9162 lines
307 KiB
C++
9162 lines
307 KiB
C++
/* -*- c++ -*- */
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/**
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* @file
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*/
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/**
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* @mainpage Reprap 3D printer firmware based on Sprinter and grbl.
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*
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* @section intro_sec Introduction
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*
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* This firmware is a mashup between Sprinter and grbl.
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* https://github.com/kliment/Sprinter
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* https://github.com/simen/grbl/tree
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*
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* It has preliminary support for Matthew Roberts advance algorithm
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* http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
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*
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* Prusa Research s.r.o. https://www.prusa3d.cz
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*
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* @section copyright_sec Copyright
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*
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @section notes_sec Notes
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*
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* * Do not create static objects in global functions.
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* Otherwise constructor guard against concurrent calls is generated costing
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* about 8B RAM and 14B flash.
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*
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*
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*/
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#include "Marlin.h"
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#ifdef ENABLE_AUTO_BED_LEVELING
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#include "vector_3.h"
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#ifdef AUTO_BED_LEVELING_GRID
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#include "qr_solve.h"
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#endif
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#endif // ENABLE_AUTO_BED_LEVELING
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#ifdef MESH_BED_LEVELING
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#include "mesh_bed_leveling.h"
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#include "mesh_bed_calibration.h"
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#endif
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#include "printers.h"
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#include "menu.h"
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#include "ultralcd.h"
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#include "planner.h"
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#include "stepper.h"
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#include "temperature.h"
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#include "motion_control.h"
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#include "cardreader.h"
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#include "ConfigurationStore.h"
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#include "language.h"
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#include "pins_arduino.h"
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#include "math.h"
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#include "util.h"
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#include "Timer.h"
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#include "uart2.h"
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#include <avr/wdt.h>
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#include <avr/pgmspace.h>
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#include "Dcodes.h"
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#ifdef SWSPI
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#include "swspi.h"
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#endif //SWSPI
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#include "spi.h"
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#ifdef SWI2C
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#include "swi2c.h"
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#endif //SWI2C
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#ifdef PAT9125
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#include "pat9125.h"
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#include "fsensor.h"
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#endif //PAT9125
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#ifdef TMC2130
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#include "tmc2130.h"
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#endif //TMC2130
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#ifdef W25X20CL
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#include "w25x20cl.h"
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#include "optiboot_w25x20cl.h"
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#endif //W25X20CL
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#ifdef BLINKM
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#include "BlinkM.h"
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#include "Wire.h"
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#endif
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#ifdef ULTRALCD
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#include "ultralcd.h"
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#endif
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#if NUM_SERVOS > 0
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#include "Servo.h"
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#endif
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#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
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#include <SPI.h>
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#endif
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#define VERSION_STRING "1.0.2"
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#include "ultralcd.h"
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#include "cmdqueue.h"
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// Macros for bit masks
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#define BIT(b) (1<<(b))
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#define TEST(n,b) (((n)&BIT(b))!=0)
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#define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
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//Macro for print fan speed
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#define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
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#define PRINTING_TYPE_SD 0
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#define PRINTING_TYPE_USB 1
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// look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
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// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
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//Implemented Codes
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//-------------------
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// PRUSA CODES
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// P F - Returns FW versions
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// P R - Returns revision of printer
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// G0 -> G1
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// G1 - Coordinated Movement X Y Z E
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// G2 - CW ARC
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// G3 - CCW ARC
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// G4 - Dwell S<seconds> or P<milliseconds>
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// G10 - retract filament according to settings of M207
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// G11 - retract recover filament according to settings of M208
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// G28 - Home all Axis
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// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
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// G30 - Single Z Probe, probes bed at current XY location.
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// G31 - Dock sled (Z_PROBE_SLED only)
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// G32 - Undock sled (Z_PROBE_SLED only)
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// G80 - Automatic mesh bed leveling
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// G81 - Print bed profile
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// G90 - Use Absolute Coordinates
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// G91 - Use Relative Coordinates
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// G92 - Set current position to coordinates given
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// M Codes
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// M0 - Unconditional stop - Wait for user to press a button on the LCD
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// M1 - Same as M0
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// M17 - Enable/Power all stepper motors
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// M18 - Disable all stepper motors; same as M84
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// M20 - List SD card
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// M21 - Init SD card
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// M22 - Release SD card
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// M23 - Select SD file (M23 filename.g)
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// M24 - Start/resume SD print
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// M25 - Pause SD print
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// M26 - Set SD position in bytes (M26 S12345)
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// M27 - Report SD print status
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// M28 - Start SD write (M28 filename.g)
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// M29 - Stop SD write
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// M30 - Delete file from SD (M30 filename.g)
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// M31 - Output time since last M109 or SD card start to serial
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// M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
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// syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
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// Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
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// The '#' is necessary when calling from within sd files, as it stops buffer prereading
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// M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
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// M73 - Show percent done and print time remaining
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// M80 - Turn on Power Supply
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// M81 - Turn off Power Supply
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// M82 - Set E codes absolute (default)
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// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
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// M84 - Disable steppers until next move,
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// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
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// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
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// M86 - Set safety timer expiration time with parameter S<seconds>; M86 S0 will disable safety timer
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// M92 - Set axis_steps_per_unit - same syntax as G92
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// M104 - Set extruder target temp
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// M105 - Read current temp
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// M106 - Fan on
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// M107 - Fan off
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// M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
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// Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
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// IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
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// M112 - Emergency stop
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// M113 - Get or set the timeout interval for Host Keepalive "busy" messages
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// M114 - Output current position to serial port
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// M115 - Capabilities string
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// M117 - display message
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// M119 - Output Endstop status to serial port
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// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
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// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
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// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
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// M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
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// M140 - Set bed target temp
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// M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
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// M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
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// Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
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// M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
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// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
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// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
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// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
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// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
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// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
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// M206 - set additional homing offset
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// M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
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// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
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// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
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// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
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// M220 S<factor in percent>- set speed factor override percentage
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// M221 S<factor in percent>- set extrude factor override percentage
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// M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
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// M240 - Trigger a camera to take a photograph
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// M250 - Set LCD contrast C<contrast value> (value 0..63)
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// M280 - set servo position absolute. P: servo index, S: angle or microseconds
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// M300 - Play beep sound S<frequency Hz> P<duration ms>
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// M301 - Set PID parameters P I and D
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// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
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// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
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// M304 - Set bed PID parameters P I and D
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// M400 - Finish all moves
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// M401 - Lower z-probe if present
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// M402 - Raise z-probe if present
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// M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
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// M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
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// M406 - Turn off Filament Sensor extrusion control
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// M407 - Displays measured filament diameter
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// M500 - stores parameters in EEPROM
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// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
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// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
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// M503 - print the current settings (from memory not from EEPROM)
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// M509 - force language selection on next restart
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// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
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// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
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// M860 - Wait for PINDA thermistor to reach target temperature.
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// M861 - Set / Read PINDA temperature compensation offsets
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// M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
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// M907 - Set digital trimpot motor current using axis codes.
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// M908 - Control digital trimpot directly.
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// M350 - Set microstepping mode.
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// M351 - Toggle MS1 MS2 pins directly.
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// M928 - Start SD logging (M928 filename.g) - ended by M29
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// M999 - Restart after being stopped by error
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//Stepper Movement Variables
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//===========================================================================
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//=============================imported variables============================
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//===========================================================================
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//===========================================================================
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//=============================public variables=============================
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//===========================================================================
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#ifdef SDSUPPORT
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CardReader card;
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#endif
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unsigned long PingTime = millis();
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unsigned long NcTime;
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union Data
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{
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byte b[2];
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int value;
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};
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float homing_feedrate[] = HOMING_FEEDRATE;
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// Currently only the extruder axis may be switched to a relative mode.
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// Other axes are always absolute or relative based on the common relative_mode flag.
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bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
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int feedmultiply=100; //100->1 200->2
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int saved_feedmultiply;
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int extrudemultiply=100; //100->1 200->2
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int extruder_multiply[EXTRUDERS] = {100
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#if EXTRUDERS > 1
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, 100
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#if EXTRUDERS > 2
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, 100
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#endif
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#endif
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};
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int bowden_length[4] = {385, 385, 385, 385};
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bool is_usb_printing = false;
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bool homing_flag = false;
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bool temp_cal_active = false;
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unsigned long kicktime = millis()+100000;
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unsigned int usb_printing_counter;
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int lcd_change_fil_state = 0;
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int feedmultiplyBckp = 100;
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float HotendTempBckp = 0;
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int fanSpeedBckp = 0;
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float pause_lastpos[4];
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unsigned long pause_time = 0;
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unsigned long start_pause_print = millis();
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unsigned long t_fan_rising_edge = millis();
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static LongTimer safetyTimer;
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static LongTimer crashDetTimer;
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//unsigned long load_filament_time;
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bool mesh_bed_leveling_flag = false;
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bool mesh_bed_run_from_menu = false;
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int8_t FarmMode = 0;
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bool prusa_sd_card_upload = false;
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unsigned int status_number = 0;
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unsigned long total_filament_used;
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unsigned int heating_status;
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unsigned int heating_status_counter;
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bool custom_message;
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bool loading_flag = false;
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unsigned int custom_message_type;
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unsigned int custom_message_state;
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char snmm_filaments_used = 0;
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bool fan_state[2];
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int fan_edge_counter[2];
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int fan_speed[2];
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char dir_names[3][9];
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bool sortAlpha = false;
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bool volumetric_enabled = false;
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float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA
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#if EXTRUDERS > 1
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, DEFAULT_NOMINAL_FILAMENT_DIA
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#if EXTRUDERS > 2
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, DEFAULT_NOMINAL_FILAMENT_DIA
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#endif
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#endif
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};
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float extruder_multiplier[EXTRUDERS] = {1.0
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#if EXTRUDERS > 1
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, 1.0
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#if EXTRUDERS > 2
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, 1.0
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#endif
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#endif
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};
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float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
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//shortcuts for more readable code
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#define _x current_position[X_AXIS]
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#define _y current_position[Y_AXIS]
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#define _z current_position[Z_AXIS]
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#define _e current_position[E_AXIS]
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float add_homing[3]={0,0,0};
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float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
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float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
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bool axis_known_position[3] = {false, false, false};
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float zprobe_zoffset;
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// Extruder offset
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#if EXTRUDERS > 1
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#define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
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float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
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#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
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EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
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#endif
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};
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#endif
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uint8_t active_extruder = 0;
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int fanSpeed=0;
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#ifdef FWRETRACT
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bool autoretract_enabled=false;
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bool retracted[EXTRUDERS]={false
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#if EXTRUDERS > 1
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, false
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#if EXTRUDERS > 2
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, false
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#endif
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#endif
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};
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bool retracted_swap[EXTRUDERS]={false
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#if EXTRUDERS > 1
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, false
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#if EXTRUDERS > 2
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, false
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#endif
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#endif
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};
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float retract_length = RETRACT_LENGTH;
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float retract_length_swap = RETRACT_LENGTH_SWAP;
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float retract_feedrate = RETRACT_FEEDRATE;
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float retract_zlift = RETRACT_ZLIFT;
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float retract_recover_length = RETRACT_RECOVER_LENGTH;
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float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
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float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
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#endif
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#ifdef PS_DEFAULT_OFF
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bool powersupply = false;
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#else
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bool powersupply = true;
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#endif
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bool cancel_heatup = false ;
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#ifdef HOST_KEEPALIVE_FEATURE
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int busy_state = NOT_BUSY;
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static long prev_busy_signal_ms = -1;
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uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
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#else
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#define host_keepalive();
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#define KEEPALIVE_STATE(n);
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#endif
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const char errormagic[] PROGMEM = "Error:";
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const char echomagic[] PROGMEM = "echo:";
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bool no_response = false;
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uint8_t important_status;
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uint8_t saved_filament_type;
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// save/restore printing
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bool saved_printing = false;
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// storing estimated time to end of print counted by slicer
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uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
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uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
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uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
|
|
uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
|
|
|
|
//===========================================================================
|
|
//=============================Private Variables=============================
|
|
//===========================================================================
|
|
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
|
|
float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
|
|
|
|
static float delta[3] = {0.0, 0.0, 0.0};
|
|
|
|
// For tracing an arc
|
|
static float offset[3] = {0.0, 0.0, 0.0};
|
|
static float feedrate = 1500.0, next_feedrate, saved_feedrate;
|
|
|
|
// Determines Absolute or Relative Coordinates.
|
|
// Also there is bool axis_relative_modes[] per axis flag.
|
|
static bool relative_mode = false;
|
|
|
|
const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
|
|
|
|
//static float tt = 0;
|
|
//static float bt = 0;
|
|
|
|
//Inactivity shutdown variables
|
|
static unsigned long previous_millis_cmd = 0;
|
|
unsigned long max_inactive_time = 0;
|
|
static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
|
|
static unsigned long safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
|
|
|
|
unsigned long starttime=0;
|
|
unsigned long stoptime=0;
|
|
unsigned long _usb_timer = 0;
|
|
|
|
static uint8_t tmp_extruder;
|
|
|
|
bool extruder_under_pressure = true;
|
|
|
|
|
|
bool Stopped=false;
|
|
|
|
#if NUM_SERVOS > 0
|
|
Servo servos[NUM_SERVOS];
|
|
#endif
|
|
|
|
bool CooldownNoWait = true;
|
|
bool target_direction;
|
|
|
|
//Insert variables if CHDK is defined
|
|
#ifdef CHDK
|
|
unsigned long chdkHigh = 0;
|
|
boolean chdkActive = false;
|
|
#endif
|
|
|
|
// save/restore printing
|
|
static uint32_t saved_sdpos = 0;
|
|
static uint8_t saved_printing_type = PRINTING_TYPE_SD;
|
|
static float saved_pos[4] = { 0, 0, 0, 0 };
|
|
// Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
|
|
static float saved_feedrate2 = 0;
|
|
static uint8_t saved_active_extruder = 0;
|
|
static bool saved_extruder_under_pressure = false;
|
|
static bool saved_extruder_relative_mode = false;
|
|
|
|
//===========================================================================
|
|
//=============================Routines======================================
|
|
//===========================================================================
|
|
|
|
void get_arc_coordinates();
|
|
bool setTargetedHotend(int code);
|
|
|
|
void serial_echopair_P(const char *s_P, float v)
|
|
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
|
|
void serial_echopair_P(const char *s_P, double v)
|
|
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
|
|
void serial_echopair_P(const char *s_P, unsigned long v)
|
|
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
|
|
|
|
#ifdef SDSUPPORT
|
|
#include "SdFatUtil.h"
|
|
int freeMemory() { return SdFatUtil::FreeRam(); }
|
|
#else
|
|
extern "C" {
|
|
extern unsigned int __bss_end;
|
|
extern unsigned int __heap_start;
|
|
extern void *__brkval;
|
|
|
|
int freeMemory() {
|
|
int free_memory;
|
|
|
|
if ((int)__brkval == 0)
|
|
free_memory = ((int)&free_memory) - ((int)&__bss_end);
|
|
else
|
|
free_memory = ((int)&free_memory) - ((int)__brkval);
|
|
|
|
return free_memory;
|
|
}
|
|
}
|
|
#endif //!SDSUPPORT
|
|
|
|
void setup_killpin()
|
|
{
|
|
#if defined(KILL_PIN) && KILL_PIN > -1
|
|
SET_INPUT(KILL_PIN);
|
|
WRITE(KILL_PIN,HIGH);
|
|
#endif
|
|
}
|
|
|
|
// Set home pin
|
|
void setup_homepin(void)
|
|
{
|
|
#if defined(HOME_PIN) && HOME_PIN > -1
|
|
SET_INPUT(HOME_PIN);
|
|
WRITE(HOME_PIN,HIGH);
|
|
#endif
|
|
}
|
|
|
|
void setup_photpin()
|
|
{
|
|
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
|
|
SET_OUTPUT(PHOTOGRAPH_PIN);
|
|
WRITE(PHOTOGRAPH_PIN, LOW);
|
|
#endif
|
|
}
|
|
|
|
void setup_powerhold()
|
|
{
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
SET_OUTPUT(SUICIDE_PIN);
|
|
WRITE(SUICIDE_PIN, HIGH);
|
|
#endif
|
|
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
SET_OUTPUT(PS_ON_PIN);
|
|
#if defined(PS_DEFAULT_OFF)
|
|
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
|
|
#else
|
|
WRITE(PS_ON_PIN, PS_ON_AWAKE);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
void suicide()
|
|
{
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
SET_OUTPUT(SUICIDE_PIN);
|
|
WRITE(SUICIDE_PIN, LOW);
|
|
#endif
|
|
}
|
|
|
|
void servo_init()
|
|
{
|
|
#if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
|
|
servos[0].attach(SERVO0_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
|
|
servos[1].attach(SERVO1_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
|
|
servos[2].attach(SERVO2_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
|
|
servos[3].attach(SERVO3_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 5)
|
|
#error "TODO: enter initalisation code for more servos"
|
|
#endif
|
|
}
|
|
|
|
|
|
void stop_and_save_print_to_ram(float z_move, float e_move);
|
|
void restore_print_from_ram_and_continue(float e_move);
|
|
|
|
bool fans_check_enabled = true;
|
|
bool fsensor_autoload_enabled = true;
|
|
|
|
|
|
#ifdef TMC2130
|
|
|
|
extern int8_t CrashDetectMenu;
|
|
|
|
void crashdet_enable()
|
|
{
|
|
tmc2130_sg_stop_on_crash = true;
|
|
eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0xFF);
|
|
CrashDetectMenu = 1;
|
|
|
|
}
|
|
|
|
void crashdet_disable()
|
|
{
|
|
tmc2130_sg_stop_on_crash = false;
|
|
tmc2130_sg_crash = 0;
|
|
eeprom_update_byte((uint8_t*)EEPROM_CRASH_DET, 0x00);
|
|
CrashDetectMenu = 0;
|
|
}
|
|
|
|
void crashdet_stop_and_save_print()
|
|
{
|
|
stop_and_save_print_to_ram(10, -DEFAULT_RETRACTION); //XY - no change, Z 10mm up, E -1mm retract
|
|
}
|
|
|
|
void crashdet_restore_print_and_continue()
|
|
{
|
|
restore_print_from_ram_and_continue(DEFAULT_RETRACTION); //XYZ = orig, E +1mm unretract
|
|
// babystep_apply();
|
|
}
|
|
|
|
|
|
void crashdet_stop_and_save_print2()
|
|
{
|
|
cli();
|
|
planner_abort_hard(); //abort printing
|
|
cmdqueue_reset(); //empty cmdqueue
|
|
card.sdprinting = false;
|
|
card.closefile();
|
|
// Reset and re-enable the stepper timer just before the global interrupts are enabled.
|
|
st_reset_timer();
|
|
sei();
|
|
}
|
|
|
|
void crashdet_detected(uint8_t mask)
|
|
{
|
|
// printf("CRASH_DETECTED");
|
|
/* while (!is_buffer_empty())
|
|
{
|
|
process_commands();
|
|
cmdqueue_pop_front();
|
|
}*/
|
|
st_synchronize();
|
|
static uint8_t crashDet_counter = 0;
|
|
bool automatic_recovery_after_crash = true;
|
|
|
|
if (crashDet_counter++ == 0) {
|
|
crashDetTimer.start();
|
|
}
|
|
else if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)){
|
|
crashDetTimer.stop();
|
|
crashDet_counter = 0;
|
|
}
|
|
else if(crashDet_counter == CRASHDET_COUNTER_MAX){
|
|
automatic_recovery_after_crash = false;
|
|
crashDetTimer.stop();
|
|
crashDet_counter = 0;
|
|
}
|
|
else {
|
|
crashDetTimer.start();
|
|
}
|
|
|
|
lcd_update_enable(true);
|
|
lcd_clear();
|
|
lcd_update(2);
|
|
|
|
if (mask & X_AXIS_MASK)
|
|
{
|
|
eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_X, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) + 1);
|
|
eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) + 1);
|
|
}
|
|
if (mask & Y_AXIS_MASK)
|
|
{
|
|
eeprom_update_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) + 1);
|
|
eeprom_update_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) + 1);
|
|
}
|
|
|
|
|
|
|
|
lcd_update_enable(true);
|
|
lcd_update(2);
|
|
lcd_setstatuspgm(_T(MSG_CRASH_DETECTED));
|
|
gcode_G28(true, true, false); //home X and Y
|
|
st_synchronize();
|
|
|
|
if (automatic_recovery_after_crash) {
|
|
enquecommand_P(PSTR("CRASH_RECOVER"));
|
|
}else{
|
|
HotendTempBckp = degTargetHotend(active_extruder);
|
|
setTargetHotend(0, active_extruder);
|
|
bool yesno = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Crash detected. Resume print?"), false);
|
|
lcd_update_enable(true);
|
|
if (yesno)
|
|
{
|
|
char cmd1[10];
|
|
strcpy(cmd1, "M109 S");
|
|
strcat(cmd1, ftostr3(HotendTempBckp));
|
|
enquecommand(cmd1);
|
|
enquecommand_P(PSTR("CRASH_RECOVER"));
|
|
}
|
|
else
|
|
{
|
|
enquecommand_P(PSTR("CRASH_CANCEL"));
|
|
}
|
|
}
|
|
}
|
|
|
|
void crashdet_recover()
|
|
{
|
|
crashdet_restore_print_and_continue();
|
|
tmc2130_sg_stop_on_crash = true;
|
|
}
|
|
|
|
void crashdet_cancel()
|
|
{
|
|
tmc2130_sg_stop_on_crash = true;
|
|
if (saved_printing_type == PRINTING_TYPE_SD) {
|
|
lcd_print_stop();
|
|
}else if(saved_printing_type == PRINTING_TYPE_USB){
|
|
SERIAL_ECHOLNPGM("// action:cancel"); //for Octoprint: works the same as clicking "Abort" button in Octoprint GUI
|
|
SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
|
|
}
|
|
}
|
|
|
|
#endif //TMC2130
|
|
|
|
void failstats_reset_print()
|
|
{
|
|
eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
|
|
eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
|
|
eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
|
|
eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
|
|
}
|
|
|
|
|
|
|
|
#ifdef MESH_BED_LEVELING
|
|
enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
|
|
#endif
|
|
|
|
|
|
// Factory reset function
|
|
// This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
|
|
// Level input parameter sets depth of reset
|
|
// Quiet parameter masks all waitings for user interact.
|
|
int er_progress = 0;
|
|
void factory_reset(char level, bool quiet)
|
|
{
|
|
lcd_clear();
|
|
int cursor_pos = 0;
|
|
switch (level) {
|
|
|
|
// Level 0: Language reset
|
|
case 0:
|
|
WRITE(BEEPER, HIGH);
|
|
_delay_ms(100);
|
|
WRITE(BEEPER, LOW);
|
|
lang_reset();
|
|
break;
|
|
|
|
//Level 1: Reset statistics
|
|
case 1:
|
|
WRITE(BEEPER, HIGH);
|
|
_delay_ms(100);
|
|
WRITE(BEEPER, LOW);
|
|
eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
|
|
eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
|
|
|
|
eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
|
|
eeprom_update_byte((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
|
|
eeprom_update_byte((uint8_t *)EEPROM_FERROR_COUNT, 0);
|
|
eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
|
|
|
|
eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
|
|
eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
|
|
eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
|
|
eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
|
|
|
|
lcd_menu_statistics();
|
|
|
|
break;
|
|
|
|
// Level 2: Prepare for shipping
|
|
case 2:
|
|
//lcd_puts_P(PSTR("Factory RESET"));
|
|
//lcd_puts_at_P(1,2,PSTR("Shipping prep"));
|
|
|
|
// Force language selection at the next boot up.
|
|
lang_reset();
|
|
// Force the "Follow calibration flow" message at the next boot up.
|
|
calibration_status_store(CALIBRATION_STATUS_Z_CALIBRATION);
|
|
eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
|
|
farm_no = 0;
|
|
farm_mode = false;
|
|
eeprom_update_byte((uint8_t*)EEPROM_FARM_MODE, farm_mode);
|
|
EEPROM_save_B(EEPROM_FARM_NUMBER, &farm_no);
|
|
|
|
eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
|
|
eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
|
|
eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
|
|
eeprom_update_word((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
|
|
eeprom_update_word((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
|
|
eeprom_update_word((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
|
|
|
|
fsensor_enable();
|
|
fsensor_autoload_set(true);
|
|
|
|
WRITE(BEEPER, HIGH);
|
|
_delay_ms(100);
|
|
WRITE(BEEPER, LOW);
|
|
//_delay_ms(2000);
|
|
break;
|
|
|
|
// Level 3: erase everything, whole EEPROM will be set to 0xFF
|
|
|
|
case 3:
|
|
lcd_puts_P(PSTR("Factory RESET"));
|
|
lcd_puts_at_P(1, 2, PSTR("ERASING all data"));
|
|
|
|
WRITE(BEEPER, HIGH);
|
|
_delay_ms(100);
|
|
WRITE(BEEPER, LOW);
|
|
|
|
er_progress = 0;
|
|
lcd_puts_at_P(3, 3, PSTR(" "));
|
|
lcd_set_cursor(3, 3);
|
|
lcd_print(er_progress);
|
|
|
|
// Erase EEPROM
|
|
for (int i = 0; i < 4096; i++) {
|
|
eeprom_write_byte((uint8_t*)i, 0xFF);
|
|
|
|
if (i % 41 == 0) {
|
|
er_progress++;
|
|
lcd_puts_at_P(3, 3, PSTR(" "));
|
|
lcd_set_cursor(3, 3);
|
|
lcd_print(er_progress);
|
|
lcd_puts_P(PSTR("%"));
|
|
}
|
|
|
|
}
|
|
|
|
|
|
break;
|
|
case 4:
|
|
bowden_menu();
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
FILE _uartout = {0};
|
|
|
|
int uart_putchar(char c, FILE *stream)
|
|
{
|
|
MYSERIAL.write(c);
|
|
return 0;
|
|
}
|
|
|
|
|
|
void lcd_splash()
|
|
{
|
|
// lcd_puts_at_P(0, 1, PSTR(" Original Prusa "));
|
|
// lcd_puts_at_P(0, 2, PSTR(" 3D Printers "));
|
|
// lcd_puts_P(PSTR("\x1b[1;3HOriginal Prusa\x1b[2;4H3D Printers"));
|
|
// fputs_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"), lcdout);
|
|
lcd_puts_P(PSTR(ESC_2J ESC_H(1,1) "Original Prusa i3" ESC_H(3,2) "Prusa Research"));
|
|
// lcd_printf_P(_N(ESC_2J "x:%.3f\ny:%.3f\nz:%.3f\ne:%.3f"), _x, _y, _z, _e);
|
|
}
|
|
|
|
|
|
void factory_reset()
|
|
{
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
if (!READ(BTN_ENC))
|
|
{
|
|
_delay_ms(1000);
|
|
if (!READ(BTN_ENC))
|
|
{
|
|
lcd_clear();
|
|
|
|
|
|
lcd_puts_P(PSTR("Factory RESET"));
|
|
|
|
|
|
SET_OUTPUT(BEEPER);
|
|
WRITE(BEEPER, HIGH);
|
|
|
|
while (!READ(BTN_ENC));
|
|
|
|
WRITE(BEEPER, LOW);
|
|
|
|
|
|
|
|
_delay_ms(2000);
|
|
|
|
char level = reset_menu();
|
|
factory_reset(level, false);
|
|
|
|
switch (level) {
|
|
case 0: _delay_ms(0); break;
|
|
case 1: _delay_ms(0); break;
|
|
case 2: _delay_ms(0); break;
|
|
case 3: _delay_ms(0); break;
|
|
}
|
|
// _delay_ms(100);
|
|
/*
|
|
#ifdef MESH_BED_LEVELING
|
|
_delay_ms(2000);
|
|
|
|
if (!READ(BTN_ENC))
|
|
{
|
|
WRITE(BEEPER, HIGH);
|
|
_delay_ms(100);
|
|
WRITE(BEEPER, LOW);
|
|
_delay_ms(200);
|
|
WRITE(BEEPER, HIGH);
|
|
_delay_ms(100);
|
|
WRITE(BEEPER, LOW);
|
|
|
|
int _z = 0;
|
|
calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
|
|
EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
|
|
EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
|
|
EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
|
|
}
|
|
else
|
|
{
|
|
|
|
WRITE(BEEPER, HIGH);
|
|
_delay_ms(100);
|
|
WRITE(BEEPER, LOW);
|
|
}
|
|
#endif // mesh */
|
|
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//_delay_ms(1000); // wait 1sec to display the splash screen // what's this and why do we need it?? - andre
|
|
}
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
}
|
|
|
|
void show_fw_version_warnings() {
|
|
if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
|
|
switch (FW_DEV_VERSION) {
|
|
case(FW_VERSION_ALPHA): lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage.")); break;////MSG_FW_VERSION_ALPHA c=20 r=8
|
|
case(FW_VERSION_BETA): lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage.")); break;////MSG_FW_VERSION_BETA c=20 r=8
|
|
case(FW_VERSION_DEVEL):
|
|
case(FW_VERSION_DEBUG):
|
|
lcd_update_enable(false);
|
|
lcd_clear();
|
|
#if FW_DEV_VERSION == FW_VERSION_DEVEL
|
|
lcd_puts_at_P(0, 0, PSTR("Development build !!"));
|
|
#else
|
|
lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
|
|
#endif
|
|
lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
|
|
lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
|
|
lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
|
|
lcd_wait_for_click();
|
|
break;
|
|
// default: lcd_show_fullscreen_message_and_wait_P(_i("WARNING: This is an unofficial, unsupported build. Use at your own risk!")); break;////MSG_FW_VERSION_UNKNOWN c=20 r=8
|
|
}
|
|
lcd_update_enable(true);
|
|
}
|
|
|
|
uint8_t check_printer_version()
|
|
{
|
|
uint8_t version_changed = 0;
|
|
uint16_t printer_type = eeprom_read_word((uint16_t*)EEPROM_PRINTER_TYPE);
|
|
uint16_t motherboard = eeprom_read_word((uint16_t*)EEPROM_BOARD_TYPE);
|
|
|
|
if (printer_type != PRINTER_TYPE) {
|
|
if (printer_type == 0xffff) eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
|
|
else version_changed |= 0b10;
|
|
}
|
|
if (motherboard != MOTHERBOARD) {
|
|
if(motherboard == 0xffff) eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
|
|
else version_changed |= 0b01;
|
|
}
|
|
return version_changed;
|
|
}
|
|
|
|
void erase_eeprom_section(uint16_t offset, uint16_t bytes)
|
|
{
|
|
for (int i = offset; i < (offset+bytes); i++) eeprom_write_byte((uint8_t*)i, 0xFF);
|
|
}
|
|
|
|
|
|
#if (LANG_MODE != 0) //secondary language support
|
|
|
|
#ifdef W25X20CL
|
|
|
|
#include "bootapp.h" //bootloader support
|
|
|
|
// language update from external flash
|
|
#define LANGBOOT_BLOCKSIZE 0x1000
|
|
#define LANGBOOT_RAMBUFFER 0x0800
|
|
|
|
void update_sec_lang_from_external_flash()
|
|
{
|
|
if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
|
|
{
|
|
uint8_t lang = boot_reserved >> 4;
|
|
uint8_t state = boot_reserved & 0xf;
|
|
lang_table_header_t header;
|
|
uint32_t src_addr;
|
|
if (lang_get_header(lang, &header, &src_addr))
|
|
{
|
|
fputs_P(PSTR(ESC_H(1,3) "Language update."), lcdout);
|
|
for (uint8_t i = 0; i < state; i++) fputc('.', lcdout);
|
|
delay(100);
|
|
boot_reserved = (state + 1) | (lang << 4);
|
|
if ((state * LANGBOOT_BLOCKSIZE) < header.size)
|
|
{
|
|
cli();
|
|
uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
|
|
if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
|
|
w25x20cl_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
|
|
if (state == 0)
|
|
{
|
|
//TODO - check header integrity
|
|
}
|
|
bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
|
|
}
|
|
else
|
|
{
|
|
//TODO - check sec lang data integrity
|
|
eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
|
|
}
|
|
}
|
|
}
|
|
boot_app_flags &= ~BOOT_APP_FLG_USER0;
|
|
}
|
|
|
|
|
|
#ifdef DEBUG_W25X20CL
|
|
|
|
uint8_t lang_xflash_enum_codes(uint16_t* codes)
|
|
{
|
|
lang_table_header_t header;
|
|
uint8_t count = 0;
|
|
uint32_t addr = 0x00000;
|
|
while (1)
|
|
{
|
|
printf_P(_n("LANGTABLE%d:"), count);
|
|
w25x20cl_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
|
|
if (header.magic != LANG_MAGIC)
|
|
{
|
|
printf_P(_n("NG!\n"));
|
|
break;
|
|
}
|
|
printf_P(_n("OK\n"));
|
|
printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
|
|
printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
|
|
printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
|
|
printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
|
|
printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
|
|
printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
|
|
|
|
addr += header.size;
|
|
codes[count] = header.code;
|
|
count ++;
|
|
}
|
|
return count;
|
|
}
|
|
|
|
void list_sec_lang_from_external_flash()
|
|
{
|
|
uint16_t codes[8];
|
|
uint8_t count = lang_xflash_enum_codes(codes);
|
|
printf_P(_n("XFlash lang count = %hhd\n"), count);
|
|
}
|
|
|
|
#endif //DEBUG_W25X20CL
|
|
|
|
#endif //W25X20CL
|
|
|
|
#endif //(LANG_MODE != 0)
|
|
|
|
|
|
// "Setup" function is called by the Arduino framework on startup.
|
|
// Before startup, the Timers-functions (PWM)/Analog RW and HardwareSerial provided by the Arduino-code
|
|
// are initialized by the main() routine provided by the Arduino framework.
|
|
void setup()
|
|
{
|
|
ultralcd_init();
|
|
|
|
spi_init();
|
|
|
|
lcd_splash();
|
|
|
|
#ifdef W25X20CL
|
|
// Enter an STK500 compatible Optiboot boot loader waiting for flashing the languages to an external flash memory.
