From 39bd5c3a1d93b93657dd48a3526f44ac430e8960 Mon Sep 17 00:00:00 2001
From: Robert Pelnar <robert.pelnar@seznam.cz>
Date: Thu, 25 Jan 2018 05:13:21 +0100
Subject: [PATCH 1/6] Extruder stealthChop and constant-off-time mode. Extruder
 different chopper frequency in spreadcycle. Dcodes (fix)

---
 Firmware/Configuration_prusa.h | 22 ++++++++++++++-----
 Firmware/Dcodes.cpp            |  3 ++-
 Firmware/tmc2130.cpp           | 39 ++++++++++++++++++++++++++++------
 3 files changed, 52 insertions(+), 12 deletions(-)

diff --git a/Firmware/Configuration_prusa.h b/Firmware/Configuration_prusa.h
index cd5ddcbc..0934eab5 100644
--- a/Firmware/Configuration_prusa.h
+++ b/Firmware/Configuration_prusa.h
@@ -104,7 +104,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define MINTEMP_MINAMBIENT      25
 #define MINTEMP_MINAMBIENT_RAW  978
 
-
+//#define DEBUG_BUILD
 #ifdef DEBUG_BUILD
 //#define _NO_ASM
 #define DEBUG_DCODES //D codes
@@ -119,7 +119,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 //#define DEBUG_DISABLE_YMAXLIMIT  //y max limit ignored
 //#define DEBUG_DISABLE_ZMINLIMIT  //z min limit ignored
 //#define DEBUG_DISABLE_ZMAXLIMIT  //z max limit ignored
-//#define DEBUG_DISABLE_STARTMSGS //no startup messages 
+#define DEBUG_DISABLE_STARTMSGS //no startup messages 
 //#define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
 //#define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
 //#define DEBUG_DISABLE_LCD_STATUS_LINE  //empty four lcd line
@@ -159,16 +159,28 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_PWM_AUTO_Y  1         // PWMCONF
 #define TMC2130_PWM_FREQ_Y  2         // PWMCONF
 
-/* //not used
+#define TMC2130_PWM_GRAD_E  2         // PWMCONF
+#define TMC2130_PWM_AMPL_E  235       // PWMCONF
+#define TMC2130_PWM_AUTO_E  1         // PWMCONF
+#define TMC2130_PWM_FREQ_E  2         // PWMCONF
+
 #define TMC2130_PWM_GRAD_Z  4         // PWMCONF
 #define TMC2130_PWM_AMPL_Z  200       // PWMCONF
 #define TMC2130_PWM_AUTO_Z  1         // PWMCONF
 #define TMC2130_PWM_FREQ_Z  2         // PWMCONF
+
 #define TMC2130_PWM_GRAD_E  4         // PWMCONF
-#define TMC2130_PWM_AMPL_E  200       // PWMCONF
+#define TMC2130_PWM_AMPL_E  240       // PWMCONF
 #define TMC2130_PWM_AUTO_E  1         // PWMCONF
 #define TMC2130_PWM_FREQ_E  2         // PWMCONF
-*/
+
+#define TMC2130_TOFF_XYZ    3         // CHOPCONF // fchop = 27.778kHz
+#define TMC2130_TOFF_E      3         // CHOPCONF // fchop = 27.778kHz
+//#define TMC2130_TOFF_E      4         // CHOPCONF // fchop = 21.429kHz
+//#define TMC2130_TOFF_E      5         // CHOPCONF // fchop = 17.442kHz
+
+//#define TMC2130_STEALTH_E // Extruder stealthChop mode
+//#define TMC2130_CNSTOFF_E // Extruder constant-off-time mode (similar to MK2)
 
