Merge branch 'MK3' into print_fan_speed

Firmware/Configuration.h

@@ -4,8 +4,14 @@
 #include "boards.h"
 #include "Configuration_prusa.h"
 
+#define STR_HELPER(x) #x
+#define STR(x) STR_HELPER(x)
+
 // Firmware version
 #define FW_version "3.0.12-RC2"
+#define FW_build   104
+#define FW_version_build FW_version " b" STR(FW_build)
+
 
 #define FW_PRUSA3D_MAGIC "PRUSA3DFW"
 #define FW_PRUSA3D_MAGIC_LEN 10
@@ -64,6 +70,12 @@
 #define EEPROM_CRASH_DET       (EEPROM_UVLO_MESH_BED_LEVELING-12) 
 // 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)
 
 // Currently running firmware, each digit stored as uint16_t.
 // The flavor differentiates a dev, alpha, beta, release candidate or a release version.

Firmware/Configuration_prusa.h

@@ -32,7 +32,8 @@
 
 // Steps per unit {X,Y,Z,E}
 //#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,140}
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280}
+//#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,560}
 
 // Endstop inverting
 const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
@@ -76,9 +77,13 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define Z_AXIS_ALWAYS_ON 1
 
+// Automatic recovery after crash is detected
+#define AUTOMATIC_RECOVERY_AFTER_CRASH
+
 //DEBUG
 #define DEBUG_DCODES //D codes
 #if 1
+#define DEBUG_FSENSOR_LOG          //Reports fsensor status to serial
 //#define DEBUG_CRASHDET_COUNTERS  //Display crash-detection counters on LCD
 //#define DEBUG_RESUME_PRINT       //Resume/save print debug enable 
 //#define DEBUG_UVLO_AUTOMATIC_RECOVER // Power panic automatic recovery debug output 
@@ -107,7 +112,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define TMC2130_USTEPS_XY   16        // microstep resolution for XY axes
 #define TMC2130_USTEPS_Z    16        // microstep resolution for Z axis
-#define TMC2130_USTEPS_E    32        // microstep resolution for E axis
+#define TMC2130_USTEPS_E    64        // microstep resolution for E axis
 #define TMC2130_INTPOL_XY   1         // extrapolate 256 for XY axes
 #define TMC2130_INTPOL_Z    1         // extrapolate 256 for Z axis
 #define TMC2130_INTPOL_E    1         // extrapolate 256 for E axis
@@ -157,8 +162,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_SG_DELTA      128    // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
 
 //new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
-#define TMC2130_CURRENTS_H {3, 3, 5, 8}  // default holding currents for all axes
+#define TMC2130_CURRENTS_H {3, 3, 5, 12}  // default holding currents for all axes
-#define TMC2130_CURRENTS_R {13, 20, 20, 22}  // default running currents for all axes
+#define TMC2130_CURRENTS_R {13, 20, 20, 28}  // default running currents for all axes
 
 //#define TMC2130_DEBUG
 //#define TMC2130_DEBUG_WR

Firmware/Dcodes.cpp

@@ -1,6 +1,7 @@
 #include "Dcodes.h"
 #include "Marlin.h"
 #include "cmdqueue.h"
+#include "pat9125.h"
 
 inline void serial_print_hex_nibble(uint8_t val)
 {
@@ -189,4 +190,57 @@ void dcode_4()
 	}
 }
 
+void dcode_9125()
+{
+	MYSERIAL.println("D9125 - PAT9125");
+	if ((strchr_pointer[1+4] == '?') || (strchr_pointer[1+4] == 0))
+	{
+		MYSERIAL.print("res_x=");
+		MYSERIAL.print(pat9125_xres, DEC);
+		MYSERIAL.print(" res_y=");
+		MYSERIAL.print(pat9125_yres, DEC);
+		MYSERIAL.print(" x=");
+		MYSERIAL.print(pat9125_x, DEC);
+		MYSERIAL.print(" y=");
+		MYSERIAL.print(pat9125_y, DEC);
+		MYSERIAL.print(" b=");
+		MYSERIAL.print(pat9125_b, DEC);
+		MYSERIAL.print(" s=");
+		MYSERIAL.println(pat9125_s, DEC);
+		return;
+	}
+	if (strchr_pointer[1+4] == '!')
+	{
+		pat9125_update();
+		MYSERIAL.print("x=");
+		MYSERIAL.print(pat9125_x, DEC);
+		MYSERIAL.print(" y=");
+		MYSERIAL.print(pat9125_y, DEC);
+		MYSERIAL.print(" b=");
+		MYSERIAL.print(pat9125_b, DEC);
+		MYSERIAL.print(" s=");
+		MYSERIAL.println(pat9125_s, DEC);
+		return;
+	}
+	if (code_seen('R'))
+	{
+		unsigned char res = (int)code_value();
+		MYSERIAL.print("pat9125_init(xres=yres=");
+		MYSERIAL.print(res, DEC);
+		MYSERIAL.print(")=");
+		MYSERIAL.println(pat9125_init(res, res), DEC);
+	}
+	if (code_seen('X'))
+	{
+		pat9125_x = (int)code_value();
+		MYSERIAL.print("pat9125_x=");
+		MYSERIAL.print(pat9125_x, DEC);
+	}
+	if (code_seen('Y'))
+	{
+		pat9125_y = (int)code_value();
+		MYSERIAL.print("pat9125_y=");
+		MYSERIAL.print(pat9125_y, DEC);
+	}
+}
 

Firmware/Dcodes.h

@@ -7,5 +7,7 @@ extern void dcode_2();
 extern void dcode_3();
 extern void dcode_4();
 
