static void lcd_menu_first_run_bed_level_paper_center()
{
LED_GLOW();
if (lcd_lib_encoder_pos == ENCODER_NO_SELECTION)
lcd_lib_encoder_pos = 0;
if (printing_state == PRINT_STATE_NORMAL && lcd_lib_encoder_pos != 0 && movesplanned() < 4)
{
current_position[Z_AXIS] -= float(lcd_lib_encoder_pos) * 0.05;
lcd_lib_encoder_pos = 0;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 60, 0);
}
if (movesplanned() > 0)
lcd_info_screen(NULL, NULL, PSTR("CONTINUE"));
else
lcd_info_screen(lcd_menu_first_run_bed_level_paper_left, storeHomingZ_parkHeadForLeftAdjustment, PSTR("CONTINUE"));
DRAW_PROGRESS_NR(8);
lcd_lib_draw_string_centerP(10, PSTR("Slide a paper between"));
lcd_lib_draw_string_centerP(20, PSTR("buildplate and nozzle"));
lcd_lib_draw_string_centerP(30, PSTR("until you feel a"));
lcd_lib_draw_string_centerP(40, PSTR("bit resistance."));
lcd_lib_update_screen();
}
static void lcd_menu_first_run_bed_level_paper_center()
{
LED_GLOW();
if (lcd_lib_encoder_pos == ENCODER_NO_SELECTION)
lcd_lib_encoder_pos = 0;
if (printing_state == PRINT_STATE_NORMAL && lcd_lib_encoder_pos != 0 && movesplanned() < 4)
{
current_position[Z_AXIS] -= float(lcd_lib_encoder_pos) * 0.05;
lcd_lib_encoder_pos = 0;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 60, 0);
}
if (movesplanned() > 0)
lcd_info_screen(NULL, NULL, PSTR("POKRACOVAT"));
else
lcd_info_screen(lcd_menu_first_run_bed_level_paper_left, parkHeadForLeftAdjustment, PSTR("POKRACOVAT"));
DRAW_PROGRESS_NR_IF_NOT_DONE(8);
lcd_lib_draw_string_centerP(10, PSTR("Zasunte papir mezi"));
lcd_lib_draw_string_centerP(20, PSTR("trysku a podlozku,"));
lcd_lib_draw_string_centerP(30, PSTR("otacejte dokud"));
lcd_lib_draw_string_centerP(40, PSTR("papir neklade odpor"));
lcd_lib_update_screen();
}
static void lcd_menu_first_run_bed_level_center_adjust()
{
LED_GLOW();
if (lcd_lib_encoder_pos == ENCODER_NO_SELECTION)
lcd_lib_encoder_pos = 0;
if (printing_state == PRINT_STATE_NORMAL && lcd_lib_encoder_pos != 0 && movesplanned() < 4)
{
current_position[Z_AXIS] -= float(lcd_lib_encoder_pos) * 0.05;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 60, 0);
}
lcd_lib_encoder_pos = 0;
if (movesplanned() > 0)
lcd_info_screen(NULL, NULL, PSTR("CONTINUE"));
else
lcd_info_screen(lcd_menu_first_run_bed_level_left_adjust, storeHomingZ_parkHeadForLeftAdjustment, PSTR("CONTINUE"));
DRAW_PROGRESS_NR(4);
lcd_lib_draw_string_centerP(10, PSTR("Rotate the button"));
lcd_lib_draw_string_centerP(20, PSTR("until the nozzle is"));
lcd_lib_draw_string_centerP(30, PSTR("a millimeter away"));
lcd_lib_draw_string_centerP(40, PSTR("from the buildplate."));
lcd_lib_update_screen();
}
static void lcd_menu_first_run_bed_level_center_adjust()
{
LED_GLOW();
if (lcd_lib_encoder_pos == ENCODER_NO_SELECTION)
lcd_lib_encoder_pos = 0;
if (printing_state == PRINT_STATE_NORMAL && lcd_lib_encoder_pos != 0 && movesplanned() < 4)
{
current_position[Z_AXIS] -= float(lcd_lib_encoder_pos) * 0.05;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 60, 0);
}
lcd_lib_encoder_pos = 0;
if (movesplanned() > 0)
lcd_info_screen(NULL, NULL, PSTR("POKRACOVAT"));
else
lcd_info_screen(lcd_menu_first_run_bed_level_left_adjust, parkHeadForLeftAdjustment, PSTR("POKRACOVAT"));
DRAW_PROGRESS_NR_IF_NOT_DONE(4);
lcd_lib_draw_string_centerP(10, PSTR("Otacejte tlacitkem"));
lcd_lib_draw_string_centerP(20, PSTR("dokud nebude tryska"));
lcd_lib_draw_string_centerP(30, PSTR("priblizne milimetr"));