 //#define TMC2130_PWM_DIV   683         // PWM frequency divider (1024, 683, 512, 410)
 #define TMC2130_PWM_DIV   512         // PWM frequency divider (1024, 683, 512, 410)
diff --git a/Firmware/Dcodes.cpp b/Firmware/Dcodes.cpp
index 7937cc01..5c2b1750 100644
--- a/Firmware/Dcodes.cpp
+++ b/Firmware/Dcodes.cpp
@@ -491,7 +491,8 @@ void dcode_9125()
 	LOG("D9125 - PAT9125\n");
 	if ((strchr_pointer[1+4] == '?') || (strchr_pointer[1+4] == 0))
 	{
-		printf("res_x=%d res_y=%d x=%d y=%d b=%d s=%d\n", pat9125_xres, pat9125_yres, pat9125_x, pat9125_y, pat9125_b, pat9125_s);
+//		printf("res_x=%d res_y=%d x=%d y=%d b=%d s=%d\n", pat9125_xres, pat9125_yres, pat9125_x, pat9125_y, pat9125_b, pat9125_s);
+		printf("x=%d y=%d b=%d s=%d\n", pat9125_x, pat9125_y, pat9125_b, pat9125_s);
 		return;
 	}
 	if (strchr_pointer[1+4] == '!')
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 01713208..13e17414 100644
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -34,13 +34,13 @@ uint8_t tmc2130_current_r_home[4] = {10, 10, 20, 10};
 
 
 //pwm_ampl
-uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y};
+uint8_t tmc2130_pwm_ampl[4] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y, TMC2130_PWM_AMPL_Z, TMC2130_PWM_AMPL_E};
 //pwm_grad
-uint8_t tmc2130_pwm_grad[2] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y};
+uint8_t tmc2130_pwm_grad[4] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y, TMC2130_PWM_GRAD_Z, TMC2130_PWM_GRAD_E};
 //pwm_auto
-uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y};
+uint8_t tmc2130_pwm_auto[4] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y, TMC2130_PWM_AUTO_Z, TMC2130_PWM_AUTO_E};
 //pwm_freq
-uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y};
+uint8_t tmc2130_pwm_freq[4] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y, TMC2130_PWM_FREQ_Z, TMC2130_PWM_FREQ_E};
 
 uint8_t tmc2130_mres[4] = {0, 0, 0, 0}; //will be filed at begin of init
 
@@ -198,7 +198,15 @@ void tmc2130_init()
 //		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
 
 		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TPOWERDOWN, 0x00000000);
+#ifndef TMC2130_STEALTH_E
 		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
+#else //TMC2130_STEALTH_E
+		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
+		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_TCOOLTHRS, 0);
+		tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
+		tmc2130_wr_PWMCONF(tmc2130_cs[axis], tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
+		tmc2130_wr_TPWMTHRS(tmc2130_cs[axis], TMC2130_TPWMTHRS);
+#endif //TMC2130_STEALTH_E
 	}
 
 	tmc2130_sg_err[0] = 0;
@@ -414,14 +422,33 @@ void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_
 {
 	uint8_t cs = tmc2130_cs[axis];
 	uint8_t intpol = 1;
+	uint8_t toff = TMC2130_TOFF_XYZ; // toff = 3 (fchop = 27.778kHz)
+	uint8_t hstrt = 5; //initial 4, modified to 5
+	uint8_t hend = 1;
+	uint8_t fd3 = 0;
+	uint8_t rndtf = 0; //random off time
+	uint8_t chm = 0; //spreadCycle
+	uint8_t tbl = 2; //blanking time
+	if (axis == E_AXIS)
+	{
+#ifdef TMC2130_CNSTOFF_E
+		// fd = 0 (slow decay only)
+		hstrt = 0; //fd0..2
+		fd3 = 0; //fd3
+		hend = 0; //sine wave offset
+		chm = 1; // constant off time mod
+#endif //TMC2130_CNSTOFF_E
+		toff = TMC2130_TOFF_E; // toff = 3-5
+//		rndtf = 1;
+	}
 	if (current_r <= 31)
 	{
-		tmc2130_wr_CHOPCONF(cs, 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, intpol, 0, 0);
+		tmc2130_wr_CHOPCONF(cs, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, 0, 0);
 		tmc2130_wr(cs, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((current_r & 0x1f) << 8) | (current_h & 0x1f));
 	}
 	else
 	{
-		tmc2130_wr_CHOPCONF(cs, 3, 5, 1, 0, 0, 0, 0, 2, 0, 0, 0, 0, mres, intpol, 0, 0);
+		tmc2130_wr_CHOPCONF(cs, toff, hstrt, hend, fd3, 0, 0, 0, tbl, 0, 0, 0, 0, mres, intpol, 0, 0);
 		tmc2130_wr(cs, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((current_r >> 1) & 0x1f) << 8) | ((current_h >> 1) & 0x1f));
 	}
 }

