510 lines
12 KiB
C++
510 lines
12 KiB
C++
//mmu.cpp
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#include "mmu.h"
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#include "planner.h"
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#include "language.h"
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#include "lcd.h"
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#include "uart2.h"
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#include "temperature.h"
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#include "Configuration_prusa.h"
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extern const char* lcd_display_message_fullscreen_P(const char *msg);
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extern void lcd_return_to_status();
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#define MMU_TIMEOUT 100
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bool mmu_enabled = false;
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uint8_t mmu_extruder = 0;
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int8_t mmu_finda = -1;
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int16_t mmu_version = -1;
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//clear rx buffer
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void mmu_clr_rx_buf(void)
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{
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while (fgetc(uart2io) >= 0);
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}
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//send command - puts
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int mmu_puts_P(const char* str)
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{
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mmu_clr_rx_buf(); //clear rx buffer
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return fputs_P(str, uart2io); //send command
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}
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//send command - printf
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int mmu_printf_P(const char* format, ...)
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{
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va_list args;
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va_start(args, format);
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mmu_clr_rx_buf(); //clear rx buffer
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int r = vfprintf_P(uart2io, format, args); //send command
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va_end(args);
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return r;
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}
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//check 'ok' response
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int8_t mmu_rx_ok(void)
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{
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return uart2_rx_str_P(PSTR("ok\n"));
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}
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//check 'start' response
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int8_t mmu_rx_start(void)
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{
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return uart2_rx_str_P(PSTR("start\n"));
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}
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//initialize mmu_unit
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bool mmu_init(void)
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{
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uart2_init(); //init uart2
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_delay_ms(10); //wait 10ms for sure
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if (mmu_reset()) //reset mmu
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{
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mmu_read_finda();
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mmu_read_version();
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return true;
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}
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return false;
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}
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bool mmu_reset(void)
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{
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mmu_puts_P(PSTR("X0\n")); //send command
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unsigned char timeout = 10; //timeout = 10x100ms
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while ((mmu_rx_start() <= 0) && (--timeout))
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delay_keep_alive(MMU_TIMEOUT);
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mmu_enabled = timeout?true:false;
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return mmu_enabled;
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}
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int8_t mmu_read_finda(void)
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{
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mmu_puts_P(PSTR("P0\n"));
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unsigned char timeout = 10; //10x100ms
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while ((mmu_rx_ok() <= 0) && (--timeout))
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delay_keep_alive(MMU_TIMEOUT);
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mmu_finda = -1;
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if (timeout)
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fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda);
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return mmu_finda;
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}
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int16_t mmu_read_version(void)
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{
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mmu_puts_P(PSTR("S1\n"));
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unsigned char timeout = 10; //10x100ms
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while ((mmu_rx_ok() <= 0) && (--timeout))
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delay_keep_alive(MMU_TIMEOUT);
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if (timeout)
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fscanf_P(uart2io, PSTR("%u"), &mmu_version);
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return mmu_version;
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}
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void extr_mov(float shift, float feed_rate)
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{ //move extruder no matter what the current heater temperature is
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set_extrude_min_temp(.0);
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current_position[E_AXIS] += shift;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feed_rate, active_extruder);
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set_extrude_min_temp(EXTRUDE_MINTEMP);
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}
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void change_extr(int extr) { //switches multiplexer for extruders
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#ifdef SNMM
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st_synchronize();
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delay(100);
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disable_e0();
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disable_e1();
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disable_e2();
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mmu_extruder = extr;
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pinMode(E_MUX0_PIN, OUTPUT);
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pinMode(E_MUX1_PIN, OUTPUT);
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switch (extr) {
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case 1:
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WRITE(E_MUX0_PIN, HIGH);
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WRITE(E_MUX1_PIN, LOW);
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break;
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case 2:
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WRITE(E_MUX0_PIN, LOW);
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WRITE(E_MUX1_PIN, HIGH);
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break;
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case 3:
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WRITE(E_MUX0_PIN, HIGH);
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WRITE(E_MUX1_PIN, HIGH);
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break;
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default:
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WRITE(E_MUX0_PIN, LOW);
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WRITE(E_MUX1_PIN, LOW);
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break;
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}
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delay(100);
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#endif
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}
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int get_ext_nr()
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{ //reads multiplexer input pins and return current extruder number (counted from 0)
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#ifndef SNMM
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return(mmu_extruder); //update needed
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#else
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return(2 * READ(E_MUX1_PIN) + READ(E_MUX0_PIN));
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#endif
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}
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void display_loading()
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{
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switch (mmu_extruder)
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{
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case 1: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T1)); break;
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case 2: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T2)); break;