lcd_lib_draw_string_centerP(40, PSTR("od tiskove podlozky."));
lcd_lib_update_screen();
}
static char* tune_item_callback(uint8_t nr)
{
char* c = (char*)lcd_cache;
if (nr == 0)
strcpy_P(c, PSTR("< RETURN"));
else if (nr == 1)
{
if (!card.pause)
{
if (movesplanned() > 0)
strcpy_P(c, PSTR("Pause"));
else
strcpy_P(c, PSTR("Can not pause"));
}
else
{
if (movesplanned() < 1)
strcpy_P(c, PSTR("Resume"));
else
strcpy_P(c, PSTR("Pausing..."));
}
}
else if (nr == 2)
strcpy_P(c, PSTR("Speed"));
else if (nr == 3)
strcpy_P(c, PSTR("Temperature"));
#if EXTRUDERS > 1
else if (nr == 4)
strcpy_P(c, PSTR("Temperature 2"));
#endif
else if (nr == 3 + EXTRUDERS)
strcpy_P(c, PSTR("Buildplate temp."));
else if (nr == 4 + EXTRUDERS)
strcpy_P(c, PSTR("Fan speed"));
else if (nr == 5 + EXTRUDERS)
strcpy_P(c, PSTR("Material flow"));
#if EXTRUDERS > 1
else if (nr == 6 + EXTRUDERS)
strcpy_P(c, PSTR("Material flow 2"));
#endif
else if (nr == 5 + EXTRUDERS * 2)
strcpy_P(c, PSTR("Retraction"));
else if (nr == 6 + EXTRUDERS * 2)
strcpy_P(c, PSTR("LED Brightness"));
else if (nr == 7 + EXTRUDERS * 2)
strcpy_P(c, PSTR("Babystep X"));
else if (nr == 8 + EXTRUDERS * 2)
strcpy_P(c, PSTR("Babystep Y"));
else if (nr == 9 + EXTRUDERS * 2)
strcpy_P(c, PSTR("Babystep Z"));
return c;
}
/* Menu implementation */
static void lcd_main_menu()
{
START_MENU();
MENU_ITEM(back, MSG_WATCH, lcd_status_screen);
#ifdef LASER
if (!(movesplanned() || IS_SD_PRINTING)) {
MENU_ITEM(submenu, "Laser Functions", lcd_laser_menu);
}
#endif
if (movesplanned() || IS_SD_PRINTING)
{
MENU_ITEM(submenu, MSG_TUNE, lcd_tune_menu);
}else{
MENU_ITEM(submenu, MSG_PREPARE, lcd_prepare_menu);
}
MENU_ITEM(submenu, MSG_CONTROL, lcd_control_menu);
#ifdef SDSUPPORT
if (card.cardOK)
{
if (card.isFileOpen())
{
if (card.sdprinting)
MENU_ITEM(function, MSG_PAUSE_PRINT, lcd_sdcard_pause);
else
MENU_ITEM(function, MSG_RESUME_PRINT, lcd_sdcard_resume);
MENU_ITEM(function, MSG_STOP_PRINT, lcd_sdcard_stop);
}else{
MENU_ITEM(submenu, MSG_CARD_MENU, lcd_sdcard_menu);
#if SDCARDDETECT < 1
MENU_ITEM(gcode, MSG_CNG_SDCARD, PSTR("M21")); // SD-card changed by user
#endif
}
}else{
MENU_ITEM(submenu, MSG_NO_CARD, lcd_sdcard_menu);
#if SDCARDDETECT < 1
MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21")); // Manually initialize the SD-card via user interface
#endif
}
#endif
END_MENU();
}
////iSM
static void lcd_main_menu()
{
START_MENU();
MENU_ITEM(back, MSG_WATCH, lcd_status_screen);
if (movesplanned() || IS_SD_PRINTING)
{
MENU_ITEM(submenu, MSG_TUNE, lcd_tune_menu);//1
}
#ifdef SDSUPPORT
if (card.cardOK)
{
if (card.isFileOpen())
{
if (card.sdprinting)
//MENU_ITEM(function, MSG_PAUSE_PRINT, lcd_sdcard_pause);
MENU_ITEM(gcode, MSG_FILAMENT_CH, PSTR("M600"));
else
MENU_ITEM(function, MSG_RESUME_PRINT, lcd_sdcard_resume);
MENU_ITEM(function, MSG_STOP_PRINT, lcd_sdcard_stop);
}else{
MENU_ITEM(submenu, MSG_CARD_MENU, lcd_sdcard_menu);
#if SDCARDDETECT < 1
MENU_ITEM(gcode, MSG_CNG_SDCARD, PSTR("M21")); // SD-card changed by user
#endif
}
}else{
MENU_ITEM(submenu, MSG_NO_CARD, lcd_sdcard_menu);
#if SDCARDDETECT < 1
MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21")); // Manually initialize the SD-card via user interface
#endif
}
#endif
if (!movesplanned() && !IS_SD_PRINTING)
{
MENU_ITEM(submenu, MSG_FILAMENTO, lcd_filamento_menu);//2
MENU_ITEM(submenu, MSG_PRECALENTAR, lcd_precalentar_menu);//3
