void CardReader::removeFile(char* name) {
  if (!cardOK) return;

  file.close();
  sdprinting = false;

  SdFile myDir;
  curDir = &root;
  char *fname = name;

  char *dirname_start, *dirname_end;
  if (name[0] == '/') {
    dirname_start = strchr(name, '/') + 1;
    while (dirname_start > 0) {
      dirname_end = strchr(dirname_start, '/');
      if (dirname_end > 0 && dirname_end > dirname_start) {
        char subdirname[FILENAME_LENGTH];
        strncpy(subdirname, dirname_start, dirname_end - dirname_start);
        subdirname[dirname_end - dirname_start] = 0;
        ECHO_EV(subdirname);
        if (!myDir.open(curDir, subdirname, O_READ)) {
          ECHO_MV(MSG_SD_OPEN_FILE_FAIL, subdirname);
          ECHO_C('.');
          return;
        }

        curDir = &myDir;
        dirname_start = dirname_end + 1;
      }
      else { // the remainder after all /fsa/fdsa/ is the filename
        fname = dirname_start;
        break;
      }
    }
  }
  else { // relative path
    curDir = &workDir;
  }

  if (file.remove(curDir, fname)) {
    ECHO_EMV(MSG_SD_FILE_DELETED, fname);
    sdpos = 0;
  }
  else {
    ECHO_MV(MSG_SD_FILE_DELETION_ERR, fname);
    ECHO_C('.');
  }
}
void CardReader::getStatus() {
  if (cardOK) {
    ECHO_MV(SERIAL_SD_PRINTING_BYTE, sdpos);
    ECHO_EMV(SERIAL_SD_SLASH, filesize);
  } else
    ECHO_EM(SERIAL_SD_NOT_PRINTING);
}
void checkHitEndstops() {
  if (endstop_hit_bits) {
    ECHO_SM(DB, MSG_ENDSTOPS_HIT);
    if (endstop_hit_bits & BIT(X_MIN)) {
      ECHO_MV(MSG_ENDSTOP_X, (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
      LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_XS);
    }
    if (endstop_hit_bits & BIT(Y_MIN)) {
      ECHO_MV(MSG_ENDSTOP_Y, (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
      LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_YS);
    }
    if (endstop_hit_bits & BIT(Z_MIN)) {
      ECHO_MV(MSG_ENDSTOP_Z, (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
      LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ZS);
    }
    #ifdef Z_PROBE_ENDSTOP
    if (endstop_hit_bits & BIT(Z_PROBE)) {
      ECHO_MV(MSG_ENDSTOP_ZPS, (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
      LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ZPS);
    }
    #endif
    #ifdef NPR2
    if (endstop_hit_bits & BIT(E_MIN)) {
      ECHO_MV(MSG_ENDSTOP_E, (float)endstops_trigsteps[E_AXIS] / axis_steps_per_unit[E_AXIS]);
      LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ES);
    }
    #endif
    ECHO_E;

    endstops_hit_on_purpose();

    #if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
      if (abort_on_endstop_hit) {
        card.sdprinting = false;
        card.closeFile();
        quickStop();
        disable_all_heaters(); // switch off all heaters.
      }
    #endif
  }
}
Exemple #4
0
void vector_3::debug(const char title[]) {
  ECHO_SV(DB, title);
  ECHO_MV(" x: ", x, 6);
  ECHO_MV(" y: ", y, 6);
  ECHO_EMV(" z: ", z, 6);
}
void CardReader::openFile(char* name, bool read, bool replace_current/*=true*/, bool lcd_status/*=true*/) {
  if (!cardOK) return;
  if (file.isOpen()) { //replacing current file by new file, or subfile call
    if (!replace_current) {
      if (file_subcall_ctr > SD_PROCEDURE_DEPTH - 1) {
        ECHO_LMV(ER, MSG_SD_MAX_DEPTH, SD_PROCEDURE_DEPTH);
        kill(PSTR(MSG_KILLED));
        return;
      }

      ECHO_SMV(DB, "SUBROUTINE CALL target:\"", name);
      ECHO_M("\" parent:\"");

      //store current filename and position
      getAbsFilename(filenames[file_subcall_ctr]);

      ECHO_V(filenames[file_subcall_ctr]);
      ECHO_EMV("\" pos", sdpos);
      filespos[file_subcall_ctr] = sdpos;
      file_subcall_ctr++;
    }
    else {
     ECHO_LMV(DB, "Now doing file: ", name);
    }
    file.close();
  }
  else { // opening fresh file
    file_subcall_ctr = 0; // resetting procedure depth in case user cancels print while in procedure
    ECHO_LMV(DB, "Now fresh file: ", name);
  }
  sdprinting = false;

  SdFile myDir;
  curDir = &root;
  char *fname = name;

  char *dirname_start, *dirname_end;
  if (name[0] == '/') {
    dirname_start = &name[1];
    while (dirname_start > 0) {
      dirname_end = strchr(dirname_start, '/');
      if (dirname_end > 0 && dirname_end > dirname_start) {
        char subdirname[FILENAME_LENGTH];
        strncpy(subdirname, dirname_start, dirname_end - dirname_start);
        subdirname[dirname_end - dirname_start] = 0;
        ECHO_EV(subdirname);
        if (!myDir.open(curDir, subdirname, O_READ)) {
          ECHO_MV(MSG_SD_OPEN_FILE_FAIL, subdirname);
          ECHO_C('.');
          return;
        }
        else {
          //ECHO_EM("dive ok");
        }

        curDir = &myDir;
        dirname_start = dirname_end + 1;
      }
      else { // the remainder after all /fsa/fdsa/ is the filename
        fname = dirname_start;
        //ECHO_EM("remainder");
        //ECHO_EV(fname);
        break;
      }
    }
  }
  else { //relative path
    curDir = &workDir;
  }

  if (read) {
    if (file.open(curDir, fname, O_READ)) {
      filesize = file.fileSize();
      ECHO_MV(MSG_SD_FILE_OPENED, fname);
      ECHO_EMV(MSG_SD_SIZE, filesize);
      sdpos = 0;

