1131 lines
30 KiB
C++
1131 lines
30 KiB
C++
//mmu.cpp
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#include "mmu.h"
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#include "planner.h"
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#include "language.h"
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#include "lcd.h"
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#include "uart2.h"
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#include "temperature.h"
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#include "Configuration_prusa.h"
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#include "fsensor.h"
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#include "cardreader.h"
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#include "ultralcd.h"
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#include "sound.h"
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#include "printers.h"
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#include <avr/pgmspace.h>
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#define CHECK_FINDA ((IS_SD_PRINTING || is_usb_printing) && (mcode_in_progress != 600) && !saved_printing && e_active())
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#define MMU_TODELAY 100
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#define MMU_TIMEOUT 10
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#define MMU_CMD_TIMEOUT 300000ul //5min timeout for mmu commands (except P0)
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#define MMU_P0_TIMEOUT 3000ul //timeout for P0 command: 3seconds
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#ifdef MMU_HWRESET
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#define MMU_RST_PIN 76
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#endif //MMU_HWRESET
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bool mmu_enabled = false;
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bool mmu_ready = false;
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static int8_t mmu_state = 0;
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uint8_t mmu_cmd = 0;
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uint8_t mmu_extruder = 0;
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//! This variable probably has no meaning and is planed to be removed
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uint8_t tmp_extruder = 0;
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int8_t mmu_finda = -1;
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int16_t mmu_version = -1;
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int16_t mmu_buildnr = -1;
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uint32_t mmu_last_request = 0;
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uint32_t mmu_last_response = 0;
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//clear rx buffer
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void mmu_clr_rx_buf(void)
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{
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while (fgetc(uart2io) >= 0);
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}
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//send command - puts
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int mmu_puts_P(const char* str)
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{
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mmu_clr_rx_buf(); //clear rx buffer
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int r = fputs_P(str, uart2io); //send command
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mmu_last_request = millis();
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return r;
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}
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//send command - printf
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int mmu_printf_P(const char* format, ...)
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{
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va_list args;
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va_start(args, format);
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mmu_clr_rx_buf(); //clear rx buffer
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int r = vfprintf_P(uart2io, format, args); //send command
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va_end(args);
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mmu_last_request = millis();
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return r;
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}
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//check 'ok' response
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int8_t mmu_rx_ok(void)
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{
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int8_t res = uart2_rx_str_P(PSTR("ok\n"));
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if (res == 1) mmu_last_response = millis();
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return res;
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}
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//check 'start' response
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int8_t mmu_rx_start(void)
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{
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int8_t res = uart2_rx_str_P(PSTR("start\n"));
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if (res == 1) mmu_last_response = millis();
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return res;
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}
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//initialize mmu2 unit - first part - should be done at begining of startup process
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void mmu_init(void)
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{
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#ifdef MMU_HWRESET
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digitalWrite(MMU_RST_PIN, HIGH);