MENU_ITEM(submenu, MSG_HERRAMIENTAS, lcd_herramientas_menu);//4
}
END_MENU();
}
static void lcd_sdcard_pause()
{
card.pauseSDPrint();
if (movesplanned() > 0)
{
waituntilbufferavailable();
if (current_position[Z_AXIS] < Z_MAX_POS - 25)
enquecommand_P(PSTR("M601 X10 Y20 Z20 L30"));
else if (current_position[Z_AXIS] < Z_MAX_POS -5)
enquecommand_P(PSTR("M601 X10 Y20 Z2 L30"));
else
enquecommand_P(PSTR("M601 X10 Y20 Z0 L30"));
}
}
static void lcd_laser_menu()
{
START_MENU();
MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
MENU_ITEM(submenu, "Set Focus", lcd_laser_focus_menu);
MENU_ITEM(submenu, "Test Fire", lcd_laser_test_fire_menu);
#ifdef LASER_PERIPHERALS
if (laser_peripherals_ok()) {
MENU_ITEM(function, "Turn On Pumps/Fans", action_laser_acc_on);
} else if (!(movesplanned() || IS_SD_PRINTING)) {
MENU_ITEM(function, "Turn Off Pumps/Fans", action_laser_acc_off);
}
#endif // LASER_PERIPHERALS
END_MENU();
}
static void lcd_move_e()
{
if (blocking_enc>=millis() || LCD_CLICKED)
{
while (movesplanned() < 3)
{
current_position[E_AXIS] += 0.5;
lcd_implementation_drawedit(PSTR("Extruder"), ftostr31(current_position[E_AXIS]));
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3, active_extruder);
}
}else{
lcd_quick_feedback();
currentMenu = lcd_move_menu_axis;
encoderPosition = prevEncoderPosition;
}
}
static void lcd_menu_change_material_insert()
{
LED_GLOW();
lcd_question_screen(lcd_menu_change_material_select_material, materialInsertReady, PSTR("READY"), lcd_menu_main, cancelMaterialInsert, PSTR("CANCEL"));
lcd_lib_draw_string_centerP(20, PSTR("Wait till material"));
lcd_lib_draw_string_centerP(30, PSTR("comes out the nozzle"));
if (movesplanned() < 2)
{
current_position[E_AXIS] += 0.5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENT_INSERT_EXTRUDE_SPEED, active_extruder);
}
lcd_lib_update_screen();
}
static void lcd_menu_change_material_insert()
{
LED_GLOW();
lcd_question_screen(post_change_material_menu, materialInsertReady, PSTR("READY"), post_change_material_menu, cancelMaterialInsert, PSTR("CANCEL"));
lcd_lib_draw_string_centerP(20, PSTR("Wait till material"));
lcd_lib_draw_string_centerP(30, PSTR("comes out the nozzle"));
if (movesplanned() < 2)
{
plan_set_e_position(0);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], 0.5 / volume_to_filament_length[active_extruder], FILAMENT_INSERT_EXTRUDE_SPEED, active_extruder);
}
lcd_lib_update_screen();
}
static void lcd_menu_change_material_insert_wait_user()
{
LED_GLOW();
if (printing_state == PRINT_STATE_NORMAL && movesplanned() < 2)
{
current_position[E_AXIS] += 0.5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENT_INSERT_SPEED, active_extruder);
}
lcd_question_screen(NULL, lcd_menu_change_material_insert_wait_user_ready, PSTR("READY"), lcd_menu_main, cancelMaterialInsert, PSTR("CANCEL"));
lcd_lib_draw_string_centerP(10, PSTR("Insert new material"));
lcd_lib_draw_string_centerP(20, PSTR("from the backside of"));
lcd_lib_draw_string_centerP(30, PSTR("your machine,"));
lcd_lib_draw_string_centerP(40, PSTR("above the arrow."));
lcd_lib_update_screen();
}
static void lcd_menu_first_run_material_load_wait()
{
LED_GLOW();
lcd_info_screen(lcd_menu_first_run_material_select_1, doCooldown, PSTR("CONTINUE"));
DRAW_PROGRESS_NR(15);
lcd_lib_draw_string_centerP(10, PSTR("Push button when"));
lcd_lib_draw_string_centerP(20, PSTR("material exits"));
lcd_lib_draw_string_centerP(30, PSTR("from nozzle..."));