|
|
// optiboot_w25x20cl_enter();
|
|
#endif
|
|
|
|
#if (LANG_MODE != 0) //secondary language support
|
|
#ifdef W25X20CL
|
|
if (w25x20cl_init())
|
|
update_sec_lang_from_external_flash();
|
|
else
|
|
kill(_i("External SPI flash W25X20CL not responding."));
|
|
#endif //W25X20CL
|
|
#endif //(LANG_MODE != 0)
|
|
|
|
setup_killpin();
|
|
setup_powerhold();
|
|
|
|
farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
|
|
EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
|
|
if ((farm_mode == 0xFF && farm_no == 0) || ((uint16_t)farm_no == 0xFFFF))
|
|
farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
|
|
if ((uint16_t)farm_no == 0xFFFF) farm_no = 0;
|
|
|
|
selectedSerialPort = eeprom_read_byte((uint8_t*)EEPROM_SECOND_SERIAL_ACTIVE);
|
|
if (selectedSerialPort == 0xFF) selectedSerialPort = 0;
|
|
if (farm_mode)
|
|
{
|
|
no_response = true; //we need confirmation by recieving PRUSA thx
|
|
important_status = 8;
|
|
prusa_statistics(8);
|
|
selectedSerialPort = 1;
|
|
#ifdef TMC2130
|
|
//increased extruder current (PFW363)
|
|
tmc2130_current_h[E_AXIS] = 36;
|
|
tmc2130_current_r[E_AXIS] = 36;
|
|
#endif //TMC2130
|
|
//disabled filament autoload (PFW360)
|
|
fsensor_autoload_enabled = false;
|
|
eeprom_update_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED, 0);
|
|
}
|
|
MYSERIAL.begin(BAUDRATE);
|
|
fdev_setup_stream(uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE); //setup uart out stream
|
|
stdout = uartout;
|
|
SERIAL_PROTOCOLLNPGM("start");
|
|
SERIAL_ECHO_START;
|
|
printf_P(PSTR(" " FW_VERSION_FULL "\n"));
|
|
|
|
uart2_init();
|
|
|
|
|
|
#ifdef DEBUG_SEC_LANG
|
|
lang_table_header_t header;
|
|
uint32_t src_addr = 0x00000;
|
|
if (lang_get_header(1, &header, &src_addr))
|
|
{
|
|
//this is comparsion of some printing-methods regarding to flash space usage and code size/readability
|
|
#define LT_PRINT_TEST 2
|
|
// flash usage
|
|
// total p.test
|
|
//0 252718 t+c text code
|
|
//1 253142 424 170 254
|
|
//2 253040 322 164 158
|
|
//3 253248 530 135 395
|
|
#if (LT_PRINT_TEST==1) //not optimized printf
|
|
printf_P(_n(" _src_addr = 0x%08lx\n"), src_addr);
|
|
printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
|
|
printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
|
|
printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
|
|
printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
|
|
printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
|
|
printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
|
|
#elif (LT_PRINT_TEST==2) //optimized printf
|
|
printf_P(
|
|
_n(
|
|
" _src_addr = 0x%08lx\n"
|
|
" _lt_magic = 0x%08lx %S\n"
|
|
" _lt_size = 0x%04x (%d)\n"
|
|
" _lt_count = 0x%04x (%d)\n"
|
|
" _lt_chsum = 0x%04x\n"
|
|
" _lt_code = 0x%04x (%c%c)\n"
|
|
" _lt_resv1 = 0x%08lx\n"
|
|
),
|
|
src_addr,
|
|
header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"),
|
|
header.size, header.size,
|
|
header.count, header.count,
|
|
header.checksum,
|
|
header.code, header.code >> 8, header.code & 0xff,
|
|
header.signature
|
|
);
|
|
#elif (LT_PRINT_TEST==3) //arduino print/println (leading zeros not solved)
|
|
MYSERIAL.print(" _src_addr = 0x");
|
|
MYSERIAL.println(src_addr, 16);
|
|
MYSERIAL.print(" _lt_magic = 0x");
|
|
MYSERIAL.print(header.magic, 16);
|
|
MYSERIAL.println((header.magic==LANG_MAGIC)?" OK":" NA");
|
|
MYSERIAL.print(" _lt_size = 0x");
|
|
MYSERIAL.print(header.size, 16);
|
|
MYSERIAL.print(" (");
|
|
MYSERIAL.print(header.size, 10);
|
|
MYSERIAL.println(")");
|
|
MYSERIAL.print(" _lt_count = 0x");
|
|
MYSERIAL.print(header.count, 16);
|
|
MYSERIAL.print(" (");
|
|
MYSERIAL.print(header.count, 10);
|
|
MYSERIAL.println(")");
|
|
MYSERIAL.print(" _lt_chsum = 0x");
|
|
MYSERIAL.println(header.checksum, 16);
|
|
MYSERIAL.print(" _lt_code = 0x");
|
|
MYSERIAL.print(header.code, 16);
|
|
MYSERIAL.print(" (");
|
|
MYSERIAL.print((char)(header.code >> 8), 0);
|
|
MYSERIAL.print((char)(header.code & 0xff), 0);
|
|
MYSERIAL.println(")");
|
|
MYSERIAL.print(" _lt_resv1 = 0x");
|
|
MYSERIAL.println(header.signature, 16);
|
|
#endif //(LT_PRINT_TEST==)
|
|
#undef LT_PRINT_TEST
|
|
|
|
#if 0
|
|
w25x20cl_rd_data(0x25ba, (uint8_t*)&block_buffer, 1024);
|
|
for (uint16_t i = 0; i < 1024; i++)
|
|
{
|
|
if ((i % 16) == 0) printf_P(_n("%04x:"), 0x25ba+i);
|
|
printf_P(_n(" %02x"), ((uint8_t*)&block_buffer)[i]);
|
|
if ((i % 16) == 15) putchar('\n');
|
|
}
|
|
#endif
|
|
uint16_t sum = 0;
|
|
for (uint16_t i = 0; i < header.size; i++)
|
|
sum += (uint16_t)pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE + i)) << ((i & 1)?0:8);
|
|
printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
|
|
sum -= header.checksum; //subtract checksum
|
|
printf_P(_n("_SEC_LANG_TABLE checksum = %04x\n"), sum);
|
|
sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
|
|
if (sum == header.checksum)
|
|
printf_P(_n("Checksum OK\n"), sum);
|
|
else
|
|
printf_P(_n("Checksum NG\n"), sum);
|
|
}
|
|
else
|
|
printf_P(_n("lang_get_header failed!\n"));
|
|
|
|
#if 0
|
|
for (uint16_t i = 0; i < 1024*10; i++)
|
|
{
|
|
if ((i % 16) == 0) printf_P(_n("%04x:"), _SEC_LANG_TABLE+i);
|
|
printf_P(_n(" %02x"), pgm_read_byte((uint8_t*)(_SEC_LANG_TABLE+i)));
|
|
if ((i % 16) == 15) putchar('\n');
|
|
}
|
|
#endif
|
|
|
|
#if 0
|
|
SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
|
|
for (int i = 0; i < 4096; ++i) {
|
|
int b = eeprom_read_byte((unsigned char*)i);
|
|
if (b != 255) {
|
|
SERIAL_ECHO(i);
|
|
SERIAL_ECHO(":");
|
|
SERIAL_ECHO(b);
|
|
SERIAL_ECHOLN("");
|
|
}
|
|
}
|
|
SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
|
|
#endif
|
|
|
|
#endif //DEBUG_SEC_LANG
|
|
|
|
// Check startup - does nothing if bootloader sets MCUSR to 0
|
|
byte mcu = MCUSR;
|
|
/* if (mcu & 1) SERIAL_ECHOLNRPGM(_T(MSG_POWERUP));
|
|
if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
|
|
if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
|
|
if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
|
|
if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);*/
|
|
if (mcu & 1) puts_P(_T(MSG_POWERUP));
|
|
if (mcu & 2) puts_P(MSG_EXTERNAL_RESET);
|
|
if (mcu & 4) puts_P(MSG_BROWNOUT_RESET);
|
|
if (mcu & 8) puts_P(MSG_WATCHDOG_RESET);
|
|
if (mcu & 32) puts_P(MSG_SOFTWARE_RESET);
|
|
MCUSR = 0;
|
|
|
|
//SERIAL_ECHORPGM(MSG_MARLIN);
|
|
//SERIAL_ECHOLNRPGM(VERSION_STRING);
|
|
|
|
#ifdef STRING_VERSION_CONFIG_H
|
|
#ifdef STRING_CONFIG_H_AUTHOR
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHORPGM(_i(" Last Updated: "));////MSG_CONFIGURATION_VER c=0 r=0
|
|
SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
|
|
SERIAL_ECHORPGM(_n(" | Author: "));////MSG_AUTHOR c=0 r=0
|
|
SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
|
|
SERIAL_ECHOPGM("Compiled: ");
|
|
SERIAL_ECHOLNPGM(__DATE__);
|
|
#endif
|
|
#endif
|
|
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHORPGM(_i(" Free Memory: "));////MSG_FREE_MEMORY c=0 r=0
|
|
SERIAL_ECHO(freeMemory());
|
|
SERIAL_ECHORPGM(_i(" PlannerBufferBytes: "));////MSG_PLANNER_BUFFER_BYTES c=0 r=0
|
|
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
|
|
//lcd_update_enable(false); // why do we need this?? - andre
|
|
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
|
|
|
|
bool previous_settings_retrieved = false;
|
|
uint8_t hw_changed = check_printer_version();
|
|
if (!(hw_changed & 0b10)) { //if printer version wasn't changed, check for eeprom version and retrieve settings from eeprom in case that version wasn't changed
|
|
previous_settings_retrieved = Config_RetrieveSettings(EEPROM_OFFSET);
|
|
}
|
|
else { //printer version was changed so use default settings
|
|
Config_ResetDefault();
|
|
}
|
|
SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
|
|
|
|
tp_init(); // Initialize temperature loop
|
|
|
|
lcd_splash(); // we need to do this again, because tp_init() kills lcd
|
|
|
|
plan_init(); // Initialize planner;
|
|
|
|
factory_reset();
|
|
|
|
#ifdef TMC2130
|
|
uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
|
|
if (silentMode == 0xff) silentMode = 0;
|
|
tmc2130_mode = TMC2130_MODE_NORMAL;
|
|
uint8_t crashdet = eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET);
|
|
if (crashdet && !farm_mode)
|
|
{
|
|
crashdet_enable();
|
|
puts_P(_N("CrashDetect ENABLED!"));
|
|
}
|
|
else
|
|
{
|
|
crashdet_disable();
|
|
puts_P(_N("CrashDetect DISABLED"));
|
|
}
|
|
|
|
#ifdef TMC2130_LINEARITY_CORRECTION
|
|
#ifdef TMC2130_LINEARITY_CORRECTION_XYZ
|
|
tmc2130_wave_fac[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_X_FAC);
|
|
tmc2130_wave_fac[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Y_FAC);
|
|
tmc2130_wave_fac[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_Z_FAC);
|
|
#endif //TMC2130_LINEARITY_CORRECTION_XYZ
|
|
tmc2130_wave_fac[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_WAVE_E_FAC);
|
|
if (tmc2130_wave_fac[X_AXIS] == 0xff) tmc2130_wave_fac[X_AXIS] = 0;
|
|
if (tmc2130_wave_fac[Y_AXIS] == 0xff) tmc2130_wave_fac[Y_AXIS] = 0;
|
|
if (tmc2130_wave_fac[Z_AXIS] == 0xff) tmc2130_wave_fac[Z_AXIS] = 0;
|
|
if (tmc2130_wave_fac[E_AXIS] == 0xff) tmc2130_wave_fac[E_AXIS] = 0;
|
|
#endif //TMC2130_LINEARITY_CORRECTION
|
|
|
|
#ifdef TMC2130_VARIABLE_RESOLUTION
|
|
tmc2130_mres[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_X_MRES);
|
|
tmc2130_mres[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Y_MRES);
|
|
tmc2130_mres[Z_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_Z_MRES);
|
|
tmc2130_mres[E_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_E_MRES);
|
|
if (tmc2130_mres[X_AXIS] == 0xff) tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
|
|
if (tmc2130_mres[Y_AXIS] == 0xff) tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
|
|
if (tmc2130_mres[Z_AXIS] == 0xff) tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
|
|
if (tmc2130_mres[E_AXIS] == 0xff) tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
|
|
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_X_MRES, tmc2130_mres[X_AXIS]);
|
|
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Y_MRES, tmc2130_mres[Y_AXIS]);
|
|
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_Z_MRES, tmc2130_mres[Z_AXIS]);
|
|
eeprom_update_byte((uint8_t*)EEPROM_TMC2130_E_MRES, tmc2130_mres[E_AXIS]);
|
|
#else //TMC2130_VARIABLE_RESOLUTION
|
|
tmc2130_mres[X_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
|
|
tmc2130_mres[Y_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_XY);
|
|
tmc2130_mres[Z_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_Z);
|
|
tmc2130_mres[E_AXIS] = tmc2130_usteps2mres(TMC2130_USTEPS_E);
|
|
#endif //TMC2130_VARIABLE_RESOLUTION
|
|
|
|
#endif //TMC2130
|
|
|
|
|
|
st_init(); // Initialize stepper, this enables interrupts!
|
|
|
|
#ifdef TMC2130
|
|
tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
|
|
update_mode_profile();
|
|
tmc2130_init();
|
|
#endif //TMC2130
|
|
|
|
setup_photpin();
|
|
|
|
servo_init();
|
|
// Reset the machine correction matrix.
|
|
// It does not make sense to load the correction matrix until the machine is homed.
|
|
world2machine_reset();
|
|
|
|
#ifdef PAT9125
|
|
fsensor_init();
|
|
#endif //PAT9125
|
|
|
|
|
|
#if defined(CONTROLLERFAN_PIN) && (CONTROLLERFAN_PIN > -1)
|
|
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
|
|
#endif
|
|
|
|
|
|
setup_homepin();
|
|
|
|
#ifdef TMC2130
|
|
|
|
if (1) {
|
|
// try to run to zero phase before powering the Z motor.
|
|
// Move in negative direction
|
|
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
|
|
// Round the current micro-micro steps to micro steps.
|
|
for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
|
|
// Until the phase counter is reset to zero.
|
|
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
|
|
delay(2);
|
|
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
|
|
delay(2);
|
|
}
|
|
}
|
|
#endif //TMC2130
|
|
|
|
#if defined(Z_AXIS_ALWAYS_ON)
|
|
enable_z();
|
|
#endif
|
|
farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
|
|
EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
|
|
if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == 0xFFFF)) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
|
|
if (farm_no == 0xFFFF) farm_no = 0;
|
|
if (farm_mode)
|
|
{
|
|
prusa_statistics(8);
|
|
}
|
|
|
|
// Enable Toshiba FlashAir SD card / WiFi enahanced card.
|
|
card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
|
|
|
|
if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
|
|
eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff) {
|
|
// Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
|
|
// where all the EEPROM entries are set to 0x0ff.
|
|
// Once a firmware boots up, it forces at least a language selection, which changes
|
|
// EEPROM_LANG to number lower than 0x0ff.
|
|
// 1) Set a high power mode.
|
|
#ifdef TMC2130
|
|
eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
|
|
tmc2130_mode = TMC2130_MODE_NORMAL;
|
|
#endif //TMC2130
|
|
eeprom_write_byte((uint8_t*)EEPROM_WIZARD_ACTIVE, 1); //run wizard
|
|
}
|
|
|
|
// Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false),
|
|
// but this times out if a blocking dialog is shown in setup().
|
|
card.initsd();
|
|
#ifdef DEBUG_SD_SPEED_TEST
|
|
if (card.cardOK)
|
|
{
|
|
uint8_t* buff = (uint8_t*)block_buffer;
|
|
uint32_t block = 0;
|
|
uint32_t sumr = 0;
|
|
uint32_t sumw = 0;
|
|
for (int i = 0; i < 1024; i++)
|
|
{
|
|
uint32_t u = micros();
|
|
bool res = card.card.readBlock(i, buff);
|
|
u = micros() - u;
|
|
if (res)
|
|
{
|
|
printf_P(PSTR("readBlock %4d 512 bytes %lu us\n"), i, u);
|
|
sumr += u;
|
|
u = micros();
|
|
res = card.card.writeBlock(i, buff);
|
|
u = micros() - u;
|
|
if (res)
|
|
{
|
|
printf_P(PSTR("writeBlock %4d 512 bytes %lu us\n"), i, u);
|
|
sumw += u;
|
|
}
|
|
else
|
|
{
|
|
printf_P(PSTR("writeBlock %4d error\n"), i);
|
|
break;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
printf_P(PSTR("readBlock %4d error\n"), i);
|
|
break;
|
|
}
|
|
}
|
|
uint32_t avg_rspeed = (1024 * 1000000) / (sumr / 512);
|
|
uint32_t avg_wspeed = (1024 * 1000000) / (sumw / 512);
|
|
printf_P(PSTR("avg read speed %lu bytes/s\n"), avg_rspeed);
|
|
printf_P(PSTR("avg write speed %lu bytes/s\n"), avg_wspeed);
|
|
}
|
|
else
|
|
printf_P(PSTR("Card NG!\n"));
|
|
#endif //DEBUG_SD_SPEED_TEST
|
|
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_POWER_COUNT, 0);
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_X, 0);
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_CRASH_COUNT_Y, 0);
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) == 0xff) eeprom_write_byte((uint8_t*)EEPROM_FERROR_COUNT, 0);
|
|
if (eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_POWER_COUNT_TOT, 0);
|
|
if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT, 0);
|
|
if (eeprom_read_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT, 0);
|
|
if (eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) == 0xffff) eeprom_write_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, 0);
|
|
#ifdef SNMM
|
|
if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
|
|
int _z = BOWDEN_LENGTH;
|
|
for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
|
|
}
|
|
#endif
|
|
|
|
// In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
|
|
// If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
|
|
// is being written into the EEPROM, so the update procedure will be triggered only once.
|
|
|
|
|
|
#if (LANG_MODE != 0) //secondary language support
|
|
|
|
#ifdef DEBUG_W25X20CL
|
|
W25X20CL_SPI_ENTER();
|
|
uint8_t uid[8]; // 64bit unique id
|
|
w25x20cl_rd_uid(uid);
|
|
puts_P(_n("W25X20CL UID="));
|
|
for (uint8_t i = 0; i < 8; i ++)
|
|
printf_P(PSTR("%02hhx"), uid[i]);
|
|
putchar('\n');
|
|
list_sec_lang_from_external_flash();
|
|
#endif //DEBUG_W25X20CL
|
|
|
|
// lang_reset();
|
|
if (!lang_select(eeprom_read_byte((uint8_t*)EEPROM_LANG)))
|
|
lcd_language();
|
|
|
|
#ifdef DEBUG_SEC_LANG
|
|
|
|
uint16_t sec_lang_code = lang_get_code(1);
|
|
uint16_t ui = _SEC_LANG_TABLE; //table pointer
|
|
printf_P(_n("lang_selected=%d\nlang_table=0x%04x\nSEC_LANG_CODE=0x%04x (%c%c)\n"), lang_selected, ui, sec_lang_code, sec_lang_code >> 8, sec_lang_code & 0xff);
|
|
|
|
// lang_print_sec_lang(uartout);
|
|
#endif //DEBUG_SEC_LANG
|
|
|
|
#endif //(LANG_MODE != 0)
|
|
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE) == 255) {
|
|
eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
|
|
temp_cal_active = false;
|
|
} else temp_cal_active = eeprom_read_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE);
|
|
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA) == 255) {
|
|
//eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0);
|
|
eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
|
|
int16_t z_shift = 0;
|
|
for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
|
|
eeprom_write_byte((uint8_t*)EEPROM_TEMP_CAL_ACTIVE, 0);
|
|
temp_cal_active = false;
|
|
}
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 255) {
|
|
eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
|
|
}
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_SD_SORT) == 255) {
|
|
eeprom_write_byte((uint8_t*)EEPROM_SD_SORT, 0);
|
|
}
|
|
|
|
check_babystep(); //checking if Z babystep is in allowed range
|
|
|
|
#ifdef UVLO_SUPPORT
|
|
setup_uvlo_interrupt();
|
|
#endif //UVLO_SUPPORT
|
|
|
|
#if !defined(DEBUG_DISABLE_FANCHECK) && defined(FANCHECK) && defined(TACH_1) && TACH_1 >-1
|
|
setup_fan_interrupt();
|
|
#endif //DEBUG_DISABLE_FANCHECK
|
|
|
|
#ifdef PAT9125
|
|
#ifndef DEBUG_DISABLE_FSENSORCHECK
|
|
fsensor_setup_interrupt();
|
|
#endif //DEBUG_DISABLE_FSENSORCHECK
|
|
#endif //PAT9125
|
|
for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
|
|
|
|
#ifndef DEBUG_DISABLE_STARTMSGS
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
|
show_fw_version_warnings();
|
|
|
|
switch (hw_changed) {
|
|
//if motherboard or printer type was changed inform user as it can indicate flashing wrong firmware version
|
|
//if user confirms with knob, new hw version (printer and/or motherboard) is written to eeprom and message will be not shown next time
|
|
case(0b01):
|
|
lcd_show_fullscreen_message_and_wait_P(_i("Warning: motherboard type changed.")); ////MSG_CHANGED_MOTHERBOARD c=20 r=4
|
|
eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
|
|
break;
|
|
case(0b10):
|
|
lcd_show_fullscreen_message_and_wait_P(_i("Warning: printer type changed.")); ////MSG_CHANGED_PRINTER c=20 r=4
|
|
eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
|
|
break;
|
|
case(0b11):
|
|
lcd_show_fullscreen_message_and_wait_P(_i("Warning: both printer type and motherboard type changed.")); ////MSG_CHANGED_BOTH c=20 r=4
|
|
eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
|
|
eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
|
|
break;
|
|
default: break; //no change, show no message
|
|
}
|
|
|
|
if (!previous_settings_retrieved) {
|
|
lcd_show_fullscreen_message_and_wait_P(_i("Old settings found. Default PID, Esteps etc. will be set.")); //if EEPROM version or printer type was changed, inform user that default setting were loaded////MSG_DEFAULT_SETTINGS_LOADED c=20 r=4
|
|
erase_eeprom_section(EEPROM_OFFSET, 156); //erase M500 part of eeprom
|
|
}
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 1) {
|
|
lcd_wizard(0);
|
|
}
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) == 0) { //dont show calibration status messages if wizard is currently active
|
|
if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
|
|
calibration_status() == CALIBRATION_STATUS_UNKNOWN ||
|
|
calibration_status() == CALIBRATION_STATUS_XYZ_CALIBRATION) {
|
|
// Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
|
|
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
|
|
// Show the message.
|
|
lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
|
|
}
|
|
else if (calibration_status() == CALIBRATION_STATUS_LIVE_ADJUST) {
|
|
// Show the message.
|
|
lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
|
|
lcd_update_enable(true);
|
|
}
|
|
else if (calibration_status() == CALIBRATION_STATUS_CALIBRATED && temp_cal_active == true && calibration_status_pinda() == false) {
|
|
//lcd_show_fullscreen_message_and_wait_P(_i("Temperature calibration has not been run yet"));////MSG_PINDA_NOT_CALIBRATED c=20 r=4
|
|
lcd_update_enable(true);
|
|
}
|
|
else if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION) {
|
|
// Show the message.
|
|
lcd_show_fullscreen_message_and_wait_P(_T(MSG_FOLLOW_CALIBRATION_FLOW));
|
|
}
|
|
}
|
|
|
|
#if !defined (DEBUG_DISABLE_FORCE_SELFTEST) && defined (TMC2130)
|
|
if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED) {
|
|
lcd_show_fullscreen_message_and_wait_P(_i("Selftest will be run to calibrate accurate sensorless rehoming."));////MSG_FORCE_SELFTEST c=20 r=8
|
|
update_current_firmware_version_to_eeprom();
|
|
lcd_selftest();
|
|
}
|
|
#endif //TMC2130 && !DEBUG_DISABLE_FORCE_SELFTEST
|
|
|
|
KEEPALIVE_STATE(IN_PROCESS);
|
|
#endif //DEBUG_DISABLE_STARTMSGS
|
|
lcd_update_enable(true);
|
|
lcd_clear();
|
|
lcd_update(2);
|
|
// Store the currently running firmware into an eeprom,
|
|
// so the next time the firmware gets updated, it will know from which version it has been updated.
|
|
update_current_firmware_version_to_eeprom();
|
|
|
|
#ifdef TMC2130
|
|
tmc2130_home_origin[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN);
|
|
tmc2130_home_bsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_BSTEPS);
|
|
tmc2130_home_fsteps[X_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_X_FSTEPS);
|
|
if (tmc2130_home_origin[X_AXIS] == 0xff) tmc2130_home_origin[X_AXIS] = 0;
|
|
if (tmc2130_home_bsteps[X_AXIS] == 0xff) tmc2130_home_bsteps[X_AXIS] = 48;
|
|
if (tmc2130_home_fsteps[X_AXIS] == 0xff) tmc2130_home_fsteps[X_AXIS] = 48;
|
|
|
|
tmc2130_home_origin[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN);
|
|
tmc2130_home_bsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_BSTEPS);
|
|
tmc2130_home_fsteps[Y_AXIS] = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_FSTEPS);
|
|
if (tmc2130_home_origin[Y_AXIS] == 0xff) tmc2130_home_origin[Y_AXIS] = 0;
|
|
if (tmc2130_home_bsteps[Y_AXIS] == 0xff) tmc2130_home_bsteps[Y_AXIS] = 48;
|
|
if (tmc2130_home_fsteps[Y_AXIS] == 0xff) tmc2130_home_fsteps[Y_AXIS] = 48;
|
|
|
|
tmc2130_home_enabled = eeprom_read_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED);
|
|
if (tmc2130_home_enabled == 0xff) tmc2130_home_enabled = 0;
|
|
#endif //TMC2130
|
|
|
|
#ifdef UVLO_SUPPORT
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1) { //previous print was terminated by UVLO
|
|
/*
|
|
if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false)) recover_print();
|
|
else {
|
|
eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
|
|
lcd_update_enable(true);
|
|
lcd_update(2);
|
|
lcd_setstatuspgm(_T(WELCOME_MSG));
|
|
}
|
|
*/
|
|
manage_heater(); // Update temperatures
|
|
#ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
|
|
printf_P(_N("Power panic detected!\nCurrent bed temp:%d\nSaved bed temp:%d\n"), (int)degBed(), eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED))
|
|
#endif
|
|
if ( degBed() > ( (float)eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED) - AUTOMATIC_UVLO_BED_TEMP_OFFSET) ){
|
|
#ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
|
|
puts_P(_N("Automatic recovery!"));
|
|
#endif
|
|
recover_print(1);
|
|
}
|
|
else{
|
|
#ifdef DEBUG_UVLO_AUTOMATIC_RECOVER
|
|
puts_P(_N("Normal recovery!"));
|
|
#endif
|
|
if ( lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_RECOVER_PRINT), false) ) recover_print(0);
|
|
else {
|
|
eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
|
|
lcd_update_enable(true);
|
|
lcd_update(2);
|
|
lcd_setstatuspgm(_T(WELCOME_MSG));
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
#endif //UVLO_SUPPORT
|
|
|
|
KEEPALIVE_STATE(NOT_BUSY);
|
|
#ifdef WATCHDOG
|
|
wdt_enable(WDTO_4S);
|
|
#endif //WATCHDOG
|
|
}
|
|
|
|
|
|
void trace();
|
|
|
|
#define CHUNK_SIZE 64 // bytes
|
|
#define SAFETY_MARGIN 1
|
|
char chunk[CHUNK_SIZE+SAFETY_MARGIN];
|
|
int chunkHead = 0;
|
|
|
|
int serial_read_stream() {
|
|
|
|
setTargetHotend(0, 0);
|
|
setTargetBed(0);
|
|
|
|
lcd_clear();
|
|
lcd_puts_P(PSTR(" Upload in progress"));
|
|
|
|
// first wait for how many bytes we will receive
|
|
uint32_t bytesToReceive;
|
|
|
|
// receive the four bytes
|
|
char bytesToReceiveBuffer[4];
|
|
for (int i=0; i<4; i++) {
|
|
int data;
|
|
while ((data = MYSERIAL.read()) == -1) {};
|
|
bytesToReceiveBuffer[i] = data;
|
|
|
|
}
|
|
|
|
// make it a uint32
|
|
memcpy(&bytesToReceive, &bytesToReceiveBuffer, 4);
|
|
|
|
// we're ready, notify the sender
|
|
MYSERIAL.write('+');
|
|
|
|
// lock in the routine
|
|
uint32_t receivedBytes = 0;
|
|
while (prusa_sd_card_upload) {
|
|
int i;
|
|
for (i=0; i<CHUNK_SIZE; i++) {
|
|
int data;
|
|
|
|
// check if we're not done
|
|
if (receivedBytes == bytesToReceive) {
|
|
break;
|
|
}
|
|
|
|
// read the next byte
|
|
while ((data = MYSERIAL.read()) == -1) {};
|
|
receivedBytes++;
|
|
|
|
// save it to the chunk
|
|
chunk[i] = data;
|
|
}
|
|
|
|
// write the chunk to SD
|
|
card.write_command_no_newline(&chunk[0]);
|
|
|
|
// notify the sender we're ready for more data
|
|
MYSERIAL.write('+');
|
|
|
|
// for safety
|
|
manage_heater();
|
|
|
|
// check if we're done
|
|
if(receivedBytes == bytesToReceive) {
|
|
trace(); // beep
|
|
card.closefile();
|
|
prusa_sd_card_upload = false;
|
|
SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
|
|
return 0;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
#ifdef HOST_KEEPALIVE_FEATURE
|
|
/**
|
|
* Output a "busy" message at regular intervals
|
|
* while the machine is not accepting commands.
|
|
*/
|
|
void host_keepalive() {
|
|
if (farm_mode) return;
|
|
long ms = millis();
|
|
if (host_keepalive_interval && busy_state != NOT_BUSY) {
|
|
if ((ms - prev_busy_signal_ms) < (long)(1000L * host_keepalive_interval)) return;
|
|
switch (busy_state) {
|
|
case IN_HANDLER:
|
|
case IN_PROCESS:
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM("busy: processing");
|
|
break;
|
|
case PAUSED_FOR_USER:
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM("busy: paused for user");
|
|
break;
|
|
case PAUSED_FOR_INPUT:
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM("busy: paused for input");
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
prev_busy_signal_ms = ms;
|
|
}
|
|
#endif
|
|
|
|
// The loop() function is called in an endless loop by the Arduino framework from the default main() routine.
|
|
// Before loop(), the setup() function is called by the main() routine.
|
|
void loop()
|
|
{
|
|
KEEPALIVE_STATE(NOT_BUSY);
|
|
bool stack_integrity = true;
|
|
|
|
if ((usb_printing_counter > 0) && ((millis()-_usb_timer) > 1000))
|
|
{
|
|
is_usb_printing = true;
|
|
usb_printing_counter--;
|
|
_usb_timer = millis();
|
|
}
|
|
if (usb_printing_counter == 0)
|
|
{
|
|
is_usb_printing = false;
|
|
}
|
|
|
|
if (prusa_sd_card_upload)
|
|
{
|
|
//we read byte-by byte
|
|
serial_read_stream();
|
|
} else
|
|
{
|
|
|
|
get_command();
|
|
|
|
#ifdef SDSUPPORT
|
|
card.checkautostart(false);
|
|
#endif
|
|
if(buflen)
|
|
{
|
|
cmdbuffer_front_already_processed = false;
|
|
#ifdef SDSUPPORT
|
|
if(card.saving)
|
|
{
|
|
// Saving a G-code file onto an SD-card is in progress.
|
|
// Saving starts with M28, saving until M29 is seen.
|
|
if(strstr_P(CMDBUFFER_CURRENT_STRING, PSTR("M29")) == NULL) {
|
|
card.write_command(CMDBUFFER_CURRENT_STRING);
|
|
if(card.logging)
|
|
process_commands();
|
|
else
|
|
SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
|
|
} else {
|
|
card.closefile();
|
|
SERIAL_PROTOCOLLNRPGM(MSG_FILE_SAVED);
|
|
}
|
|
} else {
|
|
process_commands();
|
|
}
|
|
#else
|
|
process_commands();
|
|
#endif //SDSUPPORT
|
|
|
|
if (! cmdbuffer_front_already_processed && buflen)
|
|
{
|
|
// ptr points to the start of the block currently being processed.
|
|
// The first character in the block is the block type.
|
|
char *ptr = cmdbuffer + bufindr;
|
|
if (*ptr == CMDBUFFER_CURRENT_TYPE_SDCARD) {
|
|
// To support power panic, move the lenght of the command on the SD card to a planner buffer.
|
|
union {
|
|
struct {
|
|
char lo;
|
|
char hi;
|
|
} lohi;
|
|
uint16_t value;
|
|
} sdlen;
|
|
sdlen.value = 0;
|
|
{
|
|
// This block locks the interrupts globally for 3.25 us,
|
|
// which corresponds to a maximum repeat frequency of 307.69 kHz.
|
|
// This blocking is safe in the context of a 10kHz stepper driver interrupt
|
|
// or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
|
|
cli();
|
|
// Reset the command to something, which will be ignored by the power panic routine,
|
|
// so this buffer length will not be counted twice.
|
|
*ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
|
|
// Extract the current buffer length.
|
|
sdlen.lohi.lo = *ptr ++;
|
|
sdlen.lohi.hi = *ptr;
|
|
// and pass it to the planner queue.
|
|
planner_add_sd_length(sdlen.value);
|
|
sei();
|
|
}
|
|
}
|
|
else if((*ptr == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR) && !IS_SD_PRINTING){
|
|
|
|
cli();
|
|
*ptr ++ = CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED;
|
|
// and one for each command to previous block in the planner queue.
|
|
planner_add_sd_length(1);
|
|
sei();
|
|
}
|
|
// Now it is safe to release the already processed command block. If interrupted by the power panic now,
|
|
// this block's SD card length will not be counted twice as its command type has been replaced
|
|
// by CMDBUFFER_CURRENT_TYPE_TO_BE_REMOVED.
|
|
cmdqueue_pop_front();
|
|
}
|
|
host_keepalive();
|
|
}
|
|
}
|
|
//check heater every n milliseconds
|
|
manage_heater();
|
|
isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
|
|
checkHitEndstops();
|
|
lcd_update(0);
|
|
#ifdef PAT9125
|
|
fsensor_update();
|
|
#endif //PAT9125
|
|
#ifdef TMC2130
|
|
tmc2130_check_overtemp();
|
|
if (tmc2130_sg_crash)
|
|
{
|
|
uint8_t crash = tmc2130_sg_crash;
|
|
tmc2130_sg_crash = 0;
|
|
// crashdet_stop_and_save_print();
|
|
switch (crash)
|
|
{
|
|
case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
|
|
case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
|
|
case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
|
|
}
|
|
}
|
|
#endif //TMC2130
|
|
|
|
}
|
|
|
|
#define DEFINE_PGM_READ_ANY(type, reader) \
|
|
static inline type pgm_read_any(const type *p) \
|
|
{ return pgm_read_##reader##_near(p); }
|
|
|
|
DEFINE_PGM_READ_ANY(float, float);
|
|
DEFINE_PGM_READ_ANY(signed char, byte);
|
|
|
|
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
|
|
static const PROGMEM type array##_P[3] = \
|
|
{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
|
|
static inline type array(int axis) \
|
|
{ return pgm_read_any(&array##_P[axis]); } \
|
|
type array##_ext(int axis) \
|
|
{ return pgm_read_any(&array##_P[axis]); }
|
|
|
|
XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
|
|
XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
|
|
XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
|
|
XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
|
|
XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
|
|
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
|
|
|
|
static void axis_is_at_home(int axis) {
|
|
current_position[axis] = base_home_pos(axis) + add_homing[axis];
|
|
min_pos[axis] = base_min_pos(axis) + add_homing[axis];
|
|
max_pos[axis] = base_max_pos(axis) + add_homing[axis];
|
|
}
|
|
|
|
|
|
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
|
|
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
|
|
|
|
|
|
static void setup_for_endstop_move(bool enable_endstops_now = true) {
|
|
saved_feedrate = feedrate;
|
|
saved_feedmultiply = feedmultiply;
|
|
feedmultiply = 100;
|
|
previous_millis_cmd = millis();
|
|
|
|
enable_endstops(enable_endstops_now);
|
|
}
|
|
|
|
static void clean_up_after_endstop_move() {
|
|
#ifdef ENDSTOPS_ONLY_FOR_HOMING
|
|
enable_endstops(false);
|
|
#endif
|
|
|
|
feedrate = saved_feedrate;
|
|
feedmultiply = saved_feedmultiply;
|
|
previous_millis_cmd = millis();
|
|
}
|
|
|
|
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
#ifdef AUTO_BED_LEVELING_GRID
|
|
static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
|
|
{
|
|
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
|
|
planeNormal.debug("planeNormal");
|
|
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
|
|
//bedLevel.debug("bedLevel");
|
|
|
|
//plan_bed_level_matrix.debug("bed level before");
|
|
//vector_3 uncorrected_position = plan_get_position_mm();
|
|
//uncorrected_position.debug("position before");
|
|
|
|
vector_3 corrected_position = plan_get_position();
|
|
// corrected_position.debug("position after");
|
|
current_position[X_AXIS] = corrected_position.x;
|
|
current_position[Y_AXIS] = corrected_position.y;
|
|
current_position[Z_AXIS] = corrected_position.z;
|
|
|
|
// put the bed at 0 so we don't go below it.
|
|
current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
|
|
#else // not AUTO_BED_LEVELING_GRID
|
|
|
|
static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
|
|
|
|
plan_bed_level_matrix.set_to_identity();
|
|
|
|
vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
|
|
vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
|
|
vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
|
|
|
|
vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
|
|
vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
|
|
vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
|
|
planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
|
|
|
|
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
|
|
|
|
vector_3 corrected_position = plan_get_position();
|
|
current_position[X_AXIS] = corrected_position.x;
|
|
current_position[Y_AXIS] = corrected_position.y;
|
|
current_position[Z_AXIS] = corrected_position.z;
|
|
|
|
// put the bed at 0 so we don't go below it.
|
|
current_position[Z_AXIS] = zprobe_zoffset;
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
}
|
|
|
|
#endif // AUTO_BED_LEVELING_GRID
|
|
|
|
static void run_z_probe() {
|
|
plan_bed_level_matrix.set_to_identity();
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
|
|
// move down until you find the bed
|
|
float zPosition = -10;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
// we have to let the planner know where we are right now as it is not where we said to go.
|
|
zPosition = st_get_position_mm(Z_AXIS);
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
|
|
|
|
// move up the retract distance
|
|
zPosition += home_retract_mm(Z_AXIS);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
// move back down slowly to find bed
|
|
feedrate = homing_feedrate[Z_AXIS]/4;
|
|
zPosition -= home_retract_mm(Z_AXIS) * 2;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
|
|
// make sure the planner knows where we are as it may be a bit different than we last said to move to
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
|
|
static void do_blocking_move_to(float x, float y, float z) {
|
|
float oldFeedRate = feedrate;
|
|
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
|
|
current_position[Z_AXIS] = z;
|
|
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();
|
|
|
|
feedrate = XY_TRAVEL_SPEED;
|
|
|
|
current_position[X_AXIS] = x;
|
|
current_position[Y_AXIS] = y;
|
|
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();
|
|
|
|
feedrate = oldFeedRate;
|
|
}
|
|
|
|
static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
|
|
do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
|
|
}
|
|
|
|
|
|
/// Probe bed height at position (x,y), returns the measured z value
|
|
static float probe_pt(float x, float y, float z_before) {
|
|
// move to right place
|
|
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
|
|
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
|
|
|
|
run_z_probe();
|
|
float measured_z = current_position[Z_AXIS];
|
|
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_BED));
|
|
SERIAL_PROTOCOLPGM(" x: ");
|
|
SERIAL_PROTOCOL(x);
|
|
SERIAL_PROTOCOLPGM(" y: ");
|
|
SERIAL_PROTOCOL(y);
|
|
SERIAL_PROTOCOLPGM(" z: ");
|
|
SERIAL_PROTOCOL(measured_z);
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
return measured_z;
|
|
}
|
|
|
|
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
|
|
|
|
#ifdef LIN_ADVANCE
|
|
/**
|
|
* M900: Set and/or Get advance K factor and WH/D ratio
|
|
*
|
|
* K<factor> Set advance K factor
|
|
* R<ratio> Set ratio directly (overrides WH/D)
|
|
* W<width> H<height> D<diam> Set ratio from WH/D
|
|
*/
|
|
inline void gcode_M900() {
|
|
st_synchronize();
|
|
|
|
const float newK = code_seen('K') ? code_value_float() : -1;
|
|
if (newK >= 0) extruder_advance_k = newK;
|
|
|
|
float newR = code_seen('R') ? code_value_float() : -1;
|
|
if (newR < 0) {
|
|
const float newD = code_seen('D') ? code_value_float() : -1,
|
|
newW = code_seen('W') ? code_value_float() : -1,
|
|
newH = code_seen('H') ? code_value_float() : -1;
|
|
if (newD >= 0 && newW >= 0 && newH >= 0)
|
|
newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
|
|
}
|
|
if (newR >= 0) advance_ed_ratio = newR;
|
|
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM("Advance K=");
|
|
SERIAL_ECHOLN(extruder_advance_k);
|
|
SERIAL_ECHOPGM(" E/D=");
|
|
const float ratio = advance_ed_ratio;
|
|
if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
|
|
}
|
|
#endif // LIN_ADVANCE
|
|
|
|
bool check_commands() {
|
|
bool end_command_found = false;
|
|
|
|
while (buflen)
|
|
{
|
|
if ((code_seen("M84")) || (code_seen("M 84"))) end_command_found = true;
|
|
if (!cmdbuffer_front_already_processed)
|
|
cmdqueue_pop_front();
|
|
cmdbuffer_front_already_processed = false;
|
|
}
|
|
return end_command_found;
|
|
|
|
}
|
|
|
|
#ifdef TMC2130
|
|
bool calibrate_z_auto()
|
|
{
|
|
//lcd_display_message_fullscreen_P(_T(MSG_CALIBRATE_Z_AUTO));
|
|
lcd_clear();
|
|
lcd_puts_at_P(0,1, _T(MSG_CALIBRATE_Z_AUTO));
|
|
bool endstops_enabled = enable_endstops(true);
|
|
int axis_up_dir = -home_dir(Z_AXIS);
|
|
tmc2130_home_enter(Z_AXIS_MASK);
|
|
current_position[Z_AXIS] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
set_destination_to_current();
|
|
destination[Z_AXIS] += (1.1 * max_length(Z_AXIS) * axis_up_dir);
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
// current_position[axis] = 0;
|
|
// plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
tmc2130_home_exit();
|
|
enable_endstops(false);
|
|
current_position[Z_AXIS] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
set_destination_to_current();
|
|
destination[Z_AXIS] += 10 * axis_up_dir; //10mm up
|
|
feedrate = homing_feedrate[Z_AXIS] / 2;
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
enable_endstops(endstops_enabled);
|
|
current_position[Z_AXIS] = Z_MAX_POS+2.0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
return true;
|
|
}
|
|
#endif //TMC2130
|
|
|
|
void homeaxis(int axis, uint8_t cnt, uint8_t* pstep)
|
|
{
|
|
bool endstops_enabled = enable_endstops(true); //RP: endstops should be allways enabled durring homing
|
|
#define HOMEAXIS_DO(LETTER) \
|
|
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
|
|
if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)
|
|
{
|
|
int axis_home_dir = home_dir(axis);
|
|
feedrate = homing_feedrate[axis];
|
|
|
|
#ifdef TMC2130
|
|
tmc2130_home_enter(X_AXIS_MASK << axis);
|
|
#endif //TMC2130
|
|
|
|
|
|
// Move right a bit, so that the print head does not touch the left end position,
|
|
// and the following left movement has a chance to achieve the required velocity
|
|
// for the stall guard to work.
