Merge branch 'MK3' into MK3-Gcode_documentation

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"
 

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

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;
+        raise_z_above(MESH_HOME_Z_SEARCH);
-		feedrate = homing_feedrate[Z_AXIS];
-		plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
 		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
+              raise_z_above(Z_RAISE_BEFORE_HOMING);
-              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] )) 
+              raise_z_above(MESH_HOME_Z_SEARCH);
-      			  {
+              st_synchronize();
-                homeaxis(X_AXIS);
+              if (!axis_known_position[X_AXIS]) homeaxis(X_AXIS);
-                homeaxis(Y_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[X_AXIS] / 20;
-              feedrate = homing_feedrate[Z_AXIS]/10;
-              current_position[Z_AXIS] = 0;
               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<NUM_AXIS; i++) 
 		{
-			uint16_t res_new = code_value();
+			if(code_seen(axis_codes[i]))
-			if ((res_new == 8) || (res_new == 16) || (res_new == 32) || (res_new == 64) || (res_new == 128))
 			{
-				st_synchronize();
+				uint16_t res_new = code_value();
-				uint8_t axis = E_AXIS;
+				bool res_valid = (res_new == 8) || (res_new == 16) || (res_new == 32); // resolutions valid for all axis
-				uint16_t res = tmc2130_get_res(axis);
+				res_valid |= (i != E_AXIS) && ((res_new == 1) || (res_new == 2) || (res_new == 4)); // resolutions valid for X Y Z only
-				tmc2130_set_res(axis, res_new);
+				res_valid |= (i == E_AXIS) && ((res_new == 64) || (res_new == 128)); // resolutions valid for E only
-				cs.axis_ustep_resolution[axis] = res_new;
+				if (res_valid)
-				if (res_new > res)
 				{
-					uint16_t fac = (res_new / res);
+					
-					cs.axis_steps_per_unit[axis] *= fac;
+					st_synchronize();
-					position[E_AXIS] *= fac;
+					uint16_t res = tmc2130_get_res(i);
-				}
+					tmc2130_set_res(i, res_new);
-				else
+					cs.axis_ustep_resolution[i] = res_new;
-				{
+					if (res_new > res)
-					uint16_t fac = (res / res_new);
+					{
-					cs.axis_steps_per_unit[axis] /= fac;
+						uint16_t fac = (res_new / res);
-					position[E_AXIS] /= fac;
+						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() {

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
+            ++retry; // overflow not handled, as it is not dangerous.
-            if (1 == eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED))
+            if (retry >= max_retry)
             {
-                mmu_command(MmuCmd::K0 + tmp_extruder);
+                state = Ls::Unload;
-                manage_response(true, true, MMU_UNLOAD_MOVE);
+#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);

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;
 }
 

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();
+            lcd_commands_type = LcdCommands::Idle;
-               if (lcd_commands_type == LcdCommands::LongPause) // !!! because "lcd_commands_type" can be changed during/inside "long_pause()"
+            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;