diff --git a/Firmware/Marlin.h b/Firmware/Marlin.h index d8ccc92e..2bbab987 100644 --- a/Firmware/Marlin.h +++ b/Firmware/Marlin.h @@ -467,8 +467,8 @@ void gcode_M701(); void proc_commands(); -void manage_response(); -bool mmu_get_response(bool timeout); +void manage_response(bool move_axes, bool turn_off_nozzle); +bool mmu_get_response(bool timeout, bool clear); void mmu_not_responding(); void mmu_load_to_nozzle(); void M600_load_filament(); diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 11cea06f..e69ce5a1 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -3088,7 +3088,9 @@ void gcode_M600(bool automatic, float x_position, float y_position, float z_shif //First backup current position and settings feedmultiplyBckp=feedmultiply; - 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]; @@ -3505,7 +3507,7 @@ void process_commands() } else if(code_seen("Fir")){ - SERIAL_PROTOCOLLN(FW_VERSION); + SERIAL_PROTOCOLLN(FW_VERSION_FULL); } else if(code_seen("Rev")){ @@ -5923,10 +5925,31 @@ 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 @@ -6814,7 +6837,7 @@ if (mmu_enabled) printf_P(PSTR("T code: %d \n"), tmp_extruder); fprintf_P(uart2io, PSTR("T%d\n"), tmp_extruder); - manage_response(); + manage_response(true, true); snmm_extruder = tmp_extruder; //filament change is finished @@ -8850,11 +8873,14 @@ static void print_time_remaining_init() { print_percent_done_silent = PRINT_PERCENT_DONE_INIT; } -bool mmu_get_response(bool timeout) { +bool mmu_get_response(bool timeout, bool clear) { + //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; - uart2_rx_clr(); - + if (clear) uart2_rx_clr(); + KEEPALIVE_STATE(IN_PROCESS); mmu_get_reponse_timeout.start(); while (!uart2_rx_ok()) { @@ -8868,16 +8894,19 @@ 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, !mmu_print_saved); //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); @@ -8886,61 +8915,59 @@ 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]; @@ -9003,45 +9030,41 @@ 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) { @@ -9054,7 +9077,7 @@ 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()) { @@ -9064,7 +9087,7 @@ 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)); @@ -9106,9 +9129,13 @@ void mmu_M600_load_filament(bool automatic) snmm_filaments_used |= (1 << tmp_extruder); //for stop print printf_P(PSTR("T code: %d \n"), tmp_extruder); fprintf_P(uart2io, PSTR("T%d\n"), tmp_extruder); - manage_response(); - snmm_extruder = tmp_extruder; //filament change is finished + manage_response(false, true); + snmm_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 2206e3dc..6afa8229 100644 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -107,7 +107,7 @@ void extr_adj(int extruder) //loading filament for SNMM lcd_print(snmm_extruder + 1); // get response - manage_response(); + manage_response(false, false); lcd_update_enable(true); @@ -182,7 +182,7 @@ 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 dd1e912d..0ca7cf92 100644 --- a/Firmware/ultralcd.cpp +++ b/Firmware/ultralcd.cpp @@ -3047,8 +3047,8 @@ 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)));