void probe_1point()
{
float Point;
Point = Probe_Bed(-1,-1,PROBE_N);
//destination[2] = Point +1;
//feedrate = homing_feedrate[Z_AXIS];
//prepare_move();
SERIAL_ECHOLN("**************************************");
SERIAL_ECHO("Probed Z="); SERIAL_ECHOLN(Point);
}
void checkHitEndstops()
{
if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ENDSTOPS_HIT);
if(endstop_x_hit) {
SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
}
if(endstop_y_hit) {
SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]);
}
if(endstop_z_hit) {
SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
}
SERIAL_ECHOLN("");
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
if (abort_on_endstop_hit){
quickStop();
Jawsboard::getBoard().setTargetDegExtruder(0,0);
Jawsboard::getBoard().setTargetDegExtruder(0,1);
Jawsboard::getBoard().setTargetDegExtruder(0,2);
}
}
}
void CardReader::chdir(const char* relpath)
{
SdFile newfile;
SdFile* parent=&root;
if(workDir.isOpen())
{ parent=&workDir; }
if(!newfile.open(*parent,relpath, O_READ))
{
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_SD_CANT_ENTER_SUBDIR);
SERIAL_ECHOLN(relpath);
}
else
{
if(workDirDepth < MAX_DIR_DEPTH)
{
for(int d = ++workDirDepth; d--;)
{ workDirParents[d+1] = workDirParents[d]; }
workDirParents[0]=*parent;
}
workDir=newfile;
}
}
void checkHitEndstops()
{
if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if(endstop_x_hit) {
SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
}
if(endstop_y_hit) {
SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
}
if(endstop_z_hit) {
SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
}
SERIAL_ECHOLN("");
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
if (abort_on_endstop_hit)
{
card.sdprinting = false;
card.closefile();
quickStop();
setTargetHotend0(0);
setTargetHotend1(0);
setTargetHotend2(0);
}
#endif
}
}
void checkHitEndstops()
{
if( endstop_x_hit || endstop_y_hit || endstop_z_hit || endstop_p_hit || endstop_v_hit) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if(endstop_x_hit) {
SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
}
if(endstop_y_hit) {
SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]);
}
if(endstop_z_hit) {
SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
}
if(endstop_p_hit) {
SERIAL_ECHOPAIR(" P:",(float)endstops_trigsteps[P_AXIS]/axis_steps_per_unit[P_AXIS]);
}
if(endstop_v_hit) {
SERIAL_ECHOPAIR(" V:",(float)endstops_trigsteps[V_AXIS]/axis_steps_per_unit[V_AXIS]);
}
SERIAL_ECHOLN("");
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
endstop_p_hit=false;
endstop_v_hit=false;
}
}
void ScreenSerial::draw()
{
if ( !m_text || m_needs_drawing)
{
m_needs_drawing = false;
//Start painting sequence
painter.firstPage();
do
{
painter.setColorIndex(1);
//Paint title on top of screen
painter.title(MSG_SCREEN_SERIAL_TITLE());
//Paint bitmap on the left
uint8_t x_init = painter.coordinateXInit();
uint8_t y_init = painter.coordinateYInit();
uint8_t x_end = painter.coordinateXEnd();
uint8_t y_end = painter.coordinateYEnd();
uint8_t x_offset = 6;
uint8_t y_offset = 4;
painter.setColorIndex(1);
painter.drawBitmap(x_init + x_offset, y_init + y_offset, serial_width, serial_height, bits_serial);
//Print state
Area text_area(x_init + x_offset + serial_width, y_init, 127, 63);
painter.setWorkingArea(text_area);
SERIAL_ECHOLN(m_text);
painter.multiText(m_text);
} while( painter.nextPage() );
}
}
/**
* M0: Unconditional stop - Wait for user button press on LCD
* M1: Conditional stop - Wait for user button press on LCD
*/
void GcodeSuite::M0_M1() {
const char * const args = parser.string_arg;
millis_t ms = 0;
bool hasP = false, hasS = false;
if (parser.seenval('P')) {
ms = parser.value_millis(); // milliseconds to wait
hasP = ms > 0;
}
if (parser.seenval('S')) {
ms = parser.value_millis_from_seconds(); // seconds to wait
hasS = ms > 0;
}
#if ENABLED(ULTIPANEL)
if (!hasP && !hasS && args && *args)
lcd_setstatus(args, true);
else {
LCD_MESSAGEPGM(MSG_USERWAIT);
#if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
dontExpireStatus();
#endif
}
#else
if (!hasP && !hasS && args && *args) {
SERIAL_ECHO_START();
SERIAL_ECHOLN(args);
}
#endif
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true;
stepper.synchronize();
refresh_cmd_timeout();
if (ms > 0) {
ms += previous_cmd_ms; // wait until this time for a click
while (PENDING(millis(), ms) && wait_for_user) idle();
}
else {
#if ENABLED(ULTIPANEL)
if (lcd_detected()) {
while (wait_for_user) idle();
IS_SD_PRINTING ? LCD_MESSAGEPGM(MSG_RESUMING) : LCD_MESSAGEPGM(WELCOME_MSG);
}
#else
while (wait_for_user) idle();
#endif
}
wait_for_user = false;