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case 3: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T3)); break;
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default: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T0)); break;
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}
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}
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void extr_adj(int extruder) //loading filament for SNMM
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{
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#ifndef SNMM
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printf_P(PSTR("L%d \n"),extruder);
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fprintf_P(uart2io, PSTR("L%d\n"), extruder);
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//show which filament is currently loaded
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lcd_update_enable(false);
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lcd_clear();
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lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
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//if(strlen(_T(MSG_LOADING_FILAMENT))>18) lcd.setCursor(0, 1);
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//else lcd.print(" ");
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lcd_print(" ");
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lcd_print(mmu_extruder + 1);
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// get response
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manage_response(false, false);
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lcd_update_enable(true);
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//lcd_return_to_status();
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#else
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bool correct;
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max_feedrate[E_AXIS] =80;
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//max_feedrate[E_AXIS] = 50;
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START:
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lcd_clear();
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lcd_set_cursor(0, 0);
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switch (extruder) {
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case 1: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T1)); break;
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case 2: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T2)); break;
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case 3: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T3)); break;
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default: lcd_display_message_fullscreen_P(_T(MSG_FILAMENT_LOADING_T0)); break;
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}
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KEEPALIVE_STATE(PAUSED_FOR_USER);
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do{
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extr_mov(0.001,1000);
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delay_keep_alive(2);
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} while (!lcd_clicked());
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//delay_keep_alive(500);
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KEEPALIVE_STATE(IN_HANDLER);
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st_synchronize();
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//correct = lcd_show_fullscreen_message_yes_no_and_wait_P(MSG_FIL_LOADED_CHECK, false);
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//if (!correct) goto START;
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//extr_mov(BOWDEN_LENGTH/2.f, 500); //dividing by 2 is there because of max. extrusion length limitation (x_max + y_max)
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//extr_mov(BOWDEN_LENGTH/2.f, 500);
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extr_mov(bowden_length[extruder], 500);
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lcd_clear();
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lcd_set_cursor(0, 0); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
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if(strlen(_T(MSG_LOADING_FILAMENT))>18) lcd_set_cursor(0, 1);
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else lcd_print(" ");
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lcd_print(mmu_extruder + 1);
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lcd_set_cursor(0, 2); lcd_puts_P(_T(MSG_PLEASE_WAIT));
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st_synchronize();
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max_feedrate[E_AXIS] = 50;
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lcd_update_enable(true);
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lcd_return_to_status();
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lcdDrawUpdate = 2;
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#endif
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}
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void extr_unload()
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{ //unload just current filament for multimaterial printers
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#ifdef SNMM
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float tmp_motor[3] = DEFAULT_PWM_MOTOR_CURRENT;
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float tmp_motor_loud[3] = DEFAULT_PWM_MOTOR_CURRENT_LOUD;
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uint8_t SilentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
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#endif
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if (degHotend0() > EXTRUDE_MINTEMP)
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{
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#ifndef SNMM
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st_synchronize();
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//show which filament is currently unloaded
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lcd_update_enable(false);
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lcd_clear();
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lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_UNLOADING_FILAMENT));
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lcd_print(" ");
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lcd_print(mmu_extruder + 1);
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current_position[E_AXIS] -= 80;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
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st_synchronize();
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printf_P(PSTR("U0\n"));
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fprintf_P(uart2io, PSTR("U0\n"));
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// get response
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manage_response(false, true);
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lcd_update_enable(true);
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#else //SNMM
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lcd_clear();
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lcd_display_message_fullscreen_P(PSTR(""));
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max_feedrate[E_AXIS] = 50;
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lcd_set_cursor(0, 0); lcd_puts_P(_T(MSG_UNLOADING_FILAMENT));
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lcd_print(" ");
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lcd_print(mmu_extruder + 1);
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lcd_set_cursor(0, 2); lcd_puts_P(_T(MSG_PLEASE_WAIT));
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if (current_position[Z_AXIS] < 15) {
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current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, active_extruder);
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}
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current_position[E_AXIS] += 10; //extrusion
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 10, active_extruder);
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st_current_set(2, E_MOTOR_HIGH_CURRENT);
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if (current_temperature[0] < 230) { //PLA & all other filaments
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current_position[E_AXIS] += 5.4;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
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current_position[E_AXIS] += 3.2;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
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current_position[E_AXIS] += 3;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
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}
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else { //ABS
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current_position[E_AXIS] += 3.1;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
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current_position[E_AXIS] += 3.1;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
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current_position[E_AXIS] += 4;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
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/*current_position[X_AXIS] += 23; //delay
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay
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current_position[X_AXIS] -= 23; //delay
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay*/
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delay_keep_alive(4700);
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}
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max_feedrate[E_AXIS] = 80;
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current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
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current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
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st_synchronize();
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//st_current_init();
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if (SilentMode != SILENT_MODE_OFF) st_current_set(2, tmp_motor[2]); //set back to normal operation currents
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else st_current_set(2, tmp_motor_loud[2]);
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lcd_update_enable(true);