if (movesplanned() < 2)
{
current_position[E_AXIS] += 0.5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENT_INSERT_EXTRUDE_SPEED, 0);
}
lcd_lib_update_screen();
}
static void lcd_menu_first_run_material_load_insert()
{
LED_GLOW();
if (movesplanned() < 2)
{
current_position[E_AXIS] += 0.5;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENT_INSERT_SPEED, 0);
}
SELECT_MAIN_MENU_ITEM(0);
lcd_info_screen(lcd_menu_first_run_material_load_forward, runMaterialForward, PSTR("CONTINUE"));
DRAW_PROGRESS_NR(13);
lcd_lib_draw_string_centerP(10, PSTR("Insert new material"));
lcd_lib_draw_string_centerP(20, PSTR("from the rear of"));
lcd_lib_draw_string_centerP(30, PSTR("your Ultimaker2,"));
lcd_lib_draw_string_centerP(40, PSTR("above the arrow."));
lcd_lib_update_screen();
}
/**
* recalculate() needs to go over the current plan twice.
* Once in reverse and once forward. This implements the reverse pass.
*/
void Planner::reverse_pass() {
if (movesplanned() > 3) {
block_t* block[3] = { NULL, NULL, NULL };
// Make a local copy of block_buffer_tail, because the interrupt can alter it
CRITICAL_SECTION_START;
uint8_t tail = block_buffer_tail;
CRITICAL_SECTION_END
uint8_t b = BLOCK_MOD(block_buffer_head - 3);
while (b != tail) {
b = prev_block_index(b);
block[2] = block[1];
block[1] = block[0];
block[0] = &block_buffer[b];
reverse_pass_kernel(block[0], block[1], block[2]);
}
}
}
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t extruder)
#endif // AUTO_BED_LEVELING_FEATURE
{
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
while (block_buffer_tail == next_buffer_head) idle();
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active) z += mbl.get_z(x, y);
#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
long target[NUM_AXIS];
target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);
target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
float dx = target[X_AXIS] - position[X_AXIS],
dy = target[Y_AXIS] - position[Y_AXIS],
dz = target[Z_AXIS] - position[Z_AXIS];
// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
if (marlin_debug_flags & DEBUG_DRYRUN)
position[E_AXIS] = target[E_AXIS];
float de = target[E_AXIS] - position[E_AXIS];
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
if (de) {
if (degHotend(extruder) < extrude_min_temp) {
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
de = 0; // no difference
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (labs(de) > axis_steps_per_unit[E_AXIS] * EXTRUDE_MAXLENGTH) {
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
de = 0; // no difference
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
#endif
}
#endif
// Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
// Mark block as not busy (Not executed by the stepper interrupt)
block->busy = false;
// Number of steps for each axis
#if ENABLED(COREXY)
// corexy planning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
block->steps[A_AXIS] = labs(dx + dy);
block->steps[B_AXIS] = labs(dx - dy);
block->steps[Z_AXIS] = labs(dz);
#elif ENABLED(COREXZ)
// corexz planning
block->steps[A_AXIS] = labs(dx + dz);
block->steps[Y_AXIS] = labs(dy);
block->steps[C_AXIS] = labs(dx - dz);
#else
// default non-h-bot planning
block->steps[X_AXIS] = labs(dx);
block->steps[Y_AXIS] = labs(dy);
block->steps[Z_AXIS] = labs(dz);
#endif
block->steps[E_AXIS] = labs(de);
block->steps[E_AXIS] *= volumetric_multiplier[extruder];