|
|
current_position[axis] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
set_destination_to_current();
|
|
// destination[axis] = 11.f;
|
|
destination[axis] = 3.f;
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
// Move left away from the possible collision with the collision detection disabled.
|
|
endstops_hit_on_purpose();
|
|
enable_endstops(false);
|
|
current_position[axis] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[axis] = - 1.;
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
// Now continue to move up to the left end stop with the collision detection enabled.
|
|
enable_endstops(true);
|
|
destination[axis] = - 1.1 * max_length(axis);
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
for (uint8_t i = 0; i < cnt; i++)
|
|
{
|
|
// Move right from the collision to a known distance from the left end stop with the collision detection disabled.
|
|
endstops_hit_on_purpose();
|
|
enable_endstops(false);
|
|
current_position[axis] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[axis] = 10.f;
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
endstops_hit_on_purpose();
|
|
// Now move left up to the collision, this time with a repeatable velocity.
|
|
enable_endstops(true);
|
|
destination[axis] = - 11.f;
|
|
#ifdef TMC2130
|
|
feedrate = homing_feedrate[axis];
|
|
#else //TMC2130
|
|
feedrate = homing_feedrate[axis] / 2;
|
|
#endif //TMC2130
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
#ifdef TMC2130
|
|
uint16_t mscnt = tmc2130_rd_MSCNT(axis);
|
|
if (pstep) pstep[i] = mscnt >> 4;
|
|
printf_P(PSTR("%3d step=%2d mscnt=%4d\n"), i, mscnt >> 4, mscnt);
|
|
#endif //TMC2130
|
|
}
|
|
endstops_hit_on_purpose();
|
|
enable_endstops(false);
|
|
|
|
#ifdef TMC2130
|
|
uint8_t orig = tmc2130_home_origin[axis];
|
|
uint8_t back = tmc2130_home_bsteps[axis];
|
|
if (tmc2130_home_enabled && (orig <= 63))
|
|
{
|
|
tmc2130_goto_step(axis, orig, 2, 1000, tmc2130_get_res(axis));
|
|
if (back > 0)
|
|
tmc2130_do_steps(axis, back, 1, 1000);
|
|
}
|
|
else
|
|
tmc2130_do_steps(axis, 8, 2, 1000);
|
|
tmc2130_home_exit();
|
|
#endif //TMC2130
|
|
|
|
axis_is_at_home(axis);
|
|
axis_known_position[axis] = true;
|
|
// Move from minimum
|
|
#ifdef TMC2130
|
|
float dist = 0.01f * tmc2130_home_fsteps[axis];
|
|
#else //TMC2130
|
|
float dist = 0.01f * 64;
|
|
#endif //TMC2130
|
|
current_position[axis] -= dist;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
current_position[axis] += dist;
|
|
destination[axis] = current_position[axis];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 0.5f*feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
feedrate = 0.0;
|
|
}
|
|
else if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)
|
|
{
|
|
#ifdef TMC2130
|
|
FORCE_HIGH_POWER_START;
|
|
#endif
|
|
int axis_home_dir = home_dir(axis);
|
|
current_position[axis] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
|
|
feedrate = homing_feedrate[axis];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
#ifdef TMC2130
|
|
if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
|
|
FORCE_HIGH_POWER_END;
|
|
kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
|
|
return;
|
|
}
|
|
#endif //TMC2130
|
|
current_position[axis] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[axis] = -home_retract_mm(axis) * axis_home_dir;
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
|
|
feedrate = homing_feedrate[axis]/2 ;
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
#ifdef TMC2130
|
|
if (READ(Z_TMC2130_DIAG) != 0) { //Z crash
|
|
FORCE_HIGH_POWER_END;
|
|
kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
|
|
return;
|
|
}
|
|
#endif //TMC2130
|
|
axis_is_at_home(axis);
|
|
destination[axis] = current_position[axis];
|
|
feedrate = 0.0;
|
|
endstops_hit_on_purpose();
|
|
axis_known_position[axis] = true;
|
|
#ifdef TMC2130
|
|
FORCE_HIGH_POWER_END;
|
|
#endif
|
|
}
|
|
enable_endstops(endstops_enabled);
|
|
}
|
|
|
|
/**/
|
|
void home_xy()
|
|
{
|
|
set_destination_to_current();
|
|
homeaxis(X_AXIS);
|
|
homeaxis(Y_AXIS);
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
endstops_hit_on_purpose();
|
|
}
|
|
|
|
void refresh_cmd_timeout(void)
|
|
{
|
|
previous_millis_cmd = millis();
|
|
}
|
|
|
|
#ifdef FWRETRACT
|
|
void retract(bool retracting, bool swapretract = false) {
|
|
if(retracting && !retracted[active_extruder]) {
|
|
destination[X_AXIS]=current_position[X_AXIS];
|
|
destination[Y_AXIS]=current_position[Y_AXIS];
|
|
destination[Z_AXIS]=current_position[Z_AXIS];
|
|
destination[E_AXIS]=current_position[E_AXIS];
|
|
current_position[E_AXIS]+=(swapretract?retract_length_swap:retract_length)*float(extrudemultiply)*0.01f;
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
float oldFeedrate = feedrate;
|
|
feedrate=retract_feedrate*60;
|
|
retracted[active_extruder]=true;
|
|
prepare_move();
|
|
current_position[Z_AXIS]-=retract_zlift;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
prepare_move();
|
|
feedrate = oldFeedrate;
|
|
} else if(!retracting && retracted[active_extruder]) {
|
|
destination[X_AXIS]=current_position[X_AXIS];
|
|
destination[Y_AXIS]=current_position[Y_AXIS];
|
|
destination[Z_AXIS]=current_position[Z_AXIS];
|
|
destination[E_AXIS]=current_position[E_AXIS];
|
|
current_position[Z_AXIS]+=retract_zlift;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(retract_length+retract_recover_length))*float(extrudemultiply)*0.01f;
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
float oldFeedrate = feedrate;
|
|
feedrate=retract_recover_feedrate*60;
|
|
retracted[active_extruder]=false;
|
|
prepare_move();
|
|
feedrate = oldFeedrate;
|
|
}
|
|
} //retract
|
|
#endif //FWRETRACT
|
|
|
|
void trace() {
|
|
tone(BEEPER, 440);
|
|
delay(25);
|
|
noTone(BEEPER);
|
|
delay(20);
|
|
}
|
|
/*
|
|
void ramming() {
|
|
// float tmp[4] = DEFAULT_MAX_FEEDRATE;
|
|
if (current_temperature[0] < 230) {
|
|
//PLA
|
|
|
|
max_feedrate[E_AXIS] = 50;
|
|
//current_position[E_AXIS] -= 8;
|
|
//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
|
|
//current_position[E_AXIS] += 8;
|
|
//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
|
|
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);
|
|
st_synchronize();
|
|
max_feedrate[E_AXIS] = 80;
|
|
current_position[E_AXIS] -= 82;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
|
|
max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
|
|
current_position[E_AXIS] -= 20;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
|
|
current_position[E_AXIS] += 5;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
|
|
current_position[E_AXIS] += 5;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
|
|
current_position[E_AXIS] -= 10;
|
|
st_synchronize();
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
|
|
current_position[E_AXIS] += 10;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
|
|
current_position[E_AXIS] -= 10;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
|
|
current_position[E_AXIS] += 10;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
|
|
current_position[E_AXIS] -= 10;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
|
|
st_synchronize();
|
|
}
|
|
else {
|
|
//ABS
|
|
max_feedrate[E_AXIS] = 50;
|
|
//current_position[E_AXIS] -= 8;
|
|
//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
|
|
//current_position[E_AXIS] += 8;
|
|
//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 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], 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);
|
|
st_synchronize();
|
|
//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(4700);
|
|
max_feedrate[E_AXIS] = 80;
|
|
current_position[E_AXIS] -= 92;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
|
|
max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
|
|
current_position[E_AXIS] -= 5;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
|
|
current_position[E_AXIS] += 5;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
|
|
current_position[E_AXIS] -= 5;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
|
|
st_synchronize();
|
|
current_position[E_AXIS] += 5;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
|
|
current_position[E_AXIS] -= 5;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
|
|
current_position[E_AXIS] += 5;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
|
|
current_position[E_AXIS] -= 5;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
|
|
st_synchronize();
|
|
|
|
}
|
|
}
|
|
*/
|
|
|
|
#ifdef TMC2130
|
|
void force_high_power_mode(bool start_high_power_section) {
|
|
uint8_t silent;
|
|
silent = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
|
|
if (silent == 1) {
|
|
//we are in silent mode, set to normal mode to enable crash detection
|
|
|
|
// Wait for the planner queue to drain and for the stepper timer routine to reach an idle state.
|
|
st_synchronize();
|
|
cli();
|
|
tmc2130_mode = (start_high_power_section == true) ? TMC2130_MODE_NORMAL : TMC2130_MODE_SILENT;
|
|
update_mode_profile();
|
|
tmc2130_init();
|
|
// We may have missed a stepper timer interrupt due to the time spent in the tmc2130_init() routine.
|
|
// Be safe than sorry, reset the stepper timer before re-enabling interrupts.
|
|
st_reset_timer();
|
|
sei();
|
|
}
|
|
}
|
|
#endif //TMC2130
|
|
|
|
void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis) {
|
|
gcode_G28(home_x_axis, 0, home_y_axis, 0, home_z_axis, 0, false, true);
|
|
}
|
|
|
|
void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl) {
|
|
st_synchronize();
|
|
|
|
#if 0
|
|
SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
|
|
SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
|
|
#endif
|
|
|
|
// Flag for the display update routine and to disable the print cancelation during homing.
|
|
homing_flag = true;
|
|
|
|
// Which axes should be homed?
|
|
bool home_x = home_x_axis;
|
|
bool home_y = home_y_axis;
|
|
bool home_z = home_z_axis;
|
|
|
|
// Either all X,Y,Z codes are present, or none of them.
|
|
bool home_all_axes = home_x == home_y && home_x == home_z;
|
|
if (home_all_axes)
|
|
// No X/Y/Z code provided means to home all axes.
|
|
home_x = home_y = home_z = true;
|
|
|
|
//if we are homing all axes, first move z higher to protect heatbed/steel sheet
|
|
if (home_all_axes) {
|
|
current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
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();
|
|
}
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
|
|
#endif //ENABLE_AUTO_BED_LEVELING
|
|
|
|
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
|
|
// the planner will not perform any adjustments in the XY plane.
|
|
// Wait for the motors to stop and update the current position with the absolute values.
|
|
world2machine_revert_to_uncorrected();
|
|
|
|
// For mesh bed leveling deactivate the matrix temporarily.
|
|
// It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
|
|
// in a single axis only.
|
|
// In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
|
|
#ifdef MESH_BED_LEVELING
|
|
uint8_t mbl_was_active = mbl.active;
|
|
mbl.active = 0;
|
|
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
|
|
#endif
|
|
|
|
// Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
|
|
// consumed during the first movements following this statement.
|
|
if (home_z)
|
|
babystep_undo();
|
|
|
|
saved_feedrate = feedrate;
|
|
saved_feedmultiply = feedmultiply;
|
|
feedmultiply = 100;
|
|
previous_millis_cmd = millis();
|
|
|
|
enable_endstops(true);
|
|
|
|
memcpy(destination, current_position, sizeof(destination));
|
|
feedrate = 0.0;
|
|
|
|
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
|
|
if(home_z)
|
|
homeaxis(Z_AXIS);
|
|
#endif
|
|
|
|
#ifdef QUICK_HOME
|
|
// In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
|
|
if(home_x && home_y) //first diagonal move
|
|
{
|
|
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
|
|
|
|
int x_axis_home_dir = home_dir(X_AXIS);
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
|
|
feedrate = homing_feedrate[X_AXIS];
|
|
if(homing_feedrate[Y_AXIS]<feedrate)
|
|
feedrate = homing_feedrate[Y_AXIS];
|
|
if (max_length(X_AXIS) > max_length(Y_AXIS)) {
|
|
feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
|
|
} else {
|
|
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
|
|
}
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
axis_is_at_home(X_AXIS);
|
|
axis_is_at_home(Y_AXIS);
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[X_AXIS] = current_position[X_AXIS];
|
|
destination[Y_AXIS] = current_position[Y_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
feedrate = 0.0;
|
|
st_synchronize();
|
|
endstops_hit_on_purpose();
|
|
|
|
current_position[X_AXIS] = destination[X_AXIS];
|
|
current_position[Y_AXIS] = destination[Y_AXIS];
|
|
current_position[Z_AXIS] = destination[Z_AXIS];
|
|
}
|
|
#endif /* QUICK_HOME */
|
|
|
|
#ifdef TMC2130
|
|
if(home_x)
|
|
{
|
|
if (!calib)
|
|
homeaxis(X_AXIS);
|
|
else
|
|
tmc2130_home_calibrate(X_AXIS);
|
|
}
|
|
|
|
if(home_y)
|
|
{
|
|
if (!calib)
|
|
homeaxis(Y_AXIS);
|
|
else
|
|
tmc2130_home_calibrate(Y_AXIS);
|
|
}
|
|
#endif //TMC2130
|
|
|
|
|
|
if(home_x_axis && home_x_value != 0)
|
|
current_position[X_AXIS]=home_x_value+add_homing[X_AXIS];
|
|
|
|
if(home_y_axis && home_y_value != 0)
|
|
current_position[Y_AXIS]=home_y_value+add_homing[Y_AXIS];
|
|
|
|
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
|
|
#ifndef Z_SAFE_HOMING
|
|
if(home_z) {
|
|
#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
|
|
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
feedrate = max_feedrate[Z_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
st_synchronize();
|
|
#endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
|
|
#if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, move X&Y to safe position for home
|
|
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
|
|
{
|
|
homeaxis(X_AXIS);
|
|
homeaxis(Y_AXIS);
|
|
}
|
|
// 1st mesh bed leveling measurement point, corrected.
|
|
world2machine_initialize();
|
|
world2machine(pgm_read_float(bed_ref_points_4), pgm_read_float(bed_ref_points_4+1), destination[X_AXIS], destination[Y_AXIS]);
|
|
world2machine_reset();
|
|
if (destination[Y_AXIS] < Y_MIN_POS)
|
|
destination[Y_AXIS] = Y_MIN_POS;
|
|
destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
|
|
feedrate = homing_feedrate[Z_AXIS]/10;
|
|
current_position[Z_AXIS] = 0;
|
|
enable_endstops(false);
|
|
#ifdef DEBUG_BUILD
|
|
SERIAL_ECHOLNPGM("plan_set_position()");
|
|
MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
|
|
MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
|
|
#endif
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
#ifdef DEBUG_BUILD
|
|
SERIAL_ECHOLNPGM("plan_buffer_line()");
|
|
MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
|
|
MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
|
|
MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
|
|
#endif
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
st_synchronize();
|
|
current_position[X_AXIS] = destination[X_AXIS];
|
|
current_position[Y_AXIS] = destination[Y_AXIS];
|
|
enable_endstops(true);
|
|
endstops_hit_on_purpose();
|
|
homeaxis(Z_AXIS);
|
|
#else // MESH_BED_LEVELING
|
|
homeaxis(Z_AXIS);
|
|
#endif // MESH_BED_LEVELING
|
|
}
|
|
#else // defined(Z_SAFE_HOMING): Z Safe mode activated.
|
|
if(home_all_axes) {
|
|
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
|
|
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
|
|
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
feedrate = XY_TRAVEL_SPEED/60;
|
|
current_position[Z_AXIS] = 0;
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
st_synchronize();
|
|
current_position[X_AXIS] = destination[X_AXIS];
|
|
current_position[Y_AXIS] = destination[Y_AXIS];
|
|
|
|
homeaxis(Z_AXIS);
|
|
}
|
|
// Let's see if X and Y are homed and probe is inside bed area.
|
|
if(home_z) {
|
|
if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
|
|
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
|
|
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
|
|
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
|
|
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
|
|
|
|
current_position[Z_AXIS] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
feedrate = max_feedrate[Z_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
st_synchronize();
|
|
|
|
homeaxis(Z_AXIS);
|
|
} else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
|
|
LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
|
|
} else {
|
|
LCD_MESSAGERPGM(MSG_ZPROBE_OUT);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
|
|
}
|
|
}
|
|
#endif // Z_SAFE_HOMING
|
|
#endif // Z_HOME_DIR < 0
|
|
|
|
if(home_z_axis && home_z_value != 0)
|
|
current_position[Z_AXIS]=home_z_value+add_homing[Z_AXIS];
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
if(home_z)
|
|
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
|
|
#endif
|
|
|
|
// Set the planner and stepper routine positions.
|
|
// At this point the mesh bed leveling and world2machine corrections are disabled and current_position
|
|
// contains the machine coordinates.
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
#ifdef ENDSTOPS_ONLY_FOR_HOMING
|
|
enable_endstops(false);
|
|
#endif
|
|
|
|
feedrate = saved_feedrate;
|
|
feedmultiply = saved_feedmultiply;
|
|
previous_millis_cmd = millis();
|
|
endstops_hit_on_purpose();
|
|
#ifndef MESH_BED_LEVELING
|
|
// If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
|
|
// Offer the user to load the baby step value, which has been adjusted at the previous print session.
|
|
if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
|
|
lcd_adjust_z();
|
|
#endif
|
|
|
|
// Load the machine correction matrix
|
|
world2machine_initialize();
|
|
// and correct the current_position XY axes to match the transformed coordinate system.
|
|
world2machine_update_current();
|
|
|
|
#if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
|
|
if (home_x_axis || home_y_axis || without_mbl || home_z_axis)
|
|
{
|
|
if (! home_z && mbl_was_active) {
|
|
// Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
|
|
mbl.active = true;
|
|
// and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
|
|
current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
|
|
}
|
|
}
|
|
else
|
|
{
|
|
st_synchronize();
|
|
homing_flag = false;
|
|
}
|
|
#endif
|
|
|
|
if (farm_mode) { prusa_statistics(20); };
|
|
|
|
homing_flag = false;
|
|
#if 0
|
|
SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
|
|
SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
|
|
SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
|
|
#endif
|
|
}
|
|
|
|
|
|
bool gcode_M45(bool onlyZ, int8_t verbosity_level)
|
|
{
|
|
bool final_result = false;
|
|
#ifdef TMC2130
|
|
FORCE_HIGH_POWER_START;
|
|
#endif // TMC2130
|
|
// Only Z calibration?
|
|
if (!onlyZ)
|
|
{
|
|
setTargetBed(0);
|
|
setTargetHotend(0, 0);
|
|
setTargetHotend(0, 1);
|
|
setTargetHotend(0, 2);
|
|
adjust_bed_reset(); //reset bed level correction
|
|
}
|
|
|
|
// Disable the default update procedure of the display. We will do a modal dialog.
|
|
lcd_update_enable(false);
|
|
// Let the planner use the uncorrected coordinates.
|
|
mbl.reset();
|
|
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
|
|
// the planner will not perform any adjustments in the XY plane.
|
|
// Wait for the motors to stop and update the current position with the absolute values.
|
|
world2machine_revert_to_uncorrected();
|
|
// Reset the baby step value applied without moving the axes.
|
|
babystep_reset();
|
|
// Mark all axes as in a need for homing.
|
|
memset(axis_known_position, 0, sizeof(axis_known_position));
|
|
|
|
// Home in the XY plane.
|
|
//set_destination_to_current();
|
|
setup_for_endstop_move();
|
|
lcd_display_message_fullscreen_P(_T(MSG_AUTO_HOME));
|
|
home_xy();
|
|
|
|
enable_endstops(false);
|
|
current_position[X_AXIS] += 5;
|
|
current_position[Y_AXIS] += 5;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
|
|
st_synchronize();
|
|
|
|
// Let the user move the Z axes up to the end stoppers.
|
|
#ifdef TMC2130
|
|
if (calibrate_z_auto())
|
|
{
|
|
#else //TMC2130
|
|
if (lcd_calibrate_z_end_stop_manual(onlyZ))
|
|
{
|
|
#endif //TMC2130
|
|
refresh_cmd_timeout();
|
|
#ifndef STEEL_SHEET
|
|
if (((degHotend(0) > MAX_HOTEND_TEMP_CALIBRATION) || (degBed() > MAX_BED_TEMP_CALIBRATION)) && (!onlyZ))
|
|
{
|
|
lcd_wait_for_cool_down();
|
|
}
|
|
#endif //STEEL_SHEET
|
|
if(!onlyZ)
|
|
{
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
#ifdef STEEL_SHEET
|
|
bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
|
|
if(result) lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
|
|
#endif //STEEL_SHEET
|
|
lcd_show_fullscreen_message_and_wait_P(_T(MSG_CONFIRM_NOZZLE_CLEAN));
|
|
lcd_show_fullscreen_message_and_wait_P(_T(MSG_PAPER));
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
lcd_display_message_fullscreen_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1));
|
|
lcd_set_cursor(0, 2);
|
|
lcd_print(1);
|
|
lcd_puts_P(_T(MSG_FIND_BED_OFFSET_AND_SKEW_LINE2));
|
|
}
|
|
// Move the print head close to the bed.
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
|
|
bool endstops_enabled = enable_endstops(true);
|
|
#ifdef TMC2130
|
|
tmc2130_home_enter(Z_AXIS_MASK);
|
|
#endif //TMC2130
|
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
|
|
|
|
st_synchronize();
|
|
#ifdef TMC2130
|
|
tmc2130_home_exit();
|
|
#endif //TMC2130
|
|
enable_endstops(endstops_enabled);
|
|
|
|
if (st_get_position_mm(Z_AXIS) == MESH_HOME_Z_SEARCH)
|
|
{
|
|
|
|
int8_t verbosity_level = 0;
|
|
if (code_seen('V'))
|
|
{
|
|
// Just 'V' without a number counts as V1.
|
|
char c = strchr_pointer[1];
|
|
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
|
|
}
|
|
|
|
if (onlyZ)
|
|
{
|
|
clean_up_after_endstop_move();
|
|
// Z only calibration.
|
|
// Load the machine correction matrix
|
|
world2machine_initialize();
|
|
// and correct the current_position to match the transformed coordinate system.
|
|
world2machine_update_current();
|
|
//FIXME
|
|
bool result = sample_mesh_and_store_reference();
|
|
if (result)
|
|
{
|
|
if (calibration_status() == CALIBRATION_STATUS_Z_CALIBRATION)
|
|
// Shipped, the nozzle height has been set already. The user can start printing now.
|
|
calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
|
|
final_result = true;
|
|
// babystep_apply();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// Reset the baby step value and the baby step applied flag.
|
|
calibration_status_store(CALIBRATION_STATUS_XYZ_CALIBRATION);
|
|
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
|
|
// Complete XYZ calibration.
|
|
uint8_t point_too_far_mask = 0;
|
|
BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level, point_too_far_mask);
|
|
clean_up_after_endstop_move();
|
|
// Print head up.
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
|
|
st_synchronize();
|
|
//#ifndef NEW_XYZCAL
|
|
if (result >= 0)
|
|
{
|
|
#ifdef HEATBED_V2
|
|
sample_z();
|
|
#else //HEATBED_V2
|
|
point_too_far_mask = 0;
|
|
// Second half: The fine adjustment.
|
|
// Let the planner use the uncorrected coordinates.
|
|
mbl.reset();
|
|
world2machine_reset();
|
|
// Home in the XY plane.
|
|
setup_for_endstop_move();
|
|
home_xy();
|
|
result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
|
|
clean_up_after_endstop_move();
|
|
// Print head up.
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
|
|
st_synchronize();
|
|
// if (result >= 0) babystep_apply();
|
|
#endif //HEATBED_V2
|
|
}
|
|
//#endif //NEW_XYZCAL
|
|
lcd_update_enable(true);
|
|
lcd_update(2);
|
|
|
|
lcd_bed_calibration_show_result(result, point_too_far_mask);
|
|
if (result >= 0)
|
|
{
|
|
// Calibration valid, the machine should be able to print. Advise the user to run the V2Calibration.gcode.
|
|
calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) lcd_show_fullscreen_message_and_wait_P(_T(MSG_BABYSTEP_Z_NOT_SET));
|
|
final_result = true;
|
|
}
|
|
}
|
|
#ifdef TMC2130
|
|
tmc2130_home_exit();
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
|
|
final_result = false;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// Timeouted.
|
|
}
|
|
lcd_update_enable(true);
|
|
#ifdef TMC2130
|
|
FORCE_HIGH_POWER_END;
|
|
#endif // TMC2130
|
|
return final_result;
|
|
}
|
|
|
|
void gcode_M114()
|
|
{
|
|
SERIAL_PROTOCOLPGM("X:");
|
|
SERIAL_PROTOCOL(current_position[X_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Y:");
|
|
SERIAL_PROTOCOL(current_position[Y_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Z:");
|
|
SERIAL_PROTOCOL(current_position[Z_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" E:");
|
|
SERIAL_PROTOCOL(current_position[E_AXIS]);
|
|
|
|
SERIAL_PROTOCOLRPGM(_n(" Count X: "));////MSG_COUNT_X c=0 r=0
|
|
SERIAL_PROTOCOL(float(st_get_position(X_AXIS)) / axis_steps_per_unit[X_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Y:");
|
|
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("");
|
|
}
|
|
|
|
void gcode_M701()
|
|
{
|
|
printf_P(PSTR("gcode_M701 begin\n"));
|
|
|
|
#if defined (SNMM) || defined (SNMM_V2)
|
|
extr_adj(snmm_extruder);//loads current extruder
|
|
#else
|
|
enable_z();
|
|
custom_message = true;
|
|
custom_message_type = 2;
|
|
|
|
bool old_watch_runout = fsensor_watch_runout;
|
|
fsensor_oq_meassure_start();
|
|
|
|
lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
|
|
current_position[E_AXIS] += 40;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
|
|
st_synchronize();
|
|
|
|
if (current_position[Z_AXIS] < 20) current_position[Z_AXIS] += 30;
|
|
current_position[E_AXIS] += 30;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
|
|
st_synchronize();
|
|
current_position[E_AXIS] += 25;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
|
|
st_synchronize();
|
|
|
|
tone(BEEPER, 500);
|
|
delay_keep_alive(50);
|
|
noTone(BEEPER);
|
|
|
|
if (!farm_mode && loading_flag) {
|
|
bool clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
|
|
|
|
while (!clean) {
|
|
lcd_update_enable(true);
|
|
lcd_update(2);
|
|
current_position[E_AXIS] += 25;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder); //slow sequence
|
|
st_synchronize();
|
|
clean = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_FILAMENT_CLEAN), false, true);
|
|
|
|
}
|
|
|
|
}
|
|
lcd_update_enable(true);
|
|
lcd_update(2);
|
|
lcd_setstatuspgm(_T(WELCOME_MSG));
|
|
disable_z();
|
|
loading_flag = false;
|
|
custom_message = false;
|
|
custom_message_type = 0;
|
|
|
|
|
|
fsensor_oq_meassure_stop();
|
|
|
|
fsensor_err_cnt = 0;
|
|
fsensor_watch_runout = old_watch_runout;
|
|
|
|
printf_P(_N("\nFSENSOR st_sum=%lu yd_sum=%lu er_sum=%u er_max=%u\n"), fsensor_oq_st_sum, fsensor_oq_yd_sum, fsensor_oq_er_sum, fsensor_oq_er_max);
|
|
printf_P(_N("\nFSENSOR yd_min=%hhu yd_max=%hhu yd_avg=%hhu\n"), fsensor_oq_yd_min, fsensor_oq_yd_max, fsensor_oq_yd_sum * FSENSOR_CHUNK_LEN / fsensor_oq_st_sum);
|
|
printf_P(PSTR("gcode_M701 end\n"));
|
|
|
|
|
|
if (!fsensor_oq_result())
|
|
{
|
|
bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(
|
|
_i("Filament sensor low response, disable it?"), false, true);
|
|
lcd_update_enable(true);
|
|
lcd_update(2);
|
|
if (disable)
|
|
fsensor_disable();
|
|
}
|
|
#endif
|
|
}
|
|
/**
|
|
* @brief Get serial number from 32U2 processor
|
|
*
|
|
* Typical format of S/N is:CZPX0917X003XC13518
|
|
*
|
|
* Command operates only in farm mode, if not in farm mode, "Not in farm mode." is written to MYSERIAL.
|
|
*
|
|
* Send command ;S to serial port 0 to retrieve serial number stored in 32U2 processor,
|
|
* reply is transmitted to serial port 1 character by character.
|
|
* Operation takes typically 23 ms. If the retransmit is not finished until 100 ms,
|
|
* it is interrupted, so less, or no characters are retransmitted, only newline character is send
|
|
* in any case.
|
|
*/
|
|
static void gcode_PRUSA_SN()
|
|
{
|
|
if (farm_mode) {
|
|
selectedSerialPort = 0;
|
|
putchar(';');
|
|
putchar('S');
|
|
int numbersRead = 0;
|
|
ShortTimer timeout;
|
|
timeout.start();
|
|
|
|
while (numbersRead < 19) {
|
|
while (MSerial.available() > 0) {
|
|
uint8_t serial_char = MSerial.read();
|
|
selectedSerialPort = 1;
|
|
putchar(serial_char);
|
|
numbersRead++;
|
|
selectedSerialPort = 0;
|
|
}
|
|
if (timeout.expired(100u)) break;
|
|
}
|
|
selectedSerialPort = 1;
|
|
putchar('\n');
|
|
#if 0
|
|
for (int b = 0; b < 3; b++) {
|
|
tone(BEEPER, 110);
|
|
delay(50);
|
|
noTone(BEEPER);
|
|
delay(50);
|
|
}
|
|
#endif
|
|
} else {
|
|
puts_P(_N("Not in farm mode."));
|
|
}
|
|
}
|
|
|
|
#ifdef BACKLASH_X
|
|
extern uint8_t st_backlash_x;
|
|
#endif //BACKLASH_X
|
|
#ifdef BACKLASH_Y
|
|
extern uint8_t st_backlash_y;
|
|
#endif //BACKLASH_Y
|
|
|
|
void process_commands()
|
|
{
|
|
if (!buflen) return; //empty command
|
|
#ifdef FILAMENT_RUNOUT_SUPPORT
|
|
SET_INPUT(FR_SENS);
|
|
#endif
|
|
|
|
#ifdef CMDBUFFER_DEBUG
|
|
SERIAL_ECHOPGM("Processing a GCODE command: ");
|
|
SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
|
|
SERIAL_ECHOLNPGM("");
|
|
SERIAL_ECHOPGM("In cmdqueue: ");
|
|
SERIAL_ECHO(buflen);
|
|
SERIAL_ECHOLNPGM("");
|
|
#endif /* CMDBUFFER_DEBUG */
|
|
|
|
unsigned long codenum; //throw away variable
|
|
char *starpos = NULL;
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
float x_tmp, y_tmp, z_tmp, real_z;
|
|
#endif
|
|
|
|
// PRUSA GCODES
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
|
|
#ifdef SNMM
|
|
float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
|
|
float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
|
|
int8_t SilentMode;
|
|
#endif
|
|
|
|
if (code_seen("M117")) { //moved to highest priority place to be able to to print strings which includes "G", "PRUSA" and "^"
|
|
starpos = (strchr(strchr_pointer + 5, '*'));
|
|
if (starpos != NULL)
|
|
*(starpos) = '\0';
|
|
lcd_setstatus(strchr_pointer + 5);
|
|
}
|
|
|
|
#ifdef TMC2130
|
|
else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("CRASH_"), 6) == 0)
|
|
{
|
|
if(code_seen("CRASH_DETECTED"))
|
|
{
|
|
uint8_t mask = 0;
|
|
if (code_seen("X")) mask |= X_AXIS_MASK;
|
|
if (code_seen("Y")) mask |= Y_AXIS_MASK;
|
|
crashdet_detected(mask);
|
|
}
|
|
else if(code_seen("CRASH_RECOVER"))
|
|
crashdet_recover();
|
|
else if(code_seen("CRASH_CANCEL"))
|
|
crashdet_cancel();
|
|
}
|
|
else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("TMC_"), 4) == 0)
|
|
{
|
|
if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_WAVE_"), 9) == 0)
|
|
{
|
|
uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
|
|
axis = (axis == 'E')?3:(axis - 'X');
|
|
if (axis < 4)
|
|
{
|
|
uint8_t fac = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
|
|
tmc2130_set_wave(axis, 247, fac);
|
|
}
|
|
}
|
|
else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_STEP_"), 9) == 0)
|
|
{
|
|
uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
|
|
axis = (axis == 'E')?3:(axis - 'X');
|
|
if (axis < 4)
|
|
{
|
|
uint8_t step = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, NULL, 10);
|
|
uint16_t res = tmc2130_get_res(axis);
|
|
tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
|
|
}
|
|
}
|
|
else if (strncmp_P(CMDBUFFER_CURRENT_STRING + 4, PSTR("SET_CHOP_"), 9) == 0)
|
|
{
|
|
uint8_t axis = *(CMDBUFFER_CURRENT_STRING + 13);
|
|
axis = (axis == 'E')?3:(axis - 'X');
|
|
if (axis < 4)
|
|
{
|
|
uint8_t chop0 = tmc2130_chopper_config[axis].toff;
|
|
uint8_t chop1 = tmc2130_chopper_config[axis].hstr;
|
|
uint8_t chop2 = tmc2130_chopper_config[axis].hend;
|
|
uint8_t chop3 = tmc2130_chopper_config[axis].tbl;
|
|
char* str_end = 0;
|
|
if (CMDBUFFER_CURRENT_STRING[14])
|
|
{
|
|
chop0 = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 14, &str_end, 10) & 15;
|
|
if (str_end && *str_end)
|
|
{
|
|
chop1 = (uint8_t)strtol(str_end, &str_end, 10) & 7;
|
|
if (str_end && *str_end)
|
|
{
|
|
chop2 = (uint8_t)strtol(str_end, &str_end, 10) & 15;
|
|
if (str_end && *str_end)
|
|
chop3 = (uint8_t)strtol(str_end, &str_end, 10) & 3;
|
|
}
|
|
}
|
|
}
|
|
tmc2130_chopper_config[axis].toff = chop0;
|
|
tmc2130_chopper_config[axis].hstr = chop1 & 7;
|
|
tmc2130_chopper_config[axis].hend = chop2 & 15;
|
|
tmc2130_chopper_config[axis].tbl = chop3 & 3;
|
|
tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
|
|
//printf_P(_N("TMC_SET_CHOP_%c %hhd %hhd %hhd %hhd\n"), "xyze"[axis], chop0, chop1, chop2, chop3);
|
|
}
|
|
}
|
|
}
|
|
#ifdef BACKLASH_X
|
|
else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_X"), 10) == 0)
|
|
{
|
|
uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
|
|
st_backlash_x = bl;
|
|
printf_P(_N("st_backlash_x = %hhd\n"), st_backlash_x);
|
|
}
|
|
#endif //BACKLASH_X
|
|
#ifdef BACKLASH_Y
|
|
else if (strncmp_P(CMDBUFFER_CURRENT_STRING, PSTR("BACKLASH_Y"), 10) == 0)
|
|
{
|
|
uint8_t bl = (uint8_t)strtol(CMDBUFFER_CURRENT_STRING + 10, NULL, 10);
|
|
st_backlash_y = bl;
|
|
printf_P(_N("st_backlash_y = %hhd\n"), st_backlash_y);
|
|
}
|
|
#endif //BACKLASH_Y
|
|
#endif //TMC2130
|
|
|
|
else if(code_seen("PRUSA")){
|
|
if (code_seen("Ping")) { //PRUSA Ping
|
|
if (farm_mode) {
|
|
PingTime = millis();
|
|
//MYSERIAL.print(farm_no); MYSERIAL.println(": OK");
|
|
}
|
|
}
|
|
else if (code_seen("PRN")) {
|
|
printf_P(_N("%d"), status_number);
|
|
|
|
}else if (code_seen("FAN")) {
|
|
printf_P(_N("E0:%d RPM\nPRN0:%d RPM\n"), 60*fan_speed[0], 60*fan_speed[1]);
|
|
}else if (code_seen("fn")) {
|
|
if (farm_mode) {
|
|
printf_P(_N("%d"), farm_no);
|
|
}
|
|
else {
|
|
puts_P(_N("Not in farm mode."));
|
|
}
|
|
|
|
}
|
|
else if (code_seen("thx")) {
|
|
no_response = false;
|
|
}
|
|
else if (code_seen("MMURES")) {
|
|
fprintf_P(uart2io, PSTR("X0"));
|
|
bool response = mmu_get_reponse();
|
|
if (!response) mmu_not_responding();
|
|
}
|
|
else if (code_seen("RESET")) {
|
|
// careful!
