTargetHotend(code_value(), tmp_extruder);
  4270. CooldownNoWait = false;
  4271. }
  4272. #ifdef AUTOTEMP
  4273. if (code_seen('S')) autotemp_min=code_value();
  4274. if (code_seen('B')) autotemp_max=code_value();
  4275. if (code_seen('F'))
  4276. {
  4277. autotemp_factor=code_value();
  4278. autotemp_enabled=true;
  4279. }
  4280. #endif
  4281. setWatch();
  4282. codenum = millis();
  4283. /* See if we are heating up or cooling down */
  4284. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  4285. KEEPALIVE_STATE(NOT_BUSY);
  4286. cancel_heatup = false;
  4287. wait_for_heater(codenum); //loops until target temperature is reached
  4288. LCD_MESSAGERPGM(MSG_HEATING_COMPLETE);
  4289. KEEPALIVE_STATE(IN_HANDLER);
  4290. heating_status = 2;
  4291. if (farm_mode) { prusa_statistics(2); };
  4292. //starttime=millis();
  4293. previous_millis_cmd = millis();
  4294. }
  4295. break;
  4296. case 190: // M190 - Wait for bed heater to reach target.
  4297. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  4298. LCD_MESSAGERPGM(MSG_BED_HEATING);
  4299. heating_status = 3;
  4300. if (farm_mode) { prusa_statistics(1); };
  4301. if (code_seen('S'))
  4302. {
  4303. setTargetBed(code_value());
  4304. CooldownNoWait = true;
  4305. }
  4306. else if (code_seen('R'))
  4307. {
  4308. setTargetBed(code_value());
  4309. CooldownNoWait = false;
  4310. }
  4311. codenum = millis();
  4312. cancel_heatup = false;
  4313. target_direction = isHeatingBed(); // true if heating, false if cooling
  4314. KEEPALIVE_STATE(NOT_BUSY);
  4315. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  4316. {
  4317. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  4318. {
  4319. if (!farm_mode) {
  4320. float tt = degHotend(active_extruder);
  4321. SERIAL_PROTOCOLPGM("T:");
  4322. SERIAL_PROTOCOL(tt);
  4323. SERIAL_PROTOCOLPGM(" E:");
  4324. SERIAL_PROTOCOL((int)active_extruder);
  4325. SERIAL_PROTOCOLPGM(" B:");
  4326. SERIAL_PROTOCOL_F(degBed(), 1);
  4327. SERIAL_PROTOCOLLN("");
  4328. }
  4329. codenum = millis();
  4330. }
  4331. manage_heater();
  4332. manage_inactivity();
  4333. lcd_update();
  4334. }
  4335. LCD_MESSAGERPGM(MSG_BED_DONE);
  4336. KEEPALIVE_STATE(IN_HANDLER);
  4337. heating_status = 4;
  4338. previous_millis_cmd = millis();
  4339. #endif
  4340. break;
  4341. #if defined(FAN_PIN) && FAN_PIN > -1
  4342. case 106: //M106 Fan On
  4343. if (code_seen('S')){
  4344. fanSpeed=constrain(code_value(),0,255);
  4345. }
  4346. else {
  4347. fanSpeed=255;
  4348. }
  4349. break;
  4350. case 107: //M107 Fan Off
  4351. fanSpeed = 0;
  4352. break;
  4353. #endif //FAN_PIN
  4354. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  4355. case 80: // M80 - Turn on Power Supply
  4356. SET_OUTPUT(PS_ON_PIN); //GND
  4357. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  4358. // If you have a switch on suicide pin, this is useful
  4359. // if you want to start another print with suicide feature after
  4360. // a print without suicide...
  4361. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  4362. SET_OUTPUT(SUICIDE_PIN);
  4363. WRITE(SUICIDE_PIN, HIGH);
  4364. #endif
  4365. #ifdef ULTIPANEL
  4366. powersupply = true;
  4367. LCD_MESSAGERPGM(WELCOME_MSG);
  4368. lcd_update();
  4369. #endif
  4370. break;
  4371. #endif
  4372. case 81: // M81 - Turn off Power Supply
  4373. disable_heater();
  4374. st_synchronize();
  4375. disable_e0();
  4376. disable_e1();
  4377. disable_e2();
  4378. finishAndDisableSteppers();
  4379. fanSpeed = 0;
  4380. delay(1000); // Wait a little before to switch off
  4381. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  4382. st_synchronize();
  4383. suicide();
  4384. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  4385. SET_OUTPUT(PS_ON_PIN);
  4386. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4387. #endif
  4388. #ifdef ULTIPANEL
  4389. powersupply = false;
  4390. LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR("."))); //!!
  4391. /*
  4392. MACHNAME = "Prusa i3"
  4393. MSGOFF = "Vypnuto"
  4394. "Prusai3"" ""vypnuto""."
  4395. "Prusa i3"" "MSG_ALL[lang_selected][50]"."
  4396. */
  4397. lcd_update();
  4398. #endif
  4399. break;
  4400. case 82:
  4401. axis_relative_modes[3] = false;
  4402. break;
  4403. case 83:
  4404. axis_relative_modes[3] = true;
  4405. break;
  4406. case 18: //compatibility
  4407. case 84: // M84
  4408. if(code_seen('S')){
  4409. stepper_inactive_time = code_value() * 1000;
  4410. }
  4411. else
  4412. {
  4413. 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])));
  4414. if(all_axis)
  4415. {
  4416. st_synchronize();
  4417. disable_e0();
  4418. disable_e1();
  4419. disable_e2();
  4420. finishAndDisableSteppers();
  4421. }
  4422. else
  4423. {
  4424. st_synchronize();
  4425. if (code_seen('X')) disable_x();
  4426. if (code_seen('Y')) disable_y();
  4427. if (code_seen('Z')) disable_z();
  4428. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4429. if (code_seen('E')) {
  4430. disable_e0();
  4431. disable_e1();
  4432. disable_e2();
  4433. }
  4434. #endif
  4435. }
  4436. }
  4437. snmm_filaments_used = 0;
  4438. break;
  4439. case 85: // M85
  4440. if(code_seen('S')) {
  4441. max_inactive_time = code_value() * 1000;
  4442. }
  4443. break;
  4444. case 92: // M92
  4445. for(int8_t i=0; i < NUM_AXIS; i++)
  4446. {
  4447. if(code_seen(axis_codes[i]))
  4448. {
  4449. if(i == 3) { // E
  4450. float value = code_value();
  4451. if(value < 20.0) {
  4452. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  4453. max_jerk[E_AXIS] *= factor;
  4454. max_feedrate[i] *= factor;
  4455. axis_steps_per_sqr_second[i] *= factor;
  4456. }
  4457. axis_steps_per_unit[i] = value;
  4458. }
  4459. else {
  4460. axis_steps_per_unit[i] = code_value();
  4461. }
  4462. }
  4463. }
  4464. break;
  4465. case 110: // M110 - reset line pos
  4466. if (code_seen('N'))
  4467. gcode_LastN = code_value_long();
  4468. break;
  4469. #ifdef HOST_KEEPALIVE_FEATURE
  4470. case 113: // M113 - Get or set Host Keepalive interval
  4471. if (code_seen('S')) {
  4472. host_keepalive_interval = (uint8_t)code_value_short();
  4473. // NOMORE(host_keepalive_interval, 60);
  4474. }
  4475. else {
  4476. SERIAL_ECHO_START;
  4477. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4478. SERIAL_PROTOCOLLN("");
  4479. }
  4480. break;
  4481. #endif
  4482. case 115: // M115
  4483. if (code_seen('V')) {
  4484. // Report the Prusa version number.
  4485. SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
  4486. } else if (code_seen('U')) {
  4487. // Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
  4488. // pause the print and ask the user to upgrade the firmware.
  4489. show_upgrade_dialog_if_version_newer(++ strchr_pointer);
  4490. } else {
  4491. SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
  4492. SERIAL_ECHORPGM(FW_VERSION_STR_P());
  4493. SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
  4494. SERIAL_ECHOPGM(PROTOCOL_VERSION);
  4495. SERIAL_ECHOPGM(" MACHINE_TYPE:");
  4496. SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
  4497. SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
  4498. SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
  4499. SERIAL_ECHOPGM(" UUID:");
  4500. SERIAL_ECHOLNPGM(MACHINE_UUID);
  4501. }
  4502. break;
  4503. /* case 117: // M117 display message
  4504. starpos = (strchr(strchr_pointer + 5,'*'));
  4505. if(starpos!=NULL)
  4506. *(starpos)='\0';
  4507. lcd_setstatus(strchr_pointer + 5);
  4508. break;*/
  4509. case 114: // M114
  4510. gcode_M114();
  4511. break;
  4512. case 120: // M120
  4513. enable_endstops(false) ;
  4514. break;
  4515. case 121: // M121
  4516. enable_endstops(true) ;
  4517. break;
  4518. case 119: // M119
  4519. SERIAL_PROTOCOLRPGM(MSG_M119_REPORT);
  4520. SERIAL_PROTOCOLLN("");
  4521. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  4522. SERIAL_PROTOCOLRPGM(MSG_X_MIN);
  4523. if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
  4524. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4525. }else{
  4526. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4527. }
  4528. SERIAL_PROTOCOLLN("");
  4529. #endif
  4530. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  4531. SERIAL_PROTOCOLRPGM(MSG_X_MAX);
  4532. if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
  4533. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4534. }else{
  4535. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4536. }
  4537. SERIAL_PROTOCOLLN("");
  4538. #endif
  4539. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  4540. SERIAL_PROTOCOLRPGM(MSG_Y_MIN);
  4541. if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
  4542. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4543. }else{
  4544. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4545. }
  4546. SERIAL_PROTOCOLLN("");
  4547. #endif
  4548. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  4549. SERIAL_PROTOCOLRPGM(MSG_Y_MAX);
  4550. if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
  4551. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4552. }else{
  4553. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4554. }
  4555. SERIAL_PROTOCOLLN("");
  4556. #endif
  4557. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  4558. SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
  4559. if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
  4560. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4561. }else{
  4562. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4563. }
  4564. SERIAL_PROTOCOLLN("");
  4565. #endif
  4566. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  4567. SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
  4568. if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
  4569. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_HIT);
  4570. }else{
  4571. SERIAL_PROTOCOLRPGM(MSG_ENDSTOP_OPEN);
  4572. }
  4573. SERIAL_PROTOCOLLN("");
  4574. #endif
  4575. break;
  4576. //TODO: update for all axis, use for loop
  4577. #ifdef BLINKM
  4578. case 150: // M150
  4579. {
  4580. byte red;
  4581. byte grn;
  4582. byte blu;
  4583. if(code_seen('R')) red = code_value();
  4584. if(code_seen('U')) grn = code_value();
  4585. if(code_seen('B')) blu = code_value();
  4586. SendColors(red,grn,blu);
  4587. }
  4588. break;
  4589. #endif //BLINKM
  4590. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  4591. {
  4592. tmp_extruder = active_extruder;
  4593. if(code_seen('T')) {
  4594. tmp_extruder = code_value();
  4595. if(tmp_extruder >= EXTRUDERS) {
  4596. SERIAL_ECHO_START;
  4597. SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
  4598. break;
  4599. }
  4600. }
  4601. float area = .0;
  4602. if(code_seen('D')) {
  4603. float diameter = (float)code_value();
  4604. if (diameter == 0.0) {
  4605. // setting any extruder filament size disables volumetric on the assumption that
  4606. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4607. // for all extruders
  4608. volumetric_enabled = false;
  4609. } else {
  4610. filament_size[tmp_extruder] = (float)code_value();
  4611. // make sure all extruders have some sane value for the filament size
  4612. filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
  4613. #if EXTRUDERS > 1
  4614. filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
  4615. #if EXTRUDERS > 2
  4616. filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
  4617. #endif
  4618. #endif
  4619. volumetric_enabled = true;
  4620. }
  4621. } else {
  4622. //reserved for setting filament diameter via UFID or filament measuring device
  4623. break;
  4624. }
  4625. calculate_extruder_multipliers();
  4626. }
  4627. break;
  4628. case 201: // M201
  4629. for(int8_t i=0; i < NUM_AXIS; i++)
  4630. {
  4631. if(code_seen(axis_codes[i]))
  4632. {
  4633. max_acceleration_units_per_sq_second[i] = code_value();
  4634. }
  4635. }
  4636. // 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)
  4637. reset_acceleration_rates();
  4638. break;
  4639. #if 0 // Not used for Sprinter/grbl gen6
  4640. case 202: // M202
  4641. for(int8_t i=0; i < NUM_AXIS; i++) {
  4642. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  4643. }
  4644. break;
  4645. #endif
  4646. case 203: // M203 max feedrate mm/sec
  4647. for(int8_t i=0; i < NUM_AXIS; i++) {
  4648. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  4649. }
  4650. break;
  4651. case 204: // M204 acclereration S normal moves T filmanent only moves
  4652. {
  4653. if(code_seen('S')) acceleration = code_value() ;
  4654. if(code_seen('T')) retract_acceleration = code_value() ;
  4655. }
  4656. break;
  4657. 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
  4658. {
  4659. if(code_seen('S')) minimumfeedrate = code_value();
  4660. if(code_seen('T')) mintravelfeedrate = code_value();
  4661. if(code_seen('B')) minsegmenttime = code_value() ;
  4662. if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
  4663. if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
  4664. if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
  4665. if(code_seen('E')) max_jerk[E_AXIS] = code_value();
  4666. if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
  4667. if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
  4668. }
  4669. break;
  4670. case 206: // M206 additional homing offset
  4671. for(int8_t i=0; i < 3; i++)
  4672. {
  4673. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  4674. }
  4675. break;
  4676. #ifdef FWRETRACT
  4677. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  4678. {
  4679. if(code_seen('S'))
  4680. {
  4681. retract_length = code_value() ;
  4682. }
  4683. if(code_seen('F'))
  4684. {
  4685. retract_feedrate = code_value()/60 ;
  4686. }
  4687. if(code_seen('Z'))
  4688. {
  4689. retract_zlift = code_value() ;
  4690. }
  4691. }break;
  4692. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  4693. {
  4694. if(code_seen('S'))
  4695. {
  4696. retract_recover_length = code_value() ;
  4697. }
  4698. if(code_seen('F'))
  4699. {
  4700. retract_recover_feedrate = code_value()/60 ;
  4701. }
  4702. }break;
  4703. 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.