+extern void dcode_9125();
+
 
 #endif //DCODES_H

Firmware/MarlinSerial.cpp

@@ -23,7 +23,7 @@
 #include "Marlin.h"
 #include "MarlinSerial.h"
 
-int selectedSerialPort = 0; 
+uint8_t selectedSerialPort = 0;
 
 #ifndef AT90USB
 // this next line disables the entire HardwareSerial.cpp, 
@@ -58,23 +58,23 @@ FORCE_INLINE void store_char(unsigned char c)
       // Test for a framing error.
       if (M_UCSRxA & (1<<M_FEx)) {
           // Characters received with the framing errors will be ignored.
-          // The temporary variable "c" was made volatile, so the compiler does not optimize this out.
+          // Dummy register read (discard)
-          volatile unsigned char c = M_UDRx;
+          (void)(*(char *)M_UDRx);
       } else {
           // Read the input register.
           unsigned char c = M_UDRx;
           store_char(c);
       }
   }
-  
+#ifndef SNMM
   SIGNAL(USART2_RX_vect)
   {
       if (selectedSerialPort == 1) {
         // Test for a framing error.
         if (UCSR2A & (1<<FE2)) {
             // Characters received with the framing errors will be ignored.
-            // The temporary variable "c" was made volatile, so the compiler does not optimize this out.
+            // Dummy register read (discard)
-            volatile unsigned char c = UDR2;
+            (void)(*(char *)UDR2);
         } else {
             // Read the input register.
             unsigned char c = UDR2;
@@ -84,6 +84,7 @@ FORCE_INLINE void store_char(unsigned char c)
       }
   }
 #endif
+#endif
 
 // Constructors ////////////////////////////////////////////////////////////////
 
@@ -124,8 +125,9 @@ void MarlinSerial::begin(long baud)
   sbi(M_UCSRxB, M_TXENx);
   sbi(M_UCSRxB, M_RXCIEx);
   
+#ifndef SNMM
 
-// set up the second serial port
+  if (selectedSerialPort == 1) { //set up also the second serial port 
 	  if (useU2X) {
 		  UCSR2A = 1 << U2X2;
 		  baud_setting = (F_CPU / 4 / baud - 1) / 2;
@@ -142,6 +144,8 @@ void MarlinSerial::begin(long baud)
 	  sbi(UCSR2B, TXEN2);
 	  sbi(UCSR2B, RXCIE2);	  
   }
+#endif
+}
 
 void MarlinSerial::end()
 {
@@ -149,9 +153,11 @@ void MarlinSerial::end()
   cbi(M_UCSRxB, M_TXENx);
   cbi(M_UCSRxB, M_RXCIEx);
 
+#ifndef SNMM
   cbi(UCSR2B, RXEN2);
   cbi(UCSR2B, TXEN2);
   cbi(UCSR2B, RXCIE2);
+#endif
 }
 
 

Firmware/MarlinSerial.h

@@ -73,7 +73,7 @@
 // is the index of the location from which to read.
 #define RX_BUFFER_SIZE 128
 
-extern int selectedSerialPort;
+extern uint8_t selectedSerialPort;
 
 struct ring_buffer
 {

Firmware/Marlin_main.cpp

@@ -70,6 +70,7 @@
 
 #ifdef PAT9125
 #include "pat9125.h"
+#include "fsensor.h"
 #endif //PAT9125
 
 #ifdef TMC2130
@@ -613,117 +614,6 @@ void crashdet_stop_and_save_print2()
 }
 
 
-#ifdef PAT9125
-
-void fsensor_stop_and_save_print()
-{
-//	stop_and_save_print_to_ram(10, -0.8); //XY - no change, Z 10mm up, E 0.8mm in
-	stop_and_save_print_to_ram(0, 0); //XYZE - no change
-}
-
-void fsensor_restore_print_and_continue()
-{
-	restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
-}
-
-
-bool fsensor_enabled = true;
-bool fsensor_ignore_error = true;
-bool fsensor_M600 = false;
-long fsensor_prev_pos_e = 0;
-uint8_t fsensor_err_cnt = 0;
-
-#define FSENS_ESTEPS 280  //extruder resolution [steps/mm]
-//#define FSENS_MINDEL 560  //filament sensor min delta [steps] (3mm)
-#define FSENS_MINDEL 280  //filament sensor min delta [steps] (3mm)
-#define FSENS_MINFAC 3    //filament sensor minimum factor [count/mm]
-//#define FSENS_MAXFAC 50   //filament sensor maximum factor [count/mm]
-#define FSENS_MAXFAC 40   //filament sensor maximum factor [count/mm]
-//#define FSENS_MAXERR 2    //filament sensor max error count
-#define FSENS_MAXERR 5    //filament sensor max error count
-
-extern int8_t FSensorStateMenu;
-
-
-void fsensor_enable()
-{
-	MYSERIAL.println("fsensor_enable");
-	pat9125_y = 0;
-	fsensor_prev_pos_e = st_get_position(E_AXIS);
-	fsensor_err_cnt = 0;
-	fsensor_enabled = true;
-	fsensor_ignore_error = true;
-	fsensor_M600 = false;
-	eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0xFF); 
-	FSensorStateMenu = 1;
-}
-
-void fsensor_disable()
-{
-	MYSERIAL.println("fsensor_disable");
-	fsensor_enabled = false;
-	eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x00); 
-	FSensorStateMenu = 0;
-}
-
-void fsensor_update()
-{
-	if (!fsensor_enabled) return;
-	long pos_e = st_get_position(E_AXIS); //current position
-	pat9125_update();
-	long del_e = pos_e - fsensor_prev_pos_e; //delta
-	if (abs(del_e) < FSENS_MINDEL) return;
-	float de = ((float)del_e / FSENS_ESTEPS);
-	int cmin = de * FSENS_MINFAC;
-	int cmax = de * FSENS_MAXFAC;
-	int cnt = -pat9125_y;
-	fsensor_prev_pos_e = pos_e;
-	pat9125_y = 0;
-	bool err = false;
-	if ((del_e > 0) && ((cnt < cmin) || (cnt > cmax))) err = true;
-	if ((del_e < 0) && ((cnt > cmin) || (cnt < cmax))) err = true;
-	if (err)
-		fsensor_err_cnt++;
-	else
-		fsensor_err_cnt = 0;
-
-/**/
-	MYSERIAL.print("pos_e=");
-	MYSERIAL.print(pos_e);
-	MYSERIAL.print(" de=");
-	MYSERIAL.print(de);
-	MYSERIAL.print(" cmin=");
-	MYSERIAL.print((int)cmin);
-	MYSERIAL.print(" cmax=");
-	MYSERIAL.print((int)cmax);
-	MYSERIAL.print(" cnt=");
-	MYSERIAL.print((int)cnt);
-	MYSERIAL.print(" err=");
-	MYSERIAL.println((int)fsensor_err_cnt);/**/
-
-//	return;
-
-	if (fsensor_err_cnt > FSENS_MAXERR)
-	{
-		MYSERIAL.println("fsensor_update (fsensor_err_cnt > FSENS_MAXERR)");
-		if (fsensor_ignore_error)
-		{
-			MYSERIAL.println("fsensor_update - error ignored)");
-			fsensor_ignore_error = false;
-		}
-		else
-		{
-			MYSERIAL.println("fsensor_update - ERROR!!!");
-			fsensor_stop_and_save_print();
-			enquecommand_front_P((PSTR("M600")));
-			fsensor_M600 = true;
-			fsensor_enabled = false;
-		}
-	}
-}
-
-#endif //PAT9125
-
 