From 210b97d16d8643e242ddf0c770eda05f3e96c482 Mon Sep 17 00:00:00 2001
From: Robert Pelnar <robert.pelnar@seznam.cz>
Date: Tue, 30 Jan 2018 13:10:36 +0100
Subject: [PATCH 2/6] New fail stats (global, last print), crashdetection X and
 Y separated

---
 Firmware/Configuration.h | 37 ++++++++++++-------
 Firmware/Dcodes.cpp      |  2 +-
 Firmware/Marlin_main.cpp | 53 +++++++++++++++++++--------
 Firmware/tmc2130.cpp     |  8 ++---
 Firmware/tmc2130.h       |  2 +-
 Firmware/ultralcd.cpp    | 77 +++++++++++++++++++++++-----------------
 6 files changed, 114 insertions(+), 65 deletions(-)

diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h
index 7db9a539..7898130e 100644
--- a/Firmware/Configuration.h
+++ b/Firmware/Configuration.h
@@ -93,25 +93,28 @@
 #define EEPROM_UVLO_FAN_SPEED			(EEPROM_UVLO_FEEDRATE - 1) 
 #define EEPROM_FAN_CHECK_ENABLED		(EEPROM_UVLO_FAN_SPEED - 1)
 #define EEPROM_UVLO_MESH_BED_LEVELING     (EEPROM_FAN_CHECK_ENABLED - 9*2)
+
 #define EEPROM_UVLO_Z_MICROSTEPS     (EEPROM_UVLO_MESH_BED_LEVELING - 2)
 #define EEPROM_UVLO_E_ABS            (EEPROM_UVLO_Z_MICROSTEPS - 1)
-#define EEPROM_UVLO_CURRENT_POSITION_E	(EEPROM_UVLO_E_ABS - 4) //float for current position in E
+#define EEPROM_UVLO_CURRENT_POSITION_E	(EEPROM_UVLO_E_ABS - 4)                 //float for current position in E
 
 // Crash detection mode EEPROM setting 
-#define EEPROM_CRASH_DET       (EEPROM_UVLO_MESH_BED_LEVELING-12) 
+#define EEPROM_CRASH_DET         (EEPROM_UVLO_CURRENT_POSITION_E - 5)           // float (orig EEPROM_UVLO_MESH_BED_LEVELING-12) 
+// Crash detection counter Y (last print)
+#define EEPROM_CRASH_COUNT_Y       (EEPROM_CRASH_DET - 1)                       // uint8 (orig EEPROM_UVLO_MESH_BED_LEVELING-15)
 // Filament sensor on/off EEPROM setting 
-#define EEPROM_FSENSOR       (EEPROM_UVLO_MESH_BED_LEVELING-14) 
-// Crash detection counter
-#define EEPROM_CRASH_COUNT       (EEPROM_UVLO_MESH_BED_LEVELING-15)
-// Filament runout/error coutner
-#define EEPROM_FERROR_COUNT      (EEPROM_UVLO_MESH_BED_LEVELING-16)
-// Power loss errors
-#define EEPROM_POWER_COUNT       (EEPROM_UVLO_MESH_BED_LEVELING-17)
+#define EEPROM_FSENSOR           (EEPROM_CRASH_COUNT_Y - 1)                     // uint8 (orig EEPROM_UVLO_MESH_BED_LEVELING-14) 
+// Crash detection counter X (last print)
+#define EEPROM_CRASH_COUNT_X       (EEPROM_FSENSOR - 1)                         // uint8 (orig EEPROM_UVLO_MESH_BED_LEVELING-15)
+// Filament runout/error coutner (last print)
+#define EEPROM_FERROR_COUNT      (EEPROM_CRASH_COUNT_X - 1)                     // uint8 (orig EEPROM_UVLO_MESH_BED_LEVELING-16)
+// Power loss errors (last print)
+#define EEPROM_POWER_COUNT       (EEPROM_FERROR_COUNT - 1)                      // uint8 (orig EEPROM_UVLO_MESH_BED_LEVELING-17)
 