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pinMode(MMU_RST_PIN, OUTPUT); //setup reset pin
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#endif //MMU_HWRESET
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uart2_init(); //init uart2
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_delay_ms(10); //wait 10ms for sure
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mmu_reset(); //reset mmu (HW or SW), do not wait for response
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mmu_state = -1;
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}
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//mmu main loop - state machine processing
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void mmu_loop(void)
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{
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int filament = 0;
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// printf_P(PSTR("MMU loop, state=%d\n"), mmu_state);
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switch (mmu_state)
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{
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case 0:
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return;
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case -1:
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if (mmu_rx_start() > 0)
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{
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#ifdef MMU_DEBUG
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puts_P(PSTR("MMU => 'start'"));
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puts_P(PSTR("MMU <= 'S1'"));
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#endif //MMU_DEBUG
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mmu_puts_P(PSTR("S1\n")); //send 'read version' request
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mmu_state = -2;
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}
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else if (millis() > 30000) //30sec after reset disable mmu
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{
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puts_P(PSTR("MMU not responding - DISABLED"));
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mmu_state = 0;
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}
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return;
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case -2:
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if (mmu_rx_ok() > 0)
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{
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fscanf_P(uart2io, PSTR("%u"), &mmu_version); //scan version from buffer
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU => '%dok'\n"), mmu_version);
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puts_P(PSTR("MMU <= 'S2'"));
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#endif //MMU_DEBUG
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mmu_puts_P(PSTR("S2\n")); //send 'read buildnr' request
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mmu_state = -3;
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}
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return;
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case -3:
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if (mmu_rx_ok() > 0)
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{
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fscanf_P(uart2io, PSTR("%u"), &mmu_buildnr); //scan buildnr from buffer
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU => '%dok'\n"), mmu_buildnr);
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#endif //MMU_DEBUG
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bool version_valid = mmu_check_version();
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if (!version_valid) mmu_show_warning();
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else puts_P(PSTR("MMU version valid"));
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if ((PRINTER_TYPE == PRINTER_MK3) || (PRINTER_TYPE == PRINTER_MK3_SNMM))
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{
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#ifdef MMU_DEBUG
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puts_P(PSTR("MMU <= 'P0'"));
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#endif //MMU_DEBUG
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mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
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mmu_state = -4;
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}
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else
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{
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#ifdef MMU_DEBUG
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puts_P(PSTR("MMU <= 'M1'"));
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#endif //MMU_DEBUG
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mmu_puts_P(PSTR("M1\n")); //set mmu mode to stealth
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mmu_state = -5;
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}
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}
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return;
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case -5:
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if (mmu_rx_ok() > 0)
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{
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#ifdef MMU_DEBUG
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puts_P(PSTR("MMU <= 'P0'"));
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#endif //MMU_DEBUG
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mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
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mmu_state = -4;
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}
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return;
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case -4:
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if (mmu_rx_ok() > 0)
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{
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fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU => '%dok'\n"), mmu_finda);
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#endif //MMU_DEBUG
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puts_P(PSTR("MMU - ENABLED"));
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mmu_enabled = true;
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mmu_state = 1;
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}
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return;
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case 1:
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if (mmu_cmd) //command request ?
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{
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if ((mmu_cmd >= MMU_CMD_T0) && (mmu_cmd <= MMU_CMD_T4))
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{
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filament = mmu_cmd - MMU_CMD_T0;
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU <= 'T%d'\n"), filament);
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#endif //MMU_DEBUG
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mmu_printf_P(PSTR("T%d\n"), filament);
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mmu_state = 3; // wait for response
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}
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else if ((mmu_cmd >= MMU_CMD_L0) && (mmu_cmd <= MMU_CMD_L4))
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{
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filament = mmu_cmd - MMU_CMD_L0;
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU <= 'L%d'\n"), filament);
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#endif //MMU_DEBUG
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mmu_printf_P(PSTR("L%d\n"), filament);
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mmu_state = 3; // wait for response
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}
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else if (mmu_cmd == MMU_CMD_C0)
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{
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU <= 'C0'\n"));
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#endif //MMU_DEBUG
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mmu_puts_P(PSTR("C0\n")); //send 'continue loading'
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mmu_state = 3;
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}
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else if (mmu_cmd == MMU_CMD_U0)
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{
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU <= 'U0'\n"));
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#endif //MMU_DEBUG
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mmu_puts_P(PSTR("U0\n")); //send 'unload current filament'
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mmu_state = 3;
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}
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else if ((mmu_cmd >= MMU_CMD_E0) && (mmu_cmd <= MMU_CMD_E4))
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{
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int filament = mmu_cmd - MMU_CMD_E0;
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU <= 'E%d'\n"), filament);
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#endif //MMU_DEBUG
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mmu_printf_P(PSTR("E%d\n"), filament); //send eject filament
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mmu_state = 3; // wait for response
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}
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else if (mmu_cmd == MMU_CMD_R0)
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{
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU <= 'R0'\n"));
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#endif //MMU_DEBUG
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mmu_puts_P(PSTR("R0\n")); //send recover after eject
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mmu_state = 3; // wait for response
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}
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mmu_cmd = 0;
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}
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else if ((mmu_last_response + 300) < millis()) //request every 300ms
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{
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#ifdef MMU_DEBUG
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puts_P(PSTR("MMU <= 'P0'"));
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#endif //MMU_DEBUG
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mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
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mmu_state = 2;
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}
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return;
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case 2: //response to command P0
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if (mmu_rx_ok() > 0)
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{
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fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU => '%dok'\n"), mmu_finda);
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#endif //MMU_DEBUG
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//printf_P(PSTR("Eact: %d\n"), int(e_active()));
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if (!mmu_finda && CHECK_FINDA && fsensor_enabled) {
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fsensor_stop_and_save_print();
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enquecommand_front_P(PSTR("FSENSOR_RECOVER")); //then recover
