diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h index 589d428a7..e11790e35 100644 --- a/Firmware/Configuration.h +++ b/Firmware/Configuration.h @@ -345,7 +345,7 @@ your extruder heater takes 2 minutes to hit the target on heating. #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 - #define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. + #define Z_RAISE_BEFORE_HOMING 5 // (in mm) Raise Z before homing (G28) for Probe Clearance. // Be sure you have this distance over your Z_MAX_POS in case #define XY_TRAVEL_SPEED 8000 // X and Y axis travel speed between probes, in mm/min @@ -549,6 +549,12 @@ enum CalibrationStatus CALIBRATION_STATUS_UNKNOWN = 0, }; +// Try to maintain a minimum distance from the bed even when Z is +// unknown when doing the following operations +#define MIN_Z_FOR_LOAD 50 +#define MIN_Z_FOR_UNLOAD 20 +#define MIN_Z_FOR_PREHEAT 10 + #include "Configuration_adv.h" #include "thermistortables.h" diff --git a/Firmware/Marlin.h b/Firmware/Marlin.h index c1a7b5627..8a396dac1 100755 --- a/Firmware/Marlin.h +++ b/Firmware/Marlin.h @@ -358,9 +358,6 @@ extern int fan_speed[2]; // Handling multiple extruders pins extern uint8_t active_extruder; - -#endif - //Long pause extern unsigned long pause_time; extern unsigned long start_pause_print; @@ -513,4 +510,6 @@ void M600_wait_for_user(float HotendTempBckp); void M600_check_state(float nozzle_temp); void load_filament_final_feed(); void marlin_wait_for_click(); -void marlin_rise_z(void); +void raise_z_above(float target, bool plan=true); + +#endif diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 9a048d533..e4f6cf670 100755 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -2104,6 +2104,52 @@ bool check_commands() { } + +// raise_z_above: slowly raise Z to the requested height +// +// contrarily to a simple move, this function will carefully plan a move +// when the current Z position is unknown. In such cases, stallguard is +// enabled and will prevent prolonged pushing against the Z tops +void raise_z_above(float target, bool plan) +{ + if (current_position[Z_AXIS] >= target) + return; + + // Z needs raising + current_position[Z_AXIS] = target; + + if (axis_known_position[Z_AXIS]) + { + // current position is known, it's safe to raise Z + if(plan) plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS], active_extruder); + return; + } + + // ensure Z is powered in normal mode to overcome initial load + enable_z(); + st_synchronize(); + + // rely on crashguard to limit damage + bool z_endstop_enabled = enable_z_endstop(true); +#ifdef TMC2130 + tmc2130_home_enter(Z_AXIS_MASK); +#endif //TMC2130 + plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder); + st_synchronize(); +#ifdef TMC2130 + if (endstop_z_hit_on_purpose()) + { + // not necessarily exact, but will avoid further vertical moves + current_position[Z_AXIS] = max_pos[Z_AXIS]; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], + current_position[Z_AXIS], current_position[E_AXIS]); + } + tmc2130_home_exit(); +#endif //TMC2130 + enable_z_endstop(z_endstop_enabled); +} + + #ifdef TMC2130 bool calibrate_z_auto() { @@ -2484,9 +2530,7 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon //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_curposXYZE(feedrate / 60, active_extruder); + raise_z_above(MESH_HOME_Z_SEARCH); st_synchronize(); } #ifdef ENABLE_AUTO_BED_LEVELING @@ -2597,26 +2641,21 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon #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); + raise_z_above(Z_RAISE_BEFORE_HOMING); 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); - } + raise_z_above(MESH_HOME_Z_SEARCH); + st_synchronize(); + if (!axis_known_position[X_AXIS]) homeaxis(X_AXIS); + if (!axis_known_position[Y_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; + feedrate = homing_feedrate[X_AXIS] / 20; enable_endstops(false); #ifdef DEBUG_BUILD SERIAL_ECHOLNPGM("plan_set_position()"); @@ -3143,15 +3182,6 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float custom_message_type = CustomMsg::Status; } -//! @brief Rise Z if too low to avoid blob/jam before filament loading -//! -//! It doesn't plan_buffer_line(), as it expects