      ECHO_EM(MSG_SD_FILE_SELECTED);
      getfilename(0, fname);
      if(lcd_status) lcd_setstatus(longFilename[0] ? longFilename : fname);
    }
    else {
      ECHO_MV(MSG_SD_OPEN_FILE_FAIL, fname);
      ECHO_PGM(".\n");
    }
  }
  else { //write
    if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) {
      ECHO_MV(MSG_SD_OPEN_FILE_FAIL, fname);
      ECHO_PGM(".\n");
    }
    else {
      saving = true;
      ECHO_EMV(MSG_SD_WRITE_TO_FILE, name);
      if(lcd_status) lcd_setstatus(fname);
    }
  }
}
/**
 * M503 - Print Configuration
 */
void Config_PrintSettings(bool forReplay) {
  // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown

  CONFIG_ECHO_START("Steps per unit:");
  ECHO_SMV(CFG, "  M92 X", planner.axis_steps_per_mm[X_AXIS]);
  ECHO_MV(" Y", planner.axis_steps_per_mm[Y_AXIS]);
  ECHO_MV(" Z", planner.axis_steps_per_mm[Z_AXIS]);
  ECHO_EMV(" E", planner.axis_steps_per_mm[E_AXIS]);
  #if EXTRUDERS > 1
    for (short i = 1; i < EXTRUDERS; i++) {
      ECHO_SMV(CFG, "  M92 T", i);
      ECHO_EMV(" E", planner.axis_steps_per_mm[E_AXIS + i]);
    }
  #endif //EXTRUDERS > 1

  #if MECH(SCARA)
    CONFIG_ECHO_START("Scaling factors:");
    ECHO_SMV(CFG, "  M365 X", axis_scaling[X_AXIS]);
    ECHO_MV(" Y", axis_scaling[Y_AXIS]);
    ECHO_EMV(" Z", axis_scaling[Z_AXIS]);
  #endif // SCARA

  CONFIG_ECHO_START("Maximum feedrates (mm/s):");
  ECHO_SMV(CFG, "  M203 X", planner.max_feedrate[X_AXIS]);
  ECHO_MV(" Y", planner.max_feedrate[Y_AXIS] );
  ECHO_MV(" Z", planner.max_feedrate[Z_AXIS] );
  ECHO_EMV(" E", planner.max_feedrate[E_AXIS]);
  #if EXTRUDERS > 1
    for (short i = 1; i < EXTRUDERS; i++) {
      ECHO_SMV(CFG, "  M203 T", i);
      ECHO_EMV(" E", planner.max_acceleration_mm_per_s2[E_AXIS + i]);
    }
  #endif //EXTRUDERS > 1

  CONFIG_ECHO_START("Maximum Acceleration (mm/s2):");
  ECHO_SMV(CFG, "  M201 X", planner.max_acceleration_mm_per_s2[X_AXIS] );
  ECHO_MV(" Y", planner.max_acceleration_mm_per_s2[Y_AXIS] );
  ECHO_MV(" Z", planner.max_acceleration_mm_per_s2[Z_AXIS] );
  ECHO_EMV(" E", planner.max_acceleration_mm_per_s2[E_AXIS]);
  #if EXTRUDERS > 1
    for (int8_t i = 1; i < EXTRUDERS; i++) {
      ECHO_SMV(CFG, "  M201 T", i);
      ECHO_EMV(" E", planner.max_acceleration_mm_per_s2[E_AXIS + i]);
    }
  #endif //EXTRUDERS > 1
  
  CONFIG_ECHO_START("Accelerations: P=printing, V=travel and T* R=retract");
  ECHO_SMV(CFG,"  M204 P", planner.acceleration);
  ECHO_EMV(" V", planner.travel_acceleration);
  #if EXTRUDERS > 0
    for (int8_t i = 0; i < EXTRUDERS; i++) {
      ECHO_SMV(CFG, "  M204 T", i);
      ECHO_EMV(" R", planner.retract_acceleration[i]);
    }
  #endif

  CONFIG_ECHO_START("Advanced variables: S=Min feedrate (mm/s), V=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)");
  ECHO_SMV(CFG, "  M205 S", planner.min_feedrate );
  ECHO_MV(" V", planner.min_travel_feedrate );
  ECHO_MV(" B", planner.min_segment_time );
  ECHO_MV(" X", planner.max_xy_jerk );
  ECHO_MV(" Z", planner.max_z_jerk);
  ECHO_EMV(" E", planner.max_e_jerk[0]);
  #if (EXTRUDERS > 1)
    for(int8_t i = 1; i < EXTRUDERS; i++) {
      ECHO_SMV(CFG, "  M205 T", i);
      ECHO_EMV(" E" , planner.max_e_jerk[i]);
    }
  #endif

  CONFIG_ECHO_START("Home offset (mm):");
  ECHO_SMV(CFG, "  M206 X", home_offset[X_AXIS] );
  ECHO_MV(" Y", home_offset[Y_AXIS] );
  ECHO_EMV(" Z", home_offset[Z_AXIS] );

  CONFIG_ECHO_START("Hotend offset (mm):");
  for (int8_t h = 0; h < HOTENDS; h++) {
    ECHO_SMV(CFG, "  M218 T", h);
    ECHO_MV(" X", hotend_offset[X_AXIS][h]);
    ECHO_MV(" Y", hotend_offset[Y_AXIS][h]);
    ECHO_EMV(" Z", hotend_offset[Z_AXIS][h]);
  }

  #if HAS(LCD_CONTRAST)
    CONFIG_ECHO_START("LCD Contrast:");
    ECHO_LMV(CFG, "  M250 C", lcd_contrast);
  #endif

  #if ENABLED(MESH_BED_LEVELING)
    CONFIG_ECHO_START("Mesh bed leveling:");
    ECHO_SMV(CFG, "  M420 S", mbl.has_mesh() ? 1 : 0);
    ECHO_MV(" X", MESH_NUM_X_POINTS);
    ECHO_MV(" Y", MESH_NUM_Y_POINTS);
    ECHO_E;

    for (uint8_t py = 1; py <= MESH_NUM_Y_POINTS; py++) {
      for (uint8_t px = 1; px <= MESH_NUM_X_POINTS; px++) {
        ECHO_SMV(CFG, "  G29 S3 X", px);
        ECHO_MV(" Y", py);
        ECHO_EMV(" Z", mbl.z_values[py-1][px-1], 5);
      }
    }
  #endif