 #ifdef MESH_BED_LEVELING
    enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
@@ -917,9 +807,10 @@ void setup()
 
 #ifdef PAT9125
     MYSERIAL.print("PAT9125_init:");
-    MYSERIAL.println(pat9125_init(200, 200));
+	int pat9125 = pat9125_init(200, 200);
-
+	MYSERIAL.println(pat9125);
 	uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
+	if (!pat9125) fsensor = 0; //disable sensor
 	if (fsensor)
 	{
 		fsensor_enable();
@@ -1101,6 +992,8 @@ void setup()
 	check_babystep(); //checking if Z babystep is in allowed range
 	setup_uvlo_interrupt();
 	setup_fan_interrupt();
+	fsensor_setup_interrupt();
+
 	
 #ifndef DEBUG_DISABLE_STARTMSGS
 
@@ -4482,6 +4375,8 @@ Sigma_Exit:
       SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
       SERIAL_PROTOCOLPGM(" Z:");
       SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
+      SERIAL_PROTOCOLPGM(" E:");
+      SERIAL_PROTOCOL(float(st_get_position(E_AXIS))/axis_steps_per_unit[E_AXIS]);
 
       SERIAL_PROTOCOLLN("");
       break;
@@ -5824,6 +5719,8 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 		dcode_3(); break;
 	case 4: // D4 - Read/Write PIN
 		dcode_4(); break;
+	case 9125: // D9125 - PAT9125
+		dcode_9125(); break;
 	case 5:
 		MYSERIAL.println("D5 - Test");
 		if (code_seen('P'))
@@ -5834,6 +5731,11 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 	case 10: // D10 - Tell the printer that XYZ calibration went OK
         calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST); 
         break;
+    
+    case 12: //D12 - Reset Filament error, Power loss and crash counter ( Do it before every print and you can get stats for the print )
+        eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT, 0x00);
+        eeprom_update_byte((uint8_t*)EEPROM_FERROR_COUNT, 0x00);
+        eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, 0x00);
 	case 999:
 	{
 		MYSERIAL.println("D999 - crash");
@@ -5848,7 +5750,17 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 		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);
+        
+#ifdef AUTOMATIC_RECOVERY_AFTER_CRASH
+        bool yesno = true;
+#else
         bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_CRASH_DETECTED, false);
+#endif
 		lcd_update_enable(true);
 		lcd_update(2);
 		lcd_setstatuspgm(WELCOME_MSG);
@@ -7072,6 +6984,11 @@ void uvlo_()
 #endif
     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);
+    
 		SERIAL_ECHOLNPGM("UVLO - end");
 		cli();
 		while(1);

