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MarlinFirmware/Marlin/src/feature/pause.cpp
teemuatlut c447d75916 Add support for TMC2660 (#11998)
2018-10-06 17:18:10 -05:00

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* feature/pause.cpp - Pause feature support functions
* This may be combined with related G-codes if features are consolidated.
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(ADVANCED_PAUSE_FEATURE)
#include "../Marlin.h"
#include "../gcode/gcode.h"
#include "../module/motion.h"
#include "../module/planner.h"
#include "../module/stepper.h"
#include "../module/printcounter.h"
#include "../module/temperature.h"
#if ENABLED(FWRETRACT)
#include "../feature/fwretract.h"
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
#include "../feature/runout.h"
#endif
#if ENABLED(ULTIPANEL)
#include "../lcd/ultralcd.h"
#endif
#include "../libs/buzzer.h"
#include "../libs/nozzle.h"
#include "pause.h"
// private:
static float resume_position[XYZE];
AdvancedPauseMenuResponse advanced_pause_menu_response;
float filament_change_unload_length[EXTRUDERS],
filament_change_load_length[EXTRUDERS];
#if ENABLED(SDSUPPORT)
#include "../sd/cardreader.h"
#endif
#if HAS_BUZZER
static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
static millis_t next_buzz = 0;
static int8_t runout_beep = 0;
if (init) next_buzz = runout_beep = 0;
const millis_t ms = millis();
if (ELAPSED(ms, next_buzz)) {
if (max_beep_count < 0 || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to
next_buzz = ms + ((max_beep_count < 0 || runout_beep < max_beep_count) ? 1000 : 500);
BUZZ(50, 880 - (runout_beep & 1) * 220);
runout_beep++;
}
}
}
#endif
/**
* Ensure a safe temperature for extrusion
*
* - Fail if the TARGET temperature is too low
* - Display LCD placard with temperature status
* - Return when heating is done or aborted
*
* Returns 'true' if heating was completed, 'false' for abort
*/
static bool ensure_safe_temperature(const AdvancedPauseMode mode=ADVANCED_PAUSE_MODE_PAUSE_PRINT) {
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (!DEBUGGING(DRYRUN) && thermalManager.targetTooColdToExtrude(active_extruder)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_HOTEND_TOO_COLD);
return false;
}
#endif
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT, mode);
#else
UNUSED(mode);
#endif
return thermalManager.wait_for_hotend(active_extruder);
}
static void do_pause_e_move(const float &length, const float &fr) {
current_position[E_AXIS] += length / planner.e_factor[active_extruder];
planner.buffer_line(current_position, fr, active_extruder);
planner.synchronize();
}
/**
* Load filament into the hotend
*
* - Fail if the a safe temperature was not reached
* - If pausing for confirmation, wait for a click or M108
* - Show "wait for load" placard
* - Load and purge filament
* - Show "Purge more" / "Continue" menu
* - Return when "Continue" is selected
*
* Returns 'true' if load was completed, 'false' for abort
*/
bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_length/*=0*/, const float &purge_length/*=0*/, const int8_t max_beep_count/*=0*/,
const bool show_lcd/*=false*/, const bool pause_for_user/*=false*/,
const AdvancedPauseMode mode/*=ADVANCED_PAUSE_MODE_PAUSE_PRINT*/
DXC_ARGS
) {
#if DISABLED(ULTIPANEL)
UNUSED(show_lcd);
#endif
if (!ensure_safe_temperature(mode)) {
#if ENABLED(ULTIPANEL)
if (show_lcd) // Show status screen
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
#endif
return false;
}
if (pause_for_user) {
#if ENABLED(ULTIPANEL)
if (show_lcd) // Show "insert filament"
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT, mode);
#endif
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_FILAMENT_CHANGE_INSERT);
#if HAS_BUZZER
filament_change_beep(max_beep_count, true);
#else
UNUSED(max_beep_count);
#endif
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true; // LCD click or M108 will clear this
while (wait_for_user) {
#if HAS_BUZZER
filament_change_beep(max_beep_count);
#endif
idle(true);
}
KEEPALIVE_STATE(IN_HANDLER);
}
#if ENABLED(ULTIPANEL)
if (show_lcd) // Show "wait for load" message
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD, mode);
#endif
#if ENABLED(DUAL_X_CARRIAGE)
const int8_t saved_ext = active_extruder;
const bool saved_ext_dup_mode = extruder_duplication_enabled;
active_extruder = DXC_ext;
extruder_duplication_enabled = false;
#endif
// Slow Load filament
if (slow_load_length) do_pause_e_move(slow_load_length, FILAMENT_CHANGE_SLOW_LOAD_FEEDRATE);
// Fast Load Filament
if (fast_load_length) {
#if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
const float saved_acceleration = planner.retract_acceleration;
planner.retract_acceleration = FILAMENT_CHANGE_FAST_LOAD_ACCEL;
#endif
do_pause_e_move(fast_load_length, FILAMENT_CHANGE_FAST_LOAD_FEEDRATE);
#if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
planner.retract_acceleration = saved_acceleration;
#endif
}
#if ENABLED(DUAL_X_CARRIAGE) // Tie the two extruders movement back together.