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if (lcd_autoDeplete) enquecommand_front_P(PSTR("M600 AUTO")); //save print and run M600 command
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else enquecommand_front_P(PSTR("M600")); //save print and run M600 command
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}
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mmu_state = 1;
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if (mmu_cmd == 0)
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mmu_ready = true;
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}
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else if ((mmu_last_request + MMU_P0_TIMEOUT) < millis())
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{ //resend request after timeout (30s)
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mmu_state = 1;
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}
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return;
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case 3: //response to mmu commands
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if (mmu_rx_ok() > 0)
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{
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#ifdef MMU_DEBUG
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printf_P(PSTR("MMU => 'ok'\n"));
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#endif //MMU_DEBUG
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mmu_ready = true;
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mmu_state = 1;
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}
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else if ((mmu_last_request + MMU_CMD_TIMEOUT) < millis())
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{ //resend request after timeout (5 min)
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mmu_state = 1;
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}
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return;
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}
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}
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void mmu_reset(void)
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{
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#ifdef MMU_HWRESET //HW - pulse reset pin
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digitalWrite(MMU_RST_PIN, LOW);
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_delay_us(100);
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digitalWrite(MMU_RST_PIN, HIGH);
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#else //SW - send X0 command
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mmu_puts_P(PSTR("X0\n"));
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#endif
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}
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int8_t mmu_set_filament_type(uint8_t extruder, uint8_t filament)
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{
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printf_P(PSTR("MMU <= 'F%d %d'\n"), extruder, filament);
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mmu_printf_P(PSTR("F%d %d\n"), extruder, filament);
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unsigned char timeout = MMU_TIMEOUT; //10x100ms
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while ((mmu_rx_ok() <= 0) && (--timeout))
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delay_keep_alive(MMU_TODELAY);
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return timeout?1:0;
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}
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void mmu_command(uint8_t cmd)
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{
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mmu_cmd = cmd;
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mmu_ready = false;
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}
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bool mmu_get_response(void)
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{
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// printf_P(PSTR("mmu_get_response - begin\n"));
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KEEPALIVE_STATE(IN_PROCESS);
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while (mmu_cmd != 0)
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{
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// mmu_loop();
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delay_keep_alive(100);
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}
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while (!mmu_ready)
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{
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// mmu_loop();
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if (mmu_state != 3)
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break;
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delay_keep_alive(100);
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}
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bool ret = mmu_ready;
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mmu_ready = false;
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// printf_P(PSTR("mmu_get_response - end %d\n"), ret?1:0);
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return ret;
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/* //waits for "ok" from mmu
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//function returns true if "ok" was received
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//if timeout is set to true function return false if there is no "ok" received before timeout
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bool response = true;
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LongTimer mmu_get_reponse_timeout;
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KEEPALIVE_STATE(IN_PROCESS);
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mmu_get_reponse_timeout.start();
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while (mmu_rx_ok() <= 0)