Firmware/fsensor.cpp

@@ -0,0 +1,162 @@
+#include "Marlin.h"
+
+#ifdef PAT9125
+
+#include "fsensor.h"
+#include "pat9125.h"
+#include "planner.h"
+
+//#include "LiquidCrystal.h"
+//extern LiquidCrystal lcd;
+
+
+#define FSENSOR_ERR_MAX      5  //filament sensor max error count
+#define FSENSOR_INT_PIN     63  //filament sensor interrupt pin
+#define FSENSOR_CHUNK_LEN  560  //filament sensor chunk length in steps
+
+extern void stop_and_save_print_to_ram(float z_move, float e_move);
+extern void restore_print_from_ram_and_continue(float e_move);
+extern int8_t FSensorStateMenu;
+
+void fsensor_stop_and_save_print()
+{
+	stop_and_save_print_to_ram(0, 0); //XYZE - no change
+}
+
+void fsensor_restore_print_and_continue()
+{
+	restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
+}
+
+uint8_t fsensor_int_pin = FSENSOR_INT_PIN;
+int16_t fsensor_chunk_len = FSENSOR_CHUNK_LEN;
+bool fsensor_enabled = true;
+//bool fsensor_ignore_error = true;
+bool fsensor_M600 = false;
+uint8_t fsensor_err_cnt = 0;
+int16_t fsensor_st_cnt = 0;
+
+
+void fsensor_enable()
+{
+	MYSERIAL.println("fsensor_enable");
+	fsensor_enabled = true;
+//	fsensor_ignore_error = true;
+	fsensor_M600 = false;
+	fsensor_err_cnt = 0;
+	eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0xFF); 
+	FSensorStateMenu = 1;
+}
+
+void fsensor_disable()
+{
+	MYSERIAL.println("fsensor_disable");
+	fsensor_enabled = false;
+	eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x00); 
+	FSensorStateMenu = 0;
+}
+
+void pciSetup(byte pin)
+{
+	*digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin
+	PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
+	PCICR |= bit (digitalPinToPCICRbit(pin)); // enable interrupt for the group 
+}
+
+void fsensor_setup_interrupt()
+{
+	uint8_t fsensor_int_pin = 63;
+
+	pinMode(fsensor_int_pin, OUTPUT);
+	digitalWrite(fsensor_int_pin, HIGH); 
+
+	pciSetup(fsensor_int_pin);
+}
+
+ISR(PCINT2_vect)
+{
+//	return;
+	int st_cnt = fsensor_st_cnt;
+	fsensor_st_cnt = 0;
+	sei();
+	*digitalPinToPCMSK(fsensor_int_pin) &= ~bit(digitalPinToPCMSKbit(fsensor_int_pin));
+	digitalWrite(fsensor_int_pin, HIGH);
+	*digitalPinToPCMSK(fsensor_int_pin) |= bit(digitalPinToPCMSKbit(fsensor_int_pin));
+	pat9125_update_y();
+	if (st_cnt != 0)
+	{
+#ifdef DEBUG_FSENSOR_LOG
+		MYSERIAL.print("cnt=");
+		MYSERIAL.print(st_cnt, DEC);
+		MYSERIAL.print(" dy=");
+		MYSERIAL.print(pat9125_y, DEC);
+#endif //DEBUG_FSENSOR_LOG
+		if (st_cnt != 0)
+		{
+			if( (pat9125_y == 0) || ((pat9125_y > 0) && (st_cnt < 0)) || ((pat9125_y < 0) && (st_cnt > 0)))
+			{ //invalid movement
+				fsensor_err_cnt++;
+#ifdef DEBUG_FSENSOR_LOG
+				MYSERIAL.print("\tNG ! err=");
+				MYSERIAL.println(fsensor_err_cnt, DEC);
+#endif //DEBUG_FSENSOR_LOG
+			}
+			else
+			{ //propper movement
+				if (fsensor_err_cnt > 0)
+					fsensor_err_cnt--;
+#ifdef DEBUG_FSENSOR_LOG
+				MYSERIAL.print("\tOK    err=");
+				MYSERIAL.println(fsensor_err_cnt, DEC);
+#endif //DEBUG_FSENSOR_LOG
+			}
+		}
+		else
+		{ //no movement
+#ifdef DEBUG_FSENSOR_LOG
+			MYSERIAL.println("\tOK 0");
+#endif //DEBUG_FSENSOR_LOG
+		}
+	}
+	pat9125_y = 0;
+	return;
+}
+
+void fsensor_st_block_begin(block_t* bl)
+{
+	if ((fsensor_st_cnt > 0) && (bl->direction_bits & 0x8))
+		digitalWrite(fsensor_int_pin, LOW);
+	if ((fsensor_st_cnt < 0) && !(bl->direction_bits & 0x8))
+		digitalWrite(fsensor_int_pin, LOW);
+}
+
+void fsensor_st_block_chunk(block_t* bl, int cnt)
+{
+	fsensor_st_cnt += (bl->direction_bits & 0x8)?-cnt:cnt;
+	if ((fsensor_st_cnt >= fsensor_chunk_len) || (fsensor_st_cnt <= -fsensor_chunk_len))
+		digitalWrite(fsensor_int_pin, LOW);
+}
+
+void fsensor_update()
+{
+	if (!fsensor_enabled) return;
+	if (fsensor_err_cnt > FSENSOR_ERR_MAX)
+	{
+		MYSERIAL.println("fsensor_update (fsensor_err_cnt > FSENSOR_ERR_MAX)");
+/*		if (fsensor_ignore_error)
+		{
+			MYSERIAL.println("fsensor_update - error ignored)");
+			fsensor_ignore_error = false;
+		}
+		else*/
+		{
+			MYSERIAL.println("fsensor_update - ERROR!!!");
+			fsensor_stop_and_save_print();
+			enquecommand_front_P((PSTR("M600")));
+			fsensor_M600 = true;
+			fsensor_enabled = false;
+		}
+	}
+}
+
+#endif //PAT9125

Firmware/fsensor.h

@@ -0,0 +1,30 @@
+#ifndef FSENSOR_H
+#define FSENSOR_H
+
+#include "planner.h"
+
+//save restore printing
+extern void fsensor_stop_and_save_print();
+extern void fsensor_restore_print_and_continue();
+
+//enable/disable
+extern void fsensor_enable();
+extern void fsensor_disable();
+
+//update (perform M600 on filament runout)
+extern void fsensor_update();
+
+//setup pin-change interrupt
+extern void fsensor_setup_interrupt();
+
+//callbacks from stepper
+extern void fsensor_st_block_begin(block_t* bl);
+extern void fsensor_st_block_chunk(block_t* bl, int cnt);
+
+//minimum meassured chunk length in steps
+extern int16_t fsensor_chunk_len;
+//M600 in progress
+extern bool fsensor_M600;
+
+
+#endif //FSENSOR_H