active_extruder = saved_ext;
extruder_duplication_enabled = saved_ext_dup_mode;
stepper.set_directions();
#endif
#if ENABLED(ADVANCED_PAUSE_CONTINUOUS_PURGE)
#if ENABLED(ULTIPANEL)
if (show_lcd)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CONTINUOUS_PURGE);
#endif
wait_for_user = true;
for (float purge_count = purge_length; purge_count > 0 && wait_for_user; --purge_count)
do_pause_e_move(1, ADVANCED_PAUSE_PURGE_FEEDRATE);
wait_for_user = false;
#else
do {
if (purge_length > 0) {
// "Wait for filament purge"
#if ENABLED(ULTIPANEL)
if (show_lcd)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_PURGE, mode);
#endif
// Extrude filament to get into hotend
do_pause_e_move(purge_length, ADVANCED_PAUSE_PURGE_FEEDRATE);
}
// Show "Purge More" / "Resume" menu and wait for reply
#if ENABLED(ULTIPANEL)
if (show_lcd) {
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = false;
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_OPTION, mode);
while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_WAIT_FOR) idle(true);
KEEPALIVE_STATE(IN_HANDLER);
}
#endif
// Keep looping if "Purge More" was selected
} while (
#if ENABLED(ULTIPANEL)
show_lcd && advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_EXTRUDE_MORE
#else
0
#endif
);
#endif
return true;
}
/**
* Unload filament from the hotend
*
* - Fail if the a safe temperature was not reached
* - Show "wait for unload" placard
* - Retract, pause, then unload filament
* - Disable E stepper (on most machines)
*
* Returns 'true' if unload was completed, 'false' for abort
*/
bool unload_filament(const float &unload_length, const bool show_lcd/*=false*/,
const AdvancedPauseMode mode/*=ADVANCED_PAUSE_MODE_PAUSE_PRINT*/
) {
if (!ensure_safe_temperature(mode)) {
#if ENABLED(ULTIPANEL)
if (show_lcd) // Show status screen
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
#endif
return false;
}
#if DISABLED(ULTIPANEL)
UNUSED(show_lcd);
#else
if (show_lcd)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD, mode);
#endif
// Retract filament
do_pause_e_move(-FILAMENT_UNLOAD_RETRACT_LENGTH, PAUSE_PARK_RETRACT_FEEDRATE);
// Wait for filament to cool
safe_delay(FILAMENT_UNLOAD_DELAY);
// Quickly purge
do_pause_e_move(FILAMENT_UNLOAD_RETRACT_LENGTH + FILAMENT_UNLOAD_PURGE_LENGTH, planner.max_feedrate_mm_s[E_AXIS]);
// Unload filament
#if FILAMENT_CHANGE_UNLOAD_ACCEL > 0
const float saved_acceleration = planner.retract_acceleration;
planner.retract_acceleration = FILAMENT_CHANGE_UNLOAD_ACCEL;
#endif
do_pause_e_move(unload_length, FILAMENT_CHANGE_UNLOAD_FEEDRATE);
#if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
planner.retract_acceleration = saved_acceleration;
#endif
// Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS)
#if (E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN) || AXIS_DRIVER_TYPE(E0, TMC2660) || AXIS_DRIVER_TYPE(E1, TMC2660) || AXIS_DRIVER_TYPE(E2, TMC2660) || AXIS_DRIVER_TYPE(E3, TMC2660) || AXIS_DRIVER_TYPE(E4, TMC2660) || AXIS_DRIVER_TYPE(E5, TMC2660)
disable_e_stepper(active_extruder);
safe_delay(100);
#endif
return true;
}
// public:
/**
* Pause procedure
*
* - Abort if already paused
* - Send host action for pause, if configured
* - Abort if TARGET temperature is too low
* - Display "wait for start of filament change" (if a length was specified)
* - Initial retract, if current temperature is hot enough
* - Park the nozzle at the given position
* - Call unload_filament (if a length was specified)
*
* Returns 'true' if pause was completed, 'false' for abort
*/
uint8_t did_pause_print = 0;
bool pause_print(const float &retract, const point_t &park_point, const float &unload_length/*=0*/, const bool show_lcd/*=false*/ DXC_ARGS) {