KEEPALIVE_STATE(IN_HANDLER);
}
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, '/');
//SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name));
//SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end - name));
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;
SERIAL_ECHOLN(subdirname);
if (!myDir.open(curDir, subdirname, O_READ)) {
SERIAL_PROTOCOLPGM("open failed, File: ");
SERIAL_PROTOCOL(subdirname);
SERIAL_PROTOCOLCHAR('.');
return;
}
else {
//SERIAL_ECHOLN("dive ok");
}
curDir = &myDir;
dirname_start = dirname_end + 1;
}
else { // the remainder after all /fsa/fdsa/ is the filename
fname = dirname_start;
//SERIAL_ECHOLN("remainder");
//SERIAL_ECHOLN(fname);
break;
}
}
}
else { // relative path
curDir = &workDir;
}
if (file.remove(curDir, fname)) {
SERIAL_PROTOCOLPGM("File deleted:");
SERIAL_PROTOCOLLN(fname);
sdpos = 0;
}
else {
SERIAL_PROTOCOLPGM("Deletion failed, File: ");
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLCHAR('.');
}
}
void M100_dump_routine(const char * const title, const char *start, const char *end) {
SERIAL_ECHOLN(title);
//
// Round the start and end locations to produce full lines of output
//
start = (char*)((uint16_t) start & 0xFFF0);
end = (char*)((uint16_t) end | 0x000F);
dump_free_memory(start, end);
}
void StorageManager::InitilializeStats()
{
SERIAL_ECHOLN("Initializing stats to zero");
StorageManager::single::instance().writeByte(ADDR_STAT_FLAG, 0x00);
StorageManager::single::instance().setStatHours(0);
StorageManager::single::instance().setStatMinutes(0);
StorageManager::single::instance().setStatTotalPrints(0);
StorageManager::single::instance().setStatSucceded(0);
}
void laser_extinguish(){
if (laser.firing == LASER_ON) {
laser.firing = LASER_OFF;
// Engage the pullup resistor for TTL laser controllers which don't turn off entirely without it.
pinMode(LASER_FIRING_PIN, INPUT);
laser.time += millis() - (laser.last_firing / 1000);
if (laser.diagnostics) {
SERIAL_ECHOLN("Laser extinguished");
}
}
}
void Config_RetrieveSettings()
{
int i=EEPROM_OFFSET;
char stored_ver[4];
char ver[4]=EEPROM_VERSION;
EEPROM_READ_VAR(i,stored_ver); //read stored version
// SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
if (strncmp(ver,stored_ver,3) == 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);
EEPROM_READ_VAR(i,acceleration);
EEPROM_READ_VAR(i,retract_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,add_homeing);
#ifndef ULTIPANEL
int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
#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);
#ifndef PIDTEMP
float Kp,Ki,Kd;
#endif
EEPROM_READ_VAR(i,Kp);
EEPROM_READ_VAR(i,Ki);
EEPROM_READ_VAR(i,Kd);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Stored settings retreived:");
}
else
{
Config_ResetDefault();
SERIAL_ECHO_START;
SERIAL_ECHOLN("Using Default settings:");
}
Config_PrintSettings();
}
void dac_print_values() {
if (!dac_present) return;
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM("Stepper current values in % (Amps):");
SERIAL_ECHO_START();
SERIAL_ECHOPAIR(" X:", dac_perc(X_AXIS));
SERIAL_ECHOPAIR(" (", dac_amps(X_AXIS));
SERIAL_ECHOPAIR(") Y:", dac_perc(Y_AXIS));
SERIAL_ECHOPAIR(" (", dac_amps(Y_AXIS));
SERIAL_ECHOPAIR(") Z:", dac_perc(Z_AXIS));
SERIAL_ECHOPAIR(" (", dac_amps(Z_AXIS));
SERIAL_ECHOPAIR(") E:", dac_perc(E_AXIS));
SERIAL_ECHOPAIR(" (", dac_amps(E_AXIS));
SERIAL_ECHOLN(")");
}
void CardReader::chdir(const char * relpath) {
SdFile newfile;
SdFile *parent = &root;
if (workDir.isOpen()) parent = &workDir;
if (!newfile.open(*parent, relpath, O_READ)) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_SD_CANT_ENTER_SUBDIR);
SERIAL_ECHOLN(relpath);
}
else {
if (workDirDepth < MAX_DIR_DEPTH)
workDirParents[workDirDepth++] = *parent;
workDir = newfile;
}
}
void laser_fire(int intensity = 100.0){
laser.firing = LASER_ON;
laser.last_firing = micros(); // microseconds of last laser firing
if (intensity > 100.0) intensity = 100.0; // restrict intensity between 0 and 100
if (intensity < 0) intensity = 0;
pinMode(LASER_FIRING_PIN, OUTPUT);
#if LASER_CONTROL == 1
analogWrite(LASER_FIRING_PIN, labs((intensity / 100.0)*(F_CPU / LASER_PWM)));
#endif
#if LASER_CONTROL == 2
analogWrite(LASER_INTENSITY_PIN, labs((intensity / 100.0)*(F_CPU / LASER_PWM)));
digitalWrite(LASER_FIRING_PIN, HIGH);
#endif
if (laser.diagnostics) {
SERIAL_ECHOLN("Laser fired");
}
}
bool lcd_material_verify_material_settings()
{
SERIAL_ECHO_START;
uint8_t max_mats = eeprom_read_byte(EEPROM_MATERIAL_COUNT_OFFSET());
SERIAL_ECHOPAIR("Checking ", (unsigned long) max_mats);
SERIAL_ECHOPAIR(" presets and ", (unsigned long) EXTRUDERS);