  #if HEATER_USES_AD595
    CONFIG_ECHO_START("AD595 Offset and Gain:");
    for (int8_t h = 0; h < HOTENDS; h++) {
      ECHO_SMV(CFG, "  M595 T", h);
      ECHO_MV(" O", ad595_offset[h]);
      ECHO_EMV(", S", ad595_gain[h]);
    }
  #endif // HEATER_USES_AD595

  #if MECH(DELTA)
    CONFIG_ECHO_START("Delta Geometry adjustment:");
    ECHO_SMV(CFG, "  M666 A", tower_adj[0], 3);
    ECHO_MV(" B", tower_adj[1], 3);
    ECHO_MV(" C", tower_adj[2], 3);
    ECHO_MV(" I", tower_adj[3], 3);
    ECHO_MV(" J", tower_adj[4], 3);
    ECHO_MV(" K", tower_adj[5], 3);
    ECHO_MV(" U", diagrod_adj[0], 3);
    ECHO_MV(" V", diagrod_adj[1], 3);
    ECHO_MV(" W", diagrod_adj[2], 3);
    ECHO_MV(" R", delta_radius);
    ECHO_MV(" D", delta_diagonal_rod);
    ECHO_EMV(" H", sw_endstop_max[2]);

    CONFIG_ECHO_START("Endstop Offsets:");
    ECHO_SMV(CFG, "  M666 X", endstop_adj[X_AXIS]);
    ECHO_MV(" Y", endstop_adj[Y_AXIS]);
    ECHO_EMV(" Z", endstop_adj[Z_AXIS]);

  #elif ENABLED(Z_DUAL_ENDSTOPS)
    CONFIG_ECHO_START("Z2 Endstop adjustement (mm):");
    ECHO_LMV(CFG, "  M666 Z", z_endstop_adj );
  #endif // DELTA
  
  /**
   * Auto Bed Leveling
   */
  #if HAS(BED_PROBE)
    CONFIG_ECHO_START("Z Probe offset (mm):");
    ECHO_LMV(CFG, "  M666 P", zprobe_zoffset);
  #endif

  #if ENABLED(ULTIPANEL)
    CONFIG_ECHO_START("Material heatup parameters:");
    ECHO_SMV(CFG, "  M145 S0 H", plaPreheatHotendTemp);
    ECHO_MV(" B", plaPreheatHPBTemp);
    ECHO_MV(" F", plaPreheatFanSpeed);
    ECHO_EM(" (Material PLA)");
    ECHO_SMV(CFG, "  M145 S1 H", absPreheatHotendTemp);
    ECHO_MV(" B", absPreheatHPBTemp);
    ECHO_MV(" F", absPreheatFanSpeed);
    ECHO_EM(" (Material ABS)");
    ECHO_SMV(CFG, "  M145 S2 H", gumPreheatHotendTemp);
    ECHO_MV(" B", gumPreheatHPBTemp);
    ECHO_MV(" F", gumPreheatFanSpeed);
    ECHO_EM(" (Material GUM)");
  #endif // ULTIPANEL

  #if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED) || ENABLED(PIDTEMPCHAMBER) || ENABLED(PIDTEMPCOOLER)
    CONFIG_ECHO_START("PID settings:");
    #if ENABLED(PIDTEMP)
      for (int8_t h = 0; h < HOTENDS; h++) {
        ECHO_SMV(CFG, "  M301 H", h);
        ECHO_MV(" P", PID_PARAM(Kp, h));
        ECHO_MV(" I", unscalePID_i(PID_PARAM(Ki, h)));
        ECHO_MV(" D", unscalePID_d(PID_PARAM(Kd, h)));
        #if ENABLED(PID_ADD_EXTRUSION_RATE)
          ECHO_MV(" C", PID_PARAM(Kc, h));
        #endif
        ECHO_E;
      }
      #if ENABLED(PID_ADD_EXTRUSION_RATE)
        ECHO_SMV(CFG, "  M301 L", lpq_len);
      #endif
    #endif
    #if ENABLED(PIDTEMPBED)
      ECHO_SMV(CFG, "  M304 P", bedKp);
      ECHO_MV(" I", unscalePID_i(bedKi));
      ECHO_EMV(" D", unscalePID_d(bedKd));
    #endif
    #if ENABLED(PIDTEMPCHAMBER)
      ECHO_SMV(CFG, "  M305 P", chamberKp);
      ECHO_MV(" I", unscalePID_i(chamberKi));
      ECHO_EMV(" D", unscalePID_d(chamberKd));
    #endif
    #if ENABLED(PIDTEMPCOOLER)
      ECHO_SMV(CFG, "  M306 P", coolerKp);
      ECHO_MV(" I", unscalePID_i(coolerKi));
      ECHO_EMV(" D", unscalePID_d(coolerKd));
    #endif
  #endif

  #if ENABLED(FWRETRACT)
    CONFIG_ECHO_START("Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)");
    ECHO_SMV(CFG, "  M207 S", retract_length);
    #if EXTRUDERS > 1
      ECHO_MV(" W", retract_length_swap);
    #endif
    ECHO_MV(" F", retract_feedrate * 60);
    ECHO_EMV(" Z", retract_zlift);

    CONFIG_ECHO_START("Recover: S=Extra length (mm) F:Speed (mm/m)");
    ECHO_SMV(CFG, "  M208 S", retract_recover_length);
    #if EXTRUDERS > 1
      ECHO_MV(" W", retract_recover_length_swap);
    #endif
    ECHO_MV(" F", retract_recover_feedrate * 60);

    CONFIG_ECHO_START("Auto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries");
    ECHO_LMV(CFG, "  M209 S", autoretract_enabled ? 1 : 0);
  #endif // FWRETRACT

  if (volumetric_enabled) {
    CONFIG_ECHO_START("Filament settings:");
    ECHO_LMV(CFG, "  M200 D", filament_size[0]);