Firmware/pat9125.cpp

@@ -10,13 +10,19 @@
 #ifdef PAT9125_SWI2C
 #include "swi2c.h"
 #endif //PAT9125_SWI2C
+#ifdef PAT9125_HWI2C
+#include <Wire.h>
+#endif //PAT9125_HWI2C
 
 
 unsigned char pat9125_PID1 = 0;
 unsigned char pat9125_PID2 = 0;
+unsigned char pat9125_xres = 0;
+unsigned char pat9125_yres = 0;
 int pat9125_x = 0;
 int pat9125_y = 0;
-int pat9125_b = 0;
+unsigned char pat9125_b = 0;
+unsigned char pat9125_s = 0;
 
 int pat9125_init(unsigned char xres, unsigned char yres)
 {
@@ -26,14 +32,20 @@ int pat9125_init(unsigned char xres, unsigned char yres)
 #ifdef PAT9125_SWI2C
 	swi2c_init(PAT9125_SWI2C_SDA, PAT9125_SWI2C_SCL, PAT9125_SWI2C_CFG);
 #endif //PAT9125_SWI2C
+#ifdef PAT9125_HWI2C
+	Wire.begin();
+#endif //PAT9125_HWI2C
+	pat9125_xres = xres;
+	pat9125_yres = yres;
 	pat9125_PID1 = pat9125_rd_reg(PAT9125_PID1);
 	pat9125_PID2 = pat9125_rd_reg(PAT9125_PID2);
 	if ((pat9125_PID1 != 0x31) || (pat9125_PID2 != 0x91))
 	{
 		return 0;
 	}
-    pat9125_wr_reg(PAT9125_RES_X, xres);
+    pat9125_wr_reg(PAT9125_RES_X, pat9125_xres);
-    pat9125_wr_reg(PAT9125_RES_Y, yres);
+    pat9125_wr_reg(PAT9125_RES_Y, pat9125_yres);
+//	pat9125_wr_reg(PAT9125_ORIENTATION, 0x04 | (xinv?0x08:0) | (yinv?0x10:0)); //!? direction switching does not work
 	return 1;
 }
 
@@ -43,6 +55,7 @@ int pat9125_update()
 	{
 		unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);
 		pat9125_b = pat9125_rd_reg(PAT9125_FRAME);
+		pat9125_s = pat9125_rd_reg(PAT9125_SHUTTER);
 		if (ucMotion & 0x80)
 		{
 			unsigned char ucXL = pat9125_rd_reg(PAT9125_DELTA_XL);
@@ -53,7 +66,25 @@ int pat9125_update()
 			if (iDX & 0x800) iDX -= 4096;
 			if (iDY & 0x800) iDY -= 4096;
 			pat9125_x += iDX;
-			pat9125_y += iDY;
+			pat9125_y -= iDY; //negative number, because direction switching does not work
+			return 1;
+		}
+	}
+	return 0;
+}
+
+int pat9125_update_y()
+{
+	if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
+	{
+		unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);
+		if (ucMotion & 0x80)
+		{
+			unsigned char ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
+			unsigned char ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
+			int iDY = ucYL | ((ucXYH << 8) & 0xf00);
+			if (iDY & 0x800) iDY -= 4096;
+			pat9125_y -= iDY; //negative number, because direction switching does not work
 			return 1;
 		}
 	}
@@ -72,6 +103,14 @@ unsigned char pat9125_rd_reg(unsigned char addr)
 #ifdef PAT9125_SWI2C
 	int iret = swi2c_readByte_A8(PAT9125_I2C_ADDR, addr, &data);
 #endif //PAT9125_SWI2C
+#ifdef PAT9125_HWI2C
+	Wire.beginTransmission(PAT9125_I2C_ADDR);
+	Wire.write(addr);
+	Wire.endTransmission();
+	if (Wire.requestFrom(PAT9125_I2C_ADDR, 1) == 1)
+//	if (Wire.available())
+		data = Wire.read();
+#endif //PAT9125_HWI2C
 	return data;
 }
 
@@ -86,6 +125,13 @@ void pat9125_wr_reg(unsigned char addr, unsigned char data)
 #ifdef PAT9125_SWI2C
 	int iret = swi2c_writeByte_A8(PAT9125_I2C_ADDR, addr, &data);
 #endif //PAT9125_SWI2C
+#ifdef PAT9125_HWI2C
+	Wire.beginTransmission(PAT9125_I2C_ADDR);
+	Wire.write(addr);
+	Wire.write(data);
+	Wire.endTransmission();
+#endif //PAT9125_HWI2C
+
 }
 
 #endif //PAT9125

Firmware/pat9125.h

@@ -27,12 +27,17 @@
 extern unsigned char pat9125_PID1;
 extern unsigned char pat9125_PID2;
 
+extern unsigned char pat9125_xres;
+extern unsigned char pat9125_yres;
+
 extern int pat9125_x;
 extern int pat9125_y;
-extern int pat9125_b;
+extern unsigned char pat9125_b;
+extern unsigned char pat9125_s;
 
 extern int pat9125_init(unsigned char xres, unsigned char yres);
 extern int pat9125_update();
+extern int pat9125_update_y();
 
 extern unsigned char pat9125_rd_reg(unsigned char addr);
 extern void pat9125_wr_reg(unsigned char addr, unsigned char data);

Firmware/pins_Einy_0_4.h

@@ -20,13 +20,15 @@
 #define PAT9125_SWI2C_SCL      21 //SCL on P3
 #define PAT9125_SWI2C_CFG    0xb1 //2us clock delay, 2048 cycles timeout
 
