diff --git a/Firmware/Marlin.h b/Firmware/Marlin.h index d8ccc92e..2ab9c093 100644 --- a/Firmware/Marlin.h +++ b/Firmware/Marlin.h @@ -467,7 +467,7 @@ void gcode_M701(); void proc_commands(); -void manage_response(); +void manage_response(bool move_axes, bool turn_off_nozzle); bool mmu_get_response(bool timeout); void mmu_not_responding(); void mmu_load_to_nozzle(); diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index d57750e5..fe5553a2 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -3100,8 +3100,9 @@ void gcode_M600(bool automatic, float x_position, float y_position, float z_shif //First backup current position and settings feedmultiplyBckp=feedmultiply; - float HotendTempBckp = degTargetHotend(active_extruder); - int fanSpeedBckp = fanSpeed; + HotendTempBckp = degTargetHotend(active_extruder); + fanSpeedBckp = fanSpeed; + lastpos[X_AXIS]=current_position[X_AXIS]; lastpos[Y_AXIS]=current_position[Y_AXIS]; lastpos[Z_AXIS]=current_position[Z_AXIS]; @@ -3527,7 +3528,7 @@ void process_commands() } else if(code_seen("Fir")){ - SERIAL_PROTOCOLLN(FW_VERSION); + SERIAL_PROTOCOLLN(FW_VERSION_FULL); } else if(code_seen("Rev")){ @@ -5945,10 +5946,31 @@ Sigma_Exit: } } break; - case 204: // M204 acclereration S normal moves T filmanent only moves + case 204: + // M204 acclereration settings. + // Supporting old format: M204 S[normal moves] T[filmanent only moves] + // and new format: M204 P[printing moves] R[filmanent only moves] T[travel moves] (as of now T is ignored) { - if(code_seen('S')) acceleration = code_value() ; - if(code_seen('T')) retract_acceleration = code_value() ; + if(code_seen('S')) { + // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware, + // and it is also generated by Slic3r to control acceleration per extrusion type + // (there is a separate acceleration settings in Slicer for perimeter, first layer etc). + acceleration = code_value(); + // Interpret the T value as retract acceleration in the old Marlin format. + if(code_seen('T')) + retract_acceleration = code_value(); + } else { + // New acceleration format, compatible with the upstream Marlin. + if(code_seen('P')) + acceleration = code_value(); + if(code_seen('R')) + retract_acceleration = code_value(); + if(code_seen('T')) { + // Interpret the T value as the travel acceleration in the new Marlin format. + //FIXME Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value. + // travel_acceleration = code_value(); + } + } } break; 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 @@ -6836,7 +6858,7 @@ if (mmu_enabled) printf_P(PSTR("T code: %d \n"), tmp_extruder); mmu_printf_P(PSTR("T%d\n"), tmp_extruder); - manage_response(); + manage_response(true, true); mmu_extruder = tmp_extruder; //filament change is finished @@ -8873,9 +8895,12 @@ static void print_time_remaining_init() { } bool mmu_get_response(bool timeout) { + //waits for "ok" from mmu + //function returns true if "ok" was received + //if timeout is set to true function return false if there is no "ok" received before timeout bool response = true; LongTimer mmu_get_reponse_timeout; - + KEEPALIVE_STATE(IN_PROCESS); mmu_get_reponse_timeout.start(); while (mmu_rx_ok() <= 0) { @@ -8889,16 +8914,19 @@ bool mmu_get_response(bool timeout) { } -void manage_response() { +void manage_response(bool move_axes, bool turn_off_nozzle) { + bool response = false; mmu_print_saved = false; bool lcd_update_was_enabled = false; - float hotend_temp_bckp; - float z_position_bckp, x_position_bckp, y_position_bckp; + float hotend_temp_bckp = degTargetHotend(active_extruder); + float z_position_bckp = current_position[Z_AXIS]; + float x_position_bckp = current_position[X_AXIS]; + float y_position_bckp = current_position[Y_AXIS]; while(!response) { - response = mmu_get_response(true); - if (!response) { - if (!mmu_print_saved) { //first occurence + response = mmu_get_response(true); //wait for "ok" from mmu + if (!response) { //no "ok" was received in reserved time frame, user will fix the issue on mmu unit + if (!mmu_print_saved) { //first occurence, we are saving current position, park print head in certain position and disable nozzle heater if (lcd_update_enabled) { lcd_update_was_enabled = true; lcd_update_enable(false); @@ -8907,61 +8935,59 @@ void manage_response() { mmu_print_saved = true; hotend_temp_bckp = degTargetHotend(active_extruder); - z_position_bckp = current_position[Z_AXIS]; - x_position_bckp = current_position[X_AXIS]; - y_position_bckp = current_position[Y_AXIS]; - - //lift z - current_position[Z_AXIS] += Z_PAUSE_LIFT; - if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS; - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder); - st_synchronize(); - //set nozzle target temperature to 0 - setAllTargetHotends(0); - - //Move XY to side - current_position[X_AXIS] = X_PAUSE_POS; - current_position[Y_AXIS] = Y_PAUSE_POS; - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder); - st_synchronize(); + if (move_axes) { + z_position_bckp = current_position[Z_AXIS]; + x_position_bckp = current_position[X_AXIS]; + y_position_bckp = current_position[Y_AXIS]; + + //lift z + current_position[Z_AXIS] += Z_PAUSE_LIFT; + if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder); + st_synchronize(); + + //Move XY to side + current_position[X_AXIS] = X_PAUSE_POS; + current_position[Y_AXIS] = Y_PAUSE_POS; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder); + st_synchronize(); + } + if (turn_off_nozzle) { + //set nozzle target temperature to 0 + setAllTargetHotends(0); + printf_P(PSTR("MMU not responding\n")); + lcd_show_fullscreen_message_and_wait_P(_i("MMU needs user attention. Please press knob to resume nozzle target temperature.")); + setTargetHotend(hotend_temp_bckp, active_extruder); + while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5) { + delay_keep_alive(1000); + lcd_wait_for_heater(); + } + } } - printf_P(PSTR("MMU not responding\n")); - lcd_show_fullscreen_message_and_wait_P(_i("MMU needs user attention. Please press knob to resume nozzle target temperature.")); - setTargetHotend(hotend_temp_bckp, active_extruder); - while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5) { - delay_keep_alive(1000); - lcd_wait_for_heater(); - } - lcd_display_message_fullscreen_P(_i("Now check MMU. Fix the issue and then press knob on MMU unit.")); + lcd_display_message_fullscreen_P(_i("Check MMU. Fix the issue and then press button on MMU unit.")); } else if (mmu_print_saved) { printf_P(PSTR("MMU start responding\n")); lcd_clear(); lcd_display_message_fullscreen_P(_i("MMU OK. Resuming...")); - current_position[X_AXIS] = x_position_bckp; - current_position[Y_AXIS] = y_position_bckp; - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder); - st_synchronize(); - current_position[Z_AXIS] = z_position_bckp; - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder); - st_synchronize(); + if (move_axes) { + current_position[X_AXIS] = x_position_bckp; + current_position[Y_AXIS] = y_position_bckp; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder); + st_synchronize(); + current_position[Z_AXIS] = z_position_bckp; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder); + st_synchronize(); + } + else { + delay_keep_alive(1000); //delay just for showing MMU OK message for a while in case that there are no xyz movements + } } } if (lcd_update_was_enabled) lcd_update_enable(true); } void mmu_load_to_nozzle() { - /*bool saved_e_relative_mode = axis_relative_modes[E_AXIS]; - if (!saved_e_relative_mode) { - enquecommand_front_P(PSTR("M82")); // set extruder to relative mode - } - enquecommand_front_P((PSTR("G1 E7.2000 F562"))); - enquecommand_front_P((PSTR("G1 E14.4000 F871"))); - enquecommand_front_P((PSTR("G1 E36.0000 F1393"))); - enquecommand_front_P((PSTR("G1 E14.4000 F871"))); - if (!saved_e_relative_mode) { - enquecommand_front_P(PSTR("M83")); // set extruder to relative mode - }*/ st_synchronize(); bool saved_e_relative_mode = axis_relative_modes[E_AXIS]; @@ -9024,45 +9050,41 @@ void M600_check_state() { } void M600_wait_for_user() { + //Beep, manage nozzle heater and wait for user to start unload filament + KEEPALIVE_STATE(PAUSED_FOR_USER); - int counterBeep = 0; - + int counterBeep = 0; unsigned long waiting_start_time = millis(); uint8_t wait_for_user_state = 0; lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD)); - //-// bool bFirst=true; - - while (!(wait_for_user_state == 0 && lcd_clicked())){ - + while (!