    #if EXTRUDERS > 1
      ECHO_LMV(CFG, "  M200 T1 D", filament_size[1]);
      #if EXTRUDERS > 2
        ECHO_LMV(CFG, "  M200 T2 D", filament_size[2]);
        #if EXTRUDERS > 3
          ECHO_LMV(CFG, "  M200 T3 D", filament_size[3]);
        #endif
      #endif
    #endif

  }
  else
    CONFIG_ECHO_START("  M200 D0");

  #if MB(ALLIGATOR)
    CONFIG_ECHO_START("Motor current:");
    ECHO_SMV(CFG, "  M906 X", motor_current[X_AXIS]);
    ECHO_MV(" Y", motor_current[Y_AXIS]);
    ECHO_MV(" Z", motor_current[Z_AXIS]);
    ECHO_EMV(" E", motor_current[E_AXIS]);
    #if DRIVER_EXTRUDERS > 1
      for (uint8_t i = 1; i < DRIVER_EXTRUDERS; i++) {
        ECHO_SMV(CFG, "  M906 T", i);
        ECHO_EMV(" E", motor_current[E_AXIS + i]);
      }
    #endif // DRIVER_EXTRUDERS > 1
  #endif // ALLIGATOR

  ConfigSD_PrintSettings(forReplay);

}
/**
 * M501 - Retrieve Configuration
 */
void Config_RetrieveSettings() {
  int i = EEPROM_OFFSET;
  char stored_ver[6];
  uint16_t stored_checksum;
  EEPROM_READ_VAR(i, stored_ver);
  EEPROM_READ_VAR(i, stored_checksum);

  if (DEBUGGING(INFO)) {
    ECHO_SMV(INFO, "Version: [", version);
    ECHO_MV("] Stored version: [", stored_ver);
    ECHO_EM("]");
  }

  if (strncmp(version, stored_ver, 5) != 0) {
    Config_ResetDefault();
  }
  else {
    float dummy = 0;

    eeprom_checksum = 0; // clear before reading first "real data"

    // version number match
    EEPROM_READ_VAR(i, planner.axis_steps_per_mm);
    EEPROM_READ_VAR(i, planner.max_feedrate);
    EEPROM_READ_VAR(i, planner.max_acceleration_mm_per_s2);

    EEPROM_READ_VAR(i, planner.acceleration);
    EEPROM_READ_VAR(i, planner.retract_acceleration);
    EEPROM_READ_VAR(i, planner.travel_acceleration);
    EEPROM_READ_VAR(i, planner.min_feedrate);
    EEPROM_READ_VAR(i, planner.min_travel_feedrate);
    EEPROM_READ_VAR(i, planner.min_segment_time);
    EEPROM_READ_VAR(i, planner.max_xy_jerk);
    EEPROM_READ_VAR(i, planner.max_z_jerk);
    EEPROM_READ_VAR(i, planner.max_e_jerk);
    EEPROM_READ_VAR(i, home_offset);
    EEPROM_READ_VAR(i, hotend_offset);

    #if ENABLED(MESH_BED_LEVELING)
      uint8_t mesh_num_x = 0, mesh_num_y = 0;
      EEPROM_READ_VAR(i, mbl.status);
      EEPROM_READ_VAR(i, mbl.z_offset);
      EEPROM_READ_VAR(i, mesh_num_x);
      EEPROM_READ_VAR(i, mesh_num_y);
      EEPROM_READ_VAR(i, mbl.z_values);
    #endif

    #if HEATER_USES_AD595
      EEPROM_READ_VAR(i, ad595_offset);
      EEPROM_READ_VAR(i, ad595_gain);
      for (int8_t h = 0; h < HOTENDS; h++)
        if (ad595_gain[h] == 0) ad595_gain[h] == TEMP_SENSOR_AD595_GAIN;
    #endif

    #if MECH(DELTA)
      EEPROM_READ_VAR(i, endstop_adj);
      EEPROM_READ_VAR(i, delta_radius);
      EEPROM_READ_VAR(i, delta_diagonal_rod);
      EEPROM_READ_VAR(i, sw_endstop_max);
      EEPROM_READ_VAR(i, tower_adj);
      EEPROM_READ_VAR(i, diagrod_adj);
    #endif //DELTA

    #if HASNT(BED_PROBE)
      float zprobe_zoffset = 0;
    #endif
    EEPROM_READ_VAR(i, zprobe_zoffset);

    #if DISABLED(ULTIPANEL)
      int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed,
          absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed,
          gumPreheatHotendTemp, gumPreheatHPBTemp, gumPreheatFanSpeed;
    #endif

    EEPROM_READ_VAR(i, plaPreheatHotendTemp);
    EEPROM_READ_VAR(i, plaPreheatHPBTemp);
    EEPROM_READ_VAR(i, plaPreheatFanSpeed);
    EEPROM_READ_VAR(i, absPreheatHotendTemp);
    EEPROM_READ_VAR(i, absPreheatHPBTemp);
    EEPROM_READ_VAR(i, absPreheatFanSpeed);
    EEPROM_READ_VAR(i, gumPreheatHotendTemp);
    EEPROM_READ_VAR(i, gumPreheatHPBTemp);
    EEPROM_READ_VAR(i, gumPreheatFanSpeed);

    #if ENABLED(PIDTEMP)
      for (int8_t h = 0; h < HOTENDS; h++) {
        EEPROM_READ_VAR(i, PID_PARAM(Kp, h));
        EEPROM_READ_VAR(i, PID_PARAM(Ki, h));
        EEPROM_READ_VAR(i, PID_PARAM(Kd, h));
        EEPROM_READ_VAR(i, PID_PARAM(Kc, h));
      }
    #endif // PIDTEMP

    #if DISABLED(PID_ADD_EXTRUSION_RATE)
      int lpq_len;
    #endif
    EEPROM_READ_VAR(i, lpq_len);

    #if ENABLED(PIDTEMPBED)
      EEPROM_READ_VAR(i, bedKp);
      EEPROM_READ_VAR(i, bedKi);
      EEPROM_READ_VAR(i, bedKd);
    #endif