SERIAL_ECHOLNPGM (" extruder settings:");
if (max_mats < 2 || max_mats > EEPROM_MATERIAL_SETTINGS_MAX_COUNT)
return false;
byte cnt =0;
while(cnt < max_mats+EXTRUDERS)
{
SERIAL_ECHOPAIR("Checking preset # ",(unsigned long) cnt);
if (eeprom_read_word(EEPROM_MATERIAL_TEMPERATURE_OFFSET(cnt)) > HEATER_0_MAXTEMP)
return false;
if (eeprom_read_word(EEPROM_MATERIAL_BED_TEMPERATURE_OFFSET(cnt)) > BED_MAXTEMP)
return false;
if (eeprom_read_byte(EEPROM_MATERIAL_FAN_SPEED_OFFSET(cnt)) > 100)
return false;
if (eeprom_read_word(EEPROM_MATERIAL_FLOW_OFFSET(cnt)) > 1000)
return false;
if (eeprom_read_float(EEPROM_MATERIAL_DIAMETER_OFFSET(cnt)) > 10.0)
return false;
if (eeprom_read_float(EEPROM_MATERIAL_DIAMETER_OFFSET(cnt)) < 0.1)
return false;
strcpy_P (material_name_buf,"???");
eeprom_read_block(material_name_buf, EEPROM_MATERIAL_NAME_OFFSET(cnt), MATERIAL_NAME_LENGTH);
material_name_buf[MATERIAL_NAME_LENGTH] = '\0';
if (cnt >= max_mats )
{ SERIAL_ECHOPAIR(".....verified extruder setting # ",(unsigned long) cnt-max_mats);}
else
{ SERIAL_ECHOPAIR(".....verified preset # ",(unsigned long) cnt);}
SERIAL_ECHO(" (");
SERIAL_ECHO(material_name_buf);
SERIAL_ECHO(")");
SERIAL_ECHOLN("");
cnt++;
}
return true;
}
void CardReader::initsd()
{
cardOK = false;
if(root.isOpen())
root.close();
#ifdef SDSLOW
if (!card.init(SPI_HALF_SPEED,SDSS))
#else
if (!card.init(SPI_FULL_SPEED,SDSS))
#endif
{
//if (!card.init(SPI_HALF_SPEED,SDSS))
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_SD_INIT_FAIL);
SERIAL_ECHOLN(errorCode());
}
else if (!volume.init(&card))
{
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_SD_VOL_INIT_FAIL);
}
else if (!root.openRoot(&volume))
{
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_SD_OPENROOT_FAIL);
}
else
{
cardOK = true;
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_SD_CARD_OK);
}
workDir=root;
curDir=&root;
/*
if(!workDir.openRoot(&volume))
{
SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL);
}
*/
}
/*Crash1 - G29 to Probe and stop on Bed
G29 will probe bed at least twice at 3 points and take an average. G30 will probe bed at it's current location.
Z stop should be set slightly below bed height. Solder stub wire to each hole in huxley bed and attach a ring terminal under spring.
Wire bed probe to A2 on Melzi and duplicate cap/resistor circuit in schematic.
Use something like this in the start.gcode file:
G29 ;Probe bed for Z height
G92 Z0 ;Set Z to Probed Depth
G1 Z5 F200 ;Lift Z out of way
*/
void probe_3points()
{
float Probe_Avg, Point1, Point2, Point3;
Point1 = Probe_Bed(15,15,PROBE_N);
Point2 = Probe_Bed(X_MAX_LENGTH - 20,15,PROBE_N) ;
Point3 = Probe_Bed(X_MAX_LENGTH/2,Y_MAX_LENGTH - 5,PROBE_N);
Probe_Avg = (Point1 + Point2 + Point3) / 3;
//destination[2] = Probe_Avg;
//feedrate = homing_feedrate[Z_AXIS];
//prepare_move();
SERIAL_ECHOLN("**************************************");
SERIAL_ECHO("Point1 ="); SERIAL_ECHOLN(Point1);
SERIAL_ECHO("Point2 ="); SERIAL_ECHOLN(Point2);
SERIAL_ECHO("Point3 ="); SERIAL_ECHOLN(Point3);
SERIAL_ECHO("Probed Average="); SERIAL_ECHOLN(Probe_Avg);
SERIAL_ECHOLN("**************************************");
}
/**
* Dive into a folder and recurse depth-first to perform a pre-set operation lsAction:
* LS_Count - Add +1 to nrFiles for every file within the parent
* LS_GetFilename - Get the filename of the file indexed by nrFiles
* LS_SerialPrint - Print the full path of each file to serial output
*/
void CardReader::lsDive(const char *prepend, SdFile parent, const char * const match/*=NULL*/) {
dir_t p;
uint8_t cnt = 0;
// Read the next entry from a directory
while (parent.readDir(p, longFilename) > 0) {
// If the entry is a directory and the action is LS_SerialPrint
if (DIR_IS_SUBDIR(&p) && lsAction != LS_Count && lsAction != LS_GetFilename) {
// Get the short name for the item, which we know is a folder
char lfilename[FILENAME_LENGTH];
createFilename(lfilename, p);
// Allocate enough stack space for the full path to a folder, trailing slash, and nul
boolean prepend_is_empty = (prepend[0] == '\0');
int len = (prepend_is_empty ? 1 : strlen(prepend)) + strlen(lfilename) + 1 + 1;
char path[len];
// Append the FOLDERNAME12/ to the passed string.
// It contains the full path to the "parent" argument.
// We now have the full path to the item in this folder.
strcpy(path, prepend_is_empty ? "/" : prepend); // root slash if prepend is empty
strcat(path, lfilename); // FILENAME_LENGTH-1 characters maximum
strcat(path, "/"); // 1 character
// Serial.print(path);
// Get a new directory object using the full path
// and dive recursively into it.