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{
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delay_keep_alive(100);
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if (timeout && mmu_get_reponse_timeout.expired(5 * 60 * 1000ul))
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{ //5 minutes timeout
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response = false;
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break;
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}
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}
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printf_P(PSTR("mmu_get_response - end %d\n"), response?1:0);
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return response;*/
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}
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void manage_response(bool move_axes, bool turn_off_nozzle)
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{
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bool response = false;
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mmu_print_saved = false;
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bool lcd_update_was_enabled = false;
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float hotend_temp_bckp = degTargetHotend(active_extruder);
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float z_position_bckp = current_position[Z_AXIS];
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float x_position_bckp = current_position[X_AXIS];
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float y_position_bckp = current_position[Y_AXIS];
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uint8_t screen = 0; //used for showing multiscreen messages
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while(!response)
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{
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response = mmu_get_response(); //wait for "ok" from mmu
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if (!response) { //no "ok" was received in reserved time frame, user will fix the issue on mmu unit
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if (!mmu_print_saved) { //first occurence, we are saving current position, park print head in certain position and disable nozzle heater
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if (lcd_update_enabled) {
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lcd_update_was_enabled = true;
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lcd_update_enable(false);
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}
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st_synchronize();
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mmu_print_saved = true;
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printf_P(PSTR("MMU not responding\n"));
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hotend_temp_bckp = degTargetHotend(active_extruder);
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if (move_axes) {
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z_position_bckp = current_position[Z_AXIS];
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x_position_bckp = current_position[X_AXIS];
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y_position_bckp = current_position[Y_AXIS];
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//lift z
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current_position[Z_AXIS] += Z_PAUSE_LIFT;
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if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
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st_synchronize();
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//Move XY to side
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current_position[X_AXIS] = X_PAUSE_POS;
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current_position[Y_AXIS] = Y_PAUSE_POS;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
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st_synchronize();
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}
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if (turn_off_nozzle) {
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//set nozzle target temperature to 0
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setAllTargetHotends(0);
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}
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}
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//first three lines are used for printing multiscreen message; last line contains measured and target nozzle temperature
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if (screen == 0) { //screen 0
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lcd_display_message_fullscreen_P(_i("MMU needs user attention."));
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screen++;
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}
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else { //screen 1
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if((degTargetHotend(active_extruder) == 0) && turn_off_nozzle) lcd_display_message_fullscreen_P(_i("Press the knob to resume nozzle temperature."));
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else lcd_display_message_fullscreen_P(_i("Fix the issue and then press button on MMU unit."));
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screen=0;
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}
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lcd_set_degree();
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lcd_set_cursor(0, 4); //line 4
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//Print the hotend temperature (9 chars total) and fill rest of the line with space
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int chars = lcd_printf_P(_N("%c%3d/%d%c"), LCD_STR_THERMOMETER[0],(int)(degHotend(active_extruder) + 0.5), (int)(degTargetHotend(active_extruder) + 0.5), LCD_STR_DEGREE[0]);
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lcd_space(9 - chars);