(wait_for_user_state == 0 && lcd_clicked())){ manage_heater(); manage_inactivity(true); - #if BEEPER > 0 - if (counterBeep == 500) { - counterBeep = 0; - } - SET_OUTPUT(BEEPER); - if (counterBeep == 0) { - //-// - //if(eSoundMode==e_SOUND_MODE_LOUD) - if((eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst)) - { - bFirst=false; - WRITE(BEEPER, HIGH); - } - } - if (counterBeep == 20) { - WRITE(BEEPER, LOW); + #if BEEPER > 0 + if (counterBeep == 500) { + counterBeep = 0; + } + SET_OUTPUT(BEEPER); + if (counterBeep == 0) { + if((eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst)) + { + bFirst=false; + WRITE(BEEPER, HIGH); } + } + if (counterBeep == 20) { + WRITE(BEEPER, LOW); + } - counterBeep++; -#endif + counterBeep++; + #endif //BEEPER > 0 switch (wait_for_user_state) { - case 0: + case 0: //nozzle is hot, waiting for user to press the knob to unload filament delay_keep_alive(4); if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) { @@ -9077,7 +9099,7 @@ void M600_wait_for_user() { disable_e2(); } break; - case 1: + case 1: //nozzle target temperature is set to zero, waiting for user to start nozzle preheat delay_keep_alive(4); if (lcd_clicked()) { @@ -9087,7 +9109,7 @@ void M600_wait_for_user() { wait_for_user_state = 2; } break; - case 2: + case 2: //waiting for nozzle to reach target temperature if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) { lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD)); @@ -9110,29 +9132,35 @@ void M600_wait_for_user() { void mmu_M600_load_filament(bool automatic) { //load filament for mmu v2 - bool response = false; - bool yes = false; - if (!automatic) - { - yes = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Do you want to switch extruder?"), false); - if (yes) tmp_extruder = choose_extruder_menu(); - else tmp_extruder = mmu_extruder; - } - else - { - tmp_extruder = (tmp_extruder+1)%5; - } - lcd_update_enable(false); - lcd_clear(); - lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT)); - lcd_print(" "); - lcd_print(tmp_extruder + 1); - snmm_filaments_used |= (1 << tmp_extruder); //for stop print - printf_P(PSTR("T code: %d \n"), tmp_extruder); - mmu_printf_P(PSTR("T%d\n"), tmp_extruder); - manage_response(); - mmu_extruder = tmp_extruder; //filament change is finished - mmu_load_to_nozzle(); + + bool response = false; + bool yes = false; + if (!automatic) { + yes = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Do you want to switch extruder?"), false); + if(yes) tmp_extruder = choose_extruder_menu(); + else tmp_extruder = mmu_extruder; + + } + else { + tmp_extruder = (tmp_extruder+1)%5; + } + lcd_update_enable(false); + lcd_clear(); + lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT)); + lcd_print(" "); + lcd_print(tmp_extruder + 1); + snmm_filaments_used |= (1 << tmp_extruder); //for stop print + printf_P(PSTR("T code: %d \n"), tmp_extruder); + mmu_printf_P(PSTR("T%d\n"), tmp_extruder); + + manage_response(false, true); + mmu_extruder = tmp_extruder; //filament change is finished + + mmu_load_to_nozzle(); + + st_synchronize(); + current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2, active_extruder); } void M600_load_filament_movements() diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index 524654c5..70cc4ef3 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -12,7 +12,7 @@ extern const char* lcd_display_message_fullscreen_P(const char *msg); extern void lcd_return_to_status(); -#define MMU_TIMEOUT 1000 +#define MMU_TIMEOUT 100 bool mmu_enabled = false; @@ -193,7 +193,7 @@ void extr_adj(int extruder) //loading filament for SNMM lcd_print(mmu_extruder + 1); // get response - manage_response(); + manage_response(false, false); lcd_update_enable(true); @@ -268,7 +268,7 @@ void extr_unload() fprintf_P(uart2io, PSTR("U0\n")); // get response - manage_response(); + manage_response(false, true); lcd_update_enable(true); #else //SNMM diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp index 77fc3bbf..02bf82c3 100644 --- a/Firmware/ultralcd.cpp +++ b/Firmware/ultralcd.cpp @@ -3051,8 +3051,8 @@ bool lcd_wait_for_pinda(float temp) { } void lcd_wait_for_heater() { - lcd_display_message_fullscreen_P(_T(MSG_WIZARD_HEATING)); - + lcd_display_message_fullscreen_P(_T(MSG_WIZARD_HEATING)); + lcd_set_degree(); lcd_set_cursor(0, 4); lcd_print(LCD_STR_THERMOMETER[0]); lcd_print(ftostr3(degHotend(active_extruder))); diff --git a/Firmware/xyzcal.cpp b/Firmware/xyzcal.cpp index 027cfdfb..27d4f519 100644 --- a/Firmware/xyzcal.cpp +++ b/Firmware/xyzcal.cpp @@ -32,7 +32,7 @@ #define _PI 3.14159265F -extern long count_position[NUM_AXIS]; +extern volatile long count_position[NUM_AXIS]; uint8_t check_pinda_0(); uint8_t check_pinda_1();