if (did_pause_print) return false; // already paused
#ifdef ACTION_ON_PAUSE
SERIAL_ECHOLNPGM("//action:" ACTION_ON_PAUSE);
#endif
#if ENABLED(ULTIPANEL)
if (show_lcd) // Show initial message
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT);
#endif
if (!DEBUGGING(DRYRUN) && unload_length && thermalManager.targetTooColdToExtrude(active_extruder)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_HOTEND_TOO_COLD);
#if ENABLED(ULTIPANEL)
if (show_lcd) { // Show status screen
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
LCD_MESSAGEPGM(MSG_M600_TOO_COLD);
}
#endif
return false; // unable to reach safe temperature
}
// Indicate that the printer is paused
++did_pause_print;
// Pause the print job and timer
#if ENABLED(SDSUPPORT)
if (card.sdprinting) {
card.pauseSDPrint();
++did_pause_print; // Indicate SD pause also
}
#endif
print_job_timer.pause();
// Save current position
COPY(resume_position, current_position);
// Wait for buffered blocks to complete
planner.synchronize();
// Initial retract before move to filament change position
if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
// Park the nozzle by moving up by z_lift and then moving to (x_pos, y_pos)
if (!axis_unhomed_error())
Nozzle::park(2, park_point);
#if ENABLED(DUAL_X_CARRIAGE)
const int8_t saved_ext = active_extruder;
const bool saved_ext_dup_mode = extruder_duplication_enabled;
active_extruder = DXC_ext;
extruder_duplication_enabled = false;
#endif
if (unload_length) // Unload the filament
unload_filament(unload_length, show_lcd);
#if ENABLED(DUAL_X_CARRIAGE)
active_extruder = saved_ext;
extruder_duplication_enabled = saved_ext_dup_mode;
stepper.set_directions();
#endif
return true;
}
/**
* - Show "Insert filament and press button to continue"
* - Wait for a click before returning
* - Heaters can time out, reheated before accepting a click
*
* Used by M125 and M600
*/
void wait_for_filament_reload(const int8_t max_beep_count/*=0*/ DXC_ARGS) {
bool nozzle_timed_out = false;
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
#endif
SERIAL_ECHO_START();
SERIAL_ERRORLNPGM(MSG_FILAMENT_CHANGE_INSERT);
#if HAS_BUZZER
filament_change_beep(max_beep_count, true);
#endif
// Start the heater idle timers
const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
HOTEND_LOOP()
thermalManager.start_heater_idle_timer(e, nozzle_timeout);
#if ENABLED(DUAL_X_CARRIAGE)
const int8_t saved_ext = active_extruder;
const bool saved_ext_dup_mode = extruder_duplication_enabled;
active_extruder = DXC_ext;
extruder_duplication_enabled = false;
#endif
// Wait for filament insert by user and press button
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true; // LCD click or M108 will clear this
while (wait_for_user) {
#if HAS_BUZZER
filament_change_beep(max_beep_count);
#endif
// If the nozzle has timed out, wait for the user to press the button to re-heat the nozzle, then
// re-heat the nozzle, re-show the insert screen, restart the idle timers, and start over
if (!nozzle_timed_out)
HOTEND_LOOP()
nozzle_timed_out |= thermalManager.is_heater_idle(e);
if (nozzle_timed_out) {
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
#endif
SERIAL_ECHO_START();
#if ENABLED(ULTIPANEL) && ENABLED(EMERGENCY_PARSER)
SERIAL_ECHOLNPGM(MSG_FILAMENT_CHANGE_HEAT);
#elif ENABLED(EMERGENCY_PARSER)
SERIAL_ECHOLNPGM(MSG_FILAMENT_CHANGE_HEAT_M108);
#else
SERIAL_ECHOLNPGM(MSG_FILAMENT_CHANGE_HEAT_LCD);
#endif
// Wait for LCD click or M108
while (wait_for_user) idle(true);
// Re-enable the heaters if they timed out
HOTEND_LOOP() thermalManager.reset_heater_idle_timer(e);
// Wait for the heaters to reach the target temperatures
ensure_safe_temperature();