-#define EEPROM_XYZ_CAL_SKEW (EEPROM_POWER_COUNT - 4) //float for skew backup
+#define EEPROM_XYZ_CAL_SKEW (EEPROM_POWER_COUNT - 4)                            // float for skew backup
 #define EEPROM_WIZARD_ACTIVE (EEPROM_XYZ_CAL_SKEW - 1)
-#define EEPROM_BELTSTATUS_X (EEPROM_WIZARD_ACTIVE - 2) //uint16
-#define EEPROM_BELTSTATUS_Y (EEPROM_BELTSTATUS_X - 2) //uint16
+#define EEPROM_BELTSTATUS_X (EEPROM_WIZARD_ACTIVE - 2)                          // uint16
+#define EEPROM_BELTSTATUS_Y (EEPROM_BELTSTATUS_X - 2)                           // uint16
 
 #define EEPROM_DIR_DEPTH        (EEPROM_BELTSTATUS_Y-1)
 #define EEPROM_DIRS  (EEPROM_DIR_DEPTH-80) //8 chars for each dir name, max 10 levels
@@ -120,6 +123,16 @@
 
 #define EEPROM_FSENS_AUTOLOAD_ENABLED (EEPROM_SECOND_SERIAL_ACTIVE - 1)
 
+// Crash detection counter X (total)
+#define EEPROM_CRASH_COUNT_X_TOT       (EEPROM_FSENS_AUTOLOAD_ENABLED - 2)     // uint16
+// Crash detection counter Y (total)
+#define EEPROM_CRASH_COUNT_Y_TOT       (EEPROM_CRASH_COUNT_X_TOT - 2)          // uint16
+// Filament runout/error coutner (total)
+#define EEPROM_FERROR_COUNT_TOT      (EEPROM_CRASH_COUNT_Y_TOT - 2)            // uint16
+// Power loss errors (total)
+#define EEPROM_POWER_COUNT_TOT       (EEPROM_FERROR_COUNT_TOT - 2)             // uint16
+
+
 //TMC2130 configuration
 #define EEPROM_TMC_AXIS_SIZE  //axis configuration block size
 #define EEPROM_TMC_X (EEPROM_TMC + 0 * EEPROM_TMC_AXIS_SIZE) //X axis configuration blok
diff --git a/Firmware/Dcodes.cpp b/Firmware/Dcodes.cpp
index 5c2b1750..46dd7673 100644
--- a/Firmware/Dcodes.cpp
+++ b/Firmware/Dcodes.cpp
@@ -449,7 +449,7 @@ void dcode_10()
 void dcode_12()
 {//Reset Filament error, Power loss and crash counter ( Do it before every print and you can get stats for the print )
 	LOG("D12 - Reset failstat counters\n");
-    eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT, 0x00);
+    eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0x00);
     eeprom_update_byte((uint8_t*)EEPROM_FERROR_COUNT, 0x00);
     eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, 0x00);
 }
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 7a0abb71..68ee96a2 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -604,7 +604,7 @@ void crashdet_disable()
 {
 //	MYSERIAL.println("crashdet_disable"); 
 	tmc2130_sg_stop_on_crash = false;
-	tmc2130_sg_crash = false;
+	tmc2130_sg_crash = 0;
 	eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00); 
 	CrashDetectMenu = 0;
 }
@@ -633,7 +633,7 @@ void crashdet_stop_and_save_print2()
 	sei();
 }
 
-void crashdet_detected()
+void crashdet_detected(uint8_t mask)
 {
 //	printf("CRASH_DETECTED");
 /*	while (!is_buffer_empty())
@@ -646,11 +646,17 @@ void crashdet_detected()
 	lcd_update_enable(true);
 	lcd_implementation_clear();
 	lcd_update(2);
-    
-    // Increment crash counter
-    uint8_t crash_count = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT);
-    crash_count++;
-    eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT, crash_count);
+
+	if (mask & X_AXIS_MASK)
+	{
+		eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
+		eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
+	}
+	if (mask & Y_AXIS_MASK)
+	{
+		eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
+		eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
+	}
     
 #ifdef AUTOMATIC_RECOVERY_AFTER_CRASH
     bool yesno = true;
@@ -719,10 +725,16 @@ void factory_reset(char level, bool quiet)
 			eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
 			eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
 