|
|
if (farm_mode) {
|
|
#ifdef WATCHDOG
|
|
boot_app_magic = BOOT_APP_MAGIC;
|
|
boot_app_flags = BOOT_APP_FLG_RUN;
|
|
wdt_enable(WDTO_15MS);
|
|
cli();
|
|
while(1);
|
|
#else //WATCHDOG
|
|
asm volatile("jmp 0x3E000");
|
|
#endif //WATCHDOG
|
|
}
|
|
else {
|
|
MYSERIAL.println("Not in farm mode.");
|
|
}
|
|
}else if (code_seen("fv")) {
|
|
// get file version
|
|
#ifdef SDSUPPORT
|
|
card.openFile(strchr_pointer + 3,true);
|
|
while (true) {
|
|
uint16_t readByte = card.get();
|
|
MYSERIAL.write(readByte);
|
|
if (readByte=='\n') {
|
|
break;
|
|
}
|
|
}
|
|
card.closefile();
|
|
|
|
#endif // SDSUPPORT
|
|
|
|
} else if (code_seen("M28")) {
|
|
trace();
|
|
prusa_sd_card_upload = true;
|
|
card.openFile(strchr_pointer+4,false);
|
|
|
|
} else if (code_seen("SN")) {
|
|
gcode_PRUSA_SN();
|
|
|
|
} else if(code_seen("Fir")){
|
|
|
|
SERIAL_PROTOCOLLN(FW_VERSION);
|
|
|
|
} else if(code_seen("Rev")){
|
|
|
|
SERIAL_PROTOCOLLN(FILAMENT_SIZE "-" ELECTRONICS "-" NOZZLE_TYPE );
|
|
|
|
} else if(code_seen("Lang")) {
|
|
lang_reset();
|
|
|
|
} else if(code_seen("Lz")) {
|
|
EEPROM_save_B(EEPROM_BABYSTEP_Z,0);
|
|
|
|
} else if(code_seen("Beat")) {
|
|
// Kick farm link timer
|
|
kicktime = millis();
|
|
|
|
} else if(code_seen("FR")) {
|
|
// Factory full reset
|
|
factory_reset(0,true);
|
|
}
|
|
//else if (code_seen('Cal')) {
|
|
// lcd_calibration();
|
|
// }
|
|
|
|
}
|
|
else if (code_seen('^')) {
|
|
// nothing, this is a version line
|
|
} else if(code_seen('G'))
|
|
{
|
|
switch((int)code_value())
|
|
{
|
|
case 0: // G0 -> G1
|
|
case 1: // G1
|
|
if(Stopped == false) {
|
|
|
|
#ifdef FILAMENT_RUNOUT_SUPPORT
|
|
|
|
if(READ(FR_SENS)){
|
|
|
|
feedmultiplyBckp=feedmultiply;
|
|
float target[4];
|
|
float lastpos[4];
|
|
target[X_AXIS]=current_position[X_AXIS];
|
|
target[Y_AXIS]=current_position[Y_AXIS];
|
|
target[Z_AXIS]=current_position[Z_AXIS];
|
|
target[E_AXIS]=current_position[E_AXIS];
|
|
lastpos[X_AXIS]=current_position[X_AXIS];
|
|
lastpos[Y_AXIS]=current_position[Y_AXIS];
|
|
lastpos[Z_AXIS]=current_position[Z_AXIS];
|
|
lastpos[E_AXIS]=current_position[E_AXIS];
|
|
//retract by E
|
|
|
|
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
|
|
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
|
|
|
|
|
|
target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
|
|
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 300, active_extruder);
|
|
|
|
target[X_AXIS]= FILAMENTCHANGE_XPOS ;
|
|
|
|
target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
|
|
|
|
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder);
|
|
|
|
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
|
|
|
|
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
|
|
|
|
//finish moves
|
|
st_synchronize();
|
|
//disable extruder steppers so filament can be removed
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
delay(100);
|
|
|
|
//LCD_ALERTMESSAGEPGM(_T(MSG_FILAMENTCHANGE));
|
|
uint8_t cnt=0;
|
|
int counterBeep = 0;
|
|
lcd_wait_interact();
|
|
while(!lcd_clicked()){
|
|
cnt++;
|
|
manage_heater();
|
|
manage_inactivity(true);
|
|
//lcd_update(0);
|
|
if(cnt==0)
|
|
{
|
|
#if BEEPER > 0
|
|
|
|
if (counterBeep== 500){
|
|
counterBeep = 0;
|
|
|
|
}
|
|
|
|
|
|
SET_OUTPUT(BEEPER);
|
|
if (counterBeep== 0){
|
|
WRITE(BEEPER,HIGH);
|
|
}
|
|
|
|
if (counterBeep== 20){
|
|
WRITE(BEEPER,LOW);
|
|
}
|
|
|
|
|
|
|
|
|
|
counterBeep++;
|
|
#else
|
|
#endif
|
|
}
|
|
}
|
|
|
|
WRITE(BEEPER,LOW);
|
|
|
|
target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
|
|
|
|
|
|
target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
|
|
|
|
|
|
|
|
|
lcd_change_fil_state = 0;
|
|
lcd_loading_filament();
|
|
while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
|
|
|
|
lcd_change_fil_state = 0;
|
|
lcd_alright();
|
|
switch(lcd_change_fil_state){
|
|
|
|
case 2:
|
|
target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 20, active_extruder);
|
|
|
|
|
|
target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
|
|
|
lcd_loading_filament();
|
|
break;
|
|
case 3:
|
|
target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
lcd_loading_color();
|
|
break;
|
|
|
|
default:
|
|
lcd_change_success();
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
target[E_AXIS]+= 5;
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 2, active_extruder);
|
|
|
|
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
|
|
|
|
|
|
//current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
|
|
//plan_set_e_position(current_position[E_AXIS]);
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //should do nothing
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], 70, active_extruder); //move xy back
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 200, active_extruder); //move z back
|
|
|
|
|
|
target[E_AXIS]= target[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
|
|
|
|
|
|
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], 5, active_extruder); //final untretract
|
|
|
|
|
|
plan_set_e_position(lastpos[E_AXIS]);
|
|
|
|
feedmultiply=feedmultiplyBckp;
|
|
|
|
|
|
|
|
char cmd[9];
|
|
|
|
sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
|
|
enquecommand(cmd);
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
get_coordinates(); // For X Y Z E F
|
|
if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
|
|
total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
|
|
}
|
|
#ifdef FWRETRACT
|
|
if(autoretract_enabled)
|
|
if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
|
|
float echange=destination[E_AXIS]-current_position[E_AXIS];
|
|
|
|
if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
|
|
current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
|
|
plan_set_e_position(current_position[E_AXIS]); //AND from the planner
|
|
retract(!retracted[active_extruder]);
|
|
return;
|
|
}
|
|
|
|
|
|
}
|
|
#endif //FWRETRACT
|
|
prepare_move();
|
|
//ClearToSend();
|
|
}
|
|
break;
|
|
case 2: // G2 - CW ARC
|
|
if(Stopped == false) {
|
|
get_arc_coordinates();
|
|
prepare_arc_move(true);
|
|
}
|
|
break;
|
|
case 3: // G3 - CCW ARC
|
|
if(Stopped == false) {
|
|
get_arc_coordinates();
|
|
prepare_arc_move(false);
|
|
}
|
|
break;
|
|
case 4: // G4 dwell
|
|
codenum = 0;
|
|
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
|
|
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
|
|
if(codenum != 0) LCD_MESSAGERPGM(_i("Sleep..."));////MSG_DWELL c=0 r=0
|
|
st_synchronize();
|
|
codenum += millis(); // keep track of when we started waiting
|
|
previous_millis_cmd = millis();
|
|
while(millis() < codenum) {
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update(0);
|
|
}
|
|
break;
|
|
#ifdef FWRETRACT
|
|
case 10: // G10 retract
|
|
#if EXTRUDERS > 1
|
|
retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
|
|
retract(true,retracted_swap[active_extruder]);
|
|
#else
|
|
retract(true);
|
|
#endif
|
|
break;
|
|
case 11: // G11 retract_recover
|
|
#if EXTRUDERS > 1
|
|
retract(false,retracted_swap[active_extruder]);
|
|
#else
|
|
retract(false);
|
|
#endif
|
|
break;
|
|
#endif //FWRETRACT
|
|
case 28: //G28 Home all Axis one at a time
|
|
{
|
|
long home_x_value = 0;
|
|
long home_y_value = 0;
|
|
long home_z_value = 0;
|
|
// Which axes should be homed?
|
|
bool home_x = code_seen(axis_codes[X_AXIS]);
|
|
home_x_value = code_value_long();
|
|
bool home_y = code_seen(axis_codes[Y_AXIS]);
|
|
home_y_value = code_value_long();
|
|
bool home_z = code_seen(axis_codes[Z_AXIS]);
|
|
home_z_value = code_value_long();
|
|
bool without_mbl = code_seen('W');
|
|
// calibrate?
|
|
bool calib = code_seen('C');
|
|
gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, calib, without_mbl);
|
|
if ((home_x || home_y || without_mbl || home_z) == false) {
|
|
// Push the commands to the front of the message queue in the reverse order!
|
|
// There shall be always enough space reserved for these commands.
|
|
goto case_G80;
|
|
}
|
|
break;
|
|
}
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
|
|
{
|
|
#if Z_MIN_PIN == -1
|
|
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature! Z_MIN_PIN must point to a valid hardware pin."
|
|
#endif
|
|
|
|
// Prevent user from running a G29 without first homing in X and Y
|
|
if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
|
|
{
|
|
LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNRPGM(MSG_POSITION_UNKNOWN);
|
|
break; // abort G29, since we don't know where we are
|
|
}
|
|
|
|
st_synchronize();
|
|
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
|
|
//vector_3 corrected_position = plan_get_position_mm();
|
|
//corrected_position.debug("position before G29");
|
|
plan_bed_level_matrix.set_to_identity();
|
|
vector_3 uncorrected_position = plan_get_position();
|
|
//uncorrected_position.debug("position durring G29");
|
|
current_position[X_AXIS] = uncorrected_position.x;
|
|
current_position[Y_AXIS] = uncorrected_position.y;
|
|
current_position[Z_AXIS] = uncorrected_position.z;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
setup_for_endstop_move();
|
|
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
#ifdef AUTO_BED_LEVELING_GRID
|
|
// probe at the points of a lattice grid
|
|
|
|
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
|
|
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
|
|
|
|
|
|
// solve the plane equation ax + by + d = z
|
|
// A is the matrix with rows [x y 1] for all the probed points
|
|
// B is the vector of the Z positions
|
|
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
|
|
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
|
|
|
|
// "A" matrix of the linear system of equations
|
|
double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
|
|
// "B" vector of Z points
|
|
double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
|
|
|
|
|
|
int probePointCounter = 0;
|
|
bool zig = true;
|
|
|
|
for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
|
|
{
|
|
int xProbe, xInc;
|
|
if (zig)
|
|
{
|
|
xProbe = LEFT_PROBE_BED_POSITION;
|
|
//xEnd = RIGHT_PROBE_BED_POSITION;
|
|
xInc = xGridSpacing;
|
|
zig = false;
|
|
} else // zag
|
|
{
|
|
xProbe = RIGHT_PROBE_BED_POSITION;
|
|
//xEnd = LEFT_PROBE_BED_POSITION;
|
|
xInc = -xGridSpacing;
|
|
zig = true;
|
|
}
|
|
|
|
for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
|
|
{
|
|
float z_before;
|
|
if (probePointCounter == 0)
|
|
{
|
|
// raise before probing
|
|
z_before = Z_RAISE_BEFORE_PROBING;
|
|
} else
|
|
{
|
|
// raise extruder
|
|
z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
|
|
}
|
|
|
|
float measured_z = probe_pt(xProbe, yProbe, z_before);
|
|
|
|
eqnBVector[probePointCounter] = measured_z;
|
|
|
|
eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
|
|
eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
|
|
eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
|
|
probePointCounter++;
|
|
xProbe += xInc;
|
|
}
|
|
}
|
|
clean_up_after_endstop_move();
|
|
|
|
// solve lsq problem
|
|
double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
|
|
|
|
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
|
|
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
|
|
SERIAL_PROTOCOLPGM(" b: ");
|
|
SERIAL_PROTOCOL(plane_equation_coefficients[1]);
|
|
SERIAL_PROTOCOLPGM(" d: ");
|
|
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
|
|
|
|
|
|
set_bed_level_equation_lsq(plane_equation_coefficients);
|
|
|
|
free(plane_equation_coefficients);
|
|
|
|
#else // AUTO_BED_LEVELING_GRID not defined
|
|
|
|
// Probe at 3 arbitrary points
|
|
// probe 1
|
|
float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
|
|
|
|
// probe 2
|
|
float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
|
|
|
|
// probe 3
|
|
float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
|
|
|
|
clean_up_after_endstop_move();
|
|
|
|
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
|
|
|
|
|
|
#endif // AUTO_BED_LEVELING_GRID
|
|
st_synchronize();
|
|
|
|
// The following code correct the Z height difference from z-probe position and hotend tip position.
|
|
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
|
|
// When the bed is uneven, this height must be corrected.
|
|
real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
|
|
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
|
|
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
|
|
z_tmp = current_position[Z_AXIS];
|
|
|
|
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
|
|
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
break;
|
|
#ifndef Z_PROBE_SLED
|
|
case 30: // G30 Single Z Probe
|
|
{
|
|
st_synchronize();
|
|
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
|
|
setup_for_endstop_move();
|
|
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
|
|
run_z_probe();
|
|
SERIAL_PROTOCOLPGM(_T(MSG_BED));
|
|
SERIAL_PROTOCOLPGM(" X: ");
|
|
SERIAL_PROTOCOL(current_position[X_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Y: ");
|
|
SERIAL_PROTOCOL(current_position[Y_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Z: ");
|
|
SERIAL_PROTOCOL(current_position[Z_AXIS]);
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
|
|
clean_up_after_endstop_move();
|
|
}
|
|
break;
|
|
#else
|
|
case 31: // dock the sled
|
|
dock_sled(true);
|
|
break;
|
|
case 32: // undock the sled
|
|
dock_sled(false);
|
|
break;
|
|
#endif // Z_PROBE_SLED
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
|
|
#ifdef MESH_BED_LEVELING
|
|
case 30: // G30 Single Z Probe
|
|
{
|
|
st_synchronize();
|
|
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
|
|
setup_for_endstop_move();
|
|
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
|
|
find_bed_induction_sensor_point_z(-10.f, 3);
|
|
|
|
printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
|
|
|
|
clean_up_after_endstop_move();
|
|
}
|
|
break;
|
|
|
|
|
|
case 75:
|
|
{
|
|
for (int i = 40; i <= 110; i++)
|
|
printf_P(_N("%d %.2f"), i, temp_comp_interpolation(i));
|
|
}
|
|
break;
|
|
|
|
case 76: //PINDA probe temperature calibration
|
|
{
|
|
#ifdef PINDA_THERMISTOR
|
|
if (true)
|
|
{
|
|
|
|
if (calibration_status() >= CALIBRATION_STATUS_XYZ_CALIBRATION) {
|
|
//we need to know accurate position of first calibration point
|
|
//if xyz calibration was not performed yet, interrupt temperature calibration and inform user that xyz cal. is needed
|
|
lcd_show_fullscreen_message_and_wait_P(_i("Please run XYZ calibration first."));
|
|
break;
|
|
}
|
|
|
|
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
|
|
{
|
|
// We don't know where we are! HOME!
|
|
// Push the commands to the front of the message queue in the reverse order!
|
|
// There shall be always enough space reserved for these commands.
|
|
repeatcommand_front(); // repeat G76 with all its parameters
|
|
enquecommand_front_P((PSTR("G28 W0")));
|
|
break;
|
|
}
|
|
lcd_show_fullscreen_message_and_wait_P(_i("Stable ambient temperature 21-26C is needed a rigid stand is required."));////MSG_TEMP_CAL_WARNING c=20 r=4
|
|
bool result = lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_STEEL_SHEET_CHECK), false, false);
|
|
|
|
if (result)
|
|
{
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
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[Z_AXIS] = 50;
|
|
current_position[Y_AXIS] = 180;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
|
|
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
|
|
current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
gcode_G28(false, false, true);
|
|
|
|
}
|
|
if ((current_temperature_pinda > 35) && (farm_mode == false)) {
|
|
//waiting for PIDNA probe to cool down in case that we are not in farm mode
|
|
current_position[Z_AXIS] = 100;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
|
|
lcd_temp_cal_show_result(false);
|
|
break;
|
|
}
|
|
}
|
|
lcd_update_enable(true);
|
|
KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
|
|
SERIAL_ECHOLNPGM("PINDA probe calibration start");
|
|
|
|
float zero_z;
|
|
int z_shift = 0; //unit: steps
|
|
float start_temp = 5 * (int)(current_temperature_pinda / 5);
|
|
if (start_temp < 35) start_temp = 35;
|
|
if (start_temp < current_temperature_pinda) start_temp += 5;
|
|
printf_P(_N("start temperature: %.1f\n"), start_temp);
|
|
|
|
// setTargetHotend(200, 0);
|
|
setTargetBed(70 + (start_temp - 30));
|
|
|
|
custom_message = true;
|
|
custom_message_type = 4;
|
|
custom_message_state = 1;
|
|
custom_message = _T(MSG_TEMP_CALIBRATION);
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
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] = PINDA_PREHEAT_X;
|
|
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
|
|
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[Z_AXIS] = PINDA_PREHEAT_Z;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
|
|
while (current_temperature_pinda < start_temp)
|
|
{
|
|
delay_keep_alive(1000);
|
|
serialecho_temperatures();
|
|
}
|
|
|
|
eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
|
|
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
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] = pgm_read_float(bed_ref_points_4);
|
|
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
|
|
bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
|
|
if (find_z_result == false) {
|
|
lcd_temp_cal_show_result(find_z_result);
|
|
break;
|
|
}
|
|
zero_z = current_position[Z_AXIS];
|
|
|
|
printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
|
|
|
|
int i = -1; for (; i < 5; i++)
|
|
{
|
|
float temp = (40 + i * 5);
|
|
printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
|
|
if (i >= 0) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
|
|
if (start_temp <= temp) break;
|
|
}
|
|
|
|
for (i++; i < 5; i++)
|
|
{
|
|
float temp = (40 + i * 5);
|
|
printf_P(_N("\nStep: %d/6\n"), i + 2);
|
|
custom_message_state = i + 2;
|
|
setTargetBed(50 + 10 * (temp - 30) / 5);
|
|
// setTargetHotend(255, 0);
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
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] = PINDA_PREHEAT_X;
|
|
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
|
|
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[Z_AXIS] = PINDA_PREHEAT_Z;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
while (current_temperature_pinda < temp)
|
|
{
|
|
delay_keep_alive(1000);
|
|
serialecho_temperatures();
|
|
}
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
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] = pgm_read_float(bed_ref_points_4);
|
|
current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
find_z_result = find_bed_induction_sensor_point_z(-1.f);
|
|
if (find_z_result == false) {
|
|
lcd_temp_cal_show_result(find_z_result);
|
|
break;
|
|
}
|
|
z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
|
|
|
|
printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
|
|
|
|
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
|
|
|
|
}
|
|
lcd_temp_cal_show_result(true);
|
|
|
|
break;
|
|
}
|
|
#endif //PINDA_THERMISTOR
|
|
|
|
setTargetBed(PINDA_MIN_T);
|
|
float zero_z;
|
|
int z_shift = 0; //unit: steps
|
|
int t_c; // temperature
|
|
|
|
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
|
|
// We don't know where we are! HOME!
|
|
// Push the commands to the front of the message queue in the reverse order!
|
|
// There shall be always enough space reserved for these commands.
|
|
repeatcommand_front(); // repeat G76 with all its parameters
|
|
enquecommand_front_P((PSTR("G28 W0")));
|
|
break;
|
|
}
|
|
puts_P(_N("PINDA probe calibration start"));
|
|
custom_message = true;
|
|
custom_message_type = 4;
|
|
custom_message_state = 1;
|
|
custom_message = _T(MSG_TEMP_CALIBRATION);
|
|
current_position[X_AXIS] = PINDA_PREHEAT_X;
|
|
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
|
|
current_position[Z_AXIS] = PINDA_PREHEAT_Z;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
|
|
while (abs(degBed() - PINDA_MIN_T) > 1) {
|
|
delay_keep_alive(1000);
|
|
serialecho_temperatures();
|
|
}
|
|
|
|
//enquecommand_P(PSTR("M190 S50"));
|
|
for (int i = 0; i < PINDA_HEAT_T; i++) {
|
|
delay_keep_alive(1000);
|
|
serialecho_temperatures();
|
|
}
|
|
eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process
|
|
|
|
current_position[Z_AXIS] = 5;
|
|
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] = pgm_read_float(bed_ref_points);
|
|
current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
|
|
find_bed_induction_sensor_point_z(-1.f);
|
|
zero_z = current_position[Z_AXIS];
|
|
|
|
printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
|
|
|
|
for (int i = 0; i<5; i++) {
|
|
printf_P(_N("\nStep: %d/6\n"), i + 2);
|
|
custom_message_state = i + 2;
|
|
t_c = 60 + i * 10;
|
|
|
|
setTargetBed(t_c);
|
|
current_position[X_AXIS] = PINDA_PREHEAT_X;
|
|
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
|
|
current_position[Z_AXIS] = PINDA_PREHEAT_Z;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
while (degBed() < t_c) {
|
|
delay_keep_alive(1000);
|
|
serialecho_temperatures();
|
|
}
|
|
for (int i = 0; i < PINDA_HEAT_T; i++) {
|
|
delay_keep_alive(1000);
|
|
serialecho_temperatures();
|
|
}
|
|
current_position[Z_AXIS] = 5;
|
|
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] = pgm_read_float(bed_ref_points);
|
|
current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
find_bed_induction_sensor_point_z(-1.f);
|
|
z_shift = (int)((current_position[Z_AXIS] - zero_z)*axis_steps_per_unit[Z_AXIS]);
|
|
|
|
printf_P(_N("\nTemperature: %d Z shift (mm): %.3f\n"), t_c, current_position[Z_AXIS] - zero_z);
|
|
|
|
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i*2, &z_shift);
|
|
|
|
|
|
}
|
|
custom_message_type = 0;
|
|
custom_message = false;
|
|
|
|
eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
|
|
puts_P(_N("Temperature calibration done."));
|
|
disable_x();
|
|
disable_y();
|
|
disable_z();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
setTargetBed(0); //set bed target temperature back to 0
|
|
lcd_show_fullscreen_message_and_wait_P(_T(MSG_TEMP_CALIBRATION_DONE));
|
|
temp_cal_active = true;
|
|
eeprom_update_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE, 1);
|
|
lcd_update_enable(true);
|
|
lcd_update(2);
|
|
|
|
|
|
|
|
}
|
|
break;
|
|
|
|
#ifdef DIS
|
|
case 77:
|
|
{
|
|
//G77 X200 Y150 XP100 YP15 XO10 Y015
|
|
|
|
//for 9 point mesh bed leveling G77 X203 Y196 XP3 YP3 XO0 YO0
|
|
|
|
|
|
//G77 X232 Y218 XP116 YP109 XO-11 YO0
|
|
|
|
float dimension_x = 40;
|
|
float dimension_y = 40;
|
|
int points_x = 40;
|
|
int points_y = 40;
|
|
float offset_x = 74;
|
|
float offset_y = 33;
|
|
|
|
if (code_seen('X')) dimension_x = code_value();
|
|
if (code_seen('Y')) dimension_y = code_value();
|
|
if (code_seen('XP')) points_x = code_value();
|
|
if (code_seen('YP')) points_y = code_value();
|
|
if (code_seen('XO')) offset_x = code_value();
|
|
if (code_seen('YO')) offset_y = code_value();
|
|
|
|
bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
|
|
|
|
} break;
|
|
|
|
#endif
|
|
|
|
case 79: {
|
|
for (int i = 255; i > 0; i = i - 5) {
|
|
fanSpeed = i;
|
|
//delay_keep_alive(2000);
|
|
for (int j = 0; j < 100; j++) {
|
|
delay_keep_alive(100);
|
|
|
|
}
|
|
fan_speed[1];
|
|
printf_P(_N("%d: %d\n"), i, fan_speed[1]);
|
|
}
|
|
}break;
|
|
|
|
/**
|
|
* G80: Mesh-based Z probe, probes a grid and produces a
|
|
* mesh to compensate for variable bed height
|
|
*
|
|
* The S0 report the points as below
|
|
*
|
|
* +----> X-axis
|
|
* |
|
|
* |
|
|
* v Y-axis
|
|
*
|
|
*/
|
|
|
|
case 80:
|
|
#ifdef MK1BP
|
|
break;
|
|
#endif //MK1BP
|
|
case_G80:
|
|
{
|
|
mesh_bed_leveling_flag = true;
|
|
int8_t verbosity_level = 0;
|
|
static bool run = false;
|
|
|
|
if (code_seen('V')) {
|
|
// Just 'V' without a number counts as V1.
|
|
char c = strchr_pointer[1];
|
|
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
|
|
}
|
|
// Firstly check if we know where we are
|
|
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
|
|
// We don't know where we are! HOME!
|
|
// Push the commands to the front of the message queue in the reverse order!
|
|
// There shall be always enough space reserved for these commands.
|
|
if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
|
|
repeatcommand_front(); // repeat G80 with all its parameters
|
|
enquecommand_front_P((PSTR("G28 W0")));
|
|
}
|
|
else {
|
|
mesh_bed_leveling_flag = false;
|
|
}
|
|
break;
|
|
}
|
|
|
|
|
|
bool temp_comp_start = true;
|
|
#ifdef PINDA_THERMISTOR
|
|
temp_comp_start = false;
|
|
#endif //PINDA_THERMISTOR
|
|
|
|
if (temp_comp_start)
|
|
if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
|
|
if (lcd_commands_type != LCD_COMMAND_STOP_PRINT) {
|
|
temp_compensation_start();
|
|
run = true;
|
|
repeatcommand_front(); // repeat G80 with all its parameters
|
|
enquecommand_front_P((PSTR("G28 W0")));
|
|
}
|
|
else {
|
|
mesh_bed_leveling_flag = false;
|
|
}
|
|
break;
|
|
}
|
|
run = false;
|
|
if (lcd_commands_type == LCD_COMMAND_STOP_PRINT) {
|
|
mesh_bed_leveling_flag = false;
|
|
break;
|
|
}
|
|
// Save custom message state, set a new custom message state to display: Calibrating point 9.
|
|
bool custom_message_old = custom_message;
|
|
unsigned int custom_message_type_old = custom_message_type;
|
|
unsigned int custom_message_state_old = custom_message_state;
|
|
custom_message = true;
|
|
custom_message_type = 1;
|
|
custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
|
|
lcd_update(1);
|
|
|
|
mbl.reset(); //reset mesh bed leveling
|
|
|
|
// Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
|
|
// consumed during the first movements following this statement.
|
|
babystep_undo();
|
|
|
|
// Cycle through all points and probe them
|
|
// First move up. During this first movement, the babystepping will be reverted.
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
|
|
// The move to the first calibration point.
|
|
current_position[X_AXIS] = pgm_read_float(bed_ref_points);
|
|
current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
|
|
bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
|
|
|
|
#ifdef SUPPORT_VERBOSITY
|
|
if (verbosity_level >= 1) {
|
|
clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
|
|
}
|
|
#endif //SUPPORT_VERBOSITY
|
|
// mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder);
|
|
// Wait until the move is finished.
|
|
st_synchronize();
|
|
|
|
int mesh_point = 0; //index number of calibration point
|
|
|
|
int ix = 0;
|
|
int iy = 0;
|
|
|
|
int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
|
|
int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
|
|
int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
|
|
bool has_z = is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point)
|
|
#ifdef SUPPORT_VERBOSITY
|
|
if (verbosity_level >= 1) {
|
|
has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
|
|
}
|
|
#endif // SUPPORT_VERBOSITY
|
|
setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
|
|
const char *kill_message = NULL;
|
|
while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
|
|
// Get coords of a measuring point.
|
|
ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
|
|
iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
|
|
if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
|
|
float z0 = 0.f;
|
|
if (has_z && mesh_point > 0) {
|
|
uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
|
|
z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
|
|
//#if 0
|
|
#ifdef SUPPORT_VERBOSITY
|
|
if (verbosity_level >= 1) {
|
|
SERIAL_ECHOLNPGM("");
|
|
SERIAL_ECHOPGM("Bed leveling, point: ");
|
|
MYSERIAL.print(mesh_point);
|
|
SERIAL_ECHOPGM(", calibration z: ");
|
|
MYSERIAL.print(z0, 5);
|
|
SERIAL_ECHOLNPGM("");
|
|
}
|
|
#endif // SUPPORT_VERBOSITY
|
|
//#endif
|
|
}
|
|
|
|
// Move Z up to MESH_HOME_Z_SEARCH.
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
|
|
st_synchronize();
|
|
|
|
// Move to XY position of the sensor point.
|
|
current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
|
|
current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
|
|
|
|
|
|
|
|
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
|
|
#ifdef SUPPORT_VERBOSITY
|
|
if (verbosity_level >= 1) {
|
|
|
|
SERIAL_PROTOCOL(mesh_point);
|
|
clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
|
|
}
|
|
#endif // SUPPORT_VERBOSITY
|
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
|
|
st_synchronize();
|
|
|
|
// Go down until endstop is hit
|
|
const float Z_CALIBRATION_THRESHOLD = 1.f;
|
|
if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
|
|
kill_message = _T(MSG_BED_LEVELING_FAILED_POINT_LOW);
|
|
break;
|
|
}
|
|
if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
|
|
kill_message = _i("Bed leveling failed. Sensor disconnected or cable broken. Waiting for reset.");////MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED c=20 r=4
|
|
break;
|
|
}
|
|
if (has_z && fabs(z0 - current_position[Z_AXIS]) > Z_CALIBRATION_THRESHOLD) { //if we have data from z calibration, max. allowed difference is 1mm for each point
|
|
kill_message = _i("Bed leveling failed. Sensor triggered too high. Waiting for reset.");////MSG_BED_LEVELING_FAILED_POINT_HIGH c=20 r=4
|
|
break;
|
|
}
|
|
#ifdef SUPPORT_VERBOSITY
|
|
if (verbosity_level >= 10) {
|
|
SERIAL_ECHOPGM("X: ");
|
|
MYSERIAL.print(current_position[X_AXIS], 5);
|
|
SERIAL_ECHOLNPGM("");
|
|
SERIAL_ECHOPGM("Y: ");
|
|
MYSERIAL.print(current_position[Y_AXIS], 5);
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
}
|
|
#endif // SUPPORT_VERBOSITY
|
|
float offset_z = 0;
|
|
|
|
#ifdef PINDA_THERMISTOR
|
|
offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
|
|
#endif //PINDA_THERMISTOR
|
|
// #ifdef SUPPORT_VERBOSITY
|
|
/* if (verbosity_level >= 1)
|
|
{
|
|
SERIAL_ECHOPGM("mesh bed leveling: ");
|
|
MYSERIAL.print(current_position[Z_AXIS], 5);
|
|
SERIAL_ECHOPGM(" offset: ");
|
|
MYSERIAL.print(offset_z, 5);
|
|
SERIAL_ECHOLNPGM("");
|
|
}*/
|
|
// #endif // SUPPORT_VERBOSITY
|
|
mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
|
|
|
|
custom_message_state--;
|
|
mesh_point++;
|
|
lcd_update(1);
|
|
}
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
#ifdef SUPPORT_VERBOSITY
|
|
if (verbosity_level >= 20) {
|
|
SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
|
|
SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
|
|
MYSERIAL.print(current_position[Z_AXIS], 5);
|
|
}
|
|
#endif // SUPPORT_VERBOSITY
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
|
|
st_synchronize();
|
|
if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
|
|
kill(kill_message);
|
|
SERIAL_ECHOLNPGM("killed");
|
|
}
|
|
clean_up_after_endstop_move();
|
|
// SERIAL_ECHOLNPGM("clean up finished ");
|
|
|
|
bool apply_temp_comp = true;
|
|
#ifdef PINDA_THERMISTOR
|
|
apply_temp_comp = false;
|
|
#endif
|
|
if (apply_temp_comp)
|
|
if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
|
|
babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
|
|
// SERIAL_ECHOLNPGM("babystep applied");
|
|
bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
|
|
#ifdef SUPPORT_VERBOSITY
|
|
if (verbosity_level >= 1) {
|
|
eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
|
|
}
|
|
#endif // SUPPORT_VERBOSITY
|
|
|
|
for (uint8_t i = 0; i < 4; ++i) {
|
|
unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
|
|
long correction = 0;
|
|
if (code_seen(codes[i]))
|
|
correction = code_value_long();
|
|
else if (eeprom_bed_correction_valid) {
|
|
unsigned char *addr = (i < 2) ?
|
|
((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
|
|
((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
|
|
correction = eeprom_read_int8(addr);
|
|
}
|
|
if (correction == 0)
|
|
continue;
|
|
float offset = float(correction) * 0.001f;
|
|
if (fabs(offset) > 0.101f) {
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ECHOPGM("Excessive bed leveling correction: ");
|
|
SERIAL_ECHO(offset);
|
|
SERIAL_ECHOLNPGM(" microns");
|
|
}
|
|
else {
|
|
switch (i) {
|
|
case 0:
|
|
for (uint8_t row = 0; row < 3; ++row) {
|
|
mbl.z_values[row][1] += 0.5f * offset;
|
|
mbl.z_values[row][0] += offset;
|
|
}
|
|
break;
|
|
case 1:
|
|
for (uint8_t row = 0; row < 3; ++row) {
|
|
mbl.z_values[row][1] += 0.5f * offset;
|
|
mbl.z_values[row][2] += offset;
|
|
}
|
|
break;
|
|
case 2:
|
|
for (uint8_t col = 0; col < 3; ++col) {
|
|
mbl.z_values[1][col] += 0.5f * offset;
|
|
mbl.z_values[0][col] += offset;
|
|
}
|
|
break;
|
|
case 3:
|
|
for (uint8_t col = 0; col < 3; ++col) {
|
|
mbl.z_values[1][col] += 0.5f * offset;
|
|
mbl.z_values[2][col] += offset;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
// SERIAL_ECHOLNPGM("Bed leveling correction finished");
|
|
mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
|
|
// SERIAL_ECHOLNPGM("Upsample finished");
|
|
mbl.active = 1; //activate mesh bed leveling
|
|
// SERIAL_ECHOLNPGM("Mesh bed leveling activated");
|
|
go_home_with_z_lift();
|
|
// SERIAL_ECHOLNPGM("Go home finished");
|
|
//unretract (after PINDA preheat retraction)
|
|
if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
|
|
current_position[E_AXIS] += DEFAULT_RETRACTION;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
|
|
}
|
|
KEEPALIVE_STATE(NOT_BUSY);
|
|
// Restore custom message state
|
|
lcd_setstatuspgm(_T(WELCOME_MSG));
|
|
custom_message = custom_message_old;
|
|
custom_message_type = custom_message_type_old;
|
|
custom_message_state = custom_message_state_old;
|
|
mesh_bed_leveling_flag = false;
|
|
mesh_bed_run_from_menu = false;
|
|
lcd_update(2);
|
|
|
|
}
|
|
break;
|
|
|
|
/**
|
|
* G81: Print mesh bed leveling status and bed profile if activated
|
|
*/
|
|
case 81:
|
|
if (mbl.active) {
|
|
SERIAL_PROTOCOLPGM("Num X,Y: ");
|
|
SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
|
|
SERIAL_PROTOCOLPGM(",");
|
|
SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
|
|
SERIAL_PROTOCOLPGM("\nZ search height: ");
|
|
SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
|
|
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
|
|
for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
|
|
for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
|
|
SERIAL_PROTOCOLPGM(" ");
|
|
SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
|
|
}
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
}
|
|
}
|
|
else
|
|
SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
|
|
break;
|
|
|
|
#if 0
|
|
/**
|
|
* G82: Single Z probe at current location
|
|
*
|
|
* WARNING! USE WITH CAUTION! If you'll try to probe where is no leveling pad, nasty things can happen!
|
|
*
|
|
*/
|
|
case 82:
|
|
SERIAL_PROTOCOLLNPGM("Finding bed ");
|
|
setup_for_endstop_move();
|
|
find_bed_induction_sensor_point_z();
|
|
clean_up_after_endstop_move();
|
|
SERIAL_PROTOCOLPGM("Bed found at: ");
|
|
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 5);
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
break;
|
|
|
|
/**
|
|
* G83: Prusa3D specific: Babystep in Z and store to EEPROM
|
|
*/
|
|
case 83:
|
|
{
|
|
int babystepz = code_seen('S') ? code_value() : 0;
|
|
int BabyPosition = code_seen('P') ? code_value() : 0;
|
|
|
|
if (babystepz != 0) {
|
|
//FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
|
|
// Is the axis indexed starting with zero or one?
|
|
if (BabyPosition > 4) {
|
|
SERIAL_PROTOCOLLNPGM("Index out of bounds");
|
|
}else{
|
|
// Save it to the eeprom
|
|
babystepLoadZ = babystepz;
|
|
EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
|
|
// adjust the Z
|
|
babystepsTodoZadd(babystepLoadZ);
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
break;
|
|
/**
|
|
* G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
|
|
*/
|
|
case 84:
|
|
babystepsTodoZsubtract(babystepLoadZ);
|
|
// babystepLoadZ = 0;
|
|
break;
|
|
|
|
/**
|
|
* G85: Prusa3D specific: Pick best babystep
|
|
*/
|
|
case 85:
|
|
lcd_pick_babystep();
|
|
break;
|
|
#endif
|
|
|
|
/**
|
|
* G86: Prusa3D specific: Disable babystep correction after home.
|
|
* This G-code will be performed at the start of a calibration script.
|
|
*/
|
|
case 86:
|
|
calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
|
|
break;
|
|
/**
|
|
* G87: Prusa3D specific: Enable babystep correction after home
|
|
* This G-code will be performed at the end of a calibration script.