    #if ENABLED(PIDTEMPCHAMBER)
      EEPROM_READ_VAR(i, chamberKp);
      EEPROM_READ_VAR(i, chamberKi);
      EEPROM_READ_VAR(i, chamberKd);
    #endif

    #if ENABLED(PIDTEMPCOOLER)
      EEPROM_READ_VAR(i, coolerKp);
      EEPROM_READ_VAR(i, coolerKi);
      EEPROM_READ_VAR(i, coolerKd);
    #endif

    #if HASNT(LCD_CONTRAST)
      int lcd_contrast;
    #endif
    EEPROM_READ_VAR(i, lcd_contrast);

    #if MECH(SCARA)
      EEPROM_READ_VAR(i, axis_scaling);  // 3 floats
    #endif

    #if ENABLED(FWRETRACT)
      EEPROM_READ_VAR(i, autoretract_enabled);
      EEPROM_READ_VAR(i, retract_length);
      #if EXTRUDERS > 1
        EEPROM_READ_VAR(i, retract_length_swap);
      #else
        EEPROM_READ_VAR(i, dummy);
      #endif
      EEPROM_READ_VAR(i, retract_feedrate);
      EEPROM_READ_VAR(i, retract_zlift);
      EEPROM_READ_VAR(i, retract_recover_length);
      #if EXTRUDERS > 1
        EEPROM_READ_VAR(i, retract_recover_length_swap);
      #else
        EEPROM_READ_VAR(i, dummy);
      #endif
      EEPROM_READ_VAR(i, retract_recover_feedrate);
    #endif // FWRETRACT

    EEPROM_READ_VAR(i, volumetric_enabled);

    for (int8_t e = 0; e < EXTRUDERS; e++)
      EEPROM_READ_VAR(i, filament_size[e]);

    #if ENABLED(IDLE_OOZING_PREVENT)
      EEPROM_READ_VAR(i, IDLE_OOZING_enabled);
    #endif

    #if MB(ALLIGATOR)
      EEPROM_READ_VAR(i, motor_current);
    #endif

    if (eeprom_checksum == stored_checksum) {
      Config_Postprocess();
      ECHO_SV(DB, version);
      ECHO_MV(" stored settings retrieved (", i);
      ECHO_EM(" bytes)");
    }
    else {
      ECHO_LM(ER, "EEPROM checksum mismatch");
      Config_ResetDefault();
    }
  }

  #if ENABLED(EEPROM_CHITCHAT)
    Config_PrintSettings();
  #endif
}
  /**
   * Print Configuration Settings - M503
   */
  void Config_PrintSettings(bool forReplay) {
    // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown

    if (!forReplay) {
      ECHO_LM(CFG, "Steps per unit:");
    }
    ECHO_SMV(CFG, "  M92 X", axis_steps_per_unit[X_AXIS]);
    ECHO_MV(" Y", axis_steps_per_unit[Y_AXIS]);
    ECHO_MV(" Z", axis_steps_per_unit[Z_AXIS]);
    ECHO_EMV(" E", axis_steps_per_unit[E_AXIS]);
    #if EXTRUDERS > 1
      for (short i = 1; i < EXTRUDERS; i++) {
        ECHO_SMV(CFG, "  M92 T", i);
        ECHO_EMV(" E", axis_steps_per_unit[E_AXIS + i]);
      }
    #endif //EXTRUDERS > 1

    #if MECH(SCARA)
      if (!forReplay) {
        ECHO_LM(CFG, "Scaling factors:");
      }
      ECHO_SMV(CFG, "  M365 X", axis_scaling[X_AXIS]);
      ECHO_MV(" Y", axis_scaling[Y_AXIS]);
      ECHO_EMV(" Z", axis_scaling[Z_AXIS]);
    #endif // SCARA

    if (!forReplay) {
      ECHO_LM(CFG, "Maximum feedrates (mm/s):");
    }
    ECHO_SMV(CFG, "  M203 X", max_feedrate[X_AXIS]);
    ECHO_MV(" Y", max_feedrate[Y_AXIS] ); 
    ECHO_MV(" Z", max_feedrate[Z_AXIS] ); 
    ECHO_EMV(" E", max_feedrate[E_AXIS]);
    #if EXTRUDERS > 1
      for (short i = 1; i < EXTRUDERS; i++) {
        ECHO_SMV(CFG, "  M203 T", i);
        ECHO_EMV(" E", max_feedrate[E_AXIS + i]);
      }
    #endif //EXTRUDERS > 1

    if (!forReplay) {
      ECHO_LM(CFG, "Maximum Acceleration (mm/s2):");
    }
    ECHO_SMV(CFG, "  M201 X", max_acceleration_units_per_sq_second[X_AXIS] );
    ECHO_MV(" Y", max_acceleration_units_per_sq_second[Y_AXIS] );
    ECHO_MV(" Z", max_acceleration_units_per_sq_second[Z_AXIS] );
    ECHO_EMV(" E", max_acceleration_units_per_sq_second[E_AXIS]);
    #if EXTRUDERS > 1
      for (int8_t i = 1; i < EXTRUDERS; i++) {
        ECHO_SMV(CFG, "  M201 T", i);
        ECHO_EMV(" E", max_acceleration_units_per_sq_second[E_AXIS + i]);
      }
    #endif //EXTRUDERS > 1
    ECHO_E;
    
    if (!forReplay) {
      ECHO_LM(CFG, "Accelerations: P=printing, V=travel and T* R=retract");
    }
    ECHO_SMV(CFG,"  M204 P", acceleration);
    ECHO_EMV(" V", travel_acceleration);
    #if EXTRUDERS > 0
      for (int8_t i = 0; i < EXTRUDERS; i++) {
        ECHO_SMV(CFG, "  M204 T", i);
        ECHO_EMV(" R", retract_acceleration[i]);
      }
    #endif