-			eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
-			eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT, 0);
+			eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
+			eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
 			eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
-			
+			eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
+
+			eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
+			eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
+			eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
+			eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
+
 			lcd_menu_statistics();
             
 			break;
@@ -1093,8 +1105,8 @@ void setup()
 	card.initsd();
 	if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff)
 		eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
-	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT) == 0xff)
-		eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT, 0);
+	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff)
+		eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
 	if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff)
 		eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
 #ifdef SNMM
@@ -1473,9 +1485,15 @@ void loop()
 	tmc2130_check_overtemp();
 	if (tmc2130_sg_crash)
 	{
-		tmc2130_sg_crash = false;
+		uint8_t crash = tmc2130_sg_crash;
+		tmc2130_sg_crash = 0;
 //		crashdet_stop_and_save_print();
-		enquecommand_P((PSTR("CRASH_DETECTED")));
+		switch (crash)
+		{
+		case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
+		case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
+		case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
+		}
 	}
 #endif //TMC2130
 
@@ -2276,7 +2294,12 @@ void process_commands()
   }
 
   else if(code_seen("CRASH_DETECTED"))
-	  crashdet_detected();
+  {
+	  uint8_t mask = 0;
+	  if (code_seen("X")) mask |= X_AXIS_MASK;
+	  if (code_seen("Y")) mask |= Y_AXIS_MASK;
+	  crashdet_detected(mask);
+  }
   else if(code_seen("CRASH_RECOVER"))
 	  crashdet_recover();
   else if(code_seen("CRASH_CANCEL"))
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 13e17414..70871c5e 100644
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -58,7 +58,7 @@ uint32_t tmc2130_sg_meassure_val = 0;
 
 bool tmc2130_sg_stop_on_crash = true;
 uint8_t tmc2130_sg_diag_mask = 0x00;
-bool tmc2130_sg_crash = false;
+uint8_t tmc2130_sg_crash = 0;
 uint16_t tmc2130_sg_err[4] = {0, 0, 0, 0};
 uint16_t tmc2130_sg_cnt[4] = {0, 0, 0, 0};
 bool tmc2130_sg_change = false;
@@ -234,7 +234,7 @@ extern bool is_usb_printing;
 void tmc2130_st_isr(uint8_t last_step_mask)
 {
 	if (tmc2130_mode == TMC2130_MODE_SILENT || tmc2130_sg_stop_on_crash == false) return;
-	bool crash = false;
+	uint8_t crash = 0;
 	uint8_t diag_mask = tmc2130_sample_diag();
 //	for (uint8_t axis = X_AXIS; axis <= E_AXIS; axis++)
 	for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++)
@@ -252,7 +252,7 @@ void tmc2130_st_isr(uint8_t last_step_mask)
 			if (tmc2130_sg_err[axis] >= sg_thr)
 			{
 				tmc2130_sg_err[axis] = 0;
-				crash = true;
+				crash |= mask;
 			}
 		}
 	}
@@ -267,7 +267,7 @@ void tmc2130_st_isr(uint8_t last_step_mask)
 		}*/
 		if (/*!is_usb_printing && */tmc2130_sg_stop_on_crash && crash)
 		{
-			tmc2130_sg_crash = true;
+			tmc2130_sg_crash = crash;
 			tmc2130_sg_stop_on_crash = false;
 			crashdet_stop_and_save_print();
 		}
diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h
index 373e0240..3c64aff7 100644
--- a/Firmware/tmc2130.h
+++ b/Firmware/tmc2130.h
@@ -13,7 +13,7 @@ extern uint8_t tmc2130_current_r[4];
 extern uint8_t tmc2130_sg_thr[4];
 
 extern bool tmc2130_sg_stop_on_crash;
-extern bool tmc2130_sg_crash;
+extern uint8_t tmc2130_sg_crash; //crash mask
 
 extern uint8_t tmc2130_sg_meassure;
 extern uint16_t tmc2130_sg_meassure_cnt;
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 1d2d5f58..a8c5bd64 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -1529,45 +1529,58 @@ static void lcd_menu_extruder_info()
     }
 }
 