SdFile dir;
if (!dir.open(parent, lfilename, O_READ)) {
if (lsAction == LS_SerialPrint) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_SD_CANT_OPEN_SUBDIR);
SERIAL_ECHOLN(lfilename);
}
}
lsDive(path, dir);
// close() is done automatically by destructor of SdFile
}
else {
uint8_t pn0 = p.name[0];
if (pn0 == DIR_NAME_FREE) break;
if (pn0 == DIR_NAME_DELETED || pn0 == '.') continue;
if (longFilename[0] == '.') continue;
if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue;
filenameIsDir = DIR_IS_SUBDIR(&p);
if (!filenameIsDir && (p.name[8] != 'G' || p.name[9] == '~')) continue;
switch (lsAction) {
case LS_Count:
nrFiles++;
break;
case LS_SerialPrint:
createFilename(filename, p);
SERIAL_PROTOCOL(prepend);
SERIAL_PROTOCOLLN(filename);
break;
case LS_GetFilename:
createFilename(filename, p);
if (match != NULL) {
if (strcasecmp(match, filename) == 0) return;
}
else if (cnt == nrFiles) return;
cnt++;
break;
}
}
} // while readDir
}
void CardReader::openFile(char* name, bool read, bool replace_current/*=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) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM("trying to call sub-gcode files with too many levels. MAX level is:");
SERIAL_ERRORLN(SD_PROCEDURE_DEPTH);
kill();
return;
}
SERIAL_ECHO_START;
SERIAL_ECHOPGM("SUBROUTINE CALL target:\"");
SERIAL_ECHO(name);
SERIAL_ECHOPGM("\" parent:\"");
//store current filename and position
getAbsFilename(filenames[file_subcall_ctr]);
SERIAL_ECHO(filenames[file_subcall_ctr]);
SERIAL_ECHOPGM("\" pos");
SERIAL_ECHOLN(sdpos);
filespos[file_subcall_ctr] = sdpos;
file_subcall_ctr++;
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Now doing file: ");
SERIAL_ECHOLN(name);
}
file.close();
}
else { //opening fresh file
file_subcall_ctr = 0; //resetting procedure depth in case user cancels print while in procedure
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Now fresh file: ");
SERIAL_ECHOLN(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, '/');
//SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name));
//SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end - name));
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;
SERIAL_ECHOLN(subdirname);
if (!myDir.open(curDir, subdirname, O_READ)) {
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(subdirname);
SERIAL_PROTOCOLCHAR('.');
return;
}
else {
//SERIAL_ECHOLN("dive ok");
}
curDir = &myDir;
dirname_start = dirname_end + 1;
}
else { // the remainder after all /fsa/fdsa/ is the filename
fname = dirname_start;
//SERIAL_ECHOLN("remainder");
//SERIAL_ECHOLN(fname);
break;
}
}
}
else { //relative path
curDir = &workDir;
}
if (read) {
if (file.open(curDir, fname, O_READ)) {
filesize = file.fileSize();
SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
SERIAL_PROTOCOLLN(filesize);
sdpos = 0;
SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
getfilename(0, fname);
lcd_setstatus(longFilename[0] ? longFilename : fname);
}
else {
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLCHAR('.');
}
}
else { //write
if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) {
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLCHAR('.');
}
else {
saving = true;
SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
SERIAL_PROTOCOLLN(name);
lcd_setstatus(fname);
}
}
}
void PID_autotune(float temp, int extruder, int ncycles)
{
float input = 0.0;
int cycles=0;
bool heating = true;
unsigned long temp_millis = millis();
unsigned long t1=temp_millis;
unsigned long t2=temp_millis;
long t_high = 0;
long t_low = 0;
long bias, d;
float Ku, Tu;
float Kp, Ki, Kd;
float max = 0, min = 10000;
if ((extruder > EXTRUDERS)
#if (TEMP_BED_PIN <= -1)
||(extruder < 0)
#endif
){
SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
return;
}
SERIAL_ECHOLN("PID Autotune start");
disable_heater(); // switch off all heaters.