    if (!forReplay) {
      ECHO_LM(CFG, "Advanced variables: S=Min feedrate (mm/s), V=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)");
    }
    ECHO_SMV(CFG, "  M205 S", minimumfeedrate );
    ECHO_MV(" V", mintravelfeedrate );
    ECHO_MV(" B", minsegmenttime );
    ECHO_MV(" X", max_xy_jerk );
    ECHO_MV(" Z", max_z_jerk);
    ECHO_EMV(" E", max_e_jerk[0]);
    #if (EXTRUDERS > 1)
      for(int8_t i = 1; i < EXTRUDERS; i++) {
        ECHO_SMV(CFG, "  M205 T", i);
        ECHO_EMV(" E" , max_e_jerk[i]);
      }
    #endif

    if (!forReplay) {
      ECHO_LM(CFG, "Home offset (mm):");
    }
    ECHO_SMV(CFG, "  M206 X", home_offset[X_AXIS] );
    ECHO_MV(" Y", home_offset[Y_AXIS] );
    ECHO_EMV(" Z", home_offset[Z_AXIS] );

    if (!forReplay) {
      ECHO_LM(CFG, "Hotend offset (mm):");
    }
    for (int8_t h = 0; h < HOTENDS; h++) {
      ECHO_SMV(CFG, "  M218 T", h);
      ECHO_MV(" X", hotend_offset[X_AXIS][h]);
      ECHO_MV(" Y", hotend_offset[Y_AXIS][h]);
      ECHO_EMV(" Z", hotend_offset[Z_AXIS][h]);
    }

    #if HEATER_USES_AD595
      if (!forReplay) {
        ECHO_LM(CFG, "AD595 Offset and Gain:");
      }
      for (int8_t h = 0; h < HOTENDS; h++) {
        ECHO_SMV(CFG, "  M595 T", h);
        ECHO_MV(" O", ad595_offset[h]);
        ECHO_EMV(", S", ad595_gain[h]);
      }
    #endif // HEATER_USES_AD595

    #if MECH(DELTA)
      if (!forReplay) {
        ECHO_LM(CFG, "Delta Geometry adjustment:");
      }
      ECHO_SMV(CFG, "  M666 A", tower_adj[0], 3);
      ECHO_MV(" B", tower_adj[1], 3);
      ECHO_MV(" C", tower_adj[2], 3);
      ECHO_MV(" I", tower_adj[3], 3);
      ECHO_MV(" J", tower_adj[4], 3);
      ECHO_MV(" K", tower_adj[5], 3);
      ECHO_MV(" U", diagrod_adj[0], 3);
      ECHO_MV(" V", diagrod_adj[1], 3);
      ECHO_MV(" W", diagrod_adj[2], 3);
      ECHO_MV(" R", delta_radius);
      ECHO_MV(" D", delta_diagonal_rod);
      ECHO_EMV(" H", sw_endstop_max[2]);

      if (!forReplay) {
        ECHO_LM(CFG, "Endstop Offsets:");
      }
      ECHO_SMV(CFG, "  M666 X", endstop_adj[X_AXIS]);
      ECHO_MV(" Y", endstop_adj[Y_AXIS]);
      ECHO_EMV(" Z", endstop_adj[Z_AXIS]);

      if (!forReplay) {
        ECHO_LM(CFG, "Z-Probe Offset:");
      }
      ECHO_SMV(CFG, "  M666 P X", z_probe_offset[0]);
      ECHO_MV(" Y", z_probe_offset[1]);
      ECHO_EMV(" Z", z_probe_offset[2]);

    #elif ENABLED(Z_DUAL_ENDSTOPS)
      if (!forReplay) {
        ECHO_LM(CFG, "Z2 Endstop adjustement (mm):");
      }
      ECHO_LMV(CFG, "  M666 Z", z_endstop_adj );
    #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
      if (!forReplay) {
        ECHO_LM(CFG, "Z Probe offset (mm)");
      }
      ECHO_LMV(CFG, "  M666 P", zprobe_zoffset);
    #endif

    #if ENABLED(ULTIPANEL)
      if (!forReplay) {
        ECHO_LM(CFG, "Material heatup parameters:");
      }
      ECHO_SMV(CFG, "  M145 S0 H", plaPreheatHotendTemp);
      ECHO_MV(" B", plaPreheatHPBTemp);
      ECHO_MV(" F", plaPreheatFanSpeed);
      ECHO_EM(" (Material PLA)");
      ECHO_SMV(CFG, "  M145 S1 H", absPreheatHotendTemp);
      ECHO_MV(" B", absPreheatHPBTemp);
      ECHO_MV(" F", absPreheatFanSpeed);
      ECHO_EM(" (Material ABS)");
      ECHO_SMV(CFG, "  M145 S2 H", gumPreheatHotendTemp);
      ECHO_MV(" B", gumPreheatHPBTemp);
      ECHO_MV(" F", gumPreheatFanSpeed);
      ECHO_EM(" (Material GUM)");
    #endif // ULTIPANEL

    #if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
      if (!forReplay) {
        ECHO_LM(CFG, "PID settings:");
      }
      #if ENABLED(PIDTEMP)
        for (uint8_t h = 0; h < HOTENDS; h++) {
          ECHO_SMV(CFG, "  M301 H", h);
          ECHO_MV(" P", PID_PARAM(Kp, h));
          ECHO_MV(" I", unscalePID_i(PID_PARAM(Ki, h)));
          ECHO_MV(" D", unscalePID_d(PID_PARAM(Kd, h)));
          #if ENABLED(PID_ADD_EXTRUSION_RATE)
            ECHO_MV(" C", PID_PARAM(Kc, h));
          #endif
          ECHO_E;
        }
        #if ENABLED(PID_ADD_EXTRUSION_RATE)
          ECHO_SMV(CFG, "  M301 L", lpq_len);
        #endif
      #endif
      #if ENABLED(PIDTEMPBED)
        ECHO_SMV(CFG, "  M304 P", bedKp); // for compatibility with hosts, only echos values for E0
        ECHO_MV(" I", unscalePID_i(bedKi));
        ECHO_EMV(" D", unscalePID_d(bedKd));
      #endif
    #endif