|
|
*/
|
|
case 87:
|
|
calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
|
|
break;
|
|
|
|
/**
|
|
* G88: Prusa3D specific: Don't know what it is for, it is in V2Calibration.gcode
|
|
*/
|
|
case 88:
|
|
break;
|
|
|
|
|
|
#endif // ENABLE_MESH_BED_LEVELING
|
|
|
|
|
|
case 90: // G90
|
|
relative_mode = false;
|
|
break;
|
|
case 91: // G91
|
|
relative_mode = true;
|
|
break;
|
|
case 92: // G92
|
|
if(!code_seen(axis_codes[E_AXIS]))
|
|
st_synchronize();
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
if(code_seen(axis_codes[i])) {
|
|
if(i == E_AXIS) {
|
|
current_position[i] = code_value();
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
}
|
|
else {
|
|
current_position[i] = code_value()+add_homing[i];
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 98: // G98 (activate farm mode)
|
|
farm_mode = 1;
|
|
PingTime = millis();
|
|
eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
|
|
SilentModeMenu = SILENT_MODE_OFF;
|
|
eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
|
|
break;
|
|
|
|
case 99: // G99 (deactivate farm mode)
|
|
farm_mode = 0;
|
|
lcd_printer_connected();
|
|
eeprom_update_byte((unsigned char *)EEPROM_FARM_MODE, farm_mode);
|
|
lcd_update(2);
|
|
break;
|
|
default:
|
|
printf_P(PSTR("Unknown G code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
|
|
}
|
|
} // end if(code_seen('G'))
|
|
|
|
else if(code_seen('M'))
|
|
{
|
|
int index;
|
|
for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
|
|
|
|
/*for (++strchr_pointer; *strchr_pointer == ' ' || *strchr_pointer == '\t'; ++strchr_pointer);*/
|
|
if (*(strchr_pointer+index) < '0' || *(strchr_pointer+index) > '9') {
|
|
printf_P(PSTR("Invalid M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
|
|
|
|
} else
|
|
switch((int)code_value())
|
|
{
|
|
|
|
case 0: // M0 - Unconditional stop - Wait for user button press on LCD
|
|
case 1: // M1 - Conditional stop - Wait for user button press on LCD
|
|
{
|
|
char *src = strchr_pointer + 2;
|
|
|
|
codenum = 0;
|
|
|
|
bool hasP = false, hasS = false;
|
|
if (code_seen('P')) {
|
|
codenum = code_value(); // milliseconds to wait
|
|
hasP = codenum > 0;
|
|
}
|
|
if (code_seen('S')) {
|
|
codenum = code_value() * 1000; // seconds to wait
|
|
hasS = codenum > 0;
|
|
}
|
|
starpos = strchr(src, '*');
|
|
if (starpos != NULL) *(starpos) = '\0';
|
|
while (*src == ' ') ++src;
|
|
if (!hasP && !hasS && *src != '\0') {
|
|
lcd_setstatus(src);
|
|
} else {
|
|
LCD_MESSAGERPGM(_i("Wait for user..."));////MSG_USERWAIT c=0 r=0
|
|
}
|
|
|
|
lcd_ignore_click(); //call lcd_ignore_click aslo for else ???
|
|
st_synchronize();
|
|
previous_millis_cmd = millis();
|
|
if (codenum > 0){
|
|
codenum += millis(); // keep track of when we started waiting
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
while(millis() < codenum && !lcd_clicked()){
|
|
manage_heater();
|
|
manage_inactivity(true);
|
|
lcd_update(0);
|
|
}
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
lcd_ignore_click(false);
|
|
}else{
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
while(!lcd_clicked()){
|
|
manage_heater();
|
|
manage_inactivity(true);
|
|
lcd_update(0);
|
|
}
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
}
|
|
if (IS_SD_PRINTING)
|
|
LCD_MESSAGERPGM(_T(MSG_RESUMING_PRINT));
|
|
else
|
|
LCD_MESSAGERPGM(_T(WELCOME_MSG));
|
|
}
|
|
break;
|
|
case 17:
|
|
LCD_MESSAGERPGM(_i("No move."));////MSG_NO_MOVE c=0 r=0
|
|
enable_x();
|
|
enable_y();
|
|
enable_z();
|
|
enable_e0();
|
|
enable_e1();
|
|
enable_e2();
|
|
break;
|
|
|
|
#ifdef SDSUPPORT
|
|
case 20: // M20 - list SD card
|
|
SERIAL_PROTOCOLLNRPGM(_N("Begin file list"));////MSG_BEGIN_FILE_LIST c=0 r=0
|
|
card.ls();
|
|
SERIAL_PROTOCOLLNRPGM(_N("End file list"));////MSG_END_FILE_LIST c=0 r=0
|
|
break;
|
|
case 21: // M21 - init SD card
|
|
|
|
card.initsd();
|
|
|
|
break;
|
|
case 22: //M22 - release SD card
|
|
card.release();
|
|
|
|
break;
|
|
case 23: //M23 - Select file
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
if(starpos!=NULL)
|
|
*(starpos)='\0';
|
|
card.openFile(strchr_pointer + 4,true);
|
|
break;
|
|
case 24: //M24 - Start SD print
|
|
if (!card.paused)
|
|
failstats_reset_print();
|
|
card.startFileprint();
|
|
starttime=millis();
|
|
break;
|
|
case 25: //M25 - Pause SD print
|
|
card.pauseSDPrint();
|
|
break;
|
|
case 26: //M26 - Set SD index
|
|
if(card.cardOK && code_seen('S')) {
|
|
card.setIndex(code_value_long());
|
|
}
|
|
break;
|
|
case 27: //M27 - Get SD status
|
|
card.getStatus();
|
|
break;
|
|
case 28: //M28 - Start SD write
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
if(starpos != NULL){
|
|
char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
|
|
strchr_pointer = strchr(npos,' ') + 1;
|
|
*(starpos) = '\0';
|
|
}
|
|
card.openFile(strchr_pointer+4,false);
|
|
break;
|
|
case 29: //M29 - Stop SD write
|
|
//processed in write to file routine above
|
|
//card,saving = false;
|
|
break;
|
|
case 30: //M30 <filename> Delete File
|
|
if (card.cardOK){
|
|
card.closefile();
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
if(starpos != NULL){
|
|
char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
|
|
strchr_pointer = strchr(npos,' ') + 1;
|
|
*(starpos) = '\0';
|
|
}
|
|
card.removeFile(strchr_pointer + 4);
|
|
}
|
|
break;
|
|
case 32: //M32 - Select file and start SD print
|
|
{
|
|
if(card.sdprinting) {
|
|
st_synchronize();
|
|
|
|
}
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
|
|
char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
|
|
if(namestartpos==NULL)
|
|
{
|
|
namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
|
|
}
|
|
else
|
|
namestartpos++; //to skip the '!'
|
|
|
|
if(starpos!=NULL)
|
|
*(starpos)='\0';
|
|
|
|
bool call_procedure=(code_seen('P'));
|
|
|
|
if(strchr_pointer>namestartpos)
|
|
call_procedure=false; //false alert, 'P' found within filename
|
|
|
|
if( card.cardOK )
|
|
{
|
|
card.openFile(namestartpos,true,!call_procedure);
|
|
if(code_seen('S'))
|
|
if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
|
|
card.setIndex(code_value_long());
|
|
card.startFileprint();
|
|
if(!call_procedure)
|
|
starttime=millis(); //procedure calls count as normal print time.
|
|
}
|
|
} break;
|
|
case 928: //M928 - Start SD write
|
|
starpos = (strchr(strchr_pointer + 5,'*'));
|
|
if(starpos != NULL){
|
|
char* npos = strchr(CMDBUFFER_CURRENT_STRING, 'N');
|
|
strchr_pointer = strchr(npos,' ') + 1;
|
|
*(starpos) = '\0';
|
|
}
|
|
card.openLogFile(strchr_pointer+5);
|
|
break;
|
|
|
|
#endif //SDSUPPORT
|
|
|
|
case 31: //M31 take time since the start of the SD print or an M109 command
|
|
{
|
|
stoptime=millis();
|
|
char time[30];
|
|
unsigned long t=(stoptime-starttime)/1000;
|
|
int sec,min;
|
|
min=t/60;
|
|
sec=t%60;
|
|
sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLN(time);
|
|
lcd_setstatus(time);
|
|
autotempShutdown();
|
|
}
|
|
break;
|
|
case 42: //M42 -Change pin status via gcode
|
|
if (code_seen('S'))
|
|
{
|
|
int pin_status = code_value();
|
|
int pin_number = LED_PIN;
|
|
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
|
|
pin_number = code_value();
|
|
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
|
|
{
|
|
if (sensitive_pins[i] == pin_number)
|
|
{
|
|
pin_number = -1;
|
|
break;
|
|
}
|
|
}
|
|
#if defined(FAN_PIN) && FAN_PIN > -1
|
|
if (pin_number == FAN_PIN)
|
|
fanSpeed = pin_status;
|
|
#endif
|
|
if (pin_number > -1)
|
|
{
|
|
pinMode(pin_number, OUTPUT);
|
|
digitalWrite(pin_number, pin_status);
|
|
analogWrite(pin_number, pin_status);
|
|
}
|
|
}
|
|
break;
|
|
case 44: // M44: Prusa3D: Reset the bed skew and offset calibration.
|
|
|
|
// Reset the baby step value and the baby step applied flag.
|
|
calibration_status_store(CALIBRATION_STATUS_ASSEMBLED);
|
|
eeprom_update_word((uint16_t*)EEPROM_BABYSTEP_Z, 0);
|
|
|
|
// Reset the skew and offset in both RAM and EEPROM.
|
|
reset_bed_offset_and_skew();
|
|
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
|
|
// the planner will not perform any adjustments in the XY plane.
|
|
// Wait for the motors to stop and update the current position with the absolute values.
|
|
world2machine_revert_to_uncorrected();
|
|
break;
|
|
|
|
case 45: // M45: Prusa3D: bed skew and offset with manual Z up
|
|
{
|
|
int8_t verbosity_level = 0;
|
|
bool only_Z = code_seen('Z');
|
|
#ifdef SUPPORT_VERBOSITY
|
|
if (code_seen('V'))
|
|
{
|
|
// Just 'V' without a number counts as V1.
|
|
char c = strchr_pointer[1];
|
|
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
|
|
}
|
|
#endif //SUPPORT_VERBOSITY
|
|
gcode_M45(only_Z, verbosity_level);
|
|
}
|
|
break;
|
|
|
|
/*
|
|
case 46:
|
|
{
|
|
// M46: Prusa3D: Show the assigned IP address.
|
|
uint8_t ip[4];
|
|
bool hasIP = card.ToshibaFlashAir_GetIP(ip);
|
|
if (hasIP) {
|
|
SERIAL_ECHOPGM("Toshiba FlashAir current IP: ");
|
|
SERIAL_ECHO(int(ip[0]));
|
|
SERIAL_ECHOPGM(".");
|
|
SERIAL_ECHO(int(ip[1]));
|
|
SERIAL_ECHOPGM(".");
|
|
SERIAL_ECHO(int(ip[2]));
|
|
SERIAL_ECHOPGM(".");
|
|
SERIAL_ECHO(int(ip[3]));
|
|
SERIAL_ECHOLNPGM("");
|
|
} else {
|
|
SERIAL_ECHOLNPGM("Toshiba FlashAir GetIP failed");
|
|
}
|
|
break;
|
|
}
|
|
*/
|
|
|
|
case 47:
|
|
// M47: Prusa3D: Show end stops dialog on the display.
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
lcd_diag_show_end_stops();
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
break;
|
|
|
|
#if 0
|
|
case 48: // M48: scan the bed induction sensor points, print the sensor trigger coordinates to the serial line for visualization on the PC.
|
|
{
|
|
// Disable the default update procedure of the display. We will do a modal dialog.
|
|
lcd_update_enable(false);
|
|
// Let the planner use the uncorrected coordinates.
|
|
mbl.reset();
|
|
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
|
|
// the planner will not perform any adjustments in the XY plane.
|
|
// Wait for the motors to stop and update the current position with the absolute values.
|
|
world2machine_revert_to_uncorrected();
|
|
// Move the print head close to the bed.
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
|
|
st_synchronize();
|
|
// Home in the XY plane.
|
|
set_destination_to_current();
|
|
setup_for_endstop_move();
|
|
home_xy();
|
|
int8_t verbosity_level = 0;
|
|
if (code_seen('V')) {
|
|
// Just 'V' without a number counts as V1.
|
|
char c = strchr_pointer[1];
|
|
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
|
|
}
|
|
bool success = scan_bed_induction_points(verbosity_level);
|
|
clean_up_after_endstop_move();
|
|
// Print head up.
|
|
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
|
|
st_synchronize();
|
|
lcd_update_enable(true);
|
|
break;
|
|
}
|
|
#endif
|
|
|
|
// M48 Z-Probe repeatability measurement function.
|
|
//
|
|
// Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <L legs_of_movement_prior_to_doing_probe>
|
|
//
|
|
// This function assumes the bed has been homed. Specificaly, that a G28 command
|
|
// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
|
|
// Any information generated by a prior G29 Bed leveling command will be lost and need to be
|
|
// regenerated.
|
|
//
|
|
// The number of samples will default to 10 if not specified. You can use upper or lower case
|
|
// letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
|
|
// N for its communication protocol and will get horribly confused if you send it a capital N.
|
|
//
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
#ifdef Z_PROBE_REPEATABILITY_TEST
|
|
|
|
case 48: // M48 Z-Probe repeatability
|
|
{
|
|
#if Z_MIN_PIN == -1
|
|
#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
|
|
#endif
|
|
|
|
double sum=0.0;
|
|
double mean=0.0;
|
|
double sigma=0.0;
|
|
double sample_set[50];
|
|
int verbose_level=1, n=0, j, n_samples = 10, n_legs=0;
|
|
double X_current, Y_current, Z_current;
|
|
double X_probe_location, Y_probe_location, Z_start_location, ext_position;
|
|
|
|
if (code_seen('V') || code_seen('v')) {
|
|
verbose_level = code_value();
|
|
if (verbose_level<0 || verbose_level>4 ) {
|
|
SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
|
|
goto Sigma_Exit;
|
|
}
|
|
}
|
|
|
|
if (verbose_level > 0) {
|
|
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
|
|
SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
|
|
}
|
|
|
|
if (code_seen('n')) {
|
|
n_samples = code_value();
|
|
if (n_samples<4 || n_samples>50 ) {
|
|
SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
|
|
goto Sigma_Exit;
|
|
}
|
|
}
|
|
|
|
X_current = X_probe_location = st_get_position_mm(X_AXIS);
|
|
Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
|
|
Z_current = st_get_position_mm(Z_AXIS);
|
|
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
|
|
ext_position = st_get_position_mm(E_AXIS);
|
|
|
|
if (code_seen('X') || code_seen('x') ) {
|
|
X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
|
|
if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
|
|
SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
|
|
goto Sigma_Exit;
|
|
}
|
|
}
|
|
|
|
if (code_seen('Y') || code_seen('y') ) {
|
|
Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
|
|
if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
|
|
SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
|
|
goto Sigma_Exit;
|
|
}
|
|
}
|
|
|
|
if (code_seen('L') || code_seen('l') ) {
|
|
n_legs = code_value();
|
|
if ( n_legs==1 )
|
|
n_legs = 2;
|
|
if ( n_legs<0 || n_legs>15 ) {
|
|
SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
|
|
goto Sigma_Exit;
|
|
}
|
|
}
|
|
|
|
//
|
|
// Do all the preliminary setup work. First raise the probe.
|
|
//
|
|
|
|
st_synchronize();
|
|
plan_bed_level_matrix.set_to_identity();
|
|
plan_buffer_line( X_current, Y_current, Z_start_location,
|
|
ext_position,
|
|
homing_feedrate[Z_AXIS]/60,
|
|
active_extruder);
|
|
st_synchronize();
|
|
|
|
//
|
|
// Now get everything to the specified probe point So we can safely do a probe to
|
|
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
|
|
// use that as a starting point for each probe.
|
|
//
|
|
if (verbose_level > 2)
|
|
SERIAL_PROTOCOL("Positioning probe for the test.\n");
|
|
|
|
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
|
|
ext_position,
|
|
homing_feedrate[X_AXIS]/60,
|
|
active_extruder);
|
|
st_synchronize();
|
|
|
|
current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
|
|
current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
|
|
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
|
|
current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
|
|
|
|
//
|
|
// OK, do the inital probe to get us close to the bed.
|
|
// Then retrace the right amount and use that in subsequent probes
|
|
//
|
|
|
|
setup_for_endstop_move();
|
|
run_z_probe();
|
|
|
|
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
|
|
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
|
|
|
|
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
|
|
ext_position,
|
|
homing_feedrate[X_AXIS]/60,
|
|
active_extruder);
|
|
st_synchronize();
|
|
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
|
|
|
|
for( n=0; n<n_samples; n++) {
|
|
|
|
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
|
|
|
|
if ( n_legs) {
|
|
double radius=0.0, theta=0.0, x_sweep, y_sweep;
|
|
int rotational_direction, l;
|
|
|
|
rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
|
|
radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
|
|
theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
|
|
|
|
//SERIAL_ECHOPAIR("starting radius: ",radius);
|
|
//SERIAL_ECHOPAIR(" theta: ",theta);
|
|
//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
|
|
//SERIAL_PROTOCOLLNPGM("");
|
|
|
|
for( l=0; l<n_legs-1; l++) {
|
|
if (rotational_direction==1)
|
|
theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
|
|
else
|
|
theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
|
|
|
|
radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
|
|
if ( radius<0.0 )
|
|
radius = -radius;
|
|
|
|
X_current = X_probe_location + cos(theta) * radius;
|
|
Y_current = Y_probe_location + sin(theta) * radius;
|
|
|
|
if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
|
|
X_current = X_MIN_POS;
|
|
if ( X_current>X_MAX_POS)
|
|
X_current = X_MAX_POS;
|
|
|
|
if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
|
|
Y_current = Y_MIN_POS;
|
|
if ( Y_current>Y_MAX_POS)
|
|
Y_current = Y_MAX_POS;
|
|
|
|
if (verbose_level>3 ) {
|
|
SERIAL_ECHOPAIR("x: ", X_current);
|
|
SERIAL_ECHOPAIR("y: ", Y_current);
|
|
SERIAL_PROTOCOLLNPGM("");
|
|
}
|
|
|
|
do_blocking_move_to( X_current, Y_current, Z_current );
|
|
}
|
|
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
|
|
}
|
|
|
|
setup_for_endstop_move();
|
|
run_z_probe();
|
|
|
|
sample_set[n] = current_position[Z_AXIS];
|
|
|
|
//
|
|
// Get the current mean for the data points we have so far
|
|
//
|
|
sum=0.0;
|
|
for( j=0; j<=n; j++) {
|
|
sum = sum + sample_set[j];
|
|
}
|
|
mean = sum / (double (n+1));
|
|
//
|
|
// Now, use that mean to calculate the standard deviation for the
|
|
// data points we have so far
|
|
//
|
|
|
|
sum=0.0;
|
|
for( j=0; j<=n; j++) {
|
|
sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
|
|
}
|
|
sigma = sqrt( sum / (double (n+1)) );
|
|
|
|
if (verbose_level > 1) {
|
|
SERIAL_PROTOCOL(n+1);
|
|
SERIAL_PROTOCOL(" of ");
|
|
SERIAL_PROTOCOL(n_samples);
|
|
SERIAL_PROTOCOLPGM(" z: ");
|
|
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
|
|
}
|
|
|
|
if (verbose_level > 2) {
|
|
SERIAL_PROTOCOL(" mean: ");
|
|
SERIAL_PROTOCOL_F(mean,6);
|
|
|
|
SERIAL_PROTOCOL(" sigma: ");
|
|
SERIAL_PROTOCOL_F(sigma,6);
|
|
}
|
|
|
|
if (verbose_level > 0)
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
|
|
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
|
|
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
}
|
|
|
|
delay(1000);
|
|
|
|
clean_up_after_endstop_move();
|
|
|
|
// enable_endstops(true);
|
|
|
|
if (verbose_level > 0) {
|
|
SERIAL_PROTOCOLPGM("Mean: ");
|
|
SERIAL_PROTOCOL_F(mean, 6);
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
}
|
|
|
|
SERIAL_PROTOCOLPGM("Standard Deviation: ");
|
|
SERIAL_PROTOCOL_F(sigma, 6);
|
|
SERIAL_PROTOCOLPGM("\n\n");
|
|
|
|
Sigma_Exit:
|
|
break;
|
|
}
|
|
#endif // Z_PROBE_REPEATABILITY_TEST
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
case 73: //M73 show percent done and time remaining
|
|
if(code_seen('P')) print_percent_done_normal = code_value();
|
|
if(code_seen('R')) print_time_remaining_normal = code_value();
|
|
if(code_seen('Q')) print_percent_done_silent = code_value();
|
|
if(code_seen('S')) print_time_remaining_silent = code_value();
|
|
|
|
{
|
|
const char* _msg_mode_done_remain = _N("%S MODE: Percent done: %d; print time remaining in mins: %d\n");
|
|
printf_P(_msg_mode_done_remain, _N("NORMAL"), int(print_percent_done_normal), print_time_remaining_normal);
|
|
printf_P(_msg_mode_done_remain, _N("SILENT"), int(print_percent_done_silent), print_time_remaining_silent);
|
|
}
|
|
break;
|
|
|
|
case 104: // M104
|
|
if(setTargetedHotend(104)){
|
|
break;
|
|
}
|
|
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
|
|
setWatch();
|
|
break;
|
|
case 112: // M112 -Emergency Stop
|
|
kill(_n(""), 3);
|
|
break;
|
|
case 140: // M140 set bed temp
|
|
if (code_seen('S')) setTargetBed(code_value());
|
|
break;
|
|
case 105 : // M105
|
|
if(setTargetedHotend(105)){
|
|
break;
|
|
}
|
|
#if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
|
|
SERIAL_PROTOCOLPGM("ok T:");
|
|
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
SERIAL_PROTOCOLPGM(" B:");
|
|
SERIAL_PROTOCOL_F(degBed(),1);
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
SERIAL_PROTOCOL_F(degTargetBed(),1);
|
|
#endif //TEMP_BED_PIN
|
|
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
|
|
SERIAL_PROTOCOLPGM(" T");
|
|
SERIAL_PROTOCOL(cur_extruder);
|
|
SERIAL_PROTOCOLPGM(":");
|
|
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
|
|
}
|
|
#else
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNRPGM(_i("No thermistors - no temperature"));////MSG_ERR_NO_THERMISTORS c=0 r=0
|
|
#endif
|
|
|
|
SERIAL_PROTOCOLPGM(" @:");
|
|
#ifdef EXTRUDER_WATTS
|
|
SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
|
|
SERIAL_PROTOCOLPGM("W");
|
|
#else
|
|
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
|
|
#endif
|
|
|
|
SERIAL_PROTOCOLPGM(" B@:");
|
|
#ifdef BED_WATTS
|
|
SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
|
|
SERIAL_PROTOCOLPGM("W");
|
|
#else
|
|
SERIAL_PROTOCOL(getHeaterPower(-1));
|
|
#endif
|
|
|
|
#ifdef PINDA_THERMISTOR
|
|
SERIAL_PROTOCOLPGM(" P:");
|
|
SERIAL_PROTOCOL_F(current_temperature_pinda,1);
|
|
#endif //PINDA_THERMISTOR
|
|
|
|
#ifdef AMBIENT_THERMISTOR
|
|
SERIAL_PROTOCOLPGM(" A:");
|
|
SERIAL_PROTOCOL_F(current_temperature_ambient,1);
|
|
#endif //AMBIENT_THERMISTOR
|
|
|
|
|
|
#ifdef SHOW_TEMP_ADC_VALUES
|
|
{float raw = 0.0;
|
|
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
SERIAL_PROTOCOLPGM(" ADC B:");
|
|
SERIAL_PROTOCOL_F(degBed(),1);
|
|
SERIAL_PROTOCOLPGM("C->");
|
|
raw = rawBedTemp();
|
|
SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
|
|
SERIAL_PROTOCOLPGM(" Rb->");
|
|
SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
|
|
SERIAL_PROTOCOLPGM(" Rxb->");
|
|
SERIAL_PROTOCOL_F(raw, 5);
|
|
#endif
|
|
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
|
|
SERIAL_PROTOCOLPGM(" T");
|
|
SERIAL_PROTOCOL(cur_extruder);
|
|
SERIAL_PROTOCOLPGM(":");
|
|
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
|
|
SERIAL_PROTOCOLPGM("C->");
|
|
raw = rawHotendTemp(cur_extruder);
|
|
SERIAL_PROTOCOL_F(raw/OVERSAMPLENR,5);
|
|
SERIAL_PROTOCOLPGM(" Rt");
|
|
SERIAL_PROTOCOL(cur_extruder);
|
|
SERIAL_PROTOCOLPGM("->");
|
|
SERIAL_PROTOCOL_F(100 * (1 + (PtA * (raw/OVERSAMPLENR)) + (PtB * sq((raw/OVERSAMPLENR)))), 5);
|
|
SERIAL_PROTOCOLPGM(" Rx");
|
|
SERIAL_PROTOCOL(cur_extruder);
|
|
SERIAL_PROTOCOLPGM("->");
|
|
SERIAL_PROTOCOL_F(raw, 5);
|
|
}}
|
|
#endif
|
|
SERIAL_PROTOCOLLN("");
|
|
KEEPALIVE_STATE(NOT_BUSY);
|
|
return;
|
|
break;
|
|
case 109:
|
|
{// M109 - Wait for extruder heater to reach target.
|
|
if(setTargetedHotend(109)){
|
|
break;
|
|
}
|
|
LCD_MESSAGERPGM(_T(MSG_HEATING));
|
|
heating_status = 1;
|
|
if (farm_mode) { prusa_statistics(1); };
|
|
|
|
#ifdef AUTOTEMP
|
|
autotemp_enabled=false;
|
|
#endif
|
|
if (code_seen('S')) {
|
|
setTargetHotend(code_value(), tmp_extruder);
|
|
CooldownNoWait = true;
|
|
} else if (code_seen('R')) {
|
|
setTargetHotend(code_value(), tmp_extruder);
|
|
CooldownNoWait = false;
|
|
}
|
|
#ifdef AUTOTEMP
|
|
if (code_seen('S')) autotemp_min=code_value();
|
|
if (code_seen('B')) autotemp_max=code_value();
|
|
if (code_seen('F'))
|
|
{
|
|
autotemp_factor=code_value();
|
|
autotemp_enabled=true;
|
|
}
|
|
#endif
|
|
|
|
setWatch();
|
|
codenum = millis();
|
|
|
|
/* See if we are heating up or cooling down */
|
|
target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
|
|
|
|
KEEPALIVE_STATE(NOT_BUSY);
|
|
|
|
cancel_heatup = false;
|
|
|
|
wait_for_heater(codenum); //loops until target temperature is reached
|
|
|
|
LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
heating_status = 2;
|
|
if (farm_mode) { prusa_statistics(2); };
|
|
|
|
//starttime=millis();
|
|
previous_millis_cmd = millis();
|
|
}
|
|
break;
|
|
case 190: // M190 - Wait for bed heater to reach target.
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
|
|
heating_status = 3;
|
|
if (farm_mode) { prusa_statistics(1); };
|
|
if (code_seen('S'))
|
|
{
|
|
setTargetBed(code_value());
|
|
CooldownNoWait = true;
|
|
}
|
|
else if (code_seen('R'))
|
|
{
|
|
setTargetBed(code_value());
|
|
CooldownNoWait = false;
|
|
}
|
|
codenum = millis();
|
|
|
|
cancel_heatup = false;
|
|
target_direction = isHeatingBed(); // true if heating, false if cooling
|
|
|
|
KEEPALIVE_STATE(NOT_BUSY);
|
|
while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
|
|
{
|
|
if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
|
|
{
|
|
if (!farm_mode) {
|
|
float tt = degHotend(active_extruder);
|
|
SERIAL_PROTOCOLPGM("T:");
|
|
SERIAL_PROTOCOL(tt);
|
|
SERIAL_PROTOCOLPGM(" E:");
|
|
SERIAL_PROTOCOL((int)active_extruder);
|
|
SERIAL_PROTOCOLPGM(" B:");
|
|
SERIAL_PROTOCOL_F(degBed(), 1);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
codenum = millis();
|
|
|
|
}
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update(0);
|
|
}
|
|
LCD_MESSAGERPGM(_T(MSG_BED_DONE));
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
heating_status = 4;
|
|
|
|
previous_millis_cmd = millis();
|
|
#endif
|
|
break;
|
|
|
|
#if defined(FAN_PIN) && FAN_PIN > -1
|
|
case 106: //M106 Fan On
|
|
if (code_seen('S')){
|
|
fanSpeed=constrain(code_value(),0,255);
|
|
}
|
|
else {
|
|
fanSpeed=255;
|
|
}
|
|
break;
|
|
case 107: //M107 Fan Off
|
|
fanSpeed = 0;
|
|
break;
|
|
#endif //FAN_PIN
|
|
|
|
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
case 80: // M80 - Turn on Power Supply
|
|
SET_OUTPUT(PS_ON_PIN); //GND
|
|
WRITE(PS_ON_PIN, PS_ON_AWAKE);
|
|
|
|
// If you have a switch on suicide pin, this is useful
|
|
// if you want to start another print with suicide feature after
|
|
// a print without suicide...
|
|
#if defined SUICIDE_PIN && SUICIDE_PIN > -1
|
|
SET_OUTPUT(SUICIDE_PIN);
|
|
WRITE(SUICIDE_PIN, HIGH);
|
|
#endif
|
|
|
|
powersupply = true;
|
|
LCD_MESSAGERPGM(_T(WELCOME_MSG));
|
|
lcd_update(0);
|
|
break;
|
|
#endif
|
|
|
|
case 81: // M81 - Turn off Power Supply
|
|
disable_heater();
|
|
st_synchronize();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
finishAndDisableSteppers();
|
|
fanSpeed = 0;
|
|
delay(1000); // Wait a little before to switch off
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
st_synchronize();
|
|
suicide();
|
|
#elif defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
SET_OUTPUT(PS_ON_PIN);
|
|
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
|
|
#endif
|
|
powersupply = false;
|
|
LCD_MESSAGERPGM(CAT4(CUSTOM_MENDEL_NAME,PSTR(" "),MSG_OFF,PSTR(".")));
|
|
lcd_update(0);
|
|
break;
|
|
|
|
case 82:
|
|
axis_relative_modes[3] = false;
|
|
break;
|
|
case 83:
|
|
axis_relative_modes[3] = true;
|
|
break;
|
|
case 18: //compatibility
|
|
case 84: // M84
|
|
if(code_seen('S')){
|
|
stepper_inactive_time = code_value() * 1000;
|
|
}
|
|
else
|
|
{
|
|
bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
|
|
if(all_axis)
|
|
{
|
|
st_synchronize();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
finishAndDisableSteppers();
|
|
}
|
|
else
|
|
{
|
|
st_synchronize();
|
|
if (code_seen('X')) disable_x();
|
|
if (code_seen('Y')) disable_y();
|
|
if (code_seen('Z')) disable_z();
|
|
#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
|
|
if (code_seen('E')) {
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
//in the end of print set estimated time to end of print and extruders used during print to default values for next print
|
|
print_time_remaining_init();
|
|
snmm_filaments_used = 0;
|
|
break;
|
|
case 85: // M85
|
|
if(code_seen('S')) {
|
|
max_inactive_time = code_value() * 1000;
|
|
}
|
|
break;
|
|
#ifdef SAFETYTIMER
|
|
case 86: // M86 - set safety timer expiration time in seconds; M86 S0 will disable safety timer
|
|
//when safety timer expires heatbed and nozzle target temperatures are set to zero
|
|
if (code_seen('S')) {
|
|
safetytimer_inactive_time = code_value() * 1000;
|
|
safetyTimer.start();
|
|
}
|
|
break;
|
|
#endif
|
|
case 92: // M92
|
|
for(int8_t i=0; i < NUM_AXIS; i++)
|
|
{
|
|
if(code_seen(axis_codes[i]))
|
|
{
|
|
if(i == 3) { // E
|
|
float value = code_value();
|
|
if(value < 20.0) {
|
|
float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
|
|
max_jerk[E_AXIS] *= factor;
|
|
max_feedrate[i] *= factor;
|
|
axis_steps_per_sqr_second[i] *= factor;
|
|
}
|
|
axis_steps_per_unit[i] = value;
|
|
}
|
|
else {
|
|
axis_steps_per_unit[i] = code_value();
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
case 110: // M110 - reset line pos
|
|
if (code_seen('N'))
|
|
gcode_LastN = code_value_long();
|
|
break;
|
|
#ifdef HOST_KEEPALIVE_FEATURE
|
|
case 113: // M113 - Get or set Host Keepalive interval
|
|
if (code_seen('S')) {
|
|
host_keepalive_interval = (uint8_t)code_value_short();
|
|
// NOMORE(host_keepalive_interval, 60);
|
|
}
|
|
else {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
break;
|
|
#endif
|
|
case 115: // M115
|
|
if (code_seen('V')) {
|
|
// Report the Prusa version number.
|
|
SERIAL_PROTOCOLLNRPGM(FW_VERSION_STR_P());
|
|
} else if (code_seen('U')) {
|
|
// Check the firmware version provided. If the firmware version provided by the U code is higher than the currently running firmware,
|
|
// pause the print and ask the user to upgrade the firmware.