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//5 seconds delay
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for (uint8_t i = 0; i < 50; i++) {
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if (lcd_clicked()) {
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setTargetHotend(hotend_temp_bckp, active_extruder);
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break;
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}
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delay_keep_alive(100);
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}
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}
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else if (mmu_print_saved) {
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printf_P(PSTR("MMU starts responding\n"));
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if (turn_off_nozzle)
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{
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lcd_clear();
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setTargetHotend(hotend_temp_bckp, active_extruder);
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if (((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5)) {
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lcd_display_message_fullscreen_P(_i("MMU OK. Resuming temperature..."));
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delay_keep_alive(3000);
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}
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while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5)
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{
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delay_keep_alive(1000);
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lcd_wait_for_heater();
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}
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}
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if (move_axes) {
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lcd_clear();
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lcd_display_message_fullscreen_P(_i("MMU OK. Resuming position..."));
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current_position[X_AXIS] = x_position_bckp;
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current_position[Y_AXIS] = y_position_bckp;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
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st_synchronize();
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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 {
|
|
lcd_clear();
|
|
lcd_display_message_fullscreen_P(_i("MMU OK. Resuming..."));
|
|
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);
|
|
}
|
|
|
|
//! @brief load filament to nozzle of multimaterial printer
|
|
//!
|
|
//! This function is used only only after T? (user select filament) and M600 (change filament).
|
|
//! It is not used after T0 .. T4 command (select filament), in such case, gcode is responsible for loading
|
|
//! filament to nozzle.
|
|
//!
|
|
void mmu_load_to_nozzle()
|
|
{
|
|
st_synchronize();
|
|
|
|
bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
|
|
if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = true;
|
|
current_position[E_AXIS] += 7.2f;
|
|
float feedrate = 562;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
|
|
st_synchronize();
|
|
current_position[E_AXIS] += 14.4f;
|
|
feedrate = 871;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
|
|
st_synchronize();
|
|
current_position[E_AXIS] += 36.0f;
|
|
feedrate = 1393;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
|
|
st_synchronize();
|
|
current_position[E_AXIS] += 14.4f;
|
|
feedrate = 871;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
|
|
st_synchronize();
|
|
if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = false;
|
|
}
|
|
|
|
void mmu_M600_wait_and_beep() {
|
|
//Beep and wait for user to remove old filament and prepare new filament for load
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
|
int counterBeep = 0;
|
|
lcd_display_message_fullscreen_P(_i("Remove old filament and press the knob to start loading new filament."));
|
|
bool bFirst=true;
|
|
|
|
while (!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)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
|
|
{
|
|
bFirst=false;
|
|
WRITE(BEEPER, HIGH);
|
|
}
|
|
}
|
|
if (counterBeep == 20) {
|
|
WRITE(BEEPER, LOW);
|
|
}
|
|
|
|
counterBeep++;
|
|
#endif //BEEPER > 0
|
|
|
|
delay_keep_alive(4);
|
|
}
|
|
WRITE(BEEPER, LOW);
|
|
}
|
|
|
|
void mmu_M600_load_filament(bool automatic)
|
|
{
|
|
//load filament for mmu v2
|
|
tmp_extruder = mmu_extruder;
|
|
if (!automatic) {
|
|
#ifdef MMU_M600_SWITCH_EXTRUDER
|
|
bool 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();
|
|
#endif //MMU_M600_SWITCH_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);
|
|
mmu_command(MMU_CMD_T0 + tmp_extruder);
|
|
|
|
manage_response(false, true);
|
|
mmu_command(MMU_CMD_C0);
|
|
mmu_extruder = tmp_extruder; //filament change is finished
|
|
mmu_load_to_nozzle();
|
|
load_filament_final_feed();
|
|
}
|
|
|
|
|
|
void extr_mov(float shift, float feed_rate)
|
|
{ //move extruder no matter what the current heater temperature is
|
|
set_extrude_min_temp(.0);
|
|
current_position[E_AXIS] += shift;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feed_rate, active_extruder);
|
|
set_extrude_min_temp(EXTRUDE_MINTEMP);
|
|
}
|
|
|
|
|
|
void change_extr(int
|
|
#ifdef SNMM
|
|
extr
|
|
#endif //SNMM
|
|
) { //switches multiplexer for extruders
|
|
#ifdef SNMM
|
|
st_synchronize();
|
|
delay(100);
|
|
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
|
|
mmu_extruder = extr;
|
|
|
|
pinMode(E_MUX0_PIN, OUTPUT);
|
|
pinMode(E_MUX1_PIN, OUTPUT);
|
|
|
|
switch (extr) {
|
|
case 1:
|
|
WRITE(E_MUX0_PIN, HIGH);
|
|
WRITE(E_MUX1_PIN, LOW);
|
|
|
|
break;
|
|
case 2:
|
|
WRITE(E_MUX0_PIN, LOW);
|
|
WRITE(E_MUX1_PIN, HIGH);
|
|
|
|
break;
|
|
case 3:
|
|
WRITE(E_MUX0_PIN, HIGH);
|
|
WRITE(E_MUX1_PIN, HIGH);
|
|