+//#define PAT9125_HWI2C
+
 #define X_TMC2130_CS           41
 #define X_TMC2130_DIAG         64 // !!! changed from 40 (EINY03)
 #define X_STEP_PIN             37
 #define X_DIR_PIN              49
-//#define X_MIN_PIN            12
+#define X_MIN_PIN            12
 //#define X_MAX_PIN            30
-#define X_MIN_PIN              X_TMC2130_DIAG
+//#define X_MIN_PIN              X_TMC2130_DIAG
 #define X_MAX_PIN              X_TMC2130_DIAG
 #define X_ENABLE_PIN           29
 #define X_MS1_PIN           -1
@@ -36,9 +38,9 @@
 #define Y_TMC2130_DIAG      69
 #define Y_STEP_PIN          36
 #define Y_DIR_PIN           48
-//#define Y_MIN_PIN           11
+#define Y_MIN_PIN           11
 //#define Y_MAX_PIN           24
-#define Y_MIN_PIN           Y_TMC2130_DIAG
+//#define Y_MIN_PIN           Y_TMC2130_DIAG
 #define Y_MAX_PIN           Y_TMC2130_DIAG
 #define Y_ENABLE_PIN        28
 #define Y_MS1_PIN           -1

Firmware/stepper.cpp

@@ -37,7 +37,8 @@
 #endif //TMC2130
 
 #ifdef PAT9125
-extern uint8_t fsensor_err_cnt;
+#include "fsensor.h"
+int fsensor_counter = 0; //counter for e-steps
 #endif //PAT9125
 
 //===========================================================================
@@ -370,6 +371,10 @@ void isr() {
     // Anything in the buffer?
     current_block = plan_get_current_block();
     if (current_block != NULL) {
+#ifdef PAT9125
+	  fsensor_counter = 0;
+      fsensor_st_block_begin(current_block);
+#endif //PAT9125
 	  // The busy flag is set by the plan_get_current_block() call.
       // current_block->busy = true;
       trapezoid_generator_reset();
@@ -436,12 +441,19 @@ void isr() {
       CHECK_ENDSTOPS
       {
         {
-          #if defined(X_MIN_PIN) && (X_MIN_PIN > -1) && !defined(DEBUG_DISABLE_XMINLIMIT)
+          #if ( (defined(X_MIN_PIN) && (X_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMINLIMIT)
+            
+            #ifdef TMC2130_SG_HOMING
+            // Stall guard homing turned on, now decide if software or hardware one
                 #ifndef TMC2130_SG_HOMING_SW_XY
-				x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
+                x_min_endstop = (READ(X_TMC2130_DIAG) != X_MIN_ENDSTOP_INVERTING);
                 #else //TMC2130_SG_HOMING_SW_XY
                 x_min_endstop = tmc2130_axis_stalled[X_AXIS];
                 #endif //TMC2130_SG_HOMING_SW_XY
+            #else
+            // Normal homing
+            x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
+            #endif
             if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
               endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
               endstop_x_hit=true;
@@ -456,12 +468,19 @@ void isr() {
       CHECK_ENDSTOPS
       {
         {
-          #if defined(X_MAX_PIN) && (X_MAX_PIN > -1) && !defined(DEBUG_DISABLE_XMAXLIMIT)
+          #if ( (defined(X_MAX_PIN) && (X_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_XMAXLIMIT)
+            
+            #ifdef TMC2130_SG_HOMING
+            // Stall guard homing turned on, now decide if software or hardware one
                 #ifndef TMC2130_SG_HOMING_SW_XY
-				x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
+                x_max_endstop = (READ(X_TMC2130_DIAG) != X_MAX_ENDSTOP_INVERTING);
                 #else //TMC2130_SG_HOMING_SW_XY
                 x_max_endstop = tmc2130_axis_stalled[X_AXIS];
                 #endif //TMC2130_SG_HOMING_SW_XY
+            #else
+            // Normal homing
+            x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
+            #endif
             if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
               endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
               endstop_x_hit=true;
@@ -480,12 +499,20 @@ void isr() {
     #endif
       CHECK_ENDSTOPS
       {
-        #if defined(Y_MIN_PIN) && (Y_MIN_PIN > -1) && !defined(DEBUG_DISABLE_YMINLIMIT)
+          
+        #if ( (defined(Y_MIN_PIN) && (Y_MIN_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMINLIMIT)
+                  
+        #ifdef TMC2130_SG_HOMING
+        // Stall guard homing turned on, now decide if software or hardware one
             #ifndef TMC2130_SG_HOMING_SW_XY
-				y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
+            y_min_endstop = (READ(Y_TMC2130_DIAG) != Y_MIN_ENDSTOP_INVERTING);
             #else //TMC2130_SG_HOMING_SW_XY
             y_min_endstop = tmc2130_axis_stalled[Y_AXIS];
             #endif //TMC2130_SG_HOMING_SW_XY
+        #else
+        // Normal homing
+        y_min_endstop = (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
+        #endif
           if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
             endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
@@ -498,12 +525,19 @@ void isr() {
     else { // +direction
       CHECK_ENDSTOPS
       {
-        #if defined(Y_MAX_PIN) && (Y_MAX_PIN > -1) && !defined(DEBUG_DISABLE_YMAXLIMIT)
+        #if ( (defined(Y_MAX_PIN) && (Y_MAX_PIN > -1)) || defined(TMC2130_SG_HOMING) ) && !defined(DEBUG_DISABLE_YMAXLIMIT)
+                  
+        #ifdef TMC2130_SG_HOMING
+        // Stall guard homing turned on, now decide if software or hardware one
             #ifndef TMC2130_SG_HOMING_SW_XY
-				y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
+            y_max_endstop = (READ(Y_TMC2130_DIAG) != Y_MAX_ENDSTOP_INVERTING);
             #else //TMC2130_SG_HOMING_SW_XY
             y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
             #endif //TMC2130_SG_HOMING_SW_XY
+        #else
+        // Normal homing
+        y_max_endstop = (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
+        #endif
           if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
             endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
@@ -687,6 +721,9 @@ void isr() {
           counter_e -= current_block->step_event_count;
           count_position[E_AXIS]+=count_direction[E_AXIS];
           WRITE_E_STEP(INVERT_E_STEP_PIN);
+#ifdef PAT9125
+          fsensor_counter++;
+#endif //PAT9125
         }
 #endif
         