plan_buffer_line() to be called after -//! during extruding (loading) filament. -void marlin_rise_z(void) -{ - if (current_position[Z_AXIS] < 20) current_position[Z_AXIS] += 30; -} - void gcode_M701() { printf_P(PSTR("gcode_M701 begin\n")); @@ -3180,7 +3210,7 @@ void gcode_M701() plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence st_synchronize(); - marlin_rise_z(); + raise_z_above(MIN_Z_FOR_LOAD, false); current_position[E_AXIS] += 30; plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence @@ -8145,27 +8175,33 @@ Sigma_Exit: case 350: { #ifdef TMC2130 - if(code_seen('E')) + for (int i=0; i res) + uint16_t res_new = code_value(); + bool res_valid = (res_new == 8) || (res_new == 16) || (res_new == 32); // resolutions valid for all axis + res_valid |= (i != E_AXIS) && ((res_new == 1) || (res_new == 2) || (res_new == 4)); // resolutions valid for X Y Z only + res_valid |= (i == E_AXIS) && ((res_new == 64) || (res_new == 128)); // resolutions valid for E only + if (res_valid) { - uint16_t fac = (res_new / res); - cs.axis_steps_per_unit[axis] *= fac; - position[E_AXIS] *= fac; - } - else - { - uint16_t fac = (res / res_new); - cs.axis_steps_per_unit[axis] /= fac; - position[E_AXIS] /= fac; + + st_synchronize(); + uint16_t res = tmc2130_get_res(i); + tmc2130_set_res(i, res_new); + cs.axis_ustep_resolution[i] = res_new; + if (res_new > res) + { + uint16_t fac = (res_new / res); + cs.axis_steps_per_unit[i] *= fac; + position[i] *= fac; + } + else + { + uint16_t fac = (res / res_new); + cs.axis_steps_per_unit[i] /= fac; + position[i] /= fac; + } } } } @@ -10057,10 +10093,9 @@ void long_pause() //long pause print current_position[Y_AXIS] = Y_PAUSE_POS; plan_buffer_line_curposXYZE(50, active_extruder); - // Turn off the print fan + // Turn off the hotends and print fan + setAllTargetHotends(0); fanSpeed = 0; - - st_synchronize(); } void serialecho_temperatures() { diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp index d8ae497ba..673f8a40e 100755 --- a/Firmware/mmu.cpp +++ b/Firmware/mmu.cpp @@ -1355,7 +1355,7 @@ void lcd_mmu_load_to_nozzle(uint8_t filament_nr) manage_response(true, true, MMU_TCODE_MOVE); mmu_continue_loading(false); mmu_extruder = tmp_extruder; //filament change is finished - marlin_rise_z(); + raise_z_above(MIN_Z_FOR_LOAD, false); mmu_load_to_nozzle(); load_filament_final_feed(); st_synchronize(); @@ -1556,19 +1556,23 @@ void mmu_continue_loading(bool blocking) increment_load_fail(); // no break case Ls::Retry: -#ifdef MMU_HAS_CUTTER - if (1 == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED)) + ++retry; // overflow not handled, as it is not dangerous. + if (retry >= max_retry) { - mmu_command(MmuCmd::K0 + tmp_extruder); - manage_response(true, true, MMU_UNLOAD_MOVE); - } + state = Ls::Unload; +#ifdef MMU_HAS_CUTTER + if (1 == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED)) + { + mmu_command(MmuCmd::K0 + tmp_extruder); + manage_response(true, true, MMU_UNLOAD_MOVE); + } #endif //MMU_HAS_CUTTER + } mmu_command(MmuCmd::T0 + tmp_extruder); manage_response(true, true, MMU_TCODE_MOVE); success = load_more(); if (success) success = can_load(); - ++retry; // overflow not handled, as it is not dangerous. - if (retry >= max_retry) state = Ls::Unload; + break; case Ls::Unload: stop_and_save_print_to_ram(0, 0); diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp index 42359ba84..6a79f51ac 100755 --- a/Firmware/tmc2130.cpp +++ b/Firmware/tmc2130.cpp @@ -427,7 +427,7 @@ void tmc2130_check_overtemp() void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r) { - uint8_t intpol = 1; + uint8_t intpol = (mres != 0); // intpol to 256 only if microsteps aren't 256 uint8_t toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz) uint8_t hstrt = tmc2130_chopper_config[axis].hstr; //initial 4, modified to 5 uint8_t hend = tmc2130_chopper_config[axis].hend; //original value = 1 @@ -600,7 +600,7 @@ void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32) uint8_t tmc2130_usteps2mres(uint16_t usteps) { - uint8_t mres = 8; while (mres && (usteps >>= 1)) mres--; + uint8_t mres = 8; while (usteps >>= 1) mres--; return mres; } diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp index b590555d6..5e7facf1a 100755 --- a/Firmware/ultralcd.cpp +++ b/Firmware/ultralcd.cpp @@ -310,18 +310,24 @@ bool bSettings; // flag (i.e. 