    #if ENABLED(FWRETRACT)
      if (!forReplay) {
        ECHO_LM(CFG, "Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)");
      }
      ECHO_SMV(CFG, "  M207 S", retract_length);
      ECHO_MV(" F", retract_feedrate*60);
      ECHO_EMV(" Z", retract_zlift);
      
      if (!forReplay) {
        ECHO_LM(CFG, "Recover: S=Extra length (mm) F:Speed (mm/m)");
      }
      ECHO_SMV(CFG, "  M208 S", retract_recover_length);
      ECHO_MV(" F", retract_recover_feedrate*60);
      
      if (!forReplay) {
        ECHO_LM(CFG, "Auto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries");
      }
      ECHO_LMV(CFG, "  M209 S", autoretract_enabled);

      #if EXTRUDERS > 1
        if (!forReplay) {
          ECHO_LM(CFG, "Multi-extruder settings:");
          ECHO_LMV(CFG, "   Swap retract length (mm):    ", retract_length_swap);
          ECHO_LMV(CFG, "   Swap rec. addl. length (mm): ", retract_recover_length_swap);
        }
      #endif // EXTRUDERS > 1

    #endif // FWRETRACT

    if (volumetric_enabled) {
      if (!forReplay) {
        ECHO_LM(CFG, "Filament settings:");
      }
      ECHO_LMV(CFG, "  M200 D", filament_size[0]);

      #if EXTRUDERS > 1
        ECHO_LMV(CFG, "  M200 T1 D", filament_size[1]);
        #if EXTRUDERS > 2
          ECHO_LMV(CFG, "  M200 T2 D", filament_size[2]);
          #if EXTRUDERS > 3
            ECHO_LMV(CFG, "  M200 T3 D", filament_size[3]);
          #endif
        #endif
      #endif

    } else {
      if (!forReplay) {
        ECHO_LM(CFG, "Filament settings: Disabled");
      }
    }

    #if MB(ALLIGATOR)
      if (!forReplay) {
        ECHO_LM(CFG, "Current:");
      }
      ECHO_SMV(CFG, "  M906 X", motor_current[X_AXIS]);
      ECHO_MV(" Y", motor_current[Y_AXIS]);
      ECHO_MV(" Z", motor_current[Z_AXIS]);
      ECHO_EMV(" E", motor_current[E_AXIS]);
      #if DRIVER_EXTRUDERS > 1
        for (uint8_t i = 1; i < DRIVER_EXTRUDERS; i++) {
          ECHO_SMV(CFG, "  M906 T", i);
          ECHO_EMV(" E", motor_current[E_AXIS + i]);
        }
      #endif // DRIVER_EXTRUDERS > 1
    #endif // ALLIGATOR

    ConfigSD_PrintSettings(forReplay);

  }
/**
 * Retrieve Configuration Settings - M501
 */
void Config_RetrieveSettings() {

  int i = EEPROM_OFFSET;
  char stored_ver[7];
  char ver[7] = EEPROM_VERSION;
  EEPROM_READ_VAR(i, stored_ver); // read stored version
  //ECHO_EM("Version: [" << ver << "] Stored version: [" << stored_ver << "]");

  if (strncmp(ver, stored_ver, 6) != 0) {
    Config_ResetDefault();
  }
  else {
    float dummy = 0;

    // version number match
    EEPROM_READ_VAR(i, axis_steps_per_unit);
    EEPROM_READ_VAR(i, max_feedrate);
    EEPROM_READ_VAR(i, max_acceleration_units_per_sq_second);

    // 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();

    EEPROM_READ_VAR(i, acceleration);
    EEPROM_READ_VAR(i, retract_acceleration);
    EEPROM_READ_VAR(i, travel_acceleration);
    EEPROM_READ_VAR(i, minimumfeedrate);
    EEPROM_READ_VAR(i, mintravelfeedrate);
    EEPROM_READ_VAR(i, minsegmenttime);
    EEPROM_READ_VAR(i, max_xy_jerk);
    EEPROM_READ_VAR(i, max_z_jerk);
    EEPROM_READ_VAR(i, max_e_jerk);
    EEPROM_READ_VAR(i, home_offset);
    EEPROM_READ_VAR(i, hotend_offset);

    #if !MECH(DELTA)
      EEPROM_READ_VAR(i, zprobe_zoffset);
    #endif

    #if HEATER_USES_AD595
      EEPROM_READ_VAR(i, ad595_offset);
      EEPROM_READ_VAR(i, ad595_gain);
      for (int8_t h = 0; h < HOTENDS; h++)
        if (ad595_gain[h] == 0) ad595_gain[h] == TEMP_SENSOR_AD595_GAIN;
    #endif

    #if MECH(DELTA)
      EEPROM_READ_VAR(i, endstop_adj);
      EEPROM_READ_VAR(i, delta_radius);
      EEPROM_READ_VAR(i, delta_diagonal_rod);
      EEPROM_READ_VAR(i, sw_endstop_max);
      EEPROM_READ_VAR(i, tower_adj);
      EEPROM_READ_VAR(i, diagrod_adj);
      EEPROM_READ_VAR(i, z_probe_offset);
      // Update delta constants for updated delta_radius & tower_adj values
      set_delta_constants();
    #endif //DELTA

    #if DISABLED(ULTIPANEL)
      int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed,
          absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed,
          gumPreheatHotendTemp, gumPreheatHPBTemp, gumPreheatFanSpeed;
    #endif

    EEPROM_READ_VAR(i, plaPreheatHotendTemp);
    EEPROM_READ_VAR(i, plaPreheatHPBTemp);
    EEPROM_READ_VAR(i, plaPreheatFanSpeed);
    EEPROM_READ_VAR(i, absPreheatHotendTemp);
    EEPROM_READ_VAR(i, absPreheatHPBTemp);
    EEPROM_READ_VAR(i, absPreheatFanSpeed);
    EEPROM_READ_VAR(i, gumPreheatHotendTemp);
    EEPROM_READ_VAR(i, gumPreheatHPBTemp);
    EEPROM_READ_VAR(i, gumPreheatFanSpeed);

    #if ENABLED(PIDTEMP)
      for (int8_t h = 0; h < HOTENDS; h++) {
        EEPROM_READ_VAR(i, PID_PARAM(Kp, h));
        EEPROM_READ_VAR(i, PID_PARAM(Ki, h));
        EEPROM_READ_VAR(i, PID_PARAM(Kd, h));
        EEPROM_READ_VAR(i, PID_PARAM(Kc, h));
      }
    #endif // PIDTEMP