if (extruder<0)
{
soft_pwm_bed = (MAX_BED_POWER)/2;
bias = d = (MAX_BED_POWER)/2;
}
else
{
soft_pwm[extruder] = (PID_MAX)/2;
bias = d = (PID_MAX)/2;
}
for(;;) {
if(temp_meas_ready == true) { // temp sample ready
updateTemperaturesFromRawValues();
input = (extruder<0)?current_temperature_bed:current_temperature[extruder];
max=max(max,input);
min=min(min,input);
if(heating == true && input > temp) {
if(millis() - t2 > 5000) {
heating=false;
if (extruder<0)
soft_pwm_bed = (bias - d) >> 1;
else
soft_pwm[extruder] = (bias - d) >> 1;
t1=millis();
t_high=t1 - t2;
max=temp;
}
}
void Config_PrintSettings()
{ // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Steps per unit:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M92 X",axis_steps_per_unit[X_AXIS]);
SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[Y_AXIS]);
SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[Z_AXIS]);
SERIAL_ECHOPAIR(" E",axis_steps_per_unit[E_AXIS]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
#ifdef SCARA
SERIAL_ECHOLNPGM("Scaling factors:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M365 X",axis_scaling[X_AXIS]);
SERIAL_ECHOPAIR(" Y",axis_scaling[Y_AXIS]);
SERIAL_ECHOPAIR(" Z",axis_scaling[Z_AXIS]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
#endif
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M203 X", max_feedrate[X_AXIS]);
SERIAL_ECHOPAIR(" Y", max_feedrate[Y_AXIS]);
SERIAL_ECHOPAIR(" Z", max_feedrate[Z_AXIS]);
SERIAL_ECHOPAIR(" E", max_feedrate[E_AXIS]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M201 X" ,max_acceleration_units_per_sq_second[X_AXIS] );
SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[Y_AXIS] );
SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[Z_AXIS] );
SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[E_AXIS]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M204 S",acceleration );
SERIAL_ECHOPAIR(" T" ,retract_acceleration);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=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)");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M205 S",minimumfeedrate );
SERIAL_ECHOPAIR(" T" ,mintravelfeedrate );
SERIAL_ECHOPAIR(" B" ,minsegmenttime );
SERIAL_ECHOPAIR(" X" ,max_xy_jerk );
SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
SERIAL_ECHOPAIR(" E" ,max_e_jerk);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Home offset (mm):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M206 X",add_homing[X_AXIS] );
SERIAL_ECHOPAIR(" Y" ,add_homing[Y_AXIS] );
SERIAL_ECHOPAIR(" Z" ,add_homing[Z_AXIS] );
SERIAL_ECHOLN("");
#ifdef DELTA
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Endstop adjustement (mm):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M666 X",endstop_adj[X_AXIS] );
SERIAL_ECHOPAIR(" Y" ,endstop_adj[Y_AXIS] );
SERIAL_ECHOPAIR(" Z" ,endstop_adj[Z_AXIS] );
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Delta settings: L=delta_diagonal_rod, R=delta_radius, S=delta_segments_per_second");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M665 L",delta_diagonal_rod );
SERIAL_ECHOPAIR(" R" ,delta_radius );
SERIAL_ECHOPAIR(" S" ,delta_segments_per_second );
SERIAL_ECHOLN("");
#endif
#ifdef PIDTEMP
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("PID settings:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M301 P",Kp);
SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki));
SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd));
SERIAL_ECHOLN("");
#endif
#ifdef FWRETRACT
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M207 S",retract_length);
SERIAL_ECHOPAIR(" F" ,retract_feedrate*60);
SERIAL_ECHOPAIR(" Z" ,retract_zlift);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Recover: S=Extra length (mm) F:Speed (mm/m)");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M208 S",retract_recover_length);
SERIAL_ECHOPAIR(" F" ,retract_recover_feedrate*60);
SERIAL_ECHOLN("");
#endif
}
void PID_autotune(float temp, int extruder, 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, Ki, Kd;
float max = 0, min = 10000;
#if HAS_AUTO_FAN
millis_t next_auto_fan_check_ms = temp_ms + 2500;
#endif
if (extruder >= EXTRUDERS
#if !HAS_TEMP_BED
|| extruder < 0
#endif
) {
SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
return;
}
SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);
disable_heater(); // switch off all heaters.
if (extruder < 0)
soft_pwm_bed = bias = d = MAX_BED_POWER / 2;
else
soft_pwm[extruder] = bias = d = PID_MAX / 2;
// PID Tuning loop
for (;;) {
millis_t ms = millis();
if (temp_meas_ready) { // temp sample ready
updateTemperaturesFromRawValues();
input = (extruder<0)?current_temperature_bed:current_temperature[extruder];
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 == true && input > temp) {
if (ms - t2 > 5000) {
heating = false;
if (extruder < 0)
soft_pwm_bed = (bias - d) >> 1;
else
soft_pwm[extruder] = (bias - d) >> 1;
t1 = ms;