|
|
show_upgrade_dialog_if_version_newer(++ strchr_pointer);
|
|
} else {
|
|
SERIAL_ECHOPGM("FIRMWARE_NAME:Prusa-Firmware ");
|
|
SERIAL_ECHORPGM(FW_VERSION_STR_P());
|
|
SERIAL_ECHOPGM(" based on Marlin FIRMWARE_URL:https://github.com/prusa3d/Prusa-Firmware PROTOCOL_VERSION:");
|
|
SERIAL_ECHOPGM(PROTOCOL_VERSION);
|
|
SERIAL_ECHOPGM(" MACHINE_TYPE:");
|
|
SERIAL_ECHOPGM(CUSTOM_MENDEL_NAME);
|
|
SERIAL_ECHOPGM(" EXTRUDER_COUNT:");
|
|
SERIAL_ECHOPGM(STRINGIFY(EXTRUDERS));
|
|
SERIAL_ECHOPGM(" UUID:");
|
|
SERIAL_ECHOLNPGM(MACHINE_UUID);
|
|
}
|
|
break;
|
|
/* case 117: // M117 display message
|
|
starpos = (strchr(strchr_pointer + 5,'*'));
|
|
if(starpos!=NULL)
|
|
*(starpos)='\0';
|
|
lcd_setstatus(strchr_pointer + 5);
|
|
break;*/
|
|
case 114: // M114
|
|
gcode_M114();
|
|
break;
|
|
case 120: // M120
|
|
enable_endstops(false) ;
|
|
break;
|
|
case 121: // M121
|
|
enable_endstops(true) ;
|
|
break;
|
|
case 119: // M119
|
|
SERIAL_PROTOCOLRPGM(_N("Reporting endstop status"));////MSG_M119_REPORT c=0 r=0
|
|
SERIAL_PROTOCOLLN("");
|
|
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
|
|
SERIAL_PROTOCOLRPGM(_n("x_min: "));////MSG_X_MIN c=0 r=0
|
|
if(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
|
|
}else{
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
|
|
}
|
|
SERIAL_PROTOCOLLN("");
|
|
#endif
|
|
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
|
|
SERIAL_PROTOCOLRPGM(_n("x_max: "));////MSG_X_MAX c=0 r=0
|
|
if(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
|
|
}else{
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
|
|
}
|
|
SERIAL_PROTOCOLLN("");
|
|
#endif
|
|
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
|
|
SERIAL_PROTOCOLRPGM(_n("y_min: "));////MSG_Y_MIN c=0 r=0
|
|
if(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
|
|
}else{
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
|
|
}
|
|
SERIAL_PROTOCOLLN("");
|
|
#endif
|
|
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
|
|
SERIAL_PROTOCOLRPGM(_n("y_max: "));////MSG_Y_MAX c=0 r=0
|
|
if(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
|
|
}else{
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
|
|
}
|
|
SERIAL_PROTOCOLLN("");
|
|
#endif
|
|
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
|
|
SERIAL_PROTOCOLRPGM(MSG_Z_MIN);
|
|
if(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
|
|
}else{
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
|
|
}
|
|
SERIAL_PROTOCOLLN("");
|
|
#endif
|
|
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
|
|
SERIAL_PROTOCOLRPGM(MSG_Z_MAX);
|
|
if(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_HIT));
|
|
}else{
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_ENDSTOP_OPEN));
|
|
}
|
|
SERIAL_PROTOCOLLN("");
|
|
#endif
|
|
break;
|
|
//TODO: update for all axis, use for loop
|
|
#ifdef BLINKM
|
|
case 150: // M150
|
|
{
|
|
byte red;
|
|
byte grn;
|
|
byte blu;
|
|
|
|
if(code_seen('R')) red = code_value();
|
|
if(code_seen('U')) grn = code_value();
|
|
if(code_seen('B')) blu = code_value();
|
|
|
|
SendColors(red,grn,blu);
|
|
}
|
|
break;
|
|
#endif //BLINKM
|
|
case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
|
|
{
|
|
|
|
tmp_extruder = active_extruder;
|
|
if(code_seen('T')) {
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO(_i("M200 Invalid extruder "));////MSG_M200_INVALID_EXTRUDER c=0 r=0
|
|
break;
|
|
}
|
|
}
|
|
|
|
float area = .0;
|
|
if(code_seen('D')) {
|
|
float diameter = (float)code_value();
|
|
if (diameter == 0.0) {
|
|
// setting any extruder filament size disables volumetric on the assumption that
|
|
// slicers either generate in extruder values as cubic mm or as as filament feeds
|
|
// for all extruders
|
|
volumetric_enabled = false;
|
|
} else {
|
|
filament_size[tmp_extruder] = (float)code_value();
|
|
// make sure all extruders have some sane value for the filament size
|
|
filament_size[0] = (filament_size[0] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[0]);
|
|
#if EXTRUDERS > 1
|
|
filament_size[1] = (filament_size[1] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[1]);
|
|
#if EXTRUDERS > 2
|
|
filament_size[2] = (filament_size[2] == 0.0 ? DEFAULT_NOMINAL_FILAMENT_DIA : filament_size[2]);
|
|
#endif
|
|
#endif
|
|
volumetric_enabled = true;
|
|
}
|
|
} else {
|
|
//reserved for setting filament diameter via UFID or filament measuring device
|
|
break;
|
|
}
|
|
calculate_extruder_multipliers();
|
|
}
|
|
break;
|
|
case 201: // M201
|
|
for (int8_t i = 0; i < NUM_AXIS; i++)
|
|
{
|
|
if (code_seen(axis_codes[i]))
|
|
{
|
|
int val = code_value();
|
|
#ifdef TMC2130
|
|
if ((i == X_AXIS) || (i == Y_AXIS))
|
|
{
|
|
int max_val = 0;
|
|
if (tmc2130_mode == TMC2130_MODE_NORMAL)
|
|
max_val = NORMAL_MAX_ACCEL_XY;
|
|
else if (tmc2130_mode == TMC2130_MODE_SILENT)
|
|
max_val = SILENT_MAX_ACCEL_XY;
|
|
if (val > max_val)
|
|
val = max_val;
|
|
}
|
|
#endif
|
|
max_acceleration_units_per_sq_second[i] = val;
|
|
}
|
|
}
|
|
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
|
|
reset_acceleration_rates();
|
|
break;
|
|
#if 0 // Not used for Sprinter/grbl gen6
|
|
case 202: // M202
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
|
|
}
|
|
break;
|
|
#endif
|
|
case 203: // M203 max feedrate mm/sec
|
|
for (int8_t i = 0; i < NUM_AXIS; i++)
|
|
{
|
|
if (code_seen(axis_codes[i]))
|
|
{
|
|
float val = code_value();
|
|
#ifdef TMC2130
|
|
if ((i == X_AXIS) || (i == Y_AXIS))
|
|
{
|
|
float max_val = 0;
|
|
if (tmc2130_mode == TMC2130_MODE_NORMAL)
|
|
max_val = NORMAL_MAX_FEEDRATE_XY;
|
|
else if (tmc2130_mode == TMC2130_MODE_SILENT)
|
|
max_val = SILENT_MAX_FEEDRATE_XY;
|
|
if (val > max_val)
|
|
val = max_val;
|
|
}
|
|
#endif //TMC2130
|
|
max_feedrate[i] = val;
|
|
}
|
|
}
|
|
break;
|
|
case 204: // M204 acclereration S normal moves T filmanent only moves
|
|
{
|
|
if(code_seen('S')) acceleration = code_value() ;
|
|
if(code_seen('T')) retract_acceleration = code_value() ;
|
|
}
|
|
break;
|
|
case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
|
|
{
|
|
if(code_seen('S')) minimumfeedrate = code_value();
|
|
if(code_seen('T')) mintravelfeedrate = code_value();
|
|
if(code_seen('B')) minsegmenttime = code_value() ;
|
|
if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
|
|
if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
|
|
if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
|
|
if(code_seen('E')) max_jerk[E_AXIS] = code_value();
|
|
if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
|
|
if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
|
|
}
|
|
break;
|
|
case 206: // M206 additional homing offset
|
|
for(int8_t i=0; i < 3; i++)
|
|
{
|
|
if(code_seen(axis_codes[i])) add_homing[i] = code_value();
|
|
}
|
|
break;
|
|
#ifdef FWRETRACT
|
|
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
retract_length = code_value() ;
|
|
}
|
|
if(code_seen('F'))
|
|
{
|
|
retract_feedrate = code_value()/60 ;
|
|
}
|
|
if(code_seen('Z'))
|
|
{
|
|
retract_zlift = code_value() ;
|
|
}
|
|
}break;
|
|
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
retract_recover_length = code_value() ;
|
|
}
|
|
if(code_seen('F'))
|
|
{
|
|
retract_recover_feedrate = code_value()/60 ;
|
|
}
|
|
}break;
|
|
case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
int t= code_value() ;
|
|
switch(t)
|
|
{
|
|
case 0:
|
|
{
|
|
autoretract_enabled=false;
|
|
retracted[0]=false;
|
|
#if EXTRUDERS > 1
|
|
retracted[1]=false;
|
|
#endif
|
|
#if EXTRUDERS > 2
|
|
retracted[2]=false;
|
|
#endif
|
|
}break;
|
|
case 1:
|
|
{
|
|
autoretract_enabled=true;
|
|
retracted[0]=false;
|
|
#if EXTRUDERS > 1
|
|
retracted[1]=false;
|
|
#endif
|
|
#if EXTRUDERS > 2
|
|
retracted[2]=false;
|
|
#endif
|
|
}break;
|
|
default:
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
|
|
SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
|
|
SERIAL_ECHOLNPGM("\"(1)");
|
|
}
|
|
}
|
|
|
|
}break;
|
|
#endif // FWRETRACT
|
|
#if EXTRUDERS > 1
|
|
case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
|
|
{
|
|
if(setTargetedHotend(218)){
|
|
break;
|
|
}
|
|
if(code_seen('X'))
|
|
{
|
|
extruder_offset[X_AXIS][tmp_extruder] = code_value();
|
|
}
|
|
if(code_seen('Y'))
|
|
{
|
|
extruder_offset[Y_AXIS][tmp_extruder] = code_value();
|
|
}
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHORPGM(MSG_HOTEND_OFFSET);
|
|
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
|
|
{
|
|
SERIAL_ECHO(" ");
|
|
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
|
|
SERIAL_ECHO(",");
|
|
SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
|
|
}
|
|
SERIAL_ECHOLN("");
|
|
}break;
|
|
#endif
|
|
case 220: // M220 S<factor in percent>- set speed factor override percentage
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
feedmultiply = code_value() ;
|
|
}
|
|
}
|
|
break;
|
|
case 221: // M221 S<factor in percent>- set extrude factor override percentage
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
int tmp_code = code_value();
|
|
if (code_seen('T'))
|
|
{
|
|
if(setTargetedHotend(221)){
|
|
break;
|
|
}
|
|
extruder_multiply[tmp_extruder] = tmp_code;
|
|
}
|
|
else
|
|
{
|
|
extrudemultiply = tmp_code ;
|
|
}
|
|
}
|
|
calculate_extruder_multipliers();
|
|
}
|
|
break;
|
|
|
|
case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
|
|
{
|
|
if(code_seen('P')){
|
|
int pin_number = code_value(); // pin number
|
|
int pin_state = -1; // required pin state - default is inverted
|
|
|
|
if(code_seen('S')) pin_state = code_value(); // required pin state
|
|
|
|
if(pin_state >= -1 && pin_state <= 1){
|
|
|
|
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
|
|
{
|
|
if (sensitive_pins[i] == pin_number)
|
|
{
|
|
pin_number = -1;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (pin_number > -1)
|
|
{
|
|
int target = LOW;
|
|
|
|
st_synchronize();
|
|
|
|
pinMode(pin_number, INPUT);
|
|
|
|
switch(pin_state){
|
|
case 1:
|
|
target = HIGH;
|
|
break;
|
|
|
|
case 0:
|
|
target = LOW;
|
|
break;
|
|
|
|
case -1:
|
|
target = !digitalRead(pin_number);
|
|
break;
|
|
}
|
|
|
|
while(digitalRead(pin_number) != target){
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update(0);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
#if NUM_SERVOS > 0
|
|
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
|
|
{
|
|
int servo_index = -1;
|
|
int servo_position = 0;
|
|
if (code_seen('P'))
|
|
servo_index = code_value();
|
|
if (code_seen('S')) {
|
|
servo_position = code_value();
|
|
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
servos[servo_index].attach(0);
|
|
#endif
|
|
servos[servo_index].write(servo_position);
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
delay(PROBE_SERVO_DEACTIVATION_DELAY);
|
|
servos[servo_index].detach();
|
|
#endif
|
|
}
|
|
else {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO("Servo ");
|
|
SERIAL_ECHO(servo_index);
|
|
SERIAL_ECHOLN(" out of range");
|
|
}
|
|
}
|
|
else if (servo_index >= 0) {
|
|
SERIAL_PROTOCOL(_T(MSG_OK));
|
|
SERIAL_PROTOCOL(" Servo ");
|
|
SERIAL_PROTOCOL(servo_index);
|
|
SERIAL_PROTOCOL(": ");
|
|
SERIAL_PROTOCOL(servos[servo_index].read());
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
}
|
|
break;
|
|
#endif // NUM_SERVOS > 0
|
|
|
|
#if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
|
|
case 300: // M300
|
|
{
|
|
int beepS = code_seen('S') ? code_value() : 110;
|
|
int beepP = code_seen('P') ? code_value() : 1000;
|
|
if (beepS > 0)
|
|
{
|
|
#if BEEPER > 0
|
|
tone(BEEPER, beepS);
|
|
delay(beepP);
|
|
noTone(BEEPER);
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
delay(beepP);
|
|
}
|
|
}
|
|
break;
|
|
#endif // M300
|
|
|
|
#ifdef PIDTEMP
|
|
case 301: // M301
|
|
{
|
|
if(code_seen('P')) Kp = code_value();
|
|
if(code_seen('I')) Ki = scalePID_i(code_value());
|
|
if(code_seen('D')) Kd = scalePID_d(code_value());
|
|
|
|
#ifdef PID_ADD_EXTRUSION_RATE
|
|
if(code_seen('C')) Kc = code_value();
|
|
#endif
|
|
|
|
updatePID();
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_OK));
|
|
SERIAL_PROTOCOL(" p:");
|
|
SERIAL_PROTOCOL(Kp);
|
|
SERIAL_PROTOCOL(" i:");
|
|
SERIAL_PROTOCOL(unscalePID_i(Ki));
|
|
SERIAL_PROTOCOL(" d:");
|
|
SERIAL_PROTOCOL(unscalePID_d(Kd));
|
|
#ifdef PID_ADD_EXTRUSION_RATE
|
|
SERIAL_PROTOCOL(" c:");
|
|
//Kc does not have scaling applied above, or in resetting defaults
|
|
SERIAL_PROTOCOL(Kc);
|
|
#endif
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
break;
|
|
#endif //PIDTEMP
|
|
#ifdef PIDTEMPBED
|
|
case 304: // M304
|
|
{
|
|
if(code_seen('P')) bedKp = code_value();
|
|
if(code_seen('I')) bedKi = scalePID_i(code_value());
|
|
if(code_seen('D')) bedKd = scalePID_d(code_value());
|
|
|
|
updatePID();
|
|
SERIAL_PROTOCOLRPGM(_T(MSG_OK));
|
|
SERIAL_PROTOCOL(" p:");
|
|
SERIAL_PROTOCOL(bedKp);
|
|
SERIAL_PROTOCOL(" i:");
|
|
SERIAL_PROTOCOL(unscalePID_i(bedKi));
|
|
SERIAL_PROTOCOL(" d:");
|
|
SERIAL_PROTOCOL(unscalePID_d(bedKd));
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
break;
|
|
#endif //PIDTEMP
|
|
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
|
|
{
|
|
#ifdef CHDK
|
|
|
|
SET_OUTPUT(CHDK);
|
|
WRITE(CHDK, HIGH);
|
|
chdkHigh = millis();
|
|
chdkActive = true;
|
|
|
|
#else
|
|
|
|
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
|
|
const uint8_t NUM_PULSES=16;
|
|
const float PULSE_LENGTH=0.01524;
|
|
for(int i=0; i < NUM_PULSES; i++) {
|
|
WRITE(PHOTOGRAPH_PIN, HIGH);
|
|
_delay_ms(PULSE_LENGTH);
|
|
WRITE(PHOTOGRAPH_PIN, LOW);
|
|
_delay_ms(PULSE_LENGTH);
|
|
}
|
|
delay(7.33);
|
|
for(int i=0; i < NUM_PULSES; i++) {
|
|
WRITE(PHOTOGRAPH_PIN, HIGH);
|
|
_delay_ms(PULSE_LENGTH);
|
|
WRITE(PHOTOGRAPH_PIN, LOW);
|
|
_delay_ms(PULSE_LENGTH);
|
|
}
|
|
#endif
|
|
#endif //chdk end if
|
|
}
|
|
break;
|
|
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
|
case 302: // allow cold extrudes, or set the minimum extrude temperature
|
|
{
|
|
float temp = .0;
|
|
if (code_seen('S')) temp=code_value();
|
|
set_extrude_min_temp(temp);
|
|
}
|
|
break;
|
|
#endif
|
|
case 303: // M303 PID autotune
|
|
{
|
|
float temp = 150.0;
|
|
int e=0;
|
|
int c=5;
|
|
if (code_seen('E')) e=code_value();
|
|
if (e<0)
|
|
temp=70;
|
|
if (code_seen('S')) temp=code_value();
|
|
if (code_seen('C')) c=code_value();
|
|
PID_autotune(temp, e, c);
|
|
}
|
|
break;
|
|
case 400: // M400 finish all moves
|
|
{
|
|
st_synchronize();
|
|
}
|
|
break;
|
|
|
|
case 500: // M500 Store settings in EEPROM
|
|
{
|
|
Config_StoreSettings(EEPROM_OFFSET);
|
|
}
|
|
break;
|
|
case 501: // M501 Read settings from EEPROM
|
|
{
|
|
Config_RetrieveSettings(EEPROM_OFFSET);
|
|
}
|
|
break;
|
|
case 502: // M502 Revert to default settings
|
|
{
|
|
Config_ResetDefault();
|
|
}
|
|
break;
|
|
case 503: // M503 print settings currently in memory
|
|
{
|
|
Config_PrintSettings();
|
|
}
|
|
break;
|
|
case 509: //M509 Force language selection
|
|
{
|
|
lang_reset();
|
|
SERIAL_ECHO_START;
|
|
SERIAL_PROTOCOLPGM(("LANG SEL FORCED"));
|
|
}
|
|
break;
|
|
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
|
|
case 540:
|
|
{
|
|
if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
|
|
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
|
|
{
|
|
float value;
|
|
if (code_seen('Z'))
|
|
{
|
|
value = code_value();
|
|
if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
|
|
{
|
|
zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNRPGM(CAT4(MSG_ZPROBE_ZOFFSET, " ", _T(MSG_OK),PSTR("")));
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHORPGM(MSG_ZPROBE_ZOFFSET);
|
|
SERIAL_ECHORPGM(MSG_Z_MIN);
|
|
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
|
|
SERIAL_ECHORPGM(MSG_Z_MAX);
|
|
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
}
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNRPGM(CAT2(MSG_ZPROBE_ZOFFSET, PSTR(" : ")));
|
|
SERIAL_ECHO(-zprobe_zoffset);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
break;
|
|
}
|
|
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
|
|
|
|
#ifdef FILAMENTCHANGEENABLE
|
|
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
|
|
{
|
|
#ifdef PAT9125
|
|
bool old_fsensor_enabled = fsensor_enabled;
|
|
// fsensor_enabled = false; //temporary solution for unexpected restarting
|
|
#endif //PAT9125
|
|
|
|
st_synchronize();
|
|
float lastpos[4];
|
|
|
|
if (farm_mode)
|
|
|
|
{
|
|
|
|
prusa_statistics(22);
|
|
|
|
}
|
|
|
|
feedmultiplyBckp=feedmultiply;
|
|
int8_t TooLowZ = 0;
|
|
|
|
float HotendTempBckp = degTargetHotend(active_extruder);
|
|
int fanSpeedBckp = fanSpeed;
|
|
lastpos[X_AXIS]=current_position[X_AXIS];
|
|
lastpos[Y_AXIS]=current_position[Y_AXIS];
|
|
lastpos[Z_AXIS]=current_position[Z_AXIS];
|
|
lastpos[E_AXIS]=current_position[E_AXIS];
|
|
|
|
//Restract extruder
|
|
if(code_seen('E'))
|
|
{
|
|
current_position[E_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_FIRSTRETRACT
|
|
current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
|
|
#endif
|
|
}
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
|
|
|
|
//Lift Z
|
|
if(code_seen('Z'))
|
|
{
|
|
current_position[Z_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_ZADD
|
|
current_position[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
|
|
if(current_position[Z_AXIS] < 10){
|
|
current_position[Z_AXIS]+= 10 ;
|
|
TooLowZ = 1;
|
|
}else{
|
|
TooLowZ = 0;
|
|
}
|
|
#endif
|
|
|
|
|
|
}
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
|
|
|
|
//Move XY to side
|
|
if(code_seen('X'))
|
|
{
|
|
current_position[X_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_XPOS
|
|
current_position[X_AXIS]= FILAMENTCHANGE_XPOS ;
|
|
#endif
|
|
}
|
|
if(code_seen('Y'))
|
|
{
|
|
current_position[Y_AXIS]= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_YPOS
|
|
current_position[Y_AXIS]= FILAMENTCHANGE_YPOS ;
|
|
#endif
|
|
}
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
|
|
st_synchronize();
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
|
uint8_t cnt = 0;
|
|
int counterBeep = 0;
|
|
fanSpeed = 0;
|
|
unsigned long waiting_start_time = millis();
|
|
uint8_t wait_for_user_state = 0;
|
|
lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
|
|
while (!(wait_for_user_state == 0 && lcd_clicked())){
|
|
|
|
//cnt++;
|
|
manage_heater();
|
|
manage_inactivity(true);
|
|
|
|
#if BEEPER > 0
|
|
if (counterBeep == 500) {
|
|
counterBeep = 0;
|
|
}
|
|
SET_OUTPUT(BEEPER);
|
|
if (counterBeep == 0) {
|
|
WRITE(BEEPER, HIGH);
|
|
}
|
|
if (counterBeep == 20) {
|
|
WRITE(BEEPER, LOW);
|
|
}
|
|
|
|
counterBeep++;
|
|
#endif
|
|
|
|
switch (wait_for_user_state) {
|
|
case 0:
|
|
delay_keep_alive(4);
|
|
|
|
if (millis() > waiting_start_time + (unsigned long)M600_TIMEOUT * 1000) {
|
|
lcd_display_message_fullscreen_P(_i("Press knob to preheat nozzle and continue."));////MSG_PRESS_TO_PREHEAT c=20 r=4
|
|
wait_for_user_state = 1;
|
|
setTargetHotend(0, 0);
|
|
setTargetHotend(0, 1);
|
|
setTargetHotend(0, 2);
|
|
st_synchronize();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
}
|
|
break;
|
|
case 1:
|
|
delay_keep_alive(4);
|
|
|
|
if (lcd_clicked()) {
|
|
setTargetHotend(HotendTempBckp, active_extruder);
|
|
lcd_wait_for_heater();
|
|
|
|
wait_for_user_state = 2;
|
|
}
|
|
break;
|
|
case 2:
|
|
|
|
if (abs(degTargetHotend(active_extruder) - degHotend(active_extruder)) < 1) {
|
|
lcd_display_message_fullscreen_P(_T(MSG_PRESS_TO_UNLOAD));
|
|
waiting_start_time = millis();
|
|
wait_for_user_state = 0;
|
|
}
|
|
else {
|
|
counterBeep = 20; //beeper will be inactive during waiting for nozzle preheat
|
|
lcd_set_cursor(1, 4);
|
|
lcd_print(ftostr3(degHotend(active_extruder)));
|
|
}
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
WRITE(BEEPER, LOW);
|
|
|
|
lcd_change_fil_state = 0;
|
|
|
|
|
|
// Unload filament
|
|
lcd_display_message_fullscreen_P(_T(MSG_UNLOADING_FILAMENT));
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
custom_message = true;
|
|
lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
|
|
|
|
if (code_seen('L'))
|
|
{
|
|
current_position[E_AXIS] += code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef SNMM
|
|
|
|
#else
|
|
#ifdef FILAMENTCHANGE_FINALRETRACT
|
|
current_position[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
|
|
#endif
|
|
#endif // SNMM
|
|
}
|
|
|
|
#ifdef SNMM
|
|
current_position[E_AXIS] += 12;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3500, active_extruder);
|
|
current_position[E_AXIS] += 6;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5000, active_extruder);
|
|
current_position[E_AXIS] += (FIL_LOAD_LENGTH * -1);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5000, active_extruder);
|
|
st_synchronize();
|
|
current_position[E_AXIS] += (FIL_COOLING);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
|
|
current_position[E_AXIS] += (FIL_COOLING*-1);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
|
|
current_position[E_AXIS] += (bowden_length[snmm_extruder] * -1);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000, active_extruder);
|
|
st_synchronize();
|
|
|
|
#else
|
|
// plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
|
|
//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3500 / 60, active_extruder);
|
|
|
|
current_position[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
|
|
st_synchronize();
|
|
#ifdef TMC2130
|
|
uint8_t tmc2130_current_r_bckp = tmc2130_current_r[E_AXIS];
|
|
tmc2130_set_current_r(E_AXIS, TMC2130_UNLOAD_CURRENT_R);
|
|
#else
|
|
|
|
st_current_set(2, 200); //set lower E motor current for unload to protect filament sensor and ptfe tube
|
|
float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
|
|
float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
|
|
|
|
#endif //TMC2130
|
|
|
|
current_position[E_AXIS] -= 45;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
|
|
st_synchronize();
|
|
current_position[E_AXIS] -= 15;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
|
|
st_synchronize();
|
|
current_position[E_AXIS] -= 20;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
|
|
st_synchronize();
|
|
|
|
#ifdef TMC2130
|
|
tmc2130_set_current_r(E_AXIS, tmc2130_current_r_bckp);
|
|
#else
|
|
uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
|
|
if(silentMode != SILENT_MODE_POWER) st_current_set(2, tmp_motor[2]); //set E back to normal operation currents
|
|
else st_current_set(2, tmp_motor_loud[2]);
|
|
#endif //TMC2130
|
|
|
|
#endif // SNMM
|
|
|
|
|
|
//finish moves
|
|
st_synchronize();
|
|
|
|
//disable extruder steppers so filament can be removed
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
delay(100);
|
|
|
|
#ifdef SNMM_V2
|
|
fprintf_P(uart2io, PSTR("U0\n"));
|
|
|
|
// get response
|
|
bool response = mmu_get_reponse();
|
|
if (!response) mmu_not_responding();
|
|
#else
|
|
lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
|
|
|
|
|
|
|
|
|
|
WRITE(BEEPER, HIGH);
|
|
counterBeep = 0;
|
|
while(!lcd_clicked() && (counterBeep < 50)) {
|
|
if(counterBeep > 5) WRITE(BEEPER, LOW);
|
|
delay_keep_alive(100);
|
|
counterBeep++;
|
|
}
|
|
WRITE(BEEPER, LOW);
|
|
#endif
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
lcd_change_fil_state = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Was filament unload successful?"), false, true);////MSG_UNLOAD_SUCCESSFUL c=20 r=2
|
|
if (lcd_change_fil_state == 0) lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
|
|
//lcd_return_to_status();
|
|
lcd_update_enable(true);
|
|
|
|
|
|
#ifdef SNMM_V2
|
|
mmu_M600_load_filament();
|
|
#else
|
|
M600_load_filament(old_fsensor_enabled);
|
|
#endif
|
|
|
|
//Wait for user to check the state
|
|
lcd_change_fil_state = 0;
|
|
|
|
while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
|
|
lcd_change_fil_state = 0;
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
lcd_alright();
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
switch(lcd_change_fil_state){
|
|
|
|
// Filament failed to load so load it again
|
|
case 2:
|
|
#ifdef SNMM_V2
|
|
mmu_M600_load_filament(); //change to "wrong filament loaded" option?
|
|
#else
|
|
M600_load_filament_movements();
|
|
#endif
|
|
break;
|
|
|
|
// Filament loaded properly but color is not clear
|
|
case 3:
|
|
current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2, active_extruder);
|
|
lcd_loading_color();
|
|
break;
|
|
|
|
// Everything good
|
|
default:
|
|
lcd_change_success();
|
|
lcd_update_enable(true);
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
//Not let's go back to print
|
|
fanSpeed = fanSpeedBckp;
|
|
|
|
//Feed a little of filament to stabilize pressure
|
|
current_position[E_AXIS]+= FILAMENTCHANGE_RECFEED;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
|
|
|
|
//Retract
|
|
current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
|
|
|
|
|
|
|
|
//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 70, active_extruder); //should do nothing
|
|
|
|
//Move XY back
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
|
|
|
|
//Move Z back
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
|
|
|
|
|
|
current_position[E_AXIS]= current_position[E_AXIS] - FILAMENTCHANGE_FIRSTRETRACT;
|
|
|
|
//Unretract
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
|
|
|
|
//Set E position to original
|
|
plan_set_e_position(lastpos[E_AXIS]);
|
|
|
|
memcpy(current_position, lastpos, sizeof(lastpos));
|
|
memcpy(destination, current_position, sizeof(current_position));
|
|
|
|
//Recover feed rate
|
|
feedmultiply=feedmultiplyBckp;
|
|
char cmd[9];
|
|
sprintf_P(cmd, PSTR("M220 S%i"), feedmultiplyBckp);
|
|
enquecommand(cmd);
|
|
|
|
lcd_setstatuspgm(_T(WELCOME_MSG));
|
|
custom_message = false;
|
|
custom_message_type = 0;
|
|
|
|
}
|
|
break;
|
|
#endif //FILAMENTCHANGEENABLE
|
|
case 601: {
|
|
if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE;
|
|
}
|
|
break;
|
|
|
|
case 602: {
|
|
if(lcd_commands_type == 0) lcd_commands_type = LCD_COMMAND_LONG_PAUSE_RESUME;
|
|
}
|
|
break;
|
|
|
|
#ifdef PINDA_THERMISTOR
|
|
case 860: // M860 - Wait for PINDA thermistor to reach target temperature.
|
|
{
|
|
int set_target_pinda = 0;
|
|
|
|
if (code_seen('S')) {
|
|
set_target_pinda = code_value();
|
|
}
|
|
else {
|
|
break;
|
|
}
|
|
|
|
LCD_MESSAGERPGM(_T(MSG_PLEASE_WAIT));
|
|
|
|
SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
|
|
SERIAL_PROTOCOL(set_target_pinda);
|
|
SERIAL_PROTOCOLLN("");
|
|
|
|
codenum = millis();
|
|
cancel_heatup = false;
|
|
|
|
bool is_pinda_cooling = false;
|
|
if ((degTargetBed() == 0) && (degTargetHotend(0) == 0)) {
|
|
is_pinda_cooling = true;
|
|
}
|
|
|
|
while ( ((!is_pinda_cooling) && (!cancel_heatup) && (current_temperature_pinda < set_target_pinda)) || (is_pinda_cooling && (current_temperature_pinda > set_target_pinda)) ) {
|
|
if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while waiting.
|
|
{
|
|
SERIAL_PROTOCOLPGM("P:");
|
|
SERIAL_PROTOCOL_F(current_temperature_pinda, 1);
|
|
SERIAL_PROTOCOLPGM("/");
|
|
SERIAL_PROTOCOL(set_target_pinda);
|
|
SERIAL_PROTOCOLLN("");
|
|
codenum = millis();
|
|
}
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update(0);
|
|
}
|
|
LCD_MESSAGERPGM(_T(MSG_OK));
|
|
|
|
break;
|
|
}
|
|
|
|
case 861: // M861 - Set/Read PINDA temperature compensation offsets
|
|
if (code_seen('?')) { // ? - Print out current EEPROM offset values
|
|
uint8_t cal_status = calibration_status_pinda();
|
|
int16_t usteps = 0;
|
|
cal_status ? SERIAL_PROTOCOLLN("PINDA cal status: 1") : SERIAL_PROTOCOLLN("PINDA cal status: 0");
|
|
SERIAL_PROTOCOLLN("index, temp, ustep, um");
|
|
for (uint8_t i = 0; i < 6; i++)
|
|
{
|
|
if(i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &usteps);
|
|
float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
|
|
i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
|
|
SERIAL_PROTOCOLPGM(", ");
|
|
SERIAL_PROTOCOL(35 + (i * 5));
|
|
SERIAL_PROTOCOLPGM(", ");
|
|
SERIAL_PROTOCOL(usteps);
|
|
SERIAL_PROTOCOLPGM(", ");
|
|
SERIAL_PROTOCOL(mm * 1000);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
}
|
|
else if (code_seen('!')) { // ! - Set factory default values
|
|
eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
|
|
int16_t z_shift = 8; //40C - 20um - 8usteps
|
|
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT, &z_shift);
|
|
z_shift = 24; //45C - 60um - 24usteps
|
|
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 2, &z_shift);
|
|
z_shift = 48; //50C - 120um - 48usteps
|
|
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 4, &z_shift);
|
|
z_shift = 80; //55C - 200um - 80usteps
|
|
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 6, &z_shift);
|
|
z_shift = 120; //60C - 300um - 120usteps
|
|
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + 8, &z_shift);
|
|
SERIAL_PROTOCOLLN("factory restored");
|
|
}
|
|
else if (code_seen('Z')) { // Z - Set all values to 0 (effectively disabling PINDA temperature compensation)
|
|
eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 1);
|
|
int16_t z_shift = 0;
|
|
for (uint8_t i = 0; i < 5; i++) EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
|
|
SERIAL_PROTOCOLLN("zerorized");
|
|
}
|
|
else if (code_seen('S')) { // Sxxx Iyyy - Set compensation ustep value S for compensation table index I
|
|
int16_t usteps = code_value();
|
|
if (code_seen('I')) {
|
|
byte index = code_value();
|
|
if ((index >= 0) && (index < 5)) {
|
|
EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + index * 2, &usteps);
|
|
SERIAL_PROTOCOLLN("OK");
|
|
SERIAL_PROTOCOLLN("index, temp, ustep, um");
|
|
for (uint8_t i = 0; i < 6; i++)
|
|
{
|
|
usteps = 0;
|
|
if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i - 1) * 2, &usteps);
|
|
float mm = ((float)usteps) / axis_steps_per_unit[Z_AXIS];
|
|
i == 0 ? SERIAL_PROTOCOLPGM("n/a") : SERIAL_PROTOCOL(i - 1);
|
|
SERIAL_PROTOCOLPGM(", ");
|
|
SERIAL_PROTOCOL(35 + (i * 5));
|
|
SERIAL_PROTOCOLPGM(", ");
|
|
SERIAL_PROTOCOL(usteps);
|
|
SERIAL_PROTOCOLPGM(", ");
|
|
SERIAL_PROTOCOL(mm * 1000);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
SERIAL_PROTOCOLPGM("no valid command");
|
|
}
|
|
break;
|
|
|
|
#endif //PINDA_THERMISTOR
|
|
|
|
#ifdef LIN_ADVANCE
|
|
case 900: // M900: Set LIN_ADVANCE options.
|
|
gcode_M900();
|
|
break;
|
|
#endif
|
|
|
|
case 907: // M907 Set digital trimpot motor current using axis codes.
|
|
{
|
|
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
|
|
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) st_current_set(i,code_value());
|
|
if(code_seen('B')) st_current_set(4,code_value());
|
|
if(code_seen('S')) for(int i=0;i<=4;i++) st_current_set(i,code_value());
|
|
#endif
|
|
#ifdef MOTOR_CURRENT_PWM_XY_PIN
|
|
if(code_seen('X')) st_current_set(0, code_value());
|
|
#endif
|
|
#ifdef MOTOR_CURRENT_PWM_Z_PIN
|
|
if(code_seen('Z')) st_current_set(1, code_value());
|
|
#endif
|
|
#ifdef MOTOR_CURRENT_PWM_E_PIN
|
|
if(code_seen('E')) st_current_set(2, code_value());
|
|
#endif
|
|
}
|
|
break;
|
|
case 908: // M908 Control digital trimpot directly.
|
|
{
|
|
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
|
|
uint8_t channel,current;
|
|
if(code_seen('P')) channel=code_value();
|
|
if(code_seen('S')) current=code_value();
|
|
digitalPotWrite(channel, current);
|
|
#endif
|
|
}
|
|
break;
|
|
|
|
#ifdef TMC2130
|
|
|
|
case 910: // M910 TMC2130 init
|
|
{
|
|
tmc2130_init();
|
|
}
|
|
break;
|
|
|
|
case 911: // M911 Set TMC2130 holding currents
|
|
{
|
|
if (code_seen('X')) tmc2130_set_current_h(0, code_value());
|
|
if (code_seen('Y')) tmc2130_set_current_h(1, code_value());
|
|
if (code_seen('Z')) tmc2130_set_current_h(2, code_value());
|
|
if (code_seen('E')) tmc2130_set_current_h(3, code_value());
|
|
}
|
|
break;
|
|
|
|
case 912: // M912 Set TMC2130 running currents
|
|
{
|
|
if (code_seen('X')) tmc2130_set_current_r(0, code_value());
|
|
if (code_seen('Y')) tmc2130_set_current_r(1, code_value());
|
|
if (code_seen('Z')) tmc2130_set_current_r(2, code_value());
|
|
if (code_seen('E')) tmc2130_set_current_r(3, code_value());
|
|
}
|
|
break;
|
|
|
|
case 913: // M913 Print TMC2130 currents
|
|
{
|
|
tmc2130_print_currents();
|
|
}
|
|
break;
|
|
|
|
case 914: // M914 Set normal mode
|
|
{
|
|
tmc2130_mode = TMC2130_MODE_NORMAL;
|
|
update_mode_profile();
|
|
tmc2130_init();
|
|
}
|
|
break;
|
|
|
|
case 915: // M915 Set silent mode
|
|
{
|
|
tmc2130_mode = TMC2130_MODE_SILENT;
|
|
update_mode_profile();
|
|
tmc2130_init();
|
|
}
|
|
break;
|
|
|
|
case 916: // M916 Set sg_thrs
|
|
{
|
|
if (code_seen('X')) tmc2130_sg_thr[X_AXIS] = code_value();
|
|
if (code_seen('Y')) tmc2130_sg_thr[Y_AXIS] = code_value();
|
|
if (code_seen('Z')) tmc2130_sg_thr[Z_AXIS] = code_value();
|
|
if (code_seen('E')) tmc2130_sg_thr[E_AXIS] = code_value();
|
|
for (uint8_t a = X_AXIS; a <= E_AXIS; a++)
|
|
printf_P(_N("tmc2130_sg_thr[%c]=%d\n"), "XYZE"[a], tmc2130_sg_thr[a]);
|
|
}
|
|
break;
|
|
|
|
case 917: // M917 Set TMC2130 pwm_ampl
|
|
{
|
|
if (code_seen('X')) tmc2130_set_pwm_ampl(0, code_value());
|
|
if (code_seen('Y')) tmc2130_set_pwm_ampl(1, code_value());
|
|
if (code_seen('Z')) tmc2130_set_pwm_ampl(2, code_value());
|
|
if (code_seen('E')) tmc2130_set_pwm_ampl(3, code_value());
|
|
}
|
|
break;
|
|
|
|
case 918: // M918 Set TMC2130 pwm_grad
|
|
{
|
|
if (code_seen('X')) tmc2130_set_pwm_grad(0, code_value());
|
|
if (code_seen('Y')) tmc2130_set_pwm_grad(1, code_value());
|
|
if (code_seen('Z')) tmc2130_set_pwm_grad(2, code_value());
|
|
if (code_seen('E')) tmc2130_set_pwm_grad(3, code_value());
|
|
}
|
|
break;
|
|
|
|
#endif //TMC2130
|
|
|
|
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
|
|
{
|
|
#ifdef TMC2130
|
|
if(code_seen('E'))
|
|
{
|
|
uint16_t res_new = code_value();
|
|
if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
|
|
{
|
|
st_synchronize();
|
|
uint8_t axis = E_AXIS;
|
|
uint16_t res = tmc2130_get_res(axis);
|
|
tmc2130_set_res(axis, res_new);
|
|
if (res_new > res)
|
|
{
|
|
uint16_t fac = (res_new / res);
|
|
axis_steps_per_unit[axis] *= fac;
|
|
position[E_AXIS] *= fac;
|
|
}
|
|
else
|
|
{
|
|
uint16_t fac = (res / res_new);
|
|
axis_steps_per_unit[axis] /= fac;
|
|
position[E_AXIS] /= fac;
|
|
}
|
|
}
|
|
}
|
|
#else //TMC2130
|
|
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
|
|
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
|
|
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
|
|
if(code_seen('B')) microstep_mode(4,code_value());
|
|
microstep_readings();
|
|
#endif
|
|
#endif //TMC2130
|
|
}
|
|
break;
|
|
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
|
|
{
|
|
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
|
|
if(code_seen('S')) switch((int)code_value())
|
|
{
|
|
case 1:
|
|
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
|
|
if(code_seen('B')) microstep_ms(4,code_value(),-1);
|
|
break;
|
|
case 2:
|
|
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
|
|
if(code_seen('B')) microstep_ms(4,-1,code_value());
|
|
break;
|
|
}
|
|
microstep_readings();
|
|
#endif
|
|
}
|
|
break;
|
|
case 701: //M701: load filament
|
|
{
|
|
#ifdef SNMM_V2
|
|
if (code_seen('E'))
|
|
{
|
|
snmm_extruder = code_value();
|
|
}
|
|
#endif
|
|
|
|
|
|
gcode_M701();
|
|
}
|
|
break;
|
|
case 702:
|
|
{
|
|
#if defined (SNMM) || defined (SNMM_V2)
|
|
if (code_seen('U')) {
|
|
extr_unload_used(); //unload all filaments which were used in current print
|
|
}
|
|
else if (code_seen('C')) {
|
|
extr_unload(); //unload just current filament
|
|
}
|
|
else {
|
|
extr_unload_all(); //unload all filaments
|
|
}
|
|
#else
|
|
#ifdef PAT9125
|
|
bool old_fsensor_enabled = fsensor_enabled;
|
|
// fsensor_enabled = false;
|
|
#endif //PAT9125
|
|
custom_message = true;
|
|
custom_message_type = 2;
|
|
lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
|
|
|
|
// extr_unload2();
|
|
|
|
current_position[E_AXIS] -= 45;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
|
|
st_synchronize();
|
|
current_position[E_AXIS] -= 15;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
|
|
st_synchronize();
|
|
current_position[E_AXIS] -= 20;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
|
|
st_synchronize();
|
|
|
|
lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
|
|
|
|
//disable extruder steppers so filament can be removed
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
delay(100);
|
|
|
|
|
|
WRITE(BEEPER, HIGH);
|
|
uint8_t counterBeep = 0;
|
|
while (!lcd_clicked() && (counterBeep < 50)) {
|
|
if (counterBeep > 5) WRITE(BEEPER, LOW);
|
|
delay_keep_alive(100);
|
|
counterBeep++;
|
|
}
|
|
WRITE(BEEPER, LOW);
|
|
st_synchronize();
|
|
while (lcd_clicked()) delay_keep_alive(100);
|
|
|
|
lcd_update_enable(true);
|
|
|
|
lcd_setstatuspgm(_T(WELCOME_MSG));
|
|
custom_message = false;
|
|
custom_message_type = 0;
|
|
#ifdef PAT9125
|
|
// fsensor_enabled = old_fsensor_enabled;
|
|
#endif //PAT9125
|
|
#endif
|
|
}
|
|
break;
|
|
|
|
case 999: // M999: Restart after being stopped
|
|
Stopped = false;
|
|
lcd_reset_alert_level();
|
|
gcode_LastN = Stopped_gcode_LastN;
|
|
FlushSerialRequestResend();
|
|
break;
|
|
default:
|
|
printf_P(PSTR("Unknown M code: %s \n"), cmdbuffer + bufindr + CMDHDRSIZE);
|
|
}
|
|
|
|
} // end if(code_seen('M')) (end of M codes)
|
|
|
|
else if(code_seen('T'))
|
|
{
|
|
int index;
|
|
st_synchronize();
|
|
for (index = 1; *(strchr_pointer + index) == ' ' || *(strchr_pointer + index) == '\t'; index++);
|
|
|
|
if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '9') && *(strchr_pointer + index) != '?') {
|
|
SERIAL_ECHOLNPGM("Invalid T code.");
|
|
}
|
|
else {
|
|
if (*(strchr_pointer + index) == '?') {
|
|
tmp_extruder = choose_extruder_menu();
|
|
}
|
|
else {
|
|
tmp_extruder = code_value();
|
|
}
|
|
snmm_filaments_used |= (1 << tmp_extruder); //for stop print
|
|
|
|
#ifdef SNMM_V2
|
|
printf_P(PSTR("T code: %d \n"), tmp_extruder);
|
|
fprintf_P(uart2io, PSTR("T%d\n"), tmp_extruder);
|
|
|
|
bool response = mmu_get_reponse();
|
|
if (!response) mmu_not_responding();
|
|
|
|
snmm_extruder = tmp_extruder; //filament change is finished
|
|
|
|
if (*(strchr_pointer + index) == '?') { // for single material usage with mmu
|
|
mmu_load_to_nozzle();
|
|
|
|
}
|
|
#endif
|
|
|
|
#ifdef SNMM
|
|
|
|
#ifdef LIN_ADVANCE
|
|
if (snmm_extruder != tmp_extruder)
|
|
clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
|
|
#endif
|
|
|
|
snmm_extruder = tmp_extruder;
|
|
|
|
|
|
delay(100);
|
|
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
|
|
pinMode(E_MUX0_PIN, OUTPUT);
|
|
pinMode(E_MUX1_PIN, OUTPUT);
|
|
|
|
delay(100);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO("T:");
|
|
SERIAL_ECHOLN((int)tmp_extruder);
|
|
switch (tmp_extruder) {
|
|
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);
|
|
|
|
#else
|
|
if (tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM("T");
|
|
SERIAL_PROTOCOLLN((int)tmp_extruder);
|
|
SERIAL_ECHOLNRPGM(_n("Invalid extruder"));////MSG_INVALID_EXTRUDER c=0 r=0
|
|
}
|
|
else {
|
|
boolean make_move = false;
|
|
if (code_seen('F')) {
|
|
make_move = true;
|
|
next_feedrate = code_value();
|
|
if (next_feedrate > 0.0) {
|
|
feedrate = next_feedrate;
|
|
}
|
|
}
|
|
#if EXTRUDERS > 1
|
|
if (tmp_extruder != active_extruder) {
|
|
// Save current position to return to after applying extruder offset
|
|
memcpy(destination, current_position, sizeof(destination));
|
|
// Offset extruder (only by XY)
|
|
int i;
|
|
for (i = 0; i < 2; i++) {
|
|
current_position[i] = current_position[i] -
|
|
extruder_offset[i][active_extruder] +
|
|
extruder_offset[i][tmp_extruder];
|
|
}
|
|
// Set the new active extruder and position
|
|
active_extruder = tmp_extruder;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
// Move to the old position if 'F' was in the parameters
|
|
if (make_move && Stopped == false) {
|
|
prepare_move();
|
|
}
|
|
}
|
|
#endif
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHORPGM(_n("Active Extruder: "));////MSG_ACTIVE_EXTRUDER c=0 r=0
|
|
SERIAL_PROTOCOLLN((int)active_extruder);
|
|
}
|
|
|
|
#endif
|
|
}
|
|
} // end if(code_seen('T')) (end of T codes)
|
|
|
|
#ifdef DEBUG_DCODES
|
|
else if (code_seen('D')) // D codes (debug)
|
|
{
|
|
switch((int)code_value())
|
|
{
|
|
case -1: // D-1 - Endless loop
|
|
dcode__1(); break;
|
|
case 0: // D0 - Reset
|
|
dcode_0(); break;
|
|
case 1: // D1 - Clear EEPROM
|
|
dcode_1(); break;
|
|
case 2: // D2 - Read/Write RAM
|
|
dcode_2(); break;
|
|
case 3: // D3 - Read/Write EEPROM
|
|
dcode_3(); break;
|
|
case 4: // D4 - Read/Write PIN
|
|
dcode_4(); break;
|
|
case 5: // D5 - Read/Write FLASH
|
|
// dcode_5(); break;
|
|
break;
|
|
case 6: // D6 - Read/Write external FLASH
|
|
dcode_6(); break;
|
|
case 7: // D7 - Read/Write Bootloader
|
|
dcode_7(); break;
|
|
case 8: // D8 - Read/Write PINDA
|
|
dcode_8(); break;
|
|
case 9: // D9 - Read/Write ADC
|
|
dcode_9(); break;
|
|
|
|
case 10: // D10 - XYZ calibration = OK
|
|
dcode_10(); break;
|
|
|
|
|
|
#ifdef TMC2130
|
|
case 2130: // D9125 - TMC2130
|
|
dcode_2130(); break;
|
|
#endif //TMC2130
|
|
|
|
#ifdef PAT9125
|
|
case 9125: // D9125 - PAT9125
|
|
dcode_9125(); break;
|
|
#endif //PAT9125
|
|
|
|
}
|
|
}
|
|
#endif //DEBUG_DCODES
|
|
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
|
|
SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
|
|
SERIAL_ECHOLNPGM("\"(2)");
|
|
}
|
|
KEEPALIVE_STATE(NOT_BUSY);
|
|
ClearToSend();
|
|
}
|
|
|
|
void FlushSerialRequestResend()
|
|
{
|
|
//char cmdbuffer[bufindr][100]="Resend:";
|
|
MYSERIAL.flush();
|
|
printf_P(_N("%S: %ld\n%S\n"), _i("Resend"), gcode_LastN + 1, _T(MSG_OK));
|
|
}
|
|
|
|
// Confirm the execution of a command, if sent from a serial line.