  4704. {
  4705. if(code_seen('S'))
  4706. {
  4707. int t= code_value() ;
  4708. switch(t)
  4709. {
  4710. case 0:
  4711. {
  4712. autoretract_enabled=false;
  4713. retracted[0]=false;
  4714. #if EXTRUDERS > 1
  4715. retracted[1]=false;
  4716. #endif
  4717. #if EXTRUDERS > 2
  4718. retracted[2]=false;
  4719. #endif
  4720. }break;
  4721. case 1:
  4722. {
  4723. autoretract_enabled=true;
  4724. retracted[0]=false;
  4725. #if EXTRUDERS > 1
  4726. retracted[1]=false;
  4727. #endif
  4728. #if EXTRUDERS > 2
  4729. retracted[2]=false;
  4730. #endif
  4731. }break;
  4732. default:
  4733. SERIAL_ECHO_START;
  4734. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  4735. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  4736. SERIAL_ECHOLNPGM("\"(1)");
  4737. }
  4738. }
  4739. }break;
  4740. #endif // FWRETRACT
  4741. #if EXTRUDERS > 1
  4742. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  4743. {
  4744. if(setTargetedHotend(218)){
  4745. break;
  4746. }
  4747. if(code_seen('X'))
  4748. {
  4749. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  4750. }
  4751. if(code_seen('Y'))
  4752. {
  4753. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  4754. }
  4755. SERIAL_ECHO_START;
  4756. SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
  4757. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  4758. {
  4759. SERIAL_ECHO(" ");
  4760. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  4761. SERIAL_ECHO(",");
  4762. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  4763. }
  4764. SERIAL_ECHOLN("");
  4765. }break;
  4766. #endif
  4767. case 220: // M220 S<factor in percent>- set speed factor override percentage
  4768. {
  4769. if(code_seen('S'))
  4770. {
  4771. feedmultiply = code_value() ;
  4772. }
  4773. }
  4774. break;
  4775. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  4776. {
  4777. if(code_seen('S'))
  4778. {
  4779. int tmp_code = code_value();
  4780. if (code_seen('T'))
  4781. {
  4782. if(setTargetedHotend(221)){
  4783. break;
  4784. }
  4785. extruder_multiply[tmp_extruder] = tmp_code;
  4786. }
  4787. else
  4788. {
  4789. extrudemultiply = tmp_code ;
  4790. }
  4791. }
  4792. calculate_extruder_multipliers();
  4793. }
  4794. break;
  4795. #ifndef _DISABLE_M42_M226
  4796. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  4797. {
  4798. if(code_seen('P')){
  4799. int pin_number = code_value(); // pin number
  4800. int pin_state = -1; // required pin state - default is inverted
  4801. if(code_seen('S')) pin_state = code_value(); // required pin state
  4802. if(pin_state >= -1 && pin_state <= 1){
  4803. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  4804. {
  4805. if (sensitive_pins[i] == pin_number)
  4806. {
  4807. pin_number = -1;
  4808. break;
  4809. }
  4810. }
  4811. if (pin_number > -1)
  4812. {
  4813. int target = LOW;
  4814. st_synchronize();
  4815. pinMode(pin_number, INPUT);
  4816. switch(pin_state){
  4817. case 1:
  4818. target = HIGH;
  4819. break;
  4820. case 0:
  4821. target = LOW;
  4822. break;
  4823. case -1:
  4824. target = !digitalRead(pin_number);
  4825. break;
  4826. }
  4827. while(digitalRead(pin_number) != target){
  4828. manage_heater();
  4829. manage_inactivity();
  4830. lcd_update();
  4831. }
  4832. }
  4833. }
  4834. }
  4835. }
  4836. break;
  4837. #endif //_DISABLE_M42_M226
  4838. #if NUM_SERVOS > 0
  4839. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  4840. {
  4841. int servo_index = -1;
  4842. int servo_position = 0;
  4843. if (code_seen('P'))
  4844. servo_index = code_value();
  4845. if (code_seen('S')) {
  4846. servo_position = code_value();
  4847. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  4848. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4849. servos[servo_index].attach(0);
  4850. #endif
  4851. servos[servo_index].write(servo_position);
  4852. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  4853. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  4854. servos[servo_index].detach();
  4855. #endif
  4856. }
  4857. else {
  4858. SERIAL_ECHO_START;
  4859. SERIAL_ECHO("Servo ");
  4860. SERIAL_ECHO(servo_index);
  4861. SERIAL_ECHOLN(" out of range");
  4862. }
  4863. }
  4864. else if (servo_index >= 0) {
  4865. SERIAL_PROTOCOL(MSG_OK);
  4866. SERIAL_PROTOCOL(" Servo ");
  4867. SERIAL_PROTOCOL(servo_index);
  4868. SERIAL_PROTOCOL(": ");
  4869. SERIAL_PROTOCOL(servos[servo_index].read());
  4870. SERIAL_PROTOCOLLN("");
  4871. }
  4872. }
  4873. break;
  4874. #endif // NUM_SERVOS > 0
  4875. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  4876. case 300: // M300
  4877. {
  4878. int beepS = code_seen('S') ? code_value() : 110;
  4879. int beepP = code_seen('P') ? code_value() : 1000;
  4880. if (beepS > 0)
  4881. {
  4882. #if BEEPER > 0
  4883. tone(BEEPER, beepS);
  4884. delay(beepP);
  4885. noTone(BEEPER);
  4886. #elif defined(ULTRALCD)
  4887. lcd_buzz(beepS, beepP);
  4888. #elif defined(LCD_USE_I2C_BUZZER)
  4889. lcd_buzz(beepP, beepS);
  4890. #endif
  4891. }
  4892. else
  4893. {
  4894. delay(beepP);
  4895. }
  4896. }
  4897. break;
  4898. #endif // M300
  4899. #ifdef PIDTEMP
  4900. case 301: // M301
  4901. {
  4902. if(code_seen('P')) Kp = code_value();
  4903. if(code_seen('I')) Ki = scalePID_i(code_value());
  4904. if(code_seen('D')) Kd = scalePID_d(code_value());
  4905. #ifdef PID_ADD_EXTRUSION_RATE
  4906. if(code_seen('C')) Kc = code_value();
  4907. #endif
  4908. updatePID();
  4909. SERIAL_PROTOCOLRPGM(MSG_OK);
  4910. SERIAL_PROTOCOL(" p:");
  4911. SERIAL_PROTOCOL(Kp);
  4912. SERIAL_PROTOCOL(" i:");
  4913. SERIAL_PROTOCOL(unscalePID_i(Ki));
  4914. SERIAL_PROTOCOL(" d:");
  4915. SERIAL_PROTOCOL(unscalePID_d(Kd));
  4916. #ifdef PID_ADD_EXTRUSION_RATE
  4917. SERIAL_PROTOCOL(" c:");
  4918. //Kc does not have scaling applied above, or in resetting defaults
  4919. SERIAL_PROTOCOL(Kc);
  4920. #endif
  4921. SERIAL_PROTOCOLLN("");
  4922. }
  4923. break;
  4924. #endif //PIDTEMP
  4925. #ifdef PIDTEMPBED
  4926. case 304: // M304
  4927. {
  4928. if(code_seen('P')) bedKp = code_value();
  4929. if(code_seen('I')) bedKi = scalePID_i(code_value());
  4930. if(code_seen('D')) bedKd = scalePID_d(code_value());
  4931. updatePID();
  4932. SERIAL_PROTOCOLRPGM(MSG_OK);
  4933. SERIAL_PROTOCOL(" p:");
  4934. SERIAL_PROTOCOL(bedKp);
  4935. SERIAL_PROTOCOL(" i:");
  4936. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  4937. SERIAL_PROTOCOL(" d:");
  4938. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  4939. SERIAL_PROTOCOLLN("");
  4940. }
  4941. break;
  4942. #endif //PIDTEMP
  4943. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  4944. {
  4945. #ifdef CHDK
  4946. SET_OUTPUT(CHDK);
  4947. WRITE(CHDK, HIGH);
  4948. chdkHigh = millis();
  4949. chdkActive = true;
  4950. #else
  4951. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  4952. const uint8_t NUM_PULSES=16;
  4953. const float PULSE_LENGTH=0.01524;
  4954. for(int i=0; i < NUM_PULSES; i++) {
  4955. WRITE(PHOTOGRAPH_PIN, HIGH);
  4956. _delay_ms(PULSE_LENGTH);
  4957. WRITE(PHOTOGRAPH_PIN, LOW);
  4958. _delay_ms(PULSE_LENGTH);
  4959. }
  4960. delay(7.33);
  4961. for(int i=0; i < NUM_PULSES; i++) {
  4962. WRITE(PHOTOGRAPH_PIN, HIGH);
  4963. _delay_ms(PULSE_LENGTH);
  4964. WRITE(PHOTOGRAPH_PIN, LOW);
  4965. _delay_ms(PULSE_LENGTH);
  4966. }
  4967. #endif
  4968. #endif //chdk end if
  4969. }
  4970. break;
  4971. #ifdef DOGLCD
  4972. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  4973. {
  4974. if (code_seen('C')) {
  4975. lcd_setcontrast( ((int)code_value())&63 );
  4976. }
  4977. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4978. SERIAL_PROTOCOL(lcd_contrast);
  4979. SERIAL_PROTOCOLLN("");
  4980. }
  4981. break;
  4982. #endif
  4983. #ifdef PREVENT_DANGEROUS_EXTRUDE
  4984. case 302: // allow cold extrudes, or set the minimum extrude temperature
  4985. {
  4986. float temp = .0;
  4987. if (code_seen('S')) temp=code_value();
  4988. set_extrude_min_temp(temp);
  4989. }
  4990. break;
  4991. #endif
  4992. case 303: // M303 PID autotune
  4993. {
  4994. float temp = 150.0;
  4995. int e=0;
  4996. int c=5;
  4997. if (code_seen('E')) e=code_value();
  4998. if (e<0)
  4999. temp=70;
  5000. if (code_seen('S')) temp=code_value();
  5001. if (code_seen('C')) c=code_value();
  5002. PID_autotune(temp, e, c);
  5003. }
  5004. break;
  5005. case 400: // M400 finish all moves
  5006. {
  5007. st_synchronize();
  5008. }
  5009. break;
  5010. case 500: // M500 Store settings in EEPROM
  5011. {
  5012. Config_StoreSettings(EEPROM_OFFSET);
  5013. }
  5014. break;
  5015. case 501: // M501 Read settings from EEPROM
  5016. {
  5017. Config_RetrieveSettings(EEPROM_OFFSET);
  5018. }
  5019. break;
  5020. case 502: // M502 Revert to default settings
  5021. {
  5022. Config_ResetDefault();
  5023. }
  5024. break;
  5025. case 503: // M503 print settings currently in memory
  5026. {
  5027. Config_PrintSettings();
  5028. }
  5029. break;
  5030. case 509: //M509 Force language selection
  5031. {
  5032. lcd_force_language_selection();
  5033. SERIAL_ECHO_START;
  5034. SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
  5035. }
  5036. break;
  5037. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5038. case 540:
  5039. {
  5040. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  5041. }
  5042. break;
  5043. #endif
  5044. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5045. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  5046. {
  5047. float value;
  5048. if (code_seen('Z'))
  5049. {
  5050. value = code_value();
  5051. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  5052. {
  5053. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  5054. SERIAL_ECHO_START;
  5055. SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", MSG_OK,PSTR("")));
  5056. SERIAL_PROTOCOLLN("");
  5057. }
  5058. else
  5059. {
  5060. SERIAL_ECHO_START;
  5061. SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
  5062. SERIAL_ECHORPGM(MSG_Z_MIN);
  5063. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  5064. SERIAL_ECHORPGM(MSG_Z_MAX);
  5065. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  5066. SERIAL_PROTOCOLLN("");
  5067. }
  5068. }
  5069. else
  5070. {
  5071. SERIAL_ECHO_START;
  5072. SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
  5073. SERIAL_ECHO(-zprobe_zoffset);
  5074. SERIAL_PROTOCOLLN("");
  5075. }
  5076. break;
  5077. }
  5078. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  5079. #ifdef FILAMENTCHANGEENABLE
  5080. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  5081. {
  5082. #ifdef PAT9125
  5083. bool old_fsensor_enabled = fsensor_enabled;
  5084. fsensor_enabled = false; //temporary solution for unexpected restarting
  5085. #endif //PAT9125
  5086. st_synchronize();
  5087. float target[4];
  5088. float lastpos[4];
  5089. if (farm_mode)
  5090. {
  5091. prusa_statistics(22);
  5092. }
  5093. feedmultiplyBckp=feedmultiply;
  5094. int8_t TooLowZ = 0;
  5095. float HotendTempBckp = degTargetHotend(active_extruder);
  5096. int fanSpeedBckp = fanSpeed;
  5097. target[X_AXIS]=current_position[X_AXIS];
  5098. target[Y_AXIS]=current_position[Y_AXIS];
  5099. target[Z_AXIS]=current_position[Z_AXIS];
  5100. target[E_AXIS]=current_position[E_AXIS];
  5101. lastpos[X_AXIS]=current_position[X_AXIS];
  5102. lastpos[Y_AXIS]=current_position[Y_AXIS];
  5103. lastpos[Z_AXIS]=current_position[Z_AXIS];
  5104. lastpos[E_AXIS]=current_position[E_AXIS];
  5105. //Restract extruder
  5106. if(code_seen('E'))
  5107. {
  5108. target[E_AXIS]+= code_value();
  5109. }
  5110. else
  5111. {
  5112. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  5113. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  5114. #endif
  5115. }
  5116. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5117. //Lift Z
  5118. if(code_seen('Z'))
  5119. {
  5120. target[Z_AXIS]+= code_value();
  5121. }
  5122. else
  5123. {
  5124. #ifdef FILAMENTCHANGE_ZADD
  5125. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  5126. if(target[Z_AXIS] < 10){
  5127. target[Z_AXIS]+= 10 ;
  5128. TooLowZ = 1;
  5129. }else{
  5130. TooLowZ = 0;
  5131. }
  5132. #endif
  5133. }
  5134. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5135. //Move XY to side
  5136. if(code_seen('X'))
  5137. {
  5138. target[X_AXIS]+= code_value();
  5139. }
  5140. else
  5141. {
  5142. #ifdef FILAMENTCHANGE_XPOS
  5143. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  5144. #endif
  5145. }
  5146. if(code_seen('Y'))
  5147. {
  5148. target[Y_AXIS]= code_value();
  5149. }
  5150. else
  5151. {
  5152. #ifdef FILAMENTCHANGE_YPOS
  5153. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  5154. #endif
  5155. }
  5156. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5157. st_synchronize();
  5158. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5159. uint8_t cnt = 0;
  5160. int counterBeep = 0;
  5161. fanSpeed = 0;
  5162. unsigned long waiting_start_time = millis();
  5163. uint8_t wait_for_user_state = 0;
  5164. lcd_display_message_fullscreen_P(MSG_PRESS_TO_UNLOAD);
  5165. while (!(wait_for_user_state == 0 && lcd_clicked())){
  5166. //cnt++;
  5167. manage_heater();
  5168. manage_inactivity(true);
  5169. /*#ifdef SNMM
  5170. target[E_AXIS] += 0.002;
  5171. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5172. #endif // SNMM*/
  5173. //if (cnt == 0)
  5174. {
  5175. #if BEEPER > 0
  5176. if (counterBeep == 500) {
  5177. counterBeep = 0;
  5178. }
  5179. SET_OUTPUT(BEEPER);
  5180. if (counterBeep == 0) {
  5181. WRITE(BEEPER, HIGH);
  5182. }
  5183. if (counterBeep == 20) {
  5184. WRITE(BEEPER, LOW);
  5185. }
  5186. counterBeep++;
  5187. #else
  5188. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  5189. lcd_buzz(1000 / 6, 100);
  5190. #else
  5191. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
  5192. #endif
  5193. #endif
  5194. }
  5195. switch (wait_for_user_state) {
  5196. case 0:
  5197. delay_keep_alive(4);
  5198. if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
  5199. lcd_display_message_fullscreen_P(MSG_PRESS_TO_PREHEAT);
  5200. wait_for_user_state = 1;
  5201. setTargetHotend(0, 0);
  5202. setTargetHotend(0, 1);
  5203. setTargetHotend(0, 2);
  5204. st_synchronize();
  5205. disable_e0();
  5206. disable_e1();
  5207. disable_e2();
  5208. }
  5209. break;
  5210. case 1:
  5211. delay_keep_alive(4);
  5212. if (lcd_clicked()) {
  5213. setTargetHotend(HotendTempBckp, active_extruder);
  5214. lcd_wait_for_heater();
  5215. wait_for_user_state = 2;
  5216. }
  5217. break;
  5218. case 2:
  5219. if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
  5220. lcd_display_message_fullscreen_P(MSG_PRESS_TO_UNLOAD);
  5221. waiting_start_time = millis();
  5222. wait_for_user_state = 0;
  5223. }
  5224. else {
  5225. counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
  5226. lcd.setCursor(1, 4);
  5227. lcd.print(ftostr3(degHotend(active_extruder)));
  5228. }
  5229. break;
  5230. }
  5231. }
  5232. WRITE(BEEPER, LOW);
  5233. lcd_change_fil_state = 0;
  5234. // Unload filament
  5235. lcd_display_message_fullscreen_P(MSG_UNLOADING_FILAMENT);
  5236. KEEPALIVE_STATE(IN_HANDLER);
  5237. custom_message = true;
  5238. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  5239. if (code_seen('L'))
  5240. {
  5241. target[E_AXIS] += code_value();
  5242. }
  5243. else
  5244. {
  5245. #ifdef SNMM
  5246. #else
  5247. #ifdef FILAMENTCHANGE_FINALRETRACT
  5248. target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
  5249. #endif
  5250. #endif // SNMM
  5251. }
  5252. #ifdef SNMM
  5253. target[E_AXIS] += 12;
  5254. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
  5255. target[E_AXIS] += 6;
  5256. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  5257. target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
  5258. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
  5259. st_synchronize();
  5260. target[E_AXIS] += (FIL_COOLING);
  5261. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5262. target[E_AXIS] += (FIL_COOLING*-1);
  5263. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5264. target[E_AXIS] += (bowden_length[snmm_extruder] * -1);
  5265. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5266. st_synchronize();
  5267. #else
  5268. // plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5269. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500 / 60, active_extruder);
  5270. target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
  5271. st_synchronize();
  5272. #ifdef TMC2130
  5273. uint8_t tmc2130_current_r_bckp = tmc2130_current_r[E_AXIS];
  5274. tmc2130_set_current_r(E_AXIS, TMC2130_UNLOAD_CURRENT_R);
  5275. #else
  5276. st_current_set(2, 200); //set lower E motor current for unload to protect filament sensor and ptfe tube
  5277. float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
  5278. float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  5279. #endif //TMC2130
  5280. target[E_AXIS] -= 45;
  5281. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5200 / 60, active_extruder);
  5282. st_synchronize();
  5283. target[E_AXIS] -= 15;
  5284. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
  5285. st_synchronize();
  5286. target[E_AXIS] -= 20;
  5287. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000 / 60, active_extruder);
  5288. st_synchronize();
  5289. #ifdef TMC2130
  5290. tmc2130_set_current_r(E_AXIS, tmc2130_current_r_bckp);
  5291. #else
  5292. uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
  5293. if(silentMode != SILENT_MODE_POWER) st_current_set(2, tmp_motor[2]); //set E back to normal operation currents
  5294. else st_current_set(2, tmp_motor_loud[2]);
  5295. #endif //TMC2130
  5296. #endif // SNMM
  5297. //finish moves
  5298. st_synchronize();
  5299. lcd_display_message_fullscreen_P(MSG_PULL_OUT_FILAMENT);
  5300. //disable extruder steppers so filament can be removed
  5301. disable_e0();
  5302. disable_e1();
  5303. disable_e2();
  5304. delay(100);
  5305. WRITE(BEEPER, HIGH);
  5306. counterBeep = 0;
  5307. while(!lcd_clicked() && (counterBeep < 50)) {
  5308. if(counterBeep > 5) WRITE(BEEPER, LOW);
  5309. delay_keep_alive(100);
  5310. counterBeep++;
  5311. }
  5312. WRITE(BEEPER, LOW);
  5313. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5314. lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_UNLOAD_SUCCESSFUL, false, true);
  5315. if (lcd_change_fil_state == 0) lcd_show_fullscreen_message_and_wait_P(MSG_CHECK_IDLER);
  5316. //lcd_return_to_status();
  5317. lcd_update_enable(true);
  5318. //Wait for user to insert filament
  5319. lcd_wait_interact();
  5320. //load_filament_time = millis();
  5321. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5322. #ifdef PAT9125
  5323. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_start();
  5324. #endif //PAT9125
  5325. // printf_P(PSTR("M600 PAT9125 filament_autoload_enabled=%d, old_fsensor_enabled=%d, fsensor_M600=%d"), filament_autoload_enabled, old_fsensor_enabled, fsensor_M600);
  5326. while(!lcd_clicked())
  5327. {
  5328. manage_heater();
  5329. manage_inactivity(true);
  5330. #ifdef PAT9125
  5331. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600) && fsensor_check_autoload())
  5332. {
  5333. tone(BEEPER, 1000);
  5334. delay_keep_alive(50);
  5335. noTone(BEEPER);
  5336. break;
  5337. }
  5338. #endif //PAT9125
  5339. /*#ifdef SNMM
  5340. target[E_AXIS] += 0.002;
  5341. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5342. #endif // SNMM*/
  5343. }
  5344. #ifdef PAT9125
  5345. if (filament_autoload_enabled && (old_fsensor_enabled || fsensor_M600)) fsensor_autoload_check_stop();
  5346. #endif //PAT9125
  5347. //WRITE(BEEPER, LOW);
  5348. KEEPALIVE_STATE(IN_HANDLER);
  5349. #ifdef SNMM
  5350. display_loading();
  5351. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5352. do {
  5353. target[E_AXIS] += 0.002;
  5354. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5355. delay_keep_alive(2);
  5356. } while (!lcd_clicked());
  5357. KEEPALIVE_STATE(IN_HANDLER);
  5358. /*if (millis() - load_filament_time > 2) {
  5359. load_filament_time = millis();
  5360. target[E_AXIS] += 0.001;
  5361. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
  5362. }*/
  5363. //Filament inserted
  5364. //Feed the filament to the end of nozzle quickly
  5365. st_synchronize();
  5366. target[E_AXIS] += bowden_length[snmm_extruder];
  5367. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5368. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  5369. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  5370. target[E_AXIS] += 40;
  5371. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  5372. target[E_AXIS] += 10;
  5373. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5374. #else
  5375. target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
  5376. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  5377. #endif // SNMM
  5378. //Extrude some filament
  5379. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5380. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5381. //Wait for user to check the state
  5382. lcd_change_fil_state = 0;
  5383. lcd_loading_filament();
  5384. tone(BEEPER, 500);
  5385. delay_keep_alive(50);
  5386. noTone(BEEPER);
  5387. while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
  5388. lcd_change_fil_state = 0;
  5389. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5390. lcd_alright();
  5391. KEEPALIVE_STATE(IN_HANDLER);
  5392. switch(lcd_change_fil_state){
  5393. // Filament failed to load so load it again
  5394. case 2:
  5395. #ifdef SNMM
  5396. display_loading();
  5397. do {
  5398. target[E_AXIS] += 0.002;
  5399. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
  5400. delay_keep_alive(2);
  5401. } while (!lcd_clicked());
  5402. st_synchronize();
  5403. target[E_AXIS] += bowden_length[snmm_extruder];
  5404. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
  5405. target[E_AXIS] += FIL_LOAD_LENGTH - 60;
  5406. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
  5407. target[E_AXIS] += 40;
  5408. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
  5409. target[E_AXIS] += 10;
  5410. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
  5411. #else
  5412. target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
  5413. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
  5414. #endif
  5415. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5416. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5417. lcd_loading_filament();
  5418. break;
  5419. // Filament loaded properly but color is not clear
  5420. case 3:
  5421. target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
  5422. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
  5423. lcd_loading_color();
  5424. break;
  5425. // Everything good
  5426. default:
  5427. lcd_change_success();
  5428. lcd_update_enable(true);
  5429. break;
  5430. }
  5431. }
  5432. //Not let's go back to print
  5433. fanSpeed = fanSpeedBckp;
  5434. //Feed a little of filament to stabilize pressure
  5435. target[E_AXIS]+= FILAMENTCHANGE_RECFEED;
  5436. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
  5437. //Retract
  5438. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
  5439. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5440. //plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
  5441. //Move XY back
  5442. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
  5443. //Move Z back
  5444. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
  5445. target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
  5446. //Unretract
  5447. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
  5448. //Set E position to original
  5449. plan_set_e_position(lastpos[E_AXIS]);
  5450. //Recover feed rate
  5451. feedmultiply=feedmultiplyBckp;
  5452. char cmd[9];
  5453. sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
  5454. enquecommand(cmd);
  5455. lcd_setstatuspgm(WELCOME_MSG);
  5456. custom_message = false;
  5457. custom_message_type = 0;
  5458. #ifdef PAT9125
  5459. fsensor_enabled = old_fsensor_enabled; //temporary solution for unexpected restarting
  5460. if (fsensor_M600)
  5461. {
  5462. cmdqueue_pop_front(); //hack because M600 repeated 2x when enqueued to front
  5463. st_synchronize();
  5464. while (!is_buffer_empty())
  5465. {
  5466. process_commands();
  5467. cmdqueue_pop_front();
  5468. }
  5469. fsensor_enable();
  5470. fsensor_restore_print_and_continue();
  5471. }
  5472. #endif //PAT9125
  5473. }
  5474. break;
  5475. #endif //FILAMENTCHANGEENABLE
  5476. case 601: {
  5477. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
  5478. }
  5479. break;
  5480. case 602: {
  5481. if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
  5482. }
  5483. break;
  5484. #ifdef PINDA_THERMISTOR
  5485. case 860: // M860 - Wait for PINDA thermistor to reach target temperature.
  5486. {
  5487. int setTargetPinda = 0;
  5488. if (code_seen('S')) {
  5489. setTargetPinda = code_value();
  5490. }
  5491. else {
  5492. break;
  5493. }
  5494. LCD_MESSAGERPGM(MSG_PLEASE_WAIT);
  5495. SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
  5496. SERIAL_PROTOCOL(setTargetPinda);
  5497. SERIAL_PROTOCOLLN("");
  5498. codenum = millis();
  5499. cancel_heatup = false;
  5500. KEEPALIVE_STATE(NOT_BUSY);
  5501. while ((!cancel_heatup) && current_temperature_pinda < setTargetPinda) {
  5502. if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
  5503. {
  5504. SERIAL_PROTOCOLPGM("P:");
  5505. SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
  5506. SERIAL_PROTOCOLPGM("/");
  5507. SERIAL_PROTOCOL(setTargetPinda);
  5508. SERIAL_PROTOCOLLN("");
  5509. codenum = millis();
  5510. }
  5511. manage_heater();
  5512. manage_inactivity();
  5513. lcd_update();
  5514. }
  5515. LCD_MESSAGERPGM(MSG_OK);
  5516. break;
  5517. }
  5518. case 861: // M861 - Set/Read PINDA temperature compensation offsets
  5519. if (code_seen('?')) { // ? - Print out current EEPROM offset values
  5520. uint8_t cal_status = calibration_status_pinda();
  5521. int16_t usteps = 0;
  5522. cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
  5523. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5524. for (uint8_t i = 0; i < 6; i++)
  5525. {
  5526. if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
  5527. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5528. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5529. SERIAL_PROTOCOLPGM(", ");
  5530. SERIAL_PROTOCOL(35 + (i * 5));
  5531. SERIAL_PROTOCOLPGM(", ");
  5532. SERIAL_PROTOCOL(usteps);
  5533. SERIAL_PROTOCOLPGM(", ");
  5534. SERIAL_PROTOCOL(mm * 1000);
  5535. SERIAL_PROTOCOLLN("");
  5536. }
  5537. }
  5538. else if (code_seen('!')) { // ! - Set factory default values
  5539. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5540. int16_t z_shift = 8; //40C - 20um - 8usteps
  5541. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
  5542. z_shift = 24; //45C - 60um - 24usteps
  5543. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
  5544. z_shift = 48; //50C - 120um - 48usteps
  5545. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
  5546. z_shift = 80; //55C - 200um - 80usteps
  5547. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
  5548. z_shift = 120; //60C - 300um - 120usteps
  5549. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
  5550. SERIAL_PROTOCOLLN("factory restored");
  5551. }
  5552. else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
  5553. eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
  5554. int16_t z_shift = 0;
  5555. for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
  5556. SERIAL_PROTOCOLLN("zerorized");
  5557. }
  5558. else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
  5559. int16_t usteps = code_value();
  5560. if (code_seen('I')) {
  5561. byte index = code_value();
  5562. if ((index >= 0) && (index < 5)) {
  5563. EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
  5564. SERIAL_PROTOCOLLN("OK");
  5565. SERIAL_PROTOCOLLN("index, temp, ustep, um");
  5566. for (uint8_t i = 0; i < 6; i++)
  5567. {
  5568. usteps = 0;
  5569. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
  5570. float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
  5571. i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
  5572. SERIAL_PROTOCOLPGM(", ");
  5573. SERIAL_PROTOCOL(35 + (i * 5));
  5574. SERIAL_PROTOCOLPGM(", ");
  5575. SERIAL_PROTOCOL(usteps);
  5576. SERIAL_PROTOCOLPGM(", ");
  5577. SERIAL_PROTOCOL(mm * 1000);
  5578. SERIAL_PROTOCOLLN("");
  5579. }
  5580. }
  5581. }
  5582. }
  5583. else {
  5584. SERIAL_PROTOCOLPGM("no valid command");
  5585. }
  5586. break;
  5587. #endif //PINDA_THERMISTOR
  5588. #ifdef LIN_ADVANCE
  5589. case 900: // M900: Set LIN_ADVANCE options.