block->steps[E_AXIS] *= extruder_multiplier[extruder];
block->steps[E_AXIS] /= 100;
block->step_event_count = max(block->steps[X_AXIS], max(block->steps[Y_AXIS], max(block->steps[Z_AXIS], block->steps[E_AXIS])));
// Bail if this is a zero-length block
if (block->step_event_count <= dropsegments) return;
block->fan_speed = fanSpeed;
#if ENABLED(BARICUDA)
block->valve_pressure = ValvePressure;
block->e_to_p_pressure = EtoPPressure;
#endif
// Compute direction bits for this block
uint8_t db = 0;
#if ENABLED(COREXY)
if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) db |= BIT(Y_HEAD); // ...and Y
if (dz < 0) db |= BIT(Z_AXIS);
if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
#elif ENABLED(COREXZ)
if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) db |= BIT(Y_AXIS);
if (dz < 0) db |= BIT(Z_HEAD); // ...and Z
if (dx + dz < 0) db |= BIT(A_AXIS); // Motor A direction
if (dx - dz < 0) db |= BIT(C_AXIS); // Motor B direction
#else
if (dx < 0) db |= BIT(X_AXIS);
if (dy < 0) db |= BIT(Y_AXIS);
if (dz < 0) db |= BIT(Z_AXIS);
#endif
if (de < 0) db |= BIT(E_AXIS);
block->direction_bits = db;
block->active_extruder = extruder;
//enable active axes
#if ENABLED(COREXY)
if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
enable_x();
enable_y();
}
#if DISABLED(Z_LATE_ENABLE)
if (block->steps[Z_AXIS]) enable_z();
#endif
#elif ENABLED(COREXZ)
if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
enable_x();
enable_z();
}
if (block->steps[Y_AXIS]) enable_y();
#else
if (block->steps[X_AXIS]) enable_x();
if (block->steps[Y_AXIS]) enable_y();
#if DISABLED(Z_LATE_ENABLE)
if (block->steps[Z_AXIS]) enable_z();
#endif
#endif
// Enable extruder(s)
if (block->steps[E_AXIS]) {
if (DISABLE_INACTIVE_EXTRUDER) { //enable only selected extruder
for (int i=0; i<EXTRUDERS; i++)
if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
switch(extruder) {
case 0:
enable_e0();
g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE * 2;
#if EXTRUDERS > 1
if (g_uc_extruder_last_move[1] == 0) disable_e1();
#if EXTRUDERS > 2
if (g_uc_extruder_last_move[2] == 0) disable_e2();
#if EXTRUDERS > 3
if (g_uc_extruder_last_move[3] == 0) disable_e3();
#endif
#endif
#endif
break;
#if EXTRUDERS > 1
case 1:
enable_e1();
g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE * 2;
if (g_uc_extruder_last_move[0] == 0) disable_e0();
#if EXTRUDERS > 2
if (g_uc_extruder_last_move[2] == 0) disable_e2();
#if EXTRUDERS > 3
if (g_uc_extruder_last_move[3] == 0) disable_e3();
#endif
#endif
break;
#if EXTRUDERS > 2
case 2:
enable_e2();
g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE * 2;
if (g_uc_extruder_last_move[0] == 0) disable_e0();
if (g_uc_extruder_last_move[1] == 0) disable_e1();
#if EXTRUDERS > 3
if (g_uc_extruder_last_move[3] == 0) disable_e3();
#endif
break;
#if EXTRUDERS > 3
case 3:
enable_e3();
g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE * 2;
if (g_uc_extruder_last_move[0] == 0) disable_e0();
if (g_uc_extruder_last_move[1] == 0) disable_e1();
if (g_uc_extruder_last_move[2] == 0) disable_e2();
break;
#endif // EXTRUDERS > 3
#endif // EXTRUDERS > 2
#endif // EXTRUDERS > 1
}
}
else { // enable all
enable_e0();
enable_e1();
enable_e2();
enable_e3();
}
}
if (block->steps[E_AXIS])
NOLESS(feed_rate, minimumfeedrate);
else
NOLESS(feed_rate, mintravelfeedrate);
/**
* This part of the code calculates the total length of the movement.