t_high = t1 - t2;
max = temp;
}
}
if (heating == false && input < temp) {
if (ms - t1 > 5000) {
heating = true;
t2 = ms;
t_low = t2 - t1;
if (cycles > 0) {
long max_pow = extruder < 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;
SERIAL_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias);
SERIAL_PROTOCOLPGM(MSG_D); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(MSG_T_MIN); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(MSG_T_MAX); SERIAL_PROTOCOLLN(max);
if (cycles > 2) {
Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
Tu = ((float)(t_low + t_high) / 1000.0);
SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6 * Ku;
Ki = 2 * Kp / Tu;
Kd = Kp * Tu / 8;
SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
*/
}
}
if (extruder < 0)
soft_pwm_bed = (bias + d) >> 1;
else
soft_pwm[extruder] = (bias + d) >> 1;
cycles++;
min = temp;
}
void Config_PrintSettings()
{ // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Steps per unit:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M92 X",axis_steps_per_unit[0]);
SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[1]);
SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[2]);
SERIAL_ECHOPAIR(" E",axis_steps_per_unit[3]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M203 X",max_feedrate[0]);
SERIAL_ECHOPAIR(" Y",max_feedrate[1] );
SERIAL_ECHOPAIR(" Z", max_feedrate[2] );
SERIAL_ECHOPAIR(" E", max_feedrate[3]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M201 X" ,max_acceleration_units_per_sq_second[0] );
SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[1] );
SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[2] );
SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[3]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M204 S",acceleration );
SERIAL_ECHOPAIR(" T" ,retract_acceleration);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=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)");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M205 S",minimumfeedrate );
SERIAL_ECHOPAIR(" T" ,mintravelfeedrate );
SERIAL_ECHOPAIR(" B" ,minsegmenttime );
SERIAL_ECHOPAIR(" X" ,max_xy_jerk );
SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
SERIAL_ECHOPAIR(" E" ,max_e_jerk);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Home offset (mm):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M206 X",add_homeing[0] );
SERIAL_ECHOPAIR(" Y" ,add_homeing[1] );
SERIAL_ECHOPAIR(" Z" ,add_homeing[2] );
SERIAL_ECHOLN("");
#ifdef DELTA
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Endstop adjustment (mm):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M666 X",endstop_adj[0]);
SERIAL_ECHOPAIR(" Y" ,endstop_adj[1]);
SERIAL_ECHOPAIR(" Z" ,endstop_adj[2]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Delta Geometry adjustment:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M666 A",tower_adj[0]);
SERIAL_ECHOPAIR(" B" ,tower_adj[1]);
SERIAL_ECHOPAIR(" C" ,tower_adj[2]);
SERIAL_ECHOPAIR(" I" ,tower_adj[3]);
SERIAL_ECHOPAIR(" J" ,tower_adj[4]);
SERIAL_ECHOPAIR(" K" ,tower_adj[5]);
SERIAL_ECHOPAIR(" R" ,delta_radius);
SERIAL_ECHOPAIR(" D" ,delta_diagonal_rod);
SERIAL_ECHOPAIR(" H" ,max_pos[Z_AXIS]);
SERIAL_ECHOPAIR(" P" ,z_probe_offset[Z_AXIS]);
SERIAL_ECHOPAIR(" S" ,delta_segments_per_second );
SERIAL_ECHOLN("");
/*
SERIAL_ECHOLN("Tower Positions");
SERIAL_ECHOPAIR("Tower1 X:",delta_tower1_x);
SERIAL_ECHOPAIR(" Y:",delta_tower1_y);
SERIAL_ECHOLN("");
SERIAL_ECHOPAIR("Tower2 X:",delta_tower2_x);
SERIAL_ECHOPAIR(" Y:",delta_tower2_y);
SERIAL_ECHOLN("");
SERIAL_ECHOPAIR("Tower3 X:",delta_tower3_x);
SERIAL_ECHOPAIR(" Y:",delta_tower3_y);
SERIAL_ECHOLN("");
*/
#endif
#ifdef PIDTEMP
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("PID settings:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M301 P",Kp);
SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki));
SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd));
SERIAL_ECHOLN("");
#endif
}
/**
* M420: Enable/Disable Bed Leveling and/or set the Z fade height.
*
* S[bool] Turns leveling on or off
* Z[height] Sets the Z fade height (0 or none to disable)
* V[bool] Verbose - Print the leveling grid
*
* With AUTO_BED_LEVELING_UBL only:
*
* L[index] Load UBL mesh from index (0 is default)
* T[map] 0:Human-readable 1:CSV 2:"LCD" 4:Compact
*
* With mesh-based leveling only:
*
* C Center mesh on the mean of the lowest and highest
*
* With MARLIN_DEV_MODE:
* S2 Create a simple random mesh and enable
*/
void GcodeSuite::M420() {
const bool seen_S = parser.seen('S'),
to_enable = seen_S ? parser.value_bool() : planner.leveling_active;
#if ENABLED(MARLIN_DEV_MODE)
if (parser.intval('S') == 2) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_start[X_AXIS] = MIN_PROBE_X;
bilinear_start[Y_AXIS] = MIN_PROBE_Y;
bilinear_grid_spacing[X_AXIS] = (MAX_PROBE_X - (MIN_PROBE_X)) / (GRID_MAX_POINTS_X - 1);
bilinear_grid_spacing[Y_AXIS] = (MAX_PROBE_Y - (MIN_PROBE_Y)) / (GRID_MAX_POINTS_Y - 1);