  5590. gcode_M900();
  5591. break;
  5592. #endif
  5593. case 907: // M907 Set digital trimpot motor current using axis codes.
  5594. {
  5595. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5596. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
  5597. if(code_seen('B')) st_current_set(4,code_value());
  5598. if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
  5599. #endif
  5600. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  5601. if(code_seen('X')) st_current_set(0, code_value());
  5602. #endif
  5603. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  5604. if(code_seen('Z')) st_current_set(1, code_value());
  5605. #endif
  5606. #ifdef MOTOR_CURRENT_PWM_E_PIN
  5607. if(code_seen('E')) st_current_set(2, code_value());
  5608. #endif
  5609. }
  5610. break;
  5611. case 908: // M908 Control digital trimpot directly.
  5612. {
  5613. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  5614. uint8_t channel,current;
  5615. if(code_seen('P')) channel=code_value();
  5616. if(code_seen('S')) current=code_value();
  5617. digitalPotWrite(channel, current);
  5618. #endif
  5619. }
  5620. break;
  5621. #ifdef TMC2130
  5622. case 910: // M910 TMC2130 init
  5623. {
  5624. tmc2130_init();
  5625. }
  5626. break;
  5627. case 911: // M911 Set TMC2130 holding currents
  5628. {
  5629. if (code_seen('X')) tmc2130_set_current_h(0, code_value());
  5630. if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
  5631. if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
  5632. if (code_seen('E')) tmc2130_set_current_h(3, code_value());
  5633. }
  5634. break;
  5635. case 912: // M912 Set TMC2130 running currents
  5636. {
  5637. if (code_seen('X')) tmc2130_set_current_r(0, code_value());
  5638. if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
  5639. if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
  5640. if (code_seen('E')) tmc2130_set_current_r(3, code_value());
  5641. }
  5642. break;
  5643. case 913: // M913 Print TMC2130 currents
  5644. {
  5645. tmc2130_print_currents();
  5646. }
  5647. break;
  5648. case 914: // M914 Set normal mode
  5649. {
  5650. tmc2130_mode = TMC2130_MODE_NORMAL;
  5651. tmc2130_init();
  5652. }
  5653. break;
  5654. case 915: // M915 Set silent mode
  5655. {
  5656. tmc2130_mode = TMC2130_MODE_SILENT;
  5657. tmc2130_init();
  5658. }
  5659. break;
  5660. case 916: // M916 Set sg_thrs
  5661. {
  5662. if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
  5663. if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
  5664. if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
  5665. if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
  5666. MYSERIAL.print("tmc2130_sg_thr[X]=");
  5667. MYSERIAL.println(tmc2130_sg_thr[X_AXIS], DEC);
  5668. MYSERIAL.print("tmc2130_sg_thr[Y]=");
  5669. MYSERIAL.println(tmc2130_sg_thr[Y_AXIS], DEC);
  5670. MYSERIAL.print("tmc2130_sg_thr[Z]=");
  5671. MYSERIAL.println(tmc2130_sg_thr[Z_AXIS], DEC);
  5672. MYSERIAL.print("tmc2130_sg_thr[E]=");
  5673. MYSERIAL.println(tmc2130_sg_thr[E_AXIS], DEC);
  5674. }
  5675. break;
  5676. case 917: // M917 Set TMC2130 pwm_ampl
  5677. {
  5678. if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
  5679. if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
  5680. if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
  5681. if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
  5682. }
  5683. break;
  5684. case 918: // M918 Set TMC2130 pwm_grad
  5685. {
  5686. if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
  5687. if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
  5688. if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
  5689. if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
  5690. }
  5691. break;
  5692. #endif //TMC2130
  5693. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5694. {
  5695. #ifdef TMC2130
  5696. if(code_seen('E'))
  5697. {
  5698. uint16_t res_new = code_value();
  5699. if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
  5700. {
  5701. st_synchronize();
  5702. uint8_t axis = E_AXIS;
  5703. uint16_t res = tmc2130_get_res(axis);
  5704. tmc2130_set_res(axis, res_new);
  5705. if (res_new > res)
  5706. {
  5707. uint16_t fac = (res_new / res);
  5708. axis_steps_per_unit[axis] *= fac;
  5709. position[E_AXIS] *= fac;
  5710. }
  5711. else
  5712. {
  5713. uint16_t fac = (res / res_new);
  5714. axis_steps_per_unit[axis] /= fac;
  5715. position[E_AXIS] /= fac;
  5716. }
  5717. }
  5718. }
  5719. #else //TMC2130
  5720. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5721. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  5722. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  5723. if(code_seen('B')) microstep_mode(4,code_value());
  5724. microstep_readings();
  5725. #endif
  5726. #endif //TMC2130
  5727. }
  5728. break;
  5729. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  5730. {
  5731. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  5732. if(code_seen('S')) switch((int)code_value())
  5733. {
  5734. case 1:
  5735. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  5736. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  5737. break;
  5738. case 2:
  5739. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  5740. if(code_seen('B')) microstep_ms(4,-1,code_value());
  5741. break;
  5742. }
  5743. microstep_readings();
  5744. #endif
  5745. }
  5746. break;
  5747. case 701: //M701: load filament
  5748. {
  5749. gcode_M701();
  5750. }
  5751. break;
  5752. case 702:
  5753. {
  5754. #ifdef SNMM
  5755. if (code_seen('U')) {
  5756. extr_unload_used(); //unload all filaments which were used in current print
  5757. }
  5758. else if (code_seen('C')) {
  5759. extr_unload(); //unload just current filament
  5760. }
  5761. else {
  5762. extr_unload_all(); //unload all filaments
  5763. }
  5764. #else
  5765. #ifdef PAT9125
  5766. bool old_fsensor_enabled = fsensor_enabled;
  5767. fsensor_enabled = false;
  5768. #endif //PAT9125
  5769. custom_message = true;
  5770. custom_message_type = 2;
  5771. lcd_setstatuspgm(MSG_UNLOADING_FILAMENT);
  5772. // extr_unload2();
  5773. current_position[E_AXIS] -= 45;
  5774. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
  5775. st_synchronize();
  5776. current_position[E_AXIS] -= 15;
  5777. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  5778. st_synchronize();
  5779. current_position[E_AXIS] -= 20;
  5780. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
  5781. st_synchronize();
  5782. lcd_display_message_fullscreen_P(MSG_PULL_OUT_FILAMENT);
  5783. //disable extruder steppers so filament can be removed
  5784. disable_e0();
  5785. disable_e1();
  5786. disable_e2();
  5787. delay(100);
  5788. WRITE(BEEPER, HIGH);
  5789. uint8_t counterBeep = 0;
  5790. while (!lcd_clicked() && (counterBeep < 50)) {
  5791. if (counterBeep > 5) WRITE(BEEPER, LOW);
  5792. delay_keep_alive(100);
  5793. counterBeep++;
  5794. }
  5795. WRITE(BEEPER, LOW);
  5796. st_synchronize();
  5797. while (lcd_clicked()) delay_keep_alive(100);
  5798. lcd_update_enable(true);
  5799. lcd_setstatuspgm(WELCOME_MSG);
  5800. custom_message = false;
  5801. custom_message_type = 0;
  5802. #ifdef PAT9125
  5803. fsensor_enabled = old_fsensor_enabled;
  5804. #endif //PAT9125
  5805. #endif
  5806. }
  5807. break;
  5808. case 999: // M999: Restart after being stopped
  5809. Stopped = false;
  5810. lcd_reset_alert_level();
  5811. gcode_LastN = Stopped_gcode_LastN;
  5812. FlushSerialRequestResend();
  5813. break;
  5814. default:
  5815. printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
  5816. }
  5817. } // end if(code_seen('M')) (end of M codes)
  5818. else if(code_seen('T'))
  5819. {
  5820. int index;
  5821. st_synchronize();
  5822. for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
  5823. if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
  5824. SERIAL_ECHOLNPGM("Invalid T code.");
  5825. }
  5826. else {
  5827. if (*(strchr_pointer + index) == '?') {
  5828. tmp_extruder = choose_extruder_menu();
  5829. }
  5830. else {
  5831. tmp_extruder = code_value();
  5832. }
  5833. snmm_filaments_used |= (1 << tmp_extruder); //for stop print
  5834. #ifdef SNMM
  5835. #ifdef LIN_ADVANCE
  5836. if (snmm_extruder != tmp_extruder)
  5837. clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
  5838. #endif
  5839. snmm_extruder = tmp_extruder;
  5840. delay(100);
  5841. disable_e0();
  5842. disable_e1();
  5843. disable_e2();
  5844. pinMode(E_MUX0_PIN, OUTPUT);
  5845. pinMode(E_MUX1_PIN, OUTPUT);
  5846. delay(100);
  5847. SERIAL_ECHO_START;
  5848. SERIAL_ECHO("T:");
  5849. SERIAL_ECHOLN((int)tmp_extruder);
  5850. switch (tmp_extruder) {
  5851. case 1:
  5852. WRITE(E_MUX0_PIN, HIGH);
  5853. WRITE(E_MUX1_PIN, LOW);
  5854. break;
  5855. case 2:
  5856. WRITE(E_MUX0_PIN, LOW);
  5857. WRITE(E_MUX1_PIN, HIGH);
  5858. break;
  5859. case 3:
  5860. WRITE(E_MUX0_PIN, HIGH);
  5861. WRITE(E_MUX1_PIN, HIGH);
  5862. break;
  5863. default:
  5864. WRITE(E_MUX0_PIN, LOW);
  5865. WRITE(E_MUX1_PIN, LOW);
  5866. break;
  5867. }
  5868. delay(100);
  5869. #else
  5870. if (tmp_extruder >= EXTRUDERS) {
  5871. SERIAL_ECHO_START;
  5872. SERIAL_ECHOPGM("T");
  5873. SERIAL_PROTOCOLLN((int)tmp_extruder);
  5874. SERIAL_ECHOLNRPGM(MSG_INVALID_EXTRUDER);
  5875. }
  5876. else {
  5877. boolean make_move = false;
  5878. if (code_seen('F')) {
  5879. make_move = true;
  5880. next_feedrate = code_value();
  5881. if (next_feedrate > 0.0) {
  5882. feedrate = next_feedrate;
  5883. }
  5884. }
  5885. #if EXTRUDERS > 1
  5886. if (tmp_extruder != active_extruder) {
  5887. // Save current position to return to after applying extruder offset
  5888. memcpy(destination, current_position, sizeof(destination));
  5889. // Offset extruder (only by XY)
  5890. int i;
  5891. for (i = 0; i < 2; i++) {
  5892. current_position[i] = current_position[i] -
  5893. extruder_offset[i][active_extruder] +
  5894. extruder_offset[i][tmp_extruder];
  5895. }
  5896. // Set the new active extruder and position
  5897. active_extruder = tmp_extruder;
  5898. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  5899. // Move to the old position if 'F' was in the parameters
  5900. if (make_move && Stopped == false) {
  5901. prepare_move();
  5902. }
  5903. }
  5904. #endif
  5905. SERIAL_ECHO_START;
  5906. SERIAL_ECHORPGM(MSG_ACTIVE_EXTRUDER);
  5907. SERIAL_PROTOCOLLN((int)active_extruder);
  5908. }
  5909. #endif
  5910. }
  5911. } // end if(code_seen('T')) (end of T codes)
  5912. #ifdef DEBUG_DCODES
  5913. else if (code_seen('D')) // D codes (debug)
  5914. {
  5915. switch((int)code_value())
  5916. {
  5917. case -1: // D-1 - Endless loop
  5918. dcode__1(); break;
  5919. case 0: // D0 - Reset
  5920. dcode_0(); break;
  5921. case 1: // D1 - Clear EEPROM
  5922. dcode_1(); break;
  5923. case 2: // D2 - Read/Write RAM
  5924. dcode_2(); break;
  5925. case 3: // D3 - Read/Write EEPROM
  5926. dcode_3(); break;
  5927. case 4: // D4 - Read/Write PIN
  5928. dcode_4(); break;
  5929. case 5: // D5 - Read/Write FLASH
  5930. // dcode_5(); break;
  5931. break;
  5932. case 6: // D6 - Read/Write external FLASH
  5933. dcode_6(); break;
  5934. case 7: // D7 - Read/Write Bootloader
  5935. dcode_7(); break;
  5936. case 8: // D8 - Read/Write PINDA
  5937. dcode_8(); break;
  5938. case 9: // D9 - Read/Write ADC
  5939. dcode_9(); break;
  5940. case 10: // D10 - XYZ calibration = OK
  5941. dcode_10(); break;
  5942. #ifdef TMC2130
  5943. case 2130: // D9125 - TMC2130
  5944. dcode_2130(); break;
  5945. #endif //TMC2130
  5946. #ifdef PAT9125
  5947. case 9125: // D9125 - PAT9125
  5948. dcode_9125(); break;
  5949. #endif //PAT9125
  5950. }
  5951. }
  5952. #endif //DEBUG_DCODES
  5953. else
  5954. {
  5955. SERIAL_ECHO_START;
  5956. SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
  5957. SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
  5958. SERIAL_ECHOLNPGM("\"(2)");
  5959. }
  5960. KEEPALIVE_STATE(NOT_BUSY);
  5961. ClearToSend();
  5962. }
  5963. void FlushSerialRequestResend()
  5964. {
  5965. //char cmdbuffer[bufindr][100]="Resend:";
  5966. MYSERIAL.flush();
  5967. SERIAL_PROTOCOLRPGM(MSG_RESEND);
  5968. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  5969. previous_millis_cmd = millis();
  5970. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  5971. }
  5972. // Confirm the execution of a command, if sent from a serial line.