-static void lcd_menu_fails_stats()
+static void lcd_menu_fails_stats_total()
 {
-    
-    // Display screen info
-    
-    lcd.setCursor(0, 0);
-    lcd.print("Failure stats       ");
-    
-    // Display power failures
-    uint8_t power_count = eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT);
-    lcd.setCursor(0, 1);
-    lcd.print(" Power failures:    ");
-    lcd.setCursor(17, 1);
-    lcd.print(itostr3((int)power_count));
-
-    
-    // Display Crash detected
-    uint8_t crash_count = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT);
-    lcd.setCursor(0, 2);
-    lcd.print(" Crash detected:    ");
-    lcd.setCursor(17, 2);
-    lcd.print(itostr3((int)crash_count));
-    
-    
-    // Display filament failures
-    uint8_t ferror_count = eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT);
-    lcd.setCursor(0, 3);
-    lcd.print(" Filament fails:    ");
-    lcd.setCursor(17, 3);
-    lcd.print(itostr3((int)ferror_count));
-
+//01234567890123456789
+//Total failures
+// Power failures  000
+// Filam. runouts  000
+// Crash  X 000  Y 000
+//////////////////////
+    uint16_t power = eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT);
+    uint16_t filam = eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT);
+    uint16_t crashX = eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT);
+    uint16_t crashY = eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT);
+	fprintf_P(lcdout, PSTR(ESC_H(0,0)"Total failures"ESC_H(1,1)"Power failures  %-3d"ESC_H(1,2)"Filam. runouts  %-3d"ESC_H(1,3)"Crash  X %-3d  Y %-3d"), power, filam, crashX, crashY);
 	if (lcd_clicked())
     {
         lcd_quick_feedback();
-        lcd_return_to_status();
+        //lcd_return_to_status();
+		lcd_goto_menu(lcd_menu_fails_stats, 4);
     }
-    
 }
 
+static void lcd_menu_fails_stats_print()
+{
+//01234567890123456789
+//Last print failures
+// Power failures  000
+// Filam. runouts  000
+// Crash  X 000  Y 000
+//////////////////////
+    uint8_t power = eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT);
+    uint8_t filam = eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT);
+    uint8_t crashX = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X);
+    uint8_t crashY = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y);
+	fprintf_P(lcdout, PSTR(ESC_H(0,0)"Last print failures"ESC_H(1,1)"Power failures  %-3d"ESC_H(1,2)"Filam. runouts  %-3d"ESC_H(1,3)"Crash  X %-3d  Y %-3d"), power, filam, crashX, crashY);
+	if (lcd_clicked())
+    {
+        lcd_quick_feedback();
+        //lcd_return_to_status();
+		lcd_goto_menu(lcd_menu_fails_stats, 2);
+    }    
+}
+
+static void lcd_menu_fails_stats()
+{
+	START_MENU();
+	MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
+	MENU_ITEM(submenu, PSTR("Last print"), lcd_menu_fails_stats_print);
+	MENU_ITEM(submenu, PSTR("Total"), lcd_menu_fails_stats_total);
+	END_MENU();
+}
+
+
 #ifdef DEBUG_BUILD
 extern uint16_t SP_min;
 extern char* __malloc_heap_start;

From daaac2fb8849a2cd127afdbf488eda8a3f10f2e6 Mon Sep 17 00:00:00 2001
From: Robert Pelnar <robert.pelnar@seznam.cz>
Date: Tue, 30 Jan 2018 19:49:40 +0100
Subject: [PATCH 3/6] fail stats

---
 Firmware/Marlin_main.cpp | 19 ++++++++++---------
 Firmware/fsensor.cpp     |  5 ++---
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 68ee96a2..2e3dc82a 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -1103,12 +1103,14 @@ void setup()
 	// Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false), 
 	// but this times out if a blocking dialog is shown in setup().
 	card.initsd();
-	if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff)
-		eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
-	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff)
-		eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
-	if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff)
-		eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
+	if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
+	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
+	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
+	if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
+	if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT, 0);
+	if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X, 0);
+	if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y, 0);
+	if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT, 0);
 #ifdef SNMM
 	if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
 	  int _z = BOWDEN_LENGTH;
@@ -7562,9 +7564,8 @@ void uvlo_()
     disable_z();
     
     // Increment power failure counter
-    uint8_t power_count = eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT);
-    power_count++;
-    eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, power_count);
+	eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
+	eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
     