|
|
// Execution of a command from a SD card will not be confirmed.
|
|
void ClearToSend()
|
|
{
|
|
previous_millis_cmd = millis();
|
|
if ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB) || (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR))
|
|
SERIAL_PROTOCOLLNRPGM(_T(MSG_OK));
|
|
}
|
|
|
|
#if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
|
|
void update_currents() {
|
|
float current_high[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
|
|
float current_low[3] = DEFAULT_PWM_MOTOR_CURRENT;
|
|
float tmp_motor[3];
|
|
|
|
//SERIAL_ECHOLNPGM("Currents updated: ");
|
|
|
|
if (destination[Z_AXIS] < Z_SILENT) {
|
|
//SERIAL_ECHOLNPGM("LOW");
|
|
for (uint8_t i = 0; i < 3; i++) {
|
|
st_current_set(i, current_low[i]);
|
|
/*MYSERIAL.print(int(i));
|
|
SERIAL_ECHOPGM(": ");
|
|
MYSERIAL.println(current_low[i]);*/
|
|
}
|
|
}
|
|
else if (destination[Z_AXIS] > Z_HIGH_POWER) {
|
|
//SERIAL_ECHOLNPGM("HIGH");
|
|
for (uint8_t i = 0; i < 3; i++) {
|
|
st_current_set(i, current_high[i]);
|
|
/*MYSERIAL.print(int(i));
|
|
SERIAL_ECHOPGM(": ");
|
|
MYSERIAL.println(current_high[i]);*/
|
|
}
|
|
}
|
|
else {
|
|
for (uint8_t i = 0; i < 3; i++) {
|
|
float q = current_low[i] - Z_SILENT*((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT));
|
|
tmp_motor[i] = ((current_high[i] - current_low[i]) / (Z_HIGH_POWER - Z_SILENT))*destination[Z_AXIS] + q;
|
|
st_current_set(i, tmp_motor[i]);
|
|
/*MYSERIAL.print(int(i));
|
|
SERIAL_ECHOPGM(": ");
|
|
MYSERIAL.println(tmp_motor[i]);*/
|
|
}
|
|
}
|
|
}
|
|
#endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
|
|
|
|
void get_coordinates()
|
|
{
|
|
bool seen[4]={false,false,false,false};
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
if(code_seen(axis_codes[i]))
|
|
{
|
|
bool relative = axis_relative_modes[i] || relative_mode;
|
|
destination[i] = (float)code_value();
|
|
if (i == E_AXIS) {
|
|
float emult = extruder_multiplier[active_extruder];
|
|
if (emult != 1.) {
|
|
if (! relative) {
|
|
destination[i] -= current_position[i];
|
|
relative = true;
|
|
}
|
|
destination[i] *= emult;
|
|
}
|
|
}
|
|
if (relative)
|
|
destination[i] += current_position[i];
|
|
seen[i]=true;
|
|
#if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
|
|
if (i == Z_AXIS && SilentModeMenu == SILENT_MODE_AUTO) update_currents();
|
|
#endif //MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
|
|
}
|
|
else destination[i] = current_position[i]; //Are these else lines really needed?
|
|
}
|
|
if(code_seen('F')) {
|
|
next_feedrate = code_value();
|
|
#ifdef MAX_SILENT_FEEDRATE
|
|
if (tmc2130_mode == TMC2130_MODE_SILENT)
|
|
if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
|
|
#endif //MAX_SILENT_FEEDRATE
|
|
if(next_feedrate > 0.0) feedrate = next_feedrate;
|
|
if (!seen[0] && !seen[1] && !seen[2] && seen[3])
|
|
{
|
|
// float e_max_speed =
|
|
// printf_P(PSTR("E MOVE speed %7.3f\n"), feedrate / 60)
|
|
}
|
|
}
|
|
}
|
|
|
|
void get_arc_coordinates()
|
|
{
|
|
#ifdef SF_ARC_FIX
|
|
bool relative_mode_backup = relative_mode;
|
|
relative_mode = true;
|
|
#endif
|
|
get_coordinates();
|
|
#ifdef SF_ARC_FIX
|
|
relative_mode=relative_mode_backup;
|
|
#endif
|
|
|
|
if(code_seen('I')) {
|
|
offset[0] = code_value();
|
|
}
|
|
else {
|
|
offset[0] = 0.0;
|
|
}
|
|
if(code_seen('J')) {
|
|
offset[1] = code_value();
|
|
}
|
|
else {
|
|
offset[1] = 0.0;
|
|
}
|
|
}
|
|
|
|
void clamp_to_software_endstops(float target[3])
|
|
{
|
|
#ifdef DEBUG_DISABLE_SWLIMITS
|
|
return;
|
|
#endif //DEBUG_DISABLE_SWLIMITS
|
|
world2machine_clamp(target[0], target[1]);
|
|
|
|
// Clamp the Z coordinate.
|
|
if (min_software_endstops) {
|
|
float negative_z_offset = 0;
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
if (Z_PROBE_OFFSET_FROM_EXTRUDER < 0) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER;
|
|
if (add_homing[Z_AXIS] < 0) negative_z_offset = negative_z_offset + add_homing[Z_AXIS];
|
|
#endif
|
|
if (target[Z_AXIS] < min_pos[Z_AXIS]+negative_z_offset) target[Z_AXIS] = min_pos[Z_AXIS]+negative_z_offset;
|
|
}
|
|
if (max_software_endstops) {
|
|
if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
|
|
}
|
|
}
|
|
|
|
#ifdef MESH_BED_LEVELING
|
|
void mesh_plan_buffer_line(const float &x, const float &y, const float &z, const float &e, const float &feed_rate, const uint8_t extruder) {
|
|
float dx = x - current_position[X_AXIS];
|
|
float dy = y - current_position[Y_AXIS];
|
|
float dz = z - current_position[Z_AXIS];
|
|
int n_segments = 0;
|
|
|
|
if (mbl.active) {
|
|
float len = abs(dx) + abs(dy);
|
|
if (len > 0)
|
|
// Split to 3cm segments or shorter.
|
|
n_segments = int(ceil(len / 30.f));
|
|
}
|
|
|
|
if (n_segments > 1) {
|
|
float de = e - current_position[E_AXIS];
|
|
for (int i = 1; i < n_segments; ++ i) {
|
|
float t = float(i) / float(n_segments);
|
|
if (saved_printing || (mbl.active == false)) return;
|
|
plan_buffer_line(
|
|
current_position[X_AXIS] + t * dx,
|
|
current_position[Y_AXIS] + t * dy,
|
|
current_position[Z_AXIS] + t * dz,
|
|
current_position[E_AXIS] + t * de,
|
|
feed_rate, extruder);
|
|
}
|
|
}
|
|
// The rest of the path.
|
|
plan_buffer_line(x, y, z, e, feed_rate, extruder);
|
|
current_position[X_AXIS] = x;
|
|
current_position[Y_AXIS] = y;
|
|
current_position[Z_AXIS] = z;
|
|
current_position[E_AXIS] = e;
|
|
}
|
|
#endif // MESH_BED_LEVELING
|
|
|
|
void prepare_move()
|
|
{
|
|
clamp_to_software_endstops(destination);
|
|
previous_millis_cmd = millis();
|
|
|
|
// Do not use feedmultiply for E or Z only moves
|
|
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
}
|
|
else {
|
|
#ifdef MESH_BED_LEVELING
|
|
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
|
|
#else
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
|
|
#endif
|
|
}
|
|
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
current_position[i] = destination[i];
|
|
}
|
|
}
|
|
|
|
void prepare_arc_move(char isclockwise) {
|
|
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
|
|
|
|
// Trace the arc
|
|
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
|
|
|
|
// As far as the parser is concerned, the position is now == target. In reality the
|
|
// motion control system might still be processing the action and the real tool position
|
|
// in any intermediate location.
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
current_position[i] = destination[i];
|
|
}
|
|
previous_millis_cmd = millis();
|
|
}
|
|
|
|
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
|
|
|
|
#if defined(FAN_PIN)
|
|
#if CONTROLLERFAN_PIN == FAN_PIN
|
|
#error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
|
|
#endif
|
|
#endif
|
|
|
|
unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
|
|
unsigned long lastMotorCheck = 0;
|
|
|
|
void controllerFan()
|
|
{
|
|
if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
|
|
{
|
|
lastMotorCheck = millis();
|
|
|
|
if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
|
|
#if EXTRUDERS > 2
|
|
|| !READ(E2_ENABLE_PIN)
|
|
#endif
|
|
#if EXTRUDER > 1
|
|
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|
|
|| !READ(X2_ENABLE_PIN)
|
|
#endif
|
|
|| !READ(E1_ENABLE_PIN)
|
|
#endif
|
|
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
|
|
{
|
|
lastMotor = millis(); //... set time to NOW so the fan will turn on
|
|
}
|
|
|
|
if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
|
|
{
|
|
digitalWrite(CONTROLLERFAN_PIN, 0);
|
|
analogWrite(CONTROLLERFAN_PIN, 0);
|
|
}
|
|
else
|
|
{
|
|
// allows digital or PWM fan output to be used (see M42 handling)
|
|
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
|
|
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#ifdef TEMP_STAT_LEDS
|
|
static bool blue_led = false;
|
|
static bool red_led = false;
|
|
static uint32_t stat_update = 0;
|
|
|
|
void handle_status_leds(void) {
|
|
float max_temp = 0.0;
|
|
if(millis() > stat_update) {
|
|
stat_update += 500; // Update every 0.5s
|
|
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
|
|
max_temp = max(max_temp, degHotend(cur_extruder));
|
|
max_temp = max(max_temp, degTargetHotend(cur_extruder));
|
|
}
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
max_temp = max(max_temp, degTargetBed());
|
|
max_temp = max(max_temp, degBed());
|
|
#endif
|
|
if((max_temp > 55.0) && (red_led == false)) {
|
|
digitalWrite(STAT_LED_RED, 1);
|
|
digitalWrite(STAT_LED_BLUE, 0);
|
|
red_led = true;
|
|
blue_led = false;
|
|
}
|
|
if((max_temp < 54.0) && (blue_led == false)) {
|
|
digitalWrite(STAT_LED_RED, 0);
|
|
digitalWrite(STAT_LED_BLUE, 1);
|
|
red_led = false;
|
|
blue_led = true;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#ifdef SAFETYTIMER
|
|
/**
|
|
* @brief Turn off heating after safetytimer_inactive_time milliseconds of inactivity
|
|
*
|
|
* Full screen blocking notification message is shown after heater turning off.
|
|
* Paused print is not considered inactivity, as nozzle is cooled anyway and bed cooling would
|
|
* damage print.
|
|
*
|
|
* If safetytimer_inactive_time is zero, feature is disabled (heating is never turned off because of inactivity)
|
|
*/
|
|
static void handleSafetyTimer()
|
|
{
|
|
#if (EXTRUDERS > 1)
|
|
#error Implemented only for one extruder.
|
|
#endif //(EXTRUDERS > 1)
|
|
if ((PRINTER_ACTIVE) || (!degTargetBed() && !degTargetHotend(0)) || (!safetytimer_inactive_time))
|
|
{
|
|
safetyTimer.stop();
|
|
}
|
|
else if ((degTargetBed() || degTargetHotend(0)) && (!safetyTimer.running()))
|
|
{
|
|
safetyTimer.start();
|
|
}
|
|
else if (safetyTimer.expired(safetytimer_inactive_time))
|
|
{
|
|
setTargetBed(0);
|
|
setTargetHotend(0, 0);
|
|
lcd_show_fullscreen_message_and_wait_P(_i("Heating disabled by safety timer."));////MSG_BED_HEATING_SAFETY_DISABLED c=0 r=0
|
|
}
|
|
}
|
|
#endif //SAFETYTIMER
|
|
|
|
void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
|
|
{
|
|
#ifdef PAT9125
|
|
if (fsensor_enabled && fsensor_autoload_enabled && fsensor_watch_runout && !moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
|
|
{
|
|
if (fsensor_watch_autoload)
|
|
{
|
|
if (fsensor_check_autoload())
|
|
{
|
|
|
|
if (degHotend0() > EXTRUDE_MINTEMP)
|
|
{
|
|
fsensor_autoload_check_stop();
|
|
tone(BEEPER, 1000);
|
|
delay_keep_alive(50);
|
|
noTone(BEEPER);
|
|
loading_flag = true;
|
|
enquecommand_front_P((PSTR("M701")));
|
|
}
|
|
else
|
|
{
|
|
lcd_update_enable(false);
|
|
lcd_clear();
|
|
lcd_set_cursor(0, 0);
|
|
lcd_puts_P(_T(MSG_ERROR));
|
|
lcd_set_cursor(0, 2);
|
|
lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
|
|
delay(2000);
|
|
lcd_clear();
|
|
lcd_update_enable(true);
|
|
}
|
|
|
|
}
|
|
}
|
|
else
|
|
fsensor_autoload_check_start();
|
|
}
|
|
else
|
|
if (fsensor_watch_autoload)
|
|
fsensor_autoload_check_stop();
|
|
#endif //PAT9125
|
|
|
|
#ifdef SAFETYTIMER
|
|
handleSafetyTimer();
|
|
#endif //SAFETYTIMER
|
|
|
|
#if defined(KILL_PIN) && KILL_PIN > -1
|
|
static int killCount = 0; // make the inactivity button a bit less responsive
|
|
const int KILL_DELAY = 10000;
|
|
#endif
|
|
|
|
if(buflen < (BUFSIZE-1)){
|
|
get_command();
|
|
}
|
|
|
|
if( (millis() - previous_millis_cmd) > max_inactive_time )
|
|
if(max_inactive_time)
|
|
kill(_n(""), 4);
|
|
if(stepper_inactive_time) {
|
|
if( (millis() - previous_millis_cmd) > stepper_inactive_time )
|
|
{
|
|
if(blocks_queued() == false && ignore_stepper_queue == false) {
|
|
disable_x();
|
|
// SERIAL_ECHOLNPGM("manage_inactivity - disable Y");
|
|
disable_y();
|
|
disable_z();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
}
|
|
}
|
|
}
|
|
|
|
#ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
|
|
if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
|
|
{
|
|
chdkActive = false;
|
|
WRITE(CHDK, LOW);
|
|
}
|
|
#endif
|
|
|
|
#if defined(KILL_PIN) && KILL_PIN > -1
|
|
|
|
// Check if the kill button was pressed and wait just in case it was an accidental
|
|
// key kill key press
|
|
// -------------------------------------------------------------------------------
|
|
if( 0 == READ(KILL_PIN) )
|
|
{
|
|
killCount++;
|
|
}
|
|
else if (killCount > 0)
|
|
{
|
|
killCount--;
|
|
}
|
|
// Exceeded threshold and we can confirm that it was not accidental
|
|
// KILL the machine
|
|
// ----------------------------------------------------------------
|
|
if ( killCount >= KILL_DELAY)
|
|
{
|
|
kill("", 5);
|
|
}
|
|
#endif
|
|
|
|
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
|
|
controllerFan(); //Check if fan should be turned on to cool stepper drivers down
|
|
#endif
|
|
#ifdef EXTRUDER_RUNOUT_PREVENT
|
|
if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
|
|
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
|
|
{
|
|
bool oldstatus=READ(E0_ENABLE_PIN);
|
|
enable_e0();
|
|
float oldepos=current_position[E_AXIS];
|
|
float oldedes=destination[E_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
|
|
destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
|
|
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
|
|
current_position[E_AXIS]=oldepos;
|
|
destination[E_AXIS]=oldedes;
|
|
plan_set_e_position(oldepos);
|
|
previous_millis_cmd=millis();
|
|
st_synchronize();
|
|
WRITE(E0_ENABLE_PIN,oldstatus);
|
|
}
|
|
#endif
|
|
#ifdef TEMP_STAT_LEDS
|
|
handle_status_leds();
|
|
#endif
|
|
check_axes_activity();
|
|
}
|
|
|
|
void kill(const char *full_screen_message, unsigned char id)
|
|
{
|
|
printf_P(_N("KILL: %d\n"), id);
|
|
//return;
|
|
cli(); // Stop interrupts
|
|
disable_heater();
|
|
|
|
disable_x();
|
|
// SERIAL_ECHOLNPGM("kill - disable Y");
|
|
disable_y();
|
|
disable_z();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
|
|
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
pinMode(PS_ON_PIN,INPUT);
|
|
#endif
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNRPGM(_i("Printer halted. kill() called!"));////MSG_ERR_KILLED c=0 r=0
|
|
if (full_screen_message != NULL) {
|
|
SERIAL_ERRORLNRPGM(full_screen_message);
|
|
lcd_display_message_fullscreen_P(full_screen_message);
|
|
} else {
|
|
LCD_ALERTMESSAGERPGM(_i("KILLED. "));////MSG_KILLED c=0 r=0
|
|
}
|
|
|
|
// FMC small patch to update the LCD before ending
|
|
sei(); // enable interrupts
|
|
for ( int i=5; i--; lcd_update(0))
|
|
{
|
|
delay(200);
|
|
}
|
|
cli(); // disable interrupts
|
|
suicide();
|
|
while(1)
|
|
{
|
|
#ifdef WATCHDOG
|
|
wdt_reset();
|
|
#endif //WATCHDOG
|
|
/* Intentionally left empty */
|
|
|
|
} // Wait for reset
|
|
}
|
|
|
|
void Stop()
|
|
{
|
|
disable_heater();
|
|
if(Stopped == false) {
|
|
Stopped = true;
|
|
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNRPGM(_T(MSG_ERR_STOPPED));
|
|
LCD_MESSAGERPGM(_T(MSG_STOPPED));
|
|
}
|
|
}
|
|
|
|
bool IsStopped() { return Stopped; };
|
|
|
|
#ifdef FAST_PWM_FAN
|
|
void setPwmFrequency(uint8_t pin, int val)
|
|
{
|
|
val &= 0x07;
|
|
switch(digitalPinToTimer(pin))
|
|
{
|
|
|
|
#if defined(TCCR0A)
|
|
case TIMER0A:
|
|
case TIMER0B:
|
|
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
|
|
// TCCR0B |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR1A)
|
|
case TIMER1A:
|
|
case TIMER1B:
|
|
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
|
|
// TCCR1B |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR2)
|
|
case TIMER2:
|
|
case TIMER2:
|
|
TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
|
|
TCCR2 |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR2A)
|
|
case TIMER2A:
|
|
case TIMER2B:
|
|
TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
|
|
TCCR2B |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR3A)
|
|
case TIMER3A:
|
|
case TIMER3B:
|
|
case TIMER3C:
|
|
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
|
|
TCCR3B |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR4A)
|
|
case TIMER4A:
|
|
case TIMER4B:
|
|
case TIMER4C:
|
|
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
|
|
TCCR4B |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR5A)
|
|
case TIMER5A:
|
|
case TIMER5B:
|
|
case TIMER5C:
|
|
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
|
|
TCCR5B |= val;
|
|
break;
|
|
#endif
|
|
|
|
}
|
|
}
|
|
#endif //FAST_PWM_FAN
|
|
|
|
bool setTargetedHotend(int code){
|
|
tmp_extruder = active_extruder;
|
|
if(code_seen('T')) {
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
switch(code){
|
|
case 104:
|
|
SERIAL_ECHORPGM(_i("M104 Invalid extruder "));////MSG_M104_INVALID_EXTRUDER c=0 r=0
|
|
break;
|
|
case 105:
|
|
SERIAL_ECHO(_i("M105 Invalid extruder "));////MSG_M105_INVALID_EXTRUDER c=0 r=0
|
|
break;
|
|
case 109:
|
|
SERIAL_ECHO(_i("M109 Invalid extruder "));////MSG_M109_INVALID_EXTRUDER c=0 r=0
|
|
break;
|
|
case 218:
|
|
SERIAL_ECHO(_i("M218 Invalid extruder "));////MSG_M218_INVALID_EXTRUDER c=0 r=0
|
|
break;
|
|
case 221:
|
|
SERIAL_ECHO(_i("M221 Invalid extruder "));////MSG_M221_INVALID_EXTRUDER c=0 r=0
|
|
break;
|
|
}
|
|
SERIAL_PROTOCOLLN((int)tmp_extruder);
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time) //_total_filament_used unit: mm/100; print time in s
|
|
{
|
|
if (eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME) == 255 && eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME + 1) == 255 && eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME + 2) == 255 && eeprom_read_byte((uint8_t *)EEPROM_TOTALTIME + 3) == 255)
|
|
{
|
|
eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, 0);
|
|
eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, 0);
|
|
}
|
|
|
|
unsigned long _previous_filament = eeprom_read_dword((uint32_t *)EEPROM_FILAMENTUSED); //_previous_filament unit: cm
|
|
unsigned long _previous_time = eeprom_read_dword((uint32_t *)EEPROM_TOTALTIME); //_previous_time unit: min
|
|
|
|
eeprom_update_dword((uint32_t *)EEPROM_TOTALTIME, _previous_time + (_total_print_time/60)); //EEPROM_TOTALTIME unit: min
|
|
eeprom_update_dword((uint32_t *)EEPROM_FILAMENTUSED, _previous_filament + (_total_filament_used / 1000));
|
|
|
|
total_filament_used = 0;
|
|
|
|
}
|
|
|
|
float calculate_extruder_multiplier(float diameter) {
|
|
float out = 1.f;
|
|
if (volumetric_enabled && diameter > 0.f) {
|
|
float area = M_PI * diameter * diameter * 0.25;
|
|
out = 1.f / area;
|
|
}
|
|
if (extrudemultiply != 100)
|
|
out *= float(extrudemultiply) * 0.01f;
|
|
return out;
|
|
}
|
|
|
|
void calculate_extruder_multipliers() {
|
|
extruder_multiplier[0] = calculate_extruder_multiplier(filament_size[0]);
|
|
#if EXTRUDERS > 1
|
|
extruder_multiplier[1] = calculate_extruder_multiplier(filament_size[1]);
|
|
#if EXTRUDERS > 2
|
|
extruder_multiplier[2] = calculate_extruder_multiplier(filament_size[2]);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
void delay_keep_alive(unsigned int ms)
|
|
{
|
|
for (;;) {
|
|
manage_heater();
|
|
// Manage inactivity, but don't disable steppers on timeout.
|
|
manage_inactivity(true);
|
|
lcd_update(0);
|
|
if (ms == 0)
|
|
break;
|
|
else if (ms >= 50) {
|
|
delay(50);
|
|
ms -= 50;
|
|
} else {
|
|
delay(ms);
|
|
ms = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
void wait_for_heater(long codenum) {
|
|
|
|
#ifdef TEMP_RESIDENCY_TIME
|
|
long residencyStart;
|
|
residencyStart = -1;
|
|
/* continue to loop until we have reached the target temp
|
|
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
|
|
while ((!cancel_heatup) && ((residencyStart == -1) ||
|
|
(residencyStart >= 0 && (((unsigned int)(millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))))) {
|
|
#else
|
|
while (target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder) && (CooldownNoWait == false))) {
|
|
#endif //TEMP_RESIDENCY_TIME
|
|
if ((millis() - codenum) > 1000UL)
|
|
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
|
|
if (!farm_mode) {
|
|
SERIAL_PROTOCOLPGM("T:");
|
|
SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
|
|
SERIAL_PROTOCOLPGM(" E:");
|
|
SERIAL_PROTOCOL((int)tmp_extruder);
|
|
|
|
#ifdef TEMP_RESIDENCY_TIME
|
|
SERIAL_PROTOCOLPGM(" W:");
|
|
if (residencyStart > -1)
|
|
{
|
|
codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
|
|
SERIAL_PROTOCOLLN(codenum);
|
|
}
|
|
else
|
|
{
|
|
SERIAL_PROTOCOLLN("?");
|
|
}
|
|
}
|
|
#else
|
|
SERIAL_PROTOCOLLN("");
|
|
#endif
|
|
codenum = millis();
|
|
}
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update(0);
|
|
#ifdef TEMP_RESIDENCY_TIME
|
|
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
|
|
or when current temp falls outside the hysteresis after target temp was reached */
|
|
if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder) - TEMP_WINDOW))) ||
|
|
(residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder) + TEMP_WINDOW))) ||
|
|
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS))
|
|
{
|
|
residencyStart = millis();
|
|
}
|
|
#endif //TEMP_RESIDENCY_TIME
|
|
}
|
|
}
|
|
|
|
void check_babystep() {
|
|
int babystep_z;
|
|
EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystep_z);
|
|
if ((babystep_z < Z_BABYSTEP_MIN) || (babystep_z > Z_BABYSTEP_MAX)) {
|
|
babystep_z = 0; //if babystep value is out of min max range, set it to 0
|
|
SERIAL_ECHOLNPGM("Z live adjust out of range. Setting to 0");
|
|
EEPROM_save_B(EEPROM_BABYSTEP_Z, &babystep_z);
|
|
lcd_show_fullscreen_message_and_wait_P(PSTR("Z live adjust out of range. Setting to 0. Click to continue."));
|
|
lcd_update_enable(true);
|
|
}
|
|
}
|
|
#ifdef DIS
|
|
void d_setup()
|
|
{
|
|
pinMode(D_DATACLOCK, INPUT_PULLUP);
|
|
pinMode(D_DATA, INPUT_PULLUP);
|
|
pinMode(D_REQUIRE, OUTPUT);
|
|
digitalWrite(D_REQUIRE, HIGH);
|
|
}
|
|
|
|
|
|
float d_ReadData()
|
|
{
|
|
int digit[13];
|
|
String mergeOutput;
|
|
float output;
|
|
|
|
digitalWrite(D_REQUIRE, HIGH);
|
|
for (int i = 0; i<13; i++)
|
|
{
|
|
for (int j = 0; j < 4; j++)
|
|
{
|
|
while (digitalRead(D_DATACLOCK) == LOW) {}
|
|
while (digitalRead(D_DATACLOCK) == HIGH) {}
|
|
bitWrite(digit[i], j, digitalRead(D_DATA));
|
|
}
|
|
}
|
|
|
|
digitalWrite(D_REQUIRE, LOW);
|
|
mergeOutput = "";
|
|
output = 0;
|
|
for (int r = 5; r <= 10; r++) //Merge digits
|
|
{
|
|
mergeOutput += digit[r];
|
|
}
|
|
output = mergeOutput.toFloat();
|
|
|
|
if (digit[4] == 8) //Handle sign
|
|
{
|
|
output *= -1;
|
|
}
|
|
|
|
for (int i = digit[11]; i > 0; i--) //Handle floating point
|
|
{
|
|
output /= 10;
|
|
}
|
|
|
|
return output;
|
|
|
|
}
|
|
|
|
void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y) {
|
|
int t1 = 0;
|
|
int t_delay = 0;
|
|
int digit[13];
|
|
int m;
|
|
char str[3];
|
|
//String mergeOutput;
|
|
char mergeOutput[15];
|
|
float output;
|
|
|
|
int mesh_point = 0; //index number of calibration point
|
|
float bed_zero_ref_x = (-22.f + X_PROBE_OFFSET_FROM_EXTRUDER); //shift between zero point on bed and target and between probe and nozzle
|
|
float bed_zero_ref_y = (-0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER);
|
|
|
|
float mesh_home_z_search = 4;
|
|
float row[x_points_num];
|
|
int ix = 0;
|
|
int iy = 0;
|
|
|
|
char* filename_wldsd = "wldsd.txt";
|
|
char data_wldsd[70];
|
|
char numb_wldsd[10];
|
|
|
|
d_setup();
|
|
|
|
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
|
|
// We don't know where we are! HOME!
|
|
// Push the commands to the front of the message queue in the reverse order!
|
|
// There shall be always enough space reserved for these commands.