@@ -770,13 +807,20 @@ void isr() {
     if (step_events_completed >= current_block->step_event_count) {
 
 #ifdef PAT9125
-		if (current_block->steps_e < 0) //black magic - decrement filament sensor errors for negative extruder move
+      fsensor_st_block_chunk(current_block, fsensor_counter);
-			if (fsensor_err_cnt) fsensor_err_cnt--;
+	  fsensor_counter = 0;
 #endif //PAT9125
 
       current_block = NULL;
       plan_discard_current_block();
     }
+#ifdef PAT9125
+	else if (fsensor_counter >= fsensor_chunk_len)
+	{
+      fsensor_st_block_chunk(current_block, fsensor_counter);
+	  fsensor_counter = 0;
+	}
+#endif //PAT9125
   }
 #ifdef TMC2130
 	tmc2130_st_isr(LastStepMask);
@@ -805,6 +849,10 @@ void advance_isr() {
           WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
           e_steps < 0 ? ++e_steps : --e_steps;
           WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
+#ifdef PAT9125
+		  fsensor_counter++;
+#endif //PAT9125
+
       }
   }
 }
@@ -929,6 +977,18 @@ void st_init()
 
   //endstops and pullups
 
+  #ifdef TMC2130_SG_HOMING
+    SET_INPUT(X_TMC2130_DIAG);
+    WRITE(X_TMC2130_DIAG,HIGH);
+    
+    SET_INPUT(Y_TMC2130_DIAG);
+    WRITE(Y_TMC2130_DIAG,HIGH);
+    
+    SET_INPUT(Z_TMC2130_DIAG);
+    WRITE(Z_TMC2130_DIAG,HIGH);
+    
+  #endif
+    
   #if defined(X_MIN_PIN) && X_MIN_PIN > -1
     SET_INPUT(X_MIN_PIN);
     #ifdef ENDSTOPPULLUP_XMIN

Firmware/tmc2130.cpp

@@ -212,8 +212,8 @@ uint8_t tmc2130_sample_diag()
 	uint8_t mask = 0;
 	if (READ(X_TMC2130_DIAG)) mask |= X_AXIS_MASK;
 	if (READ(Y_TMC2130_DIAG)) mask |= Y_AXIS_MASK;
-	if (READ(Z_TMC2130_DIAG)) mask |= Z_AXIS_MASK;
+//	if (READ(Z_TMC2130_DIAG)) mask |= Z_AXIS_MASK;
-	if (READ(E0_TMC2130_DIAG)) mask |= E_AXIS_MASK;
+//	if (READ(E0_TMC2130_DIAG)) mask |= E_AXIS_MASK;
 	return mask;
 }
 
@@ -222,7 +222,8 @@ void tmc2130_st_isr(uint8_t last_step_mask)
 	if (tmc2130_mode == TMC2130_MODE_SILENT) return;
 	bool crash = false;
 	uint8_t diag_mask = tmc2130_sample_diag();
-	for (uint8_t axis = X_AXIS; axis <= E_AXIS; axis++)
+//	for (uint8_t axis = X_AXIS; axis <= E_AXIS; axis++)
+	for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++)
 	{
 		uint8_t mask = (X_AXIS_MASK << axis);
 		if (diag_mask & mask) tmc2130_sg_err[axis]++;

Firmware/ultralcd.cpp

@@ -189,6 +189,8 @@ static void prusa_stat_temperatures();
 static void prusa_stat_printinfo();
 static void lcd_farm_no();
 static void lcd_menu_extruder_info();
+static void lcd_menu_fails_stats();
+
 #ifdef DOGLCD
 static void lcd_set_contrast();
 #endif
@@ -961,6 +963,47 @@ static void lcd_menu_extruder_info()
     }
 }
 
+static void lcd_menu_fails_stats()
+{
+    
+    // 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));
+    
+
+    
+    if (lcd_clicked())
+    {
+        lcd_quick_feedback();
+        lcd_return_to_status();
+    }
+    
+}
+
 static void lcd_menu_temperatures()
 {
     lcd.setCursor(1, 1);
@@ -1034,13 +1077,15 @@ static void lcd_support_menu()
 
   MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
 
+  MENU_ITEM(back, PSTR("Firmware:"), lcd_main_menu);
+  MENU_ITEM(back, PSTR(" " FW_version_build), lcd_main_menu);
   // Ideally this block would be optimized out by the compiler.
-  const uint8_t fw_string_len = strlen_P(FW_VERSION_STR_P());
+/*  const uint8_t fw_string_len = strlen_P(FW_VERSION_STR_P());
   if (fw_string_len < 6) {
       MENU_ITEM(back, PSTR(MSG_FW_VERSION " - " FW_version), lcd_main_menu);
   } else {
       MENU_ITEM(back, PSTR("FW - " FW_version), lcd_main_menu);
-  }
+  }*/
       