  5973. // Execution of a command from a SD card will not be confirmed.
  5974. void ClearToSend()
  5975. {
  5976. previous_millis_cmd = millis();
  5977. if (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB)
  5978. SERIAL_PROTOCOLLNRPGM(MSG_OK);
  5979. }
  5980. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  5981. void update_currents() {
  5982. float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
  5983. float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
  5984. float tmp_motor[3];
  5985. //SERIAL_ECHOLNPGM("Currents updated: ");
  5986. if (destination[Z_AXIS] < Z_SILENT) {
  5987. //SERIAL_ECHOLNPGM("LOW");
  5988. for (uint8_t i = 0; i < 3; i++) {
  5989. st_current_set(i, current_low[i]);
  5990. /*MYSERIAL.print(int(i));
  5991. SERIAL_ECHOPGM(": ");
  5992. MYSERIAL.println(current_low[i]);*/
  5993. }
  5994. }
  5995. else if (destination[Z_AXIS] > Z_HIGH_POWER) {
  5996. //SERIAL_ECHOLNPGM("HIGH");
  5997. for (uint8_t i = 0; i < 3; i++) {
  5998. st_current_set(i, current_high[i]);
  5999. /*MYSERIAL.print(int(i));
  6000. SERIAL_ECHOPGM(": ");
  6001. MYSERIAL.println(current_high[i]);*/
  6002. }
  6003. }
  6004. else {
  6005. for (uint8_t i = 0; i < 3; i++) {
  6006. float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
  6007. tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
  6008. st_current_set(i, tmp_motor[i]);
  6009. /*MYSERIAL.print(int(i));
  6010. SERIAL_ECHOPGM(": ");
  6011. MYSERIAL.println(tmp_motor[i]);*/
  6012. }
  6013. }
  6014. }
  6015. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6016. void get_coordinates()
  6017. {
  6018. bool seen[4]={false,false,false,false};
  6019. for(int8_t i=0; i < NUM_AXIS; i++) {
  6020. if(code_seen(axis_codes[i]))
  6021. {
  6022. bool relative = axis_relative_modes[i] || relative_mode;
  6023. destination[i] = (float)code_value();
  6024. if (i == E_AXIS) {
  6025. float emult = extruder_multiplier[active_extruder];
  6026. if (emult != 1.) {
  6027. if (! relative) {
  6028. destination[i] -= current_position[i];
  6029. relative = true;
  6030. }
  6031. destination[i] *= emult;
  6032. }
  6033. }
  6034. if (relative)
  6035. destination[i] += current_position[i];
  6036. seen[i]=true;
  6037. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6038. if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
  6039. #endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  6040. }
  6041. else destination[i] = current_position[i]; //Are these else lines really needed?
  6042. }
  6043. if(code_seen('F')) {
  6044. next_feedrate = code_value();
  6045. #ifdef MAX_SILENT_FEEDRATE
  6046. if (tmc2130_mode == TMC2130_MODE_SILENT)
  6047. if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
  6048. #endif //MAX_SILENT_FEEDRATE
  6049. if(next_feedrate > 0.0) feedrate = next_feedrate;
  6050. if (!seen[0] && !seen[1] && !seen[2] && seen[3])
  6051. {
  6052. // float e_max_speed =
  6053. // printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
  6054. }
  6055. }
  6056. }
  6057. void get_arc_coordinates()
  6058. {
  6059. #ifdef SF_ARC_FIX
  6060. bool relative_mode_backup = relative_mode;
  6061. relative_mode = true;
  6062. #endif
  6063. get_coordinates();
  6064. #ifdef SF_ARC_FIX
  6065. relative_mode=relative_mode_backup;
  6066. #endif
  6067. if(code_seen('I')) {
  6068. offset[0] = code_value();
  6069. }
  6070. else {
  6071. offset[0] = 0.0;
  6072. }
  6073. if(code_seen('J')) {
  6074. offset[1] = code_value();
  6075. }
  6076. else {
  6077. offset[1] = 0.0;
  6078. }
  6079. }
  6080. void clamp_to_software_endstops(float target[3])
  6081. {
  6082. #ifdef DEBUG_DISABLE_SWLIMITS
  6083. return;
  6084. #endif //DEBUG_DISABLE_SWLIMITS
  6085. world2machine_clamp(target[0], target[1]);
  6086. // Clamp the Z coordinate.
  6087. if (min_software_endstops) {
  6088. float negative_z_offset = 0;
  6089. #ifdef ENABLE_AUTO_BED_LEVELING
  6090. if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
  6091. if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
  6092. #endif
  6093. if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
  6094. }
  6095. if (max_software_endstops) {
  6096. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  6097. }
  6098. }
  6099. #ifdef MESH_BED_LEVELING
  6100. 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) {
  6101. float dx = x - current_position[X_AXIS];
  6102. float dy = y - current_position[Y_AXIS];
  6103. float dz = z - current_position[Z_AXIS];
  6104. int n_segments = 0;
  6105. if (mbl.active) {
  6106. float len = abs(dx) + abs(dy);
  6107. if (len > 0)
  6108. // Split to 3cm segments or shorter.
  6109. n_segments = int(ceil(len / 30.f));
  6110. }
  6111. if (n_segments > 1) {
  6112. float de = e - current_position[E_AXIS];
  6113. for (int i = 1; i < n_segments; ++ i) {
  6114. float t = float(i) / float(n_segments);
  6115. plan_buffer_line(
  6116. current_position[X_AXIS] + t * dx,
  6117. current_position[Y_AXIS] + t * dy,
  6118. current_position[Z_AXIS] + t * dz,
  6119. current_position[E_AXIS] + t * de,
  6120. feed_rate, extruder);
  6121. }
  6122. }
  6123. // The rest of the path.
  6124. plan_buffer_line(x, y, z, e, feed_rate, extruder);
  6125. current_position[X_AXIS] = x;
  6126. current_position[Y_AXIS] = y;
  6127. current_position[Z_AXIS] = z;
  6128. current_position[E_AXIS] = e;
  6129. }
  6130. #endif // MESH_BED_LEVELING
  6131. void prepare_move()
  6132. {
  6133. clamp_to_software_endstops(destination);
  6134. previous_millis_cmd = millis();
  6135. // Do not use feedmultiply for E or Z only moves
  6136. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  6137. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  6138. }
  6139. else {
  6140. #ifdef MESH_BED_LEVELING
  6141. 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);
  6142. #else
  6143. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
  6144. #endif
  6145. }
  6146. for(int8_t i=0; i < NUM_AXIS; i++) {
  6147. current_position[i] = destination[i];
  6148. }
  6149. }
  6150. void prepare_arc_move(char isclockwise) {
  6151. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  6152. // Trace the arc
  6153. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  6154. // As far as the parser is concerned, the position is now == target. In reality the
  6155. // motion control system might still be processing the action and the real tool position
  6156. // in any intermediate location.
  6157. for(int8_t i=0; i < NUM_AXIS; i++) {
  6158. current_position[i] = destination[i];
  6159. }
  6160. previous_millis_cmd = millis();
  6161. }
  6162. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6163. #if defined(FAN_PIN)
  6164. #if CONTROLLERFAN_PIN == FAN_PIN
  6165. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  6166. #endif
  6167. #endif
  6168. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  6169. unsigned long lastMotorCheck = 0;
  6170. void controllerFan()
  6171. {
  6172. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  6173. {
  6174. lastMotorCheck = millis();
  6175. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  6176. #if EXTRUDERS > 2
  6177. || !READ(E2_ENABLE_PIN)
  6178. #endif
  6179. #if EXTRUDER > 1
  6180. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  6181. || !READ(X2_ENABLE_PIN)
  6182. #endif
  6183. || !READ(E1_ENABLE_PIN)
  6184. #endif
  6185. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  6186. {
  6187. lastMotor = millis(); //... set time to NOW so the fan will turn on
  6188. }
  6189. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  6190. {
  6191. digitalWrite(CONTROLLERFAN_PIN, 0);
  6192. analogWrite(CONTROLLERFAN_PIN, 0);
  6193. }
  6194. else
  6195. {
  6196. // allows digital or PWM fan output to be used (see M42 handling)
  6197. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6198. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  6199. }
  6200. }
  6201. }
  6202. #endif
  6203. #ifdef TEMP_STAT_LEDS
  6204. static bool blue_led = false;
  6205. static bool red_led = false;
  6206. static uint32_t stat_update = 0;
  6207. void handle_status_leds(void) {
  6208. float max_temp = 0.0;
  6209. if(millis() > stat_update) {
  6210. stat_update += 500; // Update every 0.5s
  6211. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  6212. max_temp = max(max_temp, degHotend(cur_extruder));
  6213. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  6214. }
  6215. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  6216. max_temp = max(max_temp, degTargetBed());
  6217. max_temp = max(max_temp, degBed());
  6218. #endif
  6219. if((max_temp > 55.0) && (red_led == false)) {
  6220. digitalWrite(STAT_LED_RED, 1);
  6221. digitalWrite(STAT_LED_BLUE, 0);
  6222. red_led = true;
  6223. blue_led = false;
  6224. }
  6225. if((max_temp < 54.0) && (blue_led == false)) {
  6226. digitalWrite(STAT_LED_RED, 0);
  6227. digitalWrite(STAT_LED_BLUE, 1);
  6228. red_led = false;
  6229. blue_led = true;
  6230. }
  6231. }
  6232. }
  6233. #endif
  6234. #ifdef SAFETYTIMER
  6235. /**
  6236. * @brief Turn off heating after 30 minutes of inactivity
  6237. *
  6238. * Full screen blocking notification message is shown after heater turning off.
  6239. * Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
  6240. * damage print.
  6241. */
  6242. static void handleSafetyTimer()
  6243. {
  6244. #if (EXTRUDERS > 1)
  6245. #error Implemented only for one extruder.