* For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
* But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
* and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
* So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
*/
#if ENABLED(COREXY)
float delta_mm[6];
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
#elif ENABLED(COREXZ)
float delta_mm[6];
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS];
delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS];
#else
float delta_mm[4];
delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
#endif
delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
block->millimeters = fabs(delta_mm[E_AXIS]);
}
else {
block->millimeters = sqrt(
#if ENABLED(COREXY)
square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS])
#elif ENABLED(COREXZ)
square(delta_mm[X_HEAD]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_HEAD])
#else
square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])
#endif
);
}
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
float inverse_second = feed_rate * inverse_millimeters;
int moves_queued = movesplanned();
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
#if ENABLED(OLD_SLOWDOWN) || ENABLED(SLOWDOWN)
bool mq = moves_queued > 1 && moves_queued < BLOCK_BUFFER_SIZE / 2;
#if ENABLED(OLD_SLOWDOWN)
if (mq) feed_rate *= 2.0 * moves_queued / BLOCK_BUFFER_SIZE;
#endif
#if ENABLED(SLOWDOWN)
// segment time im micro seconds
unsigned long segment_time = lround(1000000.0/inverse_second);
if (mq) {
if (segment_time < minsegmenttime) {
// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
inverse_second = 1000000.0 / (segment_time + lround(2 * (minsegmenttime - segment_time) / moves_queued));
#ifdef XY_FREQUENCY_LIMIT
segment_time = lround(1000000.0 / inverse_second);
#endif
}
}
#endif
#endif
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
#if ENABLED(FILAMENT_SENSOR)
//FMM update ring buffer used for delay with filament measurements
if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && delay_index2 > -1) { //only for extruder with filament sensor and if ring buffer is initialized
const int MMD = MAX_MEASUREMENT_DELAY + 1, MMD10 = MMD * 10;
delay_dist += delta_mm[E_AXIS]; // increment counter with next move in e axis
while (delay_dist >= MMD10) delay_dist -= MMD10; // loop around the buffer
while (delay_dist < 0) delay_dist += MMD10;
delay_index1 = delay_dist / 10.0; // calculate index
delay_index1 = constrain(delay_index1, 0, MAX_MEASUREMENT_DELAY); // (already constrained above)
if (delay_index1 != delay_index2) { // moved index
meas_sample = widthFil_to_size_ratio() - 100; // Subtract 100 to reduce magnitude - to store in a signed char
while (delay_index1 != delay_index2) {
// Increment and loop around buffer
if (++delay_index2 >= MMD) delay_index2 -= MMD;
delay_index2 = constrain(delay_index2, 0, MAX_MEASUREMENT_DELAY);
measurement_delay[delay_index2] = meas_sample;
}
}
}
#endif
// Calculate and limit speed in mm/sec for each axis
float current_speed[NUM_AXIS];
float speed_factor = 1.0; //factor <=1 do decrease speed
for (int i = 0; i < NUM_AXIS; i++) {
current_speed[i] = delta_mm[i] * inverse_second;
float cs = fabs(current_speed[i]), mf = max_feedrate[i];
if (cs > mf) speed_factor = min(speed_factor, mf / cs);
}
// Max segement time in us.
#ifdef XY_FREQUENCY_LIMIT
#define MAX_FREQ_TIME (1000000.0 / XY_FREQUENCY_LIMIT)
// Check and limit the xy direction change frequency
unsigned char direction_change = block->direction_bits ^ old_direction_bits;
old_direction_bits = block->direction_bits;
segment_time = lround((float)segment_time / speed_factor);
long xs0 = axis_segment_time[X_AXIS][0],
xs1 = axis_segment_time[X_AXIS][1],
xs2 = axis_segment_time[X_AXIS][2],
ys0 = axis_segment_time[Y_AXIS][0],
ys1 = axis_segment_time[Y_AXIS][1],
ys2 = axis_segment_time[Y_AXIS][2];
if ((direction_change & BIT(X_AXIS)) != 0) {
xs2 = axis_segment_time[X_AXIS][2] = xs1;
xs1 = axis_segment_time[X_AXIS][1] = xs0;
xs0 = 0;
}
xs0 = axis_segment_time[X_AXIS][0] = xs0 + segment_time;
if ((direction_change & BIT(Y_AXIS)) != 0) {
ys2 = axis_segment_time[Y_AXIS][2] = axis_segment_time[Y_AXIS][1];
ys1 = axis_segment_time[Y_AXIS][1] = axis_segment_time[Y_AXIS][0];
ys0 = 0;
}
ys0 = axis_segment_time[Y_AXIS][0] = ys0 + segment_time;
long max_x_segment_time = max(xs0, max(xs1, xs2)),
max_y_segment_time = max(ys0, max(ys1, ys2)),
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
if (min_xy_segment_time < MAX_FREQ_TIME) {
float low_sf = speed_factor * min_xy_segment_time / MAX_FREQ_TIME;
speed_factor = min(speed_factor, low_sf);
}
#endif // XY_FREQUENCY_LIMIT
// Correct the speed
if (speed_factor < 1.0) {
for (unsigned char i = 0; i < NUM_AXIS; i++) current_speed[i] *= speed_factor;
block->nominal_speed *= speed_factor;
block->nominal_rate *= speed_factor;
}
// Compute and limit the acceleration rate for the trapezoid generator.