'fake parameter' const char STR_SEPARATOR[] PROGMEM = "------------"; -static void lcd_implementation_drawmenu_sdfile_selected(uint8_t row, char* longFilename) +static void lcd_implementation_drawmenu_sdfile_selected(uint8_t row, const char* filename, char* longFilename) { char c; - int enc_dif = lcd_encoder_diff; + int enc_dif = lcd_encoder_diff / ENCODER_PULSES_PER_STEP; uint8_t n = LCD_WIDTH - 1; + for(uint_least8_t g = 0; g<4;g++){ lcd_set_cursor(0, g); lcd_print(' '); } - lcd_set_cursor(0, row); lcd_print('>'); + + if (longFilename[0] == '\0') + { + longFilename = filename; + } + int i = 1; int j = 0; char* longFilenameTMP = longFilename; @@ -339,7 +345,7 @@ static void lcd_implementation_drawmenu_sdfile_selected(uint8_t row, char* longF n = LCD_WIDTH - 1; for(int g = 0; g<300 ;g++){ manage_heater(); - if(LCD_CLICKED || ( enc_dif != lcd_encoder_diff )){ + if(LCD_CLICKED || ( enc_dif != (lcd_encoder_diff / ENCODER_PULSES_PER_STEP))){ longFilenameTMP = longFilename; *(longFilenameTMP + LCD_WIDTH - 2) = '\0'; i = 1; @@ -537,7 +543,7 @@ static uint8_t menu_item_sdfile(const char* if (lcd_draw_update) { if (lcd_encoder == menu_item) - lcd_implementation_drawmenu_sdfile_selected(menu_row, str_fnl); + lcd_implementation_drawmenu_sdfile_selected(menu_row, str_fn, str_fnl); else lcd_implementation_drawmenu_sdfile(menu_row, str_fn, str_fnl); } @@ -709,10 +715,10 @@ void lcdui_print_status_line(void) { if (IS_SD_PRINTING) { - if (strcmp(longFilenameOLD, card.longFilename) != 0) + if (strcmp(longFilenameOLD, (card.longFilename[0] ? card.longFilename : card.filename)) != 0) { memset(longFilenameOLD, '\0', strlen(longFilenameOLD)); - sprintf_P(longFilenameOLD, PSTR("%s"), card.longFilename); + sprintf_P(longFilenameOLD, PSTR("%s"), (card.longFilename[0] ? card.longFilename : card.filename)); scrollstuff = 0; } } @@ -760,16 +766,16 @@ void lcdui_print_status_line(void) } else if ((IS_SD_PRINTING) && (custom_message_type == CustomMsg::Status)) { // If printing from SD, show what we are printing - if(strlen(card.longFilename) > LCD_WIDTH) + if(strlen(longFilenameOLD) > LCD_WIDTH) { int inters = 0; int gh = scrollstuff; while (((gh - scrollstuff) < LCD_WIDTH) && (inters == 0)) { - if (card.longFilename[gh] == '\0') + if (longFilenameOLD[gh] == '\0') { lcd_set_cursor(gh - scrollstuff, 3); - lcd_print(card.longFilename[gh - 1]); + lcd_print(longFilenameOLD[gh - 1]); scrollstuff = 0; gh = scrollstuff; inters = 1; @@ -777,7 +783,7 @@ void lcdui_print_status_line(void) else { lcd_set_cursor(gh - scrollstuff, 3); - lcd_print(card.longFilename[gh - 1]); + lcd_print(longFilenameOLD[gh - 1]); gh++; } } @@ -785,7 +791,7 @@ void lcdui_print_status_line(void) } else { - lcd_print(longFilenameOLD); + lcd_printf_P(PSTR("%-20s"), longFilenameOLD); } } else @@ -1072,12 +1078,8 @@ void lcd_commands() if (!blocks_queued() && !homing_flag) { lcd_setstatuspgm(_i("Print paused"));////MSG_PRINT_PAUSED c=20 r=1 - long_pause(); - if (lcd_commands_type == LcdCommands::LongPause) // !!! because "lcd_commands_type" can be changed during/inside "long_pause()" - { - lcd_commands_type = LcdCommands::Idle; - lcd_commands_step = 0; - } + lcd_commands_type = LcdCommands::Idle; + lcd_commands_step = 0; } } @@ -1636,7 +1638,7 @@ void lcd_pause_print() { lcd_return_to_status(); stop_and_save_print_to_ram(0.0,0.0); - setAllTargetHotends(0); + long_pause(); isPrintPaused = true; if (LcdCommands::Idle == lcd_commands_type) { @@ -2374,9 +2376,11 @@ void mFilamentItem(uint16_t nTemp, uint16_t nTempBed) { lcd_commands_type = LcdCommands::Layer1Cal; } - else if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE)) + else { - lcd_wizard(WizState::LoadFilHot); + raise_z_above(MIN_Z_FOR_PREHEAT); + if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE)) + lcd_wizard(WizState::LoadFilHot); } return; } @@ -6363,6 +6367,8 @@ void unload_filament() custom_message_type = CustomMsg::FilamentLoading; lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT)); + raise_z_above(MIN_Z_FOR_UNLOAD); + // extr_unload2(); current_position[E_AXIS] -= 45;