  6246. #endif //(EXTRUDERS > 1)
  6247. static Timer safetyTimer;
  6248. if (IS_SD_PRINTING || is_usb_printing || isPrintPaused || (custom_message_type == 4)
  6249. || (lcd_commands_type == LCD_COMMAND_V2_CAL) || (!degTargetBed() && !degTargetHotend(0)))
  6250. {
  6251. safetyTimer.stop();
  6252. }
  6253. else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
  6254. {
  6255. safetyTimer.start();
  6256. }
  6257. else if (safetyTimer.expired(1800000ul))
  6258. {
  6259. setTargetBed(0);
  6260. setTargetHotend(0, 0);
  6261. lcd_show_fullscreen_message_and_wait_P(MSG_BED_HEATING_SAFETY_DISABLED);
  6262. }
  6263. }
  6264. #endif //SAFETYTIMER
  6265. void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
  6266. {
  6267. #ifdef PAT9125
  6268. if (fsensor_enabled && filament_autoload_enabled && !fsensor_M600 && !moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
  6269. {
  6270. if (fsensor_autoload_enabled)
  6271. {
  6272. if (fsensor_check_autoload())
  6273. {
  6274. if (degHotend0() > EXTRUDE_MINTEMP)
  6275. {
  6276. fsensor_autoload_check_stop();
  6277. tone(BEEPER, 1000);
  6278. delay_keep_alive(50);
  6279. noTone(BEEPER);
  6280. loading_flag = true;
  6281. enquecommand_front_P((PSTR("M701")));
  6282. }
  6283. else
  6284. {
  6285. lcd_update_enable(false);
  6286. lcd_implementation_clear();
  6287. lcd.setCursor(0, 0);
  6288. lcd_printPGM(MSG_ERROR);
  6289. lcd.setCursor(0, 2);
  6290. lcd_printPGM(MSG_PREHEAT_NOZZLE);
  6291. delay(2000);
  6292. lcd_implementation_clear();
  6293. lcd_update_enable(true);
  6294. }
  6295. }
  6296. }
  6297. else
  6298. fsensor_autoload_check_start();
  6299. }
  6300. else
  6301. if (fsensor_autoload_enabled)
  6302. fsensor_autoload_check_stop();
  6303. #endif //PAT9125
  6304. #ifdef SAFETYTIMER
  6305. handleSafetyTimer();
  6306. #endif //SAFETYTIMER
  6307. #if defined(KILL_PIN) && KILL_PIN > -1
  6308. static int killCount = 0; // make the inactivity button a bit less responsive
  6309. const int KILL_DELAY = 10000;
  6310. #endif
  6311. if(buflen < (BUFSIZE-1)){
  6312. get_command();
  6313. }
  6314. if( (millis() - previous_millis_cmd) > max_inactive_time )
  6315. if(max_inactive_time)
  6316. kill("", 4);
  6317. if(stepper_inactive_time) {
  6318. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  6319. {
  6320. if(blocks_queued() == false && ignore_stepper_queue == false) {
  6321. disable_x();
  6322. // SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
  6323. disable_y();
  6324. disable_z();
  6325. disable_e0();
  6326. disable_e1();
  6327. disable_e2();
  6328. }
  6329. }
  6330. }
  6331. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  6332. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  6333. {
  6334. chdkActive = false;
  6335. WRITE(CHDK, LOW);
  6336. }
  6337. #endif
  6338. #if defined(KILL_PIN) && KILL_PIN > -1
  6339. // Check if the kill button was pressed and wait just in case it was an accidental
  6340. // key kill key press
  6341. // -------------------------------------------------------------------------------
  6342. if( 0 == READ(KILL_PIN) )
  6343. {
  6344. killCount++;
  6345. }
  6346. else if (killCount > 0)
  6347. {
  6348. killCount--;
  6349. }
  6350. // Exceeded threshold and we can confirm that it was not accidental
  6351. // KILL the machine
  6352. // ----------------------------------------------------------------
  6353. if ( killCount >= KILL_DELAY)
  6354. {
  6355. kill("", 5);
  6356. }
  6357. #endif
  6358. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  6359. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  6360. #endif
  6361. #ifdef EXTRUDER_RUNOUT_PREVENT
  6362. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  6363. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  6364. {
  6365. bool oldstatus=READ(E0_ENABLE_PIN);
  6366. enable_e0();
  6367. float oldepos=current_position[E_AXIS];
  6368. float oldedes=destination[E_AXIS];
  6369. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  6370. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  6371. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  6372. current_position[E_AXIS]=oldepos;
  6373. destination[E_AXIS]=oldedes;
  6374. plan_set_e_position(oldepos);
  6375. previous_millis_cmd=millis();
  6376. st_synchronize();
  6377. WRITE(E0_ENABLE_PIN,oldstatus);
  6378. }
  6379. #endif
  6380. #ifdef TEMP_STAT_LEDS
  6381. handle_status_leds();
  6382. #endif
  6383. check_axes_activity();
  6384. }
  6385. void kill(const char *full_screen_message, unsigned char id)
  6386. {
  6387. SERIAL_ECHOPGM("KILL: ");
  6388. MYSERIAL.println(int(id));
  6389. //return;
  6390. cli(); // Stop interrupts
  6391. disable_heater();
  6392. disable_x();
  6393. // SERIAL_ECHOLNPGM("kill - disable Y");
  6394. disable_y();
  6395. disable_z();
  6396. disable_e0();
  6397. disable_e1();
  6398. disable_e2();
  6399. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  6400. pinMode(PS_ON_PIN,INPUT);
  6401. #endif
  6402. SERIAL_ERROR_START;
  6403. SERIAL_ERRORLNRPGM(MSG_ERR_KILLED);
  6404. if (full_screen_message != NULL) {
  6405. SERIAL_ERRORLNRPGM(full_screen_message);
  6406. lcd_display_message_fullscreen_P(full_screen_message);
  6407. } else {
  6408. LCD_ALERTMESSAGERPGM(MSG_KILLED);
  6409. }
  6410. // FMC small patch to update the LCD before ending
  6411. sei(); // enable interrupts
  6412. for ( int i=5; i--; lcd_update())
  6413. {
  6414. delay(200);
  6415. }
  6416. cli(); // disable interrupts
  6417. suicide();
  6418. while(1)
  6419. {
  6420. #ifdef WATCHDOG
  6421. wdt_reset();
  6422. #endif //WATCHDOG
  6423. /* Intentionally left empty */
  6424. } // Wait for reset
  6425. }
  6426. void Stop()
  6427. {
  6428. disable_heater();
  6429. if(Stopped == false) {
  6430. Stopped = true;
  6431. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  6432. SERIAL_ERROR_START;
  6433. SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
  6434. LCD_MESSAGERPGM(MSG_STOPPED);
  6435. }
  6436. }
  6437. bool IsStopped() { return Stopped; };
  6438. #ifdef FAST_PWM_FAN
  6439. void setPwmFrequency(uint8_t pin, int val)
  6440. {
  6441. val &= 0x07;
  6442. switch(digitalPinToTimer(pin))
  6443. {
  6444. #if defined(TCCR0A)
  6445. case TIMER0A:
  6446. case TIMER0B:
  6447. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  6448. // TCCR0B |= val;
  6449. break;
  6450. #endif
  6451. #if defined(TCCR1A)
  6452. case TIMER1A:
  6453. case TIMER1B:
  6454. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6455. // TCCR1B |= val;
  6456. break;
  6457. #endif
  6458. #if defined(TCCR2)
  6459. case TIMER2:
  6460. case TIMER2:
  6461. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  6462. TCCR2 |= val;
  6463. break;
  6464. #endif
  6465. #if defined(TCCR2A)
  6466. case TIMER2A:
  6467. case TIMER2B:
  6468. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  6469. TCCR2B |= val;
  6470. break;
  6471. #endif
  6472. #if defined(TCCR3A)
  6473. case TIMER3A:
  6474. case TIMER3B:
  6475. case TIMER3C:
  6476. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  6477. TCCR3B |= val;
  6478. break;
  6479. #endif
  6480. #if defined(TCCR4A)
  6481. case TIMER4A:
  6482. case TIMER4B:
  6483. case TIMER4C:
  6484. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  6485. TCCR4B |= val;
  6486. break;
  6487. #endif
  6488. #if defined(TCCR5A)
  6489. case TIMER5A:
  6490. case TIMER5B:
  6491. case TIMER5C:
  6492. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  6493. TCCR5B |= val;
  6494. break;
  6495. #endif
  6496. }
  6497. }
  6498. #endif //FAST_PWM_FAN
  6499. bool setTargetedHotend(int code){
  6500. tmp_extruder = active_extruder;
  6501. if(code_seen('T')) {
  6502. tmp_extruder = code_value();
  6503. if(tmp_extruder >= EXTRUDERS) {
  6504. SERIAL_ECHO_START;
  6505. switch(code){
  6506. case 104:
  6507. SERIAL_ECHORPGM(MSG_M104_INVALID_EXTRUDER);
  6508. break;
  6509. case 105:
  6510. SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
  6511. break;
  6512. case 109:
  6513. SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
  6514. break;
  6515. case 218:
  6516. SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
  6517. break;
  6518. case 221:
  6519. SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
  6520. break;
  6521. }
  6522. SERIAL_PROTOCOLLN((int)tmp_extruder);
  6523. return true;
  6524. }
  6525. }
  6526. return false;
  6527. }
  6528. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
  6529. {
  6530. 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)
  6531. {
  6532. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
  6533. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
  6534. }
  6535. unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
  6536. unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
  6537. eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
  6538. eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
  6539. total_filament_used = 0;
  6540. }
  6541. float calculate_extruder_multiplier(float diameter) {
  6542. float out = 1.f;
  6543. if (volumetric_enabled && diameter > 0.f) {
  6544. float area = M_PI * diameter * diameter * 0.25;
  6545. out = 1.f / area;
  6546. }
  6547. if (extrudemultiply != 100)
  6548. out *= float(extrudemultiply) * 0.01f;
  6549. return out;
  6550. }
  6551. void calculate_extruder_multipliers() {
  6552. extruder_multiplier[0] = calculate_extruder_multiplier(filament_size[0]);
  6553. #if EXTRUDERS > 1
  6554. extruder_multiplier[1] = calculate_extruder_multiplier(filament_size[1]);
  6555. #if EXTRUDERS > 2
  6556. extruder_multiplier[2] = calculate_extruder_multiplier(filament_size[2]);
  6557. #endif
  6558. #endif
  6559. }
  6560. void delay_keep_alive(unsigned int ms)
  6561. {
  6562. for (;;) {
  6563. manage_heater();
  6564. // Manage inactivity, but don't disable steppers on timeout.
  6565. manage_inactivity(true);
  6566. lcd_update();
  6567. if (ms == 0)
  6568. break;
  6569. else if (ms >= 50) {
  6570. delay(50);
  6571. ms -= 50;
  6572. } else {
  6573. delay(ms);
  6574. ms = 0;
  6575. }
  6576. }
  6577. }
  6578. void wait_for_heater(long codenum) {
  6579. #ifdef TEMP_RESIDENCY_TIME
  6580. long residencyStart;
  6581. residencyStart = -1;
  6582. /* continue to loop until we have reached the target temp
  6583. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  6584. while ((!cancel_heatup) && ((residencyStart == -1) ||
  6585. (residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
  6586. #else
  6587. while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
  6588. #endif //TEMP_RESIDENCY_TIME
  6589. if ((millis() - codenum) > 1000UL)
  6590. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  6591. if (!farm_mode) {
  6592. SERIAL_PROTOCOLPGM("T:");
  6593. SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
  6594. SERIAL_PROTOCOLPGM(" E:");
  6595. SERIAL_PROTOCOL((int)tmp_extruder);
  6596. #ifdef TEMP_RESIDENCY_TIME
  6597. SERIAL_PROTOCOLPGM(" W:");
  6598. if (residencyStart > -1)
  6599. {
  6600. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  6601. SERIAL_PROTOCOLLN(codenum);
  6602. }
  6603. else
  6604. {
  6605. SERIAL_PROTOCOLLN("?");
  6606. }
  6607. }
  6608. #else
  6609. SERIAL_PROTOCOLLN("");
  6610. #endif
  6611. codenum = millis();
  6612. }
  6613. manage_heater();
  6614. manage_inactivity();
  6615. lcd_update();
  6616. #ifdef TEMP_RESIDENCY_TIME
  6617. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  6618. or when current temp falls outside the hysteresis after target temp was reached */
  6619. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
  6620. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
  6621. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
  6622. {
  6623. residencyStart = millis();
  6624. }
  6625. #endif //TEMP_RESIDENCY_TIME
  6626. }
  6627. }
  6628. void check_babystep() {
  6629. int babystep_z;
  6630. EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6631. if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
  6632. babystep_z = 0; //if babystep value is out of min max range, set it to 0
  6633. SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
  6634. EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
  6635. lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
  6636. lcd_update_enable(true);
  6637. }
  6638. }
  6639. #ifdef DIS
  6640. void d_setup()
  6641. {
  6642. pinMode(D_DATACLOCK, INPUT_PULLUP);
  6643. pinMode(D_DATA, INPUT_PULLUP);
  6644. pinMode(D_REQUIRE, OUTPUT);
  6645. digitalWrite(D_REQUIRE, HIGH);
  6646. }
  6647. float d_ReadData()
  6648. {
  6649. int digit[13];
  6650. String mergeOutput;
  6651. float output;
  6652. digitalWrite(D_REQUIRE, HIGH);
  6653. for (int i = 0; i<13; i++)
  6654. {
  6655. for (int j = 0; j < 4; j++)
  6656. {
  6657. while (digitalRead(D_DATACLOCK) == LOW) {}
  6658. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6659. bitWrite(digit[i], j, digitalRead(D_DATA));
  6660. }
  6661. }
  6662. digitalWrite(D_REQUIRE, LOW);
  6663. mergeOutput = "";
  6664. output = 0;
  6665. for (int r = 5; r <= 10; r++) //Merge digits
  6666. {
  6667. mergeOutput += digit[r];
  6668. }
  6669. output = mergeOutput.toFloat();
  6670. if (digit[4] == 8) //Handle sign
  6671. {
  6672. output *= -1;
  6673. }
  6674. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6675. {
  6676. output /= 10;
  6677. }
  6678. return output;
  6679. }
  6680. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
  6681. int t1 = 0;
  6682. int t_delay = 0;
  6683. int digit[13];
  6684. int m;
  6685. char str[3];
  6686. //String mergeOutput;
  6687. char mergeOutput[15];
  6688. float output;
  6689. int mesh_point = 0; //index number of calibration point
  6690. 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
  6691. float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
  6692. float mesh_home_z_search = 4;
  6693. float row[x_points_num];
  6694. int ix = 0;
  6695. int iy = 0;
  6696. char* filename_wldsd = "wldsd.txt";
  6697. char data_wldsd[70];
  6698. char numb_wldsd[10];
  6699. d_setup();
  6700. if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
  6701. // We don't know where we are! HOME!
  6702. // Push the commands to the front of the message queue in the reverse order!
  6703. // There shall be always enough space reserved for these commands.