|
|
break;
|
|
default:
|
|
WRITE(E_MUX0_PIN, LOW);
|
|
WRITE(E_MUX1_PIN, LOW);
|
|
|
|
break;
|
|
}
|
|
delay(100);
|
|
#endif
|
|
}
|
|
|
|
int get_ext_nr()
|
|
{ //reads multiplexer input pins and return current extruder number (counted from 0)
|
|
#ifndef SNMM
|
|
return(mmu_extruder); //update needed
|
|
#else
|
|
return(2 * READ(E_MUX1_PIN) + READ(E_MUX0_PIN));
|
|
#endif
|
|
}
|
|
|
|
|
|
void display_loading()
|
|
{
|
|
switch (mmu_extruder)
|
|
{
|
|
case 1: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T1)); break;
|
|
case 2: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T2)); break;
|
|
case 3: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T3)); break;
|
|
default: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T0)); break;
|
|
}
|
|
}
|
|
|
|
void extr_adj(int extruder) //loading filament for SNMM
|
|
{
|
|
#ifndef SNMM
|
|
uint8_t cmd = MMU_CMD_L0 + extruder;
|
|
if (cmd > MMU_CMD_L4)
|
|
{
|
|
printf_P(PSTR("Filament out of range %d \n"),extruder);
|
|
return;
|
|
}
|
|
mmu_command(cmd);
|
|
|
|
//show which filament is currently loaded
|
|
|
|
lcd_update_enable(false);
|
|
lcd_clear();
|
|
lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
|
|
//if(strlen(_T(MSG_LOADING_FILAMENT))>18) lcd.setCursor(0, 1);
|
|
//else lcd.print(" ");
|
|
lcd_print(" ");
|
|
lcd_print(extruder + 1);
|
|
|
|
// get response
|
|
manage_response(false, false);
|
|
|
|
lcd_update_enable(true);
|
|
|
|
|
|
//lcd_return_to_status();
|
|
#else
|
|
|
|
bool correct;
|
|
max_feedrate[E_AXIS] =80;
|
|
//max_feedrate[E_AXIS] = 50;
|
|
START:
|
|
lcd_clear();
|
|
lcd_set_cursor(0, 0);
|
|
switch (extruder) {
|
|
case 1: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T1)); break;
|
|
case 2: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T2)); break;
|
|
case 3: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T3)); break;
|
|
default: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T0)); break;
|
|
}
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
do{
|
|
extr_mov(0.001,1000);
|
|
delay_keep_alive(2);
|
|
} while (!lcd_clicked());
|
|
//delay_keep_alive(500);
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
st_synchronize();
|
|
//correct = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FIL_LOADED_CHECK, false);
|
|
//if (!correct) goto START;
|
|
//extr_mov(BOWDEN_LENGTH/2.f, 500); //dividing by 2 is there because of max. extrusion length limitation (x_max + y_max)
|
|
//extr_mov(BOWDEN_LENGTH/2.f, 500);
|
|
extr_mov(bowden_length[extruder], 500);
|
|
lcd_clear();
|
|
lcd_set_cursor(0, 0); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
|
|
if(strlen(_T(MSG_LOADING_FILAMENT))>18) lcd_set_cursor(0, 1);
|
|
else lcd_print(" ");
|
|
lcd_print(mmu_extruder + 1);
|
|
lcd_set_cursor(0, 2); lcd_puts_P(_T(MSG_PLEASE_WAIT));
|
|
st_synchronize();
|
|
max_feedrate[E_AXIS] = 50;
|
|
lcd_update_enable(true);
|
|
lcd_return_to_status();
|
|
lcdDrawUpdate = 2;
|
|
#endif
|
|
}
|
|
|
|
struct E_step
|
|
{
|
|
float extrude; //!< extrude distance in mm
|
|
float feed_rate; //!< feed rate in mm/s
|
|
};
|
|
static const E_step ramming_sequence[] PROGMEM =
|
|
{
|
|
{1.0, 1000.0/60},
|
|
{1.0, 1500.0/60},
|
|
{2.0, 2000.0/60},
|
|
{1.5, 3000.0/60},
|
|
{2.5, 4000.0/60},
|
|
{-15.0, 5000.0/60},
|
|
{-14.0, 1200.0/60},
|
|
{-6.0, 600.0/60},
|
|
{10.0, 700.0/60},
|
|
{-10.0, 400.0/60},
|
|
{-50.0, 2000.0/60},
|
|
};
|
|
|
|
//! @brief Unload sequence to optimize shape of the tip of the unloaded filament
|
|
static void filament_ramming()
|
|
{
|
|
for(uint8_t i = 0; i < (sizeof(ramming_sequence)/sizeof(E_step));++i)
|
|
{
|
|
current_position[E_AXIS] += pgm_read_float(&(ramming_sequence[i].extrude));
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
|
|
current_position[E_AXIS], pgm_read_float(&(ramming_sequence[i].feed_rate)), active_extruder);
|
|
st_synchronize();
|
|
}
|
|
}
|
|
|
|
void extr_unload()
|
|
{ //unload just current filament for multimaterial printers
|
|
#ifdef SNMM
|
|
float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
|
|
float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
|
|
uint8_t SilentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
|
|
#endif
|
|
|
|
if (degHotend0() > EXTRUDE_MINTEMP)
|
|
{
|
|
#ifndef SNMM
|
|
st_synchronize();
|
|
|
|
//show which filament is currently unloaded
|
|
lcd_update_enable(false);
|
|
lcd_clear();
|
|
lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_UNLOADING_FILAMENT));
|
|
lcd_print(" ");
|
|
lcd_print(mmu_extruder + 1);
|
|
|
|
filament_ramming();
|
|
|
|
mmu_command(MMU_CMD_U0);
|
|
// get response
|
|
manage_response(false, true);
|
|
|
|
lcd_update_enable(true);
|
|
#else //SNMM
|
|
|
|
lcd_clear();
|
|
lcd_display_message_fullscreen_P(PSTR(""));
|
|
max_feedrate[E_AXIS] = 50;
|
|
lcd_set_cursor(0, 0); lcd_puts_P(_T(MSG_UNLOADING_FILAMENT));
|
|
lcd_print(" ");
|
|
lcd_print(mmu_extruder + 1);
|
|
lcd_set_cursor(0, 2); lcd_puts_P(_T(MSG_PLEASE_WAIT));
|
|
if (current_position[Z_AXIS] < 15) {
|
|
current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, active_extruder);
|
|
}
|
|
|
|
current_position[E_AXIS] += 10; //extrusion
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 10, active_extruder);
|
|
st_current_set(2, E_MOTOR_HIGH_CURRENT);
|
|
if (current_temperature[0] < 230) { //PLA & all other filaments
|
|
current_position[E_AXIS] += 5.4;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
|
|
current_position[E_AXIS] += 3.2;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
current_position[E_AXIS] += 3;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
|
|
}
|
|
else { //ABS
|
|
current_position[E_AXIS] += 3.1;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
|
|
current_position[E_AXIS] += 3.1;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
|
|
current_position[E_AXIS] += 4;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
/*current_position[X_AXIS] += 23; //delay
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay
|
|
current_position[X_AXIS] -= 23; //delay
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay*/