#endif
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
Z_VALUES(x, y) = 0.001 * random(-200, 200);
SERIAL_ECHOPGM("Simulated " STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_X) " mesh ");
SERIAL_ECHOPAIR(" (", MIN_PROBE_X);
SERIAL_CHAR(','); SERIAL_ECHO(MIN_PROBE_Y);
SERIAL_ECHOPAIR(")-(", MAX_PROBE_X);
SERIAL_CHAR(','); SERIAL_ECHO(MAX_PROBE_Y);
SERIAL_ECHOLNPGM(")");
}
#endif
// If disabling leveling do it right away
// (Don't disable for just M420 or M420 V)
if (seen_S && !to_enable) set_bed_leveling_enabled(false);
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
#if ENABLED(AUTO_BED_LEVELING_UBL)
// L to load a mesh from the EEPROM
if (parser.seen('L')) {
set_bed_leveling_enabled(false);
#if ENABLED(EEPROM_SETTINGS)
const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.storage_slot;
const int16_t a = settings.calc_num_meshes();
if (!a) {
SERIAL_ECHOLNPGM("?EEPROM storage not available.");
return;
}
if (!WITHIN(storage_slot, 0, a - 1)) {
SERIAL_ECHOLNPGM("?Invalid storage slot.");
SERIAL_ECHOLNPAIR("?Use 0 to ", a - 1);
return;
}
settings.load_mesh(storage_slot);
ubl.storage_slot = storage_slot;
#else
SERIAL_ECHOLNPGM("?EEPROM storage not available.");
return;
#endif
}
// L or V display the map info
if (parser.seen('L') || parser.seen('V')) {
ubl.display_map(parser.byteval('T'));
SERIAL_ECHOPGM("Mesh is ");
if (!ubl.mesh_is_valid()) SERIAL_ECHOPGM("in");
SERIAL_ECHOLNPAIR("valid\nStorage slot: ", ubl.storage_slot);
}
#endif // AUTO_BED_LEVELING_UBL
const bool seenV = parser.seen('V');
#if HAS_MESH
if (leveling_is_valid()) {
// Subtract the given value or the mean from all mesh values
if (parser.seen('C')) {
const float cval = parser.value_float();
#if ENABLED(AUTO_BED_LEVELING_UBL)
set_bed_leveling_enabled(false);
ubl.adjust_mesh_to_mean(true, cval);
#else
#if ENABLED(M420_C_USE_MEAN)
// Get the sum and average of all mesh values
float mesh_sum = 0;
for (uint8_t x = GRID_MAX_POINTS_X; x--;)
for (uint8_t y = GRID_MAX_POINTS_Y; y--;)
mesh_sum += Z_VALUES(x, y);
const float zmean = mesh_sum / float(GRID_MAX_POINTS);
#else
// Find the low and high mesh values
float lo_val = 100, hi_val = -100;
for (uint8_t x = GRID_MAX_POINTS_X; x--;)
for (uint8_t y = GRID_MAX_POINTS_Y; y--;) {
const float z = Z_VALUES(x, y);
NOMORE(lo_val, z);
NOLESS(hi_val, z);
}
// Take the mean of the lowest and highest
const float zmean = (lo_val + hi_val) / 2.0 + cval;
#endif
// If not very close to 0, adjust the mesh
if (!NEAR_ZERO(zmean)) {
set_bed_leveling_enabled(false);
// Subtract the mean from all values
for (uint8_t x = GRID_MAX_POINTS_X; x--;)
for (uint8_t y = GRID_MAX_POINTS_Y; y--;)
Z_VALUES(x, y) -= zmean;
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
#endif
}
}
else if (to_enable || seenV) {
SERIAL_ECHO_MSG("Invalid mesh.");
goto EXIT_M420;
}
#endif // HAS_MESH
// V to print the matrix or mesh
if (seenV) {
#if ABL_PLANAR
planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
#else
if (leveling_is_valid()) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
print_bilinear_leveling_grid();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
print_bilinear_leveling_grid_virt();
#endif
#elif ENABLED(MESH_BED_LEVELING)
SERIAL_ECHOLNPGM("Mesh Bed Level data:");
mbl.report_mesh();
#endif
}
#endif
}
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units(), false);
#endif
// Enable leveling if specified, or if previously active
set_bed_leveling_enabled(to_enable);
#if HAS_MESH
EXIT_M420:
#endif
// Error if leveling failed to enable or reenable
if (to_enable && !planner.leveling_active)
SERIAL_ERROR_MSG(MSG_ERR_M420_FAILED);
SERIAL_ECHO_START();
SERIAL_ECHOPGM("Bed Leveling ");
serialprintln_onoff(planner.leveling_active);
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
SERIAL_ECHO_START();
SERIAL_ECHOPGM("Fade Height ");
if (planner.z_fade_height > 0.0)
SERIAL_ECHOLN(planner.z_fade_height);
else
SERIAL_ECHOLNPGM(MSG_OFF);
#endif
// Report change in position
if (memcmp(oldpos, current_position, sizeof(oldpos)))
report_current_position();
}
void PID_autotune(float temp, int extruder, int ncycles)
{
float input = 0.0;
int cycles=0;
bool heating = true;
unsigned long temp_millis = millis();
unsigned long t1=temp_millis;
unsigned long t2=temp_millis;
long t_high = 0;
long t_low = 0;
long bias, d;
float Ku, Tu;
float Kp, Ki, Kd;
float max = 0, min = 10000;
if ((extruder > EXTRUDERS)
#if (TEMP_BED_PIN <= -1)
||(extruder < 0)
#endif
){
SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
return;
}
SERIAL_ECHOLN("PID Autotune start");
disable_heater(); // switch off all heaters.
if (extruder<0)
{
soft_pwm_bed = (MAX_BED_POWER)/2;
bias = d = (MAX_BED_POWER)/2;
}
else
{
soft_pwm[extruder] = (PID_MAX)/2;
bias = d = (PID_MAX)/2;
}
for(;;) {
if(temp_meas_ready == true) { // temp sample ready
//Reset the watchdog after we know we have a temperature measurement.