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
#endif
SERIAL_ECHO_START();
#if ENABLED(ULTIPANEL) && ENABLED(EMERGENCY_PARSER)
SERIAL_ECHOLNPGM(MSG_FILAMENT_CHANGE_INSERT);
#elif ENABLED(EMERGENCY_PARSER)
SERIAL_ECHOLNPGM(MSG_FILAMENT_CHANGE_INSERT_M108);
#else
SERIAL_ECHOLNPGM(MSG_FILAMENT_CHANGE_INSERT_LCD);
#endif
// Start the heater idle timers
const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
HOTEND_LOOP()
thermalManager.start_heater_idle_timer(e, nozzle_timeout);
wait_for_user = true; // Wait for user to load filament
nozzle_timed_out = false;
#if HAS_BUZZER
filament_change_beep(max_beep_count, true);
#endif
}
idle(true);
}
#if ENABLED(DUAL_X_CARRIAGE)
active_extruder = saved_ext;
extruder_duplication_enabled = saved_ext_dup_mode;
stepper.set_directions();
#endif
KEEPALIVE_STATE(IN_HANDLER);
}
/**
* Resume or Start print procedure
*
* - Abort if not paused
* - Reset heater idle timers
* - Load filament if specified, but only if:
* - a nozzle timed out, or
* - the nozzle is already heated.
* - Display "wait for print to resume"
* - Re-prime the nozzle...
* - FWRETRACT: Recover/prime from the prior G10.
* - !FWRETRACT: Retract by resume_position[E], if negative.
* Not sure how this logic comes into use.
* - Move the nozzle back to resume_position
* - Sync the planner E to resume_position[E]
* - Send host action for resume, if configured
* - Resume the current SD print job, if any
*/
void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_length/*=0*/, const float &purge_length/*=ADVANCED_PAUSE_PURGE_LENGTH*/, const int8_t max_beep_count/*=0*/ DXC_ARGS) {
/*
SERIAL_ECHOPGM("start of resume_print()\n");
SERIAL_ECHOPAIR("\ndual_x_carriage_mode:", dual_x_carriage_mode);
SERIAL_ECHOPAIR("\nextruder_duplication_enabled:", extruder_duplication_enabled);
SERIAL_ECHOPAIR("\nactive_extruder:", active_extruder);
SERIAL_ECHOPGM("\n\n");
*/
if (!did_pause_print) return;
// Re-enable the heaters if they timed out
bool nozzle_timed_out = false;
HOTEND_LOOP() {
nozzle_timed_out |= thermalManager.is_heater_idle(e);
thermalManager.reset_heater_idle_timer(e);
}
if (nozzle_timed_out || thermalManager.hotEnoughToExtrude(active_extruder)) // Load the new filament
load_filament(slow_load_length, fast_load_length, purge_length, max_beep_count, true, nozzle_timed_out, ADVANCED_PAUSE_MODE_PAUSE_PRINT DXC_PASS);
#if ENABLED(ULTIPANEL)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_RESUME); // "Wait for print to resume"
#endif
// Intelligent resuming
#if ENABLED(FWRETRACT)
// If retracted before goto pause
if (fwretract.retracted[active_extruder])
do_pause_e_move(-fwretract.retract_length, fwretract.retract_feedrate_mm_s);
#endif
// If resume_position is negative
if (resume_position[E_AXIS] < 0) do_pause_e_move(resume_position[E_AXIS], PAUSE_PARK_RETRACT_FEEDRATE);
// Move XY to starting position, then Z
do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], NOZZLE_PARK_XY_FEEDRATE);
// Move Z_AXIS to saved position
do_blocking_move_to_z(resume_position[Z_AXIS], NOZZLE_PARK_Z_FEEDRATE);
// Now all extrusion positions are resumed and ready to be confirmed
// Set extruder to saved position
planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS]));
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
runout.reset();
#endif
#if ENABLED(ULTIPANEL)
// Show status screen
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
#endif
#ifdef ACTION_ON_RESUME
SERIAL_ECHOLNPGM("//action:" ACTION_ON_RESUME);
#endif
--did_pause_print;
#if ENABLED(SDSUPPORT)
if (did_pause_print) {
card.startFileprint();
--did_pause_print;
}
#endif
}
#endif // ADVANCED_PAUSE_FEATURE
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