 		SERIAL_ECHOLNPGM("UVLO - end");
 		MYSERIAL.println(millis() - time_start);
diff --git a/Firmware/fsensor.cpp b/Firmware/fsensor.cpp
index 2b53b710..c69e5d16 100644
--- a/Firmware/fsensor.cpp
+++ b/Firmware/fsensor.cpp
@@ -266,9 +266,8 @@ void fsensor_update()
 		else*/
 		{
 			fsensor_stop_and_save_print();
-			uint8_t ferror_count = eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT);
-			ferror_count++;
-			eeprom_update_byte((uint8_t*)EEPROM_FERROR_COUNT, ferror_count);
+			eeprom_update_byte((uint8_t*)EEPROM_FERROR_COUNT, eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) + 1);
+			eeprom_update_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) + 1);
 			enquecommand_front_P((PSTR("M600")));
 			fsensor_M600 = true;
 			fsensor_enabled = false;

From 4c5618c371be9e3dbbb55e0331c8faf5b576dda3 Mon Sep 17 00:00:00 2001
From: Robert Pelnar <robert.pelnar@seznam.cz>
Date: Wed, 31 Jan 2018 15:09:36 +0100
Subject: [PATCH 4/6] failstats - reset "last print" counters card - new member
 variable "paused" (bool)

---
 Firmware/Marlin_main.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 2e3dc82a..f541743f 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -690,6 +690,13 @@ void crashdet_cancel()
 	tmc2130_sg_stop_on_crash = true;
 }
 
+void failstats_reset_print()
+{
+	eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
+	eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
+	eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
+	eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
+}
 
 
 #ifdef MESH_BED_LEVELING
@@ -3993,6 +4000,8 @@ void process_commands()
       card.openFile(strchr_pointer + 4,true);
       break;
     case 24: //M24 - Start SD print
+	  if (!card.paused)
+		failstats_reset_print();
       card.startFileprint();
       starttime=millis();
 	  break;

From 1a01282e339e7fa56e3cc2e5273b34ac40e40cba Mon Sep 17 00:00:00 2001
From: Robert Pelnar <robert.pelnar@seznam.cz>
Date: Wed, 31 Jan 2018 15:20:27 +0100
Subject: [PATCH 5/6] cardreader - new member "paused" tmc2130 - decreased
 crash sensitivity for Y

---
 Firmware/cardreader.cpp | 4 ++++
 Firmware/cardreader.h   | 1 +
 Firmware/tmc2130.cpp    | 4 ++--
 3 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/Firmware/cardreader.cpp b/Firmware/cardreader.cpp
index 4732d0a1..021ab269 100644
--- a/Firmware/cardreader.cpp
+++ b/Firmware/cardreader.cpp
@@ -25,6 +25,7 @@ CardReader::CardReader()
    sdpos = 0;
    sdprinting = false;
    cardOK = false;
+   paused = false;
    saving = false;
    logging = false;
    autostart_atmillis=0;
@@ -240,6 +241,7 @@ void CardReader::startFileprint()
   if(cardOK)
   {
     sdprinting = true;
+	paused = false;
 	#ifdef SDCARD_SORT_ALPHA
 		//flush_presort();
 	#endif
@@ -251,6 +253,7 @@ void CardReader::pauseSDPrint()
   if(sdprinting)
   {
     sdprinting = false;
+	paused = true;
   }
 }
 
@@ -333,6 +336,7 @@ void CardReader::openFile(char* name,bool read, bool replace_current/*=true*/)
     SERIAL_ECHOLN(name);
   }
   sdprinting = false;
+  paused = false;
   
  
   SdFile myDir;
diff --git a/Firmware/cardreader.h b/Firmware/cardreader.h
index 1315ff18..f9d30a76 100644
--- a/Firmware/cardreader.h
+++ b/Firmware/cardreader.h
@@ -75,6 +75,7 @@ public:
   bool logging;
   bool sdprinting ;  
   bool cardOK ;
+  bool paused ;
   char filename[13];
   uint16_t creationTime, creationDate;
   uint32_t cluster, position;
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 70871c5e..7b248b12 100644
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -247,8 +247,8 @@ void tmc2130_st_isr(uint8_t last_step_mask)
 		{
 			tmc2130_sg_cnt[axis] = tmc2130_sg_err[axis];
 			tmc2130_sg_change = true;
-			uint8_t sg_thr = 48;
-			if (axis == Y_AXIS) sg_thr = 64;
+			uint8_t sg_thr = 64;
+//			if (axis == Y_AXIS) sg_thr = 64;
 			if (tmc2130_sg_err[axis] >= sg_thr)
 			{
 				tmc2130_sg_err[axis] = 0;

From adc69eda18850ce042df87cad18c6ba2b75018dd Mon Sep 17 00:00:00 2001
From: Robert Pelnar <robert.pelnar@seznam.cz>
Date: Wed, 31 Jan 2018 17:03:33 +0100
Subject: [PATCH 6/6] PINDA temp. calibration warning messages.