watchdog_reset();
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
input = (extruder<0)?analog2tempBed(current_raw_bed):analog2temp(current_raw[extruder], extruder);
max=max(max,input);
min=min(min,input);
if(heating == true && input > temp) {
if(millis() - t2 > 5000) {
heating=false;
if (extruder<0)
soft_pwm_bed = (bias - d) >> 1;
else
soft_pwm[extruder] = (bias - d) >> 1;
t1=millis();
t_high=t1 - t2;
max=temp;
}
}
void CardReader::openFile(char* name,bool read)
{
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,'/');
//SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name));
//SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end-name));
if(dirname_end>0 && dirname_end>dirname_start)
{
char subdirname[13];
strncpy(subdirname, dirname_start, dirname_end-dirname_start);
subdirname[dirname_end-dirname_start]=0;
SERIAL_ECHOLN(subdirname);
if(!myDir.open(curDir,subdirname,O_READ))
{
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(subdirname);
SERIAL_PROTOCOLLNPGM(".");
return;
}
else
{
//SERIAL_ECHOLN("dive ok");
}
curDir=&myDir;
dirname_start=dirname_end+1;
}
else // the reminder after all /fsa/fdsa/ is the filename
{
fname=dirname_start;
//SERIAL_ECHOLN("remaider");
//SERIAL_ECHOLN(fname);
break;
}
}
}
else //relative path
{
curDir=&workDir;
}
if(read)
{
if (file.open(curDir, fname, O_READ))
{
filesize = file.fileSize();
SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
SERIAL_PROTOCOLLN(filesize);
sdpos = 0;
SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
LCD_MESSAGE(fname);
}
else
{
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLLNPGM(".");
}
}
else
{ //write
if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
{
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLLNPGM(".");
}
else
{
saving = true;
SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
SERIAL_PROTOCOLLN(name);
LCD_MESSAGE(fname);
}
}
}
void Config_PrintSettings()
{ // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Steps per unit:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M92 X",axis_steps_per_unit[0]);
SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[1]);
SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[2]);
SERIAL_ECHOPAIR(" E",axis_steps_per_unit[3]);
SERIAL_ECHOPAIR(" E1",e1_steps_per_unit);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M203 X",max_feedrate[0]);
SERIAL_ECHOPAIR(" Y",max_feedrate[1] );
SERIAL_ECHOPAIR(" Z", max_feedrate[2] );
SERIAL_ECHOPAIR(" E", max_feedrate[3]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M201 X" ,max_acceleration_units_per_sq_second[0] );
SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[1] );
SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[2] );
SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[3]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M204 S",acceleration );
SERIAL_ECHOPAIR(" T" ,retract_acceleration);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=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)");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M205 S",minimumfeedrate );
SERIAL_ECHOPAIR(" T" ,mintravelfeedrate );
SERIAL_ECHOPAIR(" B" ,minsegmenttime );
SERIAL_ECHOPAIR(" X" ,max_xy_jerk );
SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
SERIAL_ECHOPAIR(" E" ,max_e_jerk);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Home offset (mm):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M206 X",add_homeing[0] );
SERIAL_ECHOPAIR(" Y" ,add_homeing[1] );
SERIAL_ECHOPAIR(" Z" ,add_homeing[2] );
SERIAL_ECHOLN("");
#ifdef DELTA
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Endstop adjustement (mm):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M666 X",endstop_adj[0] );
SERIAL_ECHOPAIR(" Y" ,endstop_adj[1] );
SERIAL_ECHOPAIR(" Z" ,endstop_adj[2] );
SERIAL_ECHOLN("");
#endif
#ifdef PIDTEMP
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("PID settings:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M301 P",Kp);
SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki));
SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd));
SERIAL_ECHOLN("");
#endif
}
void CardReader::lsDive(const char *prepend,SdFile parent)
{
dir_t p;
uint8_t cnt=0;
while (parent.readDir(p, longFilename) > 0)
{
if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename) // hence LS_SerialPrint
{
char path[13*2];
char lfilename[13];
createFilename(lfilename,p);
path[0]=0;
if(strlen(prepend)==0) //avoid leading / if already in prepend
{
strcat(path,"/");
}
strcat(path,prepend);
strcat(path,lfilename);
strcat(path,"/");
//Serial.print(path);
SdFile dir;
if(!dir.open(parent,lfilename, O_READ))
{
if(lsAction==LS_SerialPrint)
{
SERIAL_ECHO_START;
SERIAL_ECHOLN(MSG_SD_CANT_OPEN_SUBDIR);
SERIAL_ECHOLN(lfilename);
}
}
lsDive(path,dir);
//close done automatically by destructor of SdFile
}
else
{
if (p.name[0] == DIR_NAME_FREE) break;
if (p.name[0] == DIR_NAME_DELETED || p.name[0] == '.'|| p.name[0] == '_') continue;
if ( p.name[0] == '.')
{
if ( p.name[1] != '.')
continue;
}
if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue;
filenameIsDir=DIR_IS_SUBDIR(&p);
if(!filenameIsDir)
{
if(p.name[8]!='G') continue;
if(p.name[9]=='~') continue;
}
//if(cnt++!=nr) continue;
createFilename(filename,p);
if(lsAction==LS_SerialPrint)
{
SERIAL_PROTOCOL(prepend);
SERIAL_PROTOCOLLN(filename);
}
else if(lsAction==LS_Count)
{
nrFiles++;
}
else if(lsAction==LS_GetFilename)
{
if(cnt==nrFiles)
return;
cnt++;
}
}
}
}
void PID_autotune(float temp)
{
float input;
int cycles=0;
bool heating = true;
unsigned long temp_millis = millis();
unsigned long t1=temp_millis;
unsigned long t2=temp_millis;
long t_high;
long t_low;
long bias=127;
long d = 127;
float Ku, Tu;
float Kp, Ki, Kd;
float max, min;
SERIAL_ECHOLN("PID Autotune start");
disable_heater(); // switch off all heaters.
soft_pwm[0] = 255>>1;
for(;;) {
if(temp_meas_ready == true) { // temp sample ready
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
input = analog2temp(current_raw[0], 0);
max=max(max,input);
min=min(min,input);
if(heating == true && input > temp) {
if(millis() - t2 > 5000) {
heating=false;
soft_pwm[0] = (bias - d) >> 1;
t1=millis();
t_high=t1 - t2;
max=temp;
}
}
if(heating == false && input < temp) {
if(millis() - t1 > 5000) {
heating=true;
t2=millis();
t_low=t2 - t1;
if(cycles > 0) {
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20 ,235);
if(bias > 127) d = 254 - bias;
else d = bias;
SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max);
if(cycles > 2) {
Ku = (4.0*d)/(3.14159*(max-min)/2.0);
Tu = ((float)(t_low + t_high)/1000.0);
SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/8;
SERIAL_PROTOCOLLNPGM(" Clasic PID ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
*/
}
}
soft_pwm[0] = (bias + d) >> 1;
cycles++;
min=temp;
}
}