|
|
repeatcommand_front(); // repeat G80 with all its parameters
|
|
|
|
enquecommand_front_P((PSTR("G28 W0")));
|
|
enquecommand_front_P((PSTR("G1 Z5")));
|
|
return;
|
|
}
|
|
bool custom_message_old = custom_message;
|
|
unsigned int custom_message_type_old = custom_message_type;
|
|
unsigned int custom_message_state_old = custom_message_state;
|
|
custom_message = true;
|
|
custom_message_type = 1;
|
|
custom_message_state = (x_points_num * y_points_num) + 10;
|
|
lcd_update(1);
|
|
|
|
mbl.reset();
|
|
babystep_undo();
|
|
|
|
card.openFile(filename_wldsd, false);
|
|
|
|
current_position[Z_AXIS] = mesh_home_z_search;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
|
|
|
|
int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
|
|
int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
|
|
int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
|
|
|
|
setup_for_endstop_move(false);
|
|
|
|
SERIAL_PROTOCOLPGM("Num X,Y: ");
|
|
SERIAL_PROTOCOL(x_points_num);
|
|
SERIAL_PROTOCOLPGM(",");
|
|
SERIAL_PROTOCOL(y_points_num);
|
|
SERIAL_PROTOCOLPGM("\nZ search height: ");
|
|
SERIAL_PROTOCOL(mesh_home_z_search);
|
|
SERIAL_PROTOCOLPGM("\nDimension X,Y: ");
|
|
SERIAL_PROTOCOL(x_dimension);
|
|
SERIAL_PROTOCOLPGM(",");
|
|
SERIAL_PROTOCOL(y_dimension);
|
|
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
|
|
|
|
while (mesh_point != x_points_num * y_points_num) {
|
|
ix = mesh_point % x_points_num; // from 0 to MESH_NUM_X_POINTS - 1
|
|
iy = mesh_point / x_points_num;
|
|
if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
|
|
float z0 = 0.f;
|
|
current_position[Z_AXIS] = mesh_home_z_search;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
|
|
st_synchronize();
|
|
|
|
|
|
current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
|
|
current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
|
|
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
|
|
st_synchronize();
|
|
|
|
if (!find_bed_induction_sensor_point_z(-10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
|
|
break;
|
|
card.closefile();
|
|
}
|
|
|
|
|
|
//memset(numb_wldsd, 0, sizeof(numb_wldsd));
|
|
//dtostrf(d_ReadData(), 8, 5, numb_wldsd);
|
|
//strcat(data_wldsd, numb_wldsd);
|
|
|
|
|
|
|
|
//MYSERIAL.println(data_wldsd);
|
|
//delay(1000);
|
|
//delay(3000);
|
|
//t1 = millis();
|
|
|
|
//while (digitalRead(D_DATACLOCK) == LOW) {}
|
|
//while (digitalRead(D_DATACLOCK) == HIGH) {}
|
|
memset(digit, 0, sizeof(digit));
|
|
//cli();
|
|
digitalWrite(D_REQUIRE, LOW);
|
|
|
|
for (int i = 0; i<13; i++)
|
|
{
|
|
//t1 = millis();
|
|
for (int j = 0; j < 4; j++)
|
|
{
|
|
while (digitalRead(D_DATACLOCK) == LOW) {}
|
|
while (digitalRead(D_DATACLOCK) == HIGH) {}
|
|
bitWrite(digit[i], j, digitalRead(D_DATA));
|
|
}
|
|
//t_delay = (millis() - t1);
|
|
//SERIAL_PROTOCOLPGM(" ");
|
|
//SERIAL_PROTOCOL_F(t_delay, 5);
|
|
//SERIAL_PROTOCOLPGM(" ");
|
|
}
|
|
//sei();
|
|
digitalWrite(D_REQUIRE, HIGH);
|
|
mergeOutput[0] = '\0';
|
|
output = 0;
|
|
for (int r = 5; r <= 10; r++) //Merge digits
|
|
{
|
|
sprintf(str, "%d", digit[r]);
|
|
strcat(mergeOutput, str);
|
|
}
|
|
|
|
output = atof(mergeOutput);
|
|
|
|
if (digit[4] == 8) //Handle sign
|
|
{
|
|
output *= -1;
|
|
}
|
|
|
|
for (int i = digit[11]; i > 0; i--) //Handle floating point
|
|
{
|
|
output *= 0.1;
|
|
}
|
|
|
|
|
|
//output = d_ReadData();
|
|
|
|
//row[ix] = current_position[Z_AXIS];
|
|
|
|
memset(data_wldsd, 0, sizeof(data_wldsd));
|
|
|
|
for (int i = 0; i <3; i++) {
|
|
memset(numb_wldsd, 0, sizeof(numb_wldsd));
|
|
dtostrf(current_position[i], 8, 5, numb_wldsd);
|
|
strcat(data_wldsd, numb_wldsd);
|
|
strcat(data_wldsd, ";");
|
|
|
|
}
|
|
memset(numb_wldsd, 0, sizeof(numb_wldsd));
|
|
dtostrf(output, 8, 5, numb_wldsd);
|
|
strcat(data_wldsd, numb_wldsd);
|
|
//strcat(data_wldsd, ";");
|
|
card.write_command(data_wldsd);
|
|
|
|
|
|
//row[ix] = d_ReadData();
|
|
|
|
row[ix] = output; // current_position[Z_AXIS];
|
|
|
|
if (iy % 2 == 1 ? ix == 0 : ix == x_points_num - 1) {
|
|
for (int i = 0; i < x_points_num; i++) {
|
|
SERIAL_PROTOCOLPGM(" ");
|
|
SERIAL_PROTOCOL_F(row[i], 5);
|
|
|
|
|
|
}
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
}
|
|
custom_message_state--;
|
|
mesh_point++;
|
|
lcd_update(1);
|
|
|
|
}
|
|
card.closefile();
|
|
|
|
}
|
|
#endif
|
|
|
|
void temp_compensation_start() {
|
|
|
|
custom_message = true;
|
|
custom_message_type = 5;
|
|
custom_message_state = PINDA_HEAT_T + 1;
|
|
lcd_update(2);
|
|
if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
|
|
current_position[E_AXIS] -= DEFAULT_RETRACTION;
|
|
}
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
|
|
|
|
current_position[X_AXIS] = PINDA_PREHEAT_X;
|
|
current_position[Y_AXIS] = PINDA_PREHEAT_Y;
|
|
current_position[Z_AXIS] = PINDA_PREHEAT_Z;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
|
|
st_synchronize();
|
|
while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
|
|
|
|
for (int i = 0; i < PINDA_HEAT_T; i++) {
|
|
delay_keep_alive(1000);
|
|
custom_message_state = PINDA_HEAT_T - i;
|
|
if (custom_message_state == 99 || custom_message_state == 9) lcd_update(2); //force whole display redraw if number of digits changed
|
|
else lcd_update(1);
|
|
}
|
|
custom_message_type = 0;
|
|
custom_message_state = 0;
|
|
custom_message = false;
|
|
}
|
|
|
|
void temp_compensation_apply() {
|
|
int i_add;
|
|
int compensation_value;
|
|
int z_shift = 0;
|
|
float z_shift_mm;
|
|
|
|
if (calibration_status() == CALIBRATION_STATUS_CALIBRATED) {
|
|
if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
|
|
i_add = (target_temperature_bed - 60) / 10;
|
|
EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
|
|
z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
|
|
}else {
|
|
//interpolation
|
|
z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
|
|
}
|
|
printf_P(_N("\nZ shift applied:%.3f\n"), z_shift_mm);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] - z_shift_mm, current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
|
|
st_synchronize();
|
|
plan_set_z_position(current_position[Z_AXIS]);
|
|
}
|
|
else {
|
|
//we have no temp compensation data
|
|
}
|
|
}
|
|
|
|
float temp_comp_interpolation(float inp_temperature) {
|
|
|
|
//cubic spline interpolation
|
|
|
|
int n, i, j, k;
|
|
float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], m[10][10] = { 0 }, temp;
|
|
int shift[10];
|
|
int temp_C[10];
|
|
|
|
n = 6; //number of measured points
|
|
|
|
shift[0] = 0;
|
|
for (i = 0; i < n; i++) {
|
|
if (i>0) EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + (i-1) * 2, &shift[i]); //read shift in steps from EEPROM
|
|
temp_C[i] = 50 + i * 10; //temperature in C
|
|
#ifdef PINDA_THERMISTOR
|
|
temp_C[i] = 35 + i * 5; //temperature in C
|
|
#else
|
|
temp_C[i] = 50 + i * 10; //temperature in C
|
|
#endif
|
|
x[i] = (float)temp_C[i];
|
|
f[i] = (float)shift[i];
|
|
}
|
|
if (inp_temperature < x[0]) return 0;
|
|
|
|
|
|
for (i = n - 1; i>0; i--) {
|
|
F[i] = (f[i] - f[i - 1]) / (x[i] - x[i - 1]);
|
|
h[i - 1] = x[i] - x[i - 1];
|
|
}
|
|
//*********** formation of h, s , f matrix **************
|
|
for (i = 1; i<n - 1; i++) {
|
|
m[i][i] = 2 * (h[i - 1] + h[i]);
|
|
if (i != 1) {
|
|
m[i][i - 1] = h[i - 1];
|
|
m[i - 1][i] = h[i - 1];
|
|
}
|
|
m[i][n - 1] = 6 * (F[i + 1] - F[i]);
|
|
}
|
|
//*********** forward elimination **************
|
|
for (i = 1; i<n - 2; i++) {
|
|
temp = (m[i + 1][i] / m[i][i]);
|
|
for (j = 1; j <= n - 1; j++)
|
|
m[i + 1][j] -= temp*m[i][j];
|
|
}
|
|
//*********** backward substitution *********
|
|
for (i = n - 2; i>0; i--) {
|
|
sum = 0;
|
|
for (j = i; j <= n - 2; j++)
|
|
sum += m[i][j] * s[j];
|
|
s[i] = (m[i][n - 1] - sum) / m[i][i];
|
|
}
|
|
|
|
for (i = 0; i<n - 1; i++)
|
|
if ((x[i] <= inp_temperature && inp_temperature <= x[i + 1]) || (i == n-2 && inp_temperature > x[i + 1])) {
|
|
a = (s[i + 1] - s[i]) / (6 * h[i]);
|
|
b = s[i] / 2;
|
|
c = (f[i + 1] - f[i]) / h[i] - (2 * h[i] * s[i] + s[i + 1] * h[i]) / 6;
|
|
d = f[i];
|
|
sum = a*pow((inp_temperature - x[i]), 3) + b*pow((inp_temperature - x[i]), 2) + c*(inp_temperature - x[i]) + d;
|
|
}
|
|
|
|
return sum;
|
|
|
|
}
|
|
|
|
#ifdef PINDA_THERMISTOR
|
|
float temp_compensation_pinda_thermistor_offset(float temperature_pinda)
|
|
{
|
|
if (!temp_cal_active) return 0;
|
|
if (!calibration_status_pinda()) return 0;
|
|
return temp_comp_interpolation(temperature_pinda) / axis_steps_per_unit[Z_AXIS];
|
|
}
|
|
#endif //PINDA_THERMISTOR
|
|
|
|
void long_pause() //long pause print
|
|
{
|
|
st_synchronize();
|
|
|
|
//save currently set parameters to global variables
|
|
saved_feedmultiply = feedmultiply;
|
|
HotendTempBckp = degTargetHotend(active_extruder);
|
|
fanSpeedBckp = fanSpeed;
|
|
start_pause_print = millis();
|
|
|
|
|
|
//save position
|
|
pause_lastpos[X_AXIS] = current_position[X_AXIS];
|
|
pause_lastpos[Y_AXIS] = current_position[Y_AXIS];
|
|
pause_lastpos[Z_AXIS] = current_position[Z_AXIS];
|
|
pause_lastpos[E_AXIS] = current_position[E_AXIS];
|
|
|
|
//retract
|
|
current_position[E_AXIS] -= DEFAULT_RETRACTION;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
|
|
|
|
//lift z
|
|
current_position[Z_AXIS] += Z_PAUSE_LIFT;
|
|
if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
|
|
|
|
//set nozzle target temperature to 0
|
|
setTargetHotend(0, 0);
|
|
setTargetHotend(0, 1);
|
|
setTargetHotend(0, 2);
|
|
|
|
//Move XY to side
|
|
current_position[X_AXIS] = X_PAUSE_POS;
|
|
current_position[Y_AXIS] = Y_PAUSE_POS;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
|
|
|
|
// Turn off the print fan
|
|
fanSpeed = 0;
|
|
|
|
st_synchronize();
|
|
}
|
|
|
|
void serialecho_temperatures() {
|
|
float tt = degHotend(active_extruder);
|
|
SERIAL_PROTOCOLPGM("T:");
|
|
SERIAL_PROTOCOL(tt);
|
|
SERIAL_PROTOCOLPGM(" E:");
|
|
SERIAL_PROTOCOL((int)active_extruder);
|
|
SERIAL_PROTOCOLPGM(" B:");
|
|
SERIAL_PROTOCOL_F(degBed(), 1);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
|
|
extern uint32_t sdpos_atomic;
|
|
|
|
#ifdef UVLO_SUPPORT
|
|
|
|
void uvlo_()
|
|
{
|
|
unsigned long time_start = millis();
|
|
bool sd_print = card.sdprinting;
|
|
// Conserve power as soon as possible.
|
|
disable_x();
|
|
disable_y();
|
|
|
|
#ifdef TMC2130
|
|
tmc2130_set_current_h(Z_AXIS, 20);
|
|
tmc2130_set_current_r(Z_AXIS, 20);
|
|
tmc2130_set_current_h(E_AXIS, 20);
|
|
tmc2130_set_current_r(E_AXIS, 20);
|
|
#endif //TMC2130
|
|
|
|
|
|
// Indicate that the interrupt has been triggered.
|
|
// SERIAL_ECHOLNPGM("UVLO");
|
|
|
|
// Read out the current Z motor microstep counter. This will be later used
|
|
// for reaching the zero full step before powering off.
|
|
uint16_t z_microsteps = 0;
|
|
#ifdef TMC2130
|
|
z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
|
|
#endif //TMC2130
|
|
|
|
// Calculate the file position, from which to resume this print.
|
|
long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
|
|
{
|
|
uint16_t sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
|
|
sd_position -= sdlen_planner;
|
|
uint16_t sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
|
|
sd_position -= sdlen_cmdqueue;
|
|
if (sd_position < 0) sd_position = 0;
|
|
}
|
|
|
|
// Backup the feedrate in mm/min.
|
|
int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
|
|
|
|
// After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
|
|
// The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
|
|
// are in action.
|
|
planner_abort_hard();
|
|
|
|
// Store the current extruder position.
|
|
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
|
|
eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
|
|
|
|
// Clean the input command queue.
|
|
cmdqueue_reset();
|
|
card.sdprinting = false;
|
|
// card.closefile();
|
|
|
|
// Enable stepper driver interrupt to move Z axis.
|
|
// This should be fine as the planner and command queues are empty and the SD card printing is disabled.
|
|
//FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
|
|
// though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
|
|
sei();
|
|
plan_buffer_line(
|
|
current_position[X_AXIS],
|
|
current_position[Y_AXIS],
|
|
current_position[Z_AXIS],
|
|
current_position[E_AXIS] - DEFAULT_RETRACTION,
|
|
95, active_extruder);
|
|
|
|
st_synchronize();
|
|
disable_e0();
|
|
|
|
plan_buffer_line(
|
|
current_position[X_AXIS],
|
|
current_position[Y_AXIS],
|
|
current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
|
|
current_position[E_AXIS] - DEFAULT_RETRACTION,
|
|
40, active_extruder);
|
|
|
|
st_synchronize();
|
|
disable_e0();
|
|
|
|
plan_buffer_line(
|
|
current_position[X_AXIS],
|
|
current_position[Y_AXIS],
|
|
current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / axis_steps_per_unit[Z_AXIS],
|
|
current_position[E_AXIS] - DEFAULT_RETRACTION,
|
|
40, active_extruder);
|
|
st_synchronize();
|
|
disable_e0();
|
|
disable_z();
|
|
|
|
// Move Z up to the next 0th full step.
|
|
// Write the file position.
|
|
eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
|
|
// Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
|
|
for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
|
|
uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
|
|
uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
|
|
// Scale the z value to 1u resolution.
|
|
int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
|
|
eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
|
|
}
|
|
// Read out the current Z motor microstep counter. This will be later used
|
|
// for reaching the zero full step before powering off.
|
|
eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
|
|
// Store the current position.
|
|
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
|
|
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
|
|
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
|
|
// Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
|
|
EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
|
|
eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
|
|
eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
|
|
eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
|
|
eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
|
|
#if EXTRUDERS > 1
|
|
eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1), extruder_multiplier[1]);
|
|
#if EXTRUDERS > 2
|
|
eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2), extruder_multiplier[2]);
|
|
#endif
|
|
#endif
|
|
eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
|
|
|
|
// Finaly store the "power outage" flag.
|
|
if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
|
|
|
|
st_synchronize();
|
|
printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
|
|
|
|
disable_z();
|
|
|
|
// Increment power failure counter
|
|
eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
|
|
eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
|
|
|
|
printf_P(_N("UVLO - end %d\n"), millis() - time_start);
|
|
|
|
#if 0
|
|
// Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
|
|
current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
|
|
st_synchronize();
|
|
#endif
|
|
|
|
|
|
cli();
|
|
volatile unsigned int ppcount = 0;
|
|
SET_OUTPUT(BEEPER);
|
|
WRITE(BEEPER, HIGH);
|
|
for(ppcount = 0; ppcount < 2000; ppcount ++){
|
|
asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
|
|
}
|
|
WRITE(BEEPER, LOW);
|
|
while(1){
|
|
#if 1
|
|
WRITE(BEEPER, LOW);
|
|
for(ppcount = 0; ppcount < 8000; ppcount ++){
|
|
asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
|
|
}
|
|
#endif
|
|
|
|
};
|
|
}
|
|
#endif //UVLO_SUPPORT
|
|
|
|
#if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
|
|
|
|
void setup_fan_interrupt() {
|
|
//INT7
|
|
DDRE &= ~(1 << 7); //input pin
|
|
PORTE &= ~(1 << 7); //no internal pull-up
|
|
|
|
//start with sensing rising edge
|
|
EICRB &= ~(1 << 6);
|
|
EICRB |= (1 << 7);
|
|
|
|
//enable INT7 interrupt
|
|
EIMSK |= (1 << 7);
|
|
}
|
|
|
|
// The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
|
|
// and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
|
|
ISR(INT7_vect) {
|
|
//measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
|
|
|
|
if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
|
|
if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
|
|
t_fan_rising_edge = millis_nc();
|
|
}
|
|
else { //interrupt was triggered by falling edge
|
|
if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
|
|
fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
|
|
}
|
|
}
|
|
EICRB ^= (1 << 6); //change edge
|
|
}
|
|
|
|
#endif
|
|
|
|
#ifdef UVLO_SUPPORT
|
|
void setup_uvlo_interrupt() {
|
|
DDRE &= ~(1 << 4); //input pin
|
|
PORTE &= ~(1 << 4); //no internal pull-up
|
|
|
|
//sensing falling edge
|
|
EICRB |= (1 << 0);
|
|
EICRB &= ~(1 << 1);
|
|
|
|
//enable INT4 interrupt
|
|
EIMSK |= (1 << 4);
|
|
}
|
|
|
|
ISR(INT4_vect) {
|
|
EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
|
|
SERIAL_ECHOLNPGM("INT4");
|
|
if (IS_SD_PRINTING) uvlo_();
|
|
}
|
|
|
|
void recover_print(uint8_t automatic) {
|
|
char cmd[30];
|
|
lcd_update_enable(true);
|
|
lcd_update(2);
|
|
lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
|
|
|
|
recover_machine_state_after_power_panic(); //recover position, temperatures and extrude_multipliers
|
|
|
|
// Lift the print head, so one may remove the excess priming material.
|
|
if (current_position[Z_AXIS] < 25)
|
|
enquecommand_P(PSTR("G1 Z25 F800"));
|
|
// Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
|
|
enquecommand_P(PSTR("G28 X Y"));
|
|
// Set the target bed and nozzle temperatures and wait.
|
|
sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
|
|
enquecommand(cmd);
|
|
sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
|
|
enquecommand(cmd);
|
|
enquecommand_P(PSTR("M83")); //E axis relative mode
|
|
//enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
|
|
// If not automatically recoreverd (long power loss), extrude extra filament to stabilize
|
|
if(automatic == 0){
|
|
enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
|
|
}
|
|
enquecommand_P(PSTR("G1 E" STRINGIFY(-DEFAULT_RETRACTION)" F480"));
|
|
|
|
// Mark the power panic status as inactive.
|
|
eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
|
|
/*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
|
|
delay_keep_alive(1000);
|
|
}*/
|
|
|
|
printf_P(_N("After waiting for temp:\nCurrent pos X_AXIS:%.3f\nCurrent pos Y_AXIS:%.3f\n"), current_position[X_AXIS], current_position[Y_AXIS]);
|
|
|
|
// Restart the print.
|
|
restore_print_from_eeprom();
|
|
|
|
printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
|
|
void recover_machine_state_after_power_panic()
|
|
{
|
|
char cmd[30];
|
|
// 1) Recover the logical cordinates at the time of the power panic.
|
|
// The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
|
|
current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
|
|
current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
|
|
// Recover the logical coordinate of the Z axis at the time of the power panic.
|
|
// The current position after power panic is moved to the next closest 0th full step.
|
|
current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
|
|
UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / axis_steps_per_unit[Z_AXIS];
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
|
|
current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
|
|
sprintf_P(cmd, PSTR("G92 E"));
|
|
dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
|
|
enquecommand(cmd);
|
|
}
|
|
|
|
memcpy(destination, current_position, sizeof(destination));
|
|
|
|
SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
|
|
print_world_coordinates();
|
|
|
|
// 2) Initialize the logical to physical coordinate system transformation.
|
|
world2machine_initialize();
|
|
|
|
// 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
|
|
mbl.active = false;
|
|
for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
|
|
uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
|
|
uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
|
|
// Scale the z value to 10u resolution.
|
|
int16_t v;
|
|
eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
|
|
if (v != 0)
|
|
mbl.active = true;
|
|
mbl.z_values[iy][ix] = float(v) * 0.001f;
|
|
}
|
|
if (mbl.active)
|
|
mbl.upsample_3x3();
|
|
// SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
|
|
// print_mesh_bed_leveling_table();
|
|
|
|
// 4) Load the baby stepping value, which is expected to be active at the time of power panic.
|
|
// The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
|
|
babystep_load();
|
|
|
|
// 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
// 6) Power up the motors, mark their positions as known.
|
|
//FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
|
|
axis_known_position[X_AXIS] = true; enable_x();
|
|
axis_known_position[Y_AXIS] = true; enable_y();
|
|
axis_known_position[Z_AXIS] = true; enable_z();
|
|
|
|
SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
|
|
print_physical_coordinates();
|
|
|
|
// 7) Recover the target temperatures.
|
|
target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
|
|
target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
|
|
|
|
// 8) Recover extruder multipilers
|
|
extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
|
|
#if EXTRUDERS > 1
|
|
extruder_multiplier[1] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_1));
|
|
#if EXTRUDERS > 2
|
|
extruder_multiplier[2] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_2));
|
|
#endif
|
|
#endif
|
|
extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
|
|
}
|
|
|
|
void restore_print_from_eeprom() {
|
|
float x_rec, y_rec, z_pos;
|
|
int feedrate_rec;
|
|
uint8_t fan_speed_rec;
|
|
char cmd[30];
|
|
char* c;
|
|
char filename[13];
|
|
uint8_t depth = 0;
|
|
char dir_name[9];
|
|
|
|
fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
|
|
EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
|
|
SERIAL_ECHOPGM("Feedrate:");
|
|
MYSERIAL.println(feedrate_rec);
|
|
|
|
depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
|
|
|
|
MYSERIAL.println(int(depth));
|
|
for (int i = 0; i < depth; i++) {
|
|
for (int j = 0; j < 8; j++) {
|
|
dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
|
|
}
|
|
dir_name[8] = '\0';
|
|
MYSERIAL.println(dir_name);
|
|
strcpy(dir_names[i], dir_name);
|
|
card.chdir(dir_name);
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
|
|
}
|
|
filename[8] = '\0';
|
|
|
|
MYSERIAL.print(filename);
|
|
strcat_P(filename, PSTR(".gco"));
|
|
sprintf_P(cmd, PSTR("M23 %s"), filename);
|
|
enquecommand(cmd);
|
|
uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
|
|
SERIAL_ECHOPGM("Position read from eeprom:");
|
|
MYSERIAL.println(position);
|
|
|
|
// E axis relative mode.
|
|
enquecommand_P(PSTR("M83"));
|
|
// Move to the XY print position in logical coordinates, where the print has been killed.
|
|
strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
|
|
strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
|
|
strcat_P(cmd, PSTR(" F2000"));
|
|
enquecommand(cmd);
|
|
// Move the Z axis down to the print, in logical coordinates.
|
|
strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
|
|
enquecommand(cmd);
|
|
// Unretract.
|
|
enquecommand_P(PSTR("G1 E" STRINGIFY(2*DEFAULT_RETRACTION)" F480"));
|
|
// Set the feedrate saved at the power panic.
|
|
sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
|
|
enquecommand(cmd);
|
|
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
|
|
{
|
|
float extruder_abs_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
|
|
enquecommand_P(PSTR("M82")); //E axis abslute mode
|
|
}
|
|
// Set the fan speed saved at the power panic.
|
|
strcpy_P(cmd, PSTR("M106 S"));
|
|
strcat(cmd, itostr3(int(fan_speed_rec)));
|
|
enquecommand(cmd);
|
|
|
|
// Set a position in the file.
|
|
sprintf_P(cmd, PSTR("M26 S%lu"), position);
|
|
enquecommand(cmd);
|
|
// Start SD print.
|
|
enquecommand_P(PSTR("M24"));
|
|
}
|
|
#endif //UVLO_SUPPORT
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// save/restore printing
|
|
|
|
void stop_and_save_print_to_ram(float z_move, float e_move)
|
|
{
|
|
if (saved_printing) return;
|
|
unsigned char nplanner_blocks;
|
|
unsigned char nlines;
|
|
uint16_t sdlen_planner;
|
|
uint16_t sdlen_cmdqueue;
|
|
|
|
|
|
cli();
|
|
if (card.sdprinting) {
|
|
nplanner_blocks = number_of_blocks();
|
|
saved_sdpos = sdpos_atomic; //atomic sd position of last command added in queue
|
|
sdlen_planner = planner_calc_sd_length(); //length of sd commands in planner
|
|
saved_sdpos -= sdlen_planner;
|
|
sdlen_cmdqueue = cmdqueue_calc_sd_length(); //length of sd commands in cmdqueue
|
|
saved_sdpos -= sdlen_cmdqueue;
|
|
saved_printing_type = PRINTING_TYPE_SD;
|
|
|
|
}
|
|
else if (is_usb_printing) { //reuse saved_sdpos for storing line number
|
|
saved_sdpos = gcode_LastN; //start with line number of command added recently to cmd queue
|
|
//reuse planner_calc_sd_length function for getting number of lines of commands in planner:
|
|
nlines = planner_calc_sd_length(); //number of lines of commands in planner
|
|
saved_sdpos -= nlines;
|
|
saved_sdpos -= buflen; //number of blocks in cmd buffer
|
|
saved_printing_type = PRINTING_TYPE_USB;
|
|
}
|
|
else {
|
|
//not sd printing nor usb printing
|
|
}
|
|
|
|
#if 0
|
|
SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
|
|
SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
|
|
SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
|
|
SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
|
|
SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
|
|
SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
|
|
//SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
|
|
|
|
|
|
{
|
|
card.setIndex(saved_sdpos);
|
|
SERIAL_ECHOLNPGM("Content of planner buffer: ");
|
|
for (unsigned int idx = 0; idx < sdlen_planner; ++ idx)
|
|
MYSERIAL.print(char(card.get()));
|
|
SERIAL_ECHOLNPGM("Content of command buffer: ");
|
|
for (unsigned int idx = 0; idx < sdlen_cmdqueue; ++ idx)
|
|
MYSERIAL.print(char(card.get()));
|
|
SERIAL_ECHOLNPGM("End of command buffer");
|
|
}
|
|
{
|
|
// Print the content of the planner buffer, line by line:
|
|
card.setIndex(saved_sdpos);
|
|
int8_t iline = 0;
|
|
for (unsigned char idx = block_buffer_tail; idx != block_buffer_head; idx = (idx + 1) & (BLOCK_BUFFER_SIZE - 1), ++ iline) {
|
|
SERIAL_ECHOPGM("Planner line (from file): ");
|
|
MYSERIAL.print(int(iline), DEC);
|
|
SERIAL_ECHOPGM(", length: ");
|
|
MYSERIAL.print(block_buffer[idx].sdlen, DEC);
|
|
SERIAL_ECHOPGM(", steps: (");
|
|
MYSERIAL.print(block_buffer[idx].steps_x, DEC);
|
|
SERIAL_ECHOPGM(",");
|
|
MYSERIAL.print(block_buffer[idx].steps_y, DEC);
|
|
SERIAL_ECHOPGM(",");
|
|
MYSERIAL.print(block_buffer[idx].steps_z, DEC);
|
|
SERIAL_ECHOPGM(",");
|
|
MYSERIAL.print(block_buffer[idx].steps_e, DEC);
|
|
SERIAL_ECHOPGM("), events: ");
|
|
MYSERIAL.println(block_buffer[idx].step_event_count, DEC);
|
|
for (int len = block_buffer[idx].sdlen; len > 0; -- len)
|
|
MYSERIAL.print(char(card.get()));
|
|
}
|
|
}
|
|
{
|
|
// Print the content of the command buffer, line by line:
|
|
int8_t iline = 0;
|
|
union {
|
|
struct {
|
|
char lo;
|
|
char hi;
|
|
} lohi;
|
|
uint16_t value;
|
|
} sdlen_single;
|
|
int _bufindr = bufindr;
|
|
for (int _buflen = buflen; _buflen > 0; ++ iline) {
|
|
if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD) {
|
|
sdlen_single.lohi.lo = cmdbuffer[_bufindr + 1];
|
|
sdlen_single.lohi.hi = cmdbuffer[_bufindr + 2];
|
|
}
|
|
SERIAL_ECHOPGM("Buffer line (from buffer): ");
|
|
MYSERIAL.print(int(iline), DEC);
|
|
SERIAL_ECHOPGM(", type: ");
|
|
MYSERIAL.print(int(cmdbuffer[_bufindr]), DEC);
|
|
SERIAL_ECHOPGM(", len: ");
|
|
MYSERIAL.println(sdlen_single.value, DEC);
|
|
// Print the content of the buffer line.
|
|
MYSERIAL.println(cmdbuffer + _bufindr + CMDHDRSIZE);
|
|
|
|
SERIAL_ECHOPGM("Buffer line (from file): ");
|
|
MYSERIAL.println(int(iline), DEC);
|
|
for (; sdlen_single.value > 0; -- sdlen_single.value)
|
|
MYSERIAL.print(char(card.get()));
|
|
|
|
if (-- _buflen == 0)
|
|
break;
|
|
// First skip the current command ID and iterate up to the end of the string.
|
|
for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
|
|
// Second, skip the end of string null character and iterate until a nonzero command ID is found.
|
|
for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
|
|
// If the end of the buffer was empty,
|
|
if (_bufindr == sizeof(cmdbuffer)) {
|
|
// skip to the start and find the nonzero command.
|
|
for (_bufindr = 0; cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if 0
|
|
saved_feedrate2 = feedrate; //save feedrate
|
|
#else
|
|
// Try to deduce the feedrate from the first block of the planner.
|
|
// Speed is in mm/min.
|
|
saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
|
|
#endif
|
|
|
|
planner_abort_hard(); //abort printing
|
|
memcpy(saved_pos, current_position, sizeof(saved_pos));
|
|
saved_active_extruder = active_extruder; //save active_extruder
|
|
|
|
saved_extruder_under_pressure = extruder_under_pressure; //extruder under pressure flag - currently unused
|
|
saved_extruder_relative_mode = axis_relative_modes[E_AXIS];
|
|
cmdqueue_reset(); //empty cmdqueue
|
|
card.sdprinting = false;
|
|
// card.closefile();
|
|
saved_printing = true;
|
|
// We may have missed a stepper timer interrupt. Be safe than sorry, reset the stepper timer before re-enabling interrupts.
|
|
st_reset_timer();
|
|
sei();
|
|
if ((z_move != 0) || (e_move != 0)) { // extruder or z move
|
|
#if 1
|
|
// Rather than calling plan_buffer_line directly, push the move into the command queue,
|
|
char buf[48];
|
|
|
|
// First unretract (relative extrusion)
|
|
if(!saved_extruder_relative_mode){
|
|
strcpy_P(buf, PSTR("M83"));
|
|
enquecommand(buf, false);
|
|
}
|
|
|
|
//retract 45mm/s
|
|
strcpy_P(buf, PSTR("G1 E"));
|
|
dtostrf(e_move, 6, 3, buf + strlen(buf));
|
|
strcat_P(buf, PSTR(" F"));
|
|
dtostrf(2700, 8, 3, buf + strlen(buf));
|
|
enquecommand(buf, false);
|
|
|
|
// Then lift Z axis
|
|
strcpy_P(buf, PSTR("G1 Z"));
|
|
dtostrf(saved_pos[Z_AXIS] + z_move, 8, 3, buf + strlen(buf));
|
|
strcat_P(buf, PSTR(" F"));
|
|
dtostrf(homing_feedrate[Z_AXIS], 8, 3, buf + strlen(buf));
|
|
// At this point the command queue is empty.
|
|
enquecommand(buf, false);
|
|
// If this call is invoked from the main Arduino loop() function, let the caller know that the command
|
|
// in the command queue is not the original command, but a new one, so it should not be removed from the queue.
|
|
repeatcommand_front();
|
|
#else
|
|
plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS] + z_move, saved_pos[E_AXIS] + e_move, homing_feedrate[Z_AXIS], active_extruder);
|
|
st_synchronize(); //wait moving
|
|
memcpy(current_position, saved_pos, sizeof(saved_pos));
|
|
memcpy(destination, current_position, sizeof(destination));
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void restore_print_from_ram_and_continue(float e_move)
|
|
{
|
|
if (!saved_printing) return;
|
|
// for (int axis = X_AXIS; axis <= E_AXIS; axis++)
|
|
// current_position[axis] = st_get_position_mm(axis);
|
|
active_extruder = saved_active_extruder; //restore active_extruder
|
|
feedrate = saved_feedrate2; //restore feedrate
|
|
axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
|
|
float e = saved_pos[E_AXIS] - e_move;
|
|
plan_set_e_position(e);
|
|
//first move print head in XY to the saved position:
|
|
plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], current_position[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
|
|
st_synchronize();
|
|
//then move Z
|
|
plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
|
|
st_synchronize();
|
|
//and finaly unretract (35mm/s)
|
|
plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], 35, active_extruder);
|
|
st_synchronize();
|
|
|
|
memcpy(current_position, saved_pos, sizeof(saved_pos));
|
|
memcpy(destination, current_position, sizeof(destination));
|
|
if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
|
|
card.setIndex(saved_sdpos);
|
|
sdpos_atomic = saved_sdpos;
|
|
card.sdprinting = true;
|
|
printf_P(PSTR("ok\n")); //dummy response because of octoprint is waiting for this
|
|
}
|
|
else if (saved_printing_type == PRINTING_TYPE_USB) { //was usb printing
|
|
gcode_LastN = saved_sdpos; //saved_sdpos was reused for storing line number when usb printing
|
|
serial_count = 0;
|
|
FlushSerialRequestResend();
|
|
}
|
|
else {
|
|
//not sd printing nor usb printing
|
|
}
|
|
lcd_setstatuspgm(_T(WELCOME_MSG));
|
|
saved_printing = false;
|
|
}
|
|
|
|
void print_world_coordinates()
|
|
{
|
|
printf_P(_N("world coordinates: (%.3f, %.3f, %.3f)\n"), current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
|
|
}
|
|
|
|
void print_physical_coordinates()
|
|
{
|
|
printf_P(_N("physical coordinates: (%.3f, %.3f, %.3f)\n"), st_get_position_mm[X_AXIS], st_get_position_mm[Y_AXIS], st_get_position_mm[Z_AXIS]);
|
|
}
|
|
|
|
void print_mesh_bed_leveling_table()
|
|
{
|
|
SERIAL_ECHOPGM("mesh bed leveling: ");
|
|
for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
|
|
for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
|
|
MYSERIAL.print(mbl.z_values[y][x], 3);
|
|
SERIAL_ECHOPGM(" ");
|
|
}
|
|
SERIAL_ECHOLNPGM("");
|
|
}
|
|
|
|
uint16_t print_time_remaining() {
|
|
uint16_t print_t = PRINT_TIME_REMAINING_INIT;
|
|
if (SilentModeMenu == SILENT_MODE_OFF) print_t = print_time_remaining_normal;
|
|
else print_t = print_time_remaining_silent;
|
|
if ((print_t != PRINT_TIME_REMAINING_INIT) && (feedmultiply != 0)) print_t = 100 * print_t / feedmultiply;
|
|
return print_t;
|
|
}
|
|
|
|
uint8_t print_percent_done() {
|
|
//in case that we have information from M73 gcode return percentage counted by slicer, else return percentage counted as byte_printed/filesize
|
|
uint8_t percent_done = 0;
|
|
if (SilentModeMenu == SILENT_MODE_OFF && print_percent_done_normal <= 100) {
|
|
percent_done = print_percent_done_normal;
|
|
}
|
|
else if (print_percent_done_silent <= 100) {
|
|
percent_done = print_percent_done_silent;
|
|
}
|
|
else {
|
|
percent_done = card.percentDone();
|
|
}
|
|
return percent_done;
|
|
}
|
|
|
|
static void print_time_remaining_init() {
|
|
print_time_remaining_normal = PRINT_TIME_REMAINING_INIT;
|
|
print_time_remaining_silent = PRINT_TIME_REMAINING_INIT;
|
|
print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
|
|
print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
|
|
}
|
|
|
|
bool mmu_get_reponse() {
|
|
bool response = true;
|
|
LongTimer mmu_get_reponse_timeout;
|
|
uart2_rx_clr();
|
|
|
|
mmu_get_reponse_timeout.start();
|
|
while (!uart2_rx_ok())
|
|
{
|
|
delay_keep_alive(100);
|
|
if (mmu_get_reponse_timeout.expired(180 * 1000ul)) { //3 minutes timeout
|
|
response = false;
|
|
break;
|
|
}
|
|
}
|
|
return response;
|
|
}
|
|
|
|
void mmu_not_responding() {
|
|
printf_P(PSTR("MMU not responding"));
|
|
}
|
|
|
|
void mmu_load_to_nozzle() {
|
|
/*bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
|
|
if (!saved_e_relative_mode) {
|
|
enquecommand_front_P(PSTR("M82")); // set extruder to relative mode
|
|
}
|
|
enquecommand_front_P((PSTR("G1 E7.2000 F562")));
|
|
enquecommand_front_P((PSTR("G1 E14.4000 F871")));
|
|
enquecommand_front_P((PSTR("G1 E36.0000 F1393")));
|
|
enquecommand_front_P((PSTR("G1 E14.4000 F871")));
|
|
if (!saved_e_relative_mode) {
|
|
enquecommand_front_P(PSTR("M83")); // set extruder to relative mode
|
|
}*/
|
|
st_synchronize();
|
|
|
|
bool saved_e_relative_mode = axis_relative_modes[E_AXIS];
|
|
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_switch_extruder(uint8_t extruder) {
|
|
|
|
}
|
|
|
|
void mmu_M600_load_filament() {
|
|
#ifdef SNMM_V2
|
|
bool response = false;
|
|
tmp_extruder = choose_extruder_menu();
|
|
lcd_update_enable(false);
|
|
lcd_clear();
|
|
lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
|
|
lcd_print(" ");
|
|
lcd_print(snmm_extruder + 1);
|
|
snmm_filaments_used |= (1 << tmp_extruder); //for stop print
|
|
printf_P(PSTR("T code: %d \n"), tmp_extruder);
|
|
fprintf_P(uart2io, PSTR("T%d\n"), tmp_extruder);
|
|
response = mmu_get_reponse();
|
|
if (!response) mmu_not_responding();
|
|
|
|
snmm_extruder = tmp_extruder; //filament change is finished
|
|
|
|
mmu_load_to_nozzle();
|
|
#endif
|
|
}
|
|
|
|
void M600_load_filament_movements() {
|
|
#ifdef SNMM
|
|
display_loading();
|
|
do {
|
|
current_position[E_AXIS] += 0.002;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
|
|
delay_keep_alive(2);
|
|
} while (!lcd_clicked());
|
|
|
|
st_synchronize();
|
|
current_position[E_AXIS] += bowden_length[snmm_extruder];
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000, active_extruder);
|
|
current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1400, active_extruder);
|
|
current_position[E_AXIS] += 40;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
|
|
current_position[E_AXIS] += 10;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
|
|
|
|
#else
|
|
current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
|
|
#endif
|
|
current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
|
|
|
|
lcd_loading_filament();
|
|
}
|
|
|
|
void M600_load_filament(bool fsensor_enabled) {
|
|
|
|
lcd_wait_interact();
|
|
|
|
//load_filament_time = millis();
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
|
#ifdef PAT9125
|
|
if (filament_autoload_enabled && (fsensor_enabled || fsensor_watch_runout)) fsensor_autoload_check_start();
|
|
#endif //PAT9125
|
|
while(!lcd_clicked())
|
|
{
|
|
manage_heater();
|
|
manage_inactivity(true);
|
|
#ifdef PAT9125
|
|
if (filament_autoload_enabled && (fsensor_enabled || fsensor_watch_runout) && fsensor_check_autoload())
|
|
{
|
|
tone(BEEPER, 1000);
|
|
delay_keep_alive(50);
|
|
noTone(BEEPER);
|
|
break;
|
|
}
|
|
#endif //PAT9125
|
|
|
|
}
|
|
#ifdef PAT9125
|
|
if (filament_autoload_enabled && (fsensor_enabled || fsensor_watch_runout)) fsensor_autoload_check_stop();
|
|
#endif //PAT9125
|
|
KEEPALIVE_STATE(IN_HANDLER);
|
|
|
|
M600_load_filament_movements();
|
|
|
|
tone(BEEPER, 500);
|
|
delay_keep_alive(50);
|
|
noTone(BEEPER);
|
|
|
|
}
|
|
|
|
#define FIL_LOAD_LENGTH 60
|