   MENU_ITEM(back, MSG_PRUSA3D, lcd_main_menu);
   MENU_ITEM(back, MSG_PRUSA3D_FORUM, lcd_main_menu);
@@ -1066,6 +1111,8 @@ static void lcd_support_menu()
   MENU_ITEM(function, PSTR("XYZ cal. details"), lcd_service_mode_show_result);
     }
   MENU_ITEM(submenu, MSG_INFO_EXTRUDER, lcd_menu_extruder_info);
+    
+    
   MENU_ITEM(submenu, PSTR("Temperatures"), lcd_menu_temperatures);
   if (fans_check_enabled == true) {
 	  MENU_ITEM(function, PSTR("Check fans [EN]"), lcd_set_fan_check);
@@ -1074,6 +1121,10 @@ static void lcd_support_menu()
 	  MENU_ITEM(function, PSTR("Check fans [DIS]"), lcd_set_fan_check);
   }
   #endif //MK1BP
+    
+#ifdef AUTOMATIC_RECOVERY_AFTER_CRASH
+    MENU_ITEM(back, PSTR("Auto recover crash"), lcd_main_menu);
+#endif
   END_MENU();
 }
 
@@ -4013,6 +4064,9 @@ static void lcd_main_menu()
 	  MENU_ITEM(submenu, MSG_STATISTICS, lcd_menu_statistics);
   }
   MENU_ITEM(submenu, MSG_SUPPORT, lcd_support_menu);
+    
+  MENU_ITEM(submenu, PSTR("Fail stats"), lcd_menu_fails_stats);
+    
   END_MENU();
 
 }

Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h

@@ -32,7 +32,7 @@
 
 // Steps per unit {X,Y,Z,E}
 //#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,140}
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280} //Extruder motor changed back to 200step type
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280}
 
 // Endstop inverting
 const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
@@ -77,8 +77,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define Z_AXIS_ALWAYS_ON 1
 
 //DEBUG
-#if 0
 #define DEBUG_DCODES //D codes
+#if 0
 #define DEBUG_DISABLE_XMINLIMIT  //x min limit ignored
 #define DEBUG_DISABLE_XMAXLIMIT  //x max limit ignored
 #define DEBUG_DISABLE_YMINLIMIT  //y min limit ignored
@@ -104,7 +104,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define TMC2130_USTEPS_XY   16        // microstep resolution for XY axes
 #define TMC2130_USTEPS_Z    16        // microstep resolution for Z axis
-#define TMC2130_USTEPS_E    32        // microstep resolution for E axis (increased from 16 to 32)
+#define TMC2130_USTEPS_E    32        // microstep resolution for E axis
 #define TMC2130_INTPOL_XY   1         // extrapolate 256 for XY axes
 #define TMC2130_INTPOL_Z    1         // extrapolate 256 for Z axis
 #define TMC2130_INTPOL_E    1         // extrapolate 256 for E axis
@@ -115,7 +115,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_PWM_FREQ_X  2         // PWMCONF
 
 #define TMC2130_PWM_GRAD_Y  4         // PWMCONF
-#define TMC2130_PWM_AMPL_Y  210       // PWMCONF
+#define TMC2130_PWM_AMPL_Y  215       // PWMCONF
 #define TMC2130_PWM_AUTO_Y  1         // PWMCONF
 #define TMC2130_PWM_FREQ_Y  2         // PWMCONF
 
@@ -137,19 +137,19 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_TPWMTHRS  0         // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
 #define TMC2130_THIGH     0         // THIGH - unused
 
-#define TMC2130_TCOOLTHRS 239       // TCOOLTHRS - coolstep treshold
+#define TMC2130_TCOOLTHRS 500       // TCOOLTHRS - coolstep treshold
 
 #define TMC2130_SG_HOMING       1     // stallguard homing
 //#define TMC2130_SG_HOMING_SW_XY  1    // stallguard "software" homing for XY axes
 #define TMC2130_SG_HOMING_SW_Z  1     // stallguard "software" homing for Z axis
-#define TMC2130_SG_THRS_X       0     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_X       6     // stallguard sensitivity for X axis
-#define TMC2130_SG_THRS_Y       0     // stallguard sensitivity for Y axis
+#define TMC2130_SG_THRS_Y       6     // stallguard sensitivity for Y axis
-#define TMC2130_SG_THRS_Z       2     // stallguard sensitivity for Z axis
+#define TMC2130_SG_THRS_Z       3     // stallguard sensitivity for Z axis
 #define TMC2130_SG_DELTA      128    // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
 
 //new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
 #define TMC2130_CURRENTS_H {3, 3, 5, 8}  // default holding currents for all axes
-#define TMC2130_CURRENTS_R {13, 18, 20, 22}  // default running currents for all axes
+#define TMC2130_CURRENTS_R {13, 31, 20, 22}  // default running currents for all axes
 
 //#define TMC2130_DEBUG
 //#define TMC2130_DEBUG_WR
@@ -472,7 +472,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define DEFAULT_PID_TEMP 210
 
-#define MIN_PRINT_FAN_SPEED 50
+#define MIN_PRINT_FAN_SPEED 75
 
 #ifdef SNMM
 #define DEFAULT_RETRACTION 4 //used for PINDA temp calibration and pause print
@@ -480,6 +480,14 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
 #endif
 
-#define UVLO_Z_AXIS_SHIFT 2
+// How much shall the print head be lifted on power panic?
+// Ideally the Z axis will reach a zero phase of the stepper driver on power outage. To simplify this,
+// UVLO_Z_AXIS_SHIFT shall be an integer multiply of the stepper driver cycle, that is 4x full step.
+// For example, the Prusa i3 MK2 with 16 microsteps per full step has Z stepping of 400 microsteps per mm.
+// At 400 microsteps per mm, a full step lifts the Z axis by 0.04mm, and a stepper driver cycle is 0.16mm.
+// The following example, 12 * (4 * 16 / 400) = 12 * 0.16mm = 1.92mm.
+#define UVLO_Z_AXIS_SHIFT 1.92
+
+#define HEATBED_V2
 
 #endif //__CONFIGURATION_PRUSA_H