|
|
delay_keep_alive(4700);
|
|
}
|
|
|
|
max_feedrate[E_AXIS] = 80;
|
|
current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
|
|
current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
|
|
st_synchronize();
|
|
//st_current_init();
|
|
if (SilentMode != SILENT_MODE_OFF) st_current_set(2, tmp_motor[2]); //set back to normal operation currents
|
|
else st_current_set(2, tmp_motor_loud[2]);
|
|
lcd_update_enable(true);
|
|
lcd_return_to_status();
|
|
max_feedrate[E_AXIS] = 50;
|
|
#endif //SNMM
|
|
}
|
|
else
|
|
{
|
|
show_preheat_nozzle_warning();
|
|
}
|
|
//lcd_return_to_status();
|
|
}
|
|
|
|
//wrapper functions for loading filament
|
|
void extr_adj_0()
|
|
{
|
|
#ifndef SNMM
|
|
enquecommand_P(PSTR("M701 E0"));
|
|
#else
|
|
change_extr(0);
|
|
extr_adj(0);
|
|
#endif
|
|
}
|
|
|
|
void extr_adj_1()
|
|
{
|
|
#ifndef SNMM
|
|
enquecommand_P(PSTR("M701 E1"));
|
|
#else
|
|
change_extr(1);
|
|
extr_adj(1);
|
|
#endif
|
|
}
|
|
|
|
void extr_adj_2()
|
|
{
|
|
#ifndef SNMM
|
|
enquecommand_P(PSTR("M701 E2"));
|
|
#else
|
|
change_extr(2);
|
|
extr_adj(2);
|
|
#endif
|
|
}
|
|
|
|
void extr_adj_3()
|
|
{
|
|
#ifndef SNMM
|
|
enquecommand_P(PSTR("M701 E3"));
|
|
#else
|
|
change_extr(3);
|
|
extr_adj(3);
|
|
#endif
|
|
}
|
|
|
|
void extr_adj_4()
|
|
{
|
|
#ifndef SNMM
|
|
enquecommand_P(PSTR("M701 E4"));
|
|
#else
|
|
change_extr(4);
|
|
extr_adj(4);
|
|
#endif
|
|
}
|
|
|
|
void mmu_load_to_nozzle_0()
|
|
{
|
|
lcd_mmu_load_to_nozzle(0);
|
|
}
|
|
|
|
void mmu_load_to_nozzle_1()
|
|
{
|
|
lcd_mmu_load_to_nozzle(1);
|
|
}
|
|
|
|
void mmu_load_to_nozzle_2()
|
|
{
|
|
lcd_mmu_load_to_nozzle(2);
|
|
}
|
|
|
|
void mmu_load_to_nozzle_3()
|
|
{
|
|
lcd_mmu_load_to_nozzle(3);
|
|
}
|
|
|
|
void mmu_load_to_nozzle_4()
|
|
{
|
|
lcd_mmu_load_to_nozzle(4);
|
|
}
|
|
|
|
void mmu_eject_fil_0()
|
|
{
|
|
mmu_eject_filament(0, true);
|
|
}
|
|
|
|
void mmu_eject_fil_1()
|
|
{
|
|
mmu_eject_filament(1, true);
|
|
}
|
|
|
|
void mmu_eject_fil_2()
|
|
{
|
|
mmu_eject_filament(2, true);
|
|
}
|
|
|
|
void mmu_eject_fil_3()
|
|
{
|
|
mmu_eject_filament(3, true);
|
|
}
|
|
|
|
void mmu_eject_fil_4()
|
|
{
|
|
mmu_eject_filament(4, true);
|
|
}
|
|
|
|
void load_all()
|
|
{
|
|
#ifndef SNMM
|
|
enquecommand_P(PSTR("M701 E0"));
|
|
enquecommand_P(PSTR("M701 E1"));
|
|
enquecommand_P(PSTR("M701 E2"));
|
|
enquecommand_P(PSTR("M701 E3"));
|
|
enquecommand_P(PSTR("M701 E4"));
|
|
#else
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
change_extr(i);
|
|
extr_adj(i);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
//wrapper functions for changing extruders
|
|
void extr_change_0()
|
|
{
|
|
change_extr(0);
|
|
lcd_return_to_status();
|
|
}
|
|
|
|
void extr_change_1()
|
|
{
|
|
change_extr(1);
|
|
lcd_return_to_status();
|
|
}
|
|
|
|
void extr_change_2()
|
|
{
|
|
change_extr(2);
|
|
lcd_return_to_status();
|
|
}
|
|
|
|
void extr_change_3()
|
|
{
|
|
change_extr(3);
|
|
lcd_return_to_status();
|
|
}
|
|
|
|
#ifdef SNMM
|
|
//wrapper functions for unloading filament
|
|
void extr_unload_all()
|
|
{
|
|
if (degHotend0() > EXTRUDE_MINTEMP)
|
|
{
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
change_extr(i);
|
|
extr_unload();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
show_preheat_nozzle_warning();
|
|
lcd_return_to_status();
|
|
}
|
|
}
|
|
|
|
//unloading just used filament (for snmm)
|
|
void extr_unload_used()
|
|
{
|
|
if (degHotend0() > EXTRUDE_MINTEMP) {
|
|
for (int i = 0; i < 4; i++) {
|
|
if (snmm_filaments_used & (1 << i)) {
|
|
change_extr(i);
|
|
extr_unload();
|
|
}
|
|
}
|
|
snmm_filaments_used = 0;
|
|
}
|
|
else {
|
|
show_preheat_nozzle_warning();
|
|
lcd_return_to_status();
|
|
}
|
|
}
|
|
#endif //SNMM
|
|
|
|
void extr_unload_0()
|
|
{
|
|
change_extr(0);
|
|
extr_unload();
|
|
}
|
|
|
|
void extr_unload_1()
|
|
{
|
|
change_extr(1);
|
|
extr_unload();
|
|
}
|
|
|
|
void extr_unload_2()
|
|
{
|
|
change_extr(2);
|
|
extr_unload();
|
|
}
|
|
|
|
void extr_unload_3()
|
|
{
|
|
change_extr(3);
|
|
extr_unload();
|
|
}
|
|
|
|
void extr_unload_4()
|
|
{
|
|
change_extr(4);
|
|
extr_unload();
|
|
}
|
|
|
|
bool mmu_check_version()
|
|
{
|
|
return (mmu_buildnr >= MMU_REQUIRED_FW_BUILDNR);
|
|
}
|
|
|
|
void mmu_show_warning()
|
|
{
|
|
printf_P(PSTR("MMU2 firmware version invalid. Required version: build number %d or higher."), MMU_REQUIRED_FW_BUILDNR);
|
|
kill(_i("Please update firmware in your MMU2. Waiting for reset."));
|
|
}
|
|
|
|
void lcd_mmu_load_to_nozzle(uint8_t filament_nr)
|
|
{
|
|
if (degHotend0() > EXTRUDE_MINTEMP)
|
|
{
|
|
tmp_extruder = filament_nr;
|
|
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);
|
|
mmu_command(MMU_CMD_T0 + tmp_extruder);
|
|
manage_response(true, true);
|
|
mmu_command(MMU_CMD_C0);
|
|
mmu_extruder = tmp_extruder; //filament change is finished
|
|
mmu_load_to_nozzle();
|
|
load_filament_final_feed();
|
|
custom_message_type = CUSTOM_MSG_TYPE_F_LOAD;
|
|
lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
|
|
lcd_return_to_status();
|
|
lcd_update_enable(true);
|
|
lcd_load_filament_color_check();
|
|
lcd_setstatuspgm(_T(WELCOME_MSG));
|
|
custom_message_type = CUSTOM_MSG_TYPE_STATUS;
|
|
}
|
|
else
|
|
{
|
|
show_preheat_nozzle_warning();
|
|
}
|
|
}
|
|
|
|
void mmu_eject_filament(uint8_t filament, bool recover)
|
|
{
|
|
if (filament < 5)
|
|
{
|
|
|
|
if (degHotend0() > EXTRUDE_MINTEMP)
|
|
{
|
|
st_synchronize();
|
|
|
|
{
|
|
LcdUpdateDisabler disableLcdUpdate;
|
|
lcd_clear();
|
|
lcd_set_cursor(0, 1); lcd_puts_P(_i("Ejecting filament"));
|
|
current_position[E_AXIS] -= 80;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
|
|
st_synchronize();
|
|
mmu_command(MMU_CMD_E0 + filament);
|
|
manage_response(false, false);
|
|
if (recover)
|
|
{
|
|
lcd_show_fullscreen_message_and_wait_P(_i("Please remove filament and then press the knob."));
|
|
mmu_command(MMU_CMD_R0);
|
|
manage_response(false, false);
|
|
}
|
|
|
|
}
|
|
}
|
|
else
|
|
{
|
|
show_preheat_nozzle_warning();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
puts_P(PSTR("Filament nr out of range!"));
|
|
}
|
|
}
|