  6704. repeatcommand_front(); // repeat G80 with all its parameters
  6705. enquecommand_front_P((PSTR("G28 W0")));
  6706. enquecommand_front_P((PSTR("G1 Z5")));
  6707. return;
  6708. }
  6709. bool custom_message_old = custom_message;
  6710. unsigned int custom_message_type_old = custom_message_type;
  6711. unsigned int custom_message_state_old = custom_message_state;
  6712. custom_message = true;
  6713. custom_message_type = 1;
  6714. custom_message_state = (x_points_num * y_points_num) + 10;
  6715. lcd_update(1);
  6716. mbl.reset();
  6717. babystep_undo();
  6718. card.openFile(filename_wldsd, false);
  6719. current_position[Z_AXIS] = mesh_home_z_search;
  6720. 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);
  6721. int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
  6722. int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
  6723. int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
  6724. setup_for_endstop_move(false);
  6725. SERIAL_PROTOCOLPGM("Num X,Y: ");
  6726. SERIAL_PROTOCOL(x_points_num);
  6727. SERIAL_PROTOCOLPGM(",");
  6728. SERIAL_PROTOCOL(y_points_num);
  6729. SERIAL_PROTOCOLPGM("\nZ search height: ");
  6730. SERIAL_PROTOCOL(mesh_home_z_search);
  6731. SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
  6732. SERIAL_PROTOCOL(x_dimension);
  6733. SERIAL_PROTOCOLPGM(",");
  6734. SERIAL_PROTOCOL(y_dimension);
  6735. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  6736. while (mesh_point != x_points_num * y_points_num) {
  6737. ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
  6738. iy = mesh_point / x_points_num;
  6739. if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
  6740. float z0 = 0.f;
  6741. current_position[Z_AXIS] = mesh_home_z_search;
  6742. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
  6743. st_synchronize();
  6744. current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
  6745. current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
  6746. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
  6747. st_synchronize();
  6748. 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
  6749. break;
  6750. card.closefile();
  6751. }
  6752. //memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6753. //dtostrf(d_ReadData(), 8, 5, numb_wldsd);
  6754. //strcat(data_wldsd, numb_wldsd);
  6755. //MYSERIAL.println(data_wldsd);
  6756. //delay(1000);
  6757. //delay(3000);
  6758. //t1 = millis();
  6759. //while (digitalRead(D_DATACLOCK) == LOW) {}
  6760. //while (digitalRead(D_DATACLOCK) == HIGH) {}
  6761. memset(digit, 0, sizeof(digit));
  6762. //cli();
  6763. digitalWrite(D_REQUIRE, LOW);
  6764. for (int i = 0; i<13; i++)
  6765. {
  6766. //t1 = millis();
  6767. for (int j = 0; j < 4; j++)
  6768. {
  6769. while (digitalRead(D_DATACLOCK) == LOW) {}
  6770. while (digitalRead(D_DATACLOCK) == HIGH) {}
  6771. bitWrite(digit[i], j, digitalRead(D_DATA));
  6772. }
  6773. //t_delay = (millis() - t1);
  6774. //SERIAL_PROTOCOLPGM(" ");
  6775. //SERIAL_PROTOCOL_F(t_delay, 5);
  6776. //SERIAL_PROTOCOLPGM(" ");
  6777. }
  6778. //sei();
  6779. digitalWrite(D_REQUIRE, HIGH);
  6780. mergeOutput[0] = '\0';
  6781. output = 0;
  6782. for (int r = 5; r <= 10; r++) //Merge digits
  6783. {
  6784. sprintf(str, "%d", digit[r]);
  6785. strcat(mergeOutput, str);
  6786. }
  6787. output = atof(mergeOutput);
  6788. if (digit[4] == 8) //Handle sign
  6789. {
  6790. output *= -1;
  6791. }
  6792. for (int i = digit[11]; i > 0; i--) //Handle floating point
  6793. {
  6794. output *= 0.1;
  6795. }
  6796. //output = d_ReadData();
  6797. //row[ix] = current_position[Z_AXIS];
  6798. memset(data_wldsd, 0, sizeof(data_wldsd));
  6799. for (int i = 0; i <3; i++) {
  6800. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6801. dtostrf(current_position[i], 8, 5, numb_wldsd);
  6802. strcat(data_wldsd, numb_wldsd);
  6803. strcat(data_wldsd, ";");
  6804. }
  6805. memset(numb_wldsd, 0, sizeof(numb_wldsd));
  6806. dtostrf(output, 8, 5, numb_wldsd);
  6807. strcat(data_wldsd, numb_wldsd);
  6808. //strcat(data_wldsd, ";");
  6809. card.write_command(data_wldsd);
  6810. //row[ix] = d_ReadData();
  6811. row[ix] = output; // current_position[Z_AXIS];
  6812. if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
  6813. for (int i = 0; i < x_points_num; i++) {
  6814. SERIAL_PROTOCOLPGM(" ");
  6815. SERIAL_PROTOCOL_F(row[i], 5);
  6816. }
  6817. SERIAL_PROTOCOLPGM("\n");
  6818. }
  6819. custom_message_state--;
  6820. mesh_point++;
  6821. lcd_update(1);
  6822. }
  6823. card.closefile();
  6824. }
  6825. #endif
  6826. void temp_compensation_start() {
  6827. custom_message = true;
  6828. custom_message_type = 5;
  6829. custom_message_state = PINDA_HEAT_T + 1;
  6830. lcd_update(2);
  6831. if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
  6832. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  6833. }
  6834. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  6835. current_position[X_AXIS] = PINDA_PREHEAT_X;
  6836. current_position[Y_AXIS] = PINDA_PREHEAT_Y;
  6837. current_position[Z_AXIS] = PINDA_PREHEAT_Z;
  6838. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
  6839. st_synchronize();
  6840. while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
  6841. for (int i = 0; i < PINDA_HEAT_T; i++) {
  6842. delay_keep_alive(1000);
  6843. custom_message_state = PINDA_HEAT_T - i;
  6844. if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
  6845. else lcd_update(1);
  6846. }
  6847. custom_message_type = 0;
  6848. custom_message_state = 0;
  6849. custom_message = false;
  6850. }
  6851. void temp_compensation_apply() {
  6852. int i_add;
  6853. int compensation_value;
  6854. int z_shift = 0;
  6855. float z_shift_mm;
  6856. if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
  6857. if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
  6858. i_add = (target_temperature_bed - 60) / 10;
  6859. EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
  6860. z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
  6861. }else {
  6862. //interpolation
  6863. z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
  6864. }
  6865. SERIAL_PROTOCOLPGM("\n");
  6866. SERIAL_PROTOCOLPGM("Z shift applied:");
  6867. MYSERIAL.print(z_shift_mm);
  6868. 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);
  6869. st_synchronize();
  6870. plan_set_z_position(current_position[Z_AXIS]);
  6871. }
  6872. else {
  6873. //we have no temp compensation data
  6874. }
  6875. }
  6876. float temp_comp_interpolation(float inp_temperature) {
  6877. //cubic spline interpolation
  6878. int n, i, j, k;
  6879. float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
  6880. int shift[10];
  6881. int temp_C[10];
  6882. n = 6; //number of measured points
  6883. shift[0] = 0;
  6884. for (i = 0; i < n; i++) {
  6885. if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
  6886. temp_C[i] = 50 + i * 10; //temperature in C
  6887. #ifdef PINDA_THERMISTOR
  6888. temp_C[i] = 35 + i * 5; //temperature in C
  6889. #else
  6890. temp_C[i] = 50 + i * 10; //temperature in C
  6891. #endif
  6892. x[i] = (float)temp_C[i];
  6893. f[i] = (float)shift[i];
  6894. }
  6895. if (inp_temperature < x[0]) return 0;
  6896. for (i = n - 1; i>0; i--) {
  6897. F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
  6898. h[i - 1] = x[i] - x[i - 1];
  6899. }
  6900. //*********** formation of h, s , f matrix **************
  6901. for (i = 1; i<n - 1; i++) {
  6902. m[i][i] = 2 * (h[i - 1] + h[i]);
  6903. if (i != 1) {
  6904. m[i][i - 1] = h[i - 1];
  6905. m[i - 1][i] = h[i - 1];
  6906. }
  6907. m[i][n - 1] = 6 * (F[i + 1] - F[i]);
  6908. }
  6909. //*********** forward elimination **************
  6910. for (i = 1; i<n - 2; i++) {
  6911. temp = (m[i + 1][i] / m[i][i]);
  6912. for (j = 1; j <= n - 1; j++)
  6913. m[i + 1][j] -= temp*m[i][j];
  6914. }
  6915. //*********** backward substitution *********
  6916. for (i = n - 2; i>0; i--) {
  6917. sum = 0;
  6918. for (j = i; j <= n - 2; j++)
  6919. sum += m[i][j] * s[j];
  6920. s[i] = (m[i][n - 1] - sum) / m[i][i];
  6921. }
  6922. for (i = 0; i<n - 1; i++)
  6923. if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
  6924. a = (s[i + 1] - s[i]) / (6 * h[i]);
  6925. b = s[i] / 2;
  6926. c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
  6927. d = f[i];
  6928. sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
  6929. }
  6930. return sum;
  6931. }
  6932. #ifdef PINDA_THERMISTOR
  6933. float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
  6934. {
  6935. if (!temp_cal_active) return 0;
  6936. if (!calibration_status_pinda()) return 0;
  6937. return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
  6938. }
  6939. #endif //PINDA_THERMISTOR
  6940. void long_pause() //long pause print
  6941. {
  6942. st_synchronize();
  6943. //save currently set parameters to global variables
  6944. saved_feedmultiply = feedmultiply;
  6945. HotendTempBckp = degTargetHotend(active_extruder);
  6946. fanSpeedBckp = fanSpeed;
  6947. start_pause_print = millis();
  6948. //save position
  6949. pause_lastpos[X_AXIS] = current_position[X_AXIS];
  6950. pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
  6951. pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
  6952. pause_lastpos[E_AXIS] = current_position[E_AXIS];
  6953. //retract
  6954. current_position[E_AXIS] -= DEFAULT_RETRACTION;
  6955. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
  6956. //lift z
  6957. current_position[Z_AXIS] += Z_PAUSE_LIFT;
  6958. if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
  6959. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
  6960. //set nozzle target temperature to 0
  6961. setTargetHotend(0, 0);
  6962. setTargetHotend(0, 1);
  6963. setTargetHotend(0, 2);
  6964. //Move XY to side
  6965. current_position[X_AXIS] = X_PAUSE_POS;
  6966. current_position[Y_AXIS] = Y_PAUSE_POS;
  6967. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
  6968. // Turn off the print fan
  6969. fanSpeed = 0;
  6970. st_synchronize();
  6971. }
  6972. void serialecho_temperatures() {
  6973. float tt = degHotend(active_extruder);
  6974. SERIAL_PROTOCOLPGM("T:");
  6975. SERIAL_PROTOCOL(tt);
  6976. SERIAL_PROTOCOLPGM(" E:");
  6977. SERIAL_PROTOCOL((int)active_extruder);
  6978. SERIAL_PROTOCOLPGM(" B:");
  6979. SERIAL_PROTOCOL_F(degBed(), 1);
  6980. SERIAL_PROTOCOLLN("");
  6981. }
  6982. extern uint32_t sdpos_atomic;
  6983. #ifdef UVLO_SUPPORT
  6984. void uvlo_()
  6985. {
  6986. unsigned long time_start = millis();
  6987. bool sd_print = card.sdprinting;
  6988. // Conserve power as soon as possible.
  6989. disable_x();
  6990. disable_y();
  6991. disable_e0();
  6992. #ifdef TMC2130
  6993. tmc2130_set_current_h(Z_AXIS, 20);
  6994. tmc2130_set_current_r(Z_AXIS, 20);
  6995. tmc2130_set_current_h(E_AXIS, 20);
  6996. tmc2130_set_current_r(E_AXIS, 20);
  6997. #endif //TMC2130
  6998. // Indicate that the interrupt has been triggered.
  6999. // SERIAL_ECHOLNPGM("UVLO");
  7000. // Read out the current Z motor microstep counter. This will be later used
  7001. // for reaching the zero full step before powering off.
  7002. uint16_t z_microsteps = 0;
  7003. #ifdef TMC2130
  7004. z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
  7005. #endif //TMC2130
  7006. // Calculate the file position, from which to resume this print.
  7007. long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
  7008. {
  7009. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7010. sd_position -= sdlen_planner;
  7011. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7012. sd_position -= sdlen_cmdqueue;
  7013. if (sd_position < 0) sd_position = 0;
  7014. }
  7015. // Backup the feedrate in mm/min.
  7016. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7017. // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
  7018. // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
  7019. // are in action.
  7020. planner_abort_hard();
  7021. // Store the current extruder position.
  7022. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
  7023. eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
  7024. // Clean the input command queue.
  7025. cmdqueue_reset();
  7026. card.sdprinting = false;
  7027. // card.closefile();
  7028. // Enable stepper driver interrupt to move Z axis.
  7029. // This should be fine as the planner and command queues are empty and the SD card printing is disabled.
  7030. //FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
  7031. // though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
  7032. sei();
  7033. plan_buffer_line(
  7034. current_position[X_AXIS],
  7035. current_position[Y_AXIS],
  7036. current_position[Z_AXIS],
  7037. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7038. 95, active_extruder);
  7039. st_synchronize();
  7040. disable_e0();
  7041. plan_buffer_line(
  7042. current_position[X_AXIS],
  7043. current_position[Y_AXIS],
  7044. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7045. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7046. 40, active_extruder);
  7047. st_synchronize();
  7048. disable_e0();
  7049. plan_buffer_line(
  7050. current_position[X_AXIS],
  7051. current_position[Y_AXIS],
  7052. current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
  7053. current_position[E_AXIS] - DEFAULT_RETRACTION,
  7054. 40, active_extruder);
  7055. st_synchronize();
  7056. disable_e0();
  7057. disable_z();
  7058. // Move Z up to the next 0th full step.
  7059. // Write the file position.
  7060. eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
  7061. // Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7062. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7063. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7064. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7065. // Scale the z value to 1u resolution.
  7066. int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
  7067. eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
  7068. }
  7069. // Read out the current Z motor microstep counter. This will be later used
  7070. // for reaching the zero full step before powering off.
  7071. eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
  7072. // Store the current position.
  7073. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
  7074. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
  7075. eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
  7076. // Store the current feed rate, temperatures and fan speed.
  7077. EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
  7078. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
  7079. eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
  7080. eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
  7081. // Finaly store the "power outage" flag.
  7082. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
  7083. st_synchronize();
  7084. SERIAL_ECHOPGM("stps");
  7085. MYSERIAL.println(tmc2130_rd_MSCNT(Z_AXIS));
  7086. disable_z();
  7087. // Increment power failure counter
  7088. eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
  7089. eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
  7090. SERIAL_ECHOLNPGM("UVLO - end");
  7091. MYSERIAL.println(millis() - time_start);
  7092. #if 0
  7093. // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
  7094. current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
  7095. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
  7096. st_synchronize();
  7097. #endif
  7098. cli();
  7099. volatile unsigned int ppcount = 0;
  7100. SET_OUTPUT(BEEPER);
  7101. WRITE(BEEPER, HIGH);
  7102. for(ppcount = 0; ppcount < 2000; ppcount ++){
  7103. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  7104. }
  7105. WRITE(BEEPER, LOW);
  7106. while(1){
  7107. #if 1
  7108. WRITE(BEEPER, LOW);
  7109. for(ppcount = 0; ppcount < 8000; ppcount ++){
  7110. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  7111. }
  7112. #endif
  7113. };
  7114. }
  7115. #endif //UVLO_SUPPORT
  7116. #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
  7117. void setup_fan_interrupt() {
  7118. //INT7
  7119. DDRE &= ~(1 << 7); //input pin
  7120. PORTE &= ~(1 << 7); //no internal pull-up
  7121. //start with sensing rising edge
  7122. EICRB &= ~(1 << 6);
  7123. EICRB |= (1 << 7);
  7124. //enable INT7 interrupt
  7125. EIMSK |= (1 << 7);
  7126. }
  7127. // The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
  7128. // and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
  7129. ISR(INT7_vect) {
  7130. //measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
  7131. if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
  7132. if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
  7133. t_fan_rising_edge = millis_nc();
  7134. }
  7135. else { //interrupt was triggered by falling edge
  7136. if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
  7137. fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
  7138. }
  7139. }
  7140. EICRB ^= (1 << 6); //change edge
  7141. }
  7142. #endif
  7143. #ifdef UVLO_SUPPORT
  7144. void setup_uvlo_interrupt() {
  7145. DDRE &= ~(1 << 4); //input pin
  7146. PORTE &= ~(1 << 4); //no internal pull-up
  7147. //sensing falling edge
  7148. EICRB |= (1 << 0);
  7149. EICRB &= ~(1 << 1);
  7150. //enable INT4 interrupt
  7151. EIMSK |= (1 << 4);
  7152. }
  7153. ISR(INT4_vect) {
  7154. EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
  7155. SERIAL_ECHOLNPGM("INT4");
  7156. if (IS_SD_PRINTING) uvlo_();
  7157. }
  7158. void recover_print(uint8_t automatic) {
  7159. char cmd[30];
  7160. lcd_update_enable(true);
  7161. lcd_update(2);
  7162. lcd_setstatuspgm(MSG_RECOVERING_PRINT);
  7163. recover_machine_state_after_power_panic();
  7164. // Set the target bed and nozzle temperatures.
  7165. sprintf_P(cmd, PSTR("M104 S%d"), target_temperature[active_extruder]);
  7166. enquecommand(cmd);
  7167. sprintf_P(cmd, PSTR("M140 S%d"), target_temperature_bed);
  7168. enquecommand(cmd);
  7169. // Lift the print head, so one may remove the excess priming material.
  7170. if (current_position[Z_AXIS] < 25)
  7171. enquecommand_P(PSTR("G1 Z25 F800"));
  7172. // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
  7173. enquecommand_P(PSTR("G28 X Y"));
  7174. // Set the target bed and nozzle temperatures and wait.