---
 Firmware/Marlin_main.cpp  | 3 +++
 Firmware/language_all.cpp | 5 +++++
 Firmware/language_all.h   | 2 ++
 Firmware/language_en.h    | 1 +
 4 files changed, 11 insertions(+)

diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index f541743f..6294cf86 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -3140,6 +3140,9 @@ void process_commands()
 #ifdef PINDA_THERMISTOR
 		if (true)
 		{
+			lcd_show_fullscreen_message_and_wait_P(MSG_TEMP_CAL_WARNING);
+			bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_STEEL_SHEET_CHECK, false, false);
+			if(result) lcd_show_fullscreen_message_and_wait_P(MSG_REMOVE_STEEL_SHEET);
 			if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
 				// We don't know where we are! HOME!
 				// Push the commands to the front of the message queue in the reverse order!
diff --git a/Firmware/language_all.cpp b/Firmware/language_all.cpp
index 35bdf936..b5512551 100644
--- a/Firmware/language_all.cpp
+++ b/Firmware/language_all.cpp
@@ -2157,6 +2157,11 @@ const char * const MSG_TEMP_CALIBRATION_ON_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_TEMP_CALIBRATION_ON_CZ
 };
 
+const char MSG_TEMP_CAL_WARNING_EN[] PROGMEM = "Stable ambient temperature 21-26C is needed a rigid stand is required.";
+const char * const MSG_TEMP_CAL_WARNING_LANG_TABLE[1] PROGMEM = {
+	MSG_TEMP_CAL_WARNING_EN
+};
+
 const char MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_OFF_EN[] PROGMEM = "SD card  [normal]";
 const char * const MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_OFF_LANG_TABLE[1] PROGMEM = {
 	MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_OFF_EN
diff --git a/Firmware/language_all.h b/Firmware/language_all.h
index 1ca91ad0..dd2414a1 100644
--- a/Firmware/language_all.h
+++ b/Firmware/language_all.h
@@ -708,6 +708,8 @@ extern const char* const MSG_TEMP_CALIBRATION_OFF_LANG_TABLE[LANG_NUM];
 #define MSG_TEMP_CALIBRATION_OFF LANG_TABLE_SELECT(MSG_TEMP_CALIBRATION_OFF_LANG_TABLE)
 extern const char* const MSG_TEMP_CALIBRATION_ON_LANG_TABLE[LANG_NUM];
 #define MSG_TEMP_CALIBRATION_ON LANG_TABLE_SELECT(MSG_TEMP_CALIBRATION_ON_LANG_TABLE)
+extern const char* const MSG_TEMP_CAL_WARNING_LANG_TABLE[1];
+#define MSG_TEMP_CAL_WARNING LANG_TABLE_SELECT_EXPLICIT(MSG_TEMP_CAL_WARNING_LANG_TABLE, 0)
 extern const char* const MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_OFF_LANG_TABLE[1];
 #define MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_OFF LANG_TABLE_SELECT_EXPLICIT(MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_OFF_LANG_TABLE, 0)
 extern const char* const MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_ON_LANG_TABLE[1];
diff --git a/Firmware/language_en.h b/Firmware/language_en.h
index d7a3a367..d21f1ed3 100644
--- a/Firmware/language_en.h
+++ b/Firmware/language_en.h
@@ -361,6 +361,7 @@
 #define(length=20, lines=4) MSG_REMOVE_STEEL_SHEET				"Please remove steel sheet from heatbed."
 #define(length=20, lines=2) MSG_CALIBRATE_Z_AUTO				"Calibrating Z"
 #define(length=20, lines=2) MSG_STEEL_SHEET_CHECK				"Is steel sheet on heatbed?"
+#define(length=20, lines=4) MSG_TEMP_CAL_WARNING				"Stable ambient temperature 21-26C is needed a rigid stand is required."
 
 #define MSG_SELFTEST_AXIS					"Axis"
 #define MSG_SELFTEST_AXIS_LENGTH			"Axis length"