float steps_per_mm = block->step_event_count / block->millimeters;
long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
if (bsx == 0 && bsy == 0 && bsz == 0) {
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else if (bse == 0) {
block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else {
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
// Limit acceleration per axis
unsigned long acc_st = block->acceleration_st,
xsteps = axis_steps_per_sqr_second[X_AXIS],
ysteps = axis_steps_per_sqr_second[Y_AXIS],
zsteps = axis_steps_per_sqr_second[Z_AXIS],
esteps = axis_steps_per_sqr_second[E_AXIS];
if ((float)acc_st * bsx / block->step_event_count > xsteps) acc_st = xsteps;
if ((float)acc_st * bsy / block->step_event_count > ysteps) acc_st = ysteps;
if ((float)acc_st * bsz / block->step_event_count > zsteps) acc_st = zsteps;
if ((float)acc_st * bse / block->step_event_count > esteps) acc_st = esteps;
block->acceleration_st = acc_st;
block->acceleration = acc_st / steps_per_mm;
block->acceleration_rate = (long)(acc_st * 16777216.0 / (F_CPU / 8.0));
#if 0 // Use old jerk for now
// Compute path unit vector
double unit_vec[3];
unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
// Let a circle be tangent to both previous and current path line segments, where the junction
// deviation is defined as the distance from the junction to the closest edge of the circle,
// colinear with the circle center. The circular segment joining the two paths represents the
// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
// path width or max_jerk in the previous grbl version. This approach does not actually deviate
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
// nonlinearities of both the junction angle and junction velocity.
double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
// Skip and use default max junction speed for 0 degree acute junction.
if (cos_theta < 0.95) {
vmax_junction = min(previous_nominal_speed,block->nominal_speed);
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
if (cos_theta > -0.95) {
// Compute maximum junction velocity based on maximum acceleration and junction deviation
double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
vmax_junction = min(vmax_junction,
sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
}
}
}
#endif
// Start with a safe speed
float vmax_junction = max_xy_jerk / 2;
float vmax_junction_factor = 1.0;
float mz2 = max_z_jerk / 2, me2 = max_e_jerk / 2;
float csz = current_speed[Z_AXIS], cse = current_speed[E_AXIS];
if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
if (fabs(cse) > me2) vmax_junction = min(vmax_junction, me2);
vmax_junction = min(vmax_junction, block->nominal_speed);
float safe_speed = vmax_junction;
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
float dx = current_speed[X_AXIS] - previous_speed[X_AXIS],
dy = current_speed[Y_AXIS] - previous_speed[Y_AXIS],
dz = fabs(csz - previous_speed[Z_AXIS]),
de = fabs(cse - previous_speed[E_AXIS]),
jerk = sqrt(dx * dx + dy * dy);
// if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->nominal_speed;
// }
if (jerk > max_xy_jerk) vmax_junction_factor = max_xy_jerk / jerk;
if (dz > max_z_jerk) vmax_junction_factor = min(vmax_junction_factor, max_z_jerk / dz);
if (de > max_e_jerk) vmax_junction_factor = min(vmax_junction_factor, max_e_jerk / de);
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
}
block->max_entry_speed = vmax_junction;
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
double v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
// If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
// the current block and next block junction speeds are guaranteed to always be at their maximum
// junction speeds in deceleration and acceleration, respectively. This is due to how the current
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
// the reverse and forward planners, the corresponding block junction speed will always be at the
// the maximum junction speed and may always be ignored for any speed reduction checks.