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lcd_return_to_status();
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max_feedrate[E_AXIS] = 50;
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#endif //SNMM
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}
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else
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{
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lcd_clear();
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lcd_set_cursor(0, 0);
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lcd_puts_P(_T(MSG_ERROR));
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lcd_set_cursor(0, 2);
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lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
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delay(2000);
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lcd_clear();
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}
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//lcd_return_to_status();
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}
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//wrapper functions for loading filament
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void extr_adj_0()
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{
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#ifndef SNMM
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enquecommand_P(PSTR("M701 E0"));
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#else
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change_extr(0);
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extr_adj(0);
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#endif
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}
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void extr_adj_1()
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{
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#ifndef SNMM
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enquecommand_P(PSTR("M701 E1"));
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#else
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change_extr(1);
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extr_adj(1);
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#endif
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}
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void extr_adj_2()
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{
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#ifndef SNMM
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enquecommand_P(PSTR("M701 E2"));
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#else
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change_extr(2);
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extr_adj(2);
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#endif
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}
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void extr_adj_3()
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{
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#ifndef SNMM
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enquecommand_P(PSTR("M701 E3"));
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#else
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change_extr(3);
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extr_adj(3);
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#endif
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}
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void extr_adj_4()
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{
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#ifndef SNMM
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enquecommand_P(PSTR("M701 E4"));
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#else
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change_extr(4);
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extr_adj(4);
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#endif
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}
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void load_all()
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{
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#ifndef SNMM
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enquecommand_P(PSTR("M701 E0"));
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enquecommand_P(PSTR("M701 E1"));
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enquecommand_P(PSTR("M701 E2"));
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enquecommand_P(PSTR("M701 E3"));
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enquecommand_P(PSTR("M701 E4"));
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#else
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for (int i = 0; i < 4; i++)
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{
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change_extr(i);
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extr_adj(i);
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}
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#endif
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}
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//wrapper functions for changing extruders
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void extr_change_0()
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{
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change_extr(0);
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lcd_return_to_status();
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}
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void extr_change_1()
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{
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change_extr(1);
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lcd_return_to_status();
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}
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void extr_change_2()
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{
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change_extr(2);
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lcd_return_to_status();
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}
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void extr_change_3()
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{
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change_extr(3);
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lcd_return_to_status();
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}
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//wrapper functions for unloading filament
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void extr_unload_all()
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{
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if (degHotend0() > EXTRUDE_MINTEMP)
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{
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for (int i = 0; i < 4; i++)
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{
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change_extr(i);
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extr_unload();
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}
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}
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else
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{
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lcd_clear();
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lcd_set_cursor(0, 0);
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lcd_puts_P(_T(MSG_ERROR));
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lcd_set_cursor(0, 2);
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lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
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delay(2000);
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lcd_clear();
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lcd_return_to_status();
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}
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}
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//unloading just used filament (for snmm)
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void extr_unload_used()
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{
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if (degHotend0() > EXTRUDE_MINTEMP) {
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for (int i = 0; i < 4; i++) {
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if (snmm_filaments_used & (1 << i)) {
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change_extr(i);
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extr_unload();
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}
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}
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snmm_filaments_used = 0;
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}
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else {
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lcd_clear();
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lcd_set_cursor(0, 0);
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lcd_puts_P(_T(MSG_ERROR));
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lcd_set_cursor(0, 2);
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lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
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delay(2000);
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lcd_clear();
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lcd_return_to_status();
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}
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}
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void extr_unload_0()
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{
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change_extr(0);
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extr_unload();
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}
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void extr_unload_1()
|
|
{
|
|
change_extr(1);
|
|
extr_unload();
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|
}
|
|
|
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void extr_unload_2()
|
|
{
|
|
change_extr(2);
|
|
extr_unload();
|
|
}
|
|
|
|
void extr_unload_3()
|
|
{
|
|
change_extr(3);
|
|
extr_unload();
|
|
}
|
|
|
|
void extr_unload_4()
|
|
{
|
|
change_extr(4);
|
|
extr_unload();
|
|
}
|