  7175. sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
  7176. enquecommand(cmd);
  7177. sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
  7178. enquecommand(cmd);
  7179. enquecommand_P(PSTR("M83")); //E axis relative mode
  7180. //enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7181. // If not automatically recoreverd (long power loss), extrude extra filament to stabilize
  7182. if(automatic == 0){
  7183. enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
  7184. }
  7185. enquecommand_P(PSTR("G1 E" STRINGIFY(-DEFAULT_RETRACTION)" F480"));
  7186. // Mark the power panic status as inactive.
  7187. eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
  7188. /*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
  7189. delay_keep_alive(1000);
  7190. }*/
  7191. SERIAL_ECHOPGM("After waiting for temp:");
  7192. SERIAL_ECHOPGM("Current position X_AXIS:");
  7193. MYSERIAL.println(current_position[X_AXIS]);
  7194. SERIAL_ECHOPGM("Current position Y_AXIS:");
  7195. MYSERIAL.println(current_position[Y_AXIS]);
  7196. // Restart the print.
  7197. restore_print_from_eeprom();
  7198. SERIAL_ECHOPGM("current_position[Z_AXIS]:");
  7199. MYSERIAL.print(current_position[Z_AXIS]);
  7200. SERIAL_ECHOPGM("current_position[E_AXIS]:");
  7201. MYSERIAL.print(current_position[E_AXIS]);
  7202. }
  7203. void recover_machine_state_after_power_panic()
  7204. {
  7205. char cmd[30];
  7206. // 1) Recover the logical cordinates at the time of the power panic.
  7207. // The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
  7208. current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
  7209. current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
  7210. // Recover the logical coordinate of the Z axis at the time of the power panic.
  7211. // The current position after power panic is moved to the next closest 0th full step.
  7212. current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
  7213. UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
  7214. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
  7215. current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7216. sprintf_P(cmd, PSTR("G92 E"));
  7217. dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
  7218. enquecommand(cmd);
  7219. }
  7220. memcpy(destination, current_position, sizeof(destination));
  7221. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7222. print_world_coordinates();
  7223. // 2) Initialize the logical to physical coordinate system transformation.
  7224. world2machine_initialize();
  7225. // 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
  7226. mbl.active = false;
  7227. for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
  7228. uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
  7229. uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
  7230. // Scale the z value to 10u resolution.
  7231. int16_t v;
  7232. eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
  7233. if (v != 0)
  7234. mbl.active = true;
  7235. mbl.z_values[iy][ix] = float(v) * 0.001f;
  7236. }
  7237. if (mbl.active)
  7238. mbl.upsample_3x3();
  7239. // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7240. // print_mesh_bed_leveling_table();
  7241. // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
  7242. // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
  7243. babystep_load();
  7244. // 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
  7245. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  7246. // 6) Power up the motors, mark their positions as known.
  7247. //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
  7248. axis_known_position[X_AXIS] = true; enable_x();
  7249. axis_known_position[Y_AXIS] = true; enable_y();
  7250. axis_known_position[Z_AXIS] = true; enable_z();
  7251. SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
  7252. print_physical_coordinates();
  7253. // 7) Recover the target temperatures.
  7254. target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
  7255. target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
  7256. }
  7257. void restore_print_from_eeprom() {
  7258. float x_rec, y_rec, z_pos;
  7259. int feedrate_rec;
  7260. uint8_t fan_speed_rec;
  7261. char cmd[30];
  7262. char* c;
  7263. char filename[13];
  7264. uint8_t depth = 0;
  7265. char dir_name[9];
  7266. fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
  7267. EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
  7268. SERIAL_ECHOPGM("Feedrate:");
  7269. MYSERIAL.println(feedrate_rec);
  7270. depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
  7271. MYSERIAL.println(int(depth));
  7272. for (int i = 0; i < depth; i++) {
  7273. for (int j = 0; j < 8; j++) {
  7274. dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
  7275. }
  7276. dir_name[8] = '\0';
  7277. MYSERIAL.println(dir_name);
  7278. card.chdir(dir_name);
  7279. }
  7280. for (int i = 0; i < 8; i++) {
  7281. filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
  7282. }
  7283. filename[8] = '\0';
  7284. MYSERIAL.print(filename);
  7285. strcat_P(filename, PSTR(".gco"));
  7286. sprintf_P(cmd, PSTR("M23 %s"), filename);
  7287. for (c = &cmd[4]; *c; c++)
  7288. *c = tolower(*c);
  7289. enquecommand(cmd);
  7290. uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
  7291. SERIAL_ECHOPGM("Position read from eeprom:");
  7292. MYSERIAL.println(position);
  7293. // E axis relative mode.
  7294. enquecommand_P(PSTR("M83"));
  7295. // Move to the XY print position in logical coordinates, where the print has been killed.
  7296. strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
  7297. strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
  7298. strcat_P(cmd, PSTR(" F2000"));
  7299. enquecommand(cmd);
  7300. // Move the Z axis down to the print, in logical coordinates.
  7301. strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
  7302. enquecommand(cmd);
  7303. // Unretract.
  7304. enquecommand_P(PSTR("G1 E" STRINGIFY(2*DEFAULT_RETRACTION)" F480"));
  7305. // Set the feedrate saved at the power panic.
  7306. sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
  7307. enquecommand(cmd);
  7308. if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
  7309. {
  7310. float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
  7311. enquecommand_P(PSTR("M82")); //E axis abslute mode
  7312. }
  7313. // Set the fan speed saved at the power panic.
  7314. strcpy_P(cmd, PSTR("M106 S"));
  7315. strcat(cmd, itostr3(int(fan_speed_rec)));
  7316. enquecommand(cmd);
  7317. // Set a position in the file.
  7318. sprintf_P(cmd, PSTR("M26 S%lu"), position);
  7319. enquecommand(cmd);
  7320. // Start SD print.
  7321. enquecommand_P(PSTR("M24"));
  7322. }
  7323. #endif //UVLO_SUPPORT
  7324. ////////////////////////////////////////////////////////////////////////////////
  7325. // new save/restore printing
  7326. //extern uint32_t sdpos_atomic;
  7327. bool saved_printing = false;
  7328. uint32_t saved_sdpos = 0;
  7329. float saved_pos[4] = {0, 0, 0, 0};
  7330. // Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
  7331. float saved_feedrate2 = 0;
  7332. uint8_t saved_active_extruder = 0;
  7333. bool saved_extruder_under_pressure = false;
  7334. void stop_and_save_print_to_ram(float z_move, float e_move)
  7335. {
  7336. if (saved_printing) return;
  7337. cli();
  7338. unsigned char nplanner_blocks = number_of_blocks();
  7339. saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
  7340. uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
  7341. saved_sdpos -= sdlen_planner;
  7342. uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
  7343. saved_sdpos -= sdlen_cmdqueue;
  7344. #if 0
  7345. SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
  7346. SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
  7347. SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
  7348. SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
  7349. SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
  7350. SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
  7351. SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
  7352. {
  7353. card.setIndex(saved_sdpos);
  7354. SERIAL_ECHOLNPGM("Content of planner buffer: ");
  7355. for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
  7356. MYSERIAL.print(char(card.get()));
  7357. SERIAL_ECHOLNPGM("Content of command buffer: ");
  7358. for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
  7359. MYSERIAL.print(char(card.get()));
  7360. SERIAL_ECHOLNPGM("End of command buffer");
  7361. }
  7362. {
  7363. // Print the content of the planner buffer, line by line:
  7364. card.setIndex(saved_sdpos);
  7365. int8_t iline = 0;
  7366. for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
  7367. SERIAL_ECHOPGM("Planner line (from file): ");
  7368. MYSERIAL.print(int(iline), DEC);
  7369. SERIAL_ECHOPGM(", length: ");
  7370. MYSERIAL.print(block_buffer[idx].sdlen, DEC);
  7371. SERIAL_ECHOPGM(", steps: (");
  7372. MYSERIAL.print(block_buffer[idx].steps_x, DEC);
  7373. SERIAL_ECHOPGM(",");
  7374. MYSERIAL.print(block_buffer[idx].steps_y, DEC);
  7375. SERIAL_ECHOPGM(",");
  7376. MYSERIAL.print(block_buffer[idx].steps_z, DEC);
  7377. SERIAL_ECHOPGM(",");
  7378. MYSERIAL.print(block_buffer[idx].steps_e, DEC);
  7379. SERIAL_ECHOPGM("), events: ");
  7380. MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
  7381. for (int len = block_buffer[idx].sdlen; len > 0; -- len)
  7382. MYSERIAL.print(char(card.get()));
  7383. }
  7384. }
  7385. {
  7386. // Print the content of the command buffer, line by line:
  7387. int8_t iline = 0;
  7388. union {
  7389. struct {
  7390. char lo;
  7391. char hi;
  7392. } lohi;
  7393. uint16_t value;
  7394. } sdlen_single;
  7395. int _bufindr = bufindr;
  7396. for (int _buflen = buflen; _buflen > 0; ++ iline) {
  7397. if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
  7398. sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
  7399. sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
  7400. }
  7401. SERIAL_ECHOPGM("Buffer line (from buffer): ");
  7402. MYSERIAL.print(int(iline), DEC);
  7403. SERIAL_ECHOPGM(", type: ");
  7404. MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
  7405. SERIAL_ECHOPGM(", len: ");
  7406. MYSERIAL.println(sdlen_single.value, DEC);
  7407. // Print the content of the buffer line.
  7408. MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
  7409. SERIAL_ECHOPGM("Buffer line (from file): ");
  7410. MYSERIAL.print(int(iline), DEC);
  7411. MYSERIAL.println(int(iline), DEC);
  7412. for (; sdlen_single.value > 0; -- sdlen_single.value)
  7413. MYSERIAL.print(char(card.get()));
  7414. if (-- _buflen == 0)
  7415. break;
  7416. // First skip the current command ID and iterate up to the end of the string.
  7417. for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
  7418. // Second, skip the end of string null character and iterate until a nonzero command ID is found.
  7419. for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7420. // If the end of the buffer was empty,
  7421. if (_bufindr == sizeof(cmdbuffer)) {
  7422. // skip to the start and find the nonzero command.
  7423. for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
  7424. }
  7425. }
  7426. }
  7427. #endif
  7428. #if 0
  7429. saved_feedrate2 = feedrate; //save feedrate
  7430. #else
  7431. // Try to deduce the feedrate from the first block of the planner.
  7432. // Speed is in mm/min.
  7433. saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
  7434. #endif
  7435. planner_abort_hard(); //abort printing
  7436. memcpy(saved_pos, current_position, sizeof(saved_pos));
  7437. saved_active_extruder = active_extruder; //save active_extruder
  7438. saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
  7439. cmdqueue_reset(); //empty cmdqueue
  7440. card.sdprinting = false;
  7441. // card.closefile();
  7442. saved_printing = true;
  7443. // We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
  7444. st_reset_timer();
  7445. sei();
  7446. if ((z_move != 0) || (e_move != 0)) { // extruder or z move
  7447. #if 1
  7448. // Rather than calling plan_buffer_line directly, push the move into the command queue,
  7449. char buf[48];
  7450. strcpy_P(buf, PSTR("G1 Z"));
  7451. dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
  7452. strcat_P(buf, PSTR(" E"));
  7453. // Relative extrusion
  7454. dtostrf(e_move, 6, 3, buf + strlen(buf));
  7455. strcat_P(buf, PSTR(" F"));
  7456. dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
  7457. // At this point the command queue is empty.
  7458. enquecommand(buf, false);
  7459. // If this call is invoked from the main Arduino loop() function, let the caller know that the command
  7460. // in the command queue is not the original command, but a new one, so it should not be removed from the queue.
  7461. repeatcommand_front();
  7462. #else
  7463. 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);
  7464. st_synchronize(); //wait moving
  7465. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7466. memcpy(destination, current_position, sizeof(destination));
  7467. #endif
  7468. }
  7469. }
  7470. void restore_print_from_ram_and_continue(float e_move)
  7471. {
  7472. if (!saved_printing) return;
  7473. // for (int axis = X_AXIS; axis <= E_AXIS; axis++)
  7474. // current_position[axis] = st_get_position_mm(axis);
  7475. active_extruder = saved_active_extruder; //restore active_extruder
  7476. feedrate = saved_feedrate2; //restore feedrate
  7477. float e = saved_pos[E_AXIS] - e_move;
  7478. plan_set_e_position(e);
  7479. plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], homing_feedrate[Z_AXIS]/13, active_extruder);
  7480. st_synchronize();
  7481. memcpy(current_position, saved_pos, sizeof(saved_pos));
  7482. memcpy(destination, current_position, sizeof(destination));
  7483. card.setIndex(saved_sdpos);
  7484. sdpos_atomic = saved_sdpos;
  7485. card.sdprinting = true;
  7486. saved_printing = false;
  7487. printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
  7488. }
  7489. void print_world_coordinates()
  7490. {
  7491. SERIAL_ECHOPGM("world coordinates: (");
  7492. MYSERIAL.print(current_position[X_AXIS], 3);
  7493. SERIAL_ECHOPGM(", ");
  7494. MYSERIAL.print(current_position[Y_AXIS], 3);
  7495. SERIAL_ECHOPGM(", ");
  7496. MYSERIAL.print(current_position[Z_AXIS], 3);
  7497. SERIAL_ECHOLNPGM(")");
  7498. }
  7499. void print_physical_coordinates()
  7500. {
  7501. SERIAL_ECHOPGM("physical coordinates: (");
  7502. MYSERIAL.print(st_get_position_mm(X_AXIS), 3);
  7503. SERIAL_ECHOPGM(", ");
  7504. MYSERIAL.print(st_get_position_mm(Y_AXIS), 3);
  7505. SERIAL_ECHOPGM(", ");
  7506. MYSERIAL.print(st_get_position_mm(Z_AXIS), 3);
  7507. SERIAL_ECHOLNPGM(")");
  7508. }
  7509. void print_mesh_bed_leveling_table()
  7510. {
  7511. SERIAL_ECHOPGM("mesh bed leveling: ");
  7512. for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
  7513. for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
  7514. MYSERIAL.print(mbl.z_values[y][x], 3);
  7515. SERIAL_ECHOPGM(" ");
  7516. }
  7517. SERIAL_ECHOLNPGM("");
  7518. }
  7519. #define FIL_LOAD_LENGTH 60