block->nominal_length_flag = (block->nominal_speed <= v_allowable);
block->recalculate_flag = true; // Always calculate trapezoid for new block
// Update previous path unit_vector and nominal speed
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
previous_nominal_speed = block->nominal_speed;
#if ENABLED(ADVANCE)
// Calculate advance rate
if (!bse || (!bsx && !bsy && !bsz)) {
block->advance_rate = 0;
block->advance = 0;
}
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * (cse * cse * EXTRUSION_AREA * EXTRUSION_AREA) * 256;
block->advance = advance;
block->advance_rate = acc_dist ? advance / (float)acc_dist : 0;
}
/*
SERIAL_ECHO_START;
SERIAL_ECHOPGM("advance :");
SERIAL_ECHO(block->advance/256.0);
SERIAL_ECHOPGM("advance rate :");
SERIAL_ECHOLN(block->advance_rate/256.0);
*/
#endif // ADVANCE
calculate_trapezoid_for_block(block, block->entry_speed / block->nominal_speed, safe_speed / block->nominal_speed);
// Move buffer head
block_buffer_head = next_buffer_head;
// Update position
for (int i = 0; i < NUM_AXIS; i++) position[i] = target[i];
planner_recalculate();
st_wake_up();
} // plan_buffer_line()
static void lcd_menu_print_tune()
{
lcd_scroll_menu(PSTR("TUNE"), 7 + EXTRUDERS * 2, tune_item_callback, tune_item_details_callback);
if (lcd_lib_button_pressed)
{
if (IS_SELECTED_SCROLL(0))
{
if (card.sdprinting)
lcd_change_to_menu(lcd_menu_print_printing);
else
lcd_change_to_menu(lcd_menu_print_heatup);
}else if (IS_SELECTED_SCROLL(1))
{
if (card.sdprinting)
{
if (card.pause)
{
if (movesplanned() < 1)
{
card.pause = false;
lcd_lib_beep();
}
}
else
{
if (movesplanned() > 0 && commands_queued() < BUFSIZE)
{
lcd_lib_beep();
card.pause = true;
if (current_position[Z_AXIS] < 170)
enquecommand_P(PSTR("M601 X10 Y20 Z20 L30"));
else if (current_position[Z_AXIS] < 200)
enquecommand_P(PSTR("M601 X10 Y20 Z2 L30"));
else
enquecommand_P(PSTR("M601 X10 Y20 Z0 L30"));
}
}
}
}else if (IS_SELECTED_SCROLL(2))
LCD_EDIT_SETTING(feedmultiply, "Print speed", "%", 10, 1000);
else if (IS_SELECTED_SCROLL(3))
lcd_change_to_menu(lcd_menu_print_tune_heatup_nozzle0, 0);
#if EXTRUDERS > 1
else if (IS_SELECTED_SCROLL(4))
lcd_change_to_menu(lcd_menu_print_tune_heatup_nozzle1, 0);
#endif
else if (IS_SELECTED_SCROLL(3 + EXTRUDERS))
lcd_change_to_menu(lcd_menu_maintenance_advanced_bed_heatup, 0);//Use the maintainace heatup menu, which shows the current temperature.
else if (IS_SELECTED_SCROLL(4 + EXTRUDERS))
LCD_EDIT_SETTING_BYTE_PERCENT(fanSpeed, "Fan speed", "%", 0, 100);
else if (IS_SELECTED_SCROLL(5 + EXTRUDERS))
LCD_EDIT_SETTING(extrudemultiply[0], "Material flow", "%", 10, 1000);
#if EXTRUDERS > 1
else if (IS_SELECTED_SCROLL(6 + EXTRUDERS))
LCD_EDIT_SETTING(extrudemultiply[1], "Material flow 2", "%", 10, 1000);
#endif
else if (IS_SELECTED_SCROLL(5 + EXTRUDERS * 2))
lcd_change_to_menu(lcd_menu_print_tune_retraction);
else if (IS_SELECTED_SCROLL(6 + EXTRUDERS * 2))
LCD_EDIT_SETTING(led_brightness_level, "Brightness", "%", 0, 100);
}
}
static void lcd_main_menu()
{
SDscrool = 0;
START_MENU();
// Majkl superawesome menu
MENU_ITEM(back, MSG_WATCH, lcd_status_screen);
if (movesplanned() || IS_SD_PRINTING)
{
MENU_ITEM(submenu, MSG_TUNE, lcd_tune_menu);
}else{
MENU_ITEM(submenu, MSG_PREHEAT, lcd_preheat_menu);
}
#ifdef SDSUPPORT
if (card.cardOK)
{
if (card.isFileOpen())
{
if (card.sdprinting)
MENU_ITEM(function, MSG_PAUSE_PRINT, lcd_sdcard_pause);
else
MENU_ITEM(function, MSG_RESUME_PRINT, lcd_sdcard_resume);
MENU_ITEM(function, MSG_STOP_PRINT, lcd_sdcard_stop);
}else{
MENU_ITEM(submenu, MSG_CARD_MENU, lcd_sdcard_menu);
#if SDCARDDETECT < 1
MENU_ITEM(gcode, MSG_CNG_SDCARD, PSTR("M21")); // SD-card changed by user
#endif
}
}else{
MENU_ITEM(submenu, MSG_NO_CARD, lcd_sdcard_menu);
#if SDCARDDETECT < 1
MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21")); // Manually initialize the SD-card via user interface
#endif
}
#endif
if (IS_SD_PRINTING)
{
}else{
MENU_ITEM(function, MSG_LOAD_FILAMENT, lcd_LoadFilament);
MENU_ITEM(function, MSG_UNLOAD_FILAMENT, lcd_unLoadFilament);
MENU_ITEM(submenu, MSG_SETTINGS, lcd_settings_menu);
}
MENU_ITEM(submenu, MSG_SUPPORT, lcd_support_menu);
END_MENU();
}