    #if DISABLED(PID_ADD_EXTRUSION_RATE)
      int lpq_len;
    #endif
    EEPROM_READ_VAR(i, lpq_len);

    #if ENABLED(PIDTEMPBED)
      EEPROM_READ_VAR(i, bedKp);
      EEPROM_READ_VAR(i, bedKi);
      EEPROM_READ_VAR(i, bedKd);
    #endif

    #if HASNT(LCD_CONTRAST)
      int lcd_contrast;
    #endif

    EEPROM_READ_VAR(i, lcd_contrast);

    #if MECH(SCARA)
      EEPROM_READ_VAR(i, axis_scaling);  // 3 floats
    #endif

    #if ENABLED(FWRETRACT)
      EEPROM_READ_VAR(i, autoretract_enabled);
      EEPROM_READ_VAR(i, retract_length);
      #if EXTRUDERS > 1
        EEPROM_READ_VAR(i, retract_length_swap);
      #else
        EEPROM_READ_VAR(i, dummy);
      #endif
      EEPROM_READ_VAR(i, retract_feedrate);
      EEPROM_READ_VAR(i, retract_zlift);
      EEPROM_READ_VAR(i, retract_recover_length);
      #if EXTRUDERS > 1
        EEPROM_READ_VAR(i, retract_recover_length_swap);
      #else
        EEPROM_READ_VAR(i, dummy);
      #endif
      EEPROM_READ_VAR(i, retract_recover_feedrate);
    #endif // FWRETRACT

    EEPROM_READ_VAR(i, volumetric_enabled);

    for (int8_t e = 0; e < EXTRUDERS; e++)
      EEPROM_READ_VAR(i, filament_size[e]);

    calculate_volumetric_multipliers();

    #if ENABLED(IDLE_OOZING_PREVENT)
      EEPROM_READ_VAR(i, IDLE_OOZING_enabled);
    #endif

    #if MB(ALLIGATOR)
      EEPROM_READ_VAR(i, motor_current);
    #endif

    // Call updatePID (similar to when we have processed M301)
    updatePID();

    // Report settings retrieved and length
    ECHO_SV(DB, ver);
    ECHO_MV(" stored settings retrieved (", (unsigned long)i);
    ECHO_EM(" bytes)");
  }

  #if ENABLED(EEPROM_CHITCHAT)
    Config_PrintSettings();
  #endif
}
Exemple #10
0
  void PID_autotune(float temp, int hotend, int ncycles) {
    float input = 0.0;
    int cycles = 0;
    bool heating = true;

    millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
    long t_high = 0, t_low = 0;

    long bias, d;
    float Ku, Tu;
    float Kp_temp, Ki_temp, Kd_temp;
    float max = 0, min = 10000;

    #if HAS_AUTO_FAN
      millis_t next_auto_fan_check_ms = temp_ms + 2500;
    #endif

    if (hotend >= HOTENDS
      #if !HAS_TEMP_BED
         || hotend < 0
      #endif
    ) {
      ECHO_LM(ER, MSG_PID_BAD_EXTRUDER_NUM);
      return;
    }

    ECHO_LM(DB, MSG_PID_AUTOTUNE_START);
    if (hotend < 0) {
      ECHO_SM(DB, "BED");
    }
    else {
        ECHO_SMV(DB, "Hotend: ", hotend);
    }
    ECHO_MV(" Temp: ", temp);
    ECHO_EMV(" Cycles: ", ncycles);

    disable_all_heaters(); // switch off all heaters.

    if (hotend < 0)
      soft_pwm_bed = bias = d = MAX_BED_POWER / 2;
    else
      soft_pwm[hotend] = bias = d = PID_MAX / 2;

    // PID Tuning loop
    for (;;) {

      millis_t ms = millis();

      if (temp_meas_ready) { // temp sample ready
        updateTemperaturesFromRawValues();

        input = (hotend<0)?current_temperature_bed:current_temperature[hotend];

        max = max(max, input);
        min = min(min, input);

        #if HAS_AUTO_FAN
          if (ms > next_auto_fan_check_ms) {
            checkExtruderAutoFans();
            next_auto_fan_check_ms = ms + 2500;
          }
        #endif

        if (heating && input > temp) {
          if (ms > t2 + 5000) {
            heating = false;
            if (hotend < 0)
              soft_pwm_bed = (bias - d) >> 1;
            else
              soft_pwm[hotend] = (bias - d) >> 1;
            t1 = ms;
            t_high = t1 - t2;
            max = temp;
          }
        }

        if (!heating && input < temp) {
          if (ms > t1 + 5000) {
            heating = true;
            t2 = ms;
            t_low = t2 - t1;
            if (cycles > 0) {
              long max_pow = hotend < 0 ? MAX_BED_POWER : PID_MAX;
              bias += (d*(t_high - t_low))/(t_low + t_high);
              bias = constrain(bias, 20, max_pow - 20);
              d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias;

              ECHO_MV(MSG_BIAS, bias);
              ECHO_MV(MSG_D, d);
              ECHO_MV(MSG_T_MIN, min);
              ECHO_MV(MSG_T_MAX, max);
              if (cycles > 2) {
                Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
                Tu = ((float)(t_low + t_high) / 1000.0);
                ECHO_MV(MSG_KU, Ku);
                ECHO_EMV(MSG_TU, Tu);
                Kp_temp = 0.6 * Ku;
                Ki_temp = 2 * Kp_temp / Tu;
                Kd_temp = Kp_temp * Tu / 8;
                
                ECHO_EM(MSG_CLASSIC_PID);
                ECHO_MV(MSG_KP, Kp_temp);
                ECHO_MV(MSG_KI, Ki_temp);
                ECHO_EMV(MSG_KD, Kd_temp);
              }
              else {
                ECHO_E;
              }
            }
            if (hotend < 0)
              soft_pwm_bed = (bias + d) >> 1;
            else
              soft_pwm[hotend] = (bias + d) >> 1;
            cycles